JPS6310045B2 - - Google Patents

Description

[Detailed description of the invention] Industrial applications The present invention relates to a cargo transport loading/unloading device.

Conventional configuration and its problems Conventional freight transportation currently relies on rail and truck freight, and it is not possible to automatically deliver the freight to the destination. Therefore, one method of automatic transportation is to use a large computer in a control center to manage the movement of a transport vehicle between each railway station, depending on the destination of the cargo loaded on the transport vehicle. Conceivable. However, as the number of transport vehicles increases with the expansion of the service area, and the number of cargoes loaded onto a single transport vehicle with different destinations increases, the conventional system unloads and loads the specified cargo. The disadvantage is that it takes too much time.

OBJECTS OF THE INVENTION It is an object of the present invention to provide a cargo transport loading/unloading device that eliminates the above-mentioned conventional drawbacks.

Composition of the Invention In order to achieve the above object, the cargo transport loading and unloading device of the present invention includes a plurality of automated warehouses distributed in a service area, a track facility connecting the automated warehouses, and a cargo transport loading/unloading device for loading transportation cargo. and an automatic guided vehicle that moves on the track of the track facility, and a pull-out device that pulls out a suitable loading shelf of the automatic guided vehicle that is next to the automated warehouse, so that the automated guided vehicle can be moved freely along the track within the automated warehouse. An elevating table is provided on a trolley that can be raised and lowered freely, and the bottom plate of a loading shelf area placed on the elevating table is opened and a predetermined pulled out area is opened to receive cargo that has fallen from that area and placed at a predetermined place. The cargo is placed on a lifting table so as to be freely raised and lowered via a lifting means, and a loading device is installed to load the brought cargo into a predetermined area of a loaded shelf that has been pulled out. It is something.

Embodiment and Operation An embodiment of the present invention will be described below based on the drawings.

FIG. 1 shows the basic configuration of the cargo transportation equipment of the present invention. 1a, 1b, 1c, and 1d are automated warehouses distributed in the service area 2, 3 is track equipment connecting the automated warehouses 1a to 1d, and 4 is track equipment 3.
Automated guided vehicles moving above, 5 are each automated warehouse 1a ~
This is a cargo management device that stores management information of the cargo received in 1d. Management information is entered for each received cargo, and its contents are as follows.

Cargo No. Class Shipper's address, name, and phone number Consignee's address, name, and phone number Delivery destination Automated warehouse Handling type Cargo transit position
It consists of "reception date and time", "reception number", and "grade"
consists of the "size", "weight", and "type" of the cargo.

FIG. 2 shows the configuration of the automated warehouses 1a to 1d and the configuration of the track equipment 3. Since the configurations of the automatic warehouses 1a to 1d are all the same, the automatic warehouse 1a will be described here as an example. Furthermore, in the following description, it is assumed that the automatic guided vehicle 4 travels on the track equipment 3 in the direction of the arrow.

6 is an input device for inputting management information for each cargo; 7 is a loading device for loading received cargo onto the automated guided vehicle 4; 8 is an automated guided vehicle 4 (hereinafter referred to as automated guided vehicle) stopped in the premises of the automated warehouse 1a; 9 is a clamping device for clamping the mobile vehicle 4 at a predetermined position and restraining the position of the mobile vehicle 4 during loading and unloading of cargo; 10 is a clamping device for unloading cargo from a stopped vehicle; A communication device for exchanging data with the self-propelled vehicle 4 via a photocoupler or the like, and 11 a parking route 1 whose track within the automated warehouse 1a is clamped by the clamping device 9.
a point device for switching between 2 and a passing route 13;
4 is an opening/closing device that engages with the door 15 (see FIG. 3) of the stopped personal vehicle 4 to open and close the door 15, and 16 is an automatic warehouse control device that controls the above-mentioned devices of the automatic warehouse 1a.

