JPH025648B2 - - Google Patents

Description

[Detailed Description of the Invention] [Technical Field] The present invention relates to the loading and unloading of cargo into a cargo storage body such as a container as a returnable box used for cargo transportation, a loading platform of a large truck, and a so-called tunnel warehouse used to store oranges, etc. The present invention relates to an automatic cargo loading/unloading device suitable for use in unloading operations.

[Prior art]

For example, when loading and unloading cargo into a shipping container approximately 12 m (40 ft) long, such a container has an opening door only at the rear, and cargo cannot be loaded from the side. Since wholesale is virtually impossible, conventionally, as shown in Figure 1, the rear door of container C was opened and climbing platform B was bridged there, and forklift A was transported through climbing platform B. It was common practice to move cargo into and out of Container C to perform necessary cargo handling operations.

In this case, for example, a forklift as shown in Japanese Utility Model Publication No. 51-21490 has been used.

However, in such conventional technology, since the forklift A is operated on a narrow climbing platform and inside a container while transporting cargo, the operator D of the forklift A must: a) move the forklift from the climbing platform B; Care must be taken not to drop the wheels of lift A, and b) within the container, the cargo should not collide with the inner walls of container C, especially if the dimensions of the cargo are approximately the same as the inner width of container C. c) If Driver D's field of vision is obstructed by the size of the cargo, lifting height, etc., he must operate forklift A by feeling; Therefore, there was a problem in that the mental and physical burden on driver D increased, resulting in severe fatigue and the inability to continue working for a long time.

[Purpose of the invention]

The present invention advantageously solves the problems of the prior art by automating the loading and unloading of cargo and eliminating the need for operators to operate forklifts in confined spaces with poor visibility. An object of the present invention is to provide an automatic cargo loading/unloading device that completely or almost eliminates the burden on a driver, enables continuous cargo handling work for a long time, and significantly increases work efficiency.

[Structure of the invention]

The automatic cargo loading and unloading device of the present invention is provided with a base, and allows relative movement between the base and a cargo storage body that is open at one end in the length direction, and also allows a platform attached on the base to be used for loading and unloading cargo. The base or platform is capable of moving horizontally in the width direction of the storage body, and is provided with connecting means for connecting the platform to the open end of the cargo storage body, and when these two are connected, under the action of the running wheels, the inside of the cargo storage body can be moved. A cargo handling device is disposed on the platform which moves the cargo handling device forward and backward, and loads and unloads cargo thereon under the action of the cargo handling claw, and at least a drive means for driving the cargo handling device forward and backward is provided on the platform, and , a control device for controlling the loading/unloading movement and advance/retreat drive of the cargo handling device is provided, for example, on the platform, and the drive means is a single hydraulic cylinder;
It is composed of a plurality of rigid members in a nested arrangement that are driven forward and backward by a plurality of chains, and the base of this drive means is connected to the platform so as to be swingable in a vertical plane. A cargo handling device is connected to the tip of the container so that it can swing in a vertical plane.

According to the automatic cargo loading and unloading device of the present invention, the platform is moved horizontally to align its center line with the center line of the cargo container, and then the connecting means is used to connect the base and the cargo container. Under the relative movement of the cargo container, by tightly connecting both of them and thus the platform and the cargo container, the cargo that is subsequently delivered to a predetermined position on the platform by a conveyor, forklift, etc., or that has been placed inside the cargo container in advance, Cargo stored in the cargo storage can be automatically loaded and unloaded by moving the cargo handling device forward and backward and loading and unloading based on commands from the control device, without the need for the driver to operate a forklift inside the cargo storage. .

In addition, here, the drive means is constructed of a plurality of rigid members arranged in a telescopic arrangement, which are driven forward and backward by one hydraulic cylinder and a plurality of chains, thereby achieving simple and inexpensive driving. 10m by opening the cargo handling equipment only at one end in the longitudinal direction.
It is possible to run the entire length of the cargo compartment within a cargo storage body having a length of 100 mm or longer.

