JP3998126B2 - Luggage detection device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a cargo handling device that transports a load.
[0002]
[Prior art]
In order to transport a roll-shaped baggage (hereinafter referred to as “roll load 101”) around which paper or film is wound around the core 106 from the winder 100 to the storage shelf 103, an automatic guided vehicle 104 shown in FIG. It is often used. This automatic guided vehicle 104 is provided with cargo receiving portions 105a and 105b provided with U-shaped cutouts in the upper portion supporting the core 106 of the roll load 101. The automatic guided vehicle 104 can travel on a rail or a road surface with the roll load 101 placed on the cargo receiving portions 105a and 105b.
[0003]
The load receiving portions 105a and 105b can be moved in the front-rear direction or the left-right direction (the front-rear direction in the automatic guided vehicle 104 shown in FIG. 6) with respect to the automatic guided vehicle 104 by a driving unit (not shown). Furthermore, the receiving parts 105a and 105b are provided with detecting means 107 as shown in FIG. 7 for detecting whether or not the core 106 is placed on the receiving parts 105a and 105b.
[0004]
The reason why the detection means 107 is provided is that, for example, when the automatic guided vehicle 104 acquires the roll load 101 from the winder 100, the roll load 101 is not supported by the load receiving unit 105, and the vehicle of the automatic guided vehicle 104 is used. This is because it may fall on the upper surface of the main body 112 or the ground. If the roll load 101 is dropped on the upper surface of the vehicle main body 112 or on the ground, and the conveyance operation is continued, the unmanned transport vehicle 104 and the devices around the unmanned transport vehicle 104 are damaged by the dropped roll load 101, Workers may be injured. Therefore, when the detection means 107 determines that the roll load 101 is not placed on the cargo receiving portions 105a and 105b, the automatic guided vehicle 104 stops the conveyance work.
[0005]
As shown in FIG. 7A, the detection means 107 includes a projector 110a and a light receiver 110b at positions opposite to the receiving parts 105a and 105b, and the core 106 of the roll load 101 is connected to the receiving parts 105a and 105b. It is configured to detect that when it is placed. Alternatively, as shown in FIG. 7B, a reflective photosensor 111 is provided on the upper surface of the vehicle main body 112 and below the cargo receiving portions 105a and 105b, and the core 106 of the roll load 101 is attached to the cargo receiving portions 105a and 105b. Some are configured to detect when they are placed.
[0006]
If there is a command to convey the roll load 101 to the predetermined storage shelf 103 in the automatic guided vehicle 104 provided with the detection means 107 as shown in FIG. 7A, the detection means 107 is carrying out the conveyance as follows. The loading status of the roll load 101 is detected.
[0007]
When there is a conveyance command, the automatic guided vehicle 104 first moves to the vicinity of the winder 100 (loading position), and under the core 106 of the roll load 101 supported by the winder 100, the cargo receiving portions 105a and 105b. Move. Next, the cargo receiving portions 105a and 105b are moved up and down in synchronization with each other, and the core 106 of the roll load 101 is lifted by the cargo receiving portions 105a and 105b. When the cargo receiving portions 105a and 105b lift the core 106, the light emitted from the projector 110a shown in FIG. 7A is blocked by the core 106. Therefore, the automatic guided vehicle 104 is connected to the cargo receiving portions 105a and 105b. It can be detected that the roll load 101 is placed.
[0008]
When it is detected that the roll load 101 is placed on the cargo receiving portions 105a and 105b, the automatic guided vehicle 104 moves the cargo receiving portions 105a and 105b to appropriate positions (hereinafter referred to as “home positions”). This home position is a position where the position of the automatic guided vehicle 104 is most stable when the automatic guided vehicle travels with the roll load 101 placed on the receiving portions 105a and 105b (for example, the center position of the automatic guided vehicle 104). It is.
[0009]
When the cargo receiving portions 105a and 105b are moved to the home position, the automatic guided vehicle 104 moves to a position near the predetermined luggage rack 103 (loading position). When moved to the loading position, the automatic guided vehicle 104 raises the load receiving portions 105a and 105b to a position where the core 106 of the roll load 101 is above the core receiver 109 on which the roll load 101 is placed. Then, the automatic guided vehicle 104 moves the cargo receiving portions 105 a and 105 b to move the core 106 to above the core receiver 109. When the cargo receiving portions 105 a and 105 b are moved, the automatic guided vehicle 104 lowers the cargo receiving portions 105 a and 105 b and places the core 106 on the core receiver 109.
