Detection device

Abstract

To provide a detection device capable of detecting an uneven load of an article without damaging a conveyor.SOLUTION: A detection device 1 is disposed at an end position EP of a carrying-in conveyor 2 and detects an uneven load of an article A. The detection device 1 includes: the carrying-in conveyor 2 that conveys the article A in a conveying direction D1; a support member 31 that is disposed inside the carrying-in conveyor 2 and is capable of rising from a first low position 1LP to a first high position 1HP that is higher than a conveying surface 2a; auxiliary members 32 arranged on both outer sides of the support member 31; and tilt detection means 47 capable of detecting a tilt of the article A lifted by the support member 31 in a lateral direction D2. The auxiliary members 32 can prevent the article A from coming into contact with the carrying-in conveyor 2 by supporting the article A that has been lifted to a first high position 1HP and tilted by the auxiliary members 32.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present disclosure relates to a detection device that detects an unbalanced load of an article conveyed by a conveyor.

Background Art

[0002] Conventionally, there is known a technology in which articles are held by pallets, and the pallets are conveyed by a conveying device. For example, the device described in Patent Document 1 is applied to tire storage warehouses and the like, and converts the posture of tires into a stacked state while restricting the movement of tires on the pallet. This suppresses displacement between tires and allows stacked tires to be conveyed easily.

Prior Art Literature

Patent Literature

[0003]

Patent Literature 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] According to the above-described conventional device, problems such as failure of the crane chuck to insert into the tire group can be avoided, and the efficiency of carrying-out work of the tire group is improved. On the other hand, when conveying an article by a conveyor, if an unbalanced load of the article occurs in the lateral direction orthogonal to the conveying direction, there is a risk that it may lead to problems in conveyance or transfer by a crane. Accordingly, there is a need for a detection device that detects an unbalanced load of an article. It is also important not to damage the conveyor that supports the article when detecting the unbalanced load of the article.

[0005] The present disclosure describes a detection device capable of detecting an unbalanced load of an article without damaging the conveyor.

Means for Solving the Problem

[0006] One aspect of the present disclosure is a detection device for detecting uneven loading of an article supported by a conveyor, which is positioned at a predetermined location on the conveyor and has a conveying surface for supporting the article and for conveying the article in a first direction; a support member positioned at a predetermined location, spaced apart in a second direction perpendicular to the first direction inside the conveyor, and capable of rising from a first low position lower than the conveying surface to a first high position higher than the conveying surface; auxiliary members positioned at a predetermined location, on both sides of the support member, and capable of rising from a second low position lower than the conveying surface to a second high position higher than the conveying surface and lower than the first high position; and a tilt detection means capable of detecting the tilt of the article lifted by the support member in a second direction, wherein the auxiliary member can prevent the article from coming into contact with the conveyor by supporting the article, which has been lifted to the first high position and tilted, with the auxiliary member located at the second high position.

[0007] According to this detection device, the tilt detection means detects the tilt of an article lifted by a support member in a second direction. The tilted article is supported by an auxiliary member, preventing it from coming into contact with the conveyor. This makes it possible to detect uneven loading of the article without damaging the conveyor.

[0008] The detection device may further include a lifter that raises and lowers the support member and the auxiliary member together. In this case, the raising and lowering of the support member and the auxiliary member can be performed by a common (single) lifter, simplifying the configuration.

[0009] The tilt detection means may include a pair of distance measuring sensors positioned on both outer sides in the second direction of the support member, each capable of measuring the distance to two points on the bottom surface of the article that are spaced apart in the second direction, and the tilt of the article may be detected based on the distance to two points on the lifted article. In this case, the uneven load on the article can be detected simply and reliably, regardless of which side the article is tilted to in the second direction.

[0010] The tilt detection means may have a single distance sensor positioned on either the outside of the support member in a second direction and capable of measuring the distance to one point on the bottom surface of the article, and may detect the tilt of the article based on the height of the first elevated position relative to the transport surface and the distance on the lifted article. In this case, the uneven load on the article can be detected with only one distance sensor.

