JP6566997B2 - Cargo handling vehicle - Google Patents

Description

  The present invention relates to a cargo handling vehicle equipped with a transfer device that moves a cargo receiving member such as a cargo handling fork or a transfer table to deliver and receive a load.

  In a self-propelled cargo handling vehicle that delivers and receives a load, for example, Patent Document 1 discloses a reach-type forklift that transfers a load by moving a reach table with an auxiliary wheel out of a vehicle body.

JP 2002-68687 A

  In the above-mentioned patent document 1, an auxiliary wheel is provided on a reach table that delivers and receives a load, and a part of the load of the load on the reach table can be supported. However, it does not have a structure that allows a step difference in the reach-and-out structure of the reach table. For this reason, for example, when a load receiving platform is provided on the lifting platform of the lift device that is likely to cause an error in the stop position, if there is a step on the floor surface on which the auxiliary wheel moves, the auxiliary wheel cannot get over the step, There is a risk that the reach table cannot be sent to the lift. In addition, there is a possibility that the reach table that has been received cannot be stably pulled out from the lifting platform.

  An object of the present invention is to provide a cargo handling vehicle capable of smoothly moving a cargo receiving member having wheels along a floor surface having a level difference.

A cargo handling vehicle according to the present invention includes a cart body that can travel, a transfer device that can be moved out and withdrawn from a storage portion of the cart body, and a cargo receiving member that is provided on the transfer device so as to be movable up and down. A vehicle, which is provided in the storage unit to guide the transfer device, and is transferred to a pair of left and right rails having a channel-shaped cross section having a running groove on an opposing surface and a main body of the transfer device. A front / rear roller and a rear roller / rear roller that are rotatably provided at front and rear positions of the loading / unloading direction and are guided by the running groove of the rail, and provided at a front end side of the load receiving member. A traveling roller capable of rolling on the floor surface, and a transfer / withdrawing device that drives the main body to move in and out, and the outer diameter of the rearward / outward roller is smaller than the outer diameter of the front / outward roller The vertical movement of the traveling roller accompanying the unevenness of the floor is formed in the traveling groove. And can be absorbed by the vertical movement of the rear output retraction roller, the running grooves of said extending and retracting rail which corresponds to the retracted position of the storing portion, provided with a swing restriction portion for restricting a vertical movement of the rear output retraction roller It is characterized by that.
According to the above configuration, when the traveling roller climbs over the step on the floor surface when the transfer device is withdrawn / retracted, the rear exit / retreat roller moves up and down in the traveling groove, so that the main body portion is centered on the front retracting roller. It can be swung up and down to allow the transfer device to swing. Therefore, it is possible to smoothly move the transfer device over and over the step on the floor surface.
Further, by providing a swing restricting portion for restricting the vertical movement of the rear exit / retreat roller in the traveling groove of the exit / retraction rail corresponding to the retracted position of the storage portion, when the transfer device is accommodated in the storage portion, Since the withdrawing / retracting roller is fitted to the swing restricting portion and the vertical movement is restricted, the transfer device can be stably held by the storage portion.

Furthermore, the present invention is a cargo handling vehicle comprising a cart body that can travel, a transfer device that can be moved out and withdrawn from a storage portion of the cart body, and a cargo receiving member that is provided on the transfer device so as to be movable up and down. Te, provided in the storage portion to guide the withdrawal out of the transfer device, and advancing and retracting rail have a running grooves, the body portion of the transfer device, rotating respectively around the position of the projecting and retracting direction of the transfer device A front exit / retreat roller and a rear exit / retraction roller that are freely provided and guided by the travel groove of the exit / retreat rail, a travel roller that is provided on a front end side of the load receiving member and can roll on a floor surface, A transfer / withdrawing device that drives the main body to move in and out, and using the back and forth roller as an elastic roller, the back and forth movement of the traveling roller in accordance with the unevenness of the floor surface is performed in the rear in the traveling groove. It is possible to absorb by expanding / contracting the outer diameter of the retracting roller.
According to the above configuration, when the traveling roller climbs over the step on the floor surface when the transfer device is withdrawn / retracted, the outer diameter of the rear exit / retract roller made of an elastic roller is reduced, so that the front exit / retract roller is centered. As a result, the main body swings up and down, allowing the transfer device to swing. Therefore, it is possible to smoothly move the transfer device over and over the step on the floor surface.

