Transfer system and loading method

Abstract

To provide a transfer system capable of securing safety of a worker when various devices are operated in a loading platform.SOLUTION: A deck through which a worker gets on a load-carrying platform is arranged on at least one side of a truck parking area where a truck is parked with the rear of the load-carrying platform opposed to a carry-out platform. A first detector detects an object crossing a boundary between a deck and a truck approach area.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] 2. Description of the Related Art A transfer system for transferring a load placed on a pallet onto a loading platform is known. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2000-211748 Summary of the Invention [Problem to be solved by the invention]

[0004] When palletized loads are loaded onto a loading platform for transportation, cushioning material may be inserted between multiple loads to prevent them from coming into contact with each other or collapsing due to shaking. The work of inserting the cushioning material is performed manually when the loads are loaded onto the loading platform. It is desirable to ensure the safety of the worker inserting the cushioning material. An object of the present invention is to provide a transfer system that can ensure the safety of workers when various pieces of equipment are operating within the loading platform. [Means for solving the problem]

[0005] According to one aspect of the present invention, a deck provided on at least one side of a truck approaching area where trucks approach with the rear of the loading platform facing the delivery platform, and through which workers pass when getting on the loading platform; a first detector that detects an object crossing a boundary between the deck and the truck approach area; A transfer system is provided.

[0006] According to another aspect of the present invention, Decks are provided on both sides of the truck approach area where trucks approach with the rear of the loading platform facing the delivery platform, and are used by workers to get on the loading platform; a control device; an entrance section that, under the control of the control device, moves forward from the discharge platform toward the loading platform while holding a load, transfers the load onto the loading platform, and exits from the loading platform; A restart switch operated by the operator It is equipped with The control device The entrance section holding a plurality of loads arranged in a front-rear direction is caused to enter the loading platform, Thereafter, the robot repeats the operation of transferring the frontmost load held on the loading platform and the operation of moving backward, There is provided a loading and unloading system that does not start the operation of transferring the load onto the loading platform after the reverse operation until the restart switch is operated.

[0007] According to yet another aspect of the present invention, Stop the truck so that the side of the loading platform is aligned with the deck. A loading method is provided in which a plurality of loads are loaded onto the loading platform from the rear of the loading platform, and a worker inserts buffer materials between the plurality of loads from the deck. [Effects of the Invention]

[0008] The detection results from the first detector can be used as basic information to ensure the safety of workers when operating various devices inside the loading platform. Also, because the operation of transferring the load onto the loading platform does not begin until the restart switch is operated, the operation of transferring the load will not begin without the workers working inside the loading platform realizing it. This ensures the safety of workers. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic plan view of a transfer system according to a first embodiment. [Figure 2] FIG. 2 is a schematic side view of the transfer system according to the first embodiment. [Figure 3] FIG. 3 is a schematic cross-sectional view of the loading platform 101 and the deck 30, taken along a plane perpendicular to the front-rear direction. [Figure 4] 4A and 4B are schematic side views of the transfer device 23 (FIG. 1) disposed at the tip of the entrance section 21 of the transfer system according to the first embodiment. [Figure 5] 5A and 5B are schematic side views (part 1) of the transfer system according to the first embodiment at an intermediate stage of loading a plurality of loads 90 onto a loading platform 101 by the transfer system. [Figure 6] 6A and 6B are schematic side views (part 2) of the transfer system according to the first embodiment at an intermediate stage of loading a plurality of loads 90 onto a loading platform 101 by the transfer system. [Figure 7] 7A and 7B are schematic side views (part 3) of the transfer system according to the first embodiment at an intermediate stage of loading a plurality of loads 90 onto a loading platform 101. FIG. [Figure 8] 8A and 8B are schematic side views (part 4) of the transfer system according to the first embodiment at an intermediate stage of loading a plurality of loads 90 onto a loading platform 101. FIG. [Figure 9] 9A and 9B are schematic side views (part 5) of the transfer system according to the first embodiment at an intermediate stage of loading a plurality of loads 90 onto a loading platform 101. FIG. [Figure 10] FIG. 10 is a schematic plan view of the transfer system according to the second embodiment. [Figure 11] FIG. 11 is a schematic plan view of a transfer system according to the third embodiment. [Figure 12] FIG. 12 is a schematic plan view of a transfer system according to the fourth embodiment. [Figure 13] 13A and 13B are schematic side views of the entrance section 21 of the transfer system according to the fifth embodiment. [Figure 14] FIG. 14 is a schematic side view (part 1) of the approach section 21 and the truck 100 for explaining the procedure for loading the load 90 onto the loading platform 101. [Figure 15]FIG. 15 is a schematic side view (part 2) of the approach section 21 and the truck 100 for explaining the procedure for loading the load 90 onto the loading platform 101. [Figure 16] FIG. 16 is a schematic side view (part 3) of the approach section 21 and the truck 100 for explaining the procedure for loading the load 90 onto the loading platform 101. [Figure 17] FIG. 17 is a schematic side view (part 4) of the approach section 21 and the truck 100 for explaining the procedure for loading the load 90 onto the loading platform 101. [Figure 18] FIG. 18 is a schematic side view (part 5) of the approach section 21 and the truck 100 for explaining the procedure for loading the load 90 onto the loading platform 101. [Figure 19] FIG. 19 is a schematic side view (part 6) of the approach section 21 and the truck 100 for explaining the procedure for loading the load 90 onto the loading platform 101. [Figure 20] FIG. 20 is a schematic side view (part 7) of the approach section 21 and the truck 100 for explaining the procedure for loading the load 90 onto the loading platform 101. DETAILED DESCRIPTION OF THE INVENTION

