JP3562438B2 - Loading system - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a loading system for arranging and loading articles stored in a conveyor or the like on a truck bed.
[0002]
[Prior Art and Problems to be Solved by the Invention]
2. Description of the Related Art Conventionally, in a factory or the like, articles to be shipped are arranged in a storage station such as a conveyor and prepared, and the articles on the storage station are sequentially loaded on a truck bed by a forklift or the like from the back side. Each article is placed on a pallet, and the pallet is loaded on a truck.
[0003]
In order to improve the efficiency of such a loading operation, a loading system including a plurality of operation vehicles traveling on a straight rail was attempted. Each work vehicle has a fork. The truck is stopped at a predetermined position along the traveling route of the work vehicle. According to the work vehicle traveling on such a rail, the position at which the truck is loaded onto the carrier can be controlled by controlling the stop position of the work vehicle, and efficient loading can be performed.
The control of each work vehicle requires the control of lifting and lowering and forward movement of the fork in addition to the travel control. If all the work vehicles are controlled by one operation panel, the operation panel becomes too complicated. For this reason, a control device was mounted on each of the work carts, and an independent control was attempted. In addition, in order to efficiently perform loading according to the approach position of the truck that changes every time, the leading work vehicle is stopped in accordance with the truck platform, and in the subsequent work vehicle and the transport cycle from the second time, An attempt was made to calculate the loading position based on the first loading position of the first work vehicle.
However, there is a problem that when the first work vehicle is retracted to a maintenance line or the like for some reason, the loading position of the first work vehicle in the next cycle becomes unclear. Another problem is that when a vehicle is switched to manual operation and loaded onto a truck due to an abnormality or the like during transportation by a work vehicle, the loading position in the next cycle becomes unclear.
[0004]
SUMMARY OF THE INVENTION An object of the present invention is to provide a loading system in which even if a leading work vehicle is removed out of a route, a succeeding work vehicle can be loaded well.
Another object of the present invention is to minimize the communication with the overall control means and to shorten the loading cycle time.
Still another object of the present invention is to prevent the calculation of the loading position from being hindered even when any of the work vehicles is removed out of the route.
[0005]
[Means for Solving the Problems]
The present invention will be described with reference to FIG. 7 corresponding to the embodiment. This loading system is a loading system for loading articles (W) with a plurality of work vehicles (6) traveling along a load platform (3a) of a truck (3). A first loading position notifying means (69) for notifying at least the first loading position of the first work vehicle (6) to the subsequent work vehicle (6). It is characterized in that it is provided in the overall control means (61).
According to this configuration, the first loading position of the leading work vehicle (6) is notified to the succeeding work vehicle (6) by the leading loading position notification means (69) of the overall control means (61). Therefore, even when the leading work vehicle (6) is removed out of the route for some reason, the remaining work vehicles (6) can recognize the reference position and continue loading well. Also, in the case where the operation is switched to manual operation and loaded onto the truck (3) due to an abnormality or the like during the transportation by the work cart (6), the reference position can be similarly recognized, and the loading can be continued satisfactorily. .
[0006]
In this invention, the initial loading position storage means (64) for storing the initial loading position of the work vehicle (6) in each work vehicle (6), and the loading position is calculated based on this load position for the second and subsequent times. And a loading position calculating means (65).
In the case of this configuration, after performing the initial loading, each work vehicle (6) can calculate the loading position by the loading position calculating means (65) mounted on the work vehicle (6). Therefore, the load on the overall control device (61) can be reduced, communication can be minimized, and the cycle time of the loading operation can be reduced.
[0007]
According to the present invention, the overall control means (61) is provided with a bogie rank notifying means (70) for notifying the number of the work bogie (6) from the top for each work bogie (6). Is also good.
In the case of this configuration, the bogie ranking notifying means (70) of the overall control means (61) notifies each work bogie (6) of the number of the work bogie (6) from the top. Therefore, even if the number of the work vehicles (6) to be used fluctuates halfway, for example, when one of the work vehicles (6) is removed out of the route due to a failure or the like, the following operation is performed on each work vehicle (6). There is no problem in calculating the loading position.
