JPH07291407A - Load-receiving stand with lifter - Google Patents

Abstract

PURPOSE:To provide a load-receiving stand with a lifter in which installation and the change in the installation position can be easily carried out, and also which can flexibly cope with goods of different sizes. CONSTITUTION:A load-receiving stand with a lifter is constituted in such a way that a pair of load-receiving bodies 1 each of which is provided with a load-supporting part 4 to which platelike load-supporting members 3 are horizontally fitted, and with a lifter 6 by which the load-supporting members 3 of the load-supporting part 4 are elevated or lowered at least between the floor level F and the load-receiving position of a load-carrying dolly for carrying out the delivery of pallets are installed on the floor F so that the load-supporting members 3 are opposed to each other. Thereby, both the load-receiving bodies 1 are directly placed on the floor so as to be independent from each other, so that the installation thereof can be facilitated, and also the installation can be flexibly cope with the sizes of the loads. Further, since both the load- receiving bodies 1 are independent and have no power transmission mechanism, the load-carrying dolly can freely enter between both the load-receiving bodies 1, and also since the load-supporting parts 4 of both the load-receiving bodies 1 are vertically elevated, the operating range of the load-receiving body 1 is limited only to the installation place, so that the floor surface F can be effectively utilized.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lifter-equipped cradle that is installed indoors and delivers a load to and from an unmanned load carrier or an automatic warehouse load / unload device (for example, a stacker crane). is there.

[0002]

2. Description of the Related Art As a conventional lifter-equipped load receiving table, there is known a table lifter or a truck lifter which is installed in a pit on the floor on which a load is placed and which is provided with a pair of liftable load receiving tools. The pair of load receivers project from the notches formed on the floor surface to lift and support the pallet.

According to such a conventional lifter, the pallet is picked up by a fork of a hand lift pallet truck (hereinafter abbreviated as a hand lift), and the pallet is loaded in a state where the load receiver is retracted below the floor. Transported to the floor position,
By raising the load receiver, it is placed on the load receiver rather than on the hand lift. That is, the pallet is delivered to the lifter from the hand lift. In the reverse order, the pallet is placed on the handlift rather than on the load receiver by moving the hand lift to the load loading floor surface while the pallet is lifted by the lifter load receiver and lowering the load receiver. It That is, the pallet is delivered from the lifter to the handlift.

[0004]

However, in the conventional cargo carrier with lifter, a pit must be formed and installed in order to transfer the pallet with the hand lift, and once installed, the transfer position will be improved. Could not be easily changed. In addition, the interval between the pair of load receiving members of the lifter is constant, and it has not been possible to easily modify the pallets to transfer pallets of different sizes.

The present invention solves the above problems,
It is an object of the present invention to provide a lifter-equipped cradle that can be easily installed and changed in installation position and can flexibly accommodate loads of different sizes.

[0006]

In order to solve the above-mentioned problems, a load carrier with a lifter according to a first aspect of the present invention is a load supporting portion having a plate-shaped load supporting member horizontally attached, and a load supporting portion of the load supporting portion. A pair of load receivers provided with a lifter that moves up and down between members at least at the load receiving position of a load carrier or a loading / unloading device that transfers the load from the floor is installed on the floor with the load supporting members facing each other. It is characterized by that.

According to a second aspect of the present invention, there is provided a lifter-equipped cargo cradle.
The load receiver with lifter according to the invention is characterized in that the lifter vertically moves the load support portion. A lifter-equipped load receiving base according to a third aspect of the invention is characterized in that a photoelectric switch is provided between the load supporting portions of the first aspect of the invention so as to face each other, and a control means for stopping lifting of the lifter by turning off the photoelectric switch is provided. To do.

According to a fourth aspect of the present invention, there is provided a lifter-equipped cargo cradle.
A lifter-equipped load carrier of the invention, characterized in that the lifter is electrically operated.