  Furthermore, the present invention is a cargo handling vehicle comprising a cart body that can travel, a transfer device that can be moved out and withdrawn from a storage portion of the cart body, and a cargo receiving member that is provided on the transfer device so as to be movable up and down. And a retractable rail provided in the storage unit for guiding the transfer device to move in and out, and a main body of the transfer device, each of which is rotatably provided at the front and rear positions of the transfer device in the retracted direction. Fore-and-aft rollers and rear-and-retract rollers guided by the advancing / retracting rail, a traveling roller provided on the front end side of the load receiving member and capable of rolling on the floor surface, and for transferring and moving the main body portion A retracting device, and the support shaft of the back and forth roller is configured to be able to bend, so that the vertical movement of the traveling roller accompanying the step of the floor surface is caused by the bending of the support shaft of the back and forth roller. It can be absorbed. According to the above configuration, when the traveling roller climbs over the step on the floor surface when the transfer device is withdrawn / retracted, the support shaft of the rear exit / retract roller bends, so that the main body portion moves up and down around the front exit / retreat roller. It can swing and allow the transfer device to swing. Therefore, it is possible to smoothly move the transfer device over and over the step on the floor surface.

  In the above configuration, the transfer / withdrawal device meshes with the screw shaft, a screw drive shaft that is arranged along the transfer / withdrawal direction of the transfer device, a rotary drive device for withdrawing / withdrawing the screw shaft, and the screw shaft. An internal thread member, and the rotary drive device for withdrawal and withdrawal is supported by the carriage main body so as to be rotatable around a horizontal axis perpendicular to the withdrawal and withdrawal direction of the transfer device, and the female screw member is mounted on the main body portion. It is preferable that the transfer device is supported so as to be rotatable around a horizontal axis and a vertical axis that are perpendicular to the moving direction of the transfer device. According to the said structure, the rocking | fluctuation of the transfer apparatus by a driving | running | working roller riding on a level | step difference can be effectively absorbed by rotation of a female screw member and rotation of a rotation drive device for withdrawal.

  Further, in the above configuration, a carriage for supporting the load receiving member is disposed in the main body portion so as to be movable up and down, and a scissor link mechanism that can be expanded and contracted vertically is provided at a lower portion of the load receiving member. Of the pair of link arms that are rotatably connected, one link arm has a fixed end connected to the carriage, and a movable end having a traveling roller that can travel on the floor surface. The link arm preferably has a fixed end rotatably connected to the main body side and a movable end guided to the load receiving member so as to be movable.

  According to the present invention, when the traveling roller climbs over the step on the floor surface, the rearward / retracting roller moves up and down in the traveling groove, or the rearward / rearward roller is reduced in diameter, or the support shaft of the rearward / rearward roller is bent. As a result, the main body is swung around the front and rear rollers, and the transfer device can be allowed to swing. Therefore, the cargo receiving member having the traveling roller can be smoothly moved out and back along the floor surface with a step, and the transfer device can be smoothly moved out and out to stably deliver the load.

It is a perspective view which shows the Example of the transfer apparatus mounted in the cargo handling vehicle which concerns on this invention. It is a whole perspective view which shows a cargo handling vehicle. It is the whole cargo handling vehicle perspective view which shows the delivery state of the load of a transfer apparatus. It is sectional drawing of the back view of a cargo handling vehicle. It is a side view of a cargo handling vehicle. It is sectional drawing of the side view of a cargo handling vehicle. It is a top view of a cargo handling vehicle. It is sectional drawing of planar view of a cargo handling vehicle. It is sectional drawing of planar view which shows a carriage stopper apparatus. It is explanatory drawing which shows an exit / retreat rail and a roller rocking | fluctuation control part. It is explanatory drawing which shows the cargo receiving operation 1 of a transfer apparatus. It is explanatory drawing which shows the cargo receiving operation 2 of a transfer apparatus. It is explanatory drawing which shows the cargo receiving operation 3 of a transfer apparatus. It is explanatory drawing which shows the cargo receiving operation 4 of a transfer apparatus. It is explanatory drawing which shows the cargo receiving operation 5 of a transfer apparatus. It is explanatory drawing which shows the cargo receiving operation 6 of a transfer apparatus. It is explanatory drawing which shows the cargo receiving operation 7 of a transfer apparatus. FIG. 6 is a view for explaining another embodiment 1 of the main body swinging allowance mechanism in the step absorption structure, and is an explanatory view of a retractable rail and a front / rear retractable roller. FIG. 12 is a schematic plan view showing another embodiment 2 of the main body swinging allowance mechanism in the step absorption structure and showing the support shaft of the front and rear roller.

