Automated guided vehicles

Abstract

To provide an automated guided vehicle that can pick up rolled materials without damaging them. [Solution] The automated guided vehicle comprises a vehicle body and a cargo handling device provided in front of the vehicle body. The cargo handling device comprises a pair of left and right forks 20 spaced apart in the left-right direction Y and extending in the front-rear direction X, a roll body support member 30 provided on each fork 20 to support a roll body, a support detection unit 3 for detecting the support of the roll body by the roll body support member 30, and a shift device for moving the forks 20 in the left-right direction Y to adjust the spacing of the roll body support members 30. Each of the roll body support members 30 extends in the front-rear direction X and has a roll body receiving surface 30A that is curved convexly toward the roll body when viewed from the front.

Description

【Technical Field】 【0001】 The present invention relates to an automatic transport vehicle for handling a roll body. 【Background Art】 【0002】 As an automatically traveling vehicle for handling, an automated guided vehicle, an automated forklift, etc. are known. In recent years, the demand for such automatic transport vehicles has been increasing, and an automatic transport vehicle for handling a roll body has been required. 【0003】 Patent Document 1 describes a rollift truck as a transport vehicle for handling a roll as a roll body. This rollift truck includes a pair of left and right forks, sub-forks provided on each fork, and spacers that can be arranged on each sub-fork. The pair of left and right sub-forks has an inclined surface that descends toward the inside of the fork, and is configured to receive a roll having a relatively large winding diameter by the inclined surface of the sub-fork. Further, the pair of left and right spacers has an inclined surface having an inclination angle substantially the same as that of the inclined surface of the sub-fork, and is configured to receive a roll having a relatively small winding diameter by the inclined surface of the spacer. 【Prior Art Documents】 【Patent Documents】 【0004】 【Patent Document 1】 Japanese Utility Model Laid-Open No. 4-42472 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0005】 When the configuration described in Patent Document 1 is applied to an automated guided vehicle, it is conceivable to make the spacing between the sub-forks, which have inclined surfaces, adjustable in order to properly support the roll body according to the diameter of the roll body (roll diameter). Generally, forklifts equipped with a shift device that moves the forks in the left-right direction are known, and it is possible to adjust the spacing between the inclined surfaces by using such a shift device. 【0006】 However, when the inclined surface was brought close to the roll body to load it, there was a risk of damaging the roll body. Specifically, for example, as shown in Figure 10(A), when the inclined surface 121 was brought close to a roll body R having a large roll diameter r1, there was a problem that the upper end 122 of the inclined surface 121 would damage the roll body R. Also, for example, as shown in Figure 10(B), when the inclined surface 121 was brought close to a roll body R having a small roll diameter r2, there was a problem that the lower end 123 of the inclined surface 121 would damage the roll body R. 【0007】 The present invention has been made in view of the above circumstances, and aims to provide an automated guided vehicle that can pick up rolls without damaging them. [Means for solving the problem] 【0008】 To solve the above problems, the present invention provides an automated guided vehicle comprising a vehicle body and a cargo handling device provided in front of the vehicle body, wherein the cargo handling device comprises a pair of left and right forks spaced apart in the left-right direction and extending in the front-rear direction, a roll body support member provided on each of the forks for supporting a roll body, a support detection unit for detecting the support of the roll body by the roll body support member, and a shift device for moving the forks in the left-right direction to adjust the spacing of the roll body support members, wherein each of the roll body support members extends in the front-rear direction and has a roll body receiving surface that is curved in a convex shape toward the roll body when viewed from the front. 【0009】 Furthermore, the support detection unit comprises a movable member that can move relative to the roll support member when pressed by the roll body, and a sensor that detects the displacement of the movable member in order to detect the support of the roll body. The movable member has a roll contact surface that is curved in a convex shape toward the roll body when viewed from the front, and it is preferable that the roll contact surface is provided so as to protrude from the roll receiving surface in the convex direction of the roll receiving surface when the movable member is not pressed by the roll body. 