[0009]

With the structure of the first aspect of the invention, in the state where the load supporting members of both load receivers are lowered to the floor surface, the hand lift supporting the load enters between the load receivers and stops, and When the load on the lift is placed between the opposite load supporting members, that is, when the load is transferred from the hand lift to the load receiving platform, the lifter loads the load supporting members on the load carrier or the loading / unloading device. Raise to position. Then, when the load carrier or the loading / unloading device enters between the load receivers and stops, the lifter lowers the load supporting members and places the loads on both load supporting members on the load carrier or the loading / unloading device. . That is, the load is transferred from the load receiving table to the load carrier vehicle or the load / unload device. On the other hand, when the load carrier or the loading / unloading device with the load placed between both load receivers enters and stops in the state where the load support members of both load receivers are lowered to the floor, the lifter will Both load supporting members are raised to the load receiving position of the load carrier or the loading / unloading device, and the load on the load carrier or loading / unloading device is placed between the opposing load supporting members. That is, the load is transferred from the load carrier vehicle or the load / unload device to the load receiver. Then, the lifter lowers both load supporting members, and loads the loads on both load supporting members to the floor surface. This load is carried out by the hand lift that has entered between the load receivers.

With the structure of the second invention, the load supporting portions of both load receivers are vertically moved up and down, so that the range in which the load receivers operate is limited only to the installation place, and the floor surface is effectively used. It

Further, according to the third aspect of the present invention, since the photoelectric switch provided between the load supporting portions facing each other is turned off, the load supporting members of the load supporting portions are displaced in height. Is detected, the lifting by the lifter is stopped. Therefore, it is possible to prevent the load from falling from the load supporting member.

Further, according to the structure of the fourth aspect of the invention, since the lifter is electrically operated, the number of maintenance parts is reduced and maintenance is facilitated as compared with the hydraulic type.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. The loading platform with lifter of the present invention is a hand lifter,
Alternatively, a pair of left and right cargo receivers 1 arranged around an approach path A of an unmanned guided vehicle (hereinafter referred to as AGV) or a fork path of a fork of an automatic warehouse load / unload device (for example, a stacker crane), It is composed of the control box 2 of these cargo receivers 1. In the following description, it is assumed that a load (pallet) is delivered by the hand lifter and the AGV in this lifter-equipped load carrier.

The load receiver 1 has a load supporting member 4 having plate-like load supporting members 3 horizontally attached to both front and rear ends thereof, and a load supporting member 3 of the load supporting member 4 at least from a floor surface AGV. The lifter 6 is moved up and down between the load receiving positions for transferring the pallets 5 and the load receiving members 1 are installed on the floor F with the load supporting members 3 facing each other. As shown in FIG. 3, the intervals between the load receivers 1 are the fork insertion ports 5 of the pallet 5.
It can be freely changed according to the width in the direction in which A is provided.

The load supporting portion 4 includes the load supporting member 3 and
A horizontal member 7 for fixing the load supporting member 3 and a first photoelectric switch (projector, which is attached to the rear end of the horizontal member 7).
Alternatively, the light receiving body) 8 is provided, and the light projecting body and the light receiving body of the photoelectric switch 8 are provided in each cargo receiving body 1 so as to face each other.

As shown in FIG. 3, the load supporting member 3 is a member formed by bending a thin flat plate into a "U" shape, and a horizontal member 7 such that one side is parallel to the floor surface F. It is fixed to. By reducing the plate thickness, the handlift can pass over the load supporting member 3 and enter between the load receivers 1. Further, the handlift can be bent in a dogleg shape so that the pallet 5 can be scooped or unloaded. At this time, even if the position of the pallet 5 shifts in the left-right direction, the pallet 5 is placed at a predetermined position (horizontal portion) of the load supporting member 3, and the position of the pallet 5 is prevented from shifting during the delivery operation of the pallet 5.

A reflective second photoelectric switch 9 for detecting the presence or absence of the pallet 5 is provided on the back side of the front load supporting member 3 through a round hole 3A provided in the load supporting member 3. . The second photoelectric switch 9 may be provided on one load receiving body 1.