[0010] [First Example] The transfer system according to the first embodiment will be described with reference to FIGS. 1 to 9B. 1 and 2 are a schematic plan view and a schematic side view, respectively, of a transfer system according to a first embodiment. A truck 100 approaches the output platform 20 with the rear of its loading platform 101 facing it. The area where the truck 100 stops at this time is referred to as a truck approaching area 102. Decks 30 are provided on both sides of the truck approaching area 102 (on the sides of the truck 100). An output platform adjustment device 24 adjusts the positional deviation between the output platform 20 and the loading platform 101.

[0011] Each of the decks 30 has a long shape in the fore-and-aft direction of the truck 100 in a plan view, and extends from the front end to the rear end of the bed 101 of the truck 100 that is parked next to it. The top surface of the decks 30 is at approximately the same height as the floor surface of the bed 101. A staircase 41 is connected to the front end of the deck 30. A worker 60 gets on to the bed 101 via the staircase 41 and the deck 30.

[0012] The first detector 31 detects an object crossing the boundary 31A between the deck 30 and the truck approaching area 102. Here, the boundary 31A is located between the deck 30 and the truck approaching area 102 in a plan view, for example, and can be considered as a plane extending in the vertical direction. For example, a light curtain can be used as the first detector 31. The detection result by the first detector 31 can be used as basic information for ensuring the safety of workers when various pieces of equipment are operating within the loading platform 101.

[0013] A safety fence 40 is provided along the outer edge of the deck 30 (the edge opposite the truck approach area 102) and the edge corresponding to the rear side of the loading platform 101. The safety fence 40 prevents the worker 60 from falling from the deck 30.

[0014] A preliminary preparation area 110 is provided on the opposite side of the unloading platform 20 from the truck approach area 102. The truck 100 backs up from the preliminary preparation area 110 toward the unloading platform 20, and stops when the rear end of the loading platform 101 is at a predetermined distance from the unloading platform 20. The deck 30 can be used as a marker to indicate the path the truck 100 should take when backing up.

[0015] An entrance section 21 is placed on the discharge platform 20. A conveying path 22 is provided in the entrance section 21, and a plurality of loads 90 are placed on the conveying path 22. The loads 90 include a pallet 90A and the actual loads placed on the pallet 90A. A roller conveyor, for example, is used as the conveying path 22. The loads 90 are placed on the rear end of the conveying path 22, and by driving the conveying path 22, the loads 90 are conveyed forward. By continuing to supply and convey the loads 90, a plurality of loads 90 lined up in the front-to-rear direction can be placed on the conveying path 22. Note that the side of the loading platform 101 as viewed from the discharge platform 20 is defined as the front side, and the opposite side is defined as the rear side.

[0016] The approach section 21 has wheels 25, and moves forward toward the loading platform 101 while holding multiple loads 90 under the control of the control device 50. The approach section 21 includes a transfer device 23 arranged near its front end (hereinafter referred to as the leading end). When the approach section 21 has entered the loading platform 101, the transfer device 23 operates to transfer the loads 90 placed on the conveying path 22 onto the loading platform 101. The approach section 21 transfers the loads 90 onto the loading platform 101 and exits from the loading platform 101. More specifically, it repeats the operation of transferring the loads 90 and the operation of moving backward. The configuration of the transfer device 23 and the procedure for transferring will be described in detail later.

[0017] A forward detector 26 is attached to the tip of the entry section 21. The forward detector 26 detects people in the area in front of the entry section 21. For example, a LiDAR, a camera, or the like can be used as the forward detector 26. The detection result by the forward detector 26 is input to the control device 50, and the control device 50 analyzes the detection result of the forward detector 26 to determine the presence or absence of a person.

[0018] If the forward detector 26 detects a person in the direction of travel of the approach section 21, the control device 50 does not allow the approach section 21 to start moving forward. If the approach section 21 is moving forward, the control device 50 suspends the forward movement of the approach section 21. Furthermore, if the first detector 31 detects an object, the control device 50 does not allow the approach section 21 to start moving forward. If the approach section 21 is moving forward, the control device 50 suspends the forward movement of the approach section 21. If the approach section 21 is repeatedly transferring the load 90 onto the loading platform 101 and moving backward, the control device 50 does not start the transfer operation. This makes it possible to avoid the approach section 21 coming into contact with an object (including a person) in the loading platform 101.

