JP6695477B1 - Cargo handling equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To widen the range of size and weight of a work that can be extruded in a cargo handling apparatus for handling a work by rolling. A cargo handling device (2) pushes a work (W) out of a support position (21) by a pusher (40) and rolls it when a second input is received from an operating member. At this time, the cargo handling apparatus 2 rotates the support roller 31 and causes the rotation moment N ′ to act on the work W by the rotating support roller 31. The cargo handling device 2 includes a determination unit for determining the size of the work W. The cargo handling apparatus 2 uses the determination result of the determination unit to increase the rotation speed ω ′ of the support roller 31 and / or increase the pushing force F ′ of the pushers 40 and 41 according to the size of the work W. When the mark M is used, the weight of the work W can be determined. The cargo handling apparatus 2 may increase the rotation speed ω ′ and / or increase the pushing force F ′ according to the weight of the work W. [Selection diagram] Fig. 11

Description

  The present invention relates to a cargo handling device for rolling and handling a work.

  Patent Documents 1 to 3 disclose a cargo handling device for handling a work, such as a barrel or a drum, which is rotatable about its central axis, by rolling between the work and a shelf.

  The cargo handling apparatus includes a cradle for receiving a work, a plurality of support rollers for supporting the work at a predetermined support position of the cradle, and a motor for rotating the plurality of support rollers. The work is supported from below by a plurality of support rollers so that the central axis of the work is substantially horizontal. When a worker operates a rotation lever or button, the cargo handling device causes the motor to rotate the support roller. As a result, the work rotates about its central axis while being supported at the support position by the support roller.

  When the work is a container for containing a liquid such as a barrel or a drum and has a plug that closes the opening, the position of the plug can be adjusted by the above rotation of the work. Therefore, the worker can position the stopper at a desired position when the work is transported or when the work is rolled from the pedestal to the shelf and stored in the shelf (see Patent Document 1).

  The cargo handling apparatus further includes a pusher for pushing the work out of the supporting position to roll the work, and a cylinder for moving the pusher. When the operator operates the pushing lever or button, the cargo handling device moves the pusher by the cylinder. As a result, the work is pushed by the pusher and rolls from the pedestal to the shelf.

  Therefore, the worker can push out the work from the pedestal to the shelf without manual work (see Patent Document 2).

JP-A-11-255496 Japanese Patent Laid-Open No. 11-255495 Japanese Utility Model Publication No. 61-183308

  In the above cargo handling apparatus, the size and weight of the work that can be extruded is not wide. The cargo handling device may not be able to push a large or heavy work piece from the pedestal to the shelf even if the work piece is pushed by the pusher. The cargo handling device may not be able to push a small work out of the cradle.

  The present invention provides a loading / unloading device for loading and unloading works by rolling, which has a wide range of sizes and weights of extrudable works.

  ADVANTAGE OF THE INVENTION According to this invention, the cargo handling apparatus for rolling a workpiece and handling it is provided. The cargo handling apparatus includes a cradle for receiving a work, a plurality of support rollers for supporting the work from below at a supporting position of the cradle, and a first for rotating at least one of the plurality of support rollers. And one drive source. The cargo handling apparatus further includes a pusher for pushing the work out of the supporting position to roll the work, and a second drive source for moving the pusher. The cargo handling apparatus further includes an operation member for inputting the first input and the second input, and a determination unit for determining the size of the work pushed out from the support position. The cargo handling device further includes an actuating device. The actuating device receives the first input and actuates the first drive source to rotate the work while supporting the work at the support position by the plurality of support rollers. The actuating device receives the second input and operates the first drive source and the second drive source to push out the work by the pusher, and at the same time, to rotate the work with respect to the work by the supporting roller that rotates the rotation moment. Act in the direction of rotation of. The actuating device increases the rotation speed of the support roller when the first drive source rotates the support roller in response to the second input, according to the size of the work by using the determination result of the determination unit. In addition to or instead of this, the actuating device uses the determination result of the determination unit to determine the push output of the pusher when the pusher is moved by the second drive source in response to the second input, by using the determination result of the determination unit. Increase accordingly.

  The discriminating unit may be a mark sensor for detecting a mark provided on the work, the mark indicating information about the size of the work. The actuator may increase the rotation speed of the support roller according to the size of the work by using the detection result of the mark sensor, and / or the push output of the pusher may be increased by using the detection result of the mark sensor. May be larger depending on size.

  The mark sensor may detect the color or shape of the mark. Further, the mark sensor may detect the characters, numbers, and alphabets of the mark. Further, the mark sensor may read a one-dimensional code or a two-dimensional code as a mark.

  The mark may indicate information regarding the size and weight of the work. The actuating device may increase the rotation speed of the support roller according to the size and weight of the workpiece by using the detection result of the mark sensor, and / or the pushing force of the pusher by using the detection result of the mark sensor. It may be increased depending on the size and weight of the work.