[0011] The tilt detection means is a sensor capable of detecting contact between an auxiliary member and an article, and the tilt of the article may be detected by detecting contact between the auxiliary member and the article. In this case, since the auxiliary member itself detects contact with the tilted article, the uneven load on the article can be detected with a small number of parts.

[0012] The support member may allow the distance between the outer support endpoints in the second direction to be changed according to the shape or weight of the article. In this case, it is possible to detect appropriate eccentric loads according to the shape or weight of the article. [Effects of the Invention]

[0013] According to this disclosure, it is possible to detect uneven loading of items without damaging the conveyor. [Brief explanation of the drawing]

[0014] [Figure 1] Figure 1 is a schematic plan view showing a transport system to which a detection device according to one embodiment of the present disclosure is applied. [Figure 2] Figure 2 is a plan view of the detection device positioned at a predetermined location on the conveyor. [Figure 3] Figure 3 is a side view of the detection device shown in Figure 2. [Figure 4] Figure 4 is a block diagram showing the configuration of the detection device. [Figure 5] Figures 5(a), 5(b), and 5(c) are a top view, front view, and side view of an example of an article, respectively. [Figure 6] Figure 6 is a side view showing the state in which an object is lifted in the detection device shown in Figures 2 and 3. [Figure 7]Fig. 7(a) is a diagram for explaining an unbalanced load of an article, and Fig. 7(b) is a diagram for explaining tilt detection by a distance measuring sensor. [Figure 8] Figs. 8(a) and 8(b) are diagrams for explaining tilt detection by a single distance measuring sensor in a detection device according to a modified example. DETAILED DESCRIPTION OF EMBODIMENTS

[0015] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the description of the drawings, the same elements are denoted by the same reference signs, and repeated descriptions are omitted. In the drawings, for convenience of explanation, each configuration according to the embodiment is illustrated with an appropriately changed scale. An XYZ orthogonal coordinate system is additionally shown in some drawings. In the following description, this coordinate system is referred to for ease of explanation.

[0016] First, with reference to Fig. 1, a conveyance system S to which the detection device 1 according to the present embodiment is applied will be described. As shown in Fig. 1, the conveyance system S includes, for example, an automated warehouse 200 that stores articles A in storage shelves 200a, a warehousing conveyor 2 which is a conveying device for loading articles A into the automated warehouse 200, a delivery conveyor 3 which is a conveying device for unloading articles A from the automated warehouse 200, and a plurality of transport vehicles 100. The conveyance system S is installed, for example, in a building (not shown). A part of the conveyance system S (such as a station and / or a conveyor) may be installed outside the building.

[0017] The automated warehouse 200 includes storage shelves 200a (also called racks) for storing articles A, a warehousing device 4, a delivery device 5, a stacker crane 10 that travels along a track, and the like. Each conveyor is appropriately installed according to the layout of a warehouse or a station in the building. Various conveyors provided in the conveyance system S can convey articles A.

[0018] Each of the conveyors 100 is, for example, a forklift. As shown in FIGS. 5(a) to 5(c), the article A includes, for example, a pallet B and one or more tires T or the like loaded on the pallet B. The cargo loaded on the pallet B is not limited to the tires T. The size and shape of the pallet B, as well as the size, shape and type of the cargo loaded on the pallet B are not particularly limited.

[0019] As shown in FIG. 1, FIG. 5(b) and FIG. 5(c), in the detection device 1, an unbalanced load occurring in the lateral direction D2 of the article A is detected. The conveyor 100 is operated by an operator and conveys the article A while moving in a warehouse. Fork holes Ba, Ba and fork holes Bb, Bb are provided in the support base (main body) of the pallet B of the article A so that the forks of a forklift can be inserted from any surrounding direction (side direction). The article A may be conveyed using any of the fork holes, but the article A is placed at the end position (predetermined position) EP of the warehousing conveyor 2 such that the conveying direction (first direction) D1 of the article A matches (corresponds to) the conveying direction (Y direction in the drawing) of the warehousing conveyor 2. The conveyor 100 that conveys the article A may access the end position EP of the warehousing conveyor 2 from any direction.

