Lifting device

Abstract

To provide a novel improved lifting apparatus capable of further simplifying a configuration and capable of making it difficult to be damaged even due to just an erroneous operation or malfunction in case, and so on.SOLUTION: A lifting apparatus comprises: a lifting mechanism which raises / lowers a loading section for placing transported objects; a distance sensor which outputs a detection signal indicating the distance between the distance sensor located above a detected surface of a movable body and the detected surface; a supporting member located at the loading section, for supporting the distance sensor; a movement mechanism which allows at least a part of the supporting member to be moved between the measuring position where the distance sensor is located above the detected surface with respect to the loading section and the lead-in position where the distance sensor and the supporting member come off from above the movable body; and a lifting control unit which controls the lifting mechanism based on the detected signal so that the loading section is lined at the position where the transported object can be transferred laterally to the movable body.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] BACKGROUND ART Conventionally, there is known a lifting device that vertically aligns a platform for lifting and lowering an article with a truck in order to transfer the article between the truck and the platform more smoothly (for example, Patent Document 1). [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] It would be beneficial to provide an elevator device of this type that has a simpler configuration and is less susceptible to damage even in the unlikely event of an erroneous operation or malfunction.

[0005] Therefore, one of the objects of the present invention is to provide an improved new lifting device that, for example, can be made simpler in configuration and is less susceptible to damage even in the unlikely event of erroneous operation or malfunction. [Means for solving the problem]

[0006] The lifting device of the present invention includes, for example, a lifting mechanism that lifts and lowers a placement section on which a transported object is placed, a distance sensor that outputs a detection signal indicating the distance from the detection surface when positioned above the detection surface of a movable body, a support member provided on the placement section and supporting the distance sensor, a moving mechanism that enables at least a portion of the support member to move relative to the placement section between a measurement position where the distance sensor is positioned above the detection surface and a retracted position where the distance sensor and the support member are removed from above the movable body, and a lifting control section that controls the lifting mechanism based on the detection signal so that the placement section is aligned to a position where the transported object can be handed over laterally to the movable body. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is an exemplary schematic side view of the lifting device of the first embodiment. [Figure 2] FIG. 2 is an exemplary block diagram of the lifting device according to the first embodiment. [Figure 3] FIG. 3 is an exemplary schematic side view of a part of the lifting device of the first embodiment, showing a normal use state. [Figure 4] FIG. 4 is an exemplary schematic side view of a part of the lifting device of the first embodiment, showing a state in which the placement unit has overrun downward. [Figure 5] FIG. 5 is an exemplary schematic plan view of a part of the lifting device of the first embodiment. [Figure 6] FIG. 6 is an exemplary schematic side view of a part of the lifting device of the second embodiment. [Figure 7] FIG. 7 is an exemplary schematic side view of a part of the lifting device of the third embodiment. [Figure 8] FIG. 8 is an exemplary schematic side view of a part of the lifting device of the fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] Exemplary embodiments of the present invention are disclosed below. The configurations of the embodiments described below, as well as the actions and results (effects) obtained from the configurations, are merely examples. The present invention can also be realized by configurations other than those disclosed in the following embodiments. Furthermore, according to the present invention, it is possible to obtain at least one of the various effects (including derivative effects) obtained by the following configurations.

[0009] The following exemplary embodiments include similar configurations, and each embodiment provides similar effects based on those similar configurations. Note that, in the following, similar components are given the same reference numerals, and redundant explanations may be omitted.

[0010] Furthermore, in this specification, ordinal numbers are given for convenience to distinguish between parts, positions, etc., and do not indicate priority or order, nor do they limit the number.

[0011] Each figure also includes arrows indicating directions. The X and Y directions are approximately horizontal, and the Z direction is approximately vertically upward. The X, Y, and Z directions are perpendicular to each other. The Z direction is also referred to as the height direction.

