JPH09132328A - Cargo loading and unloading facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide cargo loading and unloading facilities in which expansion and changes of the facilities, and maintenance and management of the facilities can be easily performed. SOLUTION: In the facilities, a cargo unloading part LD in which a cargo from a cargo transporting vehicle T for carrying-in cargo from outside, is unloaded, a cargo loading part LU in which a cargo is loaded on a cargo transporting vehicle T for carrying-out cargo to outside, and a cargo storage part LS for temporarily storing cargo while a cargo unloaded from one cargo transporting vehicle T is loaded on the other cargo transporting vehicle T, are provided. Then, a self-propelled cargo carrier 1 for carrying a cargo from the cargo unloading part LD to the cargo loading part LU, and an operation control means for controlling the operation of the self-propelled cargo carrier 1, are provided. The operation control means is adapted to stand by at the cargo storage part LS while the self-propelled cargo carrier 1 loaded with cargo at the cargo unloading part LD is moved to the cargo storage part LS, and the self-propelled cargo carrier 1 is then moved to the cargo loading part LU.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unloading section for unloading a load from an externally loaded vehicle, a loading section for loading the externally loaded vehicle with a load. The present invention relates to a load / unload facility that is provided with a load storage unit that temporarily stores a load unloaded from a carrier vehicle until it is loaded onto another load carrier vehicle.

[0002]

2. Description of the Related Art Such an unloading / unloading facility is provided as a relay base for loads transported by a load carrier vehicle such as a truck. It is a facility for organizing a load according to a destination or the like to be stored in and shipping it to a load-carrying vehicle of a loading section. As such loading and unloading equipment, automation has been conventionally attempted to improve work efficiency, for example,
The cargo storage section is composed of a so-called automatic warehouse equipped with a plurality of shelves for storing loads and a stacker crane for loading and unloading the shelves, and the automatic warehouse and the unloading and loading sections. A facility for transporting a load by a load carrier is being considered.

[0003]

However, in the above-mentioned conventional structure, it is not easy to expand and change the automatic warehouse once it is installed, and the automatic warehouse stores a plurality of loads at once. Therefore, if a stacker crane or the like fails, the entire load stored in the automated warehouse cannot be put in or taken out, which makes it difficult to maintain and manage the equipment. The present invention has been made in view of the above circumstances, and an object thereof is to provide an unloading facility that facilitates expansion and modification of the facility and maintenance of the facility.

[0004]

A self-propelled cargo carrier that has received a load from a cargo carrier at an unloading section is provided with a load storage section under the control of operation control means. Move to. In the load storage unit, the self-propelled load carrier waits with the load still loaded and moves to the load loading unit when loading the load carrying vehicle in the load loading unit. In other words, in the load storage unit, the load is stored in a state in which the load is mounted on each self-propelled load carrier that can be operated independently. The storage state of the load in the load storage unit is determined by the operation control means. It can be appropriately changed by the transfer control of the automatic cargo carrier. or,
Since each self-propelled carrier stores the load independently, even if some trouble of one self-propelled carrier occurs, it will affect other self-propelled carrier. Can be extremely small. Therefore, it is possible to provide the unloading and unloading facility that facilitates the expansion and modification of the facility and the maintenance and management of the facility.

Further, since the unloading section and the loading section are arranged with the load storage section sandwiched therebetween by providing the structure according to the above-mentioned claim 2, the general load flow of the entire equipment is in one direction. In addition, in the load storage unit, since the self-propelled load carriers are arranged in a line along the direction from the unloading unit to the loading unit, various loads with different destinations are complicated. In the storage unit, the flow of the load can be smoothly controlled, and the entire facility can be made advantageous in terms of actual manufacturing. When the self-propelled cargo carrier waiting in the cargo storage unit moves to the cargo loading unit and loads a cargo on the cargo carrier to be loaded, the cargo carrier is equipped with the configuration according to claim 3. Is moved to the loading section in the reverse order or almost the reverse order of the unloading schedule at the delivery destination planned, so the load placement on the load-carrying vehicle is closer to the front than the unloading load. It becomes a tendency, and it can be made convenient for delivering the load.

