Load reception base lifting apparatus

Abstract

To save labor and manpower for loading work while simplifying the work of an operator to achieve efficiency.SOLUTION: This load reception base lifting apparatus for lifting a load reception base with respect to a vehicle comprises: a lift unit that lifts the load reception base; a communication device that transfers a signal with a conveyance machine for conveying a load; and a control device that controls the lift unit. The control device inhibits lifting of the load reception base during a loading / unloading operation of a load of the conveyance machine with respect to the load reception base, determines whether a completion signal transmitted from the conveyance machine upon completion of the loading / unloading operation of the load of the conveyance machine with respect to the load reception base has been input, and permits lifting of the load reception base when the completion signal has been input.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a loading platform lifting device. [Background technology]

[0002] The loading platform lifting device is a device that raises and lowers the loading platform between the height of the loading platform floor of the vehicle and the ground, and supports the loading and unloading of cargo onto the loading platform. A method of loading cargo onto a vehicle using this loading platform lifting device and an automatic guided vehicle such as an AGV (Automatic Guided Vehicle) is known (see Patent Document 1, etc.). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2022-190324 Summary of the Invention [Problem to be solved by the invention]

[0004] The work of loading cargo onto a vehicle using a loading platform lifting device is generally carried out as follows. For example, when working alone, the worker first places the cargo on a loading platform on the ground, raises the loading platform partway and stops it, and then uses the loading platform as a foothold to climb onto the platform. The worker then raises the loading platform to the height of the platform and carries the cargo on the loading platform onto the platform. When working with multiple people, one worker is stationed on the ground and the other on the platform. The ground worker first places the cargo on the loading platform, and when the ground worker leaves the platform, the worker on the platform raises the loading platform to the height of the platform and carries the cargo on the platform onto the platform.

[0005] When working alone, the same worker must load the cargo onto the receiving platform on the ground, and then lift the platform and carry the cargo from the receiving platform onto the loading platform, which is both cumbersome and labor-intensive. When working with multiple people, the work is shared between the ground worker and the worker on the loading platform, reducing the labor required, but increasing the waiting time for each worker. One effective solution to these issues is to use an automated guided vehicle such as an AGV, as described in Patent Document 1.

[0006] However, in cargo handling operations using a loading platform lifting device, the cargo to be loaded and unloaded onto the loading platform and the working environment vary widely, and therefore, in many situations, it is more flexible and efficient to divide the ground work and the loading platform work between a worker and an automated guided vehicle, with a human taking the lead in the work while using the automated guided vehicle as an auxiliary, rather than having the automated guided vehicle perform both the ground work and the loading platform work, as in Patent Document 1. To achieve reliable work in such situations, there is room for functional improvement in the loading platform lifting device.

[0007] An object of the present invention is to provide a loading platform lifting device that can simplify and improve the efficiency of the worker's work while reducing the labor and manpower required for loading and unloading work. [Means for solving the problem]

[0008] In order to achieve the above-mentioned object, the present invention provides a loading platform lifting device that raises and lowers a loading platform relative to a vehicle, comprising: a lift unit that raises and lowers the loading platform; a communication device that directly or indirectly exchanges signals with a conveying machine that conveys cargo; and a control device that controls the lift unit, wherein the control device prohibits the loading platform from being raised or lowered while cargo is being loaded or unloaded from the loading platform of the conveying machine, determines whether a signal sent from the conveying machine upon completion of the loading or unloading operation of cargo onto the loading platform of the conveying machine or a completion signal that is a signal based on said signal has been input via the communication device, and if the completion signal has been input, allows the loading or lowering of the loading platform.

[0009] The present invention also provides a loading platform lifting device for raising and lowering a loading platform relative to a vehicle, comprising: a lift unit for raising and lowering the loading platform; a communication device for directly or indirectly exchanging signals with a conveying machine that conveys the luggage; a sensor for detecting luggage loaded on the loading platform; and a control device for controlling the lift unit, wherein the control device prohibits the loading platform from being raised or lowered while luggage is being loaded or unloaded from the loading platform of the conveying machine, determines whether a signal sent from the conveying machine upon completion of loading of luggage onto the loading platform by the conveying machine or a completion signal which is a signal based on said signal has been input via the communication device, and when the completion signal has been input, determines whether the luggage is loaded in a predetermined appropriate area for the loading platform based on the output of the sensor, and when the luggage is loaded in the appropriate area, allows the loading or lowering of the loading platform.

[0010] The present invention also provides a loading platform lifting device for raising and lowering a loading platform relative to a vehicle, comprising: a lift unit for raising and lowering the loading platform; a communication device for directly or indirectly exchanging signals with a conveying machine that conveys cargo; and a control device for controlling the lift unit, wherein the control device prohibits the loading platform from being raised or lowered while cargo is being loaded or unloaded from the loading platform of the conveying machine, determines whether a signal sent from the conveying machine upon completion of the conveying machine's removal of the cargo from the loading platform or a completion signal which is a signal based on said signal has been input via the communication device, and if the completion signal has been input, determines whether the cargo is not loaded on the loading platform based on the output of the sensor, and if the cargo is not loaded on the loading platform, allows the loading platform to be raised or lowered. [Effects of the Invention]

[0011] According to the present invention, it is possible to simplify the work of workers and improve the efficiency, while reducing the labor and manpower required for loading and unloading work. [Brief explanation of the drawings]