【0010】 Furthermore, it is preferable that the sensor detects the displacement of the movable member due to being pushed by the roll body when the roll body contact surface and the roll body support surface are located on the same virtual curved surface. It is also preferable that multiple support detection units are provided spaced apart in the front-rear direction. 【0011】 Furthermore, it is preferable to further include a control unit for controlling the cargo handling device, wherein the control unit performs shift-in control, which operates the shift device to reduce the spacing between the roll support members, and shift-stop control, which stops the operation of the shift device when the support detection unit detects support of the roll during the shift-in control. 【0012】 Furthermore, the cargo handling device preferably includes a lifting device that moves the forks vertically to raise and lower the roll support members, and the control unit preferably performs lift-up control to operate the lifting device so that the roll support members rise while maintaining the spacing between the roll support members during the shift stop control. [Effects of the Invention] 【0013】 According to the present invention, it is possible to provide an automated guided vehicle that can pick up rolls without damaging them. [Brief explanation of the drawing] 【0014】 [Figure 1]This is a diagram of an automated guided vehicle according to one embodiment of the present invention, where (A) is a right side view and (B) is a top view. [Figure 2] This is a block diagram showing the schematic configuration of an automated guided vehicle according to a simultaneous embodiment. [Figure 3] This is a diagram of the support unit according to the same embodiment, where (A) is a plan view, (B) is a side view, and (C) is a front view. [Figure 4] This is a diagram of a fork according to the same embodiment, where (A) is a top view, (B) is a side view, and (C) is a front view. [Figure 5] This is a diagram of the roll support member according to the same embodiment, where (A) is a plan view, (B) is a side view, (C) is a front view, (D) is a cross-sectional view along line DD, and (E) is a cross-sectional view along line EE. [Figure 6] (A) is a cross-sectional view showing the schematic configuration of the support detection unit according to the same embodiment, and (B) is a partial plan view of the support detection unit. [Figure 7] This is a cross-sectional view showing the state in which the support detection unit according to the same embodiment is detecting the support of the roll body. [Figure 8] This is a flowchart of the cargo handling control according to the same embodiment. [Figure 9] (A) and (B) are explanatory diagrams illustrating the loading method of the roll body according to the same embodiment. [Figure 10] (A) and (B) are explanatory diagrams illustrating a conventional method of handling rolled bodies. [Modes for carrying out the invention] 【0015】 An automated guided vehicle T according to one embodiment of the present invention will be described with reference to the drawings. Note that the arrows in the figures indicate the forward / backward direction X, the left / right direction Y, and the up / down direction Z, which are all perpendicular to each other. 【0016】 As shown in FIG. 1, the automatic guided vehicle T is a reach-type driverless forklift, and includes a vehicle body 1A that travels on the road surface and a cargo handling device 1B provided in front of the vehicle body 1A. The automatic guided vehicle T automatically performs the handling (loading, transporting, and unloading) of the roll body R. The roll body R is, for example, paper wound around an axis parallel to the front-rear direction X. 【0017】 The automatic guided vehicle T includes, as components of the cargo handling device 1B, a lift device 11, a shift device 12, a reach device 13, and support units 2R and 2L for supporting the roll body. 【0018】 The lift device 11 moves the support units 2R and 2L in the vertical direction Z with respect to the vehicle body 1A in order to raise and lower the support units 2R and 2L. The lift device 11 includes a telescopic mast 11A (see FIG. 1(A)) that extends in the vertical direction Z, a lift bracket 11B (see FIG. 1(A)) provided movably along the mast 11A, and a lift cylinder (not shown) that transmits power to the lift bracket 11B, etc. The lift device 11 moves the support units 2R and 2L in the vertical direction Z together with the lift bracket 11B. 【0019】 The shift device 12 moves the support units 2R and 2L in the left-right direction Y with respect to the vehicle body 1A in order to adjust the distance between the support units 2R and 2L in the left-right direction Y. The shift device 12 is provided on the lift bracket 11B and includes a shift rail 12A (see FIG. 1(A)) that guides the movement of the support units 2R and 2L in the left-right direction Y, and a shift cylinder 12B (see FIG. 1(A)) that transmits power to the support units 2R and 2L, etc. 