JPS6382230A - Collective transferring device of load carrying platform height detection type - Google Patents
Collective transferring device of load carrying platform height detection typeInfo
- Publication number
- JPS6382230A JPS6382230A JP22625086A JP22625086A JPS6382230A JP S6382230 A JPS6382230 A JP S6382230A JP 22625086 A JP22625086 A JP 22625086A JP 22625086 A JP22625086 A JP 22625086A JP S6382230 A JPS6382230 A JP S6382230A
- Authority
- JP
- Japan
- Prior art keywords
- fork
- rear lift
- lift
- carrying platform
- load carrying
- 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.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims description 10
- 230000003028 elevating effect Effects 0.000 claims abstract description 6
- 230000000694 effects Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Landscapes
- Loading Or Unloading Of Vehicles (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、製品（パレット）の移替１例えば車両への積
込又は積降を行う移載装置の支持手段に関し、特にその
支持手段におけるフォークに距離検知手段を設け、この
検知手段により移載装置の昇降手段の昇降を制御するも
のに関する。Detailed Description of the Invention (Industrial Application Field) The present invention relates to a support means for a transfer device for transferring products (pallets), for example, loading or unloading onto or from a vehicle. The present invention relates to a device in which a distance detecting means is provided on the fork, and the detecting means controls the lifting and lowering of the lifting means of the transfer device.
（従来の技術）
従来、この種の装置においては、第６図に示すｌｔｕ
＜ 、車両３１へ製品３６を積込む際に、パレット３５
に挿入したフォーク７を所定高さ位置に持ち上げ、その
まま前進させ、パレット３５が車両の荷台３２の床面に
至るまで移動させ１次にフォーク７を下降させ、パレッ
ト３５が床面に接したとき下降を止める。(Prior Art) Conventionally, in this type of device, the ltu shown in FIG.
< When loading the product 36 onto the vehicle 31, the pallet 35
The fork 7 inserted into the fork 7 is lifted to a predetermined height position and moved forward as it is until the pallet 35 reaches the floor of the vehicle loading platform 32.The fork 7 is then lowered and when the pallet 35 touches the floor. stop the descent.
（発明により解決すべき問題点）
前記操作は作業員による目視操作により行われ、ある程
度感にたよる熟練を要する作業である。(Problems to be Solved by the Invention) The above-mentioned operation is performed visually by the operator, and is an operation that requires a certain degree of skill and skill.
又、車両の種類によって荷台の高さが異なるため、積込
みの際に装置や荷台に衝突による損傷が生じ易い。Furthermore, since the height of the loading platform varies depending on the type of vehicle, the equipment and loading platform are likely to be damaged by collisions during loading.
史に、荷台に製品を預けた際に製品の市はを受けて荷台
が沈む（車両の仮バネのたわみによる）が、この沈み分
を吸収する下降の微調整が目８′１１餉作では困難であ
る。Historically, when a product is deposited on a loading platform, the product's surface sinks and the loading platform sinks (due to the deflection of the vehicle's temporary spring). Have difficulty.
本発明は、以」−の課題を解決し昇降手段の昇降を自動
化するフォーク荷台検知手段を提供することを目的とす
る。An object of the present invention is to provide a fork platform detection means that solves the following problems and automates the raising and lowering of the raising and lowering means.
（発明による問題点の解決手段）
本発明の荷台高さ検知式−括移載装置によれば、支持手
段、昇降手段及び進退手段からなり。(Means for Solving Problems According to the Invention) According to the platform height sensing type bulk transfer device of the present invention, it is comprised of a support means, an elevating means, and an advancing/retracting means.
複数のパレット（通常装荷したパレット）を支持手段に
より一括支持し、該支持手段を昇降手段及び進退手段に
よりア降、進退させ、製品の移替を行う移載装置におい
て、支持手段の水平バーに直交して設けた水平並列状態
に突出する複数のフォークの先端部及び略中央部に距離
検知手段を設け、該検知手段によりフォークと荷台との
間の距離を測定し前記昇降手段の昇降を制御する。In a transfer device that supports a plurality of pallets (normally loaded pallets) at once by a support means, moves the support means up and down, advances and retreats using an elevating means and an advancing/retreating means, and transfers products, a horizontal bar of the support means is used. Distance detection means are provided at the tips and substantially the center of a plurality of forks that are arranged orthogonally arranged and protrude in a horizontally parallel state, and the distance between the forks and the loading platform is measured by the detection means, and the elevation of the elevating means is controlled. do.
