JP2005219884A - Automatic transfer device - Google Patents

Automatic transfer device Download PDF

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JP2005219884A
JP2005219884A JP2004030500A JP2004030500A JP2005219884A JP 2005219884 A JP2005219884 A JP 2005219884A JP 2004030500 A JP2004030500 A JP 2004030500A JP 2004030500 A JP2004030500 A JP 2004030500A JP 2005219884 A JP2005219884 A JP 2005219884A
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fork
transport vehicle
distance
load
transfer device
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Shiro Okamoto
志朗 岡本
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Nippon Yusoki Co Ltd
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Nippon Yusoki Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic transfer device capable of accurately unloading a cargo on an unmanned transport vehicle even when a stop position of the unmanned transport vehicle deviates. <P>SOLUTION: When a detection means 9 detects that a fork 4 is in a position wherein the cargo 6 can be loaded in the process of advancing of the fork 4 in loading action, a control means 11 stops advancing of the fork 4 based on a detected signal, and an advancing distance of the fork 4 is stored by a ranging means 10. In the process of unloading action, the control means 11 stops advancing of the fork 4 and unloads the cargo when the advancing distance of the fork 4 stored coincides with the advancing distance of the fork 4 in the process of the loading action. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

本発明は、停止した無軌道の無人搬送車両に対して荷を積み降ろしする有軌道の自動移載装置に関する。   The present invention relates to a tracked automatic transfer device for loading and unloading a loaded unmanned unmanned guided vehicle.

図６に示すように、矢印Yで指した方向に延びる軌道２に案内されつつ走行する軌道式搬送車３に、軌道２の側方へ突出したフォーク４を矢印Ｘで指す向きに進退動させる荷役手段５を設け、軌道２の側方に、着脱白在な一の蓄電池６０を電源として床面を走行する無人搬送車両７の停止位置（図中で無人搬送車両７に重なる。）を設定し、この停止位置に対して矢印Y方向に縦列させて、他の蓄電池６０を格納し充電する複数の格納領域８を設置した自動移載装置が周知である。この自動移載装置によれば、無人搬送車両７の走行により一の蓄電池６０が電力を消耗され尽くす前に、一の蓄電池６０と、予め格納領域８で充電済の他の蓄電池６０とを、人手によらず交換できる。   As shown in FIG. 6, a fork 4 that protrudes to the side of the track 2 is moved forward and backward in the direction indicated by the arrow X in the track-type transport vehicle 3 that travels while being guided by the track 2 that extends in the direction indicated by the arrow Y. A cargo handling means 5 is provided, and a stop position of the unmanned transport vehicle 7 that travels on the floor using one storage battery 60 that is detachable as a power source is set on the side of the track 2 (it overlaps the unmanned transport vehicle 7 in the figure). In addition, an automatic transfer device in which a plurality of storage areas 8 for storing and charging other storage batteries 60 in a column in the arrow Y direction with respect to the stop position is well known. According to this automatic transfer device, before the one storage battery 60 is exhausted by the travel of the automated guided vehicle 7, the one storage battery 60 and the other storage battery 60 charged in advance in the storage area 8 are It can be exchanged without human intervention.

詳しくは、軌道式搬送車３が軌道２に沿って図中右向きに往動して、無人搬送車両７の正面の仮想線枠３０で囲む位置に達したところで、軌道式搬送車３は停止する。そして、荷役手段５が、フォーク４を無人搬送車両７へ向けて前進させると、フォーク４が一の蓄電池６０に固定された掛止部材６１を掛止する。更に荷役手段５が、フォーク４を上げて後退させると、−の蓄電池６０は軌道式搬送車３の方へ引き寄せられる。このまま軌道式搬送車３が図中左向きに復動し、軌道式搬送車３が複数の格納領域８の中の何れかの格納領域８の中の正面に達したところで、軌道式搬送車３は再び停止する。そして、荷役手段５がフォーク４を適宜作動させて、−の蓄電池６０を格納領域８に荷降ろしする。   Specifically, the track-type transport vehicle 3 stops when the track-type transport vehicle 3 moves to the right in the drawing along the track 2 and reaches the position surrounded by the virtual line frame 30 in front of the automatic guided vehicle 7. . And if the cargo handling means 5 advances the fork 4 toward the automatic guided vehicle 7, the fork 4 will latch the latch member 61 fixed to the one storage battery 60. FIG. When the cargo handling means 5 further raises the fork 4 and moves it backward, the negative storage battery 60 is drawn toward the track-type transport vehicle 3. The track-type transport vehicle 3 moves backward in the left direction in the figure, and when the track-type transport vehicle 3 reaches the front in any one of the storage areas 8, the track-type transport vehicle 3 Stop again. Then, the cargo handling means 5 appropriately operates the fork 4 to unload the negative storage battery 60 to the storage area 8.