[Example]
Embodiments of a cargo handling vehicle equipped with a transfer device according to the present invention will be described below with reference to the drawings.

(Overview)
As shown in FIGS. 2A and 2B, the cargo handling vehicle travels along a preset travel route or a travel route traveled by a remote operation command such as radio or infrared light signal from an operating device, A self-propelled cargo handling vehicle (AGV) that automatically delivers and transports C, for example, on the floor 10 of the second floor of a building, used to automatically transport the load unloaded by a lift device to a target position Is done.

  This cargo handling vehicle is provided with a storage unit 14 in which a single surface selected from front, rear, left and right, for example, a right side surface is opened and a transfer device 20 is accommodated in a cart body 11. This transfer device 20 includes a pair of left and right cargo handling forks 22 as cargo receiving members, and a part of the load of the load C (including the weight of the cargo handling fork 22) applied to the cargo handling fork 22 when delivering the cargo C. A structure in which the floor 10 is supported by a scissor link mechanism 26 provided in the lower portion of the cargo handling fork 22 is employed. That is, a load support roller 28 that is a traveling roller is provided at the movable end on the lower end side of the link arm 27A of the scissor link mechanism 26, and the load support roller 28 is configured to be able to land on the floor surface 10. Further, if the load support roller 28 lands on the floor surface 10 during traveling of the cargo handling vehicle, a link pulling device 42 for lifting the load support roller 28 from the floor surface 10 is provided to hinder the traveling of the cargo handling vehicle. It has been.

  Hereinafter, the outline of the cargo handling vehicle and the structure of the transfer device will be described with reference to FIGS.

(Handling vehicle)
At substantially four corner positions of the carriage main body 11, two pairs of left and right traveling wheels 12F, 12R, 13F, and 13R are provided in a pair of front and rear that can travel on the floor surface 10. Of these traveling wheels 12F, 12R, 13F, and 13R, steering drive wheels 12F and 12R are disposed at front and rear positions on the left side of the carriage main body 11 so that the carriage main body 11 travels and is steered. In addition, idle wheels (casters) 13F and 13R that follow the steered driving wheels 12F and 12R are disposed at the front and rear positions on the right side of the cart body 11. Although not shown, a wheel tuning device for synchronizing the idle wheels 13F, 13R with the steering of the steering drive wheels 12F, 12R is provided. The cart body 11 is provided with a transceiver for receiving operation command signals and transmitting the position and posture of the cart body 11, a control panel for controlling the running and posture of the cart body 11, and the like.

(Storage part)
As shown in FIGS. 2A and 2B, the carriage main body 11 is provided with a storage unit 14 that accommodates the transfer device 20, and the left side surface of the storage unit 14 is used to leave and transfer the transfer device 20. The cart body 11 is formed in a U shape in plan view with a part of the right side surface opened. The transfer device 20 is provided with a pair of cargo handling forks 22 for delivering the load C. Further, as shown in FIGS. 4B and 6, the storage unit 14 is provided with a transfer / withdrawal device (withdrawal drive device) 30 for moving the transfer device 20 to the right and left.

  In this loading and unloading vehicle, the transfer device 20 is moved in and out of the right side. However, for convenience of explanation, in the following description, the transfer device 20 is set in the front-rear direction and the width direction orthogonal to the transfer direction. It demonstrates as a left-right direction.

