JPS63147799A - Loading conveyor and loading conveying method - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a cargo transport device and a cargo transport method for automatically loading small containers as cargo into, for example, a sea container.

<Prior Art> Conventionally, there are the following load transfer devices for loading small containers into large containers such as marine containers. This load transfer device is equipped with a truck having a traveling device and a lifting device installed on the truck and raising and lowering the load. When carrying out load transfer work, the operator directly operates a lever etc. to raise and lower the load. , carrying out loading operations such as transportation.

<Problems to be Solved by the Invention> However, in the above-mentioned conventional cargo conveyance device, when loading a small container into a large container, for example, the operator directly operates the lever etc. , the operator has to operate the load conveyance device and a large container that is narrowed by small containers, etc., which makes it difficult to work and reduces efficiency. There is a problem that the operator may be injured or the cargo may be damaged due to runaway operation or cargo collapse.

Therefore, the purpose of this invention is to provide a load transfer device that can automatically perform load transfer operations, and a load transfer device that can perform load transfer operations with high efficiency and safety without the need for direct operation by an operator. The purpose is to provide a method.

<Means for solving the problems> In order to achieve the above object, the load conveying device of the present invention has the following features:
a trolley having a traveling device; a lifting device provided on the truck for lifting and lowering cargo; a control device for sequentially controlling operations of the traveling device and the lifting device; and a control device for detecting a stop position of the truck. It is characterized by being equipped with a sensor that outputs a detection signal.

Further, the load conveying method of the present invention includes a cart having a traveling device, a lifting device for raising and lowering the load, a control device for sequentially controlling the traveling device and the lifting device, and a sensor for detecting a stop position of the truck. After inserting the cart and lifting device of the load carrying device under the cargo using a load carrying device equipped with the above, the lifting device is raised according to a command from the control device to lift the cargo, and then, The traveling device is automatically operated according to the command from the control device to drive the cart, and the cargo is lifted and transported in a horizontal direction.Then, the sensor detects the stop position of the cargo transportation device. inputs a detection signal to the control device, outputs a stop signal from the control device to automatically stop the traveling device, stops the load carrying device with the load lifted, and stops the lifting device. The load is lowered to unload the load, and when the load is unloaded, the traveling device is automatically operated to drive the cart, the load transfer device is moved backward to pull it out from the load, and then the sensor detects the load. It is characterized by detecting the stop position of the load conveying device and outputting a stop signal from the control device to automatically stop the traveling device.

<Example> Hereinafter, the present invention will be explained in detail with reference to illustrated embodiments.

FIG. 1 is a diagram showing a load conveying operation of a small container 2, which is a load, in the direction of the arrow inside a large container 3 using the load conveyance device 1 of the present invention.

As shown in the side view of FIG. 2 and the plan view of FIG. and a pair of inner frames 6.6 installed parallel to each other, and a plurality of connecting members 7.7. ...
A plurality of traveling devices 9.9 are connected in parallel with each other at the bottom.
．． an outer frame to, 10 having ..., a lifting frame 11.11 located above the outer frame lO and for lifting and lowering luggage, and between the outer frame lO, 10 and the lifting frame l 1.11. and the air tube 13.13 interposed in the outer frame 1.
0. It is generally composed of a drive device 12.12 for the traveling device 9 provided on the upper surface of the rear end of the to, a compressor 25 and an air tank 27 installed on the horizontal frame 5 and inner frame 6.6.

Further, the horizontal frame 5, the inner frame 6゜6, the outer frame IO, 10, and the traveling device 9 form a truck, and the elevating frame 11.11 and the air tube 13
．． 13, compressor 25, mechanical attack 2, etc., form a lifting device.

The inner frame 6, outer frame 10, lifting frame 11. Air tube 13. As shown in FIG. 3, the traveling device 9 and the drive device 12 are arranged in parallel on the left and right and have the same structure, so only one will be described below.

The cross-sectional shape of the outer frame IO is U-shaped with an opening on the lower side, and as shown in FIG. 4.5, the upper surface 10
a is horizontal from the proximal end to the vicinity of the distal end, and the distal end 10
b is inclined downward. In addition, the upper surface 10a
A substantially box-shaped member 8 having an inclined surface 14 inclined toward the front is provided at the base end of the frame 10 to protrude upward to form a chamber 15, and the center line of the chamber 15 and the center line of the outer frame IO (See Figure 3). Slope 14 of chamber 15
An opening 17 is provided in the chamber 15. On the other hand, a circular hole 19 is provided in the back surface 18 of the chamber 15.