[0008]
BEST MODE FOR CARRYING OUT THE INVENTION
One embodiment of the present invention will be described with reference to FIGS. As shown in the layout diagram in FIG. 1, a stop station 2 for the truck 3 is provided adjacent to the storage station 1 for articles W. The storage station 1 is composed of two rows of conveyors 4, and the palletized articles W are stored in each conveyor 4 in a line. A chain conveyor or the like is used for the conveyor 4. The storage station 1 can basically store one article W of the truck 3.
The stop station 2 is a predetermined area on the floor surface or the ground where the truck 3 enters, and is provided continuously in the conveyor extension direction of the storage station 1. The stop station 2 is provided so that the truck 3 is oriented in the same direction as the traveling direction of the conveyor 4, and the end far from the storage station 1 serves as the truck entrance 2 a. The stop station 2 is provided with a slight gradient so that the truck entrance 2a side descends (see FIG. 2).
[0009]
Rails 5 are laid along both sides of the row of the storage station 1 and the stop station 2, and a plurality of (two in the illustrated example) work vehicles 6 and one work position indicating vehicle are provided on each rail 5. 7 are installed. Each rail 5 is provided as a set of an inner rail 5a and an outer rail 5b. Each work vehicle 6 is installed over the inner and outer rails 5a and 5b, and the work position indicating vehicle 7 is installed on the inner rail 5a.
The work cart 6 serves as a loading device, and performs an operation of taking out the article W from the storage station 1 and loading the article W on the bed 3a of the truck 3.
The work position indicating trolley 7 indicates the work position, which is the first loading position on the truck 3, to the work trolley 6, and is installed at a position preceding the work trolley 6 in front of the truck. The work position indicating trolley 7 is a push-type trolley.
[0010]
A trolley wire 8 for feeding power to the work vehicle 6 is provided by a support frame 9 above the travel route of the work vehicle 6. The trolley wire 8 overlaps right above the rail 5 in FIG. As shown in FIG. 2, a current collector 10 slidably in contact with the trolley wire 8 is installed on each work vehicle 6 via a pole 11.
Note that an overhead traveling crane 12 is installed above the storage station 1 and the truck stop station 2 as shown in FIGS. The overhead traveling crane 12 travels on rails 14 provided on the ceiling of the building frame 13. As shown in FIG. 3, the truck 3 has a loading platform 3a in which the swing 3b is opened downward and the loading platform upper door 3c is opened upward.
As shown in FIG. 1, an operation panel 17 for controlling the entire system is installed near the storage station 1 or the truck stop station 2.
[0011]
As shown in FIGS. 5 and 6, the work vehicle 6 is a fork vehicle, and a mast 18 is installed on the vehicle body 6 a so as to be able to advance and retreat in a direction orthogonal to the vehicle advancing and retreating direction. A fork 19 is installed so as to be able to move up and down. Therefore, the fork 19 can move forward and backward and move up and down. The drive for moving the mast 18 forward and backward and for raising and lowering the fork 19 is performed by a mast forward and backward mechanism 20 and a fork lifting mechanism 21, respectively. Power is supplied from the trolley wire 8 to the drive motors of the mast advancing / retracting mechanism 20 and the fork elevating mechanism 21 and the traveling motor 22 of the work cart 6. The fork 19 has a shape that can be inserted into a gap between the upper surface plate and the lower surface plate of the pallet P (FIGS. 21 and 22) on which the articles W are loaded.
The fork 19 can be moved up and down with respect to the mast 18 by being installed on a fork supporting elevating body 51 which is installed to be able to move up and down on the mast 18. The fork elevating mechanism 21 raises and lowers the fork supporting elevating body 51.
[0012]
FIG. 7 shows a conceptual configuration of a control system of the loading system. Each work vehicle 6 is equipped with a vehicle control means 60 composed of a computer or the like, and operates under the control of this means 60. The carriage control means 60 of each work vehicle 3 follows a command of the common overall control means 61. The overall control means 61 is composed of the operation panel 17 (FIG. 1).
