JPS6239039Y2 - - Google Patents
Info
- Publication number
- JPS6239039Y2 JPS6239039Y2 JP1978129048U JP12904878U JPS6239039Y2 JP S6239039 Y2 JPS6239039 Y2 JP S6239039Y2 JP 1978129048 U JP1978129048 U JP 1978129048U JP 12904878 U JP12904878 U JP 12904878U JP S6239039 Y2 JPS6239039 Y2 JP S6239039Y2
- Authority
- JP
- Japan
- Prior art keywords
- fork
- pallet
- reflective photoelectric
- space
- viewpoint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000003780 insertion Methods 0.000 claims description 17
- 230000037431 insertion Effects 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 7
- 230000032258 transport Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Landscapes
- Forklifts And Lifting Vehicles (AREA)
Description
【考案の詳細な説明】
産業上の利用分野
本考案はフオークリフトのフオークを両面型平
パレツト〔以下単にパレツトという〕に抜き差し
する場合に於いて、パレツトの差込面を検出し
て、抜き差しの可否及びラツクに対するフオーク
の傾きの有無を判断する装置に関するものであ
る。[Detailed description of the invention] Industrial application field The present invention detects the insertion surface of the pallet when inserting or removing the fork of a forklift into or from a double-sided flat pallet (hereinafter simply referred to as a pallet). This invention relates to a device for determining whether or not the fork is tilted relative to the rack.
従来の技術及びその問題点
従来、有人のフオークリフトに於いて、フオー
クのパレツトへの差し込みは、運転手の目視で行
われていた。しかし高所のパレツトを取る場合
や、パレツトからフオークを抜き去る場合は、フ
オークをパレツトのフオーク差込口の空間内に傾
くことなく正確に位置させることは非常に困難に
なり、危険を伴つていた。BACKGROUND TECHNOLOGY AND PROBLEMS Conventionally, in manned forklifts, the insertion of a fork into a pallet was performed visually by the driver. However, when picking up a pallet from a high place or removing a fork from a pallet, it becomes extremely difficult and dangerous to position the fork accurately within the space of the pallet's fork receptacle without tipping it. was.
また無人化されたフオークリフトにおいては、
パレツトの差込口の所在地を確実に検出すること
が絶対に必要である。従来はパレツトを置く高
さ、すなわちラツクや棚の高さを決めておいて、
フオークリフトのマストにフオークの地面からの
高さを検出するリミツトスイツチ等の検出器を設
け、指示高さに対する所定高さの検出器がオンし
た位置で、フオークのリフト動作を停止し、その
状態でパレツトに挿入する方法が採られていた。 Also, in unmanned forklifts,
It is absolutely necessary to reliably detect the location of the pallet inlet. Traditionally, the height of the pallet, i.e. the height of the rack or shelf, was determined.
A detector such as a limit switch is installed on the mast of the forklift to detect the height of the fork from the ground, and when the detector at a predetermined height for the indicated height is turned on, the lift operation of the fork is stopped, and in that state The method used was to insert it into a palette.
しかし数多くのラツクの高さを地面から一定に
し、且つラツク及びフオークを水平状態に保つこ
とは、困難であるだけでなくラツクの据付工費が
高価になる。さらに、路面の平面度も非常に高い
値が要求される。そして、これらの条件が満たさ
れていなければ、パレツトの差し込み口以外の場
所をフオークで突く危険性がある。 However, it is not only difficult to keep the heights of the many racks constant from the ground and to keep the racks and forks in a horizontal position, but also increases the cost of installing the racks. Furthermore, the flatness of the road surface is also required to be extremely high. If these conditions are not met, there is a danger that the fork may strike a part of the pallet other than the insertion opening.