Further, the self-propelled load carrier having the structure according to the above-mentioned claim 4 which is loaded with the load at the loading section and is in an empty state is newly loaded with the load at the unloading section. Until that time, it will stand by at the waiting section provided on the side of the cargo storage section. In the standby unit, the self-propelled load carriers wait in parallel with or substantially parallel to the load arrangement direction in the load storage unit, so the self-propelled load carrier that travels between the unloading unit and the loading unit. The flow of the vehicle can be smoothly controlled as a whole, and the entire facility can be made more advantageous in terms of actual manufacturing. Further, by providing the structure according to claim 5, the operation control means reads the destination information of the load unloaded by the unloading section and the record information of the destination information recording means attached to the load by the reading means. Obtainable. Therefore, it is not necessary for the work vehicle to manually input the destination information of the load to the operation control means, the labor required for managing the equipment can be reduced, and the unloading equipment can be made more convenient. it can.

According to the sixth aspect of the present invention, the reading means provided in the self-propelled cargo carrier stores the record information of the destination information recording means provided in the load carrier that holds the load. read. Such a load carrier is generally standardized into a predetermined shape, and the posture and position of the load carrier to be mounted on a self-propelled load carrier are also in a predetermined state. The relative positional relationship between the destination information recording means and the destination information recording means can also be made constant, and the relative positional relationship between the reading means and the destination information recording means is not constant. The means can have a simple structure. Moreover, since the reading means and the destination information recording means are configured to perform wireless communication, even if the relative positional relationship between the reading means and the destination information recording means is slightly different,
The deviation can be absorbed so that the reading means can accurately read the destination information.

Further, by providing the structure according to the seventh aspect, the self-propelled load carrier can be loaded onto the load mounting surface of the load carrier vehicle at the unloading section or the loading section. That is, the height of the lift can be raised or lowered to a height that is flush with or substantially flush with the loading surface of the load-carrying vehicle located in the unloading section or the loading section. Since it can be lifted and lowered over a height that is flush or nearly flush with the lifting platform and a height that is flush or nearly flush with the floor surface of the unloading section or loading section, ,
First, get on the auxiliary lift that is flush or nearly flush with the floor, raise and lower the auxiliary lift to a level flush or nearly flush with the lift, and then transfer to the elevator. It is possible to get on the loading surface of the cargo carrier.
Moreover, by providing a plurality of auxiliary lifts, it is possible to raise and lower the self-propelled load carrier toward the load carrying surface of the load carrier vehicle and to raise and lower the self-propelled load carrier vehicle returning from the load carrier surface. Can be carried out by a separate auxiliary lift, so that the operation of the self-propelled load carrier in the unloading section or the loading section can be smoothly carried out. Therefore, the self-propelled load carrier can smoothly move to a position where the load is placed on the load carrying surface of the load carrying vehicle or a position extremely close to the position where the load is to be placed, and the self-propelled load carrier can automatically move the load. This makes it extremely easy to unload the load mounted on the traveling carrier or the self-propelled carrier on the loading surface. Further, by providing the configuration according to claim 8, the self-propelled cargo carrier can carry loads having various shapes by exchanging the load handling unit attached to the traveling carriage unit. It is possible to perform work other than simple transfer work such as inspection of cargo.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the unloading and loading facility of the present invention will be described below with reference to the drawings. As shown in the overall layout in plan view in FIG.
P is an unloading unit LD that unloads a load LO from a load-carrying vehicle T such as a truck that loads the load LO from the outside, and a load-loading unit LU that loads the load LO to the load-carrying vehicle T that unloads the load LO to the outside. Are arranged with a load storage unit LS for temporarily storing the load LO unloaded from the load-carrying vehicle T interposed therebetween. Further, the load LO is emptied by a load loading unit LU on the side of the load storage unit LS. Stand-by unit S for waiting the self-propelled cargo carrier 1 that has become a load
S is arranged. As shown in FIG. 2, the load LO in the present embodiment has casters 6 at the four bottom corners.
It has a package shape in which various small parcels are stored in a basket-shaped pallet P which is a cargo carrier to which (usually locked) is attached. As shown in 2, an ID tag 7, which is destination information recording means for recording the destination information of the cargo, is attached.