[0012] [First embodiment] Fig. 1 is a side view of a lifting device 100 of a first embodiment. As shown in Fig. 1, when the heights of the portions on which the load 30 is placed are different between a mobile body 10 such as a truck and an entrance / exit structure 20 of a building or facility, the lifting device 10 lifts and lowers the load 30 between the mobile body 10 and the entrance / exit structure 20, thereby realizing the movement of the load 30 between the mobile body 10 and the entrance / exit structure 20.

[0013] The lifting device 100 has a placement unit 100a on which the transported object 30 is placed. The placement unit 100a moves up and down at least between a position Pa1 aligned with the movable body 10 in the X direction and a position Pa2 aligned with the entrance / exit structure 20 in the X direction. When the placement unit 100a is located at position Pa1, the transported object 30 moves between the movable body 10 and the placement unit 100a by, for example, a transport mechanism 11 provided on the movable body 10 and a transport mechanism 104 provided on the placement unit 100a. When the placement unit 100a is located at position Pa2, the transported object 30 moves between the entrance / exit structure 20 and the placement unit 100a by, for example, a transport mechanism 21 provided on the entrance / exit structure 20 and a transport mechanism 104 provided on the placement unit 100a. The transport mechanisms 11, 21, and 104 are, for example, conveyors, and various conveyors can be used as the conveyors.

[0014] The moving body 10 is configured to be movable in the X direction and the direction opposite to the X direction. The moving body 10 is, for example, a truck, but is not limited to this and may be, for example, an unmanned guided vehicle or the like.

[0015] The height at which the transported object 30 is placed on the movable body 10 (position in the Z direction, hereinafter referred to as the placement position) varies depending on specifications and individual differences. Specifically, the placement position is, for example, the height of the loading platform of a truck. The lifting device 100 of this embodiment is configured to be able to transfer the transported object 30 smoothly and without problems between the placement unit 100a and the movable body 10 even when the placement position varies depending on specifications and individual differences. Furthermore, if the movable body 10 is a vehicle with a suspension, such as a truck, the placement position changes depending on the loading state of the transported object 30. The lifting device 100 of this embodiment is configured to be able to transfer the transported object 30 smoothly and without problems between the placement unit 100a and the movable body 10 even when the placement position of the movable body 10 changes over time. A specific configuration of the lifting device 100 that can accommodate differences in specifications for the placement position of the moving body 10, individual variations, changes over time, etc. will be described later.

[0016] On the other hand, in this embodiment, the installation position of the entrance / exit structure 20 is basically fixed and does not change over time. The entrance / exit structure 20 is installed, for example, at the boundary between a building or facility and the outside, but is not limited to this and may be installed inside the building.

[0017] The transported object 30 is transported by the transport mechanisms 11, 21, 104 and the lifting device 100. The transported object 30 includes, for example, an item 31 and a pallet 32 ​​on which the item 31 is placed. A plurality of items 31 can be stacked on the pallet 32. The transported object 30 is transported on the pallet 32 ​​alone, or in the form of at least one item 31 stacked on the pallet 32. The item 31 is, for example, a product package. Note that the item 31 has, for example, a box shape, but is not limited to this.

[0018] The lifting device 100 has a mounting part 100a on which the load 30 is placed, a movable part 100b that raises and lowers the mounting part 100a, a drive mechanism 101 (see FIG. 2) that moves the movable part 100b, and the above-mentioned transport mechanism 104. In this embodiment, the movable part 100b and the drive mechanism 101 constitute a lifting mechanism that raises and lowers the mounting part 100a. The movable part 100b is configured, for example, as a link mechanism whose lower end is fixed in the Z direction and which expands and contracts in the Z direction, and the mounting part 100a is provided at its upper end. However, the configuration of the mounting part 100a and the lifting mechanism is not limited to this.

[0019] 2 is a block diagram of the lifting device 100 of the first embodiment. As shown in FIG. 2, the lifting device 100 includes a computer, and has an arithmetic processing unit 110, a main memory unit 121, and an auxiliary memory unit 122.