【0020】 In this embodiment, the movement of each support unit 2R and 2L is configured to be synchronized. Specifically, when increasing the distance between support units 2R and 2L, the shift device 12 extends the shift cylinder 12B, thereby moving support unit 2R to the right and support unit 2L to the left. Conversely, when decreasing the distance between support units 2R and 2L, the shift device 12 retracts the shift cylinder 12B, thereby moving support unit 2R to the left and support unit 2L to the right. 【0021】 The reach device 13 moves the support units 2R and 2L in the longitudinal direction X relative to the vehicle body 1A. The reach device 13 consists of a reach rail (not shown) that guides the movement of the mast 11A in the longitudinal direction X, and a reach cylinder (not shown) that transmits power to the mast 11A. By moving the mast 11A in the longitudinal direction X, the reach device 13 moves the support units 2R and 2L together with the lift bracket 11B in the longitudinal direction X. 【0022】 Support units 2R and 2L are spaced apart in the left-right direction Y and support the roll body R from below. Support units 2R and 2L have a common configuration. The configurations of support units 2R and 2L will be described later with reference to Figures 3 to 5. 【0023】 Furthermore, as shown in Figure 2, the automated guided vehicle T includes a support detection unit 3, a deviation detection unit 4, a collision detection unit 5, and a control unit 6. The support detection unit 3, the deviation detection unit 4, and the collision detection unit 5 are configured as part of the support units 2R and 2L. The control unit 6 includes, for example, a digital circuit such as an MPU and is provided in the vehicle body 1A. 【0024】 The support detection unit 3 is a sensor unit that detects whether the support units 2R and 2L are supporting the roll body R. In this embodiment, the support detection unit 3 is provided on each of the support units 2R and 2L. Hereinafter, the support detection unit 3 provided on support unit 2R will be referred to as "support detection unit 3R", and the support detection unit 3 provided on support unit 2L will be referred to as "support detection unit 3L". The support detection unit 3R detects whether the support unit 2R is supporting the roll body R, and the support detection unit 3L detects whether the support unit 2L is supporting the roll body R. In addition, in this embodiment, each of the support units 2R and 2L is provided with two support detection units 3 spaced apart in the front-rear direction X. That is, the automated guided vehicle T is equipped with two support detection units 3R and two support detection units 3L. 【0025】 The deviation detection unit 4 is a sensor unit that detects when the roll body R is deviating from a desired position on the support units 2R and 2L. Specifically, the deviation detection unit 4 is composed of a light-emitting unit (not shown) provided on one of the support units 2R and 2L and a light-receiving unit provided on the other, and the roll body R is detected when the light reaching the light-receiving unit from the light-emitting unit is blocked by the roll body R. In this embodiment, the deviation detection unit 4 is provided on the front end and rear end of the support units 2R and 2L, respectively. Hereinafter, the deviation detection unit 4 provided on the front end of the support units 2R and 2L will be referred to as "deviation detection unit 4F", and the deviation detection unit 4 provided on the rear end of the support units 2R and 2L will be referred to as "deviation detection unit 4B". The deviation detection unit 4F detects when the roll body R is deviating forward from the desired position by detecting the roll body R, and the deviation detection unit 4B detects when the roll body R is deviating backward from the desired position by detecting the roll body R. 【0026】 The collision detection unit 5 is a sensor unit that detects when an object collides with the support units 2R and 2L. In this embodiment, the collision detection unit 5 is provided at the front end of each of the support units 2R and 2L. Hereinafter, the collision detection unit 5 provided at the front end of support unit 2R will be referred to as "collision detection unit 5R", and the collision detection unit 5 provided at the front end of support unit 2L will be referred to as "collision detection unit 5L". The collision detection unit 5R detects when an object collides with support unit 2R from the front, and the collision detection unit 5L detects when an object collides with support unit 2L from the front. 【0027】 The control unit 6 controls the cargo handling device 1B (i.e., the lift device 11, the shift device 12, and the reach device 13) to perform cargo retrieval control. The cargo retrieval control will be described later with reference to Figure 8. The control unit 6 stops cargo retrieval control when at least one of the deviation detection units 4F and 4B detects that the roll body R has deviated from the desired position during cargo retrieval control. The control unit 6 also stops cargo retrieval control when at least one of the collision detection units 5R and 5L detects a collision between objects during cargo retrieval control. 