JPS61106321A - Cargo transfer device - Google Patents

Abstract

PURPOSE:To replace the cargoes on transporter simultaneously by transferring cargoes on unmanned transporter supporting member under travel onto the rear arm then the cargoes on the front arm to the supporting member. CONSTITUTION:The front and rear arms 13a, 13b of elevatable body 14 are lowered to the waiting position X to lower a stopper 11 while to drive a roller 9 and to move a pass box 4a stopped on the front conveyor 6a onto the end section 7a of conveyor 6a. Then a piston rod 27 is retracted to scoop the pass box 4a by means of the arm 13a thus to stop the arms 13a, 13b at the lifting position Y. Consequently, an unmanned transporter 1 is decelerated to advance to the end 7b position of rear conveyor 6b to detect approach of the pass box 4b to the elevatable body 14 through a sensor 31 thus to project a rod 28 and lift the arms 13b, 13a to the highest position Z to transfer the pass boxes 4b, 4a.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a load transfer device, and more particularly to a device for transferring load between an automatic guided vehicle and a ground conveyor.

(Prior art) As a conventional transfer device for an automatic guided vehicle,
As shown in Publication No. 18260, a conveyor for loading and unloading is mounted on an automatic guided vehicle and the conveyor approaches and moves away from the conveyor on the ground, and as shown in Figure 10, there is a conveyor on the ground that A button 51 for loading and unloading is provided at the button 50, and a baggage 52 is hung on the button 51 and set at 53 during unmanned conveyance (transferring the baggage 52 between the button roller type support 54 and the conveyor 50). Shishino etc. are used to perform this.

(Problems to be Solved by the Invention) However, in any of the above transfer devices, when transferring cargo, the automatic guided vehicle must be stopped at a position opposite to the end of the conveyor on the ground. It takes time to transfer and the operation rate during unmanned transportation is poor, and the control becomes complicated because accurate positioning of the parking position is required. In addition, it is not possible to load and unload cargo at the same time, such as exchanging empty boxes and parts supply boxes, and to do so, the automatic guided vehicle must be stopped at two locations for loading and unloading. It takes more time to load. 1 more
Only one item of luggage could be transferred to each automated guided vehicle, and multiple items could not be loaded or unloaded individually. In particular, with the device of the above-mentioned Jitsuka Sho 56-18260, it is necessary to supply power to the loading/unloading conveyor mounted on the automatic guided vehicle, and furthermore, the weight of the conveyor and its control device increases, so the automatic guided vehicle The batteries required either large capacity or frequent charging.

This invention solves the above-mentioned conventional problems.It is possible to transfer cargo without stopping the automated guided vehicle, and furthermore, it is possible to load and unload cargo onto the automated guided vehicle almost simultaneously using the same device. The purpose of the present invention is to provide a cargo transfer device that can greatly improve the operating rate of an automatic guided vehicle and also reduce the weight of the automatic guided vehicle.

(Means for Solving the Problems) However, the load transfer device of the present invention includes an automatic guided vehicle equipped with support members for supporting the load on both left and right sides, and an automatic guided vehicle with an end facing the path of the automatic guided vehicle. A front conveyor for loading and unloading installed in parallel, a front arm that can be inserted and removed from above into an introduction section for a baggage finger provided at the end of the front conveyor, and an end of the rear conveyor. A lifting body is provided with a rear arm that can be freely inserted and removed from above into an introduction section for loading cargo provided in the section, and the lifting body F is driven to lift the front arm and the rear side. The arm is sequentially moved to a standby position in both of the introduction sections, to a raised position directly below the bottom surface of the cargo loaded on the transport vehicle passing through the end positions of both conveyors, and to a top position directly above the bottom surface. This is a cargo transfer device equipped with an elevating body drive device.

In this invention, the front side refers to the side in the direction of movement of the automatic guided vehicle.
The rear side refers to the side opposite to the direction of movement of the automatic guided vehicle. In addition, left and right refer to the left and right in the direction of travel.