[0020] The arithmetic processing unit 110 is, for example, a processor (circuit). The main memory unit 121 is, for example, a random access memory (RAM) or a read only memory (ROM), and the auxiliary memory unit 122 is, for example, a hard disk drive (HDD) or a solid state drive (SSD). The arithmetic processing unit 110 reads and executes a program (application) stored in the ROM of the main memory unit 121 or the auxiliary memory unit 122. The processor operates in accordance with the program to function as the lift control unit 111, the output control unit 112, and the distance detection unit 113. In this case, the program includes program modules corresponding to the lift control unit 111, the output control unit 112, and the distance detection unit 113, respectively.

[0021] The program may be provided as an installable or executable file recorded on a computer-readable recording medium. The recording medium may also be referred to as a program product. The program may also be stored in the memory of a computer connected to a communications network and installed on the computer by being downloaded via the network. The program may also be pre-installed in a ROM or the like.

[0022] Furthermore, when at least a part of the computer is configured by hardware, the computer may include, for example, an FPGA (field programmable gate array) or an ASIC (application specific integrated circuit).

[0023] The ROM of the main memory 121 or the auxiliary memory 122 stores information used in the calculation processes performed by the lift control unit 111, the output control unit 112, and the distance detection unit 113. The information used in the calculation processes may also be written in a program.

[0024] Furthermore, the processing unit 110 is electrically connected to the driving mechanism 101, the output unit 102, and the distance sensor 201.

[0025] The lifting control unit 111 controls the drive mechanism 101, i.e., the lifting mechanism, so that the mounting unit 100a moves up and down and stops at a predetermined position. The drive mechanism 101 includes, for example, a motor, a speed reducing mechanism, and a rotary-to-linear motion conversion mechanism.

[0026] The output control unit 112 controls the output unit 102 to perform a predetermined display output or audio output. The output unit 102 is, for example, a display, a lamp, a speaker, etc. The output control unit 112 can control the output unit 102 to perform a predetermined display output or audio output at a predetermined timing, such as when the placement unit 100a is located at position Pa1 or Pa2.

[0027] Based on the detection signal of the distance sensor 201, the distance detection unit 113 detects the distance between the distance sensor 201 and the surface 10a.

[0028] Position Pa1 (see Figure 1) of the mounting section 100a is a position where the mounting section 100a and the movable body 10 are aligned in the X direction, and the transport mechanism 11, 104 can transfer the transported object 30 between the mounting section 100a and the movable body 10 in a horizontal direction intersecting the vertical direction, i.e., in the X direction or the direction opposite to the X direction.

[0029] In the moving body 10, the surface 10a (see FIG. 1) to be detected by the distance sensor 201 is a flat surface facing upward, for example, a portion of the upper surface of the base supporting the transport mechanism 11 that is shifted in the Y direction or in the opposite direction to the Y direction from the transport mechanism 11. The surface 10a need not be located at the top end of the moving body 10, as long as there are no obstacles above it that the distance sensor 201 cannot detect. The surface 10a is an example of a surface to be detected.

[0030] As an example, when the protruding height of the transport mechanism 11 from the surface 10a of the movable body 10 is the same as the protruding height of the transport mechanism 104 from the upward-facing surface 100a1 of the mounting section 100a, position Pa1 is the position where the surface 10a and the surface 100a1 are approximately aligned in the X direction.

[0031] As described above, the position of the surface 10a in the Z direction can change in various ways, such as positions Pb0, Pb1, and Pb2 in Fig. 1, depending on differences in the specifications of the placement position of the movable body 10, individual variations, changes over time, etc. Therefore, in this embodiment, a distance sensor 201 is provided.

[0032] As shown in FIG. 1, the distance sensor 201 is a non-contact sensor that is positioned above the surface 10a and outputs a detection signal according to the distance from the surface 10a, and specifically, is, for example, a laser displacement meter.