【0028】 The configuration of support units 2R and 2L will be explained with reference to Figures 3 to 5. Since support units 2R and 2L have a symmetrical shape, Figures 3 to 5 only show support unit 2R, which is located on the right side, and omit the illustration of support unit 2L, which is located on the left side. 【0029】 As shown in Figures 3(A) to 3(C), the support units 2R and 2L each include a fork 20, a roll body support member 30, and a side cover 40, respectively. 【0030】 The left and right pairs of forks 20 that constitute the support units 2R and 2L are spaced apart in the left-right direction Y and extend in the up-down direction Z and the front-rear direction X. As shown in Figures 4(A) to (C), each fork 20 has a vertical portion 20A that extends in the up-down direction Z and a horizontal portion 20B that extends forward from the lower end of the vertical portion 20A. Bolts (not shown) for fixing the fork 20 to the shift device 12 are inserted into the vertical portion 20A. 【0031】 The vertical section 20A functions as a supported section supported by the shift device 12. The horizontal section 20B is provided with a first support section 21 that supports the roll body support member 30 and the side cover 40, a second support section 22 that supports the support detection section 3, and a third support section 23 that supports the deviation detection section 4. 【0032】 Multiple first support sections 21 are provided at intervals in the front-rear direction X (five in this embodiment). Bolts 91 (see Figure 3(A)) for fixing the roll body support member 30 to the fork 20 are screwed into the first support sections 21, and the first support sections 21 and the roll body support member 30 are fastened together by the bolts 91. In addition, bolts 92 (see Figure 3) for fixing the side cover 40 to the fork 20 are screwed into the first support sections 21, and the first support sections 21 and the side cover 40 are fastened together by the bolts 92. 【0033】 Multiple second support sections 22 (two in this embodiment) are provided in the central part of the horizontal section 20B (between the front and rear ends) at intervals in the front-rear direction X. Bolts 93 (see Figure 6), which will be described later, are screwed into the second support sections 22, and the second support sections 22 and the support detection section 3 are fastened together by the bolts 93. 【0034】 The third support portion 23 is provided at both the front and rear ends of the horizontal portion 20B. A bolt (not shown) for fixing the deviation detection unit 4 to the fork 20 is screwed into the third support portion 23, and the third support portion 23 and the deviation detection unit 4 are fastened together by this bolt. 【0035】 The roll support members 30 are a pair of left and right components provided on each of the left and right forks 20, and support the roll R from below. As shown in Figures 5(A) to (E), each roll support member 30 is composed of a curved plate portion 31, a reinforcing plate portion 32, and a horizontal plate portion 33, and has a roll support surface 30A that extends in the front-rear direction X and is curved convexly toward the roll R when viewed from the front. That is, the roll support members 30 constituting the support unit 2R have a roll support surface 30A that is curved convexly toward the left and upward when viewed from the front, and the roll support members 30 constituting the support unit 2L have a roll support surface 30A that is curved convexly toward the right and upward when viewed from the front. 【0036】 The curved plate portion 31 is composed of a part of a cylindrical shape extending in the front-rear direction X, and the outer surface of the curved plate portion 31 constitutes the roll body receiving surface 30A. The curved plate portion 31 is provided with a first opening 31A into which a movable member 52 (see Figure 6), which will be described later, is fitted, and a second opening 31B that allows light from the light-emitting part of the deviation detection unit 4 to reach the light-receiving part to pass through. 【0037】 The reinforcing plate portion 32 constitutes a vertical plate portion perpendicular to the front-rear direction X and is connected to the inner surface of the curved plate portion 31. Multiple reinforcing plate portions 32 (10 in this embodiment) are provided at intervals in the front-rear direction X to support the horizontal plate portion 33. 【0038】 The horizontal plate section 33 is provided so as to span multiple reinforcing plate sections 32. In this embodiment, five horizontal plate sections 33 are provided at intervals in the front-rear direction X, and each horizontal plate section 33 is connected to two adjacent reinforcing plate sections 32 in the front-rear direction X. Bolts 91 are inserted into the horizontal plate sections 33 that are placed on the first support section 21. 