As shown in FIG. 3, the personal carrier 4 is provided with first to twenty-fifth loading shelves A ₁ to A ₂₅ that can be pulled out to the automated warehouse 1a side by opening the door 15. Each of the storage shelves A ₁ to _{A 25} has four areas B ₁
It is divided into areas B1 _{to B4} , and cargo can be placed and accommodated in each area _B1 to _B4 . As shown in FIG.
a communication device 19 controlled by the vehicle 4, a door lock device 20, a door opening/closing detection device 21, a travel drive device 22, a braking device 23 that brakes the travel of the vehicle 4, and a It is composed of a position information receiving device 24 that receives various information while the vehicle is running, a stop request receiving device 25, an empty shelf address memory 26, and a loaded cargo management device 27. The device 27 has writing positions 1-1, 1-2, 1-3, 1- corresponding to the areas _B1 to _B4 of the storage shelves _A1 to _A25 , respectively.
4, 2-1...25-1, 25-2, 25-3, 2
5-4 is provided. Loaded cargo management device 27
In the writing positions 1-1 to 25-4, the "cargo number", "class", and "delivery destination automated warehouse number" of the loaded cargo are written each time.

7 and 8 show a flowchart of the automatic warehouse control device 16, and FIG. 9 shows a flowchart of the self-transported vehicle control device 18 mounted on the self-transported vehicle 4.