図示を省略しているが、個々の格納領域８は、それぞれの四方を枠体で囲まれた区画を有し、この区画の中央へ蓄電池６０を案内して位置決めするための治具を備えている。従って、何れの格納領域８に蓄電池６０が格納されていても、このような蓄電池６０と軌道式搬送車３との距離は変化することがない。入出庫の無人化に係る技術が下記特許文献に開示されている。   Although not shown, each storage area 8 has a section surrounded by a frame on each of the four sides, and includes a jig for guiding and positioning the storage battery 60 to the center of the section. Yes. Therefore, even if the storage battery 60 is stored in any storage area 8, the distance between the storage battery 60 and the track-type transport vehicle 3 does not change. Techniques relating to unmanned entry / exit are disclosed in the following patent documents.

特開２００１−３０１９８６号公報JP 2001-301986 A 特開２００２−１６７０５３号公報JP 2002-167053 A

無人搬送車両７は床面を走行するものであって軌道等により一切案内されることが無いので、上記本来の停止位置からずれる可能性がある。無人搬送車両７に対して軌道式搬送車３が停止した位置が矢印Y方向に少々外れた場合は、軌道式搬送車３を停止させる位置（仮想線枠３０）を、既に停車した無人搬送車両７に合致するよう微調整すれば足りるが、無人搬送車両７が本来の停止位置から矢印Ｘ方向に外れて停止した場合には、次の問題が起こる。   Since the automatic guided vehicle 7 travels on the floor surface and is not guided at all by a track or the like, there is a possibility that the automatic guided vehicle 7 may deviate from the original stop position. When the position at which the track-type transport vehicle 3 stops with respect to the unmanned transport vehicle 7 slightly deviates in the direction of the arrow Y, the position at which the track-type transport vehicle 3 is stopped (virtual line frame 30) has already stopped. However, if the automatic guided vehicle 7 stops in the direction of the arrow X from the original stop position, the following problem occurs.

即ち、荷役手段５は、一の蓄電池６０を何れかの格納領域８に荷降しすると、直ちに他の蓄電池６０を別の格納領域８から取り出す。この後、軌道式搬送車３は再び往動する。そして、荷役手段５は、他の蓄電池６０をフォーク４に載せつつフォーク４を無人搬送車両７へ向けて前進させ、同フォーク４が前進した距離が所定長さに達したところで、フォーク４を停止させる。このままフォーク４を下降させれば、他の蓄電池６０を無人搬送車両７に載置できる。しかしながら、無人搬送車両７が矢印Ｘ方向に位置ずれした分、相対的に他の蓄電池６０は無人搬送車両７に対して位置を違えることになる。   That is, when the cargo handling means 5 unloads one storage battery 60 to any storage area 8, it immediately takes out another storage battery 60 from another storage area 8. Thereafter, the track-type transport vehicle 3 moves forward again. Then, the cargo handling means 5 advances the fork 4 toward the automatic guided vehicle 7 while placing the other storage battery 60 on the fork 4, and stops the fork 4 when the distance that the fork 4 has advanced reaches a predetermined length. Let If the fork 4 is lowered as it is, another storage battery 60 can be placed on the automatic guided vehicle 7. However, the position of the other storage battery 60 is relatively different from that of the unmanned transport vehicle 7 because the unmanned transport vehicle 7 is displaced in the direction of the arrow X.

