Transfer system

Abstract

To provide a transfer system capable of avoiding a situation in which an entry part comes into contact with an obstacle when entering a loading platform.SOLUTION: The approach part holds the cargo, approaches the cargo bed of the truck from the rear, and loads the cargo on the cargo bed. An obstacle detector detects an obstacle in the cargo bed of the entering destination of the entering part. The control device controls the entry operation of the entry portion, and does not start the entry operation of the entry portion or stops the entry operation when an obstacle is detected by the obstacle detector.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a transfer system. [Background technology]

[0002] A loading and unloading device that loads and unloads cargo from the rear of a truck bed is known (Patent Document 1). In this loading and unloading device, an approach unit (moving body) with forks (support arms) holds a pallet and moves back and forth between the bed and an output table outside the bed, thereby loading and unloading cargo. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-246465 Summary of the Invention [Problem to be solved by the invention]

[0004] Generally, when a truck approaches a truck berth, a shutter between the truck and the loading platform opens, and an access section enters the loading platform. When loading cargo, the loading platform is empty and unmanned. However, if an obstacle is present, the access section will come into contact with the obstacle. An object of the present invention is to provide a loading and unloading system that can prevent the access section from coming into contact with an obstacle when entering the loading platform. [Means for solving the problem]

[0005] According to one aspect of the present invention, an entrance section that holds a load and enters the truck bed from the rear to load the load onto the bed; an obstacle detector that detects an obstacle in a loading platform at the entrance of the entrance section; a control device that controls the approaching operation of the approaching section, and when an obstacle is detected by the obstacle detector, does not start the approaching operation of the approaching section or stops the approaching operation; A transfer system is provided. [Effects of the Invention]

[0006] If an obstacle is detected in the loading platform, the approaching section will not start moving forward, preventing the approaching section from coming into contact with the obstacle. Furthermore, if an obstacle is detected during the approaching operation, the approaching operation will be stopped, preventing the approaching section from coming into contact with the obstacle even if a new obstacle is brought into the loading platform or if a person gets on the platform during the approaching operation. This ensures the safety of the loading operation. [Brief explanation of the drawings]

[0007] [Figure 1] 1A and 1B are schematic side views (part 1 and part 2) of a transfer system according to a first embodiment. [Figure 2] 2A and 2B are schematic side views (part 3 and part 4) of the transfer system according to the first embodiment. [Figure 3] 3A and 3B are schematic side views (No. 5 and No. 6) of the transfer system according to the first embodiment. [Figure 4] FIG. 4 is a schematic side view (part 7) of the transfer system according to the first embodiment. [Figure 5] FIG. 5 is a schematic side view of the transfer system when a worker 55 remains on the loading platform 51. As shown in FIG. [Figure 6] FIG. 6 is a schematic perspective view of the delivery platform 20, the entrance 10, the open / closed state detector 31, and the truck 50 of the transfer system according to the second embodiment. [Figure 7] FIG. 7 is a schematic perspective view of the delivery platform 20, the entrance section 10, the human detector 32, and the truck 50 of the transfer system according to the third embodiment. [Figure 8] FIG. 8 is a schematic diagram of a transfer system according to the fourth embodiment. [Figure 9] 9A and 9B are schematic side views of the approach section 10 of the transfer system according to the fifth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] [First Example] A transfer system according to a first embodiment will be described with reference to Figs. 1A to 5. Figs. 1A to 4 are schematic side views of the transfer system according to the first embodiment. When loading cargo, a truck 50 comes alongside the outgoing platform 20 with the rear of its loading platform 51 facing the outgoing platform 20. The outgoing platform 20 is supported on the floor surface of the logistics facility by a plurality of height adjustment devices 21. The height adjustment devices 21 adjust the height of the upper surface of the outgoing platform 20 so that it is approximately the same as the height of the floor surface of the loading platform 51.

[0009] The approach section 10 is placed on the upper surface of the discharge platform 20. The approach section 10 can move on the upper surface of the discharge platform 20 by driving multiple wheels 11. The approach section 10 holds multiple loads 61 and enters the loading platform 51 of the truck 50 from the rear, loading the loads onto the loading platform 51. Each load 61 is placed on a pallet 60. The side on which the loading platform 51 is located as viewed from the discharge platform 20 is defined as the "front side," and the opposite side is defined as the "rear side." An obstacle detector 30 is attached to the front end of the approach section 10. The obstacle detector 30 detects obstacles in the loading platform 51 that the approach section 10 is approaching. For example, a LiDAR or the like can be used as the obstacle detector 30. The control device 40 controls the approaching operation of the approaching section 10, and when an obstacle is detected by the obstacle detector 30, the approaching operation of the approaching section 10 is not started or the approaching operation is stopped.