Next, details of the self-guided vehicle 4 will be explained based on FIGS. 10 to 16. 46 is a vehicle body with open sides, and a plurality of (four in this embodiment) partition grooves 47 are formed at appropriate intervals along the arrow direction in the top plate 46A and bottom plate 46B. 48
is a partition wall that is inserted into each partition groove 47 so that it can be extracted freely, and is made up of a lattice-shaped wall body 48A and guide rails 48B fixed to both sides of the wall body 48A at regular intervals in the vertical direction. On each guide rail 48B, the above-mentioned mounting shelves A ₁ to A ₂₅ are arranged so as to be freely drawn out. 49 is the wall body 48A
This is a notch formed at the center of the upper and lower ends of the Further, a notch 50 is also formed in a portion of the partition groove 47 that faces the notch 49 . Reference numeral 51 denotes a partition wall fixing device disposed on the upper and lower surfaces of the vehicle body 46, which includes a support frame 52 fixed to a portion facing the notch 50 of each partition groove 47, and a partition wall fixing device that moves into each support frame 52. A movable rod 53 that is freely inserted, and the movable rod 53
Notches 50 integrally formed with and facing each other.
and a key 54 that is fitted into the notch 49;
It consists of a moving rod cylinder device 55 whose main body is fixed to the vehicle body 46 and whose piston rod tip is connected with a pin to one end of a moving rod 53. For example, when it is desired to transport a large cargo 34, the cylinder device 55 is first activated to move the moving rod 5.
3, thereby inserting each key 54 into the notch 5.
0 and the notch 49 to release the fixation of the partition wall 48, and then pull out the appropriate mounting shelves _A1 to _A25 and the partition wall 48 from inside the car body 46, thereby creating a large space inside the car body 46. The large cargo 34 may be inserted into the space. Further, when replacing the partition wall 48, a similar operation may be performed. Reference numeral 20 denotes a door lock device, as shown in FIG. 12, the lock lever 58 has a center portion rotatably connected to the front surface of the vehicle body 46 with a pin 57, and the main body is connected to the front surface of the vehicle body 46 with a pin and has a piston rod. It consists of a locking cylinder device 59 whose distal end is connected to the proximal end of a locking lever 58 by a pin. While the vehicle 4 is running, the piston rod of the cylinder device 59 is contracted as shown by the imaginary line in FIG.
When loading and unloading the cargo 34, the piston rod of the cylinder device 59 is extended in advance, and the tip of the lock lever 58 is separated from the bent portion 15A of the door 15, thereby preventing the door 15 from being opened. It allows it to be released. 60
61 is a running wheel, 61 is a wheel for preventing rolling, 62 is a rotating lever whose upper end is rotatably supported by a support frame 63 on the rear surface of the vehicle body 46, and 64 is an energized brush provided on the rotating lever 62. It is brought into contact with a conducting wire 66 of the track equipment 3 by a spring device 65. 67 is a damper arranged on the front and rear surfaces of the vehicle body 46. The opening/closing device 14 includes a long door opening/closing cylinder device 69 extending in the direction of the arrow as shown in FIGS. 2 and 11, and a horizontally movable table fixed to the piston rod tip of the door opening/closing cylinder device 69. 70, a foot lever 71 whose central portion is rotatably connected to the table 70 with a pin, and a cylinder device 72 for a foot lever whose main body is connected with a pin to the table 70 and whose piston rod tip is connected with a pin to the base end of the foot lever 71. It is composed of. When opening the door 15, the piston rod of the door opening/closing cylinder device 69 is extended to move the lever 71 to the door 1.
5, and then reduce the piston rod of the cylinder device 72 for the lever lever to open the piston rod 11.
The tip of the foot lever 71 in the virtual line state is the door 15.
Then, the piston rod of the door opening/closing cylinder device 69 is contracted to pull out the door 15 and open it. Next, as shown by the solid line in FIG. 11, the piston rod of the door opening/closing cylinder device 69 is slightly extended, and then, as shown by the phantom line in FIG. 11, the piston rod of the foot lever cylinder device 72 is extended to rotate the foot lever 71. The foot lever 71 may be separated from the door 15. When closing the door 15, move the tip of the foot lever 71 into the engagement opening 73 by reversing the above procedure.
After the piston rod of the door opening/closing cylinder device 69 is engaged, the piston rod of the door opening/closing cylinder device 69 may be extended. The clamping device 9 is composed of a clamping cylinder device 74 and a clamping block 76 that is fitted into and disengaged from the projections 75 at the four corners of the mobile vehicle 4 by the clamping cylinder device 74. Note that the clamp block 76 and the protrusion 75 are provided with communication means such as a photocoupler. Next is the shelf
A ₁ to _{A 25} , the mounting shelf pull-out device 33 and the mounting shelf A ₁ to
The bottom plate opening/closing device 79 for opening and closing the bottom plate 17 of the A ₂₅ will be explained based on FIGS. 16 to 22. The mounting shelves A ₁ to _{A 25} include a rectangular frame 80 and a frame 80
A partition plate 81 partitions the inside to form four areas B ₁ to _{B 4} , and a partition plate 81 is arranged on the bottom of each area B ₁ to _{B 4} and has a base end connected to the frame 80 via a support shaft 82 in the direction of the arrow mark. , and a pin 8 at the tip of the
2 is a bottom plate 17 that can be fitted into a recess 83 on the lower surface of the frame 80, and a stopper lever 86 whose center part is supported by a pin 85 protruding from both side walls of the frame 80 so as to be rotatable in the two directions shown by the arrows. , is disposed in a box 87 fixed to both side walls of the frame 80 so as to be movable in the directions of the arrows H and 80, and when the lock portion 88A at the tip engages with the base end of the stopper lever 86, the tip of the stopper lever 86 is engaged. A lock block 88 that supports the tip of the bottom plate 17, a spring 89 that biases the lock block 88 in the direction of arrow H, and a frame 8.
Connecting plate 91 with engagement port 90 fixed to the front surface of 0
It is composed of. Note that two notches 92 are formed in the bottom plate 17. Placing shelf drawer device 33
9 includes a cylinder body 94 and a rack 9 disposed within the cylinder body 94 so as to be movable in the directions of arrows T and H.
5 and the presser roller 9 that comes into contact with the top surface of the rack 95.
6, a pinion 97 that meshes with the rack 95, a drive motor (not shown) that rotates the pinion 97 in forward and reverse directions, a T-shaped rod 98 rotatably disposed at the tip of the rack 95, and the T-shaped rod. An operating rod 99 is fixed to the operating rod 98, and a T-shaped rod whose main body is fixed to the rack 95 via an L-shaped rod 100 and whose connecting rod 101 at the tip of the piston rod fits into the elongated hole 102 at the tip of the operating rod 99. It is composed of a cylinder device 103 for use. The bottom plate opening/closing device 79 includes a support plate 105 extending from the cylinder body 94 toward the mounting shelves A ₁ to A ₂₅ , and a central portion connected to a bracket 106 at the tip of the support plate 105 through a pin 107 in the direction of arrows R and N. a release lever 108 rotatably supported;
A release lever cylinder device 109 for rotating the release lever 108, a bottom plate lifting lever 110 whose base end is supported by the support plate 105 so as to be rotatable in the directions of arrows R and O, and a lever for pulling up the bottom plate 110 for rotating the lifting lever 110. Cylinder device for the pull-up lever to be moved (not shown)
It is composed of. When unloading cargo 34 in areas B ₁ to _{B 4} of loading shelves A ₁ to A ₂₅ ,
First, the loading shelf pull-out device 33 is moved to a predetermined loading shelf _A1 to _A25.
After facing the T-shaped rod 9, rotate the pinion 97 in one direction to extend the rack 95 in the direction of the arrow T.
8 is inserted into the engaging opening 90 of the connecting plate 91. Next, the piston rod of the T-shaped rod cylinder device 103 shown in the solid line state in FIG. 17 is extended, and the T-shaped rod 98 is rotated 90 degrees as shown by the phantom line in FIG. 17.
The T-shaped rod 98 is connected to the connecting plate 91. Next, the pinion 97 is reversed to move the rack 95 in the direction of the arrow H, and the racks A ₁ to _{A 25} are pulled out by a predetermined amount, resulting in the state shown in FIG. Next, the piston rod of the release lever cylinder device 109 is extended, the release lever 108 is rotated in the direction of arrow N, and the release lever 1
Lock block 88 is connected to spring 89 by the tip of 08.
Push it in the direction of the arrow against the As a result, the lock state of the stopper lever 86 is released, and the second
As shown in FIG. 1, the bottom plate 17 rotates downward (in the direction of arrow A) due to its own weight, and the cargo 34 thereon is discharged onto the unloading device 8. Next, as shown in FIG. 22, the lifting lever 110 is rotated in the direction of arrow O to pull up the bottom plate 17, and then the piston rod of the release lever cylinder device 109 is contracted. Then, the release lever 108 rotates in the direction of arrow R, and its tip hits the stopper lever 86, and the stopper lever 86 is rotated in the direction of arrow D, and its base end engages again with the lock portion 88A of the lock block 88, and the Return to the original state shown in FIG. In FIGS. 5 and 6, reference numeral 112 is an elevating table that is raised and lowered by a cylinder 32, and is supported by a cart (not shown) that is movable along the track equipment 3. Further, the above-mentioned shelf drawer device 33 and bottom plate opening/closing device 79 are also supported by the cart via the lifting table 112 thereof. A belt conveyor 31 constituting the unloading device 8 is arranged on the lifting table 112. 113 is a loading belt conveyor for feeding the cargo 34 onto the belt conveyor 35 constituting the loading device 7.