このため、オペレ一夕等の補助が無ければ他の蓄電池６０を無人搬送車両７に正確に載置できない場合がある。また、無人搬送車両７と他の蓄電池６０との位摩ずれに起因して、無人搬送車両７と他の蓄電池６０にそれぞれ設けた接続端子を接触できず、蕃電池６０と無人搬送車両７との電気的接続が行えないという問題も起こる。   For this reason, the other storage battery 60 may not be placed accurately on the automatic guided vehicle 7 without assistance such as an overnight operation. In addition, due to the displacement between the unmanned transport vehicle 7 and the other storage battery 60, the connection terminals provided on the unmanned transport vehicle 7 and the other storage battery 60 cannot be contacted, and the battery 60 and the unmanned transport vehicle 7 There is also a problem that electrical connection cannot be made.

本発明の目的は、無軌道の無人搬送車両に対して有軌道の自動移載装置が荷の取り降ろしを行う場合に、無人搬送車両の停止位置がずれていた場合でも正確に荷を降ろすことができる自動移載装置を提供することにある。   An object of the present invention is to accurately unload a load even when the stop position of the unmanned transport vehicle is deviated when the tracked automatic transfer device unloads the load from the unmanned unmanned transport vehicle. It is to provide an automatic transfer device that can be used.

本発明は、無軌道の無人搬送車両に対して荷取り又は荷降ろしする有軌道の自動移載装置であって、該自動移載装置は、軌道側方に停止した前記無人搬送車両に対して進退動させるフォークと、該フォークの前進距離を測距する測距手段と、該フォークの前進時にフォークが荷を取ることのできる位置に達したことを検出する検出手段と、前記測距手段及び検出手段からの信号を受信し、前記フォークの動作を制御する制御手段とを備え、該制御手段は、荷取り動作の過程で前記検出手段からの検出信号を受信したとき、前記フォークを停止させると共に、前記測距手段により得たそのときのフォークの前進距離を記憶し、荷降ろし動作の過程で、該記憶した前進距離だけフォークを前進させて停止させることを特徴とする。   The present invention is a tracked automatic transfer device that loads or unloads an unmanned unmanned transport vehicle, the automatic transfer device moving forward and backward with respect to the unmanned transport vehicle stopped on the side of the track. A fork to be moved, a distance measuring means for measuring a forward distance of the fork, a detection means for detecting that the fork has reached a position where a load can be taken when the fork moves forward, the distance measuring means and the detection Control means for receiving the signal from the means and controlling the operation of the fork, and the control means stops the fork when receiving the detection signal from the detection means in the course of the loading operation. The fork advance distance obtained by the distance measuring means is stored, and the fork is advanced and stopped by the stored advance distance in the process of unloading.

更に、本発明に係る自動移載装置は、前記検出手段は、前記フォークに伴って進退動し、前記無人搬送車両に載置された前記荷に接触して検出信号を送る接触センサであることを特徴とする。   Furthermore, in the automatic transfer device according to the present invention, the detection means is a contact sensor that moves forward and backward with the fork and sends a detection signal in contact with the load placed on the automatic guided vehicle. It is characterized by.

本発明に係る自動移載装置は、荷取り動作の過程で、検出手段からの検出信号を受信した制御手段がフォークを停止させると共に、測距手段で得られたそのときのフォークの前進距離を記憶する。そして、荷降ろし動作の過程で、記憶したフォークの前進距離と、荷降ろし動作に伴って前進しているフォークの前進距離とを比較演算し、両者が合致したときフォークを停止させ、荷降ろしを行う。これにより、無人搬送車両が自動搬送装置の軌道からフォークの進退方向においてずれて停止した場合でも、荷取り動作の過程で得たフォークの前進距離をそのまま荷降ろし動作の過程でのフォークの前進距離として使用することができる。従って、無人搬送車両から荷取りした直後に同無人搬送車両に荷を降ろす場合に、フォークの進退方向において無人搬送車両に対して荷が位置ずれすることがなく、正確な位置に荷を載置することができる。例えば、荷が蓄電池から成り、同蓄電池を無人搬送車間の電源として適用する場合には、無人搬送車両と蓄電池はそれぞれ設けた接続端子を確実に接触させられるので、蓄電池と無人搬送車両との電気的接続を良好に行うことができる。   In the automatic transfer device according to the present invention, the control means that has received the detection signal from the detection means stops the fork in the course of the unloading operation, and determines the advance distance of the fork at that time obtained by the distance measurement means. Remember. Then, in the process of unloading operation, the calculated advance distance of the fork is compared with the advance distance of the fork that is moving forward with the unloading operation, and when they match, the fork is stopped and unloaded. Do. As a result, even if the automated guided vehicle deviates from the path of the automatic transfer device in the fork advance / retreat direction, the fork advance distance obtained during the unloading operation remains the same as the fork advance distance during the unloading operation. Can be used as Therefore, when unloading the unmanned transport vehicle immediately after unloading from the unmanned transport vehicle, the load is not displaced relative to the unmanned transport vehicle in the forward and backward direction of the fork, and the load is placed at an accurate position. can do. For example, when the load is composed of a storage battery and the storage battery is applied as a power source between automatic guided vehicles, the unmanned transport vehicle and the storage battery can be reliably brought into contact with the connection terminals provided. Connection can be made satisfactorily.