この他の検出手段として、フオーク前方のパレ
ツトの差込面に、一定の空間があいているかどう
かを光電式や音波式の一個のセンサで検知する方
法もある。しかし、これらは一個のセンサの所定
の判定レベルのみで、判定を行うので周囲の明暗
等の外乱の影響をそのまま受けてしまう。この結
果パレツトの汚れや破損、或いはパレツト上の積
載物に隙間、色及び形状によつて差込口以外の場
所を差込口の空間と誤認する場合があつた。ま
た、パレツトの傾斜も当然ながら判断できない。 As another detection means, there is also a method of detecting whether or not a certain space is open on the insertion surface of the pallet in front of the fork using a single photoelectric or sonic sensor. However, since these methods make a determination using only a predetermined determination level of one sensor, they are directly affected by disturbances such as surrounding brightness and darkness. As a result, a space other than the outlet may be mistaken for the space of the outlet due to stains or damage to the pallet, gaps, color, or shape of the loaded items on the pallet. Furthermore, the inclination of the pallet cannot of course be determined.
問題点を解決するための手段
本考案は上記従来の欠点を改良・除去するため
のパレツト検出装置を提供するものである。Means for Solving the Problems The present invention provides a pallet detection device for improving and eliminating the above-mentioned conventional drawbacks.
すなわち、本考案のパレツト検出装置は、
両面型平パレツトの平行な上下のエツジボード
の間の空間にフオークを差込んでパレツトを運搬
するフオークリフトに取付けられるものであつ
て、
上記フオークの左右に２個を１組として夫々取
付けられ、一方の組の上下のエツジボードを夫々
検出するように各視点を設定し、また他方の組は
上下のエツジボードに近接したフオーク差込口の
空間を夫々検出するように各視点を設定した４個
の狭指向特性を有する反射型光電スイツチと、
上記一方の組の反射型光電スイツチが夫々エツ
ジボードを検出し、且つ上記他方の組の反射型光
電スイツチが夫々フオーク差込口の空間を検出し
たときフオーク差込可の判断をする手段と；
を具備したことを特徴とする。 That is, the pallet detection device of the present invention is installed on a forklift that transports pallets by inserting a fork into the space between the parallel upper and lower edge boards of a double-sided flat pallet. Each viewpoint is set to detect the upper and lower edge boards of one set, respectively, and the space of the fork insertion port close to the upper and lower edge boards of the other set is set respectively. Four reflective photoelectric switches each having a narrow directivity characteristic with each viewpoint set at The present invention is characterized by comprising a means for determining whether a fork can be inserted when a space in an entrance is detected; and;
作 用
上記４個の反射型光電スイツチの４個の論理出
力により、フオークの傾きの有無、フオーク差し
込みの可否判断を行つて、制御指令を与えること
ができる。Operation The four logical outputs of the four reflective photoelectric switches described above determine whether or not the fork is tilted and whether or not the fork can be inserted, and a control command can be given.
実施例
以下、本考案を実施例について説明すると、次
の通りである。Embodiments The present invention will be described below with reference to embodiments.
まず、４個の反射型光電スイツチn1，n2，n3，
n4と、それらの出力によりフオーク差込可否の判
断をする手段Ｊとで構成されたパレツト検出装置
を、例えば第７図に示すような一般的なフオーク
リフトＦに取り付け、両面型平パレツト１の差込
口の空間１ｃを検知する実施例を説明する。 First, four reflective photoelectric switches n 1 , n 2 , n 3 ,
For example, a pallet detection device consisting of a forklift truck F as shown in FIG. An example of detecting the space 1c of the insertion port will be described.
この場合に各反射型光電スイツチの光軸の視点
は、第１図に示すように反射型光電スイツチn1は
上側のエツジボード１ａにおき、反射型光電スイ
ツチn2は下側のエツジボード１ｂにおく。また反
射形光電スイツチn3はフオーク差込口１ｃ上限の
空間におき、反射形光電スイツチn4は差込口１ｃ
の下限の空間においている。 In this case, the viewpoint of the optical axis of each reflective photoelectric switch is as shown in Fig. 1. Reflective photoelectric switch n1 is placed on the upper edge board 1a, and reflective photoelectric switch n2 is placed on the lower edge board 1b. . In addition, the reflective photoelectric switch n3 is placed in the upper limit of the fork insertion port 1c, and the reflective photoelectric switch n4 is placed in the space at the upper limit of the fork insertion port 1c.
It is in the space of the lower limit of .