The load LO unloaded by the unloading unit LD is transported by the self-propelled load carrier 1 toward the loading unit LU,
During the transportation, the load storage unit LS waits until the loading operation is performed in the load loading unit LU.
On the traveling road surface of the self-propelled load carrier 1, a guide line L is laid along the travel route of the self-propelled load carrier 1. The induction system using the guide line L may be, for example, a magnetic induction system using a belt-shaped magnet in the guide line L. The guide line L that has exited the unloading unit LD and entered the load storage unit LS is laid in a straight line in the load storage unit LS along the direction from the unloading unit LD toward the load loading unit LU, and is used as a standby guide. It is the line La, and the self-propelled cargo carrier 1 equipped with the cargo LO stands by at the standby guide line La. Therefore, the self-propelled cargo carrier 1 has the cargo storage unit LS.
In the above, in line with the direction from the unloading unit LD to the loading unit LU, the devices stand by in a line. The standby guide line La is interrupted at the end of the load storage unit LS on the side of the load loading unit LU, and the self-propelled load carrier 1 waiting on the standby guide line La moves away to move to the load loading unit LU. The guidance line Lb is laid in parallel with the standby guidance line La.

The self-propelled load carrier 1 is capable of moving forward and backward and turning, and is also slidable in the lateral width direction. The transfer from the standby guide line La to the disengagement guide line Lb is as follows. This is performed by the sliding movement in the lateral width direction. As a result, as shown in FIG. 1, the self-propelled load carriers 1 on the standby guide line La can stand by in a state where they are close to each other, and the space of the load storage unit LS can be effectively used. The loading platform 1a of the self-propelled load carrier 1 can be raised and lowered, and the loading platform 1a is lifted in a state of being digged into the bottom of the loading LO to mount the loading LO. When loading the loading LO, the loading platform 1a is reversed. Lower the caster 6 of the load LO to the ground. At the center of the loading platform 1a is a reading means for reading recorded information of the ID tag 7 by transmitting radio waves to the ID tag 7 of the load LO and receiving destination information returned from the ID tag 7 by radio waves. A tag reader 8 is provided. The recorded information of the ID tag 7 read by the tag reader 8 is transmitted to the ground side by radio waves by a communication device (not shown).

Next, the unloading section LD and the loading section LU
Will be described. The unloading unit LD and the unloading unit LU have the same basic configuration except that the self-propelled vehicle 1 carries a load or unloads a load, and therefore the unloading unit LU and the unloading unit LU are the same. Only explained. As shown in FIGS. 2 and 3, the loading section LU is provided with an elevator 2 at a position close to the rear part of the cargo transport vehicle T located at a predetermined position for loading, and the elevator 2 is provided with Two auxiliary lifts 3a and 3b are connected in series. The lifting height of the lifting platform 2 can be adjusted freely, and can be adjusted to a level flush with the loading surface of the cargo carrier T. Further, the auxiliary elevators 3a and 3b are freely movable up and down so that they are flush with the floor of the loading section LU and flush with the elevator 2. In addition, the lift 2
It is not always necessary that the load carrying surface of the load carrier vehicle T is flush with the load bearing surface, but it is desirable that the load bearing surface be as flush as possible in order to reduce the impact during transfer. This is the lift 2
The same is true between the auxiliary lift table 3 and the auxiliary lift table 3, and between the auxiliary lift table 3 and the floor surface. In addition, the lift 2 and the auxiliary lift 3a,
A guide line L is laid on the 3b as well as the load storage unit LS and the like. A partition wall 4 is installed on the side of the load storage sections LS of the auxiliary lifts 3a and 3b, and an automatic opening / closing entrance that serves as an entrance to the loading section LU of the self-propelled load carrier 1 is installed on the partition wall 4. A door 4a and an automatic opening / closing type exit door 4b serving as an exit are provided. Entrance door 4a and exit door 4b
Are equipped with optical sensors 5a and 5b for detecting the approach of the self-propelled cargo carrier 1 and opening the doors, respectively.