(Outline of transfer equipment)
A pair of left and right elevating masts 23 are erected on the main body 21. A carriage 24 is disposed on the upper and lower grooves formed on the opposed surfaces of the lifting mast 23 so as to be movable up and down via a plurality of lifting rollers 24R, and a link support 25 is lifted and lowered on the lower portion via a plurality of lifting rollers 25R. Arranged freely. The carriage 24 supports the base end portions of a pair of left and right cargo handling forks 22. Further, a scissor link mechanism 26 is provided below the cargo handling fork 22. Further, as shown in FIGS. 3 and 5, the carriage main body 11 is provided with cargo receiving stands 15 on both sides of the cargo handling fork 22 of the truck main body 11.

(Fork lifting device)
A fork lifting / lowering device (load receiving member lifting / lowering device) 41 that lifts and lowers the cargo handling fork 22 is composed of, for example, a hydraulic cylinder. The cylinder body is attached to the carriage 24, and an output end that is retracted downward is connected to the link support 25. Has been. Therefore, the fork elevating device 41 can raise and lower the carriage 24 using the link support 25 at the lower limit as a reaction force receiver. The fork lifting device 41 also serves as a drive device for the link lifting device 42 that lifts the load supporting roller 28 from the floor surface 10 when the carriage body 11 travels.

(Scissors link mechanism)
In the scissor link mechanism 26, a link arm 27 </ b> A and a pair of link arms 27 </ b> B each having a center pivotably connected in an X shape via a horizontal connection pin 27 a are accommodated at the bottom of each cargo handling fork 22. Yes. These link arms 27A and 27B have a fixed end on the main body 21 side and a movable end on the front end side of the cargo handling fork 22. One link arm 27A has an upper fixed end connected to the carriage 24 so as to be rotatable in the vertical direction, and a load support roller 28 supported rotatably around the horizontal axis at the lower movable end. The lower fixed end of the other link arm 27B is connected to the link support 25 so as to be rotatable in the vertical direction, and the upper movable end is formed on the tip side of the cargo handling fork 22 via the link guide roller 29. The portion 22a is supported so as to be movable in the retracting direction within a predetermined range.

(Structure to move the transfer device out and out)
As shown in FIGS. 3, 4A, and 6, the transfer device 20 has a pair of left and right rails 31 that are installed in the main body 11 along the direction of exit and retreat, corresponding to the storage unit 14. And front / rear rollers 32F and 32R rotatably supported on the left and right sides of the main body 21 of the transfer device 20, and a transfer retracting device 30 that drives the main body 21 to move back and forth. . These exit / retreat rails 31 are formed in a channel-shaped cross section in which a running groove 31a is opened on the opposite surface. The transfer / withdrawal device 30 disposed in the storage unit 14 extends forward from the withdrawing / withdrawing rotary drive device (electric motor with a speed reducer) 33 supported by the carriage body 11 and the withdrawing / withdrawing rotary drive device 33. A ball screw (screw shaft) 34 and a female screw member 35 provided at the bottom of the main body 21 and fitted to the ball screw 34 are provided.

(Step absorption structure)
When the load C is delivered, the load support roller 28 rolls on the floor surface 10 as the transfer device 20 moves out and out. For example, when the station that receives the load C is installed on the lifting platform of the lift device, there is a possibility that a step is generated between the floor surface 10 and the lifting platform due to the stop error of the lifting device. In order to overcome such a level difference, the transfer device 20 is provided with a main body swing allowing mechanism and a drive portion swing allowing mechanism.

  Main body swing allowing mechanism: As shown in FIG. 8, the retractable rail 31 is a front retracting roller that supports the weight of the main body 21 in a running groove 31 a formed at a constant height H1 on the retractable rail 31. The rearward / retracting roller 32R for guiding the main body portion 21 along the retractable / retractable rail 31 following the forward / retractable roller 32F is movably fitted. The outer diameter Dr of the rearward / retreating roller 32R is smaller than the outer diameter Df of the frontward / rearwarding roller 32F, and the rearward / rearwarding roller 32R has a space that can be lifted up and down in the running groove 31a. . Therefore, when the load support roller 28 gets over the step formed on the floor surface 10, the main body portion 21 swings up and down around the front / retreat roller 32F, and the rear-retreat roller 32R causes the travel groove 31a to swing. It can be absorbed by displacing it upwards. In addition, a roller swing restricting portion 31E that restricts the vertical swing of the main body portion 21 is provided at the retreat limit where the transfer device 20 is accommodated in the storage portion 14. That is, a running groove 31a is formed at the rear end of the exit / retreat rail 31 at a height H2 that restricts the vertical movement of the rear exit / retraction roller 32R. Can be regulated.