【0039】 The side cover 40 is composed of vertical plates extending in the vertical Z direction and the longitudinal X direction, and covers the sides of the support detection unit 3 and the deviation detection unit 4, which are provided on the horizontal portion 20B of the fork 20. Specifically, the side cover 40 constituting the support unit 2R has bolts 92 inserted while it is in contact with the right end face of the horizontal portion 20B, and the side cover 40 constituting the support unit 2L has bolts 92 inserted while it is in contact with the left end face of the horizontal portion 20B. In addition, a support portion (not shown) for supporting the collision detection unit 5 is provided at the front end of the side cover 40. 【0040】 The configuration and operation of the support detection unit 3 will be explained with reference to Figures 6 and 7. Since the support detection unit 3 provided on support unit 2R and the support detection unit 3 provided on support unit 2L have symmetrical shapes, Figures 6 and 7 show the support detection unit 3 provided on support unit 2R, while the support detection unit 3 provided on support unit 2L is omitted. Figures 6(A) and 7 are cross-sectional views of support unit 2R, specifically the cross-sectional view taken along line AA in Figure 3. Figure 6(B) is a plan view of a part of the configuration of the support detection unit 3. 【0041】 As shown in Figures 6(A) and (B), the support detection unit 3 comprises a base member 51, a movable member 52, shaft members 53 and 54, a swinging member 55, an elastic member 56, a sensor 57, and a swing restricting member 58. 【0042】 The base member 51 is composed of a horizontal plate section 51A, a vertical plate section 51B, a sensor support plate section 51C, and a swing-restricting member support section 51D. The horizontal plate section 51A is positioned on the second support section 22, and a bolt 93 for fixing the support detection section 3 to the fork 20 is screwed into the horizontal plate section 51A. Also, a male screw 94 (see Figure 6(B)) inserted into the sensor support plate section 51C is screwed into the horizontal plate section 51A. Two vertical plate sections 51B, perpendicular to the front-rear direction X, are provided spaced apart in the front-rear direction X, and support both ends of the shaft member 53. The vertical plate sections 51B are connected to the horizontal plate section 51A by welding. The sensor support plate section 51C is composed of a bent plate and is connected to the horizontal plate section 51A by a male screw 94. A male screw 95 that engages with a nut (not shown) is inserted into the sensor support plate portion 51C, and the sensor support plate portion 51C and the sensor 57 are fastened together. The oscillation restricting member support portion 51D supports the oscillation restricting member support portion 51D so that it can be displaced, and in this embodiment, it is composed of a male screw portion with an internal thread formed thereon. The oscillation restricting member support portion 51D is connected to the horizontal plate portion 51A by welding. 【0043】 The movable member 52 is configured to move relative to the roll support member 30 when pushed by the roll body R, and is positioned to fit into the first opening 31A provided in the curved plate portion 31. Similar to the roll support member 30, the movable member 52 has a roll contact surface 52A that is curved convexly toward the roll body R when viewed from the front. That is, the movable member 52 of the support detection unit 3 provided in the support unit 2R has a roll contact surface 52A that is curved convexly toward the left and upward when viewed from the front, and the movable member 52 of the support detection unit 3 provided in the support unit 2L has a roll contact surface 52A that is curved convexly toward the right and upward when viewed from the front. 【0044】 The roll body contact surface 52A is provided so as to protrude from the roll body receiving surface 30A in the convex direction of the roll body receiving surface 30A when the movable member 52 is not being pressed by the roll body R. Specifically, in the support unit 2R, the roll body contact surface 52A is provided so as to protrude diagonally upward and to the left from the roll body receiving surface 30A. In the support unit 2L, the roll body contact surface 52A is provided so as to protrude diagonally upward and to the right from the roll body receiving surface 30A. 【0045】 The shaft member 53 is made up of a pin attached to the vertical plate portion 51B of the base member 51. The shaft member 54 is made up of a pin attached to the movable member 52. In this embodiment, two shaft members 53 and 54 are provided. 【0046】 The oscillating member 55 is composed of a lever that connects the base member 51 and the movable member 52. In this embodiment, the base member 51 and the movable member 52 are connected by two oscillating members 55. One end of the oscillating member 55 is fitted onto the outer circumference of the shaft member 53 via a bush 55A that functions as a bearing, and is provided to pivot around the shaft member 53. The other end of the oscillating member 55 is fitted onto the outer circumference of the shaft member 54 via a bush 55B that functions as a bearing, and is provided to pivot around the shaft member 54. In this embodiment, one of the oscillating members 55 is provided with a sensor target portion 55C. 