  The determination unit may be a distance measuring sensor fixedly arranged at a predetermined position with respect to the pedestal. The distance measuring sensor is for measuring the distance to the work supported by the supporting roller at the supporting position. The actuating device may increase the rotation speed of the support roller according to the diameter of the workpiece by using the measurement result of the distance measurement sensor, and / or the pushing force of the pusher by using the measurement result of the distance measurement sensor. It may be increased according to the diameter of the work.

  The mark sensor may detect a mark provided on the work pushed out from the support position and indicating information about the weight of the work. In this case, the actuating device increases the rotation speed of the support roller when the second drive source rotates the support roller in response to the second input, in accordance with the weight of the work by using the detection result of the mark sensor. In addition to or instead of this, the actuating device uses the detection result of the mark sensor to determine the push output of the pusher when the pusher is moved by the second drive source in response to the second input, by using the detection result of the mark sensor. Increase accordingly.

  In the loading / unloading device for loading / unloading a work according to the present invention, the size and weight ranges of the work that can be extruded are wide.

1 is a side view schematically showing a forklift including a cargo handling device according to an embodiment of the present invention. It is a top view which shows the cargo handling apparatus of FIG. It is the schematic which shows the rotating device of the cargo handling apparatus of FIG. It is the schematic which shows the extrusion apparatus of the cargo handling apparatus of FIG. It is a perspective view showing an operation member. 6A to 6C exemplify marks attached to the work. It is a schematic diagram showing an actuator. It is a figure explaining operation which rotates a small size work. It is a figure explaining operation which rotates a large size work. It is a figure explaining operation which pushes out a small size work. It is a figure explaining operation which pushes out a work of big size. It is a figure which illustrates discrimination of the size of a work. It is a figure which illustrates discrimination of the size of a work.

  Hereinafter, a cargo handling device according to an embodiment of the present invention will be described with reference to the drawings. The cargo handling apparatus of the embodiment is provided in a cargo handling vehicle that loads and conveys works. More specifically, the cargo handling vehicle is a forklift, and the cargo handling device is an attachment of the forklift.

[First Embodiment]
As shown in FIG. 1, the forklift 1 can travel by a vehicle body 10, a straddle leg 11 extending forward from the vehicle body 10, an elevating device 12 provided along the straddle leg 11 so as to be able to move back and forth, and an elevating device 12. The cargo handling device 2 supported by the.

  The forklift 1 further includes an operation unit 13 provided on the vehicle body 10. By using the operation unit 13, the worker can run the vehicle body 10 and operate the lifting device 12 and the cargo handling device 2.

  The cargo handling apparatus 2 is used for rolling the workpiece W by rolling with the shelf 8. Therefore, as the work W, for example, a cylindrical shape, a cylindrical shape, a barrel shape, or the like having a central axis and capable of rolling is used. In the embodiment, the work W is a barrel that contains a liquid and has a central axis WA. The work W is supported by the cargo handling device 2 such that its central axis WA is substantially horizontal, and is conveyed by the forklift 1.

  The shelf 8 has a plurality of storage spaces 80 for storing the works W. The plurality of storage spaces 80 are formed side by side in the vertical and horizontal directions.

  The cargo handling device 2 includes a cradle 20 for receiving the work W. The pedestal 20 is moved up and down by the lifting device 12. For this purpose, the lifting device 12 is provided with a lift bracket 14 for supporting the pedestal 20, a mast 15 provided upright on the straddle leg 11, for guiding the lift bracket 14 in the vertical direction, the lift bracket 14 and the receiving bracket 14. A lift cylinder 16 for raising and lowering the table 20 along the mast 15 is provided. The operation unit 13 includes a lift lever 17. When the lift lever 17 is operated, the lift cylinder 16 expands and contracts, whereby the pedestal 20 and the lift bracket 14 move up and down.

  FIG. 2 is a plan view of the cargo handling device 2. A concave space is formed in the center of the pedestal 20, and the space is defined as a support position 21 for supporting the work W.

  The loading / unloading device 2 supports the work W at the support position 21 such that the center axis WA of the work W is substantially parallel to the first horizontal direction X, and rotates the work W around the center axis WA. Is further provided.

  The rotating device 3 includes a plurality of (four in the embodiment) support rollers 30 and 31 for supporting the work W from below at the support position 21, and at least one of the support rollers 30 and 31 (all in the embodiment). And a rotary motor 32 as a first drive source for rotating the. The rotary motor 32 is a hydraulic motor.

  The two support rollers 30 are spaced apart from each other in the first horizontal direction X, and the two support rollers 31 are spaced apart from each other in the first horizontal direction X. The support roller 30 and the support roller 31 are arranged at intervals in the second horizontal direction Y, which is perpendicular to the first horizontal direction X. The support rollers 30 and 31 are supported by a bracket 33 so as to be rotatable about an axis extending in the first horizontal direction X. Both the two brackets 33 are fixed to the pedestal 20. The rotary motor 32 is fixed to the pedestal 20.

  In the embodiment, the first horizontal direction X corresponds to the front-back direction of the forklift 1, and the second horizontal direction Y corresponds to the left-right direction of the forklift 1.

  As shown in FIG. 3, the work W is supported by the support rollers 30 and 31 at the support position 21 so that the lower part thereof is inserted between the support rollers 30 and 31.