[0010]
When the roll load 101 is placed on the core receiver 109, the light emitted from the light projector 110a is incident on the light receiver 110b, so that the automatic guided vehicle 104 places the roll load 101 on the storage shelf 103. Can be detected.
[0011]
When the automatic guided vehicle 104 detects that the roll load 101 is placed on the core receiver 109, the automatic guided vehicle 104 returns the cargo receiving portions 105 a and 105 b to the home position and ends the transfer operation.
[0012]
The automatic guided vehicle 104 cannot detect that the roll load 101 is placed on the cargo receiving portions 105a and 105b even though the cargo receiving portions 105a and 105b are moved up and down by a predetermined distance or more at the above-described loading position. The automatic guided vehicle 104 interrupts the transfer work. This is an acquisition process of the roll load 101, and the core 106 of the roll load 101 is not placed on the load receiving portions 105a and 105b, and the roll load 101 falls on the upper surface of the vehicle main body 112 of the automatic guided vehicle 104 or the ground. Because there is a possibility that.
[0013]
Similarly, in the above loading position, when it is not possible to detect that the roll load 101 is placed on the core receiver 109 even though the cargo receiving portions 105a and 105b are lowered by a predetermined distance, Interrupt. In this case, since the roll load 101 remains placed on the load receiving portions 105a and 105b, the next transport operation cannot be performed.
[0014]
When the automatic guided vehicle 104 is interrupted for the above reason, a warning sound is generated or a warning lamp is turned on, and the roll load 101 is not acquired or placed on the storage shelf 103 normally. Is to inform the worker.
[0015]
It should be noted that the automatic guided vehicle 104 provided with the detection means 107 as shown in FIG. 7B is configured to remove the photosensor 111 from the photosensor 111 when the load receiving portions 105a and 105b lift the core 106 in the roll load 101 acquisition process. The emitted light is reflected by the core 106, and the reflected light enters the photosensor 111. Thereby, the automatic guided vehicle 104 can detect that the core 106 of the roll load 101 is placed on the cargo receiving portions 105a and 105b. Further, in the step of placing the roll load 101 on the storage shelf 103, when the roll load 101 is placed on the core receiver 109, the light emitted from the photosensor 111 is not reflected and the reflected light is reflected on the photosensor 111. It will not be incident. Therefore, the automatic guided vehicle 104 can detect that the roll load 101 is placed on the storage shelf 103.
[0016]
[Problems to be solved by the invention]
However, in the detection means 107 as shown in FIG. 7A, when the core 106 has a large diameter, the core 106 may not reach the lower ends of the U-shaped load receiving portions 105a and 105b. The light emitted from 110a passes under the core 106 and is received by the light receiver 110b. Therefore, the automatic guided vehicle 104 cannot detect that the roll load 101 is placed on the cargo receiving portions 105a and 105b. Moreover, since the detection means 107 is provided in the receiving parts 105a and 105b which can move with respect to the vehicle main body 112, the wiring of the detection means 107 becomes complicated.
[0017]
In the configuration shown in FIG. 7B, when the roll load 101 using the glossy core 106 whose surface is mirror-finished is transported, the photo sensor 111 may malfunction.
[0018]
In order to eliminate the above disadvantages, as shown in FIG. 8, a detection means 107 provided with a projector 113a and a light receiver 113b in the vehicle main body 112 is also conceivable. In this case, the projector 113a and the light receiver 113b are provided, for example, so as to be opposite to the home position of the cargo receiving portions 105a and 105b.
[0019]
However, in this configuration, when the cargo receiving portions 105a and 105b are located at positions other than the home position, that is, when the cargo receiving portions 105a and 105b are located outside the detection range of the mounting state of the projector 113a and the light receiver 113b, The automatic guided vehicle 104 cannot detect whether or not the load 101 is placed. Therefore, it is determined whether or not the core 106 of the roll load 101 is placed on the cargo receiving portions 105a and 105b after the cargo receiving portions 105a and 105b are once moved to the home position.