このような視点を得るための各反射型光電スイ
ツチn1，n2，n3，n4のフオーク２への取付けは、
例えば第８図及び第９図に示すように行う。各反
射型光電スイツチn1，n2，n3，n4の配置は、第１
図に示した視点が得られるものであればよく、フ
オーク２のいずれの位置にどのような手段によつ
て取付けてもよい。 To obtain such a viewpoint, each reflective photoelectric switch n 1 , n 2 , n 3 , n 4 is attached to the fork 2 as follows:
For example, it is performed as shown in FIGS. 8 and 9. The arrangement of each reflective photoelectric switch n 1 , n 2 , n 3 , n 4 is
It may be attached to any position of the fork 2 by any means as long as it can provide the viewpoint shown in the figure.
このような配列によるフオーク差し込み可能な
状態の各反射型光電スイツチn1，n2，n3，n4の論
理出力は、各反射形光電スイツチがパレツト１か
らの反射を受けた入光状態で肯定出力をするとし
て、
Ｆ（ok）＝n1・n2・3・4
に限られる。これに対して、差し込み下可能な場
合、例えばパレツト１に対してフオーク２が上昇
していて、フオーク２に下降指令をすべき場合の
論理出力はＦ（down）＝n3・4となる。また反対
に下降していて上昇指令すべき場合の出力はＦ
（up）＝3・n4となる。従つて、夫々の出力Ｆ
（down）及びＦ（up）に対応させてフオーク２
への上昇指令又は下降指令の自動制御が可能にな
る。但し、Ｆ（down）及びＦ（up）の検出可能
範囲は反射型光電スイツチn3，n4が差込口１ｃ内
に視点がある場合について可能である。 The logic output of each reflective photoelectric switch n 1 , n 2 , n 3 , n 4 in a state in which a fork can be inserted in such an arrangement is determined when each reflective photoelectric switch receives light reflected from pallet 1. Assuming a positive output, it is limited to F(ok) = n 1 , n 2 , 3 , 4 . On the other hand, if the insertion is possible, for example, if fork 2 is rising relative to pallet 1 and fork 2 should be commanded to descend, the logical output will be F(down)= n3.4 . On the other hand, if it is descending and a command to ascend is required, the output is F.
(up) = 3・n 4 . Therefore, each output F
Fork 2 corresponding to (down) and F (up)
It becomes possible to automatically control the ascending command or descending command. However, the detectable range of F (down) and F (up) is possible when the viewpoint of the reflective photoelectric switches n 3 and n 4 is within the insertion port 1c.
特に本考案では、第１図で示す如く反射型光電
スイツチn1，n2で差込口１ｃの図中左側を検知
し、反射形光電スイツチn3，n4で差込口１ｃの図
中右側を検知している構造のため、第２図及び第
３図で示すようにパレツト１が傾いていた場合
は、前記Ｆ（ok）＝n1・n2・3・4の条件は成立
せずパレツト１が傾いた状態での誤つたフオーク
の差し込みは避けられる。 In particular, in this device, as shown in Figure 1, the reflective photoelectric switches n1 and n2 detect the left side of the socket 1c in the figure, and the reflective photoelectric switches n3 and n4 detect the right side of the socket 1c in the figure. Therefore, if the pallet 1 is tilted as shown in Figures 2 and 3, the condition F(ok) = n1 x n2 x 3 x 4 does not hold, and the erroneous insertion of forks when the pallet 1 is tilted is avoided.
次に、本考案の応用例としてパレツト１からフ
オークを抜き去る場合の実施例について説明す
る。 Next, as an application example of the present invention, an embodiment in which a fork is removed from the pallet 1 will be described.