  As shown in FIGS. 2 and 3, the transmission shaft 34 is rotatably supported by the two brackets 33 and extends in the first horizontal direction X. A sprocket 350 is mounted on the rotary shaft of each support roller 30, 31. A sprocket 351 is assigned to each bracket 33 and mounted on the transmission shaft 34. Further, as shown in FIG. 3, each bracket 33 has two rotating shafts 36 rotatably supported below the supporting rollers 30 and 31. A sprocket 352 is attached to each rotating shaft 36.

  As shown in FIGS. 2 and 3, the sprocket 353 is mounted on the transmission shaft 34 at one end thereof, and the sprocket 354 is mounted on the output shaft of the rotary motor 32.

  In each bracket 33, an endless chain 370 is engaged with the sprockets 350, 351, 352. An endless chain 371 is engaged with the sprockets 353 and 354.

  According to the above configuration, when the rotary motor 32 operates, its power is transmitted to all the support rollers 30 and 31, and all the support rollers 30 and 31 rotate in the same direction. The rotating device 3 rotates the support rollers 30 and 31 to rotate the work W supported thereby. Therefore, when the work W is a container such as a barrel or a drum that stores a liquid as in the embodiment, and has a stopper WB (FIG. 3) on its end face for closing the opening, the rotation device 3 causes the stopper WB. The position of can be adjusted.

  As shown in FIGS. 2 and 4, the cargo handling device 2 further includes an extrusion device 4 for extruding the work W from the receiving table 20 to the shelf 8 (FIG. 1).

  The push-out device 4 is provided for the two pushers 40 and 41 for pushing the work W out of the support position 21 and rolling it, and the second pushers 40 and 41 for moving the corresponding pushers 40 and 41. Extrusion cylinders 42 and 43 as drive sources are provided. The extrusion cylinders 42 and 43 are hydraulic cylinders.

  The pusher 40 is located on the support roller 30 side of the support roller 30 and the support roller 31 facing each other, and the pusher 41 is located on the support roller 31 side. In the embodiment, the pushers 40 and 41 each have free rollers 400 and 410 rotatably supported at their tips, and are configured as a pair of arms spaced apart from each other in the first horizontal direction X. .. As shown in FIG. 4, the pushers 40 and 41 are respectively supported at their base ends by the swing shafts 44 and 45 on the pedestal 20 so as to be swingable around an axis extending in the first horizontal direction X.

  The pushing cylinders 42 and 43 are attached to the pedestal 20 at the base ends of the cylinder tubes 420 and 430, respectively, and are attached to the pushers 40 and 41 via the brackets 46 and 47 at the tips of the piston rods 421 and 431, respectively. There is.

  As shown in FIG. 2, the pushing device 4 is attached to the upper surface of the receiving table 20 on the side of the supporting roller 31 and is located next to the supporting position 21, and the rail pair 48 is attached to the upper surface of the receiving table 20 on the side of the supporting roller 30. And a rail pair 49 located next to the support position 21.

  The rail pairs 48 are arranged at intervals in the first horizontal direction X and extend in the second horizontal direction Y. The rail pairs 49 are also spaced from each other in the first horizontal direction X and extend in the second horizontal direction Y.

  According to the above configuration, the push-out cylinders 42 and 43 operate to expand and contract, whereby the pushers 40 and 41 swing around the swing shafts 44 and 45 so as to enter and retract with respect to the support position 21. .. The pusher 40 is used to push the work W toward the rail pair 48 and roll the work W on the rail pair 48 (see the pusher 40 and the work W indicated by the chain double-dashed line in FIG. 4). The pusher 41 is used to push the work W toward the rail pair 49 and roll it on the rail pair 49.

  As illustrated in FIG. 1, the cargo handling device 2 further includes an operation member 22 for inputting the first input and the second input, and a determination unit 5 for determining the size of the work W pushed out from the support position 21. .. The cargo handling device 2 further includes an operating device 6 that receives the first input and the second input from the operating member 22 and operates the rotating device 3 and the pushing device 4 by using the determination result of the determining unit 5.

  The operation member 22 is included in the operation unit 13 of the forklift 1 described above and is operated by an operator. As shown in FIG. 5, the operation member 22 of the embodiment is a joystick type lever arranged on the vehicle body 10. The operating member 22 is provided so as to be tiltable from the neutral position in the first operating directions c1 and c2 for the first input. Further, the operation member 22 is provided so as to be tiltable from the neutral position in the second operation directions d1 and d2 which are perpendicular to the first operation directions c1 and c2 for the second input. A biasing member (not shown) is provided below the operating member 22 and biases the operating member 22 to the neutral position.

  The determination unit 5 of the embodiment is a mark sensor for detecting the mark M attached to the work W shown in FIGS. 3 and 4. The mark M of the work W indicates information regarding the size of the work W. Therefore, a mark M having different characteristics depending on its size is assigned to the work W.