前記課題を解決する昇降手段の昇降の自動化のためには
、■フォークが荷台の床面に接したことを検知する手段
、■荷台沈み分を調整するための検知手段を必要とする
。■の検知手段は、進退手段によりフォークが荷台の床
面に至るまで移動したときにフォークを下降させ荷台を
検知するものであるから、フォークの先端部に取付ける
。■の検知手段は、フォーク先端を荷台に預けたまま前
進させ、製品の積込が完了した時点で調整を行うもので
あるから、荷台に対して■の取付位置に対し荷台のもう
一方の端に対応する位置、すなわちフォーク略中央部に
取付けるものとする。In order to automate the lifting and lowering of the lifting means to solve the above-mentioned problems, it is necessary to have (1) a means for detecting that the fork is in contact with the floor surface of the loading platform, and (2) a detecting means for adjusting the amount by which the loading platform sinks. The detection means (2) is attached to the tip of the fork because it lowers the fork and detects the loading platform when the fork is moved to the floor of the loading platform by the advancing/retracting means. The detection means in (■) moves the fork tip forward while resting on the loading platform, and adjusts it when the loading of the product is completed. It shall be installed at a position corresponding to the fork, approximately at the center of the fork.
距離検知手段としては、接触子を用いる機械的な手段に
よるもの、接触子を用いない電気的な手段によるもの（
例えば、光電式センサ、超音波式センサ等）がある。設
計条件や測定対象により選択が可能である。Distance detection means include mechanical means using contacts, electrical means not using contacts (
For example, there are photoelectric sensors, ultrasonic sensors, etc.). Selection is possible depending on design conditions and measurement target.
進退手段による走行をラックやギア方式とする方法もあ
るが、この場合過負荷時（例えば。There is also a method of using a rack or gear system to move forward and backward, but in this case, when there is an overload (for example).
フォークが車両に当たり前進できないとき）に対応でき
ないといった欠点がある。この場合、走行を車輪とレー
ルによる方式を採ることにより過負荷時には車輪がレー
ル上をスリップするから設備及び車両への悪影響を回避
できる。従って、進退手段による走行はレール方式とす
ることが望ましい。It has the disadvantage of not being able to handle situations where the fork hits the vehicle and prevents it from moving forward. In this case, by adopting a system of wheels and rails for running, the wheels slip on the rails in the event of an overload, thereby avoiding adverse effects on equipment and vehicles. Therefore, it is preferable that the movement using the advance/retreat means be a rail system.
（実施例）
以下２本発明について実施例を示す図面を基に説明する
。(Example) The following two aspects of the present invention will be described based on drawings showing examples.
第１図において、２２は本実施例の移載装置を示し、３
１はこの移載装置の自動操作を果たす自動制御装置であ
る。この移載装置の昇降手段は後部リフト１及び前部リ
フト２よりなる。後部リフト１はスクリュージヤツキ３
により、前部リフト２はスクリュージヤツキ４により、
それぞれ昇降がされる。５及び６はスクリュージヤツキ
昇降用モータで、シャフト２７．２８を介してフォーク
支柱１４゜１５を昇降させる。In FIG. 1, 22 indicates the transfer device of this embodiment, and 3
1 is an automatic control device that automatically operates this transfer device. The lifting means of this transfer device consists of a rear lift 1 and a front lift 2. Rear lift 1 is screw jack 3
Accordingly, the front lift 2 is moved by the screw jack 4,
They are raised and lowered respectively. Reference numerals 5 and 6 are screw jack lifting motors that raise and lower the fork supports 14 and 15 via shafts 27 and 28.
進退作動は、後部リフトｌは、ベース７に取付けられた
車輪８を介してガイドレール９上を走行し、前部リフト
２は、ベースｌＯに取付けられた車輪１１を介してガイ
ドレール９上を走行することにより行われる。Ａ及びＢ
はそれぞれ後部リフト１及び前部リフト２の走行用減速
モータである。このモータＡ、Ｂによる動力は各車輪８
，１１に伝達される。For forward and backward movement, the rear lift 1 runs on the guide rail 9 via wheels 8 attached to the base 7, and the front lift 2 runs on the guide rail 9 via the wheels 11 attached to the base 10. This is done by running. A and B
are the traveling speed reduction motors of the rear lift 1 and the front lift 2, respectively. The power from these motors A and B is for each wheel 8.
, 11.