[0010] The entrance section 10 has a conveying path 13 having a conveying direction parallel to the movement direction of the entrance section 10, and a transfer device 12. A roller conveyor, for example, is used as the conveying path 13. A pallet 60 and a load 61 are placed on the conveying path 13 of the entrance section 10. The transfer device 12 transfers the pallet 60 and the load 61 placed on the conveying path 13 from the conveying path 13 to a loading platform 51.

[0011] An alarm 35 is placed near the loading platform 51 of the parked truck 50 or near the unloading platform 20. The alarm 35 includes, for example, a speaker, and emits an alarm sound. When the obstacle detector 30 detects an obstacle, the control device 40 causes the alarm 35 to emit an alarm.

[0012] Next, the loading operation by the transfer system according to the first embodiment will be described. As shown in FIG. 1A, the entrance section 10 is placed on the top surface of the discharge platform 20 and is waiting. In this state, multiple pallets 60 and loads 61 to be loaded onto the loading platform 51 are placed on the conveying path 13. For example, the pallets 60 and loads 61 are placed at the rear end of the conveying path 13, and then the pallets 60 and loads 61 are conveyed to the front side by the conveying path 13. The first pallet 60 is conveyed to the front end of the conveying path 13. A predetermined distance is maintained between the first pallet 60 and the second pallet 60, and the second and subsequent multiple pallets 60 are arranged close to each other in the front-to-rear direction.

[0013] If the obstacle detector 30 does not detect an obstacle in the loading platform 51, the control device 40 starts the advancement of the access section 10. If an obstacle is detected in the loading platform 51, the control device 40 does not start the advancement of the access section 10, but instead issues an alarm from the alarm device 35. When the worker notices the alarm and removes the obstacle, and the obstacle is no longer detected by the obstacle detector 30, the control device 40 starts the advancement of the access section 10. Note that if the obstacle is the worker himself, the advancement of the access section 10 starts when the worker leaves the loading platform 51.

[0014] 1B, as the approach section 10 moves forward, a portion of the front of the approach section 10 enters the loading platform 51. While the approach section 10 is moving forward within the loading platform 51, the control device 40 determines whether or not there is an obstacle based on the detection results from the obstacle detector 30, and if an obstacle is detected, the control device 40 stops the forward movement of the approach section 10. When the worker notices the alarm and removes the obstacle, and the obstacle is no longer detected by the obstacle detector 30, the control device 40 resumes the forward movement of the approach section 10.

[0015] 2A, the transfer device 12 receives the first pallet 60 and load 61 from the conveyance path 13 and transfers them onto the loading platform 51. For example, the transfer device 12 has forks, and performs the transfer by inserting the forks into the pallet 60, lifting it up, and lowering it onto the floor of the loading platform 51. At this time, the forks pass through the space between the first and second pallets.

[0016] Next, as shown in Figure 2B, the conveying path 13 is operated to convey the second pallet 60 and load 61 to the front end of the conveying path 13. As shown in Figure 3A, the entrance part 10 is retracted to ensure space for placing the second pallet 60 between the first pallet 60 and the front end of the entrance part 10, and then the transfer device 12 transfers the second pallet 60 and load 61 from the conveying path 13 to the loading platform 51.

[0017] Next, as shown in Figure 3B, the conveying path 13 is operated to move the third pallet 60 and load 61 to the front end of the conveying path 13. In this manner, the process of transferring the pallet 60 and load 61, retracting the entrance 10, and conveying the pallet 60 and load 61 to the front end is repeated. In this way, a predetermined number of pallets 60 and loads 61 can be loaded onto the loading platform 51, as shown in Figure 4.

[0018] 5 is a schematic side view of the transfer system when a worker 55 remains on the loading platform 51. At this time, before the approaching section 10 starts to approach the loading platform, an obstacle (i.e., the worker 55) is detected by the obstacle detector 30. Therefore, the control device 40 does not cause the approaching section 10 to start the approaching operation.