  The information on the size of the work W that can be rolled includes the diameter of the work W and the length of the work W in the direction of the central axis WA, but at least one of them may be determined. In the embodiment, among these, at least the size of the diameter of the work W is determined.

  6A-6C illustrate the mark M. The work W shown in FIG. 6A is provided with marks M of different colors depending on its size. For example, a yellow mark M is attached to the work W having a size smaller than the predetermined threshold value, and a green mark M is attached to the work W having a size larger than the threshold value. In this case, the mark sensor 5 is, for example, a camera or a color sensor for detecting the color of the mark M.

  A mark M having a different shape depending on its size is attached to the work W in FIG. 6B. For example, the work W having a size smaller than the threshold is marked with a triangular mark M, and the work W having a size larger than the threshold is marked with a square mark M. In this case, the mark sensor 5 is, for example, a camera for detecting a shape.

  The workpiece W in FIG. 6C is provided with a two-dimensional code as the mark M, which varies depending on the size. For example, the work W having a size smaller than the threshold is attached with a two-dimensional code indicating that the work W has a size smaller than the threshold, and the work W having a size larger than the threshold has a two-dimensional code indicating the size larger than the threshold. Is attached. In this case, the mark sensor 5 is, for example, a camera or a code reader for reading a two-dimensional code. The two-dimensional code is, for example, a QR code (registered trademark). Instead of the two-dimensional code, a one-dimensional code such as a barcode may be used as the mark M.

  The mark M is provided on at least one of the end faces of the workpiece W (the upper face and the lower face of the barrel). The mark sensor 5 is attached to the lift bracket 14 so as to face the end surface of the work W supported by the support rollers 30 and 31 at the support position 21 and thereby detect the mark M on the end surface. The mark sensor 5 may be attached to the pedestal 20 or the mast 15 or the like.

  FIG. 7 shows the construction of the actuating device 6 in detail. As shown in FIG. 7, the actuating device 6 includes a hydraulic circuit 7 for supplying / discharging hydraulic oil to / from the rotary motor 32 and the pushing cylinders 42, 43. The rotary motor 32 and the extrusion cylinders 42 and 43 are connected to the hydraulic circuit 7.

  A hydraulic pump 78 is provided in the hydraulic circuit 7 for supplying hydraulic oil to the rotary motor 32 and the extrusion cylinders 42 and 43. In the embodiment, the hydraulic pump 78 is a variable displacement hydraulic pump that can change the discharge amount. Further, a tank 79 is provided in the hydraulic circuit 7 for storing hydraulic oil. An oil passage 70 for delivery is provided, and hydraulic oil flows from the tank 79 through the oil passage 70. The oil passage 70 includes oil passages 700, 701, and 702. An oil passage 71 for return is provided, and the working oil returns to the tank 79 through the oil passage 71. The oil passage 71 includes oil passages 710, 711 and 712.

  The oil passage 720 is connected to one port of the rotary motor 32, and the oil passage 730 is connected to the other port of the rotary motor 32. The oil passages 721 and 722 are connected to the bottom sides of the cylinder tubes 420 and 430 of the extrusion cylinders 42 and 43, respectively, and the oil passages 731 and 732 are connected to the rod sides of the cylinder tubes 420 and 430, respectively.

  The first switching valve 74 is provided in the hydraulic circuit 7 for controlling the supply / discharge of the hydraulic oil to / from the rotary motor 32, and is connected to the oil passages 700, 710, 720, 730. The second switching valves 75 and 76 are provided in the hydraulic circuit 7 to control the supply and discharge of hydraulic oil to and from the extrusion cylinders 42 and 43, respectively. The second switching valve 75 is connected to the oil passages 701, 711, 721, 731, and the second switching valve 76 is connected to the oil passages 702, 712, 722, 732. These switching valves 74, 75, 76 are electromagnetic type with 4 ports and 3 positions.

  A relief valve 703 is provided between the oil passages 700 and 710. Flow rate control valves 723 and 733 are provided in the oil passages 720 and 730, respectively. Relief valves 724 and 734 are provided between the oil passages 720 and 730.

  Similar to Patent Document 2, counter balance valves 725 and 726 are provided in the oil passages 721 and 722, respectively. Similar to Patent Document 2, the oil passage 71 is provided with a speed adjusting unit 713, and the oil passages 711 and 712 for the extrusion cylinders 42 and 43 are connected to the speed adjusting unit 713. The speed adjusting unit 713 includes an electromagnetic switching valve 77, flow rate control valves 714, 715, and the like.

  The actuator 6 further includes a control unit 60 for controlling the rotary motor 32 and the extrusion cylinders 42 and 43. The control unit 60 is composed of a control board or the like. The control unit 60 is connected to the switching valves 74, 75, 76, 77 and the hydraulic pump 78 (specifically, its pump motor (not shown)) and controls these. Further, a plurality of sensors (not shown) detect tilting of the operating member 22 (FIG. 5) in the first operating directions c1 and c2 and the second operating directions d1 and d2 to receive the first input and the second input. And is connected to the control unit 60. These sensors may be, for example, a plurality of limit switches or potentiometers as in Patent Documents 1 and 2.