[0019] 3 is a schematic cross-sectional view of the loading platform 101 and the deck 30, taken perpendicular to the front-to-rear direction. A truck 100 is parked in the truck approach area 102. A wing 104 and a tailgate 105 are provided on each side of the loading platform 101. In the example shown in FIG. 3, the wing 104 and tailgate 105 on the left side of FIG. 3 are open, and the wing 104 and tailgate 105 on the right side are closed.

[0020] Decks 30 are arranged on each side of the loading platform 101. The top surface of the decks 30 is approximately at the same height as the floor surface of the loading platform 101. A safety fence 40 is installed on the outside of the decks 30. A boundary 31A extending vertically is defined between the deck 30 and the truck approaching area 102. The first detector 31 (FIG. 1) detects objects crossing the boundary 31A. The boundary 31A, which is the detection range of the first detector 31, is located slightly outside the side of the loading platform 101 and is approximately parallel to the side when, for example, a truck 100 of a specified size is parked in the truck approaching area 102.

[0021] A worker 60 crosses the boundary 31A from the deck 30, gets on the loading platform 101, and performs various tasks, such as inserting buffer material between loads. When the worker 60 attempts to get on the loading platform 101, part of the worker's body crosses the boundary 31A. This allows the first detector 31 to detect the worker 60 attempting to get on the loading platform 101 immediately before the worker 60 gets on the loading platform 101.

[0022] Next, the structure and operation of the transfer device 23 (FIG. 1) will be described with reference to FIGS. 4A and 4B. FIGS. 4A and 4B are schematic side views of the transfer device 23 (FIG. 1) disposed at the tip of the entry section 21 of the transfer system according to the first embodiment. The transfer device 23 is configured on a support section 23A having mechanical support. Wheels 23E are provided on the support section 23A, and the transfer device 23 can move in the front-rear direction on the top surface of the discharge platform 20 and the floor surface of the loading platform 101.

[0023] Fork 23B is supported by fork support mechanism 23C so that it can be raised and lowered relative to support portion 23A. Fork support mechanism 23C determines the movement path and posture of fork 23B when raised and lowered. Fork 23B extends in a direction approximately parallel to the upper surface of support portion 23A. Fork support mechanism 23C may be, for example, a linear guide mechanism that raises and lowers fork 23B along a straight line, or a parallel link mechanism that raises and lowers fork 23B along an arc. Force application portion 23D applies a force to fork 23B in a direction away from support portion 23A. This force raises fork 23B. When this force weakens, fork 23B descends under its own weight.

[0024] Next, the structure of the force application unit 23D will be described. The force application unit 23D includes a tension transmission member 23D3, a fulcrum 23D1, a fulcrum lifting mechanism 23D2, and a tensile force generation unit 23D4. A chain, for example, is used as the tension transmission member 23D3. Note that a wire or the like may be used instead of the chain. One end of the tension transmission member 23D3 is attached to the fork 23B.

[0025] Fulcrum 23D1 is positioned higher than fork 23B by fulcrum lifting mechanism 23D2. Tension transmission member 23D3 is hung on fulcrum 23D1, and its end is attached to tensile force generating unit 23D4. When a chain is used as tension transmission member 23D3, a sprocket is used as fulcrum 23D1. When a wire is used as tension transmission member 23D3, a pulley is preferably used as fulcrum 23D1.

[0026] The tensile force generating unit 23D4 is supported by the support unit 23A and applies a tensile force to the tension transmission member 23D3. For example, a hydraulic cylinder can be used as the tensile force generating unit 23D4. When a hydraulic cylinder is used as the tensile force generating unit 23D4, the hydraulic cylinder is supported by the support unit 23A so as to be rotatable within the plane along which the tension transmission member 23D3 extends. In addition to a hydraulic cylinder, an electric motor can also be used as the tensile force generating unit 23D4.

[0027] When the tensile force generator 23D4 applies a tensile force to the tension transmission member 23D3, a tension is applied to the fork 23B in a direction away from the support portion 23A. When the tensile force generator 23D4 reduces the tensile force applied to the tension transmission member 23D3, the fork 23B descends due to its own weight. In this way, the force applying portion 23D raises and lowers the fork 23B by suspending it with the tension transmission member 23D3 hung on the fulcrum 23D1.

[0028] Fulcrum lifting mechanism 23D2 raises and lowers fulcrum 23D1. Fulcrum lifting mechanism 23D2 may be a linear guide mechanism, a slider crank mechanism, a three-link mechanism with one link of variable length, or the like. FIG. 4A shows a state in which fulcrum 23D1 has been lowered to its lowest position, and FIG. 4B shows a state in which fulcrum 23D1 has been raised to its highest position. By raising fulcrum 23D1, fork 23B can be raised to a higher position.