[0020] As shown in FIGS. 5(a) to 5(c), in the article A, an unbalanced load may occur due to factors such as the position of the tire T (cargo) at least in the lateral direction (second direction) D2 orthogonal to the conveying direction D1. For example, a positioning mechanism Bc (such as a receiving surface or a guide member) for the tire T in the conveying direction D1 may be provided on the loading surface of the pallet B. The outer frame of the pallet B may regulate the position of the tire T in the conveying direction D1. However, the positioning mechanism or position regulation mechanism in the conveying direction D1 is not essential. On the other hand, on the pallet B, tires can be freely placed in the lateral direction D2. Whether one tire T is loaded or a plurality of tires T are arranged in the lateral direction D2, the overall center of gravity of the plurality of tires T can change in the lateral direction D2. The center of gravity of the pallet B is located on the center line or center plane C (see FIG. 7(a)), and when the center of gravity of the tire T (cargo) changes in the lateral direction D2, an unbalanced load may occur on the entire article A.

[0021] In the automated warehouse 200, the slide forks (not shown) of the stacker crane 10 are inserted from a direction perpendicular to the lateral direction D2 (i.e., along the transport direction D1) to transfer item A. That is, item A is transferred using the fork holes Ba shown in Figure 5(b). If excessive uneven load occurs, it may interfere with the transfer using the slide forks of the stacker crane 10. Therefore, in this embodiment, a detection device 1 is incorporated at the end position EP of the receiving conveyor 2. The detection device 1 will be described below.

[0022] The detection device 1 is positioned at the end position EP of the receiving conveyor 2. Note that the predetermined position where the detection device 1 is positioned is not limited to the end position EP, but may be at any intermediate position on the conveyor. The detection device 1 is installed so as not to physically interfere with the transport on the receiving conveyor 2. The detection device 1 detects uneven load on item A supported by the receiving conveyor 2. Item A is transported while resting on the transport surface 2a of the receiving conveyor 2.

[0023] As shown in Figures 2 and 3, the receiving conveyor 2 has a pair of transport rails 21 that extend in the Y direction (extending parallel to each other). The upper surface of the chain transport section 21a of the transport rails 21 forms a transport surface 2a that supports the article A. The bottom surface X of the article A (corresponding to the bottom surface of pallet B in this embodiment) comes into contact with the chain transport section 21a (transport surface 2a) of the receiving conveyor 2. On the outside of the transport rails 21, a plurality of guide sections 22 are provided at appropriate positions to guide the introduction of the article A in the lateral direction D2 (X direction).

[0024] The detection device 1 has a pair of base beams 23 that extend in the X direction and are spaced apart in the Y direction. At the end position EP, the detection device 1 includes a pair of parallel support members 31 and a pair of parallel auxiliary members 32. The pair of support members 31 are spaced apart in the X direction inside the receiving conveyor 2, that is, inside the transport rails 21. Here, the X direction corresponds to the lateral direction D2. The pair of auxiliary members 32 are positioned on both sides of the pair of support members 31 at the end position EP. The auxiliary members 32 are also spaced apart in the X direction, and their lateral distance D2 is greater than the distance D2 of the support members 31. The distance between the outer support endpoints of the pair of auxiliary members 32 is less than the total length of the lifting frame 24 and less than the distance between the transport rails 21. Each of the support members 31 and auxiliary members 32 is made of, for example, a steel material with a rectangular cross-section. The material and cross-sectional shape of the support member 31 and the auxiliary member 32 are not particularly limited, as long as they satisfy the required strength to support article A.

[0025] In the normal state before the detection of eccentric loads begins, the upper surfaces of the pair of support members 31 are located at the first low position 1LP. Also in the normal state, the upper surfaces of the pair of auxiliary members 32 are located at the second low position 2LP. The pair of support members 31 are integrally mounted, for example, on a pair of horizontal lifting frames 24, and the positions of the upper surfaces of the pair of support members 31 are always equal. Similarly, the pair of auxiliary members 32 are integrally mounted, for example, on a pair of horizontal lifting frames 24, and the positions of the upper surfaces of the pair of auxiliary members 32 are always equal.