  The control unit 60 can supply the hydraulic oil to the rotary motor 32 from the oil passage 720 or the oil passage 730 by the switching control of the first switching valve 74. That is, the rotation motor 32 can be rotated in the forward and reverse directions. The control unit 60 can supply the hydraulic oil to the extrusion cylinder 42 from the oil passage 721 or the oil passage 731 by the switching control of the second switching valve 75. That is, the extrusion cylinder 42 can be expanded and contracted. Similarly, the control unit 60 can extend and retract the extrusion cylinder 43 by the switching control of the second switching valve 76.

  The control unit 60 can control the rotation speed of the rotary motor 32 and the extension speeds of the extrusion cylinders 42 and 43 by controlling the discharge amount of the hydraulic pump 78. Therefore, the rotation speed of the support rollers 30 and 31 and the pushing force of the pushers 40 and 41 can be adjusted.

  The mark sensor 5 (FIG. 1) is connected to the control unit 60. The control unit 60 performs predetermined processing (image processing of image data (color recognition processing or shape recognition processing), decoding processing of one-dimensional or two-dimensional code, etc.) on the detection result of the mark sensor 5 to obtain a work. Get information about the size of W.

  Although not shown, a work sensor that detects whether or not the work W is supported at the support position 21 is provided on the pedestal 20 and is connected to the control unit 60.

  Hereinafter, an example of the operation of the cargo handling device 2 using the size determination of the work W will be described.

  First, the work W is placed on the pedestal 20. That is, the work W rolls on the rail pair 48 (or 49) and is supported by the support rollers 30 and 31 at the support position 21 (see FIG. 8). At this time, the work W is detected by the work sensor. The actuating device 6 operates the mark sensor 5 to detect the mark M attached to the work W by using the detection of the work W as a trigger. Note that the mark M may be detected by operating the mark sensor 5 by an input operation of an operator without using the work sensor. The operating device 6 uses the detection result of the mark sensor 5 to determine whether the size of the work W is less than the threshold value or not less than the threshold value.

  The work W is conveyed by the forklift 1 to the front of the storage space 80 of the shelf 8 where the work W is to be stored. First, before pushing out the work W to the shelf 8, the height of the rail pair 48 (or 49) with respect to the bottom surface 81 of the storage space 80 is adjusted. This is done by the operator using the lifting device 12.

  Next, before pushing out the work W to the shelf 8, the position adjustment of the stopper WB of the work W is performed as in Patent Document 1. The operating member 22 is operated by the operator in the first operating direction (direction c1 or direction c2), and the first input is input. The actuating device 6 receives the first input and actuates the rotary motor 32, thereby rotating the support rollers 30 and 31. Therefore, the work W rotates about the central axis WA while being supported at the support position 21 by the support rollers 30 and 31. Thereby, the stopper WB is adjusted to the desired position. When the operation member 22 is operated in the direction c1, the support rollers 30 and 31 rotate in the rotation direction e1, and the work W rotates in the rotation direction f1. On the other hand, when the operation member 22 is operated in the direction c2, the support rollers 30 and 31 rotate in the rotation direction e2, and the work W rotates in the rotation direction f2.

  The actuating device 6 receives the first input (rotational input) as described above, and changes the rotation speed of the support rollers 30 and 31 when the rotation motor 32 rotates the support rollers 30 and 31 according to the size of the work W. Make it faster

  Specifically, as shown in FIG. 8, when the size of the work W is less than the threshold value, the actuating device 6 receives the first input and operates the rotary motor 32 with a relatively small flow rate of the hydraulic oil to cause the supporting roller 30 to move. , 31 are rotated at the rotation speed ω. Therefore, the work W rotates at a relatively low rotation speed.

  On the other hand, as shown in FIG. 9, when the size of the work W is equal to or larger than the threshold value, the actuating device 6 receives the first input and operates the rotary motor 32 with a relatively large flow rate of the hydraulic oil to move the supporting rollers 30 and 31. Rotation is performed at a rotation speed ω ′ that is faster than the rotation speed ω (ω ′> ω). Therefore, the work W rotates at a relatively high rotation speed.

  After adjusting the height of the pedestal 20 and the position of the stopper WB, the work W is extruded. The operation member 22 is operated by the operator from the neutral position in the second operation direction (direction d1 or direction d2) to input the second input. Hereinafter, a case where the operation is performed in the second operation direction d1 will be described.

  As shown in FIG. 10, the actuating device 6 receives the second input, extends the pushing cylinder 42, swings the pusher 40 toward the supporting position 21, and abuts the free roller 400 at the tip thereof on the work W. Then, the work W is pushed out from the support position 21. At the same time, the actuating device 6 receives the second input and also actuates the rotation motor 32 to rotate the support rollers 30 and 31 in the rotation direction e1. As a result, the support roller 31 rotating in contact with the work W causes the rotation moment N to act on the work W in the rotation direction f1 of the rolling of the work W.

  The actuating device 6 increases the pushing force of the pusher 40 according to the size of the work W when the pushing cylinder 42 and the rotary motor 32 are actuated in response to the second input (extrusion input) as described above. The rotation speed of the support rollers 30 and 31 is increased according to the size of the work W.