【0047】 The elastic member 56 is composed of a tension spring that causes the roll body contact surface 52A to protrude toward the roll body R beyond the roll body receiving surface 30A. One end of the elastic member 56 is attached to post 56A fixed to the horizontal plate portion 51A, and the other end of the elastic member 56 is attached to post 56B fixed to the oscillating member 55. 【0048】 The sensor 57 is fixed to the sensor support plate portion 51C by a male screw 95 and detects the displacement of the movable member 52 in order to detect the support of the roll body R. In this embodiment, the sensor 57 detects the displacement of the movable member 52 by detecting the displacement of the sensor target portion 55C. In this embodiment, the sensor 57 is a groove-type photomicrosensor and detects that the sensor target portion 55C has been displaced to the detection position when the sensor target portion 55C enters the groove portion of the sensor 57 and blocks light. Figure 6(A) shows the state in which the sensor target portion 55C has not been displaced to the detection position, and Figure 6(B) shows the state in which the sensor target portion 55C has been displaced to the detection position. 【0049】 The oscillation restricting member 58 restricts the oscillation of the oscillation member 55 in one direction relative to the shaft member 53 by contacting a part of the oscillation member 55. In this embodiment, the oscillation restricting member 58 is made up of a bolt screwed into the oscillation restricting member support part 51D, and the oscillation range of the oscillation member 55 can be changed by adjusting the contact position between the oscillation restricting member 58 and the oscillation member 55. 【0050】 As shown in Figure 6(A), when the roll body R is not in contact with the movable member 52 and is not supported by the roll body support member 30, the support detection unit 3 configured as described above has the roll body contact surface 52A protruding beyond the roll body receiving surface 30A due to the action of the elastic member 56. Specifically, the roll body contact surface 52A of the support detection unit 3 constituting the support unit 2R protrudes diagonally upward and to the left from the roll body receiving surface 30A of the roll body support member 30 constituting the support unit 2R. Also, the roll body contact surface 52A of the support detection unit 3 constituting the support unit 2L protrudes diagonally upward and to the right from the roll body receiving surface 30A of the roll body support member 30 constituting the support unit 2L. This state is maintained by the balance of forces acting on the oscillating member 55 by the elastic member 56 and the oscillating restricting member 58. 【0051】 When the movable member 52 is pushed by the roll body R, as shown in Figure 7, the oscillating member 55 resists the restoring force of the elastic member 56, causing the movable member 52 to displace so that the roll body contact surface 52A and the roll body receiving surface 30A are located on the same virtual curved surface (i.e., become flush). Specifically, when the roll body contact surface 52A of the support detection unit 3 constituting the support unit 2R is pushed to the right, downward, or diagonally downward to the right by the roll body R, it becomes flush with the roll body receiving surface 30A of the roll body support member 30 constituting the support unit 2R. Similarly, when the roll body contact surface 52A of the support detection unit 3 constituting the support unit 2L is pushed to the left, downward, or diagonally downward to the left by the roll body R, it becomes flush with the roll body receiving surface 30A of the roll body support member 30 constituting the support unit 2L. In this way, the roll body receiving surface 30A and the roll body contact surface 52A support the roll body R, and the roll body R is supported by the roll body support member 30. At this time, the sensor 57 detects that the sensor target section 55C has been displaced to the detection position. In this way, the sensor 57 detects the displacement of the movable member 52 due to being pushed by the roll body R, thereby detecting the support of the roll body R by the roll body support member 30. 【0052】 The flow of load handling control will be explained with reference to Figure 8. In this embodiment, load handling control is initiated on the premise that the centers of the support units 2R and 2L coincide with the center of the roll body R in the left-right direction Y, and that the roll body support member 30 is lower than the center of the roll body R in the up-down direction Z. 【0053】 First, the control unit 6 performs shift-out control to operate the shift device 12 so that the spacing between the roll support members 30 increases (step S1), and then performs shift-stop control to stop the operation of the shift device 12 at a predetermined timing during the shift-out control (step S2). The predetermined timing for stopping the shift-out control in step S2 is when the spacing between the roll support members 30 in the horizontal plane including the roll support members 30 becomes larger than the cross-sectional dimension of the roll body R. 