[0019] Next, the excellent effects of the first embodiment will be described. In the first embodiment, when the presence of an obstacle is detected in the loading platform 51, the approaching section 10 is not allowed to start moving forward. This prevents the approaching section 10 from coming into contact with the obstacle. Furthermore, when an obstacle is detected during the approaching operation, the approaching operation is stopped, so that even if a new obstacle is brought into the loading platform 51 or a person gets on the loading platform 51 during the approaching operation, the approaching section is prevented from coming into contact with the obstacle. This makes it possible to ensure the safety of the loading operation.

[0020] Furthermore, when an obstacle is detected, an alarm is issued from the alarm device 35, so that nearby workers can notice the alarm and quickly remove the obstacle in the loading platform 51. Furthermore, workers in the loading platform 51 can notice the alarm and immediately leave the loading platform 51. This makes it possible to shorten the time that loading work is stopped.

[0021] Furthermore, in the first embodiment, multiple pallets 60 and loads 61 lined up in the front-to-rear direction are carried onto the loading platform 51 at one time, so loading efficiency can be improved compared to a method in which the approach section 10 repeatedly moves in and out of the loading platform 51 to load the pallets 60 and loads 61 one by one. Note that the method of the loading and unloading system according to the first embodiment in which the approach section 10 does not start approaching or the approach operation is stopped when an obstacle is detected by the obstacle detector 30 can also be applied to a method in which the pallets 60 and loads 61 are loaded one by one.

[0022] Next, a modification of the first embodiment will be described. In the first embodiment, the transfer device 12 of the entrance section 10 transfers the pallets 60 and loads 61 from the conveying path 13 onto the loading platform 51, but other methods of transfer may also be used. For example, with the entrance section 10 entering the loading platform 51, the rearmost pallet 60 and load 61 may be pressed from behind to restrain them from moving rearward, and only the entrance section 10 may be pulled out from the loading platform 51.

[0023] In the first embodiment, the process of loading a load onto a loading platform has been described as an example, but the transfer system according to the first embodiment can also be applied to unloading.

[0024] [Second Example] Next, a transfer system according to a second embodiment will be described with reference to Fig. 6. Below, a description of the configuration common to the transfer system according to the first embodiment (Figs. 1A to 5) will be omitted.

[0025] FIG. 6 is a schematic perspective view of the outgoing platform 20, the approach section 10, the open / close state detector 31, and the truck 50 of the transfer system according to the second embodiment. The transfer system according to the second embodiment is used to load cargo onto a truck 50 having a loading platform 51 with sides that can be opened and closed. Wings 52 are provided on the sides of the loading platform 51 of the truck 50, making the sides openable and closable. Note that the truck 50 with sides that can be opened and closed is not limited to a wing-type truck 50, and an openable door may be provided on the side of the loading platform 51. A rear door 53 is provided at the rear of the loading platform 51. The truck 50 is pulled up to the outgoing platform 20 so that the rear door 53 faces the outgoing platform 20. The approach section 10 is placed on top of the outgoing platform 20.

[0026] An open / closed state detector 31 detects the open / closed state of a door or wing 52 provided on the side of a loading platform 51 of a truck 50. When the open / closed state detector 31 detects that the door or wing 52 is open, the control device 40 does not allow entry through the access section 10 to begin.

[0027] A camera, for example, is used as the open / closed state detector 31. By analyzing the image captured by the camera, it is possible to detect whether the door or wing 52 is open or closed. In addition to a camera, a LiDAR that scans the side of the loading platform 51 in the horizontal direction may also be used.

[0028] Next, the excellent effects of the second embodiment will be described. If the side door or wing 52 of the loading platform 51 is open, there is a possibility that a person may enter the loading platform 51 from the side of the loading platform 51 while the access section 10 is moving forward toward the loading platform 51. In the second embodiment, when the side door or wing 52 of the loading platform 51 is open, the access section 10 does not start the access operation, so that a person will not enter the loading platform 51 while the access section 10 is moving forward toward the loading platform 51. This ensures safety when loading cargo.

[0029] [Third Example] Next, a transfer system according to a third embodiment will be described with reference to Fig. 7. The following description will focus on the differences from the transfer system according to the second embodiment (Fig. 6).

[0030] 7 is a schematic perspective view of the outgoing platform 20, the entrance section 10, the human detector 32, and the truck 50 of the transfer system according to the third embodiment. In the second embodiment, the open / closed state detector 31 (FIG. 6) detects the open / closed state of the door or wing 52 on the side of the loading platform 51. In contrast, the transfer system according to the third embodiment is equipped with a human detector 32 instead of the open / closed state detector 31.