  Specifically, as shown in FIG. 10, when the size of the work W is less than the threshold value, the operating device 6 receives the second input and operates the extrusion cylinder 42 and the rotary motor 32 with a relatively small flow rate of the hydraulic oil. As a result, the pusher 40 pushes out the work W with the pushing force F, and at the same time, the support roller 31 rotating at the rotation speed ω imparts the rotation moment N to the work W.

  On the other hand, as shown in FIG. 11, when the size of the work W is equal to or larger than the threshold value, the operating device 6 receives the second input and operates the extrusion cylinder 42 and the rotary motor 32 with a relatively large flow rate of the hydraulic oil. As a result, the pusher 40 pushes out the work W with a pushing force F ′ larger than the pushing force F (F ′> F), and at the same time, the support roller 31 rotating at the rotation speed ω ′ (ω ′> ω), the rotation moment. A rotation moment N ′ larger than N is applied to the work W (N ′> N).

  By the combination of the pushing force F / F ′ and the rotation moment N / N ′, the work W is pushed toward the rail pair 48, rolls on the rail pair 48, and then rolls on the bottom surface 81 of the storage space 80. To do. In this way, the work W is pushed out from the cargo handling device 2 to the shelf 8.

  After that, when the operating member 22 is operated in the other direction d2 in the second operating direction, the operating device 6 contracts the pushing cylinder 42 and retracts the pusher 40 from the support position 21.

  As described above, the actuating device 6 receives the second input to actuate the rotary motor 32 and the push-out cylinder 42 to push out the work W by the pusher 40 to roll the work W and rotate the rotation moment N / N ′. The support roller 31 causes the work W to act in the rotation direction f1 of rolling of the work W. Further, at this time, the actuating device 6 increases the pushing force of the pusher 40 according to the size of the work W by using the determination result of the determination unit 5 (the detection result of the mark sensor in the present embodiment), and The rotation speed of the support rollers 30 and 31 is increased.

  Note that the pusher 41 can also be moved by tilting the operation member 22 in the second operation directions d1 and d2, as in Patent Document 2. The operating device 6 moves the pusher 40 toward the support position 21 and moves it to the other d2 when the operation member 22 is operated in one of the second operation directions d1 with both pushers 40 and 41 retracted from the support position 21. When operated, the pusher 41 is moved toward the support position 21.

  The actuating device 6 also rotates the support rollers 30 and 31 when the work W is pushed out by the pusher 41 to roll. The rotation direction of the rolling of the work W at this time is the rotation direction f2 (FIG. 8). Therefore, the actuating device 6 rotates the support rollers 30 and 31 in the rotation direction e2, and causes the rotating support roller 30 to apply the rotation moment to the work W in the rotation direction f2. At this time, the actuating device 6 increases the rotation speed of the support rollers 30 and 31 and increases the pushing force of the pushers 40 and 41 in accordance with the size of the work W.

  The operation member 22 of the embodiment can be tilted in two steps in the respective directions d1 and d2 of the second operation direction. When the operating member 22 is tilted to the first step in the second operating directions d1 and d2, the control unit 60 controls the switching valve 77 of the speed adjusting unit 713 to allow the hydraulic oil to pass through the flow control valve 715. Instead, only the flow rate control valve 714 is passed and returned to the tank 79. When the operation member 22 is tilted in the second operation direction d1 and d2 to the second stage, the control unit 60 controls the switching valve 77 to allow the hydraulic oil to pass through both the flow rate control valves 714 and 715 and to the tank. Return to 79. That is, the extension speed of the extrusion cylinders 42 and 43 can be manually adjusted in two steps.

  The pushing force F / F ′ and the rotation speed ω / ω ′ were changed in two stages according to the size of the work W using one threshold value. Instead of this, the control unit 60 may change the pushing force and / or the rotation speed in three or more steps by using two or more threshold values. The actuating device 6 (the control unit 60 and the hydraulic circuit 7) may be configured such that only one of the push output and the rotation speed changes. These are the same in the following embodiments.

  Other embodiments are described below. The same or similar configurations as those of the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

[Second Embodiment]
The mark M may indicate information about the weight of the work W instead of the size of the work W. Therefore, the marks M having different characteristics depending on the weight thereof are assigned to the work W. The control unit 60 can determine whether the weight of the work W is less than a predetermined threshold value or more than the threshold value by using the detection result of the mark sensor 5. The actuator 6 increases the pushing force F / F ′ and / or the rotational speed ω / ω ′ according to the weight of the work W when the work W is extruded by the same method as in the first embodiment. Make it faster

[Third Embodiment]
The mark M may indicate information regarding both the size and the weight of the work W. Therefore, the work W is assigned with the mark M having different characteristics depending on its size and weight. The control unit 60 uses the detection result of the mark sensor 5 to determine whether the size of the work W is less than or equal to a predetermined threshold value, and further determines whether the weight of the work W is less than or equal to the predetermined threshold value or more. be able to. Then, the actuator 6 increases the pushing force of the pushers 40 and 41 and / or increases the rotation speed of the support rollers 30 and 31 according to the size and weight of the work W when the work W is extruded.