１３は支持手段を構成するフォークである。第５図にお
いて、後部リフト１の水平なるフォーク支柱１４に一定
間隔を保って直角方向に水平に複数本配設される。この
フォーク１３は、フォーク支柱１４に固定されたブラケ
ット２９によりピン３ｏでその下面を支えられる（第１
図参照）。このフォーク支持構造により１例えば点線で
示すようにエアシリンダ３２を設け、これによりフォー
ク上面を押すことによりフォークの水平調整を果たすこ
とが可能である。13 is a fork constituting the support means. In FIG. 5, a plurality of fork supports 14 of the rear lift 1 are horizontally disposed at regular intervals in a perpendicular direction. This fork 13 is supported on its lower surface by a pin 3o by a bracket 29 fixed to the fork strut 14 (first
(see figure). With this fork support structure, for example, an air cylinder 32 is provided as shown by the dotted line, and by pushing the upper surface of the fork, the fork can be horizontally adjusted.
フォーク１３には、製品をｉ！ｊち上げた時にフォーク
の前部を下側より支持する前部リフト２の前部フォーク
支柱１５が組み合わされる。Fork 13 has the product i! The front fork strut 15 of the front lift 2 is combined with the front lift 2 which supports the front part of the fork from below when lifted up.
フォーク１３の前端部下面には回転ローラｌＢがエアシ
リンダ２６により出没自在に装着され、車両の荷台にパ
レットを降すｕ、ｒにはこれを突出させ、荷台と共同し
てフォーク１３の前部を支持する支持ローラとして使わ
れる。A rotary roller IB is attached to the lower surface of the front end of the fork 13 so as to be freely protrusive and retractable by an air cylinder 26, and when a pallet is unloaded onto the loading platform of a vehicle, this roller IB protrudes and is attached to the front of the fork 13 in cooperation with the loading platform. Used as a support roller to support
第１図において、 １７．１８は荷台検知用３眼光電セ
ンサを示す。１７はフォーク１３の先端部構面に取付け
られ、１８はフォーク１３の中央部下面に取付けられる
。In FIG. 1, 17 and 18 indicate trinocular photoelectric sensors for detecting a cargo platform. 17 is attached to the front end structural surface of the fork 13, and 18 is attached to the lower surface of the center of the fork 13.
（実施例の作用）
第１図において、自走トラバーサ２１に乗せられて移載
装置２２の前に移動して来たパレット１９−１：の製品
２０は、自走トラバーサ２１のブツシャ２３によりパレ
ットごと支持手段のフォーク１３に移され。(Operations of the Embodiment) In FIG. The whole body is transferred to the fork 13 of the support means.
フォークの前半部に挿入される。この挿入パレ・ントは
、引込装置７１のストッパ７０によりフォーク１３の後
半部に移され、所定の位置に置かれる。この引込装置７
１は第７図に示す如く先端が傾斜面７２ａをもつロッド
７２を有し、このロッド７２が図の左方へ移動すること
により軸７３を中心にしてストッパ７０が回転して突出
しパレット底部に係合する形でこれをロッド７２の上面
に保持し次にレール７４が引っこむことによりパレット
はストッパ７０により運ばれる。その結果、第２図に示
す如く、フォーク１３にパレット１９が間隔を保持して
挿入される。Insert into the front half of the fork. This inserted parent is transferred to the rear part of the fork 13 by the stopper 70 of the retraction device 71 and placed in a predetermined position. This retraction device 7
As shown in FIG. 7, the rod 72 has an inclined surface 72a at its tip, and as this rod 72 moves to the left in the figure, the stopper 70 rotates about a shaft 73 and protrudes to the bottom of the pallet. The pallet is carried by the stop 70 by holding it in engagement with the upper surface of the rod 72 and then retracting the rail 74. As a result, as shown in FIG. 2, the pallet 19 is inserted into the fork 13 with a gap maintained therebetween.
次に前部リフト２と後部リフト１が同時に各ジヤツキ４
．３により１００ｍｍ上昇し２回転ローラ１６が出る。Next, the front lift 2 and rear lift 1 simultaneously lift each jack 4.
．． 3, it rises by 100 mm and the two-rotation roller 16 comes out.
製品を乗せたパレットがトラック２４の荷台２５の手前
３００＋ｎｍに来るまで、前部リフト２と後部リフト１
とを減速モータＢ、Ａによりガイドレール１２．９上に
前進させた後１両リフトは同時に上昇端（トラック荷台
より２００ｍｆｆ１高く）まで上昇し。The front lift 2 and the rear lift 1 are operated until the pallet loaded with products is 300+ nm in front of the loading platform 25 of the truck 24.
After the two lifts are moved forward onto the guide rail 12.9 by deceleration motors B and A, the two lifts simultaneously rise to the upper end (200mff1 higher than the truck bed).
更にトラックの荷台上部まで前進する（リミットスイッ
チにより両リフトが停止するまで）。Further move forward to the top of the truck bed (until both lifts are stopped by the limit switch).