The lifter 6 is composed of a link portion 10 for moving up and down the horizontal member 7 of the load support portion 4 and a drive portion 11 of the link portion 10. The link part 10 includes a lower base 12 and
Centers are rotatably connected to each other, and 3 points at both ends are fixed points
13A, one pair of movable points 13B and two pairs of intersecting links 13
And a linear mechanism portion 14 provided on the lower base 12 to reciprocate the movable point back and forth. Linear mechanism 14
Is a structure in which the nut body 16 is slid horizontally in the front-rear direction by rotating the spiral body 15 horizontally supported by the lower base 12.
Moves horizontally on the lower stand rail 18. A movable point 13B of the link 13 is rotatably supported on the nut body 16, and three limit switches 19 to 21 for detecting the position of the nut body 16 in the front-rear direction along the lower base rail 18 are also provided.
Is provided. Further, two fixed points above the link 13 are rotatably fixed to the lower surface of the horizontal member 7 of the load supporting portion 3, and one fixed point below is rotatably fixed to the lower base 12.

The drive unit 11 is a motor that can be driven forward and backward.
22 and a gear mechanism that decelerates and transmits the rotation of the motor 22.
23 and a cover body 24 of these members, the rotational force of the motor 22 is transmitted through the gear mechanism 23 to the spiral body of the linear mechanism unit 14.
It is transmitted to a gear 25 coaxially fixed to one end of 15. Further, on the cover body 24, a reflective third photoelectric switch 26 for detecting AGV is provided. This third photoelectric switch 26
May be provided on one of the cargo receivers 1.

The lifter 6 has the structure described above, and the motor 22
The rotation of the spiral body 15 rotates via the gear mechanism 23 and the gear 25, and the rotation of the spiral body 15 causes the nut body 16 to slide back and forth, so that the movable point 13B of the link 13 moves in the front-back direction. The upper end of 13 slides in the vertical direction, and the horizontal member 7 of the load supporting portion 4, that is, the load supporting member 3 moves up and down. Further, the limit switches 19 to 21 detect the longitudinal position of the nut body 16 to detect the ascending / descending position of the load supporting member 3, and the first limit switch 19 causes the load supporting member 3 to move to the lower limit position, that is, It is detected that the load is on the floor surface F, the second limit switch 20 detects that the load supporting member 3 is in the unloading position of the pallet 5 of the AGV, and the third limit switch 21 detects the load supporting member 3.
Is detected at the scooping position of the pallet 5 of the AGV.

Further, the control box 2 is provided with a drive circuit for the motor 22 shown in FIG. That is, the controller 31 that inputs the operation contacts of the photoelectric switches 9 and 26 and the limit switches 19 to 21 to (DI1, DI2, DI3, DI4, DI5) and the output of the controller 31 (DO1,
The relay UP and the relay DW for amplifying DO2) and the relay INT for amplifying the operation contact of the photoelectric switch 8 are provided, the power supply is cut off when the relay INT is turned off, and the motor 22 is supplied by the operation of the relay UP and the relay DW. The polarity of the power supply is reversed.

The controller 31 is composed of a microcomputer, and drives the motor 22 in response to a loading command signal for loading the pallet 5 with the AGV or an unloading command signal transmitted from the outside. The detailed operation is shown in FIG.
Description will be given according to the flowchart shown in FIG. Normally, the load supporting member 3 is placed in the lower limit position (the first limit switch 19 is in the ON state), and the load receiving members 1
The load supporting member 3 is at the same level (the first photoelectric switch 8 is on), and the relay INT is on.

[Pallet Loading] First, when an operator uses a hand lift to carry the pallet 5 between the load receivers 1 and places the pallet 5 on the load supporting members 3 at the four corners, 2 The operation of the photoelectric switch 9 confirms the placement of the pallet 5 (step-1).

Next, when a pallet loading command signal is input (step-2), DO1 is turned on to operate the relay UP, the motor 22 is normally rotated, and the load supporting member 3 is raised (step-3). , When the third limit switch 21 operates, that is, when the pallet 5 moves up to the scooping position (step-4), the DO1 is turned off to turn off the relay UP, the motor 22 is stopped, and the load supporting member 3 is moved up. Stop and wait (step-5).

