JP3717374B2 - Elevating transfer device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a lifting / lowering transfer device, and more particularly to a lifting / lowering transfer device mechanism provided with an interference detection mechanism for detecting interference between a clamp arm that holds a load and a load.
[0002]
[Prior art]
Some conventional lifting and lowering transfer devices such as forklifts are equipped with a pair of clamp arms for holding a load such as a drum can as an attachment. This lifting and lowering transfer device arranges a load between a pair of clamp arms by extending the pair of clamp arms to a predetermined position in a state where the pair of clamp arms is opened at a constant interval, and by narrowing the interval between the pair of clamp arms in this state, A pair of clamp arms holds the load.
[0003]
[Problems to be solved by the invention]
However, when the pair of clamp arms 60 is extended in the direction of the arrow as shown in FIG. 7A, the tip of the clamp arm 60 may interfere with the load 62. In this case, if the force of the clamp arm 60 is weak, the clamp arm 60 is blocked by the load 62, the operation time becomes overtime, and the clamp arm 60 stops. For this reason, loss time became long and there existed a problem in improving work performance. On the other hand, if the force with which the clamp arm 60 is extended is strong, the load 62 is moved by the clamp arm 60 as shown by the imaginary gland in FIG.
[0004]
In order to avoid interference between the clamp arm 60 and the load 62, as shown in FIG. 7B, the interval between the pair of clamp arms 60 is widened to increase the interval (clearance) S between the clamp arm 60 and the load 62. It is possible. However, if the interval S is increased, the clamp arm 60 may interfere with the adjacent load 62 unless the interval between the adjacent loads 62 is ensured. For this reason, there is a problem that the luggage 62 cannot be efficiently stored in the luggage storage area.
[0005]
Further, as shown in FIGS. 7B and 7C, a guide 64 is provided in the luggage storage place, the luggage 62 is arranged at a regular position by the guide 64, and the position of the clamp arm 60 is moved up and down. A method for preventing interference between the clamp arm 60 and the load 62 by checking on the apparatus side is known. However, since this method requires as many guides 64 as the number of luggage 62, it is necessary to prepare a large number of guides 64 when the luggage 62 is large, and there is a problem that equipment is increased. In addition, when stacking the luggage 62, there is a problem that the guide 64 cannot be used for the upper luggage 62.
[0006]
The present invention has been made in view of the above-mentioned problems, and its purpose is to immediately correct the interference when the clamp arm and the baggage interfere with each other to shorten the loss time, and to pack the baggage in the luggage storage area. It is an object of the present invention to provide an elevating type transfer device provided with an interference detection mechanism that can be efficiently stored, eliminates the need for a guide for placing the load at a regular position, and can be applied to an upper load during stacking.
[0007]
[Means for Solving the Problems]
In order to achieve the above-described object, the present invention provides a lifting and lowering transfer system comprising a pair of clamp arms capable of being fed out of a load and gripping the load from both sides. In the apparatus, the elevating type transfer device is capable of detecting a load inside the pair of clamp arms and detecting an load outside the pair of clamp arms, and the interference detection mechanism. Control means for controlling the feeding operation of the pair of clamp arms when a load is detected, and the interference detection mechanism is a pair of levers consisting of an inner lever and an outer lever attached to the tip of the clamp arm so as to be swingable. A pair of rollers comprising an inner roller and an outer roller rotatably attached to the tip of each lever, and a switch for each lever. A pair of limit switches composed of an inner limit switch and an outer limit switch that are operated by movement of the group, and when the pair of clamp arms are extended with respect to the load with a predetermined interval, the inner lever and the inner roller A load sensor comprising an inner limit switch detects a load located inside the pair of clamp arms, and a load sensor comprising the outer lever, the outer roller, and an outer limit switch is located outside the pair of clamp arms. And the control means controls the outer side when the inner limit switch is turned on by a swinging operation of the inner lever due to the interference between the inner roller and the load, or when the outer lever swings due to the interference between the outer roller and the load. When the limit switch is turned on, the load Immediately the elevating transport apparatus characterized by stopping the pair of clamp arms for feeding out against.
[0008]
According to a second aspect of the present invention, when the interference detection mechanism detects an interference with the load, the control means moves the clamp arm to the right or the left so that the interference is eliminated . The positional relationship is adjusted.