[0026] The detection device 1 includes a lifter 25 that raises and lowers a pair of support members 31 and a pair of auxiliary members 32 together. The lifter 25 includes, for example, a pair of lifting frames 24 installed spaced apart in the Y direction, four lifting cams 26 that contact contact portions 24a provided at the four corners of the lower surface of the lifting frames 24, and a lifting motor 28 that rotates one of the rotation shafts 27 of the four lifting cams 26. The pair of lifting frames 24 are attached to the receiving conveyor 2 so that they can be guided and moved in the vertical direction (Z direction) by a guide frame provided on, for example, a base beam 23. The four lifting cams 26 are configured to rotate synchronously by two rotation shafts 27 that extend parallel to each other (extending in the Y direction) and a link mechanism 29 provided on the opposite side of the rotation shafts 27 from the lifting motor 28. The rotating shafts 27 are attached to (inserted through) the lifting cams 26 such that each rotating shaft 27 is positioned at a predetermined eccentric position relative to each disc-shaped lifting cam 26. The two rotating shafts and the link mechanism 29 are attached to or supported by a fixed part (frame, etc.) of the receiving conveyor 2. The lifting motor 28 is fixed to a base beam 23, etc.

[0027] Driven by the lifting motor 28, the lifter 25 synchronously rotates each lifting cam 26 to push up the lifting frame 24. A pair of support members 31 fixed on the pair of lifting frames 24, and a pair of auxiliary members 32 fixed on the lifting frame 24, rise as the lifting frame 24 rises. Driven by the lifting motor 28, the lifter 25 synchronously rotates each lifting cam 26 to lower the lifting frame 24. The pair of support members 31 and the pair of auxiliary members 32 descend due to gravity as the lifting frame 24 descends. The lifting mechanism in the lifter 25 may be equipped with a different known mechanism than the one described above. The lifting of the support members 31 and auxiliary members 32 may be achieved by other mechanical elements without using a cam mechanism and / or link mechanism.

[0028] The pair of support members 31 can be raised from a first low position 1LP, which is lower than the conveying surface 2a of the receiving conveyor 2, to a first high position 1HP, which is higher than the conveying surface 2a. In other words, the pair of support members 31 can be raised and lowered so that they are positioned (stopped) at the first low position 1LP, which is lower than the conveying surface 2a of the receiving conveyor 2, and at the first high position 1HP, which is higher than the conveying surface 2a. Similarly, the pair of auxiliary members 32 can be raised from a second low position 2LP, which is lower than the conveying surface 2a of the receiving conveyor 2, to a second high position 2HP, which is higher than the conveying surface 2a. In other words, the pair of auxiliary members 32 can be raised and lowered so that they are positioned (stopped) at the second low position 2LP, which is lower than the conveying surface 2a of the receiving conveyor 2, and at the second high position 2HP, which is higher than the conveying surface 2a. The first low position 1LP is higher than the second low position 2LP. The first high position 1HP is higher than the second high position 2HP. The stroke of the support member 31 in the Z direction (vertical direction) is determined by the diameter of the lifting cam 26, etc., but is set to a value that allows the support member 31 to lift item A at the first high position 1HP. This stroke is equal to the lift amount ΔH, which will be described later.

[0029] Furthermore, as shown in Figure 7(b), the imaginary plane connecting the outer support endpoint of one support member 31 (on the left in the figure) and the outer support endpoint of the auxiliary member 32 (on the left in the figure) passes above one chain conveying section 21a (conveying surface 2a) and does not intersect the conveying surface 2a. The imaginary plane connecting the outer support endpoint of the other support member 31 (on the right in the figure) and the outer support endpoint of the other auxiliary member 32 (on the right in the figure) passes above the other chain conveying section 21a (conveying surface 2a) and does not intersect the conveying surface 2a.

[0030] In the detection device 1, when article A is lifted to a first high position 1HP by the pair of support members 31 and tilted, the pair of auxiliary members 32 support article A with either the left or right auxiliary member 32 located in the lateral direction D2 at a second high position 2HP. In this state, article A is supported by either the left or right support member 31 and auxiliary member 32 in the lateral direction D2, and does not come into contact with the chain conveying section 21a (conveying surface 2a). Therefore, the pair of auxiliary members 32 can prevent article A from coming into contact with the receiving conveyor 2.