[0020]
Therefore, even if the roll load 101 is falling on the upper surface of the vehicle main body 112 or the ground, the automatic guided vehicle 104 moves the load receiving portions 105a and 105b to the home position. In such a situation, when the cargo receiving portions 105a and 105b are returned to the home position, the roll load 101 that is dropped may damage the winder 100 and surrounding devices, or the operator may be injured.
[0021]
Therefore, the present invention provides a load detection device that can detect the load placement state of the load receiving portions 105a and 105b regardless of the positions of the load receiving portions 105a and 105b and the material of the core, and can be easily wired. Objective.
[0022]
[Means for Solving the Problems]
The baggage detection device of the present invention detects whether or not the baggage is placed at an appropriate position when transporting the roll-shaped baggage, so that the load receiving state of the load receiving unit for loading the baggage is A detection unit that moves up and down in conjunction with the detection unit and a detection unit that detects a loading state of the load in the cargo receiving unit based on the position of the detection unit.
[0023]
In addition, since the load receiving unit can slide relative to the vehicle body, the load detection unit detects the load placement state of the load receiving unit regardless of the position of the load receiving unit relative to the vehicle body. The detecting means is provided with a first detecting means and a second detecting means, and the detected part is provided with a first detected part and a second detected part. The first detection means detects the load placement status of the load at the load receiving portion at an appropriate position suitable for carrying the baggage , that is, a position that can be taken when the vehicle body travels (hereinafter referred to as “home position”) . The second detection means uses the second detected portion to detect the loading status of the load on the load receiving portion at a position other than the proper position, that is, the position that can be picked up at the time of delivery of the load. To detect. Further, the luggage detection apparatus of the present invention uses an interactive optical sensor for the first detection means and a reflection type optical sensor for the second detection means, so that both detection means are provided in the main body. However, it is possible to detect the loading status of the cargo in the cargo receiving portion regardless of the position of the cargo receiving portion. Since the detection means detects the loading status of the package based on the position of the detected part, it can accurately detect the loading status of the package, regardless of the material core used. can do.
[0024]
DETAILED DESCRIPTION OF THE INVENTION
(Embodiment 1)
As shown in FIG. 1, the automatic guided vehicle 4 provided with the load detecting device 15 of the present invention includes load receiving portions 5a and 5b for supporting the core 6 of the roll load 1 as in the prior art, and rails. Or it can drive | work on a road surface. Further, the conventional construction is such that the cargo receiving portions 5a and 5b can be moved in the front-rear direction or the left-right direction (the front-rear direction in the automatic guided vehicle 4 shown in FIG. 1) with respect to the vehicle body by a drive unit (not shown). It is the same.
[0025]
The vehicle body 12 of the automatic guided vehicle 4 shown in FIG. The parcel detection device 15 includes a detection unit 38 and a detected portion 17. The detection means 38 detects whether or not the roll load 1 is placed on the load receiving portions 5a and 5b based on the position of the detected portion 17 provided in the load receiving portions 5a and 5b.
[0026]
As shown in FIG. 1, the detection means 38 includes a first sensor 40 as a first detection means and a second sensor 50 as a second detection means. In this embodiment, an interrupter-type photosensor is used as the first sensor 40. The first sensor 40 is provided at a position where light is blocked by the dog 23 of the detected portion 17 when the cargo receiving portions 5a and 5b on which the core 6 is placed are located at the home position.
[0027]
The second sensor 50 is provided on the left and right of the first sensor 40 as shown in FIG. In the present embodiment, the second sensor 50 is a reflective optical sensor. The light emitted from the second sensor 50 is emitted parallel to the moving direction of the cargo receiving portions 5a and 5b.
[0028]
Further, the detected portion 17 includes a rod 20 partially protruding from the center of the load receiving portions 5a and 5b as shown in FIGS. 3 (a) and 3 (b), and the rod 20 as the load receiving portion 5a, A spring 21 pushed upward 5b, a connecting member 22 projecting horizontally from the rod 20, a dog 23 fixed to the connecting member 22, and a reflecting member 24 supported on one end of a horizontal portion of the dog 23. Composed.