Moreover, the base of this driving means is connected to the platform so as to be swingable within the vertical plane, and the cargo handling device is connected to the tip thereof so as to be swingable within the vertical plane. Even if the bottom surface of the cargo storage structure may be inclined vertically in the longitudinal direction with respect to the plane including the top surface of the platform due to road surface conditions, loading conditions, etc., the cargo handling device cannot be driven forward or backward by the drive means. This can be done smoothly and reliably at all times.

〔Example〕

The present invention will be explained below based on illustrated examples.

2 and 3 are a plan view and a side view, respectively, showing an embodiment of the present invention, in which 1 shows a container as an example of a cargo storage body, and 2 shows an automatic cargo loading and unloading device according to the present invention. show.

Here, the container 1 is placed on a trailer truck, and the automatic loading/unloading device 2 is connected to the container 1.

The automatic loading/unloading device 2 has a base 3 located at the bottom.
At the top there is provided a platform 4 which can be moved horizontally in the width direction of the container 1 by means of hydraulic cylinders or the like, and in this example the platform itself is provided with coupling means 5 for tightly coupling the platform 4 to the container 1; A cargo handling device 6 for loading and unloading cargo with respect to the container 1 is disposed on the container 1, and a driving means 7 for driving the cargo handling device 6 to move forward and backward into the container is also provided on the platform 4 in this example. Respective control devices for controlling these loading/unloading movements and forward/backward driving of the cargo handling device 6 are provided, for example, on the cargo handling device 6 and the platform, or on the platform.

Here, the base 3 can be of a stationary type or a portable type if the container 1 is movable together with a trailer truck as in the illustrated example, but it is preferable to provide it with wheels 8a and 8b. Therefore, the base 3 is of a traveling type, and more preferably of a self-propelled type. In addition, wheels 8a, 8b
Preferably, one of the wheels 8 is a caster wheel in order to easily and reliably connect the container 1 and the platform 4, which will be described later.
a is a gangplank 9 provided at the end of the platform 4;
In order to facilitate the bridge to the container 1, it is preferable that the platform level can be adjusted by advancing and retracting it, for example by means of a hydraulic cylinder.

Further, the platform 4 provided on the base is equipped with a known reciprocating mechanism such as a hydraulic cylinder or a screw means in order to align the center line of the platform 4 with the center line of the container and to ensure that the cargo handling device 6 moves forward and backward without interfering with the container 1. It is horizontally moved relative to the base 3 by a moving means.

In this example, the connecting means 5, which is provided on the platform 4 and is movable horizontally therewith, is
As is clear from the enlarged plan view and enlarged side view shown in FIGS. 4a and 4b, a bracket is attached to the lower surface of the platform 4, which is supported by support rollers 10 relative to the base 3 and whose movement is guided by guides 11. A hydraulic cylinder 13 is attached via a cylinder 12, and a connecting plate 1 is attached to the tip of a cylinder rod 14 of the hydraulic cylinder 13 facing the container side.
A connecting pin 16 is provided horizontally through the connecting pin 16, and this connecting pin 16 is passed through a horizontal elongated hole 18 of a support fitting 17 that is integrated with the platform 4, and a lever 19 is pivotally supported at the tip of the connecting pin 16. moreover,
At the tip of this lever 19, a spring-loaded engagement pin 20 is provided inwardly, in other words, toward the center line of the platform 4. Here, the coupling pin 16 can move in the longitudinal direction of the platform 4 within the horizontal elongated hole 18 as the cylinder rod 14 is actuated, so that the lever 19 can move forward and backward relative to the container 1. In addition, the hooking pin 20 overlaps the tip of the lever 19 with the corner fitting 21 provided at the corner of the container 1, and pulls it outward against the spring force, so that the end of the lever 19 overlaps the corner fitting 21 provided at the corner of the container 1, and pulls it outward against the spring force. When the position coincides with the engaging pin 20, the external force is removed to fit into the hole 22 (see FIG. 4a).