[0033] The lifting control unit 111 calculates the position Pa1 of the mounting unit 100a corresponding to the position of the moving body 10 in the Z direction based on the distance obtained from the detection signal of the distance sensor 201, and controls the drive mechanism 101, i.e., the lifting mechanism, so that the mounting unit 100a stops at the position Pa1.

[0034] The output of a detection signal by the distance sensor 201, the calculation of the distance by the distance detection unit 113, the calculation of the position Pa1 by the elevation control unit 111 based on the distance, and the control of the drive mechanism 101 to stop the mounting unit 100a at the position Pa1 are performed appropriately at predetermined timings, i.e., at the timing when the movable body 10 is replaced or at the timing when the mounting unit 100a descends toward the position Pa1. Therefore, according to this embodiment, the mounting unit 100a can be stopped at an appropriate position Pa1 corresponding to the movable body 10, regardless of differences in the mounting position of the movable body 10 due to differences in specifications, individual variations, changes over time, etc.

[0035] On the other hand, position Pa2 (see Figure 1) of the mounting section 100a is a position where the mounting section 100a and the entrance / exit structure 20 are aligned in the X direction, and the transport mechanism 21, 104 can transfer the transported object 30 between the mounting section 100a and the entrance / exit structure 20 in a horizontal direction intersecting the vertical direction, i.e., in the X direction or the direction opposite to the X direction.

[0036] As an example, when the protruding height of the conveying mechanism 21 from the upward-facing surface 20a of the entrance / exit structure 20 is the same as the protruding height of the conveying mechanism 104 from the surface 100a1 of the loading section 100a, position Pa2 is a position where the surface 20a and the surface 100a1 are approximately aligned in the X direction.

[0037] When the position of the entrance / exit structure 20 in the Z direction is unchanged, the position Pa2 of the mounting unit 100a is also unchanged. In this case, with regard to the alignment of the mounting unit 100a in the Z direction with respect to the entrance / exit structure 20, basically, it is not necessary to control the position of the mounting unit 100a in the Z direction based on the detection signal of the distance sensor 201.

[0038] 3 is a side view of a portion of the lifting device 100 of the first embodiment, showing a normal use state. The distance sensor 201 is supported by a support member 202A. When positioned above the surface 10a, the distance sensor 201 emits a laser beam downward toward the surface 10a, receives the laser beam reflected by the surface 10a, and outputs a detection signal indicating the distance from the surface 10a.

[0039] The mounting portion 100a is provided with a rail 203 extending in the X direction, and a base 202a as a part of a support member 202A is supported on the rail 203 so as to be slidable in the X direction and the direction opposite to the X direction. The base 202a and the rail 203 constitute a linear motion mechanism 204 that linearly moves the support member 202A and the distance sensor 201 relative to the mounting portion 100a.

[0040] The linear motion mechanism 204 enables the entire support member 202A to move between positions Pc1 and Pc2 relative to the mounting unit 100a and to stop at each of the positions Pc1 and Pc2. The movement and stopping of the base 202a, i.e., the support member 202A along the rail 203, may be performed manually or electrically in response to the operation of an operation button or the like.

[0041] When the support member 202A is located at the position Pc1, the distance sensor 201 is located on the surface 10a and is able to measure the distance to the surface 10a. The position Pc1 is an example of a measurement position.

[0042] On the other hand, when the support member 202A is located at position Pc2, the distance sensor 201 moves out from above the surface 10a and becomes unable to make measurements. Also, the support member 202A and the distance sensor 201 move entirely into area A2, which is out of area A1 above the moving object 10. Position Pc2 is an example of a retracted position.

[0043] When the support member 202A is located at the position Pc2, the distance sensor 201 and the support member 202A will not interfere with the moving body 10 even if the mounting section 100a is accidentally lowered excessively.