[0012] [Figure 1]1 is a side view showing the overall structure of a vehicle equipped with a loading platform lifting device according to an embodiment of the present invention. [Figure 2] 1 is an enlarged side view of a loading platform lifting device according to an embodiment of the present invention; [Figure 3] 1 is a plan view of a loading platform provided in a loading platform lifting device according to an embodiment of the present invention; [Figure 4] 1 is a schematic hydraulic circuit diagram of a power unit provided in a platform lifting device according to an embodiment of the present invention. [Figure 5] 10 is a flowchart showing the procedure of interlock control relating to the lifting and lowering operation of the loading platform 5 by a control device provided in the loading platform lifting and lowering device according to one embodiment of the present invention. [Figure 6] 1 is a schematic diagram showing an example of work allocation in which a transport machine loads cargo from the ground onto a cargo receiving platform, and a worker carries the cargo from the cargo receiving platform to the loading platform. [Figure 7] 1 is a schematic diagram showing an example of work allocation in which a conveying machine loads cargo from a loading platform onto a cargo receiving platform, and a worker carries the cargo from the cargo receiving platform to the ground. [Figure 8] FIG. 10 is a schematic diagram illustrating an example of work allocation in which a worker loads luggage from a loading platform onto a luggage receiving platform, and a conveying machine carries the luggage from the luggage receiving platform to the ground. [Figure 9] FIG. 10 is a schematic diagram showing an example of work allocation in which a worker loads a load onto a loading platform from the ground and a conveying machine carries the load from the loading platform to a loading platform. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0014] -vehicle- FIG. 1 is a side view showing the overall structure of a vehicle equipped with a platform lifting device according to one embodiment of the present invention. In this specification, the left and right sides of FIG. 1 refer to the front and rear of the platform lifting device 4. In this specification, the left and right sides of FIG. 1 refer to the front and rear of the platform lifting device. For example, FIG. 1 illustrates a case in which the platform lifting device is mounted on the rear of the vehicle and the platform (platform) 5 is pulled out to the rear of the vehicle. In this state, the front and rear direction of the platform lifting device coincides with the front and rear direction of the vehicle. However, there are also cases in which the platform lifting device 4 is mounted on the side of the vehicle so that the platform 5 is pulled out. In that case, the front and rear direction of the platform lifting device 4 is perpendicular to the front and rear direction of the vehicle.

[0015] The vehicle shown in Fig. 1 is configured to include a chassis frame 1, a driver's cab 2 provided at the front of the chassis 1, a loading platform (load) 3 mounted on the chassis 1, and an underfloor-storable loading platform lifting device 4 provided on the underside of the rear of the chassis 1. When the loading platform lifting device 4 is not in use, such as when the vehicle is traveling, the loading platform 5 is folded and stored under the chassis 1. When in use, the loading platform lifting device 4 unfolds the loading platform 5 by pulling it out rearward, and raises and lowers the loading platform 5 between the height of the floor of the loading platform 3 and the height at which it touches the ground relative to the vehicle, thereby assisting in loading and unloading of cargo onto the loading platform 3.

[0016] -Load receiving platform lifting device- FIG. 2 is an enlarged side view of the receiving platform lifting device. FIG. 2 shows the receiving platform in an unfolded state. The receiving platform lifting device 4 includes a receiving platform 5, a slide unit 10, a lift unit 20, an opening / closing unit (not shown), a power unit 30 (FIG. 4), and a control device 40 (FIG. 4). The slide unit 10 is a unit including an actuator that moves the receiving platform 5 and other components in the forward and backward directions. The lift unit 20 is a unit including an actuator that raises and lowers the receiving platform 5. The opening / closing unit is a unit including an actuator that opens and closes (unfolds / folds) the receiving platform 5. The receiving platform lifting device 4 may be configured so that the receiving platform 5 is operated manually, in which case the opening / closing unit is omitted. The power unit 30 is a drive device that drives the slide unit 10, lift unit 20, and opening / closing unit. The control device 40 is a device that controls the power unit 30. These components will be explained in order.

[0017] -Slide unit- The slide unit 10 includes left and right guide rails 11, a slider 12, and a slide cylinder 13. The left and right guide rails 11 are attached to the rear lower side of the vehicle frame 1 in an orientation extending parallel to the front and rear. The slider 12 is slidably attached to the left and right guide rails 11 and is movable back and forth along the guide rails 11. The slide cylinder 13 is a double-acting hydraulic cylinder, and both ends are fixed to the guide rails 11 and the slider 12 via support members. The extension and contraction of the slide cylinder 13 moves the slider 12 back and forth along the guide rails 11, and the load receiving platform 5 supported by the slider 12 via the lift unit 20 moves back and forth.

[0018] -Lift unit- The lift unit 20 includes a left and right pair of a first arm (tilt arm) 21, a second arm (lift arm) 22, a third arm (compression arm) 23, and a lift cylinder 24. The lift unit 20 supports the portion of the load receiving platform 5 between its left and right ends so as not to interfere with the load receiving surface (the upper surface of the load receiving platform 5). The upper portion of the first arm 21 is connected to the slider 12 via a pin, and the lower portion rotates back and forth. The front end of the second arm 22 is rotatably connected to the first arm 21 and its rear end to the load receiving platform 5 via shafts A and B extending left and right, respectively. The front end of the third arm 23 is rotatably connected to the slider 12 and its rear end to the load receiving platform 5 via shafts C and D extending left and right, respectively. The lift cylinder 24 is a single-acting hydraulic cylinder (a double-acting type is also acceptable), and in this embodiment, the rod side is rotatably connected to the lower part of the first arm 21, and the bottom side is rotatably connected to the second arm 22. The second arm 22 and the third arm 23 form a parallel link that connects the loading platform 5 to the slider 12 so that it can be raised and lowered (the axis AD forms the apex angle of a parallelogram). As the lift cylinder 24 expands and contracts, this parallel link rotates up and down, and the loading platform 5 rises and falls while maintaining a horizontal position.

[0019] -Loading platform- The receiving platform 5 is a platform that receives and raises and lowers luggage and the like, and is foldable in this embodiment. Specifically, the receiving platform 5 includes a base receiving platform 6 connected to the lift unit 20, and a front receiving platform 7 rotatably connected to the rear of the base receiving platform 6 via a hinge (not shown). The front receiving platform 7 rotates about the hinge as a fulcrum, and rotates 180 degrees counterclockwise (left) forward from the unfolded state (FIG. 2) as viewed from the left, and is then folded over and placed on top of the base receiving platform 6 (FIG. 1). The rear end surface of the receiving platform 5 in the folded state forms a bumper (FIG. 1). The left-right width of the receiving platform 5 is, for example, approximately the same as the width of the loading platform 3, and is wider than the outer dimensions of the left and right vehicle frames 1. In this embodiment, the front receiving platform 7 is non-foldable. That is, the receiving platform 5 has a two-piece folding structure that includes only one front receiving platform 7, but it may also have a three-piece folding structure in which the front receiving platform 7 has a two-piece folding structure. Also, when viewed from the left and right, the receiving platform 5 is formed in a triangular shape that becomes thinner from the base end to the tip (rear) when unfolded (as shown in Figure 2).