[0029] With fulcrum 23D1 lowered, the entire transfer device 23 is located within a range lower than the conveying surface of conveying path 22 (FIG. 2). Therefore, load 90 placed on conveying path 22 can be conveyed by passing above transfer device 23. With fulcrum 23D1 raised, fork 23B can be raised to a position higher than the conveying surface of conveying path 22. Therefore, fork 23B can be inserted into pallet 90A placed on conveying path 22 to hold, lift, and lower load 90.

[0030] Next, a procedure for loading a plurality of loads 90 onto a loading platform 101 by the transfer system according to the first embodiment will be described with reference to Figures 5A to 9B. Figures 5A to 9B are schematic side views of the transfer system according to the first embodiment at an intermediate stage in which a plurality of loads 90 are loaded onto the loading platform 101 by the transfer system.

[0031] As shown in FIG. 5A, a worker leans buffer material 95 against the front wall of loading platform 101 and exits loading platform 101. With multiple loads 90 placed on conveying path 22, control device 50 causes approach section 21 to enter loading platform 101. If a worker remains on loading platform 101 at this time, the worker is detected by forward detector 26 attached to the tip of approach section 21, and control device 50 does not cause approach section 21 to start moving forward. After the worker exits loading platform 101, approach section 21 starts moving forward.

[0032] Furthermore, when the worker is crossing the boundary 31A, the control device 50 does not start the forward movement of the approach section 21. If the worker crosses the boundary 31A while moving forward on the approach section 21, the first detector 31 (FIG. 1) detects an object crossing the boundary 31A, and the control device 50 suspends the forward movement of the approach section 21. When the conditions are met that the first detector 31 does not detect an object crossing the boundary 31A, and the front detector 26 does not detect a worker in the loading platform 101, the control device 50 resumes the forward movement of the approach section 21.

[0033] When the tip of the approaching section 21 approaches the buffer material 95 leaning against the front wall of the loading platform 101, the control device 50 stops the approaching section 21.

[0034] 5B, the control device 50 operates the transfer device 23 to insert the fork 23B into the foremost pallet 90A and lift the load 90 from the conveying path 22. A space is secured between the foremost load 90 placed on the conveying path 22 and the second load 90 for the fork 23B to move.

[0035] As shown in Fig. 6A, the control device 50 moves the entrance section 21 backward while keeping the transfer device 23 stationary, thereby securing space for placing the load 90 between the tip of the entrance section 21 and the buffer material 95. As shown in Fig. 6B, the control device 50 operates the transfer device 23 to lower the fork 23B and place the load 90 on the floor surface of the loading platform 101. At this time, the position of the load 90 is determined so that the load 90 comes into contact with the buffer material 95, and then the load 90 is lowered.

[0036] Next, as shown in Fig. 7A, the entrance section 21 and the transfer device 23 are retracted to ensure space for placing another load 90 between the load 90 placed on the loading platform 101 and the tip of the entrance section 21. Once this space has been ensured, the operator gets on the loading platform 101 and places a buffer material 95 against the rearward-facing surface of the load 90 placed on the loading platform 101. Furthermore, the conveying path 22 is operated to convey the frontmost load 90 placed on the conveying path 22 to the tip of the conveying path 22.

[0037] As shown in FIG. 7B, the control device 50 operates the transfer device 23 to lift the load 90 placed at the end of the conveying path 22.

[0038] 8A, the transfer device 23 is advanced until the load 90 held by the transfer device 23 nearly contacts the buffer material 95. In order to place the buffer material 95, the transfer device 23 and the entrance section 21 do not start advancing during the period from the time the worker crosses the boundary 31A (FIG. 3) until the worker exits the loading platform 101.

[0039] As shown in Fig. 8B, the control device 50 operates the transfer device 23 to lower the held load 90 onto the floor of the loading platform 101. At this time, the load 90 is positioned so that the buffer material 95 contacts the front load 90 and the rear load 90.

[0040] As shown in FIG. 9A, the entrance section 21 and the transfer device 23 are retracted, and space for one load 90 is secured between the load 90 placed on the loading platform 101 and the tip of the entrance section 21. In this state, a worker enters the loading platform 101 and leans a buffer material 95 against it, similar to the procedure described with reference to FIG. 7A. Thereafter, similar to the procedures from FIG. 7B to FIG. 9A, the procedure of placing the load 90 on the loading platform 101, the procedure of retracting the entrance section 21, and the procedure of leaning the buffer material 95 against it is repeated. As a result, as shown in FIG. 9B, multiple loads 90 are loaded onto the loading platform 101. With the loads 90 loaded, buffer material 95 is inserted between adjacent loads 90 in the fore-and-aft direction.