(Function) In the cargo transfer device of the present invention, the cargo on the support member of the automatic guided vehicle passing through the end position of the rear conveyor is
The cargo is transferred onto the rear arm which is driven by the elevating body drive device and ascends from the raised position to the uppermost position, and the cargo is transferred onto the front arm which is driven by the elevating body drive device and descends from the uppermost position to the upper back position. It is transferred onto the support member of the automatic guided vehicle that passes through the end position of the conveyor. In addition, the cargo on the end of the front conveyor is driven by the elevating body drive device and transferred onto the front arm, which rises from the standby position in the introduction section to the raised position, and the cargo on the rear arm is driven by the elevating body drive device. It is then transferred onto the rear conveyor from the rear arm that descends to a standby position within the introduction section of the rear conveyor. By transferring the load on the support member of the running automatic guided vehicle onto the rear arm and subsequently transferring the load on the front arm onto the support member, the load on the automatic guided vehicle can be replaced. are carried out almost simultaneously.

(Embodiment) An embodiment of the present invention will be described below with reference to FIGS. 1 to 9.

In Figures 1 and 2, 1 is an automatic guided vehicle, which is guided in the direction of movement indicated by arrow F by a line 2 provided on the floor, and is given a deceleration command by a support plate 3 also provided on the floor, and travels at low speed. It is now possible to switch to . Two support members 5 are provided in the upper and lower stages to support the right and left sides (bottom surface) of the load 4 so that the automatic guided vehicle 1 can load two pieces of luggage. 6a is a front conveyor for overloading, and 6b is a rear conveyor for unloading. Both conveyors have ends 7a and 7b located within the path of the automatic guided vehicle 1, and extend in a direction perpendicular to the traveling direction F. It is set on the ground in the form of The rear conveyor 6b is a known roller conveyor that drives each roller 9 with a chain by a motor 8 to convey the load on the rollers 9 in the direction of arrow B, and the front conveyor 6.
A also has a similar configuration and is a roller conveyor that conveys cargo in the direction of the arrow. At the end 7a of the front conveyor 6a, a part of the conveyor frame is cut out and a part of the roller 9 is removed so that a front arm 13a, which will be described later, can enter from above. An introduction section 10b for loading cargo having a similar structure is also provided at the end 7b of the rear conveyor 6b. Reference numeral 11 denotes a stopper provided in front of the end 7a of the front conveyor 6a, which is moved up and down by an air cylinder 11a so as to project from and retract from between the rollers 9. 12 is an automatic guided vehicle guide plate fixed to the pedestal of the rear conveyor 6b. On the other hand, 13a and 13b are the introduction portions 10a of each of the above-mentioned conveyors.
A front arm and a rear arm are disposed above 10b, and their bases are fixed to the front and rear sides of the elevating body 14, respectively. The left and right sides of the front arm 13a and the rear arm 13b are all smaller than the left-right distance W of the support member 5 of the automatic guided vehicle. Reference numeral 20 denotes an elevating object driving device that drives the elevating object 14 up and down, and includes two guide rods 21 fixedly fixed on the ground between the front conveyor 6a and the rear conveyor 6b, and is slidably fitted into each of these guide rods. It is fixed to the mating bushes 22 and 22, and the tip part
4, and air cylinders 24 and 25 that drive the elevating body 14 up and down via the elevating plate 23.
It consists of The cylinder part of the air cylinder 24 is attached to a connecting plate 26 that connects the guide rods 21.21, while the cylinder part of the air cylinder 25 is attached to the lifting plate 23, and the piston rods 27 and 28 of both air cylinders 24 and 25 are They are integrally connected via a joint plate 29. The air cylinder 24 moves from a standby position X, where the front arm 13a and the rear arm 13b are inside the introduction parts 10a and 10b, to a predetermined stage (in this embodiment, the upper stage) of the automatic guided vehicle 1, as shown in FIG. Vertical distance 1 between the upper boundary position Y directly below the lower surface of the cargo 4 placed on the support member 5
! ! It has a piston stroke equal to lS. Further, the air cylinder 25 has a piston stroke 1 which is equal to the vertical distance 11T between the uppermost position Z directly above the lower surface of the cargo 4 and the raised position Y. Further, 31 is a sensor for detecting cargo provided on the rear surface of the elevating body 14, and 32 is a sensor for detecting an automatic guided vehicle provided on the ground.