[0031] As shown in Figure 4, the detection device 1 includes a tilt detection means 47 capable of detecting the tilt of article A in the lateral direction D2, which is lifted by a pair of support members 31. The tilt detection means 47 will be described below. The detection device 1 includes a placement sensor 36 provided on the receiving conveyor 2, the above-mentioned lifting motor 28, for example a pair of distance measuring sensors 33 provided between the auxiliary member 32 and the transport rail 21, the above-mentioned lifting motor 28, a control / determination unit 40 that detects the tilt of article A and determines whether the uneven load is within an acceptable range, and a display 50 that displays the determination results of the control / determination unit 40.

[0032] The control and determination unit 40 includes a lifting control unit 41 that controls the lifting motor 28, a distance measurement signal acquisition unit 42 that acquires distance measurement signals from the distance measurement sensor 33, a tilt detection unit 43 that detects the tilt of item A, a bias load determination unit 44 that determines whether the bias load is within an acceptable range, and an output unit 45 that outputs the determination result. The control and determination unit 40 is an electronic control unit consisting of a processor such as a CPU (Central Processing Unit), ROM (ReadOnly Memory), and RAM (Random Access Memory).

[0033] As shown in Figures 2 and 3, the distance measuring sensor 33 is positioned approximately in the center in the Y direction and is installed between the rotation axis 27 and the transport rail 21 in a plan view. Each distance measuring sensor 33 is fixed to a fixed part of the receiving conveyor 2, such as the transport rail 21. The distance measuring sensor 33 is, for example, a laser sensor. The distance measuring sensor 33 emits laser light upward (vertically upward) toward the bottom surface X of the item A and detects the reflected light. As a result, each distance measuring sensor 33 measures the distance Da to one part to be measured Xa on the bottom surface X and the distance Db to the other part to be measured Xb on the bottom surface X, and transmits the distance measurement signal to the control / determination unit 40. That is, the pair of distance measuring sensors 33 are positioned on both outer sides in the lateral direction D2 of the pair of support members 31 and can measure the distance to two points (parts to be measured Xa, Xb) on the bottom surface of the item A that are spaced apart in the lateral direction D2.

[0034] The tilt detection means 47 detects the tilt of item A based on the distances Da and Db to two points (measured parts Xa and Xb) on item A lifted by the lifter 25. The tilt detection means 47 is composed of the distance measuring sensor 33, distance measuring signal acquisition unit 42, and tilt detection unit 43 described above. The tilt detection unit 43 may detect the tilt of item A in the lateral direction D2 based on the distances Da and Db, or it may use the input distances Da and Db themselves as the tilt of item A. The uneven load determination unit 44 stores, for example, a distance threshold corresponding to the degree of acceptable uneven load. The uneven load determination unit 44 determines that if either of the distances Da or Db is greater than or equal to the threshold (specified value), the uneven load exceeds the acceptable range and is therefore unacceptable (determination result: no). The threshold is set taking into account the deflection of pallet B, the manufacturing accuracy of pallet B, the stopping accuracy and assembly accuracy of lifter 25, etc.

[0035] As a variation, the larger of the two distances Da and Db (the one measured at the higher position, Xa or Xb) may be used for the determination. Alternatively, the difference between the measurement results from the two distance measuring sensors 33 may be calculated, and if this difference is abnormal (above a threshold), it may be determined that the uneven load exceeds the acceptable range.

[0036] The operation of the transport system S equipped with the detection device 1 will now be described. A transport vehicle 100 transports an item A, including cargo (items to be stored) such as tires T, and places the item A at the end position EP of the receiving conveyor 2. When the placement sensor 36 of the detection device 1 detects the presence of item A, the lifting control unit 41 of the control / determination unit 40 controls the lifting motor 28 of the lifter 25 to raise the lifting frame 24. At this time, to prevent the detection device 1 from mistakenly starting to detect an uneven load (operation of the lifter 25) before the transport vehicle 100 has moved backward, control may be implemented to detect when the forks have moved away from the pallet B and to take an interlock.