[0020] Fig. 3 is a plan view of the receiving platform 5. In Fig. 3, the boundary between the base end receiving platform 6 and the tip end receiving platform 7 is omitted and the receiving platform 5 is shown as a single unit.

[0021] The receiving platform 5 is made of extruded aluminum and has multiple hollows (not shown) extending widthwise to reduce weight. Side moldings 9 are provided on the sides of the receiving platform 5. The side moldings 9 are rod-shaped members with a U-shaped cross section that cover the left and right end faces of the receiving platform 5 and are attached to the receiving platform 5 so as to close the left and right openings of each hollow. The side moldings 9 form a step with respect to the receiving surface of the receiving platform 5 and also function as left and right bollards for trolleys placed on the receiving platform 5. Although not shown, side guards that protrude higher from the receiving surface than the side moldings 9 may be installed inside the side moldings 9 (inside in the left-right direction). When a trolley or the like gets on or off the receiving platform 5, the trolley passes between the left and right side moldings 9 (or the left and right side guards, if side guards are provided).

[0022] - Caster stopper - Furthermore, the receiving platform 5 is provided with caster stoppers 50 that act as wheel stops to allow for easier loading and unloading of dollies and the like. The caster stoppers 50 are also made of extruded aluminum, just like the receiving platform 5. The caster stoppers 50 are located at the rear of the receiving platform 5 and extend in the left-right direction, and are used by standing upright at the rear of a dolly loaded on the receiving platform 5. In this embodiment, a configuration in which one caster stopper 50 is installed at the rear of the receiving platform 5 is illustrated, but the number and location of the cast stoppers 50 may be different.

[0023] The caster stopper 50 has a rear portion connected to the receiving platform 5 via a hinge 51, and a front portion pivots up and down to change its position between an upright position and a lying position. Specifically, in this embodiment, a hollow portion (the rearmost hollow portion in this example) of the receiving platform 5 (front receiving platform 7) opens onto the receiving surface over the entire length of the receiving platform 5 on both sides, and the caster stopper 50 opens and closes the upper opening of this hollow portion between the left and right side moldings 9. With this configuration, in the lying position (Fig. 3, etc.), the caster stopper 50 closes the upper opening of the hollow portion of the receiving platform 5 to form part of the receiving surface of the receiving platform 5, and in the upright position (Fig. 2), it protrudes upward from the receiving surface of the receiving platform 5 and functions as a rear wheel stopper.

[0024] The caster stoppers 50 are configured to be pushed up in the standing direction by a biasing means (not shown) such as a spring. Therefore, the platform lifting / lowering device 4 is provided with a locking device (not shown) that restrains the caster stoppers 50 in the lying position.

[0025] The loading platform lifting device 4 is equipped with stopper sensors 60 that detect the position of the caster stopper 50, i.e., whether it is in a lying position or an upright position. In this embodiment, the stopper sensors 60 are installed on both the left and right sides of the caster stopper 50, as shown in Fig. 3. In this embodiment, the stopper sensors 60 are installed in two locations, left and right, assuming a configuration in which the caster stopper 50 is divided into two, left and right. However, if the caster stopper 50 does not have a divided structure, or if stopper sensors 60 are not needed on both the left and right sides of the cast stopper 50, one of the left and right stopper sensors 60 can be omitted.

[0026] -Opening and closing unit- The opening / closing unit is equipped with a gate cylinder 70 (Fig. 4) as an actuator for opening and closing the folding receiving platform 5. The gate cylinder 70 is a double-acting hydraulic cylinder. Both ends of the gate cylinder 70 are rotatably connected to the base receiving platform 6 and the tip receiving platform 7. For example, when the gate cylinder 70 contracts while the receiving platform 5 is folded, the tip receiving platform 7 rotates backward relative to the base receiving platform 6, and the receiving platform 5 unfolds. Conversely, when the gate cylinder 70 extends while the receiving platform 5 is unfolded, the tip receiving platform 7 rotates forward relative to the base receiving platform 6, and the receiving platform 5 is folded.

[0027] -Power unit- Fig. 4 is a schematic hydraulic circuit diagram of the power unit. As shown in Fig. 4, the power unit 30 includes an electric motor 31, a hydraulic pump 32, a hydraulic oil tank 33, a control valve unit 34, a relief valve 35, etc. In the power unit 30, the electric motor 31 and the control valve unit 34 are controlled by control signals output from the control device 40 in response to operation signals from an operation device 80 and output signals from sensors (such as a camera 91, which will be described later). The operation device 80 is an input device (for example, a wired or wireless remote control) that controls the raising and lowering, loading and unloading, etc. of the loading platform 5, and is connected to the control device 40 wirelessly or by wire. The operation device 80 includes a lowering button 81 for inputting an operation to lower the loading platform 5, and a raising button 82 for inputting an operation to raise the loading platform 5. The control valve unit 34 also includes a plurality of electromagnetically driven control valves, such as a pull-out control valve that extends the slide cylinder 13, a retraction control valve that retracts the slide cylinder 13, a lift control valve that extends the lift cylinder 24, a lowering control valve that retracts the lift cylinder 24, a folding control valve that extends the gate cylinder 70, and an unfolding control valve that retracts the gate cylinder 70. The flow of pressurized oil drawn in from and discharged from a hydraulic oil tank 33 by a hydraulic pump 32 driven by an electric motor 31 is controlled by the control valve unit 34, driving actuators such as the slide cylinder 13, lift cylinder 24, and gate cylinder 70 to operate the loading platform 5. The relief valve 35 protects the circuit by regulating the maximum pressure in the hydraulic circuit shown in Figure 4.