  As an example, when both the size and the weight of the work W are less than the thresholds set for each, the actuator 6 sets the pushing force of the pushers 40 and 41 to F1 and / or the rotation speed of the support rollers 30 and 31. Be ω1. When one of the size and the weight of the work W is less than the threshold value and the other is the threshold value or more, the actuator 6 sets the pushing force to F2 and / or the rotation speed to ω2 (F2> F1, ω2>). ω1). Then, when both the size and the weight of the work W are equal to or greater than the threshold value, the operating device 6 sets the pushing force to F3 and / or the rotation speed to ω3 (F3> F2, ω3> ω2).

[Fourth Embodiment]
As shown in FIG. 12, the determination unit 5 of the present embodiment is a distance measurement sensor fixedly arranged at a predetermined position with respect to the pedestal 20. The distance measuring sensor 5 measures the distance to the work W supported by the support rollers 30 and 31 at the support position 21. In FIG. 12, the distance measuring sensor 5 is attached to the pedestal 20 via a sensor bracket (not shown) and is located right above the support position 21. The distance measuring sensor 5 is, of course, arranged sufficiently away from the support position 21 so as not to interfere with the pushing out of the work W.

  As is clear from FIGS. 12 and 13, the distance measuring sensor 5 measures different distances L and L ′ depending on the diameter of the work W. The distance measuring sensor 5 measures the distance L when the diameter of the work W is small as shown in FIG. 12, and measures the distance L ′ smaller than the distance L when the diameter of the work W is large as shown in FIG. 13 (L ′). <L). That is, the control unit 60 can calculate the diameter of the work W by using the measurement result of the distance measuring sensor 5 and determine whether the diameter of the work W is equal to or larger than the threshold value or smaller than the threshold value.

  The actuator 6 increases the pushing force of the pushers 40 and 41 in accordance with the diameter of the work W by using the measurement result of the distance measuring sensor 5 when pushing out the work W, and / or the support rollers 30 and 31. Increase the rotation speed of. In this embodiment, the mark M is unnecessary.

  As described above, when the work W is pushed out from the pedestal 20 to the shelf 8 by the pushers 40 and 41, the cargo handling device 2 of each embodiment supports the support roller 30 for rotating the work W (that is, for adjusting the position of the stopper WB). A rotation moment is applied to the work W by rotating 31.

  The size and weight range of the work W that can be extruded is narrow only by the pushing force of the pushers 40 and 41. For example, the size and weight of the work W causes the work W not to ride over the support rollers 30 and 31 or to stop on the rail pair 48 and 49 so that the work W cannot be pushed out from the pedestal 20. By adding the rotation moment, it becomes possible to push out the work W, which cannot be pushed out only by the pushing force of the pushers 40 and 41, from the receiving table 20 to the shelf 8. Therefore, the size and weight range of the extrudable work W is wide.

  Since the cargo handling device 2 assists the pushing of the work W from the cradle 20 to the shelf 8 by using the rotation device 3 for rotating the work W, the shape of the cradle 20 and the pushing device 4 (pushers 40, 41, It is very advantageous in that the size and weight range of the work W that can be extruded can be widened without changing the configuration and operation of the extrusion cylinders 42, 43, etc.).

  The actuating device 6 receives the second input and pushes out the pushers 40, 41 when the pushers 40, 41 are moved by the pushing cylinders 42, 43 by using the discrimination result of the discriminating unit 5 to determine the size and / or size of the work W. Or increase according to the weight. That is, when pushing out a large and / or heavy work W, the pushers 40 and 41 push the work W with a large pushing force F '. This strengthens the extrusion of the work W and further widens the range of the work W that can be extruded.

  The actuating device 6 receives the second input, determines the rotation speed of the support rollers 30, 31 when the rotation motor 32 rotates the support rollers 30, 31, and determines the size of the work W by using the determination result of the determination unit 5. / Or speed up depending on weight. That is, when pushing out the large and / or heavy work W, the support rollers 30 and 31 rotate at a high rotation speed ω '. This strengthens the extrusion of the work W and further widens the range of the work W that can be extruded.

  Due to the combination of the large pushing force F ′ and the high rotation speed ω ′, the range of the work W that can be extruded becomes wider.

  Although the preferred embodiment of the present invention has been described above, the present invention is not limited to the above embodiment. There are the following modifications.

  The rotary motor 32 as the first drive source may be another drive source such as an electric motor instead of the hydraulic motor. For example, an electric motor may be used as the first drive source, and the actuator 6 may control the electric motor to increase the rotation speed of the support rollers 30 and 31 according to the size and / or weight of the work W.

  The pushing cylinders 42 and 43 as the second drive source may be another drive source such as an electric cylinder instead of the hydraulic cylinder. For example, an electric cylinder may be adopted as the second drive source, and the actuator 6 may control the electric cylinder to increase the pushing force of the pushing cylinders 42, 43 depending on the size and / or weight of the work W.