Using the cargo transfer device 35 configured as described above, an empty oil cylinder 4a as cargo 4 is transferred from the front conveyor 6a to the automatic guided vehicle 1, and an oil cylinder 4b containing parts is transferred from the automatic guided vehicle 1 to the rear conveyor 1. The operation when transferring to 6b will be explained.

First, the piston rod 27 of the air cylinder 24 and the piston 28 of the air cylinder 25 are projected, the front arm 13a and the rear arm 13b are lowered to the standby position X, the stopper 11 is lowered, and the roller 9 is lowered.
is driven, and the oil cylinder 4a, which was hooked on the stopper on the front conveyor 6a, is moved to the front conveyor 6 as shown in FIG.
a onto the end 7a. Next, if the piston rod 27 of the air cylinder 25 is driven in the retracting direction prior to the entry of the automatic guided vehicle 1 to be transferred, the oil cylinder 4a is scooped up by the front arm 13a, and the oil cylinder 4a is scooped up by the front arm 13a and the rear arm. 13b is stopped at the raised position Y as shown in FIG. Next, the automatic guided vehicle 1 loaded with the oil cylinder 4b decelerates in response to a command from the indicator plate 3 and enters the end 7b position of the rear conveyor 6b at a low speed of, for example, 0.3 yyt/s. When the approach of the cylinder 4b to the contact surface of the elevating body 14 is detected, the air cylinder 25 is driven, the piston rod 28 is protruded, and the rear arm 3b is raised to the uppermost position Z, as shown in FIG. As shown, the oil cylinder 4b is transferred onto the rear arm 13b and the front arm 13a.
U1 also reaches the uppermost position Z and further raises the transit box 4a, and the automatic guided vehicle 1 enters the end 7a of the front conveyor 6a without any hindrance. The sensor 32 detects that the front edge of the automatic guided vehicle 1 has reached the vicinity of the outside of the frame of the front conveyor 6a,
When the air cylinder 25 is driven in the retracting direction of the piston rod 28, the front arm 13a descends to the raised position Y, and the oil scum 4a on the arm 13a is removed from the upper support member 5 of the automatic guided vehicle 1, as shown in FIG. This completes the replacement of the oil scum 4b and 4a of the automatic guided vehicle 1. The automatic guided vehicle 1 increases its speed as appropriate and advances toward the next process equipment as shown in FIG. 7, and replaces the oil scum in the lower stage using the same cargo transfer method. On the other hand, oil scum 4 on the rear arm 13b
b, the air cylinder 24 is driven in the piston rod protruding direction to lower the rear arm 13b (and front arm 13a) to the standby position X, place it on the end 7b of the rear conveyor 6b, and then The conveyor 6b is operated to carry out the oil lees 4b as shown in FIG. 8, and a new oil lees 4a is carried in by the front conveyor 6a, and the same steps as described above are repeated.

FIG. 9 shows another embodiment of the invention, in which the front conveyor 6
a and the rear conveyor 6b are located outside the path of the automated guided vehicle 1, the guide rod 21 is fixed upright on a cart 40 that is movable in the left and right direction, and the cart 40 is moved on the rail 42 by an air cylinder 41. The only difference from the previous embodiment is that it is driven left and right. Also, in terms of operation, front arm 1
3a and rear arm 13b to the standby position X, the trolley 40 is moved to the right by a distance U in the figure using the air cylinder 41, and when positioned to the 1-up position Y and the highest position Z, the trolley 40 is moved by the distance U. Move only U to the left,
The vertical movement of the elevating body 14 is performed by air cylinders 24 and 25 as in the previous embodiment.

In this embodiment, while the baggage 4 is on the end 7a of the front conveyor 6a or the end 7b of the rear conveyor 6b,
The automatic guided vehicle 1 that does not perform transfer can freely pass to the left of the front conveyor 6a and the rear conveyor 6b.