[0028] As described above, in this embodiment, the loading platform lifting device 4 is of an underfloor storage type, and the loading platform 5 moves back and forth along the guide rails 11 when being pulled out from under the vehicle frame 1 or when being pulled back under the vehicle frame 1. The loading platform lifting device 4 is equipped with a rear end sensor 90 ( FIG. 4 ) that detects when the loading platform 5 is pulled out to the rear end along the guide rails 11. The rear end sensor 90 is, for example, a proximity sensor. For example, when the loading platform 5 is not at the rear end position, pressing the up button 82 moves the loading platform 5 forward, and pressing the down button 81 moves the loading platform 5 backward. When the loading platform 5 is at the rear end position and the caster stopper 50 is upright, pressing the up button 82 raises the loading platform 5, and pressing the down button 81 lowers the loading platform 5. When the loading platform 5 is at the rear end position and the caster stopper 50 is reclined, pressing the up button 82 folds the loading platform 5, and pressing the down button 81 unfolds the loading platform 5.

[0029] In this embodiment, a pressure sensor 36 is provided in the oil passage connecting the control valve unit 34 and the lift cylinder 24. As shown in FIG. 1 , a camera 91 is provided on the upper rear side of the loading platform 3 to capture images of the area behind the vehicle. The camera 91 can overlook the unfolded loading platform 5. The pressure sensor 36 and the camera 91 can function as a luggage sensor that detects the presence or absence of luggage loaded on the loading platform 5. For example, the control device 40 determines, based on the image captured by the camera 91, whether luggage is present on the loading platform 5 and whether the luggage is located within a predetermined appropriate area. The processing function for the image captured by the camera 91 may be provided in the camera 91 or may be executed by the control device 40. To function as a luggage sensor, the camera 91 need only capture an image of the unfolded loading platform 3; it does not have to be installed on the loading platform 3. The control device 40 may also be configured to determine that luggage is loaded on the loading platform 5 when the output signal from the pressure sensor 36 exceeds a predetermined set value.

[0030] However, the luggage sensor is not limited to the camera 91 or the pressure sensor 36. For example, an electromagnetic wave sensor, an ultrasonic sensor, a proximity sensor, or a load cell can also be used as the luggage sensor. The electromagnetic wave sensor includes a transmitter and receiver of electromagnetic waves such as infrared or laser, and detects an obstruction, i.e., luggage on the receiving surface, when the electromagnetic waves emitted from the transmitter toward the receiver along the charge receiving surface are blocked. The ultrasonic sensor detects luggage on the receiving surface by receiving the transmitted ultrasonic waves reflected from the luggage. The proximity sensor includes not only electromagnetic wave sensors that use electromagnetic waves, but also electromagnetic induction sensors that detect luggage by detecting the electrical characteristics of approaching objects. The load cell is installed inside the receiving platform 5 and detects luggage on the receiving surface by measuring the weight on the receiving surface.

[0031] -Control device- The control device 40 in this embodiment is, for example, a computer, and has the function of controlling the operation of the receiving platform 5, i.e., the slide unit 10, the lift unit 20, and the opening / closing unit, in response to the operation of the operating device 80. A communication device 92 is also connected to the control device 40. The communication device 92 directly or indirectly transmits and receives signals via wireless communication with a conveying machine V (e.g., an AGV) that automatically and unmannedly conveys cargo. While FIG. 4 illustrates a configuration in which the control device 40 and the conveying machine V directly transmit and receive signals, if the conveying machine V is controlled by communicating with a traffic management system (e.g., a server), for example, the control device 40 and the conveying machine V may also be configured to indirectly transmit and receive signals via the traffic management system.

[0032] In this embodiment, the control device 40 prohibits the lifting and lowering of the receiving platform 5 (in this embodiment, disables the lifting and lowering operation of the receiving platform 5 by the operation device 80) while the conveying machine V is loading or unloading (loading or carrying out) a load on the receiving platform 5. For example, with the receiving platform 5 raised or lowered to a predetermined height (the height of the ground or the platform 3), an operator instructs the conveying machine V via the operation device 80 to load or unload a load on the receiving platform 5. The operation of the operation device 80 at this time may be performed by providing a dedicated switch (not shown) on the operation device 80, or may be performed by performing a predetermined operation on an existing switch. When an operation to instruct the conveying machine V to unload a load is performed, the operation signal is input from the operation device 80 to the control device 40, and the control device 40 further instructs the conveying machine V to unload a load via the communication device 92, and the conveying machine V starts unloading the load. In this example, when an operation to instruct the conveying machine V to perform a loading / unloading operation is performed, the control device 40 invalidates the operation signal from the operation device 80 relating to the lifting and lowering of the receiving platform 5.

[0033] Thereafter, the control device 40 determines whether a completion signal transmitted from the conveying machine V in response to the completion of the loading / unloading operation of the cargo onto the receiving platform 5 of the conveying machine V has been input via the communication device 92. As mentioned above, if the conveying machine V is controlled by an operation management system, it is also possible to configure the conveying machine V to transmit a signal in response to the completion of the loading / unloading operation of the cargo to the operation management system, and the control device 40 to receive a completion signal based on that signal from the operation management system. When the completion signal has been input, the control device 40 permits the lifting / lowering of the receiving platform 5, and controls the lift unit 20 in response to the operation of the operating device 80 to raise or lower the receiving platform 5.

[0034] For example, when the conveying machine V is tasked with loading cargo onto the receiving platform 5 from the ground or the loading platform 3, the control device 40 determines whether or not a completion signal transmitted from the conveying machine V upon completion of loading the cargo onto the receiving platform 5 by the conveying machine V has been input via the communication device 92. If the completion signal has been input, the control device 40 permits the lifting and lowering of the receiving platform 5. Thereafter, when the worker who has confirmed that the cargo has been loaded onto the receiving platform 5 operates the operation device 80, the control device 40 controls the lift unit 20 in accordance with the operation of the operation device 80 to raise the receiving platform 5 with the loaded cargo from the ground or lower it from the height of the loading platform 3.