  Drive part swinging allowance mechanism: As shown in FIGS. 4B and 6, in the transfer / withdrawal apparatus 30, in order to cope with the swinging of the main body part 21, the exit / retreat rotational drive apparatus 33 and the female screw member 35 are provided. It is supported so as to be able to swing around an axis that is perpendicular to the retracting direction. That is, the retractable rotation drive device 33 is disposed on the cart body 11 via the fixed side support 36, and the fixed side support 36 swings around the horizontal axis perpendicular to the retracted direction of the cart body 11. It is supported freely. By this fixed side support 36, the ball screw 34 can be allowed to tilt due to the vertical movement of the main body 21.

A female screw member 35 is connected to the main body 21 via a movable side receiving member 37, and the movable side receiving member 37 can be rotated around a horizontal axis and a vertical axis perpendicular to the retracting direction. It is supported by. Therefore, the vertical movement of the main body 21 when the load supporting roller 28 gets over the step of the floor surface 10 can be allowed within a predetermined range, and the load supporting roller 28 is allowed to pass through the cargo handling fork 22 due to the step or the like. The part 21 can be allowed to swing left and right within a predetermined range. Therefore, when the load support roller 28 climbs over the level difference of the floor surface 10 by the drive unit swinging allowance mechanism, the transfer device 20 can be smoothly moved back and forth even if there is vertical and horizontal swing.
(Link lifting device)
As shown in FIGS. 1, 4A, and 4B, the link lifting device 42 that lifts the load supporting roller 28 from the floor 10 during traveling includes a carriage stopper device 43 that regulates the lowering of the carriage 24 at a predetermined position. Yes. The carriage stopper device 43 includes a pair of stopper pins 43a that can be retracted from the carriage 24 to the left and right outwards (the front side of the lifting mast 23), and a ball screw type pin retracting device 43b that allows the stopper pins 43a to be retracted. And a carriage receiver 43c that protrudes from the elevating mast 23 and can support the protruding stopper pin 43a from below.

  Therefore, the fork elevating device 41 is contracted to lower the cargo handling fork 22, and the load C supported by the cargo handling fork 22 is placed on the cargo receiving platform 15. Further, the stopper pin 43a is protruded from the carriage 24 by the pin retracting device 43b, and the fork lifting device 41 is contracted. Then, lowering of the carriage 24 is regulated by receiving the stopper pin 43a by the carriage receiving member 43c below the load receiving position of the load receiving table 15. Further, the fork elevating device 41 is contracted, and the link support 25 is raised using the carriage 24 as a reaction force receiver. As a result, the fixed end of the link arm 27B is raised, and the load support roller 28 of the link arm 27A is further raised and pulled up from the floor surface 10. Thereby, the load support roller 28 does not interfere with the traveling of the cart body 11.

(Load transfer operation of transfer device)
The transfer operation (load receiving operation) by the cargo handling vehicle will be described with reference to FIGS. 9A to 9D and FIGS. 10A to 10C.

  1) As shown in FIG. 9A, the cargo handling vehicle travels on the floor surface 10 along a predetermined route, and is stopped at the stop position of the floor surface 10 facing the target station S.

  2) As shown in FIG. 9B, with the carriage stopper device 43 in the activated state, the fork lifting device 41 is extended to lower the link support 25 to the lower limit. As a result, the scissor link mechanism 26 extends downward and the load support roller 28 is landed on the floor surface 10. Accordingly, a part of the load of the cargo handling fork 22 is supported by the floor surface 10. Then, the carriage stopper device 43 is deactivated.

  3) As shown in FIGS. 9B to 9C, the exit / retreat rotary drive device 33 is activated to rotate the ball screw 34, and the transfer device 20 is advanced from the storage unit 14 toward the station S. At this time, the load support roller 28 rolls along the floor surface 10 to guide the advance of the cargo handling fork 22. When there is a step in the floor surface 10, the main body portion 21 swings in the vertical direction about the front / retreat roller 32F by the main body portion swing allowance mechanism and the drive portion swing allowance mechanism, and the load support roller 28 The vehicle travels over the level difference on the floor 10 to the station S. Then, the cargo handling fork 22 is inserted into the insertion portion provided at the bottom of the load C at the station S.