【0054】 Next, the control unit 6 performs reach-out control to operate the reach device 13 to move the roll support member 30 forward relative to the vehicle body 1A (step S3), and then performs reach-stop control to stop the operation of the reach device 13 at a predetermined timing during reach-out control (step S4). The predetermined timing for stopping the reach-out control in step S4 is when the roll support member 30 moves directly below the roll body R. 【0055】 Next, the control unit 6 performs shift-in control to operate the shift device 12 so that the spacing between the roll support members 30 becomes smaller (step S5), and then performs shift-stop control to stop the operation of the shift device 12 at a predetermined timing during the shift-in control (step S6). The predetermined timing for stopping the shift-in control in step S6 is when the support detection unit 3 detects that the roll body R is supported. In this embodiment, the shift-stop control is executed when at least one support detection unit 3R and at least one support detection unit 3L detect that the roll body R is supported. 【0056】 Then, the control unit 6 performs lift-up control to operate the lift device 11 to raise the roll support member 30 relative to the vehicle body 1A (step S7), and performs lift-stop control to stop the operation of the lift device 11 at a predetermined timing during the lift-up control (step S8). In other words, the control unit 6 performs the lift-up control while maintaining the distance of the roll support member 30 at the time of the shift-stop control. The predetermined timing for stopping the lift-up control in step S8 is when the roll R is separated from the mounting surface (not shown) on which it is placed. 【0057】 By controlling the load handling in the manner described above, the automated guided vehicle T can transport the roll body R to any desired location by supporting it with support units 2R and 2L and having the vehicle body 1A travel along the road. 【0058】 In this embodiment, the following effects can be obtained. (1) The cargo handling device 1B is equipped with roll support members 30 provided on each of the left and right forks 20, and each roll support member 30 has a roll receiving surface 30A that extends in the front-rear direction X and is curved convexly toward the roll R when viewed from the front. With this configuration, for example, as shown in Figure 9(A), when the roll support member 30 is brought close to a roll R having a large roll diameter r1, the roll R can be supported by the roll receiving surface 30A without the upper end of the roll receiving surface 30A coming into contact with the roll R. Also, for example, as shown in Figure 9(B), when the roll support member 30 is brought close to a roll R having a small roll diameter r2, the roll R can be supported by the roll receiving surface 30A without the lower end of the roll receiving surface 30A coming into contact with the roll R. Therefore, the load can be unloaded without damaging the roll R. 【0059】 (2) The support detection unit 3 is equipped with a movable member 52 whose displacement is detected by a sensor 57, and the movable member 52 has a roll body contact surface 52A that is curved in a convex shape toward the roll body R when viewed from the front. With this configuration, the roll body contact surface 52A of the support detection unit 3 is configured in the same way as the roll body receiving surface 30A of the roll body support member 30, so that the support of the roll body R can be detected without damaging the roll body R. 【0060】 (3) When the roll body contact surface 52A and the roll body support surface 30A are located on the same virtual curved surface, the sensor 57 detects the displacement of the movable member 52 due to being pushed by the roll body R. With this configuration, the support of the roll body R can be reliably detected because the roll body R is supported by the roll body contact surface 52A and the roll body support surface 30A. 【0061】 (4) Multiple support detection units 3 are provided at intervals in the front-rear direction X. With this configuration, even if the dimension of the roll body R in the front-rear direction X is short, the support of the roll body R can be detected. 【0062】 (5) The control unit 6 performs shift-in control, which operates the shift device 12 to reduce the spacing between the roll support members 30, and shift-stop control, which stops the operation of the shift device 12 when the support detection unit 3 detects support for the roll body R during shift-in control. With this configuration, the spacing between the roll support members 30 can be adjusted according to the roll diameter of the roll body R. 