Next, by the operation of the third photoelectric switch 26,
When the arrival of the AGV is confirmed (step-6), the DO2 is turned on to operate the relay DW, the motor 22 is rotated in the reverse direction, the load supporting member 3 is lowered (step-7), and the first limit switch 19 is operated. Then, that is, when the pallet 5 descends to the floor position (step-8), the DO2 is turned off, the relay DW is turned off, and the motor 22 is stopped.
The descent of the load supporting member 3 is stopped (step-9). By this operation, the pallet 5 is loaded into the AGV.

[Pallet unloading] First, when a pallet unloading command signal is input (step -1), DO1 is turned on to operate the relay UP, the motor 22 is normally rotated, and the load supporting member 3 is raised (step). -2), when the second limit switch 20 operates, that is, when the load supporting member 3 moves up to the unloading position (step -3), DO1 is turned off to turn off the relay UP, and the motor 22 is stopped to support the load. The rising of the member 3 is stopped to stand by (step-4).

Next, by the operation of the third photoelectric switch 26,
When the arrival of the AGV is confirmed (step-5), the DO is returned.
1 is turned on, the relay UP is operated, the motor 22 is normally rotated, and the load supporting member 3 is raised (step-6), and the third
When the limit switch 21 operates, that is, when the load supporting member 3 rises to the scooping position (step-7), DO1
Is turned off to turn off the relay UP, the motor 22 is stopped, and the lifting of the load supporting member 3 is stopped (step-
8). By this operation, the pallet 5 is loaded on the load supporting member 3.

Next, by turning off the third photoelectric switch 26,
When the departure of the AGV is confirmed (step-9), the DO2 is turned on to operate the relay DW, the motor 22 is rotated in the reverse direction, the load supporting member 3 is lowered (step-10), and the first limit switch 19 is operated. Then, that is, when the pallet 5 descends to the floor surface position (step-11), the DO2 is turned off, the relay DW is turned off, and the motor 22 is stopped.
Stop the descent of the load supporting member 3 and wait (step-1
2). By this operation, the pallet 5 is unloaded to the floor position.

Next, the pallet 5 is carried out by a worker by a hand lift. When the pallet 5 is unloaded, the second photoelectric switch 9 is turned off, whereby the pallet 5 is unloaded (step -13).

In this way, the pallet 5 can be delivered and received between the cargo receiver 1, the AGV, and the hand lift which can be used by anyone and can perform work safely. Further, since the pallet 5 is lowered to the floor surface F by the lifter 6, it is possible to easily perform a picking operation of a load on the pallet 5. In addition, conventionally, a workbench for picking is required to pick a load on a certain receiving tray.

When the height of the load supporting member 3 of both load receiving members 1 is deviated, that is, when the left and right balance is lost, the first photoelectric switch 8 is turned off, the relay INT is turned off, and both motors 22 The power supply to is cut off. Therefore, the load collapse due to the inclination of the pallet 5 and the pallet 5
It is possible to prevent the load from falling from the inside.

Further, since both load receiving bodies 1 are installed directly on the floor surface F and both load receiving bodies 1 are independent, the installation is easy, and the load receiving bodies 1 are flexible according to the size of the pallet 5. Can be installed in Further, since both load receiving bodies 1 do not have an independent mechanical power transmission mechanism, it is possible to freely set A between both load receiving bodies 1.
The GV can enter and set the approach path. Further, by vertically moving the load supporting portions 4 of both load receiving bodies 1, the range in which the load receiving bodies 1 operate can be limited to only the installation place, and the floor surface F can be effectively used.