[0037] As the lifting frame 24 rises, the pair of support members 31 rise from the first low position 1LP to the first high position 1HP, and the pair of auxiliary members 32 rise from the second low position 2LP to the second high position 2HP (see Figure 6). During this time, the pair of support members 31 pass the level of the conveying surface 2a of the receiving conveyor 2, and the pallet B (item A) is supported and lifted by the pair of support members 31. The bottom surface X of item A leaves the conveying surface 2a. At this time, if the center of gravity of the stored item is located within the desired range in the lateral direction D2 of item A, the position of the center of gravity of item A is not a problem, and the bottom surface X is in contact with both support members 31, 31, or slightly floating from one of the support members 31 (at this time the bottom surface X does not contact the auxiliary member 32). As a result, the tilt detected by the tilt detection unit 43 is not a problem, and the uneven load determination unit 44 makes a pass judgment. Subsequently, item A is transported and stored by the receiving conveyor 2 and the receiving device 4.

[0038] On the other hand, if the center of gravity of the stored item is located outside the desired range in the lateral direction D2 of item A, the entire item A will tilt, and the bottom surface X will lift (separate) from either of the support members 31. If the tilt detected by the tilt detection unit 43 exceeds the threshold, the uneven load determination unit 44 will determine that it is unacceptable. In this case, the bottom surface X may be in contact with the auxiliary member 32, or it may be close to the auxiliary member 32 but not in contact. This situation can change depending on the threshold setting.

[0039] The output unit 45 outputs a notification indicating that the item is unacceptable, displays an error on the display 50, and provides a notification (display or voice guidance) to the effect of, "The load is unevenly distributed. Adjust its position and reload it." The lifting frame 24 is lowered by the lifter 25, and item A is placed back onto the receiving conveyor 2 (see Figure 3). If an unacceptable judgment is made, the control / judgment unit 40 or other controller may prohibit the driving of the receiving conveyor 2 (or cause an abnormal stop). In response to such an error notification, the transport vehicle 100 removes item A from the receiving conveyor 2. Correction (modification) of the uneven load on item A is performed, for example, at another location. Alternatively, the correction (modification) of the uneven load on item A may be performed on the receiving conveyor 2 (end position EP).

[0040] The concept of uneven loading in item A will be explained with reference to Figure 7(a). As shown in Figure 7(a), let's assume, for example, that the load is placed on one side of pallet B. For example, the center of gravity GW of the load is 530 mm to the left of the center line or center plane C passing through the center of gravity GP of pallet B, and as a result, the overall center of gravity GT (indicated by the downward arrow) of pallet B and the load is 400 mm to the left of the center line or center plane C of pallet B. On the other hand, the distance W between the outer support endpoints in the lateral direction D2 of the support member 31 is 600 mm, and the distance from the center line or center plane C to the outer support endpoints where item A is supported by the support member 31 is 300 mm on each side. The above values ​​are merely examples. The size of the distance W can be set as appropriate. In this state, the position of the overall center of gravity (400 mm above) exceeds the distance of 300 mm to the outer support endpoints, which is half of the distance W of 600 mm, and is determined to exceed the allowable uneven loading. For example, in this state, as shown in Figure 7(b), the bottom surface X is in contact with the auxiliary member 32.

[0041] According to the detection device 1 of this embodiment, the detection means detects the tilt of the article A in the lateral direction D2, which is lifted by a pair of support members 31. The tilted article A is supported by either of the pair of auxiliary members 32, preventing the article A from coming into contact with the receiving conveyor 2. This makes it possible to detect the uneven load on article A without damaging the receiving conveyor 2. Furthermore, in the automated warehouse 200, the transfer of article A by the slide fork of the stacker crane 10 is performed appropriately. Problems related to transfer caused by uneven loads are also prevented.

[0042] The detection device 1 includes a lifter 25 that raises and lowers a pair of support members 31 and a pair of auxiliary members 32 together. The raising and lowering of the support members 31 and auxiliary members 32 can be performed by a common (single) lifter 25, simplifying the configuration.