  4) As shown in FIGS. 9C to 9D, when the fork lifting device 41 is extended, the carriage 24 is lifted with the link support 25 at the lower limit as a reaction force receiver, and the load C is received on the cargo handling fork 22. . Further, the cargo handling fork 22 is raised and the load C is lifted to a predetermined height (above the load receiving tray 15). At this time, since the load support roller 28 is landed on the floor surface 10, about half of the load of the load C is supported by the floor surface 10. Further, the turning-out / retreating drive device 33 is activated, the ball screw 34 is rotated in the reverse direction, and the transfer device 20 that supports the load C on the cargo handling fork 22 is retracted from the station S toward the storage unit 14. . Even during the retreat, the load C is supported by the load 10 by the load support roller 28.

  5) As shown in FIG. 10A, when the transfer device 20 is accommodated in the storage unit 14, the fork lifting device 41 is contracted, the cargo handling fork 22 is lowered via the carriage 24, and the load C is loaded with the cargo handling fork 22. Are transferred to the receiving tray 15.

  6) As shown in FIG. 10B, the stopper pin 43a is projected by the carriage stopper device 43. Further, by lowering the cargo handling fork 22, the stopper pin 43 a comes into contact with the carriage receiver 43 c, and the lowering of the carriage 24 is restricted.

  7) As shown in FIG. 10C, the fork lifting device 41 is further contracted to operate the link lifting device 42, and the link support 25 is lifted with the carriage 24 as a reaction force receiver, via the link arms 27A and 27B. Thus, the load supporting roller 28 is pulled up from the floor surface 10.

  Although the load receiving operation has been described in 1) to 7), the unloading operation may be performed in the reverse procedure of 7) to 1).

(Effect of Example)
According to the above embodiment, when the load C is delivered by the transfer device 20, about half of the load of the cargo handling fork 22 and the load C can be supported on the floor surface 10 via the scissor link mechanism 26. Thereby, since the structure intensity | strength of the transfer apparatus 20 can be reduced, the weight of the transfer apparatus 20 can be reduced significantly. Therefore, this cargo handling vehicle can be used on the low-strength floor 10 such as the second floor of the building.

  Further, the fork elevating device 41 regulates the lowering of the carriage 24 by the carriage stopper device 43, the carriage 24 is used as a reaction force receiver, the link support 25 is pulled up, the link arms 27A and 27B are contracted, and the lower end side of the link arm 27A is contracted. The load supporting roller 28 can be raised from the floor surface 10. Therefore, a driving device for pulling up the load supporting roller 28 is not required, and the manufacturing cost can be reduced with an easy structure.

  Further, the body swinging allowance mechanism in which the outer diameter Dr of the rearward / retracting roller 32R is smaller than the outer diameter Df of the frontward / rearwarding roller 32F allows the front support / retraction roller 32F to be centered when the load support roller 28 gets over the step. The main body 21 swings up and down, and the swinging roller 32R can absorb the swing in the running groove 31a. In addition, a fixed side holder 36 that holds the rotary drive device 33 for moving in and out is supported by the carriage body 11 so as to be swingable in the vertical direction, and a movable side holder 37 that holds the female screw member 35 is attached to the main body 21. It is supported so as to be swingable in the vertical and horizontal directions. Accordingly, the transfer device 20 can be allowed to move up and down, and when the load supporting roller 28 rolls on the floor surface 10, the transfer device 20 can be moved up and down and swayed in the left and right directions. The transfer device 20 can be withdrawn and withdrawn smoothly.