[0035] In this case, when a completion signal is input from the conveying machine V, the control device 40 may further determine whether the cargo is loaded in a predetermined appropriate area (e.g., the central area of ​​the cargo receiving surface) for the cargo receiving platform 5 based on the output of a cargo sensor (e.g., a camera 91), and may be configured to allow the cargo receiving platform 5 to be raised or lowered if the cargo is loaded in the appropriate area.

[0036] Furthermore, when the conveying machine V is assigned the task of carrying out the cargo from the receiving platform 5 to the ground or the loading platform 3, the control device 40 determines whether or not a completion signal transmitted from the conveying machine V upon completion of carrying out the cargo from the receiving platform 5 by the conveying machine V has been input via the communication device 92. If a completion signal has been input, the control device 40 permits the lifting and lowering of the receiving platform 5. Thereafter, when the worker who has confirmed that the cargo has been carried out from the receiving platform 5 operates the operation device 80, the control device 40 controls the lift unit 20 in accordance with the operation of the operation device 80 to raise the now empty receiving platform 5 from the ground or lower it from the height of the loading platform 3.

[0037] Furthermore, when a completion signal is input from the conveying machine V, the control device 40 may further determine whether or not there is any luggage loaded on the receiving platform 5 based on the output of a luggage sensor (e.g., a camera 91 or a pressure sensor 36), and may be configured to allow the receiving platform 5 to be raised or lowered if there is no luggage loaded on the receiving platform 5.

[0038] Furthermore, when the control device 40 permits the lifting or lowering of the receiving platform 5, it notifies the worker of this via the output device, i.e., that it is now possible to operate the lifting or lowering of the receiving platform 5. The output device is, for example, an audio output device such as a speaker or a display output device such as a lamp, and is provided on the operation device 80 or the receiving platform 5, etc.

[0039] -Control procedure- Fig. 5 is a flowchart showing the procedure of interlock control relating to the lifting and lowering operation of the receiving platform 5 by the control device 40. The interlock control of Fig. 5 is repeatedly executed at a predetermined processing cycle (for example, about 0.1 seconds).

[0040] When the processing of FIG. 5 starts, the control device 40 first determines whether an operator has issued an instruction to the conveying machine V to convey a load (for example, a predetermined operation of the operating device 80) (step S101). If no conveying instruction has been issued, the control device 40 repeats the processing of step S101. If a conveying instruction has been issued, the control device 40 prohibits the lifting and lowering operation of the receiving platform 5 and applies an interlock (step S102). In this embodiment, for example, the raising and lowering operations of the receiving platform 5 are disabled. Note that in step S101, instead of determining whether an operator has issued a conveying instruction, it may be determined, for example, whether the receiving platform 5 has moved to the same height as the conveying machine V, thereby allowing the conveying machine V to load and unload a load. For example, when the conveying machine V loads a load onto the receiving platform 5, it is determined whether the empty receiving platform 5 has been raised or lowered to the same height as the conveying machine V (the height of the ground or the loading platform 3), and if a condition is met, the lifting and lowering of the receiving platform 5 can be prohibited. When the conveying machine V carries out a load from the receiving platform 5, it is determined whether the receiving platform 5 loaded with the load has been raised or lowered to the same height as the conveying machine V (the height of the ground or the loading platform 3), and if the condition is met, the raising or lowering of the receiving platform 5 can be prohibited. In these cases, the control device 40 can be configured not only to raise or lower the receiving platform 5 for the conveying machine V to load or unload the load, but also to determine whether the raising or lowering operation of the receiving platform 5 has been completed and whether a signal requesting the conveying machine V to start loading or unloading the load has been received, and to prohibit the raising or lowering of the receiving platform 5 if both conditions are met.

[0041] After prohibiting the lifting and lowering operation of the receiving platform 5, the control device 40 determines whether a completion signal has been received from the conveying machine V (step S103). In the automatic carry-in mode, the completion signal is transmitted from the conveying machine V after the conveying machine V loads the cargo onto the receiving platform 5 and gets off the receiving platform 5, and in the automatic carry-out mode, the completion signal is transmitted from the conveying machine V after the conveying machine V carries the cargo out of the receiving platform 5.

[0042] The control device 40 repeats the process of step S103 until a completion signal is input, and waits for the conveying machine V to complete loading or carrying out the luggage, and when the completion signal is input, determines the conveying mode (step S104). In this example, in step S104, it is determined whether the mode is an automatic carry-in mode in which luggage is loaded onto the receiving tray 5, or an automatic carry-out mode in which luggage is carried out from the receiving tray 5. If the luggage conveying mode is configured to be set by an operator using the operation device 80 or the like, the mode can be determined based on the mode setting made by the operation device 80 or the like. Also, if the mode is set by the conveying machine V, the conveying mode can be determined by receiving an identification signal from the conveying machine V. If the mode is the automatic carry-in mode, the control device 40 proceeds to step S105a, and if the mode is the automatic carry-out mode, the control device 40 proceeds to step S105b.

[0043] When the transport mode is the automatic carry-in mode, the control device 40 determines whether the cargo loaded onto the cargo receiving platform 5 by the transport machine V is within a predetermined appropriate area based on the image captured by the camera 91 (step S105a). If part or all of the cargo is out of the appropriate position, the control device 40 outputs a predetermined error notification via the output device (step S108a), notifies the worker that the cargo position is incorrect, and prompts the worker to adjust the cargo position. If the cargo loaded onto the cargo receiving platform 5 by the transport machine V (including when the position has been adjusted by the worker) is within the appropriate area, the control device 40 permits the lifting and lowering operation of the cargo receiving platform 5 and releases the interlock (step S106). In this embodiment, for example, the lifting and lowering operations are enabled. After the interlock is released, the control device 40 notifies the worker that the lifting and lowering operation is permitted via the output device (step S107), and the processing of FIG. 5 is terminated.