Further, since the lifter 6 is of the electric type, the number of maintenance parts is reduced as compared with the hydraulic type, so that the maintenance can be facilitated and the burden on the operator can be reduced. Although the load (pallet) is transferred by the hand lifter and the AGV in the present embodiment, as shown in FIG. 9, the load / unload device 42 and the AGV 43 of the automatic warehouse 41 are used.
It can be used to deliver pallets 5 in between. In this case, in order to transfer the pallet 5 between the load carrier with lifter (the load receiver 1) and the fork of the load / unload device 42, the load support member 3 is fixed at the scooping position where the third limit switch 21 operates, and the fork is moved. The pallet 5 is transferred between the lifter-equipped load receiving base (load receiving body 1) and the AGV 43 by moving the load supporting member 3 and the third limit switch 21 to operate as described above. This is done by raising and lowering between the position and the unloading position at which the second limit switch 20 operates. In FIG. 7, reference numeral 44 denotes a shelf having a plurality of pallet storage spaces 45, and the loading / unloading device 42 loads / unloads the pallet 5 between the pallet storage space 45 of the shelf 44 and the lifter-equipped load receiving base (load receiving body 1). To do.

[0034]

As described above, according to the first aspect of the present invention, both load receivers are installed directly on the floor, and since both load receivers are independent, the installation is easy, and the load is large. The installation can be flexibly adjusted according to the size. Further, since both load receivers have no independent power transmission mechanism, the load carrier can freely enter between the load receivers and the approach path can be set.

According to the second aspect of the present invention, the load support portions of both load receivers are vertically moved up and down, whereby the range in which the load receivers can operate can be limited only to the installation location, and the floor surface can be effectively used. . Further, according to the third aspect of the present invention, the photoelectric switch provided between the load supporting portions facing each other is turned off, and it is detected that the load supporting member of the load supporting portions has a height shift, and the lifter is detected. By stopping the ascending / descending of the load, it is possible to prevent the load from falling from the load supporting member.

According to the fourth aspect of the invention, since the lifter is electrically operated, the number of maintenance parts is reduced as compared with the hydraulic type, the maintenance can be facilitated, and the burden on the operator can be reduced.

[Brief description of drawings]

FIG. 1 is a perspective view of a lifter-equipped load carrier according to an embodiment of the present invention.

FIG. 2 is a plan view of the lifter-equipped load carrier.

FIG. 3 is a front view of the cargo cradle with the lifter.

FIG. 4 is a side view of the cargo cradle with the lifter.

FIG. 5 is a plan cross-sectional view of the cargo cradle with the lifter.

FIG. 6 is a drive circuit diagram of the cargo cradle with the lifter.

FIG. 7 is a flowchart of a controller of the lift-equipped cargo cradle.

FIG. 8 is a flow chart of a controller of the lifter-equipped load receiving tray.

FIG. 9 is a configuration diagram of an automated warehouse and an automated guided vehicle using the cargo cradle with the lifter.

[Explanation of symbols]

 1 load receiver 2 control box 3 load supporting member 4 load supporting part 5 pallet 6 lifter 7 horizontal member 8, 9, 26 photoelectric switch 10 link part 11 drive part 12 lower base 13 link 14 linear mechanism part 15 helix 16 nut body 17 Wheel 18 Lower rail 19, 20, 21 Limit switch 22 Motor 23 Gear mechanism 24 Cover 25 Gear 31 Controller (control means) 41 Automatic warehouse 42 Unloading / unloading device (stacker crane) 43 Unmanned guided vehicle (AGV) A Entry path F Floor

Claims (4)

[Claims] 1. A load supporting portion having a plate-like load supporting member horizontally attached thereto, and a load receiving position of a load carrying vehicle or a load / unload device for transferring the load from the load supporting member of the load supporting portion at least from a floor surface. A load carrier with a lifter, wherein a pair of load receivers having a lifter that moves up and down between are installed on the floor with the load support members facing each other. 2. The load cradle with lifter according to claim 1, wherein the lifter lifts and lowers a load support portion in a vertical direction. 3. The load-carrying cradle with lifter according to claim 1, further comprising a photoelectric switch provided between the load supporting portions so as to face each other, and a control means for stopping the lifting and lowering of the lifter when the photoelectric switch is turned off. . 4. The load carrier with lifter according to claim 1, wherein the lifter is electrically operated.