In this embodiment, the guide rod 21 is fixed on the ground, the elevating body 14 is attached to the elevating plate 23 so as to be able to move left and right, and the elevating body 14 is reciprocated from side to side by a drive fIJm such as an air cylinder. Similar effects can also be obtained.

The present invention is not limited to the above-described embodiments; for example, the front arm 13a and the rear arm 13b may be plate-shaped in addition to the fork-shaped ones described above. In addition to the air cylinder, a direct-acting actuator using a servo motor as a prime mover may be used as the driving device for vertically driving the elevating body 14 and horizontally driving the trolley 40. In this case, the same device can be used to drive the automatic guided vehicle. You can freely choose between the upper and lower berths to transfer your luggage. Further, in the above embodiment, the automatic guided vehicle is decelerated when transferring the luggage, but depending on the weight of the luggage and the speed of the automatic guided vehicle, the automatic guided vehicle may be transferred without being decelerated. In addition, the number of cargo loading stages of an automatic guided vehicle is 1 or 3.
It is also possible to have more than one stage.

(Effects of the Invention) As explained above, according to the present invention, it is possible to transfer cargo to and from the conveyor without stopping the automatic guided vehicle, and it is also possible to load and unload cargo onto the automated guided vehicle. The transfer can be carried out almost simultaneously, which greatly reduces the time required for transfer and improves the operating efficiency of the transport vehicle. Furthermore, since no powered transfer device is mounted on the automatic guided vehicle, the weight of the automatic guided vehicle can be reduced, and waste of battery power in the automatic guided vehicle can be prevented. Furthermore, the device is simple and economical because it does not require complex control such as stop positioning control of the automatic guided vehicle, and it is also possible to individually load and unload multiple items loaded on the automatic guided vehicle. Automatic guided vehicles can be used efficiently on multiple conveyor lines.

[Brief explanation of the drawing]

Fig. 1 is a perspective view of a luggage transfer device showing an embodiment of the present invention, Fig. 2 is a partially cutaway front view of the same, Figs. 3 to 8 are perspective views of essential parts showing operating states, and Fig. 9 2 is a view corresponding to FIG. 2 showing another embodiment of the present invention, and FIG. 10 is a perspective view showing an example of a conventional cargo transfer device. DESCRIPTION OF SYMBOLS 1... Automatic guided vehicle, 4... Luggage, 5... Support member, 6a... Front side conveyor, 6b... Back side conveyor,
7a, 7b...end part, 10a, 10b...introduction part,
13a...front arm, 13b...rear arm, 1
4... Lifting body, 20... Lifting body drive device, 21...
・Guide rod, 23... Elevating plate, 24.25...
Air cylinder, 35...Evening object transfer device N, '10.
...Dolly, 41...1 no! Cylinder, 32...Rail.

Claims (1)

[Scope of Claims] 1. An automated guided vehicle equipped with support members for supporting cargo on both left and right sides, a front conveyor for loading and unloading that is arranged side by side with its end facing the path of the automated guided vehicle. A rear conveyor, a front arm that can be inserted and removed from above into an introduction section for scooping up cargo provided at the end of the front conveyor, and a front arm that can be inserted and removed from above into an introduction section for loading cargo provided at the end of the rear conveyor. An elevating body is provided with a rear arm that can be freely inserted and removed from the conveyor. A cargo transfer device comprising: an elevated position directly below the lower surface of the cargo loaded on the transport vehicle passing through the end position; and an elevator drive device that sequentially moves the cargo loaded on the transport vehicle to an uppermost position directly above the lower surface. 2. The cargo transfer device according to claim 1, wherein the ends of the front conveyor and the rear conveyor are located in the path of the automatic guided vehicle, and the elevating body drive device is a drive device that drives the elevating body in the vertical direction. . 3. The cargo according to claim 1, wherein the ends of the front conveyor and the rear conveyor are located outside the path of the automatic guided vehicle, and the elevating body drive device is a drive device that drives the elevating body vertically and horizontally. Transfer equipment.