この実施例は第４図に示すように、フオーク２
の根本に２本の反射型光電スイツチn5，n6から構
成されたパレツト検出装置を取付け、光軸の視点
を反射型光電スイツチn5はパレツト１の上側エツ
ジボード１ａに、また、反射型光電スイツチn6は
差し込み口１ｃの上限の空間におく。この状態、
すなわちフオーク２の抜き去り可能な状態での論
理出力はＦ（ok）＝n5・6である。次にフオーク
２が上昇し、フオーク２がパレツト１に接触して
いる場合や、パレツト１を持ち上げている状態で
は、第５図の通り反射型光電スイツチn6の視点が
上側のエツジボード１ａに移つて、下降指令を出
す。この場合の論理式は、Ｆ（down）＝n6であ
る。反対にフオーク２が降り過ぎている場合は第
６図に示すように反射型光電スイツチn5の視点が
差し込み口１ｃに移り無入光の状態に変わる。こ
の場合の上昇指令はＦ（up）＝5である。 In this embodiment, as shown in FIG.
A pallet detection device consisting of two reflective photoelectric switches n 5 and n 6 is attached to the base of the pallet 1, and the reflective photoelectric switch n 5 is attached to the upper edge board 1a of the pallet 1, Place the switch n 6 in the upper space of the insertion port 1c. This state,
That is, the logical output when the fork 2 is in a removable state is F(ok)=n 5 · 6 . Next, fork 2 rises, and when fork 2 is in contact with pallet 1 or is lifting pallet 1, the viewpoint of reflective photoelectric switch n6 moves to the upper edge board 1a as shown in Fig. 5. Then issue a descending command. The logical formula in this case is F(down)= n6 . On the other hand, if the fork 2 is too far down, the viewpoint of the reflective photoelectric switch n5 shifts to the insertion port 1c, as shown in FIG. 6, and the state changes to a state where no light enters. The up command in this case is F(up)= 5 .
なお、本考案は上記実施例に限定されないこと
は勿論である。すなわち検知目的に対応させて、
視点を、差込口又はエツジボードの左右上下に任
意数選定し、この視点が得られるように反射型光
電スイツチを配設し、前記同様に判断させること
ができる。 Note that the present invention is of course not limited to the above embodiments. In other words, depending on the purpose of detection,
An arbitrary number of viewpoints can be selected on the left, right, top, and bottom of the insertion port or the edge board, reflective photoelectric switches can be arranged to obtain these viewpoints, and the judgment can be made in the same manner as described above.
考案の効果
本考案は、フオークへの取付位置を工夫した４
個の反射型光電スイツチの論理出力によつて、フ
オークの抜き差しの可否判断及び制御指令を与え
るようにしたから、パレツトの汚損による誤判断
及び差込口以外の場所の誤認等がなくなり、しか
もパレツト傾斜の判断もできる等、精度良くフオ
ークに対するパレツトの位置関係が検出でき、フ
オーク操作の無人化が容易になる。Effects of the invention This invention has four
Since the logical output of each reflective photoelectric switch is used to determine whether or not to insert or remove the fork and to issue control commands, there is no possibility of misjudgment due to contamination of the pallet or misidentification of locations other than the insertion slot. The positional relationship of the pallet with respect to the fork can be detected with high precision, including the ability to judge the inclination, making it easier to unattend fork operation.
第１図は本考案の一実施例の説明図で、両面型
平パレツトに対する４個の反射型光電スイツチの
視点の位置関係を示す傾斜図である。第２図及び
第３図は夫々第１図で説明した実施例において両
面型平パレツトが傾いた場合のパレツトと各視点
の位置関係を示す正面図である。第４図乃至第６
図は本考案の他の実施例において、パレツトから
フオークを抜き去る状態のパレツトの断面図で、
第４図は抜き去り可能な状態、第５図はフオーク
が上昇し過ぎた場合、第６図はフオークが下降し
過ぎた場合を夫々示す。第７図は両面型平パレツ
トに対向したフオークリフトの一例を示す側面
図、第８図は第７図に示すフオークリフトのフオ
ーク部分の正面図、第９図は第８図に示すフオー
クの側面図である。
１……パレツト、１ａ……上側のエツジボー
ド、１ｂ……下側のエツジボード、１ｃ……パレ
ツトの差し込み口、２……フオーク、n1，n2，
n3，n4，n5，n6……反射型光電スイツチ及びその
視点、Ｆ……フオークリフト、Ｊ……判断をする
手段。
FIG. 1 is an explanatory view of one embodiment of the present invention, and is an oblique view showing the positional relationship of four reflective photoelectric switches with respect to a double-sided flat pallet. 2 and 3 are front views showing the positional relationship between the pallet and each viewpoint when the double-sided flat pallet is tilted in the embodiment described in FIG. 1, respectively. Figures 4 to 6
The figure is a sectional view of a pallet in a state where a fork is removed from the pallet in another embodiment of the present invention.