As shown in FIG. 3, the inner frame 6 has a U-shaped cross-sectional shape and an inner surface of the outer frame 10 that opens downward.
are connected to the outer surface of the connecting member 7.7 by a plurality of connecting members 7, 7, . . . arranged at intervals in the longitudinal direction. Further, the rear end portions of the inner surfaces of the pair of left and right inner frames 6.6 are connected by the horizontal frame 5. Then, as shown in FIG. 1, the load transfer device 1 loaded with the small containers 2
When the large container 3 is to be lifted by the forklift 4, the fork of the forklift 4 is inserted into the U-shaped section of the inner frame 6.6 that is open downward and lifted.

Furthermore, as shown in FIG. 3, the outer frame IO
, 10, there is a sensor 43 that detects the presence of the wall in front of it, luggage that has already been placed, etc., and outputs a detection signal to a control device that sequentially controls the traveling device 9.9°... and the lifting device. .44 is installed, and sensors 45 and 46 are installed at the rear to detect the presence of the rear edge of the floor surface, etc., and output a detection signal to the control device. Then, the control device controls the drive motors 16a, 16 of the traveling device 9 based on the detection signals from the sensors 43, 44, 45, 46.
A stop signal is output to the terminal b, and the operations of the traveling device 9 and the lifting device are sequentially controlled.

The elevating frame 11 has a U-shaped cross section that is open on the lower side and covers the outer frame 10 from above, and as shown in FIG. It is bent diagonally upward so as to cover the opening 17 of 15. Further, a chamber 22 is formed by the upper surface of the tip of the elevating frame 2, the plate member 21, and a member 20 having an upwardly open U-shaped cross section and provided at the tip of the outer frame IO. In addition, the above outer frame 1
A tubular rubber air tube 13 is interposed between the lift frame 11 and the lifting frame 11, and cylindrical metal fittings 23 and 23 are attached to both ends of the air tube 13. Ryozengu 2
3.23 is housed in each chamber 15°22 in a freely supported manner. In this way, by storing the metal fitting 23 at the tip of the air tube 13 in the chamber 22 below the upper surface 10a of the outer frame IO, the elevating frame 11 when descending
The tip of the frame 11 is made horizontal to improve operability when inserting the elevating frame 11 under the small container 2.

As shown in FIG. 6, air from the compressor 25 is connected to the air tube 13 through a main pipe 26 having an air tank 27, a switching valve 28 at symbol position 2, and a branch pipe 29.
．． 29 and is supplied from the rear end of the air tube 13.

When air is supplied to the air tube 13, the air tube 13 expands, and as shown in FIG.
1 is pushed up and rises. Further, when the switching valve 28 is switched to the symbol position V, the air in the air tube 13 is released, and the elevating frame 11 is lowered by its own weight as shown in FIG. The metal fitting 23 of the air tube I3 fits into the chamber 22 at the tip of the air tube I3.

The traveling device 9 is provided below the outer frame IO, as shown in FIG. 2, and includes rollers 32, 32, .
, toothed belt 30 , drive roller 37 , and driven roller 41
and rollers 32.32. The toothed belt 3 is connected to the driving roller 37 and the foremost driven roller 41 with ... in between.
0 is set. Roller 32.32. ... are arranged at intervals from each other along the longitudinal direction. The shaft is made to protrude from the inside to the outside of the side surface of the outer frame 10, and the approximately hexagonal mounting plates 31, 31. ... is rotatably attached to both sides of the outer frame 10.

Further, a drive motor 16b, a pulley 34 of this drive motor 16b, an intermediate pulley 35, an idler 36, and a drive roller 37 are attached to the plate part 33 provided perpendicularly to the base end of the outer frame IO in order from above. The drive section 12 of the device 9 is formed. The rotation from the drive motor 16b is transmitted to the drive roller 37 by belts 38 and 39. The drive roller 37 is rotated by the toothed belt 30.
This is transmitted to the driven roller 41 provided on the foremost roller 32, and the load conveying device 1 moves forward or backward.

The load conveying device 1 having the above structure operates as follows under the sequence control of the control device.

First, the air in the air tube 13.degree. 13 of the load transfer device 1 is released into the atmosphere by switching the switching valve 28 to the symbol position V2, and the elevating frame 11 is lowered. Next, the load transfer device 1 is inserted into the narrow space between the small container 2 and the ground, and then, as shown in FIG. 1, the fork of the forklift 4 is inserted into the inner frame 6. The small container 2 is raised to the floor surface of the large container 3, and the small container 2 on the cargo transport device 1 is stored in the large container 3.