The process of loading a load in the loading unit LU will be briefly described. LU from loading door 4a
The self-propelled cargo carrier 1 that has entered the vehicle enters the auxiliary lifting platform 3a on the entrance side that is flush with the floor and stops. After that, the auxiliary lifting platform 3a is lifted up and down to a height flush with the loading platform 2 of the cargo carrier T, and the self-propelled load carrier 1 transfers to the lifting platform 2. . Lifting table 2
The self-propelled cargo carrier 1 riding on the vehicle slides in the lateral direction along the guide line L, then moves to the loading surface of the cargo carrier T, lowers the carrier 1a, and grounds the pallet P. After that, it returns to the lift table 2. Regarding the traveling of the self-propelled load carrier 1 on the load mounting surface of the load transport vehicle T, the guide line L is laid on the load mounting surface of the load transport vehicle T, or The load carrier 1 may be configured to autonomously run from the time when it is transferred to the load mounting surface of the load carrier T. The self-propelled cargo carrier 1 that has returned to the lifting platform 2 slides to the exit side, transfers to the auxiliary lifting platform 3b on the exit side that is flush with the lifting platform 2, and stops. After that, the auxiliary lift 3b moves up and down to a level flush with the floor,
The self-propelled cargo carrier 1 on the auxiliary lift 3b moves to the floor surface, passes through the exit door 4b, and heads for the standby unit SS. In addition, by providing two auxiliary lifting platforms 3a and 3b, as shown in FIG. 1, the above-described operation is continuously performed on a plurality of self-propelled cargo carriers 1 (A to G in FIG. 3). Can be done.

Next, equipment for controlling the operation of the self-propelled cargo carrier 1 will be described. The self-propelled load carrier 1 is provided at a position along the guide line L at the front side of the load storage unit LS.
The ground-side communication device 9 that transmits and receives to and from the communication device is grounded, and the ground-side communication device 9 is connected to the operation controller CO that controls the operation of the self-propelled cargo carrier 1. In the load storage unit LS, a light emitting device 10 for transmitting a command from the operation controller CO to the self-propelled cargo carrier 1 by optical communication along the standby guide line La is arranged in the standby guide line La. It is installed in correspondence with the arrangement pitch of the traveling type carrier 1. Although not shown, the self-propelled cargo carrier 1 is provided with a light receiving device corresponding to the light emitting device 10. Also in the standby unit SS, the light-emitting device 10 that transmits a command from the operation controller CO to the self-propelled load carrier 1 by optical communication along the guide line L has a self-propelled load lined up in the guide line L. It is installed corresponding to the arrangement pitch of the carrier 1.

Next, operation control of the self-propelled cargo carrier 1 by the operation controller CO will be described. Unloading Department LD
The self-propelled cargo carrier 1 equipped with cargo LO at
The destination information of the load LO is read from, and when the installation position of the ground side communication device 9 is approached, the destination information is transmitted.
The operation controller CO, which has received the destination information of the load LO from the ground side communication device 9, commands via the ground side communication device 9 the position at which the self-propelled load carrier 1 should wait in the load storage unit LS. The self-propelled cargo carrier 1 that received this command
The vehicle travels while detecting a mark (not shown) indicating the address information of the guide line L installed along the guide line L, reaches the commanded standby position, and stops.

When the operation controller CO receives an instruction that the load carrying vehicle T is located at the predetermined position of the loading section LU, the operation controller CO stores it in the load storage section LS based on the destination information of the load LO already received. The load LO to be loaded on the load-carrying vehicle T to be loaded is specified from the loaded loads LO, and the specified load LO is loaded based on the map information provided in the operation controller CO. Estimate the planned unloading sequence for the target cargo carrier T. Then, in order to move the self-propelled load transport vehicle 1 carrying the load LO to the load loading unit LU in the reverse order or almost the reverse order of the estimated order, the self-propelled load transport vehicle 1
In contrast, the timing of departure, the position of the load-carrying vehicle T to be loaded, and the stop position in the standby unit SS are indicated via the light emitting device 10. For example, in FIG. 1, the load LO loaded in the same cargo carrier T is the load LO marked with a circle.
In addition, the unloading order (the numbers in the circles: 1 to 8) is estimated, and the unloading order is moved to the loading section LU in the reverse order (starting from 8).