Next, operation control of the self-propelled vehicle 4, cargo loading/unloading control, and management data processing will be explained in detail based on the flowcharts shown in FIGS. 7 to 9.

First, management information is input through the input device 6 at each automated warehouse 1a to 1d when transport cargo is accepted, and this management information is written into the cargo management device 5 via the communication line 28. When the management information is input using the input device 6, the automatic warehouse control device 16 of the automated warehouse that has received the transported cargo receives a "cargo number" unique to the transported cargo.
The "grade" and "delivery destination automatic warehouse number" are written.

Here, the self-transported vehicle 4 is moved to the automated warehouse 1 as shown in Fig. 2.
While traveling between d and 1a, the automated warehouse 1a
is controlled based on the flowchart shown in FIG. In the following explanation, the automated warehouse will be referred to as a terminal warehouse. The terminal warehouse 1a receives the "self-carrying vehicle number", "whether or not cargo is being unloaded at the current terminal warehouse 1a", and "empty shelf information" reported from the front terminal warehouse 1d via the communication line 29 [a-1]. Also,
Check whether unloading is possible at the temporary warehouse 1a [a
-2], and if unloading can be carried out, [a-
Look at the received data in [1] and check [a-3] whether there is unloading. Check [a-3] if there is unloading.
If it is determined that this is the case, the contents of the automatic warehouse control device 16 of the current warehouse 1a are checked to see if there is any cargo [a-4]. If it is determined in [a-4] that there is "no cargo to be loaded," the message is immediately sent to the traveling personal vehicle 4 via the transmitting means 30 for unloading as determined in [a-3]. A stop request signal S is sent.
[a-5].

If it is determined in [a-3] that there is no unloading, check [a-6] the "empty shelf information" received in [a-1], and check the "empty shelf information" in [a-6]. If it is determined that there is a cargo, the same as [a-4]
[a-7], and if it is determined that there is cargo in [a-7], the “number of empty shelves” and “large Search and decide on cargo that can be loaded based on
Then execute [a-5]. [a-5] is executed via [a-8] even if it is determined in [a-4] that there is a cargo.