[0043] The tilt detection means 47 has a pair of distance measuring sensors 33 positioned on both outer sides in the lateral direction D2 of a pair of support members 31, and capable of measuring the distance to two points (measured parts Xa, Xb) on the bottom surface of article A that are spaced apart in the lateral direction D2. The tilt detection means 47 detects the tilt of article A based on the distances Da, Db to the two points (measured parts Xa, Xb) on article A lifted by the lifter 25. This makes it possible to easily and reliably detect the uneven load on article A regardless of which side it is tilted to in the lateral direction D2.

[0044] Although embodiments of the present disclosure have been described above, the present invention is not limited to the above embodiments. For example, as shown in Figures 8(a) and 8(b), the detection device 1 differs from the above embodiments in that it comprises a single support member 31. The tilt detection means may have a single distance measuring sensor 33 positioned on either the outside of the support member 31 in the transport direction D1 (second direction) and capable of measuring the distance to one point (measured part Xb) on the bottom surface X of the article A. In this case, the tilt detection means detects the tilt of article A based on the amount of rise ΔH (height) of the first high position 1HP relative to the transport surface 2a and the distance Db on the lifted article A. For example, the tilt detection means sets a reference surface at the height of the first high position 1HP and detects the tilt of article A by comparing the amount of rise ΔH (height) and the distance Db. This makes it possible to detect the uneven load of article A with only one distance measuring sensor 33.

[0045] The tilt detection means may also include a sensor capable of detecting contact between a pair of auxiliary members 32 and article A. In this case, the tilt detection means detects the tilt of article A by detecting contact between one of the pair of auxiliary members 32 and article A. Since the auxiliary member 32 itself detects contact with the tilted article A, the uneven load on article A can be detected with a small number of parts.

[0046] The pair of support members 31 may have a distance W (see Figure 7(a)) between their outer support endpoints in the lateral direction D2 that can be changed according to the shape or weight of the item A. In that case, for example, a rail extending in the lateral direction D2 and a drive device (moving device) such as an actuator are provided between the support members 31 and the lifting frame 24 so that the pair of support members 31 can slide and be fixed in the lateral direction D2 while remaining parallel on the lifting frame 24. The greater the assumed weight of the item A, the greater the distance W may be increased. The larger the shape of the item A, the greater the distance W may be increased. The position of the auxiliary member 32 is set appropriately according to the position of the support members 31 (lateral position and vertical height) and the position of the conveying surface 2a so as to be able to protect the receiving conveyor 2.

[0047] In the above embodiment, a configuration was described in which the detection device 1 includes a lifter 25 that raises and lowers a pair of support members 31 and a pair of auxiliary members 32 together, but the device is not limited to this configuration. Instead of a common (single) lifter, separate lifting devices (such as a lifter) may be provided for raising and lowering the support members and for raising and lowering the auxiliary members. Instead of a pair of auxiliary members 32, for example, a single (integrated) auxiliary member may be used. In that case, the auxiliary member may, for example, be C-shaped in plan view and have a pair of support parts arranged on both outer sides of the support members.

[0048] The display 50 may be omitted. For example, an error signal may be transmitted from the control / judgment unit 40 to the central monitoring device, or to a mobile terminal provided on the transport vehicle 100 or held by the worker, to provide error notification (notification that the item is unacceptable and that the cargo will be adjusted).

[0049] In the receiving conveyor 2, the placement sensor 36 may be omitted, and instead of the placement sensor 36, the operator may operate the buttons on the control box or remote control.

[0050] The conveyor is not limited to a chain conveyor. For example, a roller conveyor (a conveyor having multiple rollers instead of a chain) may be applied to the detection device of this disclosure.

[0051] The articles covered by the present invention are not limited to article A in the above embodiment. The articles may include a storage container such as a container or case, and the goods stored in the storage container. The size and shape of the storage container, as well as the size, shape, and type of the goods stored in the storage container, are not particularly limited.