[0013]
The carriage control means 60 includes an initial loading position storage means 64, a loading position calculation means 65, a traveling control means 62 for controlling the traveling of the work vehicle 6, and a fork control means 63 for controlling the elevation and retreat of the fork 63. It has a truck order storage means 66 and a communication means 67. The traveling control unit 62 controls the bogie traveling motor 22. The fork control means 63 controls the fork elevating mechanism 21 (FIG. 5) and the mast advancing / retracting mechanism 20, and more specifically, controls the drive motors of these mechanisms. The communication unit 67 is a unit that performs communication with the communication unit 68 of the overall control unit 61. The communication means 67 and 68 perform wireless communication.
[0014]
The initial loading position storage unit 64 is a unit that stores an initial loading position when the work cart 6 repeatedly loads the articles W onto the truck 3. The loading position is, for example, data obtained by reading the traveling amount detecting means 44 of the carriage traveling motor 22 at the time of loading.
The loading position calculation means 65 is a means for calculating the second and subsequent loading positions based on the first loading position stored in the initial loading position storage means 64. The loading position can be calculated from a width of the articles W, a gap between the articles W, and the number of the arranged articles W by a predetermined arithmetic expression. When a cycle of reciprocating the plurality of work vehicles 6 is repeated, the loading position is, for example, a value obtained by adding (article width + gap between articles) × the number of carriages × the number of cycles to the initial loading position. When the loading width is regulated by the width of the pallet P, the pallet width is used as the article width.
The truck order storage means 66 is a means for storing the truck order notified from the overall control means 61 via the communication means 68 and 67.
Note that the truck control means 60 has a function of transmitting the loading position to the overall control means 61 by the communication means 67 and 68 when the truck is the leading truck and during the first cycle of loading. The cart control means 60 performs the control shown in the flowchart of FIG.
[0015]
The overall control unit 61 includes a head loading position informing unit 69, a truck order informing unit 70, and a communication unit 68.
The first loading position notifying means 69 is a means for notifying the first loading position of the first work vehicle 6 to each subsequent work vehicle 6. The initial loading position of the leading work vehicle 6 is a position transmitted from the leading work vehicle 6 via the communication means 67 and 68 as described above.
The bogie rank notifying means 70 is a means for notifying each work bogie 6 of the number of the work bogie 6 from the top after the work bogies 6 are replaced or the number of the work bogies 6 is changed. The data of the change of the number is obtained, for example, by an operator input from the operation panel 17 (FIG. 1).
[0016]
The operation of the above configuration will be described. In the storage station 1 of FIG. 1, articles W for one truck 3 are stored side by side. At this time, the articles W corresponding to each row loaded in two rows on the loading platform 3a of the truck 3 are stored in a row in each of the conveyors 4, 4 provided in two rows of the storage station 1. The truck 3 moves back to the truck stop station 2 from the truck entrance 2a and enters a predetermined position, and opens the swing 3b (FIG. 3) and the upper bed door 3c.
[0017]
In the prepared state, the work position indicating trolley 7 waiting near the storage station 1 is manually pushed to the front end position of the bed 3a of the truck 3 and moved. After positioning the work position indicating trolley 7, each operation trolley 6 controls the operation panel 17 and automatic operation under the control of the trolley control means 60 mounted on the operation trolley 6 so that each of the work trolleys 6 removes the article W from the storage station 1. An operation of taking out the pieces one by one and loading the pieces on the bed 3a of the truck 3 sequentially from the front end to the rear is performed.
The plurality of work carts 6 are loaded on the truck 3 while traveling, and the loading cycle of returning the plurality of work trucks to the storage station 1 is repeated. FIG. 7 shows an example in which loading is completed in three cycles using two work vehicles 6.
[0018]
In this automatic operation, the first loading position (stop position for loading work) of the leading work truck 6 on the truck 3 is determined by the work truck 6 detecting the work position indicating truck 7. That is, the work vehicle 6 moves forward, and stops when the traveling position detecting means 35 (FIG. 12) detects the detection target 27 of the work position indicating vehicle 7. After the work vehicle 6 adjacent to the leading side is positioned, the subsequent work vehicle 6 stops upon detecting the work vehicle 6.