Next, in the sequence circuit diagram of the control device shown in FIG. 7, 61 and 62 are power supply lines.

When the operator turns the main switch PI "ON", the relay coil R1 is energized, the normally open relay contact R1a+ of the relay coil R1 turns "ON" and is self-held, and the normally open relay contact R1at turns "ON". The sequence control system becomes ready for operation. Similarly, the normally open relay contact R1a= is turned "ON", and the drive system of the traveling device 9 becomes operable. Next, when the operator turns the select switch SE "ON", the relay coil R20 is energized, and the normally open relay contacts R20a+, R20a, R20a
s is closed.

Next, when the operator presses the start switch P5, the loading operation is started.

(A) When the unloading start switch P5 button is pressed and turned “ON”, the relay coil R12 is energized and the normally open relay contact R
12a+ becomes "ON" and is self-held, and the normally closed relay contact Rt2b becomes "OF" and "F", and the air release preparation from air tube + 3.13 is released (air cannot be released).At the same time, Timer T12 (2
seconds) is set.

When the timer TI2 has elapsed for 2 seconds, the normally open time limit relay contact Tl2a+ becomes "ON", the relay coil R13 is excited, the normally open relay contact R13a+ becomes "ON" and self-holds, and the normally closed relay contact R13b becomes "OFF".
"", the relay coil R12 becomes de-energized, the normally open relay contact R12a+ turns "OFF" and self-holding is released, and the normally closed relay contact R12b+ turns "ON". In addition, the normally closed relay contact R13b is turned "OFF" and air release preparation is canceled, and the normally closed relay contact R13b,
is turned "OFF" and the air release stop is canceled.

Furthermore, the normally open relay contact R13ag turns “ON”,
At the same time, timer Tl3 (20 seconds) is set, solenoid SQL l is energized for 20 seconds, the switching valve 28 in FIG. 6 is switched to the symbol position V1, and air is supplied to the air tube 13.13. . Then, by linearly expanding the air tube 13.13,
The lifting frame 11.11 is pushed up uniformly from the rear end to the front end, and the small container 2 is lifted up.

(B) Forward forward When the above timer T13 has elapsed for 20 seconds, the normally open time limit relay contact T13a+ becomes “ON”, and the relay coil R14
is excited, normally open relay contact R14a+ turns "ON" and maintains itself, and normally closed relay F2 point R14b,
turns "OFF" and the relay coil R13 becomes de-energized, the normally open relay contact R13a becomes "OPF'" and self-holding is released, the normally open relay contact R13az turns "OFF" and the solenoid 5OLI becomes de-energized. Therefore, the switching valve 28 is in the symbol position V. Then, the air supply to the air tubes 13, 13 is stopped, and the load transfer device 1 stops with the small container 2 lifted up. And normally closed relay contact R13b,, RI 3
b.

R13b3 becomes "ON" again. At the same time, the normally closed relay contact R14b is turned "OFF", and the load transfer device 1 is in the state of reverse movement stop, and the normally closed relay contact rt14
b3 is turned "OFF" and the preparation for supplying air to the air tube 13.degree. 13 is canceled.

At the same time, normally open relay contact RL4at turns "ON",
Since the normally open relay contact R20a+ is already "ON", the relay coils R7 and R8 are energized, and the normally closed relay contacts R7b and R8b are turned "OFF" and the reverse movement is stopped, and the normally open relay is turned OFF. Relay contact R7a
+ and R8a+ are closed, and the drive motors 16a, 16
Coils XI and X of the electromagnetic switch for forward rotation in b are “O”.
N'', and the drive motors 16a and 16b in FIG.
rotates in the normal direction, and the load conveying device 1 moves forward.