[0052] One embodiment of the present invention has constituent elements described below. [1] A detection device positioned at a predetermined location on a conveyor for detecting uneven load on an article supported by the conveyor, A conveyor having a conveying surface that supports the article and conveying the article in a first direction, At the predetermined position, a support member is provided, which is spaced apart in a second direction perpendicular to the first direction inside the conveyor, and which can be raised from a first low position lower than the conveying surface to a first high position higher than the conveying surface. At the predetermined position, an auxiliary member is provided, which is positioned on both sides of the support member and is capable of rising from a second low position lower than the conveying surface to a second high position higher than the conveying surface and lower than the first high position. The system includes tilt detection means capable of detecting the tilt of the article lifted by the support member in the second direction, The detection device is capable of preventing the article from coming into contact with the conveyor by supporting the article, which has been lifted to the first high position by the support member and tilted, with the auxiliary member located at the second high position. [2] The detection device according to [1], further comprising a lifter for raising and lowering the support member and the auxiliary member together. [3] The tilt detection means includes a pair of distance measuring sensors positioned on both outer sides of the support member in the second direction and capable of measuring the distance to two points on the bottom surface of the article that are spaced apart in the second direction, and the detection device according to [1] or [2] detects the tilt of the article based on the distance to the two points on the lifted article. [4] The inclination detection means has a distance measuring sensor positioned on either the outside of the support member in the second direction and capable of measuring the distance to one point on the bottom surface of the article, and the detection device according to [1] or [2] detects the inclination of the article based on the height of the first elevated position relative to the transport surface and the distance on the lifted article. [5] The tilt detection means is a sensor capable of detecting contact between the auxiliary member and the article, and the detection device according to [1] or [2] detects the tilt of the article by detecting the contact between the auxiliary member and the article. [6] The detection device according to any one of [1] to [5], wherein the distance between the support members in the second direction can be changed according to the shape or weight of the article. [Explanation of Symbols]

[0053] 1...Detection device, 2...Inbound conveyor, 25...Lifter, 28...Lifting motor, 31...Support member, 32...Auxiliary member, 33...Distance sensor, 40...Control / determination unit, 43...Tilt detection unit, 44...Eccentric load determination unit, 47...Tilt detection means, A...Item, D1...Conveying direction (first direction), D2...Lateral direction (second direction), Da, Db...Distance, EP...End position (determined position), 1HP...First high position, 2HP...Second high position, 1LP...First low position, 2LP...Second low position, X...Bottom surface, Xa, Xb...Measured part.

Claims

1. A detection device positioned at a predetermined location on a conveyor for detecting uneven load on an article supported by the conveyor, A conveyor having a conveying surface that supports the article and conveying the article in a first direction, At the predetermined position, a support member is provided, which is spaced apart in a second direction perpendicular to the first direction inside the conveyor, and which can be raised from a first low position lower than the conveying surface to a first high position higher than the conveying surface. At the predetermined position, an auxiliary member is provided, which is positioned on both sides of the support member and is capable of rising from a second low position lower than the conveying surface to a second high position higher than the conveying surface and lower than the first high position. The system includes tilt detection means capable of detecting the tilt of the article lifted by the support member in the second direction, The detection device is capable of preventing the article from coming into contact with the conveyor by supporting the article, which has been lifted to the first high position by the support member and tilted, with the auxiliary member located at the second high position.

2. The detection device according to claim 1, further comprising a lifter for raising and lowering the support member and the auxiliary member together.

3. The inclination detection means comprises a pair of distance measuring sensors arranged on both outer sides of the support member in the second direction and capable of measuring the distance to two points on the bottom surface of the article that are spaced apart in the second direction, and the inclination of the article is detected based on the distance to the two points on the lifted article, as described in claim 1 or 2.

4. The inclination detection means comprises a distance measuring sensor positioned on either the outside of the support member in the second direction and capable of measuring the distance to one point on the bottom surface of the article, and the inclination of the article is detected based on the height of the first elevated position relative to the transport surface and the distance on the lifted article, as described in claim 1 or 2.

5. The inclination detection means is a sensor capable of detecting contact between the auxiliary member and the article, and the inclination of the article is detected by detecting the contact between the auxiliary member and the article, as described in claim 1 or 2.

6. The detection device according to claim 1 or 2, wherein the support member can change the distance between the outer support endpoints in the second direction according to the shape or weight of the article.

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