[0044] In other words, according to this embodiment, the lifting device 100 is equipped with a linear motion mechanism 204 that enables the support member 202A to move between positions Pc1 and Pc2, and by retracting the distance sensor 201 and the support member 202A to position Pc2, even if the mounting section 100a is raised or lowered due to erroneous operation or malfunction of the lifting mechanism, the distance sensor 201 and the support member 202A can be prevented from interfering with the moving body 10 and being damaged.

[0045] Furthermore, as shown in Figure 1, when a vertically movable shutter 40 is provided on the opposite side of the entrance / exit structure 20 with respect to the lifting device 100, position Pc2 can be a position that does not interfere with the shutter 40 positioned in a closed position (e.g., a lowered position).

[0046] In other words, according to this embodiment, the lifting device 100 is equipped with a linear motion mechanism 204 that enables the support member 202A to move between positions Pc1 and Pc2, and by retracting the distance sensor 201 and the support member 202A to position Pc2, even if the shutter 40 is positioned in a lowered closed position due to erroneous operation or malfunction, the distance sensor 201 and the support member 202A can be prevented from interfering with and being damaged by the shutter 40.

[0047] 3, in this embodiment, the support member 202A has a base portion 202a and a tip portion 202b, and the base portion 202a and the tip portion 202b are connected to be rotatable around a rotation center C along the Y direction. In other words, the base portion 202a and the tip portion 202b are connected via a rotation mechanism 205. The distance sensor 201 is attached to the tip portion 202b. The tip portion 202b may also be referred to as a movable portion.

[0048] In a normal use state, i.e., a measurement state, the tip portion 202b extends from the connection portion with the base portion 202a toward the top of the movable body 10 in the opposite direction to the X direction. That is, the base portion 202a supports the tip portion 202b in the state shown in Fig. 3. The tip portion 202b is connected to the base portion 202a in a state in which it can rotate clockwise as viewed in Fig. 3 around a rotation center C. Rotation of the tip portion 202b in the counterclockwise direction from the state shown in Fig. 3 is restricted by the base portion 202a.

[0049] FIG. 4 is a side view of a portion of the lifting device 100 of the first embodiment, showing a state in which the support member 202A is located at position Pc1 and the placement unit 100a has overrun downward beyond position Pa1 (see FIG. 1). As described above, in this embodiment, the tip end 202b is connected to the base 202a so as to be rotatable clockwise around the rotation center C as viewed from the line of sight of FIG. 3. Therefore, as shown in FIG. 4, if the distance sensor 201 or the tip end 202b interferes with the moving body 10 due to the downward overrun of the placement unit 100a, the distance sensor 201 or the tip end 202b is pressed relative to the moving body 10, rotates clockwise around the rotation center C as viewed from the clockwise direction of FIG. 4, and moves away to the side of the moving body 10, in the X direction in the example of FIG. 4. If the support member were configured without the rotation mechanism 205 and such interference occurred, the support member or the distance sensor 201 could be damaged. In this regard, in this embodiment, the support member 202A has a rotation mechanism 205, and even if such interference occurs, the distance sensor 201 and the tip portion 202b can escape to the side of the moving body 10, thereby preventing damage to the distance sensor 201 and the support member 202A. The rotation mechanism 205 is an example of a retraction mechanism.

[0050] FIG. 5 is a plan view of a portion of the lifting device 100 of the first embodiment. As shown in FIG. 5, the lifting device 100 includes multiple support members 202A and distance sensors 201 provided on each of the support members 202A. As an example, a pair of the support member 202A and the distance sensor 201 (hereinafter referred to as a subassembly) is provided at each end of the placement unit 100a in the Y direction and in the opposite direction to the Y direction. In this case, a worker on-site can select and use any one of the multiple subassemblies depending on ease of use, surrounding conditions, etc. FIG. 5 illustrates a case where only the subassembly located at the end in the opposite direction to the Y direction (the right side in FIG. 5) is used. In this case, the support member 202A of the subassembly on the right side in FIG. 5 that is used may be positioned at position Pc1, and the support member 202A of the subassembly on the left side in FIG. 5 that is not used may be positioned at position Pc2. In other words, according to this embodiment, the lifting device 100 is provided with multiple subassemblies, i.e., multiple distance sensors 201 and multiple support members 202A, which provides advantages such as improved ease of use for the worker and more reliable position control of the mounting section 100a based on the detection signal of the distance sensor 201 regardless of the surrounding environment.