[0031] The human detector 32 monitors a predetermined area 56 on the side of the loading platform 51 of the truck 50 (the truck 50 parked at the unloading platform 20) that is to receive the cargo. A camera, for example, can be used as the human detector 32. The control device 40 analyzes images captured by the camera to determine whether a person is present in the monitored area 56. A mat switch or the like disposed in the monitored area 56 may also be used as the human detector 32. Alternatively, a human sensor that detects infrared rays may also be used. While FIG. 7 shows the monitored area 56 on one side of the loading platform 51, a monitored area 56 is also set on the other side. When a person is detected by the human detector 32, the control device 40 does not start the entry operation of the entry section 10 or stops the entry operation.

[0032] Next, the excellent effects of the third embodiment will be described. If it is confirmed that there is no person in the monitored area 56, no person will get on the loading platform 51 even if the side door or wing 52 of the loading platform 51 is open. This allows the access section 10 to safely enter the loading platform 51. Furthermore, if a person is detected during the access operation of the access section 10, the access operation is stopped, thereby ensuring safety. In this way, in the third embodiment, cargo can be loaded safely with the side door or wing 52 of the loading platform 51 open.

[0033] [Fourth Example] Next, a transfer system according to a fourth embodiment will be described with reference to Fig. 8. Below, a description of the configuration common to the transfer system according to the first embodiment (Figs. 1A to 5) will be omitted.

[0034] FIG. 8 is a schematic diagram of a transfer system according to a fourth embodiment. In FIG. 8, the discharge platform 20, the approach section 10, and the truck 50 are shown in plan view. The truck 50 is parked next to the discharge platform 20 with the rear of the loading platform 51 facing the discharge platform 20. Similar to the first embodiment, an obstacle detector 30 is attached to the front end of the approach section 10. In the fourth embodiment, in addition to the obstacle detector 30, a loading platform imaging device 33 is also attached. The loading platform imaging device 33 captures images of the inside of the loading platform 51 at the approach section 10's entrance. An image of the inside of the loading platform 51 captured by the loading platform imaging device 33 is displayed on a display device 71. The display device 71 is installed, for example, in a management center 70 of a logistics facility. A manager waiting at the management center 70 can view the image displayed on the display device 71.

[0035] Furthermore, in the fourth embodiment, an operating device 36 that is operated by a person 80 is provided on the side of the discharge platform 20, for example. The operating device 36 is, for example, a push button switch. When the operating device 36 is operated while the control device 40 is not starting the entry operation of the entry section 10 or while the entry operation is stopped, the control device 40 starts the entry operation of the entry section 10 or resumes the entry operation.

[0036] Before starting or resuming the approaching operation of the approach section 10, the control device 40 confirms by the obstacle detector 30 that there are no obstacles in the loading platform 51.

[0037] Next, the excellent effects of the fourth embodiment will be described. In the fourth embodiment, when the approaching operation of the approach section 10 is stopped and an alarm is issued from the alarm device 35, the worker can remove obstacles from the loading platform 51 and operate the operating device 36 to quickly start or resume the approaching operation of the approach section 10. This makes it possible to prevent the time required for loading work from becoming too long.

[0038] In the fourth embodiment, a manager at the management center 70 can see the state of the inside of the loading platform 51 by looking at the display device 71. This makes it possible to take appropriate measures when an alarm is issued.

[0039] [Fifth Example] Next, a transfer system according to a fifth embodiment will be described with reference to Figures 9A and 9B. Below, a description of the configuration common to the transfer system according to the first embodiment (Figures 1A to 5) will be omitted.

[0040] 9A and 9B are schematic side views of the entrance section 10 of the transfer system according to the fifth embodiment. In the first embodiment, the entrance section 10 has the transfer device 12 and the transport path 13, but in the fifth embodiment, the entrance section 10 has long forks 102 that can hold multiple pallets 60 in the length direction. The forks 102 extend forward from the drive section 100.

[0041] The fork 102 can be raised and lowered by a fork lifting mechanism 104 provided in the drive unit 100. A fork support unit 103 is attached to the middle position of the fork 102 so that it can swing. The fork support unit 103 swings, for example, by driving a parallel link mechanism that includes the fork support unit 103 and the fork 102 as links. The parallel link mechanism is driven by the fork lifting mechanism 104.