[0041] Next, the excellent effects of the first embodiment will be described. In the first embodiment, when the forward detector 26 detects a person in the loading platform 101, the approach section 21 does not start moving forward, and if it is moving forward, the forward movement is stopped. Furthermore, if the worker crosses the boundary 31A (FIGS. 1 and 3), the forward movement of the approach section 21 is stopped. This allows the worker's safety to be ensured while loading the load 90 and leaning the buffer material 95 against the load.

[0042] Increasing the distance between the deck 30 and the loading platform 101 allows workers to be kept away from the loading platform 101 during loading operations, ensuring a certain degree of safety. However, increasing the distance between the deck 30 and the loading platform 101 increases the risk of workers falling when they get on to the loading platform 101 from the deck 30 and when they leave the loading platform 101 to the deck 30. In the first embodiment, when a worker approaches the loading platform 101, the first detector 31 detects it, so sufficient safety is maintained even when the deck 30 and the loading platform 101 are positioned close to each other. This reduces the risk of workers falling. As an example, the distance between the deck 30 and the loading platform 101 should be set to approximately 100 mm to 200 mm.

[0043] Next, a modification of the first embodiment will be described. 1 and 3, in the first embodiment, the decks 30 are arranged on both sides of the truck approaching area 102, but if it is decided that workers always enter the loading platform 101 from only one side, the decks 30 may be arranged on only one side of the truck approaching area 102. The wing 104 and the tailgate 105 (FIG. 3) of the loading platform 101 on the side where the deck 30 is not arranged may be kept closed during loading operations.

[0044] [Second Example] Next, a transfer system according to a second embodiment will be described with reference to Fig. 10. Below, a description of the configuration common to the transfer system according to the first embodiment described with reference to Figs. 1 to 9B will be omitted.

[0045] FIG. 10 is a schematic plan view of a transfer system according to a second embodiment. The transfer system according to the second embodiment includes a second detector 32 in addition to the configuration of the transfer system according to the first embodiment. The second detector 32 detects a worker 60 standing on the deck 30. For example, a mat switch or the like placed on the upper surface of the deck 30 can be used as the second detector 32. Alternatively, an infrared sensor that detects infrared rays emitted from a human body can be used. When the second detector 32 detects a worker 60, the control device 50 does not start the advancement of the entrance section 21 or suspends the advancement.

[0046] The transfer system according to the second embodiment is further provided with a lockable door 33 through which the worker 60 passes when entering or exiting the deck 30. If the door 33 is not locked, the control device 50 does not start the advancement of the entrance section 21 or suspends the advancement.

[0047] Next, the excellent effects of the second embodiment will be described. In the second embodiment, when a worker 60 is on the deck 30, the control device 50 does not start the advancement of the approach section 21, or stops the advancement if it is in progress, thereby further improving the safety of the cargo loading operation.

[0048] Furthermore, if the door 33 is not locked, the control device 50 will not start the advancement of the access section 21, or will halt the advancement if it is in progress. This makes it possible to avoid in advance any danger that may arise when the worker 60 opens the door 33, climbs onto the deck 30, and then boards the loading platform 101.

[0049] [Third Example] Next, a transfer system according to a third embodiment will be described with reference to Fig. 11. Below, a description of the configuration common to the transfer system according to the first embodiment described with reference to Figs. 1 to 9B will be omitted.

[0050] 11 is a schematic plan view of a transfer system according to the third embodiment. In the first embodiment (FIG. 1), the loading platform 101 and the output platform 20 are close to each other, and the truck 100 moves backward with the rear door of the loading platform 101 open and enters the truck approaching area 102. In contrast, in the third embodiment, a space necessary for opening and closing the rear door 103 is secured between the loading platform 101 and the output platform 20.

[0051] A lifting platform 27 is arranged between the loading platform 101 and the discharge platform 20. The entrance section 21 passes over the lifting platform 27 to enter the loading platform 101. The discharge platform 20 is arranged inside the building of the logistics facility, and a shutter 28 is installed between the lifting platform 27 and the discharge platform 20. When the truck 100 is not stopped in the truck stop area 102, the shutter 28 is closed, and when the truck 100 stops in the truck stop area 102, the shutter 28 is opened.

[0052] A safety fence 42 is provided on the side of the platform 27. This safety fence 42 is connected to the safety fence 40 around the deck 30. A third detector 34 is disposed opposite the rear door 103 of the loading platform 101. The third detector 34 detects whether the rear door 103 at the rear of the loading platform 101, which faces the platform 27, is open or closed. When the rear door 103 is open, the third detector 34 detects an object (including a person) inside the loading platform 101. For example, a camera or LiDAR can be used as the third detector 34. The detection result by the third detector 34 is input to the control device 50, which determines whether the rear door 103 is open or closed. When the third detector 34 detects that the rear door 103 is closed, the control device 50 does not start forward movement of the entrance 21. When the rear door 103 is open, if an object is detected in the loading platform 101 by the third detector 34, the entrance 21 is not allowed to start moving forward.