In this example, the cargo handling device 6 on the platform has a pair of claws 24 that are raised and lowered by commands from a control device 23 provided on the platform, and the cargo handling device 6 is capable of loading and unloading cargo. Movement is achieved by lifting, supporting and lowering the cargo by the pawls 24. The forward and backward movement of the cargo handling device 6 can also be achieved by making it a self-propelled type, but here, in order to ensure its linear movement, a telescoping type installed on the platform is used. A driving means 7 causes the movement to move forward and backward. Here, also, a control device 25 is provided on a platform always located outside the container 1, giving commands to the drive means 7 to move the cargo handling device 6 to a predetermined position and to stop it. Here, it is also possible to provide the control device 23 for the loading and unloading movement of the cargo handling device 6 on the platform together with the control device 25 for advancing and retracting movement, but in such a case, the platform 4 and the cargo handling device 6 It is necessary to connect the equipment with a signal cable, and there is a high risk of loss of control or malfunction due to damage to the signal cable.

FIG. 5 is a perspective view showing the relationship between the cargo handling device 6 and the drive means 7. In this example, the drive means 7 is made up of three members: an outer member 26, an intermediate member 27, and an inner member 28. is placed horizontally on the platform, and the rear end of the outer member 26, in other words, the end remote from the container 1, is attached to the bracket 29 at a position near the end of the platform 4.
By being pivotally supported on the platform 4 via the holder, the distal end thereof can be rotated in a vertical plane. On the other hand, in order to prevent the tip of the outer member 26 from swinging in the horizontal plane, a bracket 30 is bolted to the platform 4 at a position corresponding to the tip. Note that this bracket 30 engages with a horizontal pin 32 at the tip of the outer member through a long hole 31 provided therein, so that rotation of the tip in a vertical plane is restricted by the bracket 30. Never. Further, the cargo handling device 6 is pivotally supported at the tip of the inner member of the driving means 7 by a horizontal pin 33 via a carriage (not shown).

According to these, the rocking movements of the drive means 7 with respect to the platform 4 and of the cargo handling device 6 with respect to this drive means 7 in the vertical plane are both sufficiently permitted, so that the cargo storage structure is Even if the bottom surface is inclined vertically with respect to the plane including the top surface of the platform 4 due to road surface conditions, loading conditions, etc., the cargo handling device 6 will operate on the platform and the cargo based on the action of the drive means 7. It is possible to move back and forth extremely smoothly and reliably on the bottom surface of the storage body.

6a and 6b are schematic diagrams showing the telescopic structure of the drive means 7, in which the cylinder rod 3 of a double-acting hydraulic cylinder 34 fixed to the outer member 26 is shown.
5 is fixed to the tip of the intermediate member 27. Additionally, a chain 3 having one end fixed to the tip of the outer member 26 is provided.
The other end of the chain 38 is fixed to the rear end of the inner member 28 by being wound around a sprocket 37 provided at the tip of the intermediate member 27, and the other end of the chain 38 is fixed to the tip of the intermediate member 27. is wound around a sprocket 39 provided at the tip of the inner member 28 and fixed to the carriage 40, whereby these chains 36 and 38 cause the carriage 40 and, in turn, the cargo handling device 6 to move forward. Furthermore, for the backward movement of the cargo handling device 6, a chain 41 is fixed at one end to the tip of the outer member 26.
The other end of the chain 43 is fixed to the rear end of the inner member 28 by wrapping the other end around a sprocket 42 provided at the rear end of the intermediate member 27, and the other end of the chain 43 is fixed to the front end of the intermediate member 27. , inner member 2
8 and fixed to the carriage 40 by wrapping it around a sprocket 44 provided at the rear end of the motor.

According to this telescopic structure, the hydraulic cylinder 34
By advancing the cylinder rod 35, the intermediate member 27 is directly extended, and this extension causes the chain 36 to extend the inner member 28, and the chain 38 to extend the carriage 40 by the amount of extension of the intermediate member 37. Stretch by the same amount. on the other hand,
Retraction of the cylinder rod 35 directly causes contraction of the intermediate member 27, with the result that the chain 41 retracts from the inner member 28 and also from the chain 43.
will each reduce the carriage 40 by the same amount.