[0051] The lift control unit 111 may also execute control using distances obtained from detection signals of the plurality of distance sensors 201. Specifically, for example, the lift control unit 111 may execute control of the placement unit 100a based on an average value of distances obtained from detection signals of the plurality of distance sensors 201. The lift control unit 111 may also calculate an inclination from a difference in distances obtained from detection signals of the plurality of distance sensors 201, and if the difference or the inclination exceeds a corresponding threshold, it may determine that an abnormality has occurred and control the drive mechanism 101 to stop lifting, and in that case, the output control unit 112 may control the output unit 102 to execute a predetermined alarm output.

[0052] According to the above-described embodiment, it is possible to realize the lifting device 100 that can stop the placement part 100a at an appropriate position Pa1 corresponding to the movable body 10 with a relatively simple configuration, regardless of differences in specifications for the placement position of the movable body 10, variations in individual differences, changes over time, etc. Furthermore, it is possible to realize the lifting device 100 that is less likely to be damaged even in the event of erroneous operation or malfunction, etc., by using the linear motion mechanism 204 as the movement mechanism and the rotation mechanism 205 as the retraction mechanism.

[0053] [Second embodiment] Fig. 6 is a side view showing a portion of the lifting device 100 of the second embodiment. As shown in Fig. 6, in this embodiment, a support member 202B has, in part, a flexible arm 202c whose shape can be freely changed and set. In the example of Fig. 6, the flexible arm 202c is located between the base 202a and the tip 202b. The flexible arm 202c has, for example, a plurality of small pieces connected in series, and is configured so that adjacent small pieces, the small pieces and the base 202a, and the small pieces and the tip 202b are connected to each other so as to be rotatable relative to each other and can maintain their relative rotational positions by friction with each other.

[0054] With this configuration, an operator can appropriately change the shape of the flexible arm 202c, thereby obtaining the following effects: for example, the distance sensor 201 can be placed in a position where the intensity of the detection signal is stronger, or the distance sensor 201 can be placed in a position where it does not interfere with other parts of the moving body 10, and the usability for the operator can be improved. Note that the shape, structure, arrangement, etc. of the flexible arm 202c are not limited to the example in FIG. 6.

[0055] Furthermore, the flexible arm 202c may be configured to function as a retraction mechanism 206 that moves at least a part of the distance sensor 201 or the support member 202B to the side of the movable body 10 when it interferes with the movable body 10. The flexible arm 202c may also be referred to as a buffer mechanism. Furthermore, the flexible arm 202c may be configured so that the distance sensor 201 and the support member 202B are entirely removed from above the movable body 10 when the flexible arm 202c is in an upwardly extended position. In this case, the position of the support member 202B in this extended position is the retracted position. With this configuration, the linear motion mechanism 204 is not necessary, and the device configuration can be further simplified, resulting in effects such as a reduction in the weight of the lifting device 100 and a reduction in manufacturing effort and cost.

[0056] [Third embodiment] 7 is a side view showing a portion of the lifting device 100 of the third embodiment. In this embodiment, the rotation mechanism 205 is configured to function as both a moving mechanism and a retracting mechanism. That is, the base 202a is fixed to the placement unit 100a. The rotation mechanism 205 supports the tip 202b of the support member 202C relative to the base 202a and the placement unit 100a so that the tip 202b can rotate about a rotation center C between a position Pc1 in the same position and attitude as in the first embodiment (see FIG. 3) and a position Pc2 above the base 202a.