[0044] On the other hand, when the transport mode is the automatic unloading mode, the control device 40 determines whether the transport machine V has removed the cargo from the receiving platform 5 and the receiving platform 5 is empty based on the image captured by the camera 91 (step S105b). If cargo remains on the receiving surface, the control device 40 outputs a predetermined error notification via the output device (step S108b), notifies the worker that cargo remains on the receiving surface, and prompts the worker to remove the cargo from the receiving surface. If the transport machine V or the worker has removed the cargo from the receiving platform 5 and there is no cargo on the receiving surface, the control device 40 permits the lifting and lowering operation of the receiving platform 5 and releases the interlock (step S106). After releasing the interlock, the control device 40 notifies the worker that the lifting and lowering operation is permitted via the output device (step S107), and ends the processing of FIG. 5.

[0045] The control device 40 repeatedly executes the above process while power is supplied. Note that in steps S108a and S108b, an example has been described in which the control device 40 prompts the worker to take action if the position of the package on the package receiving surface is not appropriate or if the package has not been completely removed from the package receiving surface, but a signal instructing the worker to adjust the package position or complete the removal may be sent from the control device 40 directly to the conveying machine V or via an operation management system. Also, in the example of Fig. 5, an example has been described in which the control device 40 determines the package position after inputting a completion signal from the conveying machine V, but a configuration may also be used in which the control device 40 assists the conveying machine V in transporting the package by transmitting the determined package position to the conveying machine V while the conveying machine V is transporting the package.

[0046] -Work example- Figures 6 to 9 show examples of work. Figure 6 is a schematic diagram showing an example of work allocation in which a transport machine loads luggage from the ground onto a loading platform, and a worker carries the luggage from the loading platform to the loading platform. Figure 7 is a schematic diagram showing an example of work allocation in which a transport machine loads luggage from the loading platform onto a loading platform, and a worker carries the luggage from the loading platform to the ground. Figure 8 is a schematic diagram showing an example of work allocation in which a worker loads luggage from the loading platform onto a loading platform, and the transport machine carries the luggage from the loading platform to the ground. Figure 9 is a schematic diagram showing an example of work allocation in which a worker loads luggage from the ground onto a loading platform, and the transport machine carries the luggage from the loading platform to the loading platform. The examples in Figures 6 and 7 are examples in which a transport machine V is responsible for loading luggage onto a loading platform 5, and Figure 6 shows an example in which a worker is responsible for work on the loading platform, and Figure 7 shows an example in which a worker is responsible for work on the ground. On the other hand, the examples of Figures 8 and 9 show that the conveying machine V is responsible for carrying out cargo from the cargo receiving platform 5, and Figure 8 shows an example in which a worker is responsible for work on the platform, while Figure 9 shows an example in which a worker is responsible for work on the ground.

[0047] In the example of FIG. 6, a package X placed on a cart Y is loaded onto a receiving platform 5 on the ground by a conveying machine V (FIGS. 6(a) and 6(b)). After the conveying machine V loads the package X onto the receiving platform 5 and dismounts from the receiving platform 5, it transmits a completion signal to the control device 40 (step S103 in FIG. 5). Upon receiving the completion signal, the control device 40 confirms that the position of the package X on the receiving surface is appropriate as described above (step S105a in FIG. 5), permits the lifting operation of the receiving platform 5 (step S106 in FIG. 5), and notifies the worker (step S107 in FIG. 5). Thereafter, the worker operates the operating device 80 to lift the receiving platform 5 to the height of the platform 3 (FIG. 6(c)), and carries the package from the receiving platform 5 onto the platform 3 (FIG. 6(d)).

[0048] Similarly, in the example of FIG. 7, the cargo X placed on the cart Y is loaded from the loading platform 3 onto the loading platform 5 by the conveying machine V (FIG. 7(a)). After the conveying machine V loads the cargo X onto the loading platform 5 and returns from the loading platform 5 to the loading platform 3 (FIG. 7(b)), it transmits a completion signal to the control device 40 (step S103 of FIG. 5). The control device 40, having received the completion signal, confirms that the position of the cargo X on the loading surface is appropriate as described above (step S105a of FIG. 5), permits the lowering of the loading platform 5 (step S106 of FIG. 5), and notifies the operator (step S107 of FIG. 5). Thereafter, the operator operates the operating device 80 to lower the loading platform 5 to the ground (FIGS. 7(b) and 7(c)), and carries the cargo from the loading platform 5 to the ground (FIG. 7(d)).

[0049] On the other hand, in the example of FIG. 8, the worker on the loading platform 3 places the package X on the cart Y and loads it from the loading platform 3 onto the receiving platform 5 (FIG. 8(a)), and then operates the operating device 80 to lower the receiving platform 5 to the ground (FIGS. 8(b) and 8c)). The conveying machine V rises onto the receiving surface of the receiving platform 5 that has been lowered to the ground, loads the package X together with the cart Y, and descends from the receiving platform 5 (FIG. 8(d)), and transmits a signal (a completion signal) to the control device 40 indicating that the removal of the package X from the receiving platform 5 has been completed (step S103 of FIG. 5). The control device 40, which has received the completion signal, confirms that there is no package X on the receiving surface as described above (step S105b of FIG. 5), permits the lifting operation of the receiving platform 5 (step S106 of FIG. 5), and notifies the worker (step S107 of FIG. 5). Thereafter, the worker operates the operating device 80 as necessary to raise the receiving platform 5 to the height of the platform 3 (FIG. 8(d)), and carries the next package from the platform 3 onto the receiving platform 5.