(C) Curving stop At this point, the circuits of the drive motors 16a and 16b are separate circuits, and the front sensor 43 or 44
They are designed to stop separately depending on the signal from the station. That is, for example, the coil X of the switch is connected to the drive motor 1.
6a, and X corresponds to the drive motor 16b, and the load transfer device 1 with the small container 2 lifted moves forward obliquely with the sensor 43 positioned slightly forward of the sensor 44. Suppose that

In this case, when the load transfer device 1 reaches the stop position, the sensor 43 first detects the wall or the small container already placed, and the normally closed contact 43b turns OFF, so the relay coil R7 becomes de-energized, the relay contact R7a+ turns OFF, Xl turns OFF, the drive motor 16a stops, and the normally closed relay contact R
7b becomes "ON". On the other hand, the drive motor 16b continues to be driven, and the traveling device 9 on the right side in FIG. 3 continues to move forward. When the left and right sensors 43 and 44 directly face the wall or the already loaded small container,
The sensor 44 detects a wall or a small container, and the normally closed contact 44b1 turns OFF, so the relay coil R8 becomes de-energized, and the normally open relay contact R8a+ turns OFF, stopping the drive motor 16b. The load transfer device 1 stops at the stop position, and the normally closed relay contact R
8b becomes "ON".

Also, if sensors 43 and 44 detect at the same time,
The drive motors 16a and 16h stop simultaneously, and if the sensor 44 detects this first, the drive motor 16b stops first.

When the sensors 43 and 44 contact a wall or the like, the normally open contacts 43a1 and 44a1 turn "ON", and since the normally open relay contact R20at is already "ON", the relay coil RI5 is energized and the normally open contacts 43a1 and 44a1 turn "ON". Open relay coil R15a
+ becomes "ON" and self-holds, and the normally closed relay contact RI5L becomes "OFF".

(D) Unloading At the same time as the relay coil R15 is energized, a timer T15 (2 seconds) is set to enter the air release preparation state. When the timer T15 has elapsed for 2 seconds, the normally open limit relay contact T15at turns "ON" and the relay coil R1
6 is energized, the normally open relay contact R16a+ closes and maintains itself, and the normally closed relay contact R16b+ turns OFF.
'', the relay coil R15 becomes de-energized and self-holding is released, and the normally closed relay contact R15b turns ``ON''.
”.Furthermore, normally closed relay contact R1611, or “O
FF", the air supply equipment is released, and the normally closed relay contact R16b is turned OFF, the relay coil R14 is de-energized and self-holding is released, and the normally open relay contact R14at is turned OFF. Normally closed relay contacts R14b, R14b, Rl4b3 are “
“ON”.

Then, the normally open relay contact R16a2 becomes “ON”.
At the same time, a timer Tl6 (40 seconds) is set, the solenoid 5OL2 is energized for 40 seconds, the switching valve 28 in FIG. 6 is switched to the symbol position V2, and the air in the air tubes 13, 13 is released. And the above elevating frame 11°I! Due to the weight of the small container 2 and the small container 2, the lifting frame 1.1.11 is lowered and the small container 2 is placed in a predetermined position.

(E) Backward When the above timer T16 has elapsed for 40 seconds, the normally open time limit relay contact T16a+ turns "ON", and the normally closed relay contact R1
3b is already “ON”, so relay coil R17 is energized, and normally open relay coil RI7a+ is “O”.
N” and is self-held. Then, the normally closed relay contact R
I7b is turned "OFF", relay coil R16 is de-energized, self-holding is released, and normally open relay contact 1116
at becomes "OFF", the solenoid 5QL2 becomes de-energized, and the normally closed relay contacts Rl 6b,...
Rl 6b, , R16b are turned "ON" again. Also, normally closed relay contact R17b.

is turned "OFF" and the forward movement is stopped, the normally closed relay contact R17b3 is turned "OFF" and the air release preparation is canceled, and the normally open relay contact R17at is turned "OFF".
ON”.

Here, the sensors 45 and 46, which are normally open contacts, use contacts that are turned "ON" by detecting the floor surface, such as a proximity switch. Therefore, when the load transfer device 1 is housed in a large container l, the sensors 45, 46
detects the floor surface of the large container l and connects the normally open contact 45a.
, 46a+ are "Q'N", so that relay coil R9°RIO is energized. Then, the normally closed relay contacts R9b, R10b are turned "OFF" and the forward movement is stopped, and at the same time, the normally open relay contacts R9a, ...
RI Oat becomes “ON” and the drive motors 16a, 1
Coils X2 and X4 of the reversing electromagnetic switch 6b are “O”.
N'', and the drive motors 16a, (6b
is reversed and retreats from the load conveying device opening.

At the same time, the sensors 43, 44 are moved away from the wall or small container and the normally open contacts 43a+, 44a+ are again "OF".
F", and the normally closed contacts 43b, 44b are turned "ON" again.
Therefore, the small container 2 is placed at a predetermined position in the large container 3, and the load transfer device 1 returns to the entrance of the large container 3 in an empty state.