更に、本発明に係る自動移載装置によれば、検出手段としてフォークに伴って進退動する接触センサを適用する場合、接触センサはフォークが前進する行程で無人搬送車両に載置された荷に接触して検出信号を送出する。このような接触センサは、既成の荷役手段に簡単に付加できるので、当該装置を安価に製造できるという利点が得られる。   Furthermore, according to the automatic transfer device according to the present invention, when a contact sensor that moves forward and backward with the fork is applied as the detection means, the contact sensor is applied to the load placed on the automatic guided vehicle in the stroke in which the fork moves forward. A detection signal is sent upon contact. Since such a contact sensor can be easily added to an existing cargo handling means, there is an advantage that the device can be manufactured at a low cost.

図１乃至図６に基づき、本実施例１の自動移載装置１について説明する。従来の技術として既に述べた要素には、同符号を付しその詳細な説明及び図示は省略する。   The automatic transfer apparatus 1 according to the first embodiment will be described with reference to FIGS. Elements already described as conventional techniques are denoted by the same reference numerals, and detailed description and illustration thereof are omitted.

先ずは、自動移載装置１を適用した自動倉庫の例を説明する。即ち、図１及び図２に示すような軌道２によっで矢印Y方向に案内されつつ走行する軌道式搬送車３に、軌道２の側方へ向かって延びるフォーク４を矢印Ｘ方向に進退動させる荷役手段を設けたものである。フォーク４は、図３に示すように起点０が定められたストロークSの範囲で進退動できる。   First, an example of an automatic warehouse to which the automatic transfer device 1 is applied will be described. That is, a fork 4 extending toward the side of the track 2 is moved forward and backward in the direction of the arrow X on the track-type transport vehicle 3 that travels while being guided in the direction of the arrow Y by the track 2 as shown in FIGS. A cargo handling means is provided. As shown in FIG. 3, the fork 4 can move forward and backward within the range of the stroke S where the starting point 0 is determined.

軌道２の側方には、荷６を載置する無人搬送車両７の停止位置が設定され、この停止位置に対して軌道式搬送車３の走行する矢印Y方向に隔たる位置に、荷６を格納する複数の格納額域８を設置している。軌道式搬送車３が停止位置と格納領域８の間にそれぞれ対応する軌道２の区間を往復する過程で、荷役手殴５は、フォーク４を前進させて無人搬送車両７に載置された荷６を取る荷取り動作、又はフォーク４に荷６を載せつつフォーク４を無人搬送車両７へ向けて前進させ降ろす荷降ろし動作を実行する。詳しくは次の通りである。   A stop position of the automatic guided vehicle 7 on which the load 6 is placed is set to the side of the track 2, and the load 6 is located at a position separated from the stop position in the arrow Y direction in which the track-type transport vehicle 3 travels. A plurality of storage amount areas 8 are stored. In the process in which the track-type transport vehicle 3 reciprocates between the corresponding sections of the track 2 between the stop position and the storage area 8, the load handling hand 5 advances the fork 4 and loads the load placed on the unmanned transport vehicle 7. 6 or the unloading operation of moving the fork 4 forward toward the automatic guided vehicle 7 and unloading it while placing the load 6 on the fork 4 is performed. Details are as follows.