When each work vehicle 6 stops at the first loading position, the loading position is stored in the initial loading position storage means 64. Among them, the first work vehicle 6 communicates the first loading position to the overall control means 61 via the communication means 67 and 68.
[0019]
At the time of loading from the next time (the next cycle), the loading position of each work vehicle 6 is calculated by the loading position detecting means 65 based on the first loading position stored in the initial loading position storage means 64. The traveling control means 62 stops the work cart 6 at the calculated loading position.
[0020]
This will be described with reference to the flowchart of FIG. This flowchart shows the control performed by the carriage control means 60. After completing the scooping of the pallets P on the conveyor 4 (step S1), each work vehicle 6 starts running (S2). It is determined whether or not it is the leading work vehicle 6 (S3). If it is not the leading vehicle 6, the traveling operation is completed (S9), and the unloading operation is started (S8).
In step S3 for determining whether or not the truck is the leading truck, if it is the leading truck, it is determined whether or not the transport is in the first cycle (S4). If it is not the first cycle, the traveling operation is completed (S9) Then, the unloading operation is started (S8). The completion of the traveling operation in step S9 is determined by the detection of the leading bogie or the loading position calculated from the previous loading position, as described above, depending on the case.
If it is the first carriage and the transport of the first cycle, the carriage stops upon detection of the work position indicating carriage 7 (S5), and the traveling operation is completed (S6). Thereafter, the operation panel 17 is notified of the arrival position. That is, the loading position is notified to the overall control means 61 (S7). Thereafter, the unloading operation is started (S8).
[0021]
According to this loading system, the first loading position of the leading work vehicle 6 is notified to the succeeding work vehicle by the leading loading position notification means 69 of the overall control means 61 in this way. Therefore, in order to control the loading position of each subsequent work vehicle 6 based on the first load position of the first work vehicle 6, the first work vehicle 6 is removed or retracted to a maintenance line (not shown) or the like. Even if it is done, it is possible to recognize the reference position on the subsequent work vehicle 6 and to continue loading well.
After the first loading of each work vehicle 6, the loading position is calculated by the loading position calculating means 64 mounted on the working vehicle 6. Therefore, communication with the overall control device 61 can be minimized, and the cycle time of the loading operation can be reduced.
When the number of the work vehicles 6 is changed or replaced, the number of work vehicles 6 is notified to each work vehicle 6 from the vehicle position notification means 70 of the overall control means 61 from the top. . Therefore, even if there is a change in the number of vehicles, there is no problem in calculating the next loading position in each work vehicle 6.
[0022]
Next, details of each part of the loading system will be described. The work position indicating cart 7 will be described with reference to FIGS. As shown in FIG. 17, the work position indicating trolley 7 is positioned relative to the end of the pallet 3a of the truck 3 and stops relative to the subsequent trolley 6 (FIGS. 1 and 16). And a detection target 27 that indicates the position.
The work position indicating cart 7 includes guide rollers 23 guided by the rails 5 and casters 24 grounded near the rails 5 provided on the cart body 7 a as running wheels, and slidably contacts the upper surface of the rails 5. It has a brush 25. The position of the side surface of the work position indicating trolley 7 on the side facing the truck, that is, the amount of protrusion B1 from the rail 5 is substantially the same as the amount of protrusion B2 of the work vehicle 6 (FIG. 5). The protrusion amount B2 of the work cart 6 is a protrusion amount when the fork retreats.
[0023]
The carrier corresponding positioning means 26 is provided with a carrier contact member 28 so as to be able to freely enter and exit laterally from the work position indicating carriage 7. The carrier abutment member 28 is configured to abut on the front end surface of the carrier 3a of the truck 3 in a protruding state, and more specifically, is provided so as to abut on the front end surface of the tilting tilt 3b. The carrier contact member 28 is supported by a support member 29 provided on the carriage body 7a so as to be rotatable up and down around a support pin 30, so that the carriage can be moved in and out of the carriage side. The hole of the carrier contact member 28 through which the support pin 30 is inserted is formed in a long hole 31, and the adjustment of the amount of movement of the carrier contact member 28 within the long hole 31 within a range in which the support pin 30 can relatively move. Is free.