[0050] Similarly, in the example of FIG. 9, a ground worker places a package X on a cart Y and loads it onto a receiving platform 5 on the ground (FIG. 9(a)), and operates the operating device 80 to raise the receiving platform 5 to the height of the platform 3 (FIGS. 9(b) and 9c)). The conveying machine V moves from the platform 3 onto the receiving surface of the receiving platform 5 that has been raised to the height of the platform 3, loads the package X together with the cart Y, and returns from the receiving platform 5 to the platform 3 (FIG. 9(d)). The conveying machine V then transmits a completion signal to the control device 40 indicating that the removal of the package X from the receiving platform 5 has been completed (step S103 in FIG. 5). The control device 40, having received the completion signal, confirms that there is no package X on the receiving surface as described above (step S105b in FIG. 5), permits the lowering of the receiving platform 5 (step S106 in FIG. 5), and notifies the worker (step S107 in FIG. 5). Thereafter, the worker operates the operating device 80 as necessary to lower the receiving platform 5 to the ground (FIG. 9(d)), and carries the next package onto the receiving platform 5 on the ground.

[0051] -effect- (1) When the worker and the conveying machine V share the work on the loading platform and the work on the ground, the lifting and lowering operation of the loading platform 5 is prohibited while the load X is being loaded onto or unloaded from the loading platform 5 of the conveying machine V, and the lifting and lowering operation of the loading platform 5 is permitted when a completion signal is input from the conveying machine V upon completion of the loading and unloading operation of the load X onto or unloaded from the loading platform 5 of the conveying machine V. This allows the conveying machine V to take charge of the work on the loading platform or the ground, thereby reducing the labor and manpower required for loading and unloading work. In addition, since the worker can concentrate on the work on the ground or the loading platform, the worker's work is simplified and made more efficient.

[0052] (2) Furthermore, when the conveying machine V is in charge of loading the cargo X onto the receiving platform 5, when a completion signal is input from the conveying machine V upon completion of loading the cargo X onto the receiving platform 5, the lifting operation is permitted after it is confirmed that the cargo X is loaded in the appropriate area on the receiving surface, so that the receiving platform 5 can be driven with the cargo X loaded in the appropriate area and the cargo X can be lifted and lowered stably.

[0053] (3) Similarly, when the conveying machine V is in charge of carrying out the cargo X from the receiving platform 5, when a completion signal is input from the conveying machine V upon completion of carrying out the cargo X from the receiving platform 5, the conveying machine V further checks whether the cargo X is on the receiving surface and allows the lifting operation, thereby preventing the receiving platform 5 from operating inadvertently when the cargo X has not been securely removed from the receiving platform 5.

[0054] (4) Furthermore, by being notified that the lifting and lowering operation of the loading platform 5 is permitted, the worker can grasp the timing when the operation of the loading platform 5 is permitted, allowing the worker to work efficiently.

[0055] (5) When the operator is notified via the operating device 80 that the lifting operation is permitted, the operator can check at hand whether the operation of the loading platform 5 is permitted or not.

[0056] -Variations- The present invention is not limited to the above-described embodiments and may include various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the described configurations. For example, it is possible to replace some of the configurations with other configurations. It is also possible to delete some of the configurations of the embodiments or add other configurations.

[0057] For example, in the above embodiment, the present invention has been described as being applied to an underfloor storage-type loading platform lifting device 4 that stores the loading platform 5 under the vehicle frame 1. However, the present invention can also be applied to other types of loading platform lifting devices. For example, some loading platform lifting devices have a loading platform that stands upright along the wall of the vehicle's loading platform when stored, but that extends horizontally and rises and falls along a vertical post when in use. Furthermore, even if the loading platform is raised and lowered via a parallel link, like the loading platform lifting device of this embodiment, some types have a storage position in which the loading platform stands upright along the wall of the vehicle's loading platform rather than being stored under the vehicle frame. Because the present invention relates to interlock control of the lifting and lowering operation of the loading platform 5, it can be applied regardless of the loading platform's lifting and lowering method or storage method, and can achieve the same effects as the above embodiment.

[0058] Furthermore, in the above embodiment, after receiving a completion signal from the conveying machine V, the interlock is released after confirming based on the image captured by the camera 91 that the package X is located in the appropriate position on the receiving surface or that the package X is not loaded on the receiving surface, but whether the package X is located in the appropriate position on the receiving surface or that the package X is not loaded on the receiving surface may be determined by, for example, an operator. In other words, a configuration may be adopted in which the control device 40 permits the lifting and lowering operation of the package receiving platform 5 upon receiving a completion signal from the conveying machine V.

[0059] Furthermore, the lifting and lowering of the loading platform 5 may be permitted, in principle, on the condition that the stopper sensor 60 detects that the caster stopper 50 is upright. In this case, in addition to the determinations in steps S104, S105a, and S105b in the flowchart of Fig. 5, the lifting and lowering of the loading platform 5 may be permitted by determining whether the caster stopper 50 is upright.

[0060] Furthermore, in the above embodiment, the control device 40 enables the operation of the operating device 80 as an example of permitting the raising and lowering of the receiving platform 5 after receiving a completion signal. However, the receiving platform 5 may be configured to automatically raise and lower based on the state of the receiving surface after the conveying machine V loads and unloads the package X onto the receiving platform 5. For example, in the example of FIG. 6, after the conveying machine V loads the package X onto the receiving platform 5, an operator operates the operating device 80 to raise the receiving platform 5 with the package X loaded thereon. However, the control device 40 may be configured to permit the raising of the receiving platform 5 (release the interlock) after receiving the completion signal and confirming that the position of the package X on the receiving surface is appropriate, and automatically raise the receiving platform 5 to the height of the platform 3 regardless of the operation signal of the operating device 80. In other words, the process of FIG. 6(c) may be automated. 6(d), after the worker removes the package X from the receiving platform 5, the control device 40 may automatically lower the empty receiving platform 5 to the ground when it confirms that the receiving platform is now empty in the same manner as in step S105b, and the conveying machine V may automatically load the next package X onto the receiving platform 5 without the worker's instructions. Similarly, the process of lowering the receiving platform 5 loaded with the package X by the conveying machine V to the ground, i.e., the process of FIG. 7(b), may be automated, or the empty receiving platform 5 may automatically rise in the scene shown in FIG. 7(d), and the next package X may be automatically loaded onto the receiving platform 5. In this case, when the empty receiving platform 5 is automatically raised or lowered, i.e., when the conveying machine V is permitted to load the next package X onto the receiving platform 5, an interlock may be applied to the lifting and lowering operation of the operating device 80. However, for example, the control device 40 can be configured to automatically raise and lower the receiving platform 5 for loading the next cargo X by the conveying machine V, and then prohibit the raising and lowering of the receiving platform 5 when a start signal notifying the start of the loading operation of the cargo X is received from the conveying machine V or the operation management system.