If it is determined in [a-2] that "unloading is not possible" or if it is determined in [a-6] or [a-7] that "loading will not be carried out", the communication line 29
"Terminal store No." of the terminal warehouse 1b next to the current terminal warehouse 1a via
is reported to the traveling vehicle 4 via the transmitting means 30 [a-9], and at the same time, the point device 11 in the depot 1a is driven to allow the self-transported vehicle 4 to pass, and the trajectory is changed to the imaginary line in Fig. 2. Switch to position [a-10].

As shown in FIG. 9, the self-propelled vehicle 4 asks whether it has received the stop request signal S output by the stop request receiving device 25 in execution of [a-5] after the vehicle departs from the depot 1b.
Check [b-1] and check the "terminal warehouse No. = Pt" of the current terminal warehouse 1a that will arrive at the location information receiving device 2.
4 [b-2], searches the loaded cargo management device 27 in which the "delivery front warehouse No." loaded on the personal transport vehicle 4 is written, and reads the "Pt Check [b-3] whether there is search data Po that matches [b-3], and if no match is detected in [b-3], return to [b-1]. When the stop request signal S is received at [b-1], or Po= at [b-3]
When Pt is detected, that is, when there is loading and unloading at the terminal storage 1a, the traveling drive device 22 and the braking device 23
Instruct the vehicle to “decelerate and stop” [b-4].

On the other hand, when the mobile vehicle 4 enters the premises of the depot 1a and stops by executing [b-4], the depot control device 1
6 executes the routine shown in FIG. In this case, it is detected that the vehicle has stopped at a predetermined loading/unloading location [a-11]
Then, the clamp device 9 clamps the mobile vehicle 4 [a-12], and various data are exchanged between the mobile vehicle 4 and the terminal shed 1a via the communication devices 10 and 19. [a-13]. [a-13]
No.," reporting the "current warehouse No.," reading the "unloading shelf address at the current warehouse," and reading the "empty shelf address." In addition, in Fig. 9, the parts corresponding to [a-13] are [b-5] and [b-
6], [b-7], and after the execution of [b-7], the lock device 20 of the self-propelled vehicle 4 is instructed to release the lock [b-8].

In the terminal shed 1a where [a-13] has been completed, the opening/closing device 1
4 to open the door 15 of the vehicle 4 [a-14], and determine the loading shelf to be pulled out by the unloading device 8 based on the data received at [a-13] [a-
15] and unload [a-16].

This unloading is first carried out as shown in Figure 5 a.
-15] The loading shelf drawer device 3 is placed on the loading shelf A determined in
3 facing each other, and move the rack 95 of the shelf drawer 33 in the direction of the arrow H to engage the T-shaped rod 98 with the engagement opening 90 of the shelf A, and then open the rack 95 as shown in Figure b. Move it in the direction of arrow H and place it on shelf A.
Withdraw a predetermined amount. Next, as shown in _FIG .
Unlock the bottom plate 17 of the Then the bottom plate 17
rotates downward, and the cargo 34 in the area B ₄ is unloaded onto the belt conveyor 31 of the unloading device 8. Next, after pulling up the bottom plate 17 with the bottom plate lifting lever 110, move the rack 95 in the direction of the arrow T as shown in FIG. Just remove it from shelf A.
When unloading is completed in this way, [a-13]
Based on the empty shelf address received in , the loading shelf A to be pulled out is determined [a-17] and loading is executed [a-18]. For loading, first, as shown in FIG. 6a, the piston rods of the cylinders 32 and 36 are extended to be at the same level as the belt conveyor 113 of the loading device 7, and the cargo 34 on the loading belt conveyor 113 is moved onto the belt conveyor 35. Transfer to. At the same time, the loading shelf pullout device 33 is moved to face the loading shelf A determined in [a-17], and then, as shown in FIG. It is sufficient to draw out the drawer, lower the belt conveyor 35, operate the belt conveyor 35, throw the cargo 34 thereon into the predetermined area _B3 , and push the loading shelf A into the transport vehicle 4.

When loading and unloading is completed in this way, [a-16]
Based on the loading and unloading of [a-18], the data of the empty shelf address memory 26 and the loaded cargo management device 27 of the mobile vehicle 4 is updated [a-20], and
No.” [a-21].