[0024]
The carrier abutment member 28 has a leading end 28a formed in an arrow shape and a weight 28b at the rear end. When not in use, the leading end 28a faces directly downward as shown in FIG. It is housed in a posture. At this time, the carrier contact member 28 is suspended with the end of the long hole 31 abutting on the support pin 30. When using the carrier contact member 28, the carrier contact member 28 is slightly lifted and rotated. As a result, the weight of the rear end weight portion 28b generates a turning force in which the front end portion 28a faces upward. In this state, the front end portion 28a hits the stoppers 32, 33 for regulating the turning position provided on the support member 29, The carrier contact member 28 is held in a horizontal posture. In this horizontal posture, the adjustment of the loading / unloading of the carrier contact member 28 in the elongated hole 31 is performed.
[0025]
The detection target 27 shown in FIG. 17 is, as shown in FIG. 15, a rod or a plate-shaped dog extending in the truck traveling direction, has a reflector 27a at the tip, and is attached to the truck body 7a by a bracket 34. Installed.
As shown in FIG. 16, the detection target 27 is detected by the traveling positioning detection means 35 provided on the work cart 6.
[0026]
The traveling position detecting means 35 of the work cart 6 includes a first deceleration detector 36 for detecting the reflection plate 27a of the detection target 27, a second deceleration detector 37 for detecting the detection target 27, and a stop. Detector 38. The first deceleration detector 36 irradiates infrared light and detects reflected light from the reflecting plate 27a to detect that the reflecting plate 27a has approached a predetermined distance. Slow down. The second deceleration detector 37 is composed of a photo sensor or a proximity switch, and detects the object to be detected 27 to decelerate the work carriage 6 at a very low speed based on the detection signal. The stop detector 38 also includes a photo sensor or a proximity switch, and detects the object 27 to be detected, and stops the work cart 6 based on the detection signal.
Each of the detectors 36 to 38 is mounted on a detector mounting frame 39 which is provided on the work cart 6 so as to protrude in the forward and backward directions. The running end detector 40 is further mounted on the detector mounting frame 39. The traveling end detector 40 includes a limit switch and the like, and stops the operation vehicle 6 by detecting dogs (not shown) provided at both ends of the operation route of the operation vehicle 6.
[0027]
As shown in a schematic plan view of FIG. 10, the arrangement of the detectors of the work vehicle 6 is shown. The traveling position detection means 35 is provided on each work vehicle 6 and controls the stop of the work vehicle 6 with respect to the work position indicating vehicle 7. In addition to the above, it is also used for stop control when the adjacent work vehicles 6 approach each other. For this reason, each work vehicle 6 is provided with a detection target 27 for the travel positioning detection means 35. The detection target 27 has the same configuration as the detection target 27 of the work position indicating cart 7 described above with reference to FIG. 15, and has a reflector 27a at the tip.
The traveling positioning detecting means 35 is provided so as to protrude at the front of the work vehicle 6, but each work vehicle 6 is provided with a backward collision prevention detecting means 35A protruding at the rear, and the backward movement detection means is provided. A tool 27A is provided corresponding to the backward collision prevention detection means 35A. The forward traveling position detection means 35 and the backward collision prevention detection means 35A are provided apart from each other in a direction orthogonal to the traveling direction of the work vehicle 6. The reverse collision prevention detection means 35A and the detection target 27A have the same configuration as the forward travel positioning detection means 35 and the detection target 27, except that they have different directions.
[0028]
A front platform in-vehicle load detecting unit 41 is mounted on a detector mounting frame 39 on which the traveling position detecting unit 35 for forward movement of each work vehicle 6 is installed. The front platform in-vehicle load detecting means 41 is a means for detecting that the pallet P is placed on the front work vehicle 6, and as shown in FIG. A detector of the formula is used.
[0029]
As shown in FIG. 10, each work vehicle 6 includes an optical transmission device 42 constituting the communication means 67 (FIG. 7), and these optical transmission devices 42 are arranged such that their light beams do not interfere with each other. . In the illustrated example, these optical transmission devices 42 are installed on the detector mounting frame 39 provided with the backward collision prevention detecting means 35A for the front work vehicle 6, and are provided for the forward work vehicle 6 for forward movement. It is installed on a detector mounting frame 39 on which the traveling positioning detecting means 35 is installed.