An example of a hydraulic pressure supply circuit to the double-acting hydraulic cylinder 34, which is the telescopic drive source of the driving means 7, is shown in the seventh example.
As shown in the figure. Here, the rod-side hydraulic chamber and the cylinder-side hydraulic chamber of the hydraulic cylinder 34 are each connected to an electromagnetic switching valve 45, and the electromagnetic switching valve 45 is
It is connected to a hydraulic tank 47 via a hydraulic pump 46 and also connected to the hydraulic tank 47 through a drain passage 48 . Preferably, a pressure switch 49 is connected to the cylinder-side hydraulic chamber, and an activation signal of the pressure switch 49 is inputted to, for example, the electromagnetic switching valve 45 to set it at the neutral position.

According to this hydraulic circuit, when the electromagnetic switching valve 45 is operated, the oil from the hydraulic pump 46 driven by the motor 50 flows into the cylinder side hydraulic chamber, thereby allowing the cylinder rod 35 to advance. The retraction of the cylinder rod 35 is respectively effected by the flow into the hydraulic chamber. Here, the pressure switch 49 is connected to the cylinder rod 3.
5, in other words, while the cargo handling device 6 connected to the drive means 7 is moving forward, the internal pressure in the cylinder side hydraulic chamber is increased by contacting the front end wall of the container 1 or the cargo loaded therein in advance. When the cargo handling device 6 rises, it is detected and acts to stop the forward movement of the cargo handling device 6. Therefore, for example, when loading cargo into the container 1, the pressure switch 49 uses the front end of the container 1 as the positioning origin, and the cargo handling device 6 supports and transports the cargo at a position where the cargo handling device 6 contacts the front end wall of the container or the cargo. It can be used when loading cargo in sequence. In order to stop the cargo handling device 6 at a predetermined loading position, for example, a plurality of microswitches provided at a predetermined pitch on the outer member 26 can be operated by one dog provided on the intermediate member 27, and the control device 25 This can also be done by stopping the advance of the cylinder rod 35 when a predetermined number of microswitches are activated based on commands from the pressure switch 49. In this case as well, the pressure switch 49 described above can be provided as an auxiliary switch. Further, the pressure switch 49 is equipped with a plurality of micro switches, and the micro switches function as a deceleration switch and the pressure switch 49 functions as a stop switch, so that the load handling device 6
Even when the cargo handling device 6 travels at high speed, the cargo handling device 6 can be stopped reliably and smoothly.

Here, in addition to the hydraulic pump 46, the motor 50, and the hydraulic tank 47, and in some cases, the drive sources for self-propulsion of the automatic loading/unloading device 2 are second and third.
It is housed in a power source 51 shown in the figure.

Referring again to FIGS. 2, 3, and 5, the cargo handling device 6 connected to the tip of the drive means 7 further includes front and rear running wheels 52, and a hydraulic power source for driving the pawls 24 up and down, as the case may be. In addition, it is equipped with a power source 53 that houses a driving source for self-propulsion. Further, in this example, the claw fixing member 54, which is fixed to the two claws 24 and is perpendicular to the claws 24, is capable of horizontal movement in the width direction of the platform 4 in addition to vertical movement along the mast. A micro switch 55 is provided at both ends of this claw fixing member 54.
Attach each. These micro switches 55 cooperate with guide rails 56 fixed on the platform to always return the claw 24 of the cargo handling device 6, which has been retreated to the limit position, to its center, in other words, to the center of the platform 4. It also acts in the container 1 in cooperation with its side walls. As a result, the cargo handling device 6, which has retreated to the limit position, can always lift the cargo supplied to a predetermined position on the platform in a stable state with its claws 24 in the next advancing process, and also It is possible to transport the cargo supported by the claws 24 without colliding with the side walls of the container in a container that may be slightly twisted or otherwise distorted due to such circumstances. In addition, since the driving means 7 has sufficient rigidity, it is possible to sufficiently ensure the straightness of the cargo handling device 6 when the container 1 is not twisted or the like.