The self-propelled cargo carrier 1 transfers to the dismounting guide line Lb based on the instruction and loads the loading section L.
The load LO is moved to U, and the load LO is moved to the standby unit SS. When the cargo carrier T arrives at the unloading unit LD, the operation controller CO sends a departure instruction and a position instruction of the arrived cargo carrier T to the self-propelled cargo carrier 1 waiting in the standby unit SS. , Via the light emitting device 10. The operation controller CO and the self-propelled cargo carrier 1 repeat the above operations to load and unload the cargo LO. Therefore, the operation controller CO functions as operation control means for controlling the operation of the self-propelled load carrier 1 that transfers the load LO from the unloading unit LD to the load loading unit LU.

[Other Embodiments] Other embodiments will be listed below. In the above embodiment, the entrance door 4a is used as the entrance to the unloading section LD and the loading section LU of the self-propelled cargo carrier 1.
As the exit door 4b, an entrance and an exit are separately provided, but as shown in FIG. 4, an entrance and exit 20 in which the entrance and the exit are integrated is provided, and correspondingly, an auxiliary lifting platform on the entrance side is provided. 3a and the auxiliary lift base 3b on the exit side may be installed adjacent to each other. By arranging in this way, the installation space can be reduced. FIG.
Exemplifies the unloading unit LD, but the unloading unit LU can have a similar configuration. In the above-described embodiment, the load LO is illustrated as a basket-shaped pallet P in which various small packages are stored. However, a plate-shaped pallet on which various loads are loaded or a pallet is It is applicable to various cases such as those not used.

In the above-described embodiment, the self-propelled load carrier 1 is provided with the lifting platform 1a, but the forklift truck shown in FIG. Fork unit 31 having the function of, and a transfer robot 32a capable of individually transferring small parcels shown in FIG.
And a variety of load handling units HU such as an inspection unit 33 including the visual sensor 33a and the manipulator 33b shown in FIG. It may be exchangeable. The traveling carriage unit RU is provided with a positioning pin 30a for positioning each load handling unit HU, and the load handling unit support surface 30b provided with the positioning pin 30a is
In order to facilitate the attachment of the load handling unit HU, the load handling unit HU can be raised and lowered. In the above embodiment, the self-propelled load carrier 1 is configured to board the load carrier T to load and unload the load LO. However, the self-propelled load carrier 1 is located at the front side of the load carrier T. As a configuration including a transfer device including, for example, an articulated manipulator for positioning the load LO between the self-propelled load carrier vehicle 1 and the load mounting surface of the load carrier vehicle T Is also good.

In the above embodiment, the destination information recording means 7 is composed of an ID tag, but various modifications such as a so-called bar code can be made. When the destination information recording means 7 is composed of a bar code, the reading means 8
May be configured by a so-called bar code reader. In the above-described embodiment, the auxiliary unloading units 3a and 3b are provided in the unloading unit LD and the loading unit LU, respectively, but three or more units may be provided.

It should be noted that although reference numerals are given in the claims for convenience of comparison with the drawings, the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of the drawings]

FIG. 1 is a layout diagram of an unloading facility according to an embodiment of the present invention.

FIG. 2 is a perspective view of a loading section according to the embodiment of the present invention.

FIG. 3 is a plan view of the loading section according to the embodiment of the present invention.

FIG. 4 is a perspective view of an unloading unit according to another embodiment of the present invention.

FIG. 5 is a perspective view of a traveling carriage portion of a self-propelled cargo carrier according to another embodiment of the present invention.

FIG. 6 is a perspective view of a load handling unit of a self-propelled load carrier according to another embodiment of the present invention.

FIG. 7 is a perspective view of a load handling unit of a self-propelled load carrier according to another embodiment of the present invention.

FIG. 8 is a perspective view of a load handling unit of a self-propelled load carrier according to another embodiment of the present invention.