[0057] When the tip 202b is located at position Pc1, the distance sensor 201 is located on the surface 10a and is able to measure the distance to the surface 10a. Position Pc1 is an example of a measurement position.

[0058] On the other hand, when the tip 202b is located at position Pc2, the distance sensor 201 moves out from above the surface 10a and becomes unable to perform measurements. Also, the support member 202A and the distance sensor 201 as a whole move out of the area A1 above the movable body 10 and into area A2. Position Pc2 is an example of a retracted position.

[0059] In this case, the support member 202C may have a lock pin 205a that locks the tip portion 202b to the base portion 202a at position Pc2. For example, an operator can unlock the tip portion 202b from the base portion 202a by pulling out the lock pin 205a, and rotate the tip portion 202b counterclockwise in FIG. 7 from position Pc2 to position Pc1. Alternatively, an operator can rotate the tip portion 202b clockwise in FIG. 7 from position Pc1 to position Pc2, and then insert the lock pin 205a to lock the tip portion 202b in an upward position relative to the base portion 202a.

[0060] In this manner, in this embodiment, the rotation mechanism 205 can function as a movement mechanism.

[0061] Also in this embodiment, the base 202a supports the tip 202b in the state shown in Fig. 7, and the tip 202b is connected to the base 202a in a state in which it can rotate clockwise as viewed in Fig. 7 around the rotation center C. Therefore, when the mounting unit 100a overruns downward beyond position Pa1 (see Fig. 1) with the tip 202b located at position Pc1, the rotation mechanism 205 allows the distance sensor 201 and the tip 202b to escape to the side of the moving body 10, in the X direction in the example of Fig. 7, as in Fig. 4, and thus damage to the distance sensor 201 and the support member 202C can be suppressed. That is, in this embodiment, the rotation mechanism 205 also functions as a retraction mechanism.

[0062] The above-described present embodiment also provides the same effects as those of the first embodiment. Furthermore, according to the present embodiment, the rotation mechanism 205 functions as both a moving mechanism and a retracting mechanism, and therefore the device configuration can be simplified, resulting in effects such as a reduction in the weight of the lifting device 100 and a reduction in the manufacturing effort and cost.

[0063] [Fourth embodiment] 8 is a side view showing a portion of the lifting device 100 of the fourth embodiment. This embodiment shows an application example in which the movable body 10 is located at a position higher than the entrance structure 20. In this embodiment, the support member 202D has an extension portion 202d extending in the vertical direction between the base portion 202a and the tip portion 202b when the support member 202D is located at position Pc1. By having this extension portion 202d, even when the movable body 10 is located at a position higher than the entrance structure 20, interference between the support member 202D and the distance sensor 201 and the movable body 10 can be avoided when the placement unit 100a is located at position Pa1, position Pa2, or between positions Pa1 and Pa2.

[0064] In this case, the extension 202d of the support member 202D may have an extension mechanism 207 that can change its length in the vertical direction. The extension mechanism 207 has, for example, a plurality of pipes connected in series with a nested structure, and has a configuration in which adjacent pipes are connected to each other so that they can expand and contract and maintain their relative positions (lengths) by friction with each other.

[0065] With this configuration, an operator can change or adjust the length of the extension / retraction mechanism 207 as needed, thereby obtaining the effect that, for example, the distance sensor 201 can be disposed at a position where the intensity of the detection signal is stronger within a range where there is no interference between the support member 202D and the distance sensor 201 and the moving body 10. Note that the shape, structure, arrangement, etc. of the extension / retraction mechanism 207 are not limited to the example in FIG.

[0066] As described above, the lifting device 100 of this embodiment can also be applied when the moving body 10 is located at a higher position than the entrance structure 20.

