JPS6329656B2 - - Google Patents

Description

[Detailed description of the invention] The present invention relates to a load positioning device for a truck.

Techniques prior to the present invention include those shown in FIGS. 1 and 2. 31 is a truck body, and 32 is a floating loading table. The table 32 has a group of idling rollers 33, which form a loading surface 34. 35 is a traverser that transfers the load 36 to and from the station, and 37 is a driving machine for the traverser 35. 38 is table 32
The floating roller 39 is the table 32
40 is a fixed position detection sensor attached to the table 32.

When the trolley approaches the station, it detects a stop mark, stops the traveling motor, and applies the brakes. Next, the lock fixing the table 32 to the main body 31 is released, and the table 32 is placed in a floating state. A sensor 40 captures a fixed position across the station. The lateral displacement mechanism 39 operates so that the deviation from the normal position becomes zero, that is, the output of the sensor 40 becomes zero, and stops when the output of the sensor 40 becomes zero. The table 32, ie, the load 36, is now centered. The traverser 35 is then activated to transfer the load to or retrieve the load from the station.

This prior art has the following problems.

(a) When centering the loaded table 32, a large load is applied to the lateral displacement mechanism 39. In addition to the load 36, the table 32 itself, the traverser 35, the traverser driver 37, and the idle roller 3
Three groups and others must be moved, and their total weight is extremely large. Therefore, a lot of energy is required for centering. Unmanned trolleys usually use a battery as an energy source, and since this controls running, steering, centering, and electrical control, it is desirable to keep the required energy as low as possible. It is becoming a hindrance.

(b) Centering of the table 32 is performed by feedback control, but since the total weight of the moving object is large and the inertial force is large, momentum tends to overshoot, and the centering accuracy cannot be said to be good.

An object of the present invention is to solve the above-mentioned problems.

The technical measures taken by the present invention for this purpose are as follows. In order to facilitate understanding, these will be described with the numbers used in FIGS. 3 to 6 related to the embodiments described later, but this should not be interpreted as limiting the technical scope of the present invention. It won't happen.

[] Loading surface 3 is moved by two groups of rotating rollers installed parallel to each other with respect to the fixed frame 1 of the truck.
is formed.

[] A lateral displacement mechanism 5 is provided which, by acting on the load 4 on the loading surface 3, causes the load 4 to slide reciprocatingly on the group of rotary rollers 2 along the axial direction of the rotary roller 2. There is.

[] A fixed position detection sensor 6 for lateral displacement is attached to this lateral displacement mechanism 5.

[] This sensor 6 and the drive machine 7 of the lateral displacement mechanism 5 are linked so that the latter drive machine 7 is stopped based on the detection operation of the former sensor 6.

The effects of the above configurations [] to [] are as follows.

(A) What must be moved when centering the load 4 is the load 4 itself and the movable parts of the lateral displacement mechanism 5. In other words, the load applied to the drive machine 7 in the lateral displacement mechanism 5 is the total weight thereof and the dynamic frictional resistance that the load 4 receives from the two groups of rotating rollers (needless to say, they are in a non-rotating state at this time). . Since the contact between the load 4 and the individual rollers 2 is a line contact, the total resistance with all the rollers 2 is also relatively small. That is, the total load on the drive machine 7 is much smaller than that of the prior art described above.

(B) Since the total load is small, there is very little overshoot due to inertia during the centering operation, and extremely accurate centering control is performed.

Thus, the effects of the present invention are as follows: (a) Energy saving can be achieved in centering control.

(b) Centering control can be performed with high precision.

That's what it means.

Next, an example of the present invention will be described. See Figures 3 and 4.

A plurality of rollers 2 are mounted on a fixed frame 1 equipped with wheels 8. All rollers 2 are
Their rotational axes lie in the same horizontal plane and are parallel to each other. All rollers 2 have a common chain 9
It is interlocked and connected to a drive machine (motor) 10 via. Two groups of rollers constitute a loading surface 3.

The lateral displacement mechanism 5 has clamping parts 11 and 1 for the load 4.
1. A movable frame 12 to which these clamping parts 11, 11 are attached, and a driving machine 7 are provided. The driving device 7 is usually a combination of a motor and a screw jack or ball screw.

Sensor 6 is attached to movable frame 12. The sensor 6 consists of a pair of electromagnetic wave pickup coils 13, 13, and is arranged symmetrically with respect to the center line Q of the movable frame 12. The center line P and center line Q of the load 4 held and positioned by the holding parts 11, 11 coincide.

The pickup coils 13, 13 are linked to the motor of the drive unit 7 via an amplifier, a comparator, etc. The coils 13, 13 capture electromagnetic waves transmitted from a towpath wire laid across the station and induce a voltage. The potential difference at that time is 0
Then, the center line Q and towpath wire match, and centering is completed. When the potential difference is not 0, the motor is driven via the comparator so that the potential difference becomes 0.

As shown in FIG.
It is effective to mount it so that it can swing up and down with respect to 2. 14 is a magnet, 15 is a link type rod,
16 is an electromagnet, and 17 is a spring. The two clamping parts 11, 11 open and close at the same time.

As shown in Figure 6, attach the rack 1 to the clamping parts 11,
It is also effective to provide pinion gears 8 and 18 and engage them with the pinion gear 19. In this case, the two clamping parts 11, 11 open and close at the same time. The movements are the same amount and in opposite directions. Since its stroke is large, it has the advantage of being able to handle multiple types of loads with different widths.

In addition, while the trolley is running and centering, the load 4
It is preferable to prevent the cargo from accidentally falling by holding it between the holding parts 11, 11, and to release the holding during traversal to make loading and unloading smooth.

As another example, two center lines P,
It is also possible to shift Q.

[Brief explanation of drawings]

1 and 2 are front and side views illustrating the prior art. 3 to 6 show embodiments of the present invention, FIG. 3 is a front view, FIG. 4 is a side view,
FIG. 5 and FIG. 6 are front views showing different embodiments. 1...Fixed frame, 2...Rotating roller, 3...
...Loading surface, 4...Load, 5...Lateral displacement mechanism, 6...
Fixed position detection sensor, 7...driver.

Claims (1)

[Claims] 1. A loading surface 3 is formed by two groups of rotating rollers installed in parallel to each other with respect to a fixed frame 1 of the truck, and the load 4 on this loading surface 3 is 4
is provided with a lateral displacement mechanism 5 for reciprocating sliding displacement on the 2 groups of rotary rollers along the axial direction of the rotary roller 2, and this lateral displacement mechanism 5 includes a fixed position detection sensor 6 for lateral displacement. A cargo positioning device for a trolley, in which the sensor 6 and the drive machine 7 of the lateral displacement mechanism 5 are linked so as to stop the latter drive machine 7 based on the detection operation of the former sensor 6. . 2 The fixed position detection sensor 6 is configured such that the lateral displacement mechanism 5 is connected to the rotating roller 2.
According to claim 1, the sensor 6 is attached such that the center point of the load 4 whose position is to be restricted in the axial direction of the load 4 coincides with the center point of the sensor 6 in the same direction. load positioning device for trolleys.