[0061] In the scenarios of FIGS. 8(d) and 9(d), the control device 40 may be configured to permit the lifting and lowering of the receiving platform 5 (release the interlock) after receiving the completion signal and confirming that the package X has been removed from the receiving surface, and to automatically lift and lower the empty receiving platform 5 without relying on an operation signal from the operation device 80. In other words, the processes of FIGS. 8(d) and 9(d) can be automated. Furthermore, after the worker loads the package X onto the receiving platform 5, the worker may confirm that the position of the package X on the receiving platform is appropriate in the same manner as in the processing of step S105a, and then automatically lift and lower the receiving platform 5 with the package X loaded thereon. In other words, the processes of FIGS. 8(c) and 9(c) can be automated. Furthermore, after the lifting and lowering operation of the receiving platform 5 is completed, a signal notifying the worker of this may be sent to the conveying machine V or the operation control system, and the conveying machine V may automatically lift and lower the package X from the receiving platform 5 without relying on an instruction from the worker. That is, the steps of Figure 8(d) and Figure 9(d) can also be automated. In this case, the configuration can be such that an interlock is applied to the lifting and lowering operation of the receiving platform 5 when the receiving platform 5 with the load X loaded thereon is automatically lifted or lowered. The control device 40 can also be configured to prohibit the lifting and lowering of the receiving platform 5 when a start signal notifying the start of the operation to carry out the load X from the receiving platform 5 is received from the conveyance machine V or the operation control system after the lifting and lowering operation of the receiving platform 5 with the load X loaded thereon is completed.

[0062] In addition, the flowchart illustrated in Figure 5 is configured to determine the conveying mode of the conveying machine V, but if only one of the automatic carry-in mode and the automatic carry-out mode is assumed as the conveying mode of the conveying machine V, the determination of either one of the conveying modes (step S105a or step S105b) can be omitted along with the determination of the conveying mode (step S104).

[0063] 5, the gate cylinder 70 is not necessarily required, and the loading platform 5 may be configured to require some manual operation for opening and closing. The actuator constituting the opening / closing unit (not shown) is not limited to a hydraulic cylinder, and may be another type of actuator such as a motor. The same applies to the slide unit 10 and the lift unit 20.

[0064] Furthermore, in the above embodiment, an example was described in which the stopper sensor 60 detects the position of the caster stopper 50 using electromagnetic waves, but the type and position of the sensor that detects the position of the caster stopper 50 can be changed as appropriate. For example, a limit switch or a camera can be used as the stopper sensor. [Explanation of symbols]

[0065] 4...load receiving platform lifting device, 5...load receiving platform, 20...lift unit, 36...pressure sensor (sensor), 40...control device, 80...operation device, 91...camera (sensor), 92...communication device, V...conveying machine, X...baggage

Claims

1. In a loading platform lifting device for lifting and lowering a loading platform relative to a vehicle, a lift unit that raises and lowers the loading platform; a communication device for directly or indirectly transmitting and receiving signals to and from a conveying machine that conveys luggage; a control device for controlling the lift unit, The control device prohibiting the lifting and lowering of the loading platform during loading and unloading operations on the loading platform of the conveying machine; determining whether a signal transmitted from the conveying machine in response to completion of the loading / unloading operation of the cargo on the cargo receiving platform of the conveying machine or a completion signal based on the signal has been input via the communication device; When the completion signal is input, the lifting and lowering of the loading platform is permitted. A loading platform lifting device characterized by the above.

2. In a loading platform lifting device for lifting and lowering a loading platform relative to a vehicle, a lift unit that raises and lowers the loading platform; a communication device for directly or indirectly transmitting and receiving signals to and from a conveying machine that conveys luggage; a sensor for detecting luggage loaded on the luggage receiving platform; a control device for controlling the lift unit, The control device prohibiting the lifting and lowering of the loading platform during loading and unloading operations on the loading platform of the conveying machine; determining whether a signal transmitted from the conveying machine in response to completion of loading of the cargo onto the receiving platform by the conveying machine or a completion signal based on the signal has been input via the communication device; When the completion signal is input, it is determined based on the output of the sensor whether the cargo is loaded in a predetermined appropriate area for the cargo receiving platform, When the cargo is loaded in the appropriate area, the lifting and lowering of the cargo receiving platform is permitted. A loading platform lifting device characterized by the above.

3. In a loading platform lifting device for lifting and lowering a loading platform relative to a vehicle, a lift unit that raises and lowers the loading platform; a communication device for directly or indirectly transmitting and receiving signals to and from a conveying machine that conveys luggage; a sensor for detecting luggage loaded on the luggage receiving platform; a control device for controlling the lift unit, The control device prohibiting the lifting and lowering of the loading platform during loading and unloading operations on the loading platform of the conveying machine; determining whether a signal transmitted from the conveying machine in response to completion of removal of the cargo from the cargo receiving platform by the conveying machine or a completion signal based on the signal has been input via the communication device; When the completion signal is input, it is determined based on the output of the sensor whether the cargo is loaded on the cargo receiving platform; When the cargo is not loaded on the loading platform, the loading platform is permitted to be raised or lowered. A loading platform lifting device characterized by the above.

4. In the loading platform lifting device according to any one of claims 1 to 3, The loading platform lifting device is characterized in that when the control device permits the lifting or lowering of the loading platform, it notifies the user via an output device.

5. The loading platform lifting device according to claim 4, The loading platform lifting device is characterized in that the output device is provided in an operating device that operates to lift and lower the loading platform.

Images