[0009]
According to a third aspect of the present invention, when the interference detection mechanism detects an interference with the load, the control means moves the position of the vehicle body to the right or the left so that the interference is eliminated. The positional relationship of is adjusted.
[0010]
In the lifting and lowering transfer device with the interference detection mechanism configured as described above, since the interference detection mechanism is provided in the clamp arm, when the clamp arm should interfere with the load when the clamp arm is extended with respect to the load, Interference can be detected by the interference detection mechanism. For this reason, the interference between the clamp arm and the load can be corrected immediately. It also prevents the load from being moved by the clamp arm.
[0011]
Furthermore, in order to avoid interference between the clamp arm and the baggage, it is not necessary to widen the interval (clearance) between the clamp arms, so the baggage can be stored in a densely packed state. In addition, since the interference detection device is provided on the clamp arm side, it is not necessary to provide a guide for placing the luggage at a normal position in the luggage storage area, and it can be applied to the upper luggage at the time of stacking.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments according to the present invention will be described in detail with reference to the drawings. As shown in FIG. 1, a lifting / lowering transfer device 10 with an interference detection mechanism includes a vehicle body 11 having one rear wheel 12 and a pair of front wheels 13, a vehicle body 11 having a mast 14, and a clamp arm slide that can be raised and lowered freely. A mechanism 15 is provided, and the clamp arm slide mechanism 15 is provided with a pair of clamp arms (a left clamp arm 17 and a right clamp arm 18) that grip and hold a load 16 (for example, a drum can) from both sides, Interference detection mechanism 20 is provided at the tips 17a and 18a of 18 and has a control means 30 that immediately stops the feeding operation of the left and right clamp arms 17 and 18 when the interference detection mechanism 20 detects interference with the load 16. . The lifting / lowering transfer device 10 with an interference detection mechanism can be operated in unmanned operation and manned operation.
[0013]
The interference detection mechanism 20 is a contact sensor attached to the tip 17a of the left clamp arm 17 and the tip 18a of the right clamp arm 18, respectively. Hereinafter, the contact sensor of the tip 18a of the left clamp arm 18 will be described with reference to FIG. The left contact sensor rotates to a pair of levers (inner lever 21 and outer lever 22) swingably attached to the tip 17a (see FIG. 1) of the left clamp arm 17, and to the tips of the inner and outer levers 21 and 22, respectively. A pair of large-diameter rollers (inner roller 24 and outer roller 23) attached in a possible manner, and a pair of limit switches (inner limit switch 26 and outer limit switch 25) operated by swing movement of inner and outer levers 22, 21; The cover 28 covers these members.
[0014]
Although the right contact sensor is not shown, like the left contact sensor, a pair of levers (inner lever 22 and outer lever 21) swingably attached to the tip 18a of the right clamp arm 18, and inner and outer levers 22, A pair of large-diameter rollers (inner roller 24 and outer roller 23) rotatably attached to the tip of 21 and a pair of limit switches (inner limit switch 26 and outer side) operated by swing movement of inner and outer levers 22, 21 The limit switch 25) and a cover 28 covering these members.
[0015]
By the way, the lifting / lowering transfer device 10 with the interference detection mechanism shown in the figure is configured such that the vehicle body 11 travels forward with the left and right clamp arms 17 and 18 being opened at regular intervals, and the left and right clamp arms 17 and 18 are extended. The luggage 16 is disposed on both sides of the luggage 16 and the gap between the left and right clamp arms 17 and 18 is narrowed in this state, whereby the luggage 16 is sandwiched between the left and right clamp arms 17 and 18.
[0016]
At this time, if the distal ends 17a, 18a of the left and right clamp arms 17, 18 are too close to the load 16 or 16 ', the inner roller 23 or the outer roller 24 first interferes with the load 16 or 16'. As a result, the inner and outer levers 21 and 22 swing and the inner and outer limit switches 25 and 26 are switched from OFF to ON. As described above, by providing the inner and outer limit switches 25 and 26, it is possible to recognize which of the inner roller 23 and the outer roller 24 interferes with the load 16 or 16 '. In addition, since the interference detection mechanism 20 is attached to the tip 17a of the left clamp arm 17 and the tip 18a of the right clamp arm 18, respectively, the tip of either of the left and right clamp arms 17, 18 is the load 16 or 16 '. You can recognize whether it interfered with.