自動移載装置１は、図３及び図４に示すように、フォーク４が起点０から前進した距離を計測し、この距離の値を測距コードとして出力する測距手段１０と、無人搬送車両上の荷を検出して検出信号を送出する検出手段９と、軌道式搬送車３及び荷役手段５の動作を個々に制御する制御手段１１とを備える。荷役手段５としては自動倉庫で使用されるスタッカークレーンを適用しても良い。上記の起点０は、フォーク４を油圧又は電動シリンダによってストロークSの範囲で進退させる場合に、この油圧又は電動シリンダが最小の長さまで短縮した後退限に定めても良いが、ストロークSの途中に定めても良い。   As shown in FIGS. 3 and 4, the automatic transfer device 1 measures the distance that the fork 4 has advanced from the starting point 0 and outputs the distance value as a distance measuring code, and the automatic guided vehicle. Detecting means 9 for detecting an upper load and sending a detection signal, and control means 11 for individually controlling the operations of the track-type transport vehicle 3 and the cargo handling means 5 are provided. As the cargo handling means 5, a stacker crane used in an automatic warehouse may be applied. The starting point 0 may be set to a retreat limit in which the hydraulic or electric cylinder is shortened to the minimum length when the fork 4 is advanced or retracted by the hydraulic or electric cylinder within the range of the stroke S. It may be determined.

測距手段１０としては、フォーク４が起点０を基準点（ゼロ点）として前進した距離をコード化するエンコーダ又はポテンシヨメータを適用しても良い。検出手段９としては、フォーク４を昇降キャリッジ等に支持するための支持板に取付可能な接触センサを適用できる。接触センサとは、無人搬送車両７に載置された荷６に接触して検出信号を送出するものである。 As the distance measuring means 10, an encoder or a potentiometer that encodes the distance that the fork 4 has advanced with the starting point 0 as a reference point (zero point) may be applied. As the detection means 9, a contact sensor that can be attached to a support plate for supporting the fork 4 on a lifting carriage or the like can be applied. The contact sensor is a sensor that sends a detection signal in contact with the load 6 placed on the automatic guided vehicle 7.

制御手段１１は、図４に示すように、ＣＰUから成る情報処理部１２と、メモリから成る記憶部１３と、上記の測距コード及び検出信号を情報処理部１２に入力させる入力部１４と、出力部１５とを備えるものである。出力部１５は、油圧ポンプ１６又は図に表れていない方向制御弁の動作を、情報処理部１２の指令に従って制御する。油圧ポンプ１６又は上記の方向制御弁は何れも荷役手段５に装備され、フォーク４を前進、．後退、又は停止させるための油圧回路の構成要素である。なお、油圧の代わりに電動によってフォーク４を前進、．後退、又は停止させても良い。   As shown in FIG. 4, the control unit 11 includes an information processing unit 12 made of CPU, a storage unit 13 made of a memory, an input unit 14 for inputting the distance measurement code and the detection signal to the information processing unit 12, And an output unit 15. The output unit 15 controls the operation of the hydraulic pump 16 or a directional control valve not shown in the figure in accordance with a command from the information processing unit 12. Both the hydraulic pump 16 and the directional control valve described above are provided in the cargo handling means 5 to move the fork 4 forward,. It is a component of a hydraulic circuit for retreating or stopping. The fork 4 is moved forward by electric instead of hydraulic pressure,. You may reverse or stop.

情報処理部１２は、上記の荷取り動作の過程で、検出手段9の検出信号に基づき、フォーク４を停止させると共に、測距コードを停止コードとして記憶部１３に記録し、上記の荷降ろし動作の過程で、測距手段１０から送出される測距コードが記憶部１３に記録した停止コードに合致したことに基づき、フォーク４の前進を停止させるものである。このような動作による荷６の移戦方法を、図５のフローチャートを参照しつつ以下に述べる。 The information processing unit 12 stops the fork 4 based on the detection signal of the detection means 9 in the process of the above-described unloading operation, and records the distance measurement code as a stop code in the storage unit 13 to perform the above-described unloading operation. In this process, the forward movement of the fork 4 is stopped based on the fact that the distance measuring code sent from the distance measuring means 10 matches the stop code recorded in the storage unit 13. A method of transferring the load 6 by such an operation will be described below with reference to the flowchart of FIG.