[0053] Next, the excellent effects of the third embodiment will be described. In the third embodiment, space is provided between the loading platform 101 and the discharge platform 20 for opening and closing the rear door 103, so that the truck 100 can be backed up and parked at the discharge platform 20 with the rear door 103 closed.

[0054] Furthermore, when the rear door 103 is closed, the entrance 21 does not start moving forward, so that the entrance 21 can be prevented from colliding with the rear door 103.

[0055] [Fourth Example] Next, a transfer system according to a fourth embodiment will be described with reference to Fig. 12. Below, a description of the configuration common to the transfer system according to the first embodiment described with reference to Figs. 1 to 9B will be omitted.

[0056] Fig. 12 is a schematic plan view of a transfer system according to a fourth embodiment. The transfer system according to the fourth embodiment includes a restart switch 35 in addition to the configuration of the transfer system according to the first embodiment. As in the first embodiment (Figs. 5A to 9B), the control device 50 causes the entrance section 21, which holds multiple loads 90 lined up in the front-to-rear direction, to enter toward the loading platform 101 (Fig. 5A), and then causes the entrance section 21 to repeatedly transfer the frontmost load 90 being held onto the loading platform (Figs. 5B to 6B, 7B to 8B) and move backward (Figs. 7A, 9A).

[0057] After the approach section 21 has been moved backward, the control device 50 will not start the operation of transferring the frontmost load 90 being held onto the loading platform 101 until the restart switch 35 is operated.

[0058] Next, the advantageous effects of the fourth embodiment will be described. In the fourth embodiment, after the worker places the buffer material 95 (FIG. 7A) in a predetermined position on the loading platform, the load transfer operation of the load 90 does not start until the restart switch 35 is operated, so the transfer operation will not start without the worker's knowledge. This ensures the safety of the worker.

[0059] The restart switch 35 is preferably placed in a position where it can be operated by a worker on deck 30. With this configuration, the worker who places the buffer material 95 on the loading platform 101 will operate the restart switch 35 after leaving the loading platform 101 onto deck 30. This ensures sufficient safety for the worker.

[0060] [Fifth Example] Next, a transfer system according to a fifth embodiment will be described with reference to Figures 13A to 20. In the fifth embodiment, the configuration of the approach section 21 differs from the configuration of the approach section 21 of the transfer system according to the first embodiment.

[0061] 13A and 13B are schematic side views of the approach section 21 of the transfer system according to the fifth embodiment. The approach section 21 includes a drive unit 71, wheels 75, a plurality of forks 80, and a forward detector 26. The drive unit 71 includes a fork lifting mechanism 72 that raises and lowers the forks 80. The forks 80 extend forward from the drive unit 71. The forward detector 26 detects the position of the rear door, front wall, left and right side walls, ceiling, and floor of the loading platform 101, as well as objects within the loading platform 101. For example, a LiDAR or a camera can be used as the forward detector 26. The detection results by the forward detector 26 are input to the control device 50. The control device 50 controls the operation of the approach section 21 based on the detection results by the forward detector 26.

[0062] A support part 81 is attached to each of the forks 80 at a longitudinally intermediate position. The support part 81 may also be attached to the tip of the fork 80. Before the loads 90 are loaded, the multiple forks 80 are inserted into the pallet 90A to hold the multiple loads 90 lined up in the front-to-rear direction.

[0063] 13A shows a state in which multiple loads 90 are held by forks 80 and are lifted above the top surface of the discharge platform 20, and FIG. 13B shows a state in which the loads 90 are placed on the top surface of the discharge platform 20. When the entrance 21 enters the loading platform 101, the top surface of the discharge platform 20 in FIGS. 13A and 13B can be considered to be the floor surface of the loading platform 101 (FIG. 2). The multiple loads 90 lined up in the front-to-rear direction are assigned serial numbers starting from 1, starting from the load 90 at the tip of the fork 80 toward the load 90 at the rear, to distinguish between the multiple loads 90.

[0064] As shown in FIG. 13A, when the forks 80 are holding a load 90, the support parts 81 pass between two pallets 90A adjacent in the front-to-rear direction and protrude downward to come into contact with the upper surface of the discharge platform 20. At this time, the weight of the load 90 is received by the support parts 81. When multiple loads 90 are held along the length of the forks 80, excessive torque may be applied to the base of the forks 80 in a direction that causes the tips to move downward, relative to the rigidity of the forks 80. The support parts 81 serve to reduce this torque. Wheels are attached to the tips of the support parts 81 to facilitate movement of the forks 80 in the front-to-rear direction.