[0017]
The control means 30 shown in FIG. 1 moves the left and right clamp arms 17, 18 to the right or left without moving the position of the vehicle body 11 when the interference detection mechanism 20 detects interference with the load 16 or 16 '. To adjust the positional relationship between the load 16 and the clamp arms 17 and 18.
[0018]
Hereinafter, the unmanned operation of the interference detection mechanism 20 of the contact sensor will be described. First, as shown in FIG. 3A, the left and right clamp arms 17 and 18 are fed out from the START toward the load 16 (Step A1). In the state of FIG. 3B, it is determined whether any of the limit switches 25, 26 is ON (Step A2). In Step A2, when it is determined that the limit switches 25 and 26 are OFF, the extension of the clamp arms 17 and 18 is continued, and it is determined whether or not the extension of the clamp arms 17 and 18 has reached the limit (Step A3).
[0019]
In Step A3, when the extension of the clamp arms 17 and 18 reaches the limit as shown in FIG. 3D, the extension of the clamp arms 17 and 18 is stopped (Step A4). Since the state of Step A4 is a state in which the clamp arms 17 and 18 are normally fed out without interfering with the load 16, the load 16 is gripped by the clamp arms 17 and 18 and the next operation is started. On the other hand, when it is determined in Step A2 that the limit switch is ON, the control means 30 stops the feeding of the clamp arms 17 and 18 (Step A5), and returns the clamp arms 17 and 18 to the state before the feeding (Step A6). This is because if the clamp arms 17 and 18 continue to be fed out as they are, the load 16 or 16 'may fall down.
[0020]
In Step A6, after the clamp arms 17 and 18 are returned to the state before feeding, the limit switch turned on from the four limit switches 25 and 26 is determined (Step A7). That is, in Step A7, it is determined whether or not the limit switches 25 and 26 of the right clamp arm 18 are ON. When the limit switch of the right clamp arm 18 is ON, Step A8 is executed, and when the limit switch of the right clamp arm 18 is OFF as shown in FIG. 3B, Step A12 is executed.
[0021]
In Step A7, when the limit switch of the right clamp arm 18 is ON, it is determined whether or not the outer limit switch 26 is ON (Step A8). That is, in Step A8, when the outer limit switch 26 is ON, the clamp arms 17 and 18 are moved to the left (Step A9), and when the outer limit switch 26 is OFF, the clamp arms 17 and 18 are moved to the right ( Step A13).
[0022]
On the other hand, in Step A7, when the limit switches 25 and 26 of the right clamp arm 18 are OFF as shown in FIG. 3B, it is determined whether or not the outer limit switch 26 of the left clamp arm 17 is ON (Step A12). ). That is, in Step A12, when the outer limit switch 26 is ON, the clamp arms 17 and 18 are moved to the right (Step A13), and when the outer limit switch 26 is OFF as shown in FIG. As shown in 3 (C), the clamp arms 17 and 18 are moved to the left (Step A14).
[0023]
It is determined whether N seconds have elapsed after the clamp arms 17 and 18 are moved to the left or right (Step A10). In Step A10, after N seconds have elapsed, the movement of the clamp arms 17 and 18 is stopped, and the process returns to Step A1 (Step A11).
[0024]
That is, according to the lifting / lowering transfer device 10 with the interference detection mechanism, since the interference detection mechanism 20 is provided in the clamp arms 17 and 18, when the clamp arms 17 and 18 are unwound to the load 16 or 16 ′, When the clamp arms 17 and 18 interfere with the load 16 or 16 ', the interference detection mechanism 20 can detect the interference. For this reason, the interference between the clamp arms 17 and 18 and the luggage 16 can be corrected immediately. Therefore, the loss of operation time can be shortened, so that work efficiency is improved. In addition, work efficiency is improved by preventing the load 16 from being pushed and moved by the clamp arms 17 and 18.
[0025]
Furthermore, in order to avoid interference between the clamp arms 17 and 18 and the luggage 16, it is not necessary to widen the clearance (clearance) between the clamp arms 17 and 18, so the luggage 16 can be efficiently stored in the luggage storage area. it can.