先ずは、無人搬送車両７が上記の停止位置に停止したところで、軌道式搬送車３が軌道２に沿って往動し無人搬送車両７の正面で停止する点は既述の通りである。この状態で、無人搬送車両７が停止位置から矢印Ｘ方向へ例え数cm外れた位直に停止したとしても支障は無い。続いて、荷役手段５が図３に示すように、フォーク４を無人搬送車両７へ向けて前進させると、フォーク４が、荷６の両端に固定された一対の掛止部材６１を掛止する。つまり、掛止部材６１の正面形状は同図に表れているように門形であり、この門形の掛止部材６１の内側へフォーク４を進入させる。   First, as described above, the automatic guided vehicle 3 moves forward along the track 2 and stops at the front of the automatic guided vehicle 7 when the automatic guided vehicle 7 stops at the stop position. In this state, there is no problem even if the automatic guided vehicle 7 stops right after a few centimeters from the stop position in the arrow X direction. Subsequently, when the fork 4 advances the fork 4 toward the automatic guided vehicle 7 as shown in FIG. 3, the fork 4 hooks a pair of hook members 61 fixed to both ends of the load 6. . That is, the front shape of the latching member 61 is a gate shape as shown in the figure, and the fork 4 enters the inside of the portal-shaped latching member 61.

上記のようにフォーク４が掛止部材６１を掛止する位置まで前進したところで、つまり、フォーク４が荷６を取れる位置まで前進したところで、検出手段９の先端が荷６の正面に接触し、検出手段9が検出信号を送出する。同時に、測距手段１０は、フォーク４が起点０から掛止部材６１に掛止するまで、つまり荷６を取れる位置まで前進した距離を、測距コードとして出力する。一方、情報処理部１２は、検出手段9の検出信号に基づき、フォーク４を直ちに停止させると共に、検出手段９が検出信号を送出した時点で測距手段１０が送出した測距コードを、停止コードとして記憶部１３に記録する。   As described above, when the fork 4 has advanced to the position where the retaining member 61 is latched, that is, when the fork 4 has advanced to a position where the load 6 can be taken, the tip of the detection means 9 comes into contact with the front surface of the load 6, The detection means 9 sends a detection signal. At the same time, the distance measuring means 10 outputs, as a distance measuring code, the distance that the fork 4 has advanced from the starting point 0 to the retaining member 61, that is, the position where the fork 4 has advanced to the position where the load 6 can be taken. On the other hand, the information processing unit 12 immediately stops the fork 4 on the basis of the detection signal of the detection means 9, and uses the distance measurement code sent by the distance measurement means 10 when the detection means 9 sends the detection signal as the stop code. Is recorded in the storage unit 13.

続いて、荷役手段５がフォーク４を上げると、掛止部材６１に荷６が吊り上げられて、荷６が無人搬送車両７の荷台から上がる。荷役手段５がフォーク４を軌道２側へ後退させた後、更に荷６を何れかの格納領域８に荷降ろしする点は既述の通りである。この場合、荷６が無人搬送車両７の電源となる蓄電池であれば、荷６を格納領域８で充電し、この荷６に代えて別の荷６（既に充電された蓄電池）を次の手順で無人搬送車両７に載置する。   Subsequently, when the cargo handling means 5 raises the fork 4, the load 6 is lifted by the hooking member 61, and the load 6 is lifted from the loading platform of the automatic guided vehicle 7. As described above, after the cargo handling means 5 moves the fork 4 back to the track 2 side, the cargo 6 is further unloaded to any storage area 8. In this case, if the load 6 is a storage battery that serves as a power source for the automated guided vehicle 7, the load 6 is charged in the storage area 8, and another load 6 (an already charged storage battery) is replaced with the load 6 in the next procedure. Is placed on the automatic guided vehicle 7.