[0042] As shown in Figure 9A, the fork support part 103 extends downward from the point where it is attached to the fork 102 while the fork 102 holds the pallet 60, and receives the weight of the pallet 60 and load 61 by contacting the upper surface of the discharge platform 20. Wheels are attached to the tip of the fork support part 103 so as not to interfere with the movement of the entrance part 10. As shown in Figure 9B, the fork 102 can be inserted into or removed from the pallet 60 by rotating the tip of the fork support part 103 so that it approaches the fork 102.

[0043] Next, the loading operation will be described. The forks 102 hold multiple pallets 60, and the entrance unit 10 enters the loading platform. Once inside the loading platform, the forks 102 are lowered, thereby lowering the pallets 60 and loads 61 onto the loading platform. Thereafter, the tips of the fork support units 103 are brought close to the forks 102, and the entrance unit 10 is retracted, thereby withdrawing the forks 102 from the pallets 60.

[0044] The forks 102 are pulled out from the leading pallet 60, and the second and subsequent pallets 60 are again held and moved forward, and the second pallet 60 is lowered into place, thereby narrowing the gap between the pallets 60.

[0045] An obstacle detector 30 is attached to the tip of the fork 102. A control device 40 is housed in the drive unit 100. As in the first embodiment, when an obstacle is detected by the obstacle detector 30, the control device 40 does not start the entry operation of the entry unit 10 or stops the entry operation.

[0046] Next, the excellent effects of the fifth embodiment will be described. As in the fifth embodiment, when the approach section 10 approaches the loading platform while holding multiple pallets 60 with the forks 102, it is possible to prevent the tips of the forks 102 or the pallets 60 from coming into contact with an obstacle. This allows loading of cargo while ensuring safety.

[0047] The above-described embodiments are merely examples, and it goes without saying that partial substitution or combination of the configurations shown in different embodiments is possible. Similar effects resulting from similar configurations of multiple embodiments will not be mentioned sequentially for each embodiment. Furthermore, the present invention is not limited to the above-described embodiments. For example, it will be obvious to those skilled in the art that various modifications, improvements, combinations, etc. are possible. [Explanation of symbols]

[0048] 10 Entry section 11 wheels 12 Transfer device 13 Transport path 20 Loading platform 21 Height adjustment device 30 Obstacle detector 31 Open / close state detector 32 people detector 33 Cargo bed imaging device 35 Alarm 36 Controller 40 Control device 50 Tracks 51 Cargo bed 52 Wing 53 Rear door 55 Workers 56 Areas under surveillance 60 pallets 61 Load 70 Management Center 71 Display device 80 people 100 Drive unit 102 Fork 103 Fork support 104 Fork lifting mechanism

Claims

1. an entrance section that holds a load and enters the truck bed from the rear to load the load onto the bed; an obstacle detector that detects an obstacle in a loading platform at the entrance of the entrance section; a control device that controls the approaching operation of the approaching section, and when an obstacle is detected by the obstacle detector, does not start the approaching operation of the approaching section or stops the approaching operation; A transfer system equipped with

2. In addition, it is equipped with an alarm 2. The transfer system according to claim 1, wherein the control device causes the alarm device to issue an alarm when an obstacle is detected by the obstacle detector.

3. Further, an open / close state detector is provided to detect the open / close state of a door or wing provided on a side of the bed of the truck, 3. The transfer system according to claim 1, wherein the control device does not start the entry operation of the entry section when the open / closed state detector detects that the door or wing is in the open state.

4. Furthermore, it is equipped with a human detector that monitors a designated area on the side of the truck bed where the cargo is being loaded.

3. The transfer system according to claim 1, wherein the control device does not start an entry operation of the entry section or stops the entry operation when a person is detected by the human detector.

5. moreover, a loading platform imaging device that images the inside of the loading platform at the entrance of the entrance section; a display device that displays an image of the inside of the loading platform captured by the loading platform imaging device; The transfer system according to claim 1 or 2, comprising:

6. Furthermore, it is equipped with a control device that can be operated by a person. The transfer system according to claim 1 or 2, wherein when the operating device is operated while the control device does not start the entry operation of the entry section or while the entry operation is stopped, the control device starts the entry operation of the entry section or resumes the entry operation.

Images