Furthermore, since the cargo handling device 6 of this example is provided with a control device 23 for raising and lowering the pawls 24, the cargo handling device 6 is a prerequisite for starting the raising and lowering operation.
Preferably, the stoppage of the control device 25 is detected by itself rather than by a signal from the control device 25. For this reason, here, as shown in a perspective view in FIG. 8, a ring-shaped plate 58 is attached to the wheel disc 57 of the running wheel 52.
Convex portions or concave portions, in the illustrated example, convex portions 59 are provided radially, and furthermore, a high frequency proximity switch 60 is disposed opposite to these convex portions 59. As shown in FIG. 9, the main circuit of the proximity switch 60 is connected to a phase inverting output circuit through a differential circuit and an integrating circuit in sequence.

According to the stop detection device configured in this way, the forward stop of the cargo handling device 6 at time _t1 , in other words, the stop of the traveling wheels 52, is first caused by the high frequency proximity switch main circuit being stopped, as shown in FIG. The square wave output is stopped, the peak wave output of the differentiating circuit is stopped, and the ON output of the integrating circuit is stopped.
OFF, and conversely, the output of the phase inversion output circuit becomes OFF.
It is detected by changing from OFF to ON, and after this detection, a command to raise or lower the claw 24 is issued from the control device 23.

In addition, when the cargo handling device 6 is provided with a drive source for its self-propulsion, as shown in FIGS. 2 and 3, it is preferable that the cargo handling device 6 is provided with a manual operation lever 61 for advancing and retracting the cargo handling device 6, and furthermore, as shown in FIGS. are each provided with a manual operation lever 62 for the loading and unloading movement, so that the loading and unloading operation can be continued manually even in the event of a failure of the drive means 7 and/or the control device 25, or even in the event of a failure of the control device 23. do. Therefore, any malfunction in each part can be repaired after the loading/unloading operation is completed without interrupting the loading/unloading operation.

When loading cargo 63 into the container 1 using such a cargo handling device 6, for example, in the upper and lower stages as shown in FIG. 3, if the loading position is the lower stage, the cargo handling device 6 With the claw 24 lowered to the limit position as shown in FIG.
After detecting, for example, a micro switch, that the claw 24 has completely entered the pallet of the cargo 63, the cargo 63 is moved to a predetermined height, for example, 350 mm.
Then, by reactivating the drive means 7, it is advanced to a predetermined loading position, and there, the cargo 63 is lowered together with the claw 24 to its lower limit position on the condition that a signal is generated from the advanced stop detection device. , and then retreated to the limit position by the drive means 7. Due to this operation of the cargo handling device 6, the cargo 63 is left behind at a predetermined position on the container floor.
This means that loading has been completed.

Here, the reactivation of the driving means 7 after the lifting/lowering operation of the claw 24 is completed can be automatically performed, for example, by activating a timer from the time when the driving means 7 is stopped.

In addition, when loading cargo 63 onto the upper stage, the operation mode of the claw 24 is changed, for example, as shown in FIGS. 2 and 3, light emitted from a light emitting element 64 provided on the platform side is By entering the light receiving device 65, a command is given to the control device 23. As a result, the cargo handling device 6, which has been advanced to the predetermined supply position of the cargo 63, lifts the cargo 63 there to a height necessary for loading the cargo 63 onto the second stage, for example, 1254 mm, as shown in FIG. 11b. performs almost the same operation as in the previous case. Here, the lowering of the pawl 24 after finishing the second stage loading can be done by temporarily stopping the cargo handling device 6 between the loading end position and the backward limit position, but without stopping operation,
It is preferable to do this at the same time in terms of work efficiency.

In addition, as for the raising operation mode of the pawl 24 when loading the second stage, especially when the weight of the cargo 63 is large, in order to improve the stability of the cargo handling device 6, the pawl 24 that supports the cargo 63 is raised. It is preferable to keep the duration as short as possible. For this reason,
For example, as shown in FIG. 11c, the position at which the cargo 63 is raised to the required height may be immediately before its loading position.