[0029]
For example, when the automatic guided vehicle 4 is instructed to store the roll load 1 supported by the winder 2 in a predetermined storage shelf, the automatic guided vehicle 4 is located near the winder 2 as in the past. It moves to a load taking position and moves the load receiving parts 5a and 5b below the core 6 of the roll load 1 supported by the winder 2. Next, the cargo receiving portions 5a and 5b are synchronized and moved up and down by a predetermined distance, and the core 6 of the roll load 1 is lifted by the cargo receiving portions 5a and 5b. The automatic guided vehicle 4 moves the cargo receiving portions 5a and 5b slightly to the opposite side of the winder 2 and lowers the cargo receiving portions 5a and 5b by the same distance as the cargo receiving portions 5a and 5b are raised by a predetermined distance. Let
[0030]
When the core 6 is placed on the load receiving portions 5a and 5b, the rod 20 is pushed downward by the weight of the roll load 1, and the spring 21 is contracted downward. When the spring 21 contracts and the rod 20 moves downward with respect to the cargo receiving portions 5a and 5b, the dog 23 and the reflective material 24 also move downward with respect to the cargo receiving portions 5a and 5b via the connecting material 22. Become.
[0031]
When the reflecting material 24 is lowered, the light emitted from the second sensor 50 can irradiate the reflecting material 24 as shown in FIG. 4, and the light reflected by the reflecting material 24 is The light enters the second sensor 50. When light is incident on the second sensor 50, the automatic guided vehicle 4 detects that the core 6 is placed on the cargo receiving portions 5a and 5b.
[0032]
If the core 6 is not placed on the cargo receiving portions 5a and 5b even though the cargo receiving portions 5a and 5b are raised by a predetermined distance at the cargo receiving position, the reflector 24 is loaded as described above. It will not descend with respect to 5a, 5b. Even if the receiving parts 5a and 5b are lowered by a predetermined distance as described above in a state where the reflecting material 24 is not lowered, the light emitted from the second sensor 50 is not irradiated onto the reflecting material 24. Therefore, in the automatic guided vehicle 4, when the light is not incident on the second sensor 50 after the cargo receiving portions 5a and 5b are lowered at the cargo pickup position, the core 6 is not placed on the cargo receiving portions 5a and 5b. Judge that. In this case, the automatic guided vehicle 4 stops the conveyance work and generates a warning sound or turns on a warning lamp to inform the operator that the roll load 1 has not been acquired normally. ing.
[0033]
As described above, when light is incident on the second sensor 50 (the core 6 is placed on the cargo receiving portions 5a and 5b), the automatic guided vehicle 4 moves the cargo receiving portions 5a and 5b to the home position. Move to.
[0034]
At this time, since the roll load 1 is placed on the load receiving portions 5a and 5b, the dog 23 is also lowered in the same manner as the reflector 24. When the cargo receiving portions 5a and 5b move to the home position in a state where the dog 23 is lowered, the dog 23 blocks light emitted from the interrupter type first detection means 40 as shown in FIG. When the light of the 1st detection means 40 is interrupted, as for the automatic guided vehicle 4, the receiving parts 5a and 5b are located in a home position, and also the core 6 is mounted in the receiving parts 5a and 5b. to decide. By providing the first sensor 40 in this way, even if the automatic guided vehicle 4 is turned off once when the core 6 is placed and the load receiving portions 5a and 5b are at the home position, When the power is turned on, the automatic guided vehicle 4 can also detect that the core 6 is placed on the receiving parts 5a and 5b at the home position.
[0035]
When the automatic guided vehicle 4 determines that the cargo receiving portions 5a and 5b are located at the home position and the core 6 is placed on the cargo receiving portions 5a and 5b, the automatic guided vehicle 4 is placed close to a predetermined storage shelf (loading position). )Moving.
[0036]
When the core 6 falls from the load receiving portions 5a and 5b when the automatic guided vehicle 4 moves to the loading position, the rod 20 is pushed upward by the spring 21, and the rod 20 is pushed upward. The dog 23 also moves upward. Therefore, since the dog 23 cannot block the light of the first detection means 40, the automatic guided vehicle 4 can also detect that the core 6 has fallen from the cargo receiving portions 5a and 5b during the movement.
[0037]
When the automatic guided vehicle 4 moves to the loading position, the load receiving portions 5a and 5b are moved up and down to a position where the core 6 of the roll load 1 is above the core receiving 9 on which the roll load 1 is placed as in the conventional case. Then, the automatic guided vehicle 4 moves the cargo receiving portions 5 a and 5 b to move the core 6 above the core receiver 9. When the cargo receiving portions 5a and 5b are moved, the automatic guided vehicle 4 lowers the same distance as the distance by which the cargo receiving portions 5a and 5b are raised at the loading position, and places the core 6 on the core receiver 9. When the roll load 1 is placed on the core receiver 9, the rod 20 is pushed upward by the spring 21, and the dog 23 and the reflector 24 are also moved upward by pushing the rod 20.