[a-20] [a-21] is the 9th vehicle on the mobile vehicle 4 side.
Corresponding to [b-9] and [b-10] in the figure, the self-propelled vehicle 4 searches the loaded cargo management device 27 based on the data in [b-10] and moves to the next terminal 1b. Search for unloaded cargo [b-10] and go to terminal warehouse 1a to next terminal warehouse 1b
Report the linked data to [b-12].

The contact data for [b-12] is the 8th one in terminal storage 1a.
It is received at [a-22] in the figure. The received communication data includes the "current empty shelf", "unloading data at the next terminal", and "car No." of the mobile vehicle 4, and this received data is transmitted to the communication line 29. It is transferred to the terminal storage 1b via [a-23]. Further, the opening/closing device 14 is instructed to close the door 15 [a-24], and a departure command is output [a-25]. At this time, the clamp on the mobile vehicle 4 by the clamp device 9 is also released.

[a-24] [a-25] is [b] on the mobile vehicle 4 side.
-13] Corresponding to [b-14], the braking device 23 and traveling drive device 22 execute the departure [b-15].

In this way, the cargo that has been loaded, transported, and unloaded and has arrived at the delivery depot 1a is unloaded from the transport vehicle 4 to the destination depot 1a.
The unloading data including the "cargo number" is written in the depot control device 16, and an inquiry is made to the cargo management device 5 based on the "cargo number" of the cargo when it is delivered from the depot 1a to the consignee. carried out, cargo management device 5
Delivery operations are executed in accordance with the management information obtained from.

Effects of the Invention As described above, according to the present invention, a predetermined loading shelf of an automatic guided vehicle that has arrived at an automated warehouse is pulled out, the bottom plate of a predetermined area of the pulled out loading shelf is opened, and the area is The series of operations of unloading the cargo inside the container and loading the cargo into a predetermined area of a predetermined loading shelf that has been pulled out can be automatically and smoothly carried out in a short time.

[Brief explanation of the drawing]

The figures show one embodiment of the present invention, in which Fig. 1 is a schematic plan view, Fig. 2 is a detailed view of the main part of Fig. 1, Fig. 3 is a perspective view of an automatic guided vehicle, and Fig. 4 is a schematic plan view of the automated guided vehicle. , and Figures 5 and 6 are explanatory diagrams of the operation of the loading and unloading device.
Figures 7 and 8 are flowcharts of the automatic warehouse control system, Figure 9 is a flowchart of the self-transported vehicle control system, Figure 10 is a side view of the automatic guided vehicle, and Figure 11 is a plan view of the vehicle. Figure 12 is a front view of the same vehicle, Figure 1
Figure 3 is a rear view of the vehicle, Figure 14 is an exploded perspective view of the main parts of the vehicle, Figure 15 is a perspective view of the partition wall, Figure 16 is a longitudinal sectional view of the loading shelf pull-out device, and Figure 17. is the 16th
Figure 18 is a perspective view of the shelf, Figure 19 is a bottom view of the shelf, Figures 20 to 22
The figure is a longitudinal sectional view showing the procedure for opening and closing the bottom plate. 1a to 1d...Automated warehouse, 2...Service area,
3...Track equipment, 4...Automatic guided vehicle, 7...Loading device,
8...Unloading device, _A1 to _A25 ...Placement shelf, _B1 to _B4 ...Area, 17...Bottom plate, 32, 36...Cylinder, 33
... Loading shelf pull-out device, 34... Cargo, 112... Lifting table, 113... Loading belt conveyor.

Claims (1)

[Claims] 1. A plurality of automated warehouses distributed in a service area, track equipment connecting these automated warehouses, and automated guided vehicles loaded with transport cargo and moved on the tracks of the track equipment, A pull-out device is provided to pull out an appropriate loading shelf for an automated guided vehicle placed next to an automated warehouse, and an elevating table is provided on a trolley that can be moved freely along a track in the automated warehouse so that it can be raised and lowered, and the elevating table is placed on the elevating table. At the same time, an unloading device is installed that opens the bottom plate of a predetermined area of the loading shelf that has been pulled out, receives the cargo that has fallen from that area, and transports it to a predetermined location. 1. A cargo transport/unloading device characterized by being provided with a loading device which is freely arranged and which loads brought cargo into an area of a predetermined pulled-out loading shelf.