[Another Embodiment 1 of the Main Body Swing Permitting Mechanism in the Step Absorption Structure]
In the other embodiment 1, the same members as those in the previous embodiment are denoted by the same reference numerals and the description thereof is omitted. In the main body swinging allowance mechanism provided in the transfer device 20, the front and rear roller 32 </ b> F that supports the load of the main body and the rear front and rear roller 32 </ b> R that is driven by the front and rear roller 32 </ b> F are connected to the front and rear rail 31. It is arranged so as to be able to roll in the traveling groove 31a, and the outer diameter Dr of the rearward / retreating roller 32R is made smaller than the outer diameter Df of the frontward / rearwarding roller 32F, so Allowed. In the other embodiment 1, as shown in FIG. 11, the front / retreat roller 32 </ b> F that supports the weight of the main body portion 21 and the front / retraction roller 32 </ b> F are moved along the retraction / retraction rail 31. Of the rear exit / retraction rollers 52R to be guided, the rear exit / retraction roller 52R is formed of an elastic roller, and the diameter of the rear exit / retraction roller 52R in the vertical direction is reduced by the tilting of the main body portion 21. It is configured to allow tilting. Thereafter, the retracting roller 52R is configured such that an elastic ring body 52b made of wear-resistant synthetic rubber, resin, or the like is fitted on the outer peripheral portion of a roller body 52a made of a rigid material such as metal.

  Therefore, when the load support roller 28 gets over the step of the floor surface 10, the rearward / retracting roller 52R is compressed and reduced in diameter, and the main body 21 swings up and down around the frontward / rearwarding roller 32F. The mounting device 20 can be allowed to swing. Therefore, the load support roller 28 of the cargo handling fork 22 can move over the step formed on the floor surface 10 when leaving and leaving, so that the transfer device 20 can smoothly exit and leave.

[Another embodiment 2 of the main body swinging allowance mechanism in the step absorption structure]
In the second embodiment, the same members as those of the previous embodiment are denoted by the same reference numerals and the description thereof is omitted. As shown in FIG. 12, roller support members 61F and 61R having bearings are respectively provided on the support metal fitting 60 attached to the elevating mast 23 of the main body 21, and roller support shafts 63F and 61R are provided on the roller support members 61F and 61R, respectively. Front / rear rollers 32F and 62R are supported via 63R. These front / rear rollers 32F and 62R have the same outer diameter and are fitted to the travel groove 31a of the rail 31 so as to be able to roll. The roller support shaft 63R of the rearward / retracting roller 62R has a span S so that sufficient deflection can be imparted to the roller support shaft 62R when the main body 21 swings around the front / retreating roller 32F. ing. In addition, a roller support shaft having a composite structure or a roller support shaft made of spring steel can be used so that the roller support shaft 62R can be sufficiently bent.

  Accordingly, when the load support roller 28 gets over the step of the floor surface 10, the roller support shaft 63R of the rearward / retracting roller 62R bends and swings up and down the main body 21 around the front / rearward roller 32F. The mounting device 20 can be allowed to swing. Therefore, the load support roller 28 of the cargo handling fork 22 can move over the step formed on the floor surface 10 when leaving and leaving, so that the transfer device 20 can smoothly exit and leave.

  In the above-described embodiment, the storage chamber of the carriage main body 11 is mounted with the transfer device 20 that is openable and retractable by opening the right side surface, but the left side surface of the carriage main body 11 may be opened, You may arrange | position the transfer apparatus 20 so that a rear surface is open | released freely.

  In addition, although the cargo receiving member is a pair of left and right cargo handling forks 22, it may be an exit / retreat table, or a transfer device such as a transfer chain conveyor may be mounted on the exit / retreat member. .

  Further, in the embodiment, the scissor link mechanism 26 is disposed below the cargo handling fork 22 and the load support roller 28 serving as a traveling roller is provided at the movable end of one link arm 27A. A direct load support roller 28 may be provided, and a lift device may be provided on the cargo handling fork 22.

  Furthermore, in the embodiment, the present invention is applied to a self-propelled cargo handling vehicle, but can be applied to a reach-type forklift or an automatic lifter.