次に、第３図において、前部リフト２と後部リフト１と
が同時に下降し、フォーク１３の先端部溝面に内蔵した
光電センサ１７がトラックの荷台２５を検知したとき後
部リフト１の下降は停止し、前部リフト２のみ下降端ま
で下がる。これにより支点が後部リフト１に移り１後部
リフト１に支持されたフォーク１３のたわみによりフォ
ーク先端部下面に出ている回転ローラ１６がトラックの
荷台２５に当り、トラックの荷台と共同した支援となり
、後部リフト１との両持梁状態を保つ。Next, in FIG. 3, when the front lift 2 and the rear lift 1 are lowered at the same time and the photoelectric sensor 17 built into the groove surface at the tip of the fork 13 detects the truck bed 25, the rear lift 1 is lowered. Then, only the front lift 2 is lowered to the lower end. As a result, the fulcrum shifts to the rear lift 1, and due to the deflection of the fork 13 supported by the rear lift 1, the rotary roller 16 protruding from the lower surface of the fork tip hits the truck bed 25, providing joint support with the truck bed. Keep the beam supported on both sides with the rear lift 1.
なお、大荷重により荷台２５が大きく沈むのを防１ト、
するため車両のシャーシに当てるジヤツキ装置３３が用
いられる。In addition, to prevent the loading platform 25 from sinking significantly due to heavy loads,
In order to do this, a jacking device 33 is used which is applied to the chassis of the vehicle.
この時、前部リフト２がパレット下面より下がった時点
でタイマが働き、後部リフト１が前進し、製品をトラッ
ク２４の中央部まで運ぶ（第４図）。At this time, when the front lift 2 is lowered below the lower surface of the pallet, the timer is activated, the rear lift 1 moves forward, and the product is transported to the center of the truck 24 (FIG. 4).
後部リフト１の前進は前進リミ・ントスイ・ソチの作動
により停止される。この時、フォーク１３の中央部下面
に取付けられた光電センサ１８が荷台２５を検知するま
で後部リフト１は下降する。The forward movement of the rear lift 1 is stopped by the operation of the forward limit switch. At this time, the rear lift 1 descends until the photoelectric sensor 18 attached to the lower surface of the center of the fork 13 detects the loading platform 25.
なお、フォーク傾きの水平調整を行う時は、これに限ら
ず１例えばフォークが前進作動をしている最中にこれと
゛ト行して行うことも可能である。Note that the horizontal adjustment of the fork inclination is not limited to this, and can also be performed, for example, while the fork is moving forward.
後部リフト１の前進リミットスイッチの確認によりフォ
ーク下面の回転ローラ１Ｇは解除される。When the forward limit switch of the rear lift 1 is confirmed, the rotating roller 1G on the lower surface of the fork is released.
この時７回転ローラ１６の解除ストローク分たけフォー
ク１３の前端側に傾きが生ずる。この傾きをフォーク中
央部の光電センサ１８がトラックの荷台２５を検知する
まで後部リフト１を自動下降させ。At this time, the front end of the fork 13 is tilted by the release stroke of the seven-turn roller 16. The rear lift 1 is automatically lowered until the photoelectric sensor 18 at the center of the fork detects this inclination and the loading platform 25 of the truck.
フォーク１３をパレット高さの中央部に平行制御させる
。その後フオーク１３を所定の位置（後部リフト１がト
ラックの荷台より約３００＋ｎｍ外れる位置まで）に後
退させる。次に後部リフト１と前部リフト２とが同時に
後退端まで戻り１元の位置に復帰して積込作業は終る。The fork 13 is controlled parallel to the center of the pallet height. Thereafter, the fork 13 is retreated to a predetermined position (until the rear lift 1 is approximately 300+nm away from the truck bed). Next, the rear lift 1 and the front lift 2 simultaneously return to the rear end and return to their original positions, completing the loading operation.
なお、フォークの水平調整は、前述の場合に限らず、適
宜選択して何回でも行うことができる。Note that the horizontal adjustment of the fork is not limited to the case described above, and can be performed as many times as appropriate.
又、上述した積込作業の作動順序を逆に行なえば、積込
まれている製品を一括して積降することかできる。Furthermore, by reversing the order of the loading operations described above, the loaded products can be unloaded all at once.
（発明の効果）
本発明の荷台検知手段による昇降手段の昇降の自動化は
、移載装置全体の操作の自動化を達成するものである。(Effects of the Invention) The automation of the lifting and lowering of the lifting means by the loading platform detection means of the present invention achieves automation of the operation of the entire transfer device.