[0065] As shown in FIG. 13B, when the forks 80 are lowered, the tips of the support portions 81 are raised. For example, by swinging the support portions 81 around fulcrums provided on the forks 80, a state in which the tips of the support portions 81 protrude downward from the underside of the pallet 90A (hereinafter referred to as the supported state) and a state in which the tips of the support portions 81 are raised (hereinafter referred to as the retracted state) can be realized. In this way, the support portions 81 can change the height of the forks 80 from the upper surface of the discharge platform 20 or the floor of the loading platform 101. A sufficient gap is secured between two pallets 90A lined up in the front-to-rear direction to allow the support portions 81 to swing. A parallel link mechanism, for example, can be used as a mechanism for swinging the support portions 81.

[0066] When the support parts 81 are in the retracted state (FIG. 13B), the height dimension of the forks 80 and the support parts 81 is smaller than the height dimension of the fork insertion part of the pallet 90A. Therefore, the forks 80 can be easily inserted into and removed from the pallet 90A.

[0067] Next, a procedure for loading a plurality of loads 90 onto the loading platform 101 will be described with reference to Figures 14 to 20. Figures 14 to 20 are schematic side views of the approach section 21 and the truck 100 for explaining the procedure for loading the loads 90 onto the loading platform 101.

[0068] First, as shown in FIG. 14, an operator places a buffer material 95 against the front wall of the loading platform 101. After safety is confirmed in the same manner as in the first embodiment, the approach section 21 is moved forward. At this time, the forward detector 26 detects the positions of the side walls and front walls of the loading platform 101, and the control device 50 controls the travel so that the loads 90 do not come into contact with the side walls and front walls of the loading platform 101. When the first load 90 comes into contact with the buffer material 95, the approach section 21 is stopped. At this time, the multiple loads 90 are raised above the floor surface of the loading platform 101.

[0069] 15, the fork 80 is lowered and the support part 81 is retracted. As a result, multiple loads 90 are placed on the floor of the loading platform 101. A buffer material 95 is inserted between the first load 90 and the front wall of the loading platform 101.

[0070] As shown in Figure 16, the entry section 21 is retracted, the forks 80 are completely pulled out from the first pallet 90A, and the forks 80 are stopped at a position where the second pallet 90A can be held by the tips of the forks 80. The worker places buffer material 95 between the first load 90 and the second load 90. After the worker leaves the loading platform 101 and confirms safety, the forks 80 are raised and the support sections 81 are placed in a supporting state, as shown in Figure 17, thereby lifting the second and third pallets 90A off the floor of the loading platform 101.

[0071] As shown in Figure 18, the entry section 21 is advanced until the second load 90 contacts the buffer material 95. As shown in Figure 19, the forks 80 are lowered and the support section 81 is retracted, thereby placing the second and third loads 90 on the floor of the loading platform 101. With the steps up to this point, the first load 90 and the second load 90 are placed on the floor of the loading platform 101, and buffer material 95 is inserted between the front wall and the loads 90 and between the loads 90 lined up in the front-to-rear direction.

[0072] As shown in Figure 20, the forks 80 are completely pulled out from the second pallet 90A, and the entry section 21 is retracted to a position where the third load 90 can be held by the tips of the forks 80. After that, the worker places buffer material 95 between the second load 90 and the third load 90. Once safety is confirmed, the forks 80 are raised and the support section 81 is placed in a supporting state, thereby lifting the third load 90 off the floor of the loading platform 101.

[0073] Thereafter, the entrance 21 is advanced, the third load 90 is placed on the floor of the loading platform 101, and the entrance 21 is retracted. This allows the first to third loads 90 to be loaded onto the loading platform 101. At this time, a state is achieved in which the buffer material 95 is inserted between the loads 90 adjacent to each other in the front-to-rear direction.

[0074] Next, the excellent effects of the fifth embodiment will be described. In the fifth embodiment, similarly to the first embodiment, when loading a plurality of loads 90 onto the loading platform 101, buffer materials 95 can be placed between adjacent loads 90 in the fore-and-aft direction. At this time, sufficient safety can be ensured.

[0075] [Sixth Example] Next, a method for loading cargo according to the sixth embodiment will be described. In the loading method according to the sixth embodiment, cargo is loaded using the deck 30 of the transfer system according to the first embodiment (FIGS. 1 and 3). First, the truck 100 is stopped so that the side of the loading platform 101 is aligned with the deck 30. At this time, the rear of the loading platform 101 faces the discharge platform 20. Multiple cargoes are loaded onto the loading platform 101 from the rear of the loading platform 101, and a worker inserts buffer material between the multiple cargoes from the deck 30.

[0076] Next, the excellent effects of the sixth embodiment will be described. In the conventional loading method, where a manual forklift places a pallet on the bed from the side, the truck driver or an assistant or other worker would climb onto the bed while holding the cushioning material, and as the forklift placed the pallet on the bed, they would place the cushioning material in the designated position to support that position. Loading work with a worker standing on the bed does not necessarily ensure sufficient safety.