The optical transmission device 42 is a means for receiving or transmitting signals to and from the operation panel 17 in FIG. 1, and communicates with the operation panel-side optical transmission device 43 installed at the end of the traveling route of the work vehicle 6. To send and receive infrared light. This device 43 serves as the communication means 68 (FIG. 7).
[0030]
Each work vehicle 6 has travel distance detection means 44 for detecting the travel distance, and the travel position is controlled and the loading position is detected using the travel distance detected by the travel distance detection means 44.
The work carts 6 have the same configuration except for the arrangement of the optical transmission device 42, and can be used interchangeably only by changing the mounting position of the optical transmission device 42. For this reason, some detectors are unnecessary depending on the arrangement of the work cart 6, but the unnecessary detectors are not used but are left as they are.
[0031]
The operation of the above specific configuration will be described. At the start of loading on the truck 3, the work position indicating truck 7 is manually pushed to the front end position of the truck 3a of the truck 3 and moved as described above. At this time, in the stop station 2, if the entry position of the truck 3 is excessively deviated left and right or if it enters diagonally, any one of the work carts 6 on the paths on both sides may interfere with the truck 3, Or they are likely to interfere. Thereby, when the work vehicle 6 moves later, it can be confirmed whether or not the work vehicle 6 interferes with the truck 3. That is, the amount of protrusion B1 (FIG. 17) of the work position indicating truck 7 toward the truck is substantially the same as the amount of protrusion B2 of the work vehicle 6 (FIG. 5). If there is any interference or there is a possibility of interference, the truck 3 is re-inserted into the stop station 2 so that the approach position is within an allowable range. In addition, since the work position indicating cart 7 is a push cart, there is no problem of damage even if it interferes with the truck 3.
[0032]
After moving the work position indicating truck 7 to a position slightly over the front end of the bed 3a, as shown in FIG. 17, the load contact member 28 of the bed corresponding positioning means 26 of the work position indicating truck 7 is set to a horizontal posture. The work position indicating cart 7 is returned until the carrier contact member 28 hits the end face of the swing 3b of the carrier 3a. As a result, even if the entry position to the truck stop station 2 varies every time, the work position indicating cart 7 is correctly positioned with respect to the front end position of the carrier 3a.
[0033]
After the work position indicating trolley 7 is positioned in this manner, the articles W of the storage station 1 are taken out one by one by the respective work trolleys 6 by automatic operation under the control of the trolley control means 60, and the carrier 3a of the truck 3 The work is sequentially carried out from the front end to the rear. In this automatic operation, the first work position of the work cart 6 with respect to the truck 3 (stop position for loading work) is determined by the work cart 6 detecting the work position indicating cart 7. That is, the work vehicle 6 moves forward, and stops when the traveling position detecting means 35 detects the detection target 27 of the work position indicating vehicle 7. At this time, as described above, the traveling is decelerated by detecting the reflection plate 27a of the detection target 27 with the first deceleration detector 36, and the detection target 27 is detected by the second deceleration detector 37. The detection is performed to reduce the speed to a very low speed state, and the stop detector 38 detects the object 27 to be stopped.
[0034]
The two work carts 6 travel on the same rail 5, but the collision between the work carts when the rear work cart 6 moves forward is performed by using the detection target 27 provided on the front work cart 6 in the rear work. This is prevented by detecting and stopping the traveling position detecting means 35 provided on the carriage 6. The stop due to this detection may be used not only for collision avoidance but also for positioning control when the rear work vehicle 6 is stopped at a work position next to the front work vehicle 6.
When the front work vehicle 6 retreats and the rear work vehicle 6 collides with the rear work vehicle 6, the detection target 27 provided on the rear work vehicle 6 is detected by the detection of the backward collision prevention detection of the front work vehicle 6. The detection is avoided by means 35A.
The loading operations of the series on both sides of the storage station 1 proceed independently and in parallel with each other.