  The actuating device 6 may operate the first and second drive sources using a configuration other than the hydraulic circuit 7 as long as it has a configuration suitable for the first and second drive sources used.

  The pushers 40 and 41 may employ a configuration other than the arm pair.

  Although the operation member 22 is a lever, it may be a button, a touch panel, or the like. In addition, the first input (for rotation) and the second input (for extrusion) are input to the operating device 6 by the single operating member 22, but the operating member for the first input and the operating member for the second input are May be provided separately.

DESCRIPTION OF SYMBOLS 1 Forklift 12 Lifting device 2 Cargo handling device 20 Cradle 21 Support member 22 Operating member 3 Rotating devices 30, 31 Support roller 32 Rotating motor (an example of a first drive source)
4 Extrusion device 40,41 Pusher 42,43 Extrusion cylinder (an example of a second drive source)
5 Discrimination unit (mark sensor, distance sensor)
6 Actuator 60 Control unit 7 Hydraulic circuit 74 First switching valve 75, 76 Second switching valve 8 Shelf W Work WA Center axis WB Plug M Mark X First horizontal direction Y Second horizontal direction ω, ω 'Support roller rotation Speed F, F'Pusher extrusion speed N, N 'Rotational moments c1, c2 First operation direction d1, d2 Second operation direction e1, e2 Support roller rotation direction f1, f2 Workpiece rotation direction

Claims (6)

A cargo handling device for rolling and handling a work,
A cradle for receiving the work,
A plurality of support rollers for supporting the work from below at the support position of the cradle;
A first drive source for rotating at least one support roller of the plurality of support rollers;
A pusher for pushing the work out of the support position and rolling the work.
A second drive source for moving the pusher,
An operation member for inputting the first input and the second input,
A discriminating unit for discriminating the size of the workpiece pushed out from the supporting position,
Receiving the first input, operating the first drive source to rotate the work while supporting the work at the support position by the plurality of support rollers, and receiving the second input, the first drive source. And the second drive source is actuated to push the work out of the support position by the pusher to cause the work to roll, and the rotation moment causes the rotation of the support roller to rotate the work with respect to the work. An actuating device for acting in a rotational direction,
The actuating device further comprises
Increasing the rotation speed of the support roller when receiving the second input and rotating the support roller by the first drive source according to the size of the work by using the determination result of the determination unit, and / Alternatively, the push output of the pusher when the pusher is moved by the second drive source in response to the second input is increased according to the size of the work by using the determination result of the determination unit,
A cargo handling device characterized by the above. The discrimination unit is a mark sensor for detecting a mark provided on the work, the mark indicating information about the size of the work,
The actuator is
The rotation speed of the support roller is increased according to the size of the work by using the detection result of the mark sensor, and / or the push output of the pusher is detected by using the detection result of the mark sensor. Increase according to the size of the work,
The cargo handling apparatus according to claim 1, wherein: The mark sensor is for detecting the color or shape of the mark, or for reading a one-dimensional code or a two-dimensional code as the mark,
The cargo handling apparatus according to claim 2, wherein: The mark indicates information about the size and weight of the work,
The actuator is
The rotation speed of the support roller is increased according to the size and weight of the work by using the detection result of the mark sensor, and / or the push output of the pusher is detected by using the detection result of the mark sensor. Increase according to the size and weight of the work,
The cargo handling apparatus according to claim 2 or 3, characterized in that. The determination unit is a distance measuring sensor fixedly arranged at a predetermined position with respect to the pedestal,
The distance measuring sensor is for measuring a distance to the work supported by the supporting roller at the supporting position,
The actuator is
The rotation speed of the support roller is increased according to the diameter of the work by using the measurement result of the distance measurement sensor, and / or the push output of the pusher is measured by using the measurement result of the distance measurement sensor. Increase according to the diameter of the work,
The cargo handling apparatus according to claim 1, wherein: A cargo handling device for rolling and handling a work,
A cradle for receiving the work,
A plurality of support rollers for supporting the work from below at the support position of the cradle;
A first drive source for rotating at least one support roller of the plurality of support rollers;
A pusher for pushing the work out of the support position and rolling the work.
A second drive source for moving the pusher,
An operation member for inputting the first input and the second input,
A mark sensor for detecting a mark provided on the work pushed out from the support position, the mark indicating information about the weight of the work,
Receiving the first input, operating the first drive source to rotate the work while supporting the work at the support position by the plurality of support rollers, and receiving the second input, the first drive source. And the second drive source is actuated to push the work out of the support position by the pusher to cause the work to roll, and the rotation moment causes the rotation of the support roller to rotate the work with respect to the work. An actuating device for acting in a rotational direction,
The actuating device further comprises
Increasing the rotation speed of the support roller when the support roller is rotated by the first drive source in response to the second input, in accordance with the weight of the work by using the detection result of the mark sensor, and / Alternatively, the push output of the pusher when moving the pusher by the second drive source upon receiving the second input is increased according to the weight of the work by using the detection result of the mark sensor,
A cargo handling device characterized by the above.

Images