従って、自動化に伴う様々なメリット、例えば、熟練操
作者を必要としない１人的作業ミスが回避される１作業
時間か短縮されるといった数々の効果が得られる。Therefore, various advantages associated with automation can be obtained, such as eliminating the need for a skilled operator, avoiding single-person operation errors, and shortening the amount of time required for one operation.
第１図から第４図は２本発明の実施例の作動を順に示す
図、第５図は本実施Ｉ’ｌ＋の移載装置の部分平面図、
第６図は従来の移載装置の斜視図、第７図は引込装置の
部分側面図、を夫々示す。
１・・・後部リフト、 ２・・・前部リフト。
１３・・・フォーク、１Ｇ・・・回転ローラ。
１７、 １８・・・光電センサ、１９・・・パレット。1 to 4 are diagrams sequentially showing the operations of the two embodiments of the present invention, and FIG. 5 is a partial plan view of the transfer device of the present embodiment I'l+.
FIG. 6 shows a perspective view of a conventional transfer device, and FIG. 7 shows a partial side view of a retracting device. 1... Rear lift, 2... Front lift. 13...Fork, 1G...Rotating roller. 17, 18...Photoelectric sensor, 19...Pallet.
Claims (1)
ットを支持手段により一括支持し、該支持手段を昇降手
段及び進退手段により昇降、進退させ、製品の移替を行
う移載装置において、支持手段の水平バーに直交して設
けた水平並列状態に突出する複数のフォークの先端部及
び略中央部に距離検知手段を設け、該検知手段により前
記昇降手段の昇降を制御することを特徴とする荷台高さ
検知式一括移載装置。In a transfer device comprising a support means, an elevating means, and an advancing/retracting means, a plurality of pallets are collectively supported by the supporting means, and the supporting means is raised/lowered and advanced/retracted by the elevating means and the advancing/retreating means to transfer products. A loading platform characterized in that distance detection means are provided at the tips and substantially the center of a plurality of forks that are provided perpendicularly to the horizontal bar and protrude horizontally in parallel, and the elevation of the lifting means is controlled by the detection means. Height sensing type bulk transfer device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22625086A JPS6382230A (en) | 1986-09-26 | 1986-09-26 | Collective transferring device of load carrying platform height detection type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22625086A JPS6382230A (en) | 1986-09-26 | 1986-09-26 | Collective transferring device of load carrying platform height detection type |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6382230A true JPS6382230A (en) | 1988-04-13 |
Family
ID=16842246
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP22625086A Pending JPS6382230A (en) | 1986-09-26 | 1986-09-26 | Collective transferring device of load carrying platform height detection type |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6382230A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5326213A (en) * | 1989-01-12 | 1994-07-05 | Roberts Hardy G | Section van trailer having detachable and interchangeable compartments for transporting both household belongings and commercial freight |
| US5662450A (en) * | 1989-01-12 | 1997-09-02 | Transwest Management | Sectional van trailer having detachable and interchangeable compartments for transporting both household belongings and commercial freight |
| JP2006044878A (en) * | 2004-08-04 | 2006-02-16 | Nippon Yusoki Co Ltd | Fork lift |
| CN108750721A (en) * | 2018-05-20 | 2018-11-06 | 成都鸿源锦程机器人有限公司 | A kind of control method of wiper arm formula automatic loading robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS53121378A (en) * | 1977-03-31 | 1978-10-23 | Moellers Maschf | Apparatus for automatically loading bags* provided with stacking station |
| JPS60153337A (en) * | 1984-01-18 | 1985-08-12 | Asmo Co Ltd | Automatic transferring apparatus |
-
1986
- 1986-09-26 JP JP22625086A patent/JPS6382230A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS53121378A (en) * | 1977-03-31 | 1978-10-23 | Moellers Maschf | Apparatus for automatically loading bags* provided with stacking station |
| JPS60153337A (en) * | 1984-01-18 | 1985-08-12 | Asmo Co Ltd | Automatic transferring apparatus |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5326213A (en) * | 1989-01-12 | 1994-07-05 | Roberts Hardy G | Section van trailer having detachable and interchangeable compartments for transporting both household belongings and commercial freight |
| US5662450A (en) * | 1989-01-12 | 1997-09-02 | Transwest Management | Sectional van trailer having detachable and interchangeable compartments for transporting both household belongings and commercial freight |
| JP2006044878A (en) * | 2004-08-04 | 2006-02-16 | Nippon Yusoki Co Ltd | Fork lift |
| CN108750721A (en) * | 2018-05-20 | 2018-11-06 | 成都鸿源锦程机器人有限公司 | A kind of control method of wiper arm formula automatic loading robot |
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