即ち、再び軌道式搬送車３を軌道２に沿って往動させ、無人搬送車両７の正面で停止させる。そして、荷役手段５は、格納領域８から出庫した荷６は、この時点で既にフォーク４に掛止されているので、このままフォーク４を無人搬送車両７へ向けて前進させる。フォーク４を前進させた距離が、記憶部１３に記録しておいた距離に達した時点、言い換えれば、フォーク４を前進させる過程で測距手段１０が新たに計測する距離の測拒コードが、記憶部１３に上記のように記憶させておいた停止コードに一致した時点で、制御手段１１はフォーク４を停止させる。このままフォーク４を下降させれば、荷６が無人搬送車両７に受け止められる。更に、フォーク４を後退させれば、掛止部材６１の内側からフォーク４を抜き取ることができる。   That is, the track-type transport vehicle 3 is moved forward again along the track 2 and stopped in front of the automatic guided vehicle 7. The cargo handling means 5 advances the fork 4 toward the automatic guided vehicle 7 as it is because the cargo 6 delivered from the storage area 8 is already hooked on the fork 4 at this point. When the distance for which the fork 4 has moved forward reaches the distance recorded in the storage unit 13, in other words, the distance measurement rejection code for the distance that the distance measuring means 10 newly measures in the process of moving the fork 4 forward, The control means 11 stops the fork 4 when it coincides with the stop code stored in the storage unit 13 as described above. If the fork 4 is lowered as it is, the load 6 is received by the automatic guided vehicle 7. Furthermore, if the fork 4 is retracted, the fork 4 can be extracted from the inside of the hooking member 61.

なお、本発明は、その趣旨を逸脱しない範囲で、当業者の知識に基づき種々なる改良、修正、又は変形を加えた態様で実施できるものである。例えば、荷６をパレットに載せても良い。この場合、フォーク４をパレットに差し込めば、フォーク４に荷６を掛止できるので、掛止部材６１は省略しても良い。また、検出手段９として接触センサに代えて近接センサを適用しても良い。また、本実施例では検出手段9は荷６を直接検出する手段としたが、これに限らず、無人搬送車両７上の荷６以外の部分、つまり車体側の所定箇所を検出することで荷６を間接的に検出するようにしても良い。   It should be noted that the present invention can be implemented in a mode in which various improvements, modifications, or variations are added based on the knowledge of those skilled in the art without departing from the spirit of the present invention. For example, the load 6 may be placed on a pallet. In this case, since the load 6 can be hooked on the fork 4 by inserting the fork 4 into the pallet, the hooking member 61 may be omitted. Further, a proximity sensor may be applied as the detection means 9 instead of the contact sensor. In this embodiment, the detection means 9 is a means for directly detecting the load 6. However, the present invention is not limited to this, and the load is detected by detecting a portion other than the load 6 on the automatic guided vehicle 7, that is, a predetermined location on the vehicle body side. 6 may be detected indirectly.

本発明は、無人搬送車両７に対して取り降ろしする荷が、例えば蓄電池のように同車両に対して正確に位置決めした状態で載置させるのに有益である。更に、本発明は、既成の無人搬送車両７に、これが停止位置に停止する精度を高く要求する必要が無いので、無人搬送車両７に多数のセンサを設けたり、無人搬送車両７が走行する床面に車輪を矯正的に位置決めするストッパ等を設置する必要がない。従って、無人搬送車両７及びこれを含めた設備費を大幅に削減することができる。   The present invention is useful for placing a load to be taken off from the automatic guided vehicle 7 in a state where the load is accurately positioned with respect to the vehicle, such as a storage battery. Furthermore, the present invention does not require the ready-made automated guided vehicle 7 to be required to have high accuracy for stopping at the stop position. Therefore, the automated guided vehicle 7 is provided with a large number of sensors, or the floor on which the automated guided vehicle 7 travels. There is no need to install a stopper or the like to correct the wheel on the surface. Therefore, the automatic guided vehicle 7 and the equipment cost including this can be greatly reduced.

本発明に係る実施例１の自動移載装置の正面図。The front view of the automatic transfer apparatus of Example 1 which concerns on this invention. 本発明に係る実施例１の自動移載装置の側面図。The side view of the automatic transfer apparatus of Example 1 which concerns on this invention. 本発明に係る実施例１の自動移載装置の要郡の側面図。The side view of the main district of the automatic transfer apparatus of Example 1 which concerns on this invention. 本発明に係る実施例１の自動移載装置の構成を示すブロック図。1 is a block diagram illustrating a configuration of an automatic transfer apparatus according to a first embodiment of the present invention. 〈a〉は本発明の荷取り動作のステップを示すフローチャート。（b）は本発明の荷降ろし動作のステップを示すフロ一チャート。<a> is a flowchart showing the steps of the loading operation of the present invention. (B) is a flowchart showing the steps of the unloading operation of the present invention. 従来例の自動移載装置の平面図。The top view of the automatic transfer apparatus of a prior art example.