[0035]
【The invention's effect】
The loading system according to the present invention, in a loading system for loading articles on a plurality of work vehicles traveling along a truck bed, provided with overall control means capable of communicating with all the work vehicles, Because the first loading position notification means for notifying the first loading position of the work vehicle to the subsequent work vehicle is provided in the overall control means, even if the first work vehicle is removed out of the route, Good loading can be performed with the subsequent work vehicle.
When each work vehicle is provided with initial load position storage means for storing the first load position of the work vehicle and load position calculating means for calculating the load position based on this load position for the second and subsequent times, Communication with the control means can be minimized, and the loading cycle time can be reduced.
In the case where the order control means for notifying the number of the work vehicle from the head for each work vehicle is provided in the overall control means, when any of the work vehicles is removed out of the route In addition, there is no problem in calculating the loading position in each work vehicle.
[Brief description of the drawings]
FIG. 1 is a layout diagram of a loading system according to an embodiment of the present invention.
FIG. 2 is a side view of the system.
FIG. 3 is a cutaway front view at a truck stop station of the system.
FIG. 4 is a cutaway front view of a storage station of the system.
FIG. 5 is a side view of the work cart.
FIGS. 6A and 6B are a front view and a plan view of the work vehicle, respectively.
FIG. 7 is a block diagram of a conceptual configuration of the loading system.
FIG. 8 is an explanatory diagram showing a relationship between the communication between the overall control means and the work cart.
FIG. 9 is a flowchart showing control of a carriage control unit mounted on the work carriage.
FIG. 10 is an explanatory diagram showing an arrangement of detectors of the work vehicle in a plan view.
FIG. 11 is a front view showing the vicinity of a front loading detector in the work vehicle.
FIG. 12 is a rear view showing the traveling position detecting means and the object to be detected together with a schematic diagram of a work cart.
FIG. 13 is a rear view showing a detection state of the device to be detected by the traveling positioning detecting means.
FIG. 14A is a rear view showing a detection target together with a schematic diagram of a work vehicle, and FIG. 14B is a right side view showing travel positioning detecting means together with a schematic diagram of a work vehicle.
FIG. 15 is a side view of the work position indicating truck.
FIG. 16 is a rear view showing the relationship between the work position indicating cart and the traveling position detection means of the work cart.
FIG. 17 is a side view of the work position indicating truck.
FIG. 18 is an explanatory view of the operation of the positioning means corresponding to the loading platform.
FIG. 19 is a plan view of the work position indicating truck.
FIG. 20 is a side view of the work position indicating trolley viewed from a direction opposite to that of FIG. 17;
FIGS. 21A and 21B are front views showing a pallet in a non-inserted state and an inserted state, respectively.
FIG. 22 is a plan view of the pallet.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Storage station 2 ... Stopping station 3 ... Truck 3a ... Carrying bed 4 ... Conveyor 5 ... Rail 6 ... Work trolley 7 ... Work position indicating trolley 18 ... Mast 19 ... Fork 22 ... trolley travel motor 44 ... Travel amount detection means 60 ... trolley Control means 61 ... overall control means 62 ... travel control means 63 ... fork control means 64 ... initial loading position storage means 65 ... loading position calculation means 67, 68 ... communication means 69 ... top loading position notification means 70 ... truck rank notification means P ... Pallet W ... Article

Claims (3)

In a loading system for loading articles on a plurality of work trucks running along a truck bed, a total control means capable of communicating with all work trucks is provided, and at least a first loading position of a leading work truck. the set of top loading position informing means for informing for subsequent work vehicles in the overall control unit only, to each work vehicles, and the initial loading position storage means for storing a first loading position of the work carriage, second and subsequent the loading system comprising a call provided with a loading position calculating means for calculating a loading position relative to the loading position. Claim 1 Symbol placement loading system provided on the individual with respect to the work carriage, the overall control means carriage order notifying means for notifying whether the work carriage is any number from the beginning. In a loading system for loading articles on a plurality of work trucks running along a truck bed, a total control means capable of communicating with all work trucks is provided, and at least a first loading position of a leading work truck. A head loading position notifying means for notifying a subsequent loading truck is provided in the overall control means, and for each working truck, a truck rank notifying unit for notifying the number of the working truck from the beginning is provided. A loading system provided in the overall control means.

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