[Explanation of symbols]

 1 Self-propelled load carrier 2 Lifting platform 3a, 3b Auxiliary lifting platform 7 Destination information recording unit 8 Reading unit CO operation control unit HU Load handling unit LD Unloading unit LU Load loading unit LS Load storage unit P Load carrier RU running Cart section SS Standby section T Cargo vehicle

Claims (8)

[Claims] 1. A cargo carrier (T) for carrying in cargo from outside.
A load unloading unit (LD) for unloading a load from the load carrier, a load unloading unit (LU) for loading a load on the load carrying vehicle (T) that discharges the load to the outside, and a load unloading from the load carrying vehicle (T). The cargo storage unit (L) that temporarily stores the cargo until it is loaded on another cargo carrier (T)
S) is provided, which is a self-propelled load carrier (1) for transporting a load from the unloading unit (LD) to the load unloading unit (LU), and its own. Operation control means (C for controlling the operation of the traveling type carrier vehicle (1)
O) is provided, and the operation control means (CO) moves the self-propelled load carrier (1) carrying a load at the unloading unit (LD) to the load storage unit (LS). , The self-propelled cargo carrier (1),
A load / unload facility that is configured to wait in the load storage unit (LS) until being moved to the load loading unit (LU). 2. The unloading unit (LD) and the load unloading unit (LU) are arranged so as to sandwich the load storage unit (LS), and the operation control means (CO) controls the load storage unit (CO). LS) in a state in which the self-propelled load carrier (1) on which a load is placed is arranged in a line along a direction from the unloading unit (LD) to the load loading unit (LU). The loading / unloading facility according to claim 1, which is configured to be on standby. 3. The operation control means (CO) is located in the load storage section (LS) when loading a load carrying vehicle (T) located in the load loading section (LU). Among the self-propelled load carrier (1), the self-propelled load carrier (1) on which a load to be loaded on the load carrier (T) to be loaded is placed is specified, and the load target is specified. Of the self-propelled cargo carrier (1) in the reverse order or almost the reverse order of the planned unloading order of the cargo carrier vehicle (T).
3. The unloading facility according to claim 1 or 2, which is configured to move an item to the loading section (LU). 4. The load storage unit (LS) is provided with no load on the side of the load storage unit (LS) in parallel or substantially parallel to the arrangement direction of the self-propelled load carrier (1) in the load storage unit (LS). A standby unit (SS) for waiting the traveling load transport vehicle (1) is provided, and the operation control means (CO) loads the self-propelled load transport vehicle (1) at the load loading unit (LU). ) Is moved to the standby section (SS), and the cargo transport vehicle (T) arrives at the unloading section (LD), the self-propelled load carrier () of the standby section (SS). The unloading facility according to claim 2 or 3, which is configured to move 1) to the unloading unit (LD). 5. A destination information recording means (7) for recording destination information is attached to a load to be loaded / unloaded from a cargo transport vehicle (T), and the read information for reading the recorded information of the destination information recording means (7) is read. Means (8) are provided, and the operation control means (CO) is configured to control the operation of the self-propelled cargo carrier (1) based on the read information of the reading means (8). The unloading facility according to claim 1, 2, 3 or 4. 6. The load to be unloaded from the load carrier vehicle (T) is a load held by a load carrier (P) holding the load, and the destination information recording means (7) Provided in the load carrier (P), the reading means (8) provided in the self-propelled load carrier (1), the destination information recording means (7) and the reading means (8). The unloading facility according to claim 5, which is configured to perform wireless communication. 7. An elevating table () capable of ascending / descending to the unloading unit (LD) or the loading unit (LU) at a height flush with or substantially flush with a loading surface of a load-carrying vehicle (T). 2), a height that is flush or nearly flush with the lift table (2), and a height that is flush or nearly flush with the floor surface of the unloading unit (LD) or the loading unit (LU). 6. A plurality of auxiliary lifts (2) that can be raised and lowered over the same are provided in a state of being connected to the lifts (2).
Or the loading / unloading facility described in 6. 8. The self-propelled cargo carrier (1) comprises a traveling carriage unit (RU) and a cargo handling unit (H) for handling a cargo to be transported.
U), and the load handling unit (HU) is configured to be detachable and replaceable with respect to the traveling carriage unit (RU).
The unloading facility according to 3, 4, 5, 6 or 7.