符号の説明Explanation of symbols

１：自動移載装置
２：軌道
３：軌道式搬送車
４：フォーク
５：荷役手段
６：荷
７：無人搬送車両
８：格納領域
９：検出手段
１０：測距手段
１１：制御手段
１２：情報処理部
１３：記憶部
１４：入力部
１５：出力部
O：起点
S：ストローク 1: Automatic transfer device 2: Track 3: Track-type transport vehicle 4: Fork 5: Load handling means 6: Load 7: Unmanned transport vehicle 8: Storage area 9: Detection means 10: Distance measurement means 11: Control means 12: Information Processing unit 13: Storage unit 14: Input unit 15: Output unit
O: Starting point
S: Stroke

Claims (2)

無軌道の無人搬送車両に対して荷取り又は荷降ろしする有軌道の自動移載装置であって、該自動移載装置は、軌道側方に停止した前記無人搬送車両に対して進退動させるフォークと、
該フォークの前進距離を測距する測距手段と、
該フォークの前進時にフォークが荷を取ることのできる位置に達したことを検出する検出手段と、
前記測距手段及び検出手段からの信号を受信し、前記フォークの動作を制御する制御手段とを備え、
該制御手段は、荷取り動作の過程で前記検出手段からの検出信号を受信したとき、前記フォークを停止させると共に、前記測距手段により得たそのときのフォークの前進距離を記憶し、荷降ろし動作の過程で、該記憶した前進距離だけフォークを前進させて停止させることを特徴とする自動移載装置。 A tracked automatic transfer device for unloading or unloading an unmanned unmanned transport vehicle, the automatic transfer device comprising a fork that moves forward and backward with respect to the unmanned transport vehicle stopped laterally ,
Ranging means for measuring the forward distance of the fork;
Detecting means for detecting that the fork has reached a position where it can pick up a load when the fork moves forward;
Control means for receiving signals from the distance measuring means and the detecting means and controlling the operation of the fork,
The control means stops the fork when receiving a detection signal from the detection means in the course of the unloading operation, and stores the forward distance of the fork obtained by the distance measuring means for unloading. An automatic transfer device characterized in that in the course of operation, the fork is advanced and stopped by the stored advance distance. 前記検出手段は、前記フォークに伴って進退動し、前記無人搬送車両に載置された前記荷に接触して検出信号を送る接触センサであることを特徴とする自動移載装置。   The automatic transfer device according to claim 1, wherein the detecting means is a contact sensor that moves forward and backward with the fork and sends a detection signal in contact with the load placed on the automatic guided vehicle.
JP2004030500A 2004-02-06 2004-02-06 Automatic transfer device Pending JP2005219884A (en)

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JP2011189909A (en) * 2010-03-16 2011-09-29 Toyota Industries Corp Battery replacing device of vehicle
CN109051832A (en) * 2018-08-22 2018-12-21 仪通微感（北京）科技有限公司 Automate pile truck-loading facilities

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Publication number Priority date Publication date Assignee Title
JPH0289707A (en) * 1988-09-26 1990-03-29 Daifuku Co Ltd Lifting up and down carriage control in delivery crane
JPH11146506A (en) * 1997-11-04 1999-05-28 Toyo Umpanki Co Ltd Facility for replacing vehicle battery
JP2001225909A (en) * 2000-02-10 2001-08-21 Daifuku Co Ltd Learning method for load taking in/out device
JP2001301988A (en) * 2000-04-25 2001-10-31 Murata Mach Ltd Loading system
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011189909A (en) * 2010-03-16 2011-09-29 Toyota Industries Corp Battery replacing device of vehicle
CN109051832A (en) * 2018-08-22 2018-12-21 仪通微感（北京）科技有限公司 Automate pile truck-loading facilities
CN109051832B (en) * 2018-08-22 2023-09-12 仪通微感（北京）科技有限公司 Automatic stacking and loading equipment

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