[0026]
In addition, since the interference detection device 20 is provided on the clamp arms 17 and 18 side, it is not necessary to provide a guide for placing the luggage 16 at a regular position in the luggage storage area, so that the equipment cost can be reduced. It can also be applied to the upper luggage when loading.
[0027]
Next, a second embodiment will be described. When the interference detection mechanism 20 detects interference with the load 16, the control means 30 of the second embodiment moves the position of the vehicle body 11 to the right or left so that the position of the load 16 and the clamp arms 17, 18 Adjust the relationship. Hereinafter, the operation of the unmanned operation will be described.
[0028]
First, as shown in FIG. 5A, the left and right clamp arms 17 and 18 are fed out from the START toward the load 16 (Step A11). In the state of FIG. 5B, it is determined whether any of the limit switches 25, 26 is ON (Step A12). In Step A12, when it is determined that the limit switches 25 and 26 are OFF, the extension of the clamp arms 17 and 18 is continued, and it is determined whether or not the extension of the clamp arms 17 and 18 has reached the limit (Step A13).
[0029]
In Step A13, when the extension of the clamp arms 17 and 18 reaches the limit as shown in FIG. 5D, the extension of the clamp arms 17 and 18 is stopped (Step A14). The state of Step A14 is a state in which the clamp arms 17 and 18 are normally extended without contacting the load 16, and thereafter, the load 16 is gripped by the clamp arms 17 and 18 and the next operation is started. On the other hand, when it is determined in Step A12 that the limit switch is ON, the feeding of the clamp arms 17 and 18 is stopped (Step A15), and the clamp arms 17 and 18 are returned to the state before the feeding (Step A16).
[0030]
In Step A16, after the clamp arms 17 and 18 are returned to the state before feeding, the limit switch that is turned on is determined from the four limit switches 25 and 26 (Step A17). That is, in Step A17, it is determined whether or not the limit switches 25 and 26 of the right clamp arm 18 are ON. When the limit switch of the right clamp arm 18 is ON, the process of Step A18 is executed, and when the limit switch of the right clamp arm 18 is OFF as shown in FIG. 5B, the process of Step A22 is executed.
[0031]
In Step A17, when the limit switch of the right clamp arm 18 is ON, it is determined whether or not the outer limit switch 26 is ON (Step A18). That is, in Step A18, when the outer limit switch 26 is ON, the rear wheel 12 and the front wheel 13 are operated to move the vehicle body 11 to the left side (Step A19), and when the outer limit switch 26 is OFF, the rear wheel 12 and The front wheel 13 is operated to move the vehicle body 11 to the right side (Step A23).
[0032]
On the other hand, in Step A17, when the limit switch of the right clamp arm 18 is OFF as shown in FIG. 5B, it is determined whether or not the outer limit switch 26 of the left clamp arm 17 is ON (Step A22). That is, in Step A22, when the outer limit switch 26 is ON, the rear wheel 12 and the front wheel 13 are operated to move the vehicle body 11 to the right side (Step A23), and the outer limit switch 26 is moved as shown in FIG. In the case of OFF, the vehicle body 11 is moved to the left side by operating the rear wheel 12 and the front wheel 13 as shown in FIG. 5C (Step A24).
[0033]
After moving the vehicle body 11 to the left or right, it is determined whether or not N seconds have elapsed (Step A20). In Step A20, after N seconds have elapsed, the movement of the vehicle body 11 is stopped, and the process returns to Step A11 (Step A21). Thereby, also in 2nd Embodiment, the effect similar to 1st Embodiment can be acquired.
[0034]
Note that the lifting / lowering transfer device 10 with the interference detection mechanism and the interference detection mechanism 20 of the present invention are not limited to the above-described embodiments, and appropriate modifications and improvements can be made. For example, in the above-described embodiment, the state in which the interference detection mechanism 20 is provided on the left and right clamp arms 17 and 18 has been described. However, the interference detection mechanism 20 may be provided on only one clamp arm. In addition , although unmanned driving has been described in the above-described embodiment, the same effect can be obtained for manned driving.