[0067] While the embodiments of the present invention have been described above, they are merely examples and are not intended to limit the scope of the invention. The above embodiments can be implemented in various other forms, and various omissions, substitutions, combinations, and modifications can be made without departing from the spirit of the invention. Furthermore, the specifications of each configuration, shape, and the like (structure, type, direction, model, size, length, width, thickness, height, number, arrangement, position, material, etc.) can be appropriately modified and implemented. [Explanation of symbols]

[0068] 10...Mobile 10a... surface (detection surface) 11...Transport mechanism 20…Entrance / exit structure 20a...side 21...Transport mechanism 30...Transported object 31...Goods 32...Palette 40...Shutter 100...Lifting device 100a...Placement section 100a1…plane 100b... Movable part (lifting mechanism) 101...Drive mechanism (lifting mechanism) 102...Output section 104...Transport mechanism 110...arithmetic processing unit 111...Lift control section 112...Output control unit 113...Distance detection unit 121...Main memory section 122…Auxiliary storage unit 201...Distance sensor 202A to 202D...Support members 202a...Base 202b...Tip 202c...Flexible arm 202d…Nobube 203...Rail 204...Linear motion mechanism (movement mechanism) 205...Rotation mechanism (evacuation mechanism, movement mechanism) 205a...lock pin 206...Retraction mechanism 207…Extension mechanism A1…area A2…area C...center of rotation Pa1,Pa2…position Pb0,Pb1,Pb2…Position Pc1...Position (measurement position) Pc2...Position (retracted position) X…direction Y...direction Z…direction

Claims

1. a lifting mechanism that lifts and lowers a placement section on which an object to be transported is placed; a distance sensor that is positioned above a detection surface of a moving object and outputs a detection signal indicating the distance from the detection surface; a support member that is provided on the placement section and that supports the distance sensor but does not support the object; a moving mechanism that can move at least a part of the support member relative to the placement section between a measurement position where the distance sensor is located above the detection surface and a retracted position where the distance sensor and the support member are not located above the movable body; a lifting control unit that controls the lifting mechanism based on the detection signal so that the placement unit is aligned with the movable body at a position where the transported object can be delivered laterally without being passed through the support member; and A lifting device comprising:

2. When a movable shutter is provided which moves between an open position and a closed position, and in the open position the storage section is aligned with a shift in a first direction, which is the horizontal direction, relative to the movable body, thereby enabling the transported object to be transferred between the storage section and the movable body, and in the closed position the shutter intersects with the first direction and is positioned with a shift in the opposite direction to the first direction relative to the lifting mechanism, The lifting device according to claim 1 , wherein the support member is arranged in the retracted position so as not to interfere with the movable shutter when the support member is moved away from the movable shutter in the first direction relative to the movable shutter positioned at the closed position.

3. The lifting device according to claim 1, further comprising a retraction mechanism that moves at least a portion of the distance sensor or the support member to the side of the moving body when the distance sensor or the support member interferes with the moving body.

4. The lifting device according to claim 1 , wherein the moving mechanism includes a linear movement mechanism that linearly moves at least a part of the support member relative to the placement section.

5. The lifting device according to claim 1 , wherein the moving mechanism includes a rotation mechanism that rotates at least a part of the support member relative to the placement section.

6. The lifting device according to claim 3 , wherein the retracting mechanism comprises a rotation mechanism that rotates at least a part of the support member relative to the placement section.

7. The lifting device according to claim 3 , further comprising a rotation mechanism that rotates at least a portion of the support member relative to the placement section, the rotation mechanism functioning as the movement mechanism and the retraction mechanism.

8. The support member includes a plurality of support members, The lifting device according to claim 1 , wherein each of the support members is provided with a distance sensor.

9. 9. The lifting device according to claim 1, wherein the support member has a flexible arm whose shape can be changed.

10. 9. The lifting device according to claim 1, wherein the support member has an extension that extends in the vertical direction when the support member is positioned at the measurement position.

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