C Load 10 Floor 11 Carriage body 12F, 12R Steering drive wheels 13F, 13R Free wheel 14 Storage part 15 Load receiving base 20 Transfer device 21 Main part 22 Cargo handling fork (load receiving member)
22a Guide part 23 Elevating mast 24 Carriage 25 Link support 26 Scissor link mechanism 28 Load support roller (traveling roller)
30 Transfer / retraction device 31 Transfer rail 31E Roller swing restricting portion 32F Front / retraction roller 32R Rear / retraction roller 33 Retraction / revolution drive device 41 Fork lifting / lowering device (load receiving member lifting / lowering device)
42 Link Lifting Device 43 Carriage Stopper Device 52R Rear Retracting Roller 62R Rear Retracting Roller 63R Roller Support Shaft

Claims (5)

A cargo handling vehicle comprising: a trolley body that can freely travel; a transfer device that can be withdrawn from and retracted from a storage portion of the trolley body; and a load receiving member that is provided so as to be movable up and down in the transfer device.
A pair of left and right exit and exit rails of a channel-shaped cross section provided in the storage portion to guide the exit and exit of the transfer device, and having a running groove on the opposing surface ;
A forward and backward roller and a backward and backward roller that are rotatably provided at the front and rear positions of the transfer device in the front and rear direction of the transfer device and are guided by the running groove of the return rail;
A traveling roller provided on the front end side of the load receiving member and capable of rolling on the floor surface;
A transfer / withdrawal device that drives the main body to move in and out,
The outer diameter of the rearward / retracting roller is smaller than the outer diameter of the frontward / rearwarding roller, and the vertical movement of the traveling roller accompanying the unevenness of the floor surface Can be absorbed by
A cargo handling vehicle , wherein a swing restricting portion for restricting vertical movement of the rear exit / retreat roller is provided in the traveling groove of the exit / retreat rail corresponding to the retracted position of the storage portion . A cargo handling vehicle comprising: a trolley body that can freely travel; a transfer device that can be withdrawn from and retracted from a storage portion of the trolley body; and a load receiving member that is provided so as to be movable up and down in the transfer device.
And projecting and retracting rail guides the withdrawal out of the transfer device, to have a run channel provided in the storage unit,
A forward and backward roller and a backward and backward roller that are rotatably provided at the front and rear positions of the transfer device in the front and rear direction of the transfer device and are guided by the running groove of the return rail;
A traveling roller provided on the front end side of the load receiving member and capable of rolling on the floor surface;
A transfer / withdrawal device that drives the main body to move in and out,
The rearward / retracting roller is an elastic roller, and the vertical movement of the traveling roller accompanying the unevenness of the floor surface can be absorbed by expansion / contraction of the outer diameter of the rearward / retreating roller in the traveling groove. vehicle. A cargo handling vehicle comprising: a trolley body that can freely travel; a transfer device that can be withdrawn from and retracted from a storage portion of the trolley body; and a load receiving member that is provided so as to be movable up and down in the transfer device.
An exit / exit rail provided in the storage unit for guiding the exit / exit of the transfer device;
A forward / retracting roller and a backward / retracting roller that are rotatably provided at the front and rear positions of the transfer device in the front / rear direction of the transfer device and guided by the exit / retreat rail,
A traveling roller provided on the front end side of the load receiving member and capable of rolling on the floor surface;
A transfer / withdrawal device that drives the main body to move in and out,
A cargo handling vehicle, wherein a support shaft of the rearward / retracting roller is configured to be able to bend so that the vertical movement of the traveling roller due to unevenness of a floor surface can be absorbed by the bending of the support shaft. The cargo handling vehicle according to any one of claims 1 to 3 ,
The transfer / withdrawal device is
A screw shaft arranged along the exit / retraction direction of the transfer device;
A rotary drive device for exit and exit for rotationally driving the screw shaft;
A female screw member meshing with the screw shaft,
The exit / retreat rotary drive device is supported by the carriage body so as to be rotatable around a horizontal axis perpendicular to the exit / retreat direction of the transfer device,
The cargo handling vehicle, wherein the female screw member is supported on the main body portion so as to be rotatable around a horizontal axis and a vertical axis perpendicular to a moving direction of the transfer device. The cargo handling vehicle according to any one of claims 1 to 4 ,
A carriage that supports the cargo receiving member is disposed on the main body portion so as to be movable up and down.
A scissor link mechanism that can expand and contract in the vertical direction is provided at the bottom of the load receiving member.
In the scissor link mechanism, one link arm of a pair of link arms that are pivotably connected with their center portions intersecting each other is connected to the carriage at the fixed end and travels on the floor surface at the movable end. A cargo handling vehicle having a free running roller, the other link arm having a fixed end rotatably connected to the main body side and a movable end guided by a load receiving member.

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