[0077] In the sixth embodiment, the cargo is loaded from the rear of the loading platform, leaving the space on the sides of the platform free to use. With the wings on the sides of the loading platform open, the worker simply inserts buffer material between the cargo from the sides. This increases safety because a certain distance can be maintained between the machine that is loading the cargo and the worker. Note that even without the first detector 31 provided in the loading and unloading system of the first embodiment, a certain degree of completeness can be ensured.

[0078] However, it is difficult for workers to load cushioning material from a low position such as the ground without getting on the loading platform. In the sixth embodiment, a deck is provided on the side of the loading platform, making it easy to load cushioning material using this deck as a foothold.

[0079] Next, a modification of the sixth embodiment will be described. The deck located on the side of the loading platform can be used for a variety of purposes in addition to inserting buffer material during the loading and unloading process from the rear of the platform. For example, it can be used to visually monitor the status of cargo that is automatically entering the platform from the rear. It is also possible to manually load and unload cargo from the deck. Furthermore, if the cargo shifts position or collapses, the deck can be used conveniently to manually or with auxiliary machinery to restore the cargo to its original position.

[0080] 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]

[0081] 20 Loading platform 21 Entrance section 22 Transport path 23 Transfer device 23A Support part 23B Fork 23C Fork support mechanism 23D Force application section 23D1 Fulcrum 23D2 Support lifting mechanism 23D3 Tension transmission members 23D4 Tensile force generating section 23E wheels 24 Unloading platform adjustment device 25 wheels 26 Forward detector 27 Lift platform 28 Shutter 30 Decks 31 First Detector 31A Boundary 32 Second detector 33 Lockable Door 34 Third Detector 35 Restart switch 40 Safety fence 41 Stairs 42 Safety fence 50 Control device 60 workers 90 loads 90A Pallet 95 Cushioning material 100 Tracks 101 Cargo bed 102 Truck loading area 103 Rear door 104 Wing 105 Aori 110 Preparation Area

Claims

1. a deck provided on at least one side of a truck approaching area where trucks approach with the rear of the loading platform facing the delivery platform, and through which workers pass when getting on the loading platform; a first detector for detecting an object crossing a boundary between the deck and the truck approach area; A transfer system equipped with

2. moreover, a control device; an entrance section that, under the control of the control device, moves forward from the discharge platform toward the loading platform while holding a load, transfers the load onto the loading platform, and exits from the loading platform; It is equipped with The transfer system according to claim 1 , wherein the control device, when an object is detected by the first detector, does not start the advancement of the entry section, suspends the advancement, or does not start the load transfer operation.

3. Further provided is a second detector for detecting a worker standing on the deck, The transfer system according to claim 2, wherein the control device, when a worker is detected by the second detector, does not start the advancement of the entry section, suspends the advancement, or does not start the load transfer operation.

4. A lockable door is installed through which workers enter and exit the deck, The transfer system according to claim 2 or 3, wherein the control device does not start the advancement of the entry section, suspends the advancement, or does not start the load transfer operation when the door is not locked.

5. moreover, a lifting platform disposed between the loading platform and the discharge platform; a third detector that detects an open / close state of a rear door at the rear of the loading platform facing the platform; It is equipped with 4. The transfer system according to claim 2, wherein when the third detector detects that the rear door is closed, the control device does not start the forward movement of the entrance section.

6. It also has a restart switch. The control device The entrance section holding a plurality of loads arranged in a front-rear direction is caused to enter the loading platform, Thereafter, the robot repeats the operation of transferring the frontmost load held on the loading platform and the operation of moving backward, 3. The loading and unloading system according to claim 2, wherein the operation of transferring the load onto the loading platform is not started until the restart switch is operated after the reverse operation.

7. 7. The transfer system according to claim 6, wherein the restart switch is disposed at a position where it can be operated by a worker standing on the deck.

8. Decks are provided on both sides of the truck approach area where trucks approach with the rear of the loading platform facing the delivery platform, and are used by workers to get on the loading platform; a control device; an entrance section that, under the control of the control device, moves forward from the discharge platform toward the loading platform while holding a load, transfers the load onto the loading platform, and exits from the loading platform; A restart switch operated by the operator It is equipped with The control device The entrance section holding a plurality of loads arranged in a front-rear direction is caused to enter the loading platform, Thereafter, the robot repeats the operation of transferring the frontmost load held on the loading platform and the operation of moving backward, This is a loading and unloading system that does not start the operation of transferring the load onto the loading platform after the backward operation until the restart switch is operated.

9. Stop the truck so that the side of the loading platform is aligned with the deck. A loading method in which multiple loads are loaded onto the loading platform from the rear of the loading platform, and a worker inserts buffer material between the multiple loads from the deck.

Images