FIG. 4 shows a state where the fork can be removed, FIG. 5 shows a case where the fork has risen too much, and FIG. 6 shows a case where the fork has descended too much. Fig. 7 is a side view showing an example of a forklift facing a double-sided flat pallet, Fig. 8 is a front view of the fork portion of the forklift shown in Fig. 7, and Fig. 9 is a side view of the fork shown in Fig. 8. It is a diagram. 1...Pallet, 1a...Upper edge board, 1b...Lower edge board, 1c...Pallet insertion port, 2...Fork, n 1 , n 2 ,
n 3 , n 4 , n 5 , n 6 . . . reflective photoelectric switch and its viewpoint, F . . . forklift, J . . . means for making judgments.
Claims (1)
ドの間の空間にフオークを差込んでパレツトを運
搬するフオークリフトに取付けられるものであつ
て、 上記フオークの左右に２個を１組として夫々取
付けられ、一方の組は上側と下側のエツジボード
を夫々検出するように各視点を設定し、また他方
の組は上側と下側のエツジボードに近接したフオ
ーク差込口の空間を夫々検出するように各視点を
設定した４個の反射型光電スイツチと、 上記一方の組の反射型光電スイツチが夫々エツ
ジボードを検出し、且つ上記他方の組の反射型光
電スイツチが夫々フオーク差込口の空間を検出し
たときにフオーク差込可の判断をする手段と を具備したことを特徴とするパレツト検出装
置。[Scope of Claim for Utility Model Registration] A fork that is installed on a forklift that transports pallets by inserting forks into the space between the upper and lower edge boards of a double-sided flat pallet, two on the left and right of the fork. are installed as one set, one set has each viewpoint set to detect the upper and lower edge boards, respectively, and the other set is set to detect the fork insertion space near the upper and lower edge boards. Four reflective photoelectric switches are set for each viewpoint to detect the fork difference, one set of reflective photoelectric switches detects the edge board, and the other set of reflective photoelectric switches detects the fork difference. A pallet detection device characterized by comprising means for determining whether a fork can be inserted when detecting a space in an entrance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1978129048U JPS6239039Y2 (en) | 1978-09-19 | 1978-09-19 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1978129048U JPS6239039Y2 (en) | 1978-09-19 | 1978-09-19 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5546440U JPS5546440U (en) | 1980-03-26 |
| JPS6239039Y2 true JPS6239039Y2 (en) | 1987-10-05 |
Family
ID=29093326
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1978129048U Expired JPS6239039Y2 (en) | 1978-09-19 | 1978-09-19 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6239039Y2 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5893540A (en) * | 1981-11-30 | 1983-06-03 | Mazda Motor Corp | Control device for temperature of molding sand |
| JPS58161835A (en) * | 1982-03-19 | 1983-09-26 | Matsushita Electric Ind Co Ltd | Pyro-electric camera device |
| JPS5982299A (en) * | 1982-10-30 | 1984-05-12 | 株式会社豊田自動織機製作所 | Fork insertion and extraction controller for unmanned forklift |
| JP6822255B2 (en) * | 2017-03-22 | 2021-01-27 | 日本電気株式会社 | In-vehicle devices, control circuits, control methods, and programs |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5320263A (en) * | 1976-08-06 | 1978-02-24 | Komatsu Ltd | Automatic fork positioning apparatus for use in fork lift |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4953475U (en) * | 1972-08-18 | 1974-05-11 |
-
1978
- 1978-09-19 JP JP1978129048U patent/JPS6239039Y2/ja not_active Expired
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5320263A (en) * | 1976-08-06 | 1978-02-24 | Komatsu Ltd | Automatic fork positioning apparatus for use in fork lift |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5546440U (en) | 1980-03-26 |
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