(F) Backward stop When the load transfer device 1 reaches the entrance of the large container 3,
When the sensors 45, 46 protrude outside from the floor of the large container 3, the normally open contacts (proximity switch) 45.
46 becomes "OFF", relay coils R9 and RIO become de-energized, and coils Xz and X- of the electromagnetic switch become "OFF".
F'', and the drive motors 16a and 16b stop.Also, the normally closed relay contacts R9b, RI Ob are closed again.
“ON”.

The load transport device l therefore has a lifting frame 11.11.
is unloaded and returned to its original position empty, completing one cycle of loading work. In this case as well, in the case of diagonally reversing as in the case of forward stop, the drive motor 16a on the side of the sensor that detected the stop position first among the sensors 45 and 46
Or when L6b stops and the load transfer device l directly faces the edge of the floor of the large container 3, the other sensor detects the stop position and the other drive motor 16b or 16a
to stop.

The second cycle is automatically operated when the operator presses the start button P5 again.

That is, the load conveyance device 1 of the present invention can automatically perform load conveyance work by the operator operating only the main switch PI, select switch SE, and start switch P5. Therefore, the operator does not need to enter a narrow working space such as the large container 3, and can efficiently and safely carry out loading work.

<Effects of the Invention> As is clear from the above, the load conveying device of the present invention has the following effects:
A trolley that obtains a traveling device, a lifting device provided on the truck and raising and lowering cargo, a control device that sequentially controls the operations of the traveling device and the lifting device, and a control device that detects the stop position of the truck. Since it is equipped with a sensor that outputs a detection signal, the load conveyance work can be performed automatically without the need for direct operation by the operator.

In addition, the cargo transport method of the present invention uses the cargo transport device described above, lifts the cargo by lifting the lifting device according to a command from the control device, and then automatically operates the traveling device to move the cart forward. Next, the traveling device is automatically stopped by detecting the stop position of the sensor, the lifting device is lowered and the cargo is unloaded, and then the traveling device is automatically operated to move the trolley backwards and the sensor detects the stop position. By detecting the stop position, the above-mentioned cart automatically stops at the original position, so it is possible to automatically carry out load transfer work, and there is no need for the operator to enter a narrow space, resulting in high efficiency. Load transportation work can be carried out safely without injury to the operator or damage to the load.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing a loading operation using the load conveying device of the present invention, FIG. 2 is a side view of an embodiment of the load conveying device of the present invention, and FIG. 3 is a plan view of the above embodiment. Fig. 4 is a vertical sectional view showing the front and rear parts of the outer frame, elevating frame, and air tube when the elevating frame is lowered; Fig. 5 is a view when the elevating frame is raised in Fig. 4; The figure is a fluid circuit diagram for raising and lowering the lifting device, and FIG. 7 is a sequence diagram for carrying out load conveyance work in the above embodiment. ! ...Load conveyance device, 5...Horizontal frame, 6...
Inner frame, 9... Traveling device, IO... Outer frame, ll... Lifting frame, 12... Drive device, 13... Air tube, 16a, 16b--
- Drive motor, 25... Compressor, 27... Air tank, 2
8...Switching valve. Patent applicant Agent: Kyokuto Kaihatsu Kogyo Co., Ltd.
Patent attorney Aoyama Ao and 2 others 83 Figure 4 Figure 5

Claims (2)

[Claims] (1) a truck having a traveling device; a lifting device provided on the truck for lifting and lowering cargo; and a control device for sequentially controlling the operations of the traveling device and the lifting device;
A load conveyance device comprising: a sensor that detects a stop position of the truck and outputs a detection signal to the control device. (2) A cargo conveyance device comprising a trolley having a traveling device, a lifting device for raising and lowering the load, a control device for sequentially controlling the traveling device and the lifting device, and a sensor for detecting the stop position of the truck. After inserting the cart and the lifting device of the cargo transport device under the cargo, the lifting device is raised by the command of the control device to lift the cargo, and then the traveling device is moved by the command of the control device. automatically operates to drive the trolley and transport the cargo forward in a lifted state, then the sensor detects the stop position of the cargo transport device and inputs a detection signal to the control device, outputting a stop signal from the control device to automatically stop the traveling device, stopping the load conveying device with the load lifted, and lowering the lifting device to lower the load; When the load is unloaded, the traveling device is automatically operated to drive the cart, the load transfer device is moved backward and pulled out from the load, and the sensor detects the stop position of the load transfer device, A load conveyance method characterized by outputting a stop signal from a control device to automatically stop a traveling device.