[0035]
In addition, the present invention can be achieved by the materials, shapes, dimensions, forms, numbers, arrangement locations, and the like of the levers 21 and 22, the rollers 23 and 24, the limit switches 25 and 26 of the interference detection mechanism 20 exemplified in the above-described embodiment. Anything can be used and is not limited.
[0036]
【The invention's effect】
As described above, according to the present invention, as described in claim 1, since the clamp arm is provided with the interference detection mechanism, when the clamp arm is extended with respect to the load, the clamp arm should be When interference occurs, the interference detection mechanism can detect the interference. For this reason, the interference between the clamp arm and the load can be corrected immediately. Therefore, the loss of operation time can be shortened, so that work efficiency is improved. In addition, work efficiency is improved by preventing the clamp arm from pushing and moving the load.
[0037]
Furthermore, it is not necessary to increase the interval (clearance) between the clamp arms in order to avoid interference between the clamp arms and the load. Therefore, since it is possible to arrange adjacent luggage close to each other, the luggage can be efficiently stored in the luggage storage area in a densely packed state.
[0038]
In addition, since the interference detection device is provided on the clamp arm side, it is not necessary to provide a guide for placing the luggage at a regular position in the luggage storage area. Therefore, the equipment cost can be reduced, and it can also be applied to the upper luggage when stacking.
[Brief description of the drawings]
FIG. 1A is a plan view of a first embodiment according to the present invention, and FIG. 1B is a side view thereof.
FIG. 2 is a perspective view of the first embodiment according to the present invention.
FIGS. 3A to 3D are diagrams for explaining the operation of the first embodiment according to the present invention. FIGS.
FIG. 4 is a flowchart for explaining the operation of the first embodiment according to the present invention.
FIGS. 5A to 5D are diagrams for explaining the operation of the second embodiment according to the present invention.
FIG. 6 is a flowchart for explaining the operation of the second embodiment according to the present invention.
FIGS. 7A to 7C are views illustrating the operation of a conventional gripping clamp arm. FIGS.
[Explanation of symbols]
10 Elevating transfer device with interference detection mechanism
16 luggage
11 body
17, 18 Left and right clamp arms (a pair of clamp arms)
17a, 18a Left and right clamp arm tips
20 Interference detection mechanism
21, 22 Inside and outside levers (a pair of levers)
23, 24 Inner and outer rollers (a pair of large diameter rollers)
25, 26 Inside / outside limit switches (a pair of limit switches)
30 Control unit

Claims (3)

In the lifting and lowering transfer device provided with a pair of clamp arms that can be fed out of the load and grips the load from both sides,
  The lifting and lowering transfer device is capable of detecting a load inside the pair of clamp arms and detecting a load outside the pair of clamp arms, and detecting the load by the interference detection mechanism. And a control means for controlling the feeding operation of the pair of clamp arms.
  The interference detection mechanism includes a pair of levers including an inner lever and an outer lever that are swingably attached to the tip of the clamp arm, and a pair of inner and outer rollers that are rotatably attached to the tips of the levers. A roller and a pair of limit switches consisting of an inner limit switch and an outer limit switch that operate by swing movement of the levers, and when the pair of clamp arms are fed out of the load with a predetermined interval, A contact sensor comprising the inner lever, inner roller and inner limit switch detects a load inside the pair of clamp arms, and a contact sensor comprising the outer lever, outer roller and outer limit switch comprises the pair of clamp sensors. While detecting the load outside the clamp arm,
  When the inner limit switch is turned on by the inner lever swing operation due to the interference between the inner roller and the load, or the outer limit switch is turned on by the outer lever swing operation due to the interference between the outer roller and the load. When this is the case, the lifting and lowering transfer device is characterized in that the pair of clamp arms that are fed out to the load are immediately stopped. When the interference detection mechanism detects an interference with a load, the control means moves the clamp arm to the right or left and adjusts the positional relationship between the load and the clamp arm so that the interference is eliminated. The lifting and lowering transfer device according to claim 1 . When the interference detection mechanism detects interference with the load, the control means moves the position of the vehicle body to the right or left, and adjusts the positional relationship between the load and the clamp arm so that the interference is eliminated. The lifting and lowering transfer device according to claim 1 .

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