【0063】 (6) The control unit 6 performs lift-up control to operate the lift device 11 so that the roll support members 30 rise while maintaining the spacing of the roll support members 30 during shift stop control. With this configuration, the roll body R can be loaded immediately after adjusting the spacing of the roll support members 30. 【0064】 The present invention is not limited to the embodiments described above, and the above configuration can be modified. For example, it can be implemented with the following modifications, or a combination of the following modifications can be used. 【0065】 The number of support detection units 3 that detect the support of the roll body R by each roll body support member 30 may be changed as appropriate. That is, each support unit 2R, 2L may be equipped with one support detection unit 3 or three or more support detection units 3. 【0066】 Each support unit 2R, 2L may be configured to move independently in the left-right direction Y. That is, when the shift device 12 adjusts the distance between the support units 2R, 2L, it may move only one of the support units 2R, 2L. 【0067】 If the centers of the support units 2R and 2L coincide with the center of the roll body R in the left-right direction Y, and the pair of left and right roll body support members 30 move simultaneously toward the center of the roll body R, then the two roll body support members 30 will be in contact with the roll body R at the same time, and therefore the support detection unit 3 provided on one of the two roll body support members 30 may be omitted. In other words, the support detection unit 3 may be provided on only one of the two roll body support members 30. [Explanation of symbols] 【0068】 1A Vehicle body 1B Cargo handling equipment 2L, 2R support unit 3,3L,3R Support detection unit 4,4F,4B Deviation detection unit 5, 5L, 5R Collision detection unit 6 Control Unit 11. Lifting device 12 Shift device 13 Reach device 20 Forks 30 Roll support member 30A Roll body receiving surface 31 Curved plate section 31A,31B opening 32 Reinforcement plate section 33 Horizontal plate part 40 Side Cover 51 Base member 52 Movable members 52A Roll body contact surface 53,54 Shaft member 55. Oscillating member 56 Elastic members 57 Sensors R Roll Body T Automated Guided Vehicle X Anteroposterior direction Y left / right direction Z vertical direction

Claims

[Claim 1] The vehicle body and The vehicle comprises a cargo handling device located in front of the vehicle body, The aforementioned cargo handling equipment is A pair of left and right forks spaced apart in the left-right direction and extending in the front-back direction, Each of the aforementioned forks is provided with a roll body support member that supports the roll body, A support detection unit that detects the support of the roll body by the roll body support member, The system includes a shift device that moves the forks in the left-right direction to adjust the spacing between the roll support members, Each of the aforementioned roll support members extends in the front-rear direction and has a roll receiving surface that is curved in a convex shape toward the roll when viewed from the front. An automated guided vehicle characterized by the following features. [Claim 2] The support detection unit comprises a movable member that can move relative to the roll support member when pressed by the roll body, and a sensor that detects the displacement of the movable member in order to detect the support of the roll body. The movable member has a roll contact surface that is curved convexly toward the roll body when viewed from the front, The roll body contact surface is provided so as to protrude from the roll body receiving surface in the convex direction of the roll body receiving surface when the movable member is not being pressed against the roll body. The automated guided vehicle according to feature 1. [Claim 3] The sensor detects the displacement of the movable member caused by being pushed by the roll body when the contact surface of the roll body and the receiving surface of the roll body are located on the same virtual curved surface. The automated guided vehicle according to feature 2. [Claim 4] Multiple support detection units are provided at intervals in the front-to-back direction. The automated guided vehicle according to feature 1. [Claim 5] The system further comprises a control unit for controlling the aforementioned cargo handling device, The control unit performs shift-in control, which operates the shift device to reduce the spacing between the roll support members, and shift-stop control, which stops the operation of the shift device when the support detection unit detects support for the roll during the shift-in control. An automated guided vehicle according to any one of claims 1 to 4. [Claim 6] The cargo handling device further comprises a lifting device that moves the forks vertically in order to raise and lower the roll support member. The control unit executes a lift-up control that operates the lift device to raise the roll support members while maintaining the spacing between them during the shift stop control. The automated guided vehicle according to feature 5.

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