[0038]
Even if the receiving material 5a and 5b are lowered by the same distance as the reflecting material 24 is moved upward, the light emitted from the second sensor 50 is not irradiated on the reflecting plate 24. When light is not incident on the second sensor 50, the automatic guided vehicle 4 determines that the roll load 1 is stored in the storage shelf, and ends the transport operation.
[0039]
If light is incident on the second sensor 50 even though the cargo receiving portions 5a and 5b are raised and lowered at the loading position, the automatic guided vehicle 4 stores the roll load 1 in the storage shelf. Judge that it is not. In this case, the automatic guided vehicle 4 may generate a warning sound or turn on a warning lamp to warn the operator that the roll load 1 has not been normally stored.
[0040]
In the above description, the case where the right reflector 24 and the second sensor 50 in FIG. 4 are used has been described. However, when the cargo receiving portions 5a and 5b move to the left in FIG. A load state of the load is detected using a sensor.
[0041]
As described above, the detection means 38 is provided in the vehicle main body 12 instead of the cargo receiving portions 5a and 5b that can move with respect to the main body, so that the wiring of the detection means 38 is not complicated.
[0042]
In the above description, the case where the load detection device 15 is provided in the automatic guided vehicle 4 has been described. However, the load detection device 15 may be used for a manned transfer vehicle. Further, the transported baggage may be a baggage other than the baggage supported by the winder 2, for example, a baggage stored in a storage shelf or a baggage placed on a transport vehicle such as a truck. The transport destination of the luggage is not limited to the storage shelf, and may be a transport vehicle or a winder 2.
[0043]
【The invention's effect】
The luggage detection device of the present invention can detect the loading status of the luggage in the cargo receiving section regardless of the position of the cargo receiving section.
[0044]
Also, to detect the loading status of the load by moving the object to be detected using the weight of the load, instead of detecting the loading status by reflecting light to the core. Regardless of the core material, it is possible to accurately detect the loading status of the load.
[0045]
As described above, the detection means is provided in the main body instead of the load receiving portion that can move with respect to the main body, so that the wiring of the detection means is not complicated.
[0046]
Since the position where the detection means and the detected part are provided has conventionally been a dead space, the detection means and the detected part do not interfere with other members.
[Brief description of the drawings]
FIG. 1 is an overall view of an automatic guided vehicle equipped with a luggage detection device of the present invention.
FIG. 2 is a schematic view of a package detection device.
FIG. 3 is a schematic view of a detected part.
FIG. 4 is a schematic view of a package detection device.
FIG. 5 is a schematic view of a package detection device.
FIG. 6 is a schematic view of a conventional automatic guided vehicle.
FIG. 7 is a schematic view of a conventional detection means.
FIG. 8 is a schematic view of a conventional detection means.
[Explanation of symbols]
5a, 5b Load receiving portion 17 Detected portion 38 Detection means 40 First detection means 50 Second detection means

Claims (2)

A detected portion that is provided in a load receiving portion that is slidable relative to the vehicle body, and that moves up and down in conjunction with whether or not a load is placed on the load receiving portion;
  Detecting means provided on the vehicle main body and detecting whether or not a load is placed on the cargo receiving portion by detecting the detected portion that has moved up and down;
  The detection means includes: first detection means for detecting whether or not a load is placed on the load receiving portion when the load receiving portion is in a position that can be taken when the vehicle body is running; and Second detection means for detecting whether or not a load is placed on the load receiving portion when it is in a position that can be taken at the time of delivery;
  The detected portion may be a first detected portion that is detected by the first detecting means when the cargo receiving portion is in a position that can be taken when the vehicle body is traveling, and the cargo receiving portion can be taken when delivering the load. And a second detected portion that is detected by the second detecting means when in position. The first detection means is an interrupter type optical sensor in which light is blocked by the first detected part, and the second detection means is a reflection in which light is reflected by the second detected part. The package detection device according to claim 1, wherein the package detection device is a type optical sensor.

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