Furthermore, in this embodiment, in order to enable automatic feeding of the cargo 63 to a predetermined position on the platform, as shown in FIG. A running conveyor 66 is provided. This self-propelled conveyor 66, which conveys the cargo 63 from the ground or its vicinity onto the platform, has an inverted stopper 67 in its middle part, and this stopper 67 allows the cargo to be moved to a predetermined position on the platform 4. If 63 exists, cargo 63 to it
acts to temporarily stop the supply of

Note that this self-propelled conveyor 66 can of course also be used when unloading the cargo 63 from the container 1.

An operation console 68 for operating the device configured in this manner is provided at the rear end of the platform (see Figures 2, 3, and 5), and the operation panel includes a panel as shown in Figure 12, for example. Arrange the pushbuttons as shown. The numbers in FIG. 12 indicate the advancing position of the cargo handling device 6 when loading and unloading the cargo 63 in eight rows and two stages. It will be done.

The operation of the illustrated example device will be described below with reference to FIGS. 13 and 14 in the case where cargo 63 is automatically loaded.

First, the container 1 and the automatic loading/unloading device 2 are tightly connected. For this purpose, preferably, the wheels 8a on the container side of the automatic loading/unloading device 2 are
is advanced by a hydraulic cylinder to make the platform level at that part sufficiently higher than the floor level of the container 1, and then the rear end of the container 1 placed on the trailer truck is moved toward the tip of the platform 4. . At this time, the first
As shown in Figure 3a, if the center lines of the container 1 and the platform 4 are parallel to each other but deviate by a distance x, the platform 4 is moved horizontally by the distance x with respect to the base 3 and Align the center lines as shown in Figure 13b. As the container 1 continues to move, the hole 22 of the corner fitting 21 is inserted into the engaging pin 20 at the tip of the lever.
When the locking pin 20 is aligned with the lever 19, the locking pin 20 is fitted into the hole 22 (see FIG. 13c). Furthermore, in order to tightly connect the container 1 and the platform 4, the hydraulic cylinder 13 is actuated to move the lever 19 and the locking pin 20. Retraction causes a relative movement of both in the direction of approach. In order to bring about more accurate alignment of both center lines, it is preferable to readjust the platform position before or after such actuation of the hydraulic cylinder 13.
After completion of such a connection operation, the wheels 8a are moved backward to span the gangplank 9 over the container floor surface, and preferably, part of the weight of the automatic loading/unloading device 2 is supported by the container 1.

In addition, when the container 1 is moved backward, the center line of the container 1 and the platform 4 is
As shown in FIG. 2, when they intersect with each other, by advancing the lever 19 on one side as required, it is possible to fit the two engaging pins 20, 20 into the corner fittings 21, 21 on both sides of the container, respectively. By adjusting and then retracting both levers 19, 19, a tight connection between the container 1 and the platform 4 is brought about, as shown in FIG. 13e. In addition, when such a connection is made, one or both of the rear end surface of the container and the front end surface of the platform will make a turning motion, so it is preferable that one of the wheels of the base 3, for example, the wheels 86, be used as a caster wheel. preferable.

After completing such a connection work, first operate the self-propelled conveyor 66, and convey the 14th conveyor there.
As shown in the figure, cargo 63 is brought in by a forklift or the like. This allows cargo 63
is conveyed to the stopper 67, which is previously in the upright position, and waits there for the stopper 67 to be inverted.
Next, by turning on the start switch on the operation console 68, the stopper 67 is inverted, and the cargo 63 is transported to a predetermined supply position on the platform. The arrival of the cargo 63 at the predetermined supply position is detected, for example, by a microswitch provided at the end of the self-propelled conveyor 66, and this detection signal causes the stopper 67 to rise again.
The operation of the drive means 7 is started.

As a result, the drive means 7 advances the cargo handling device 6 to the self-propelled conveyor position and stops, and then continues to stop for a certain period of time due to the operation of the timer. Meanwhile, during this stop, the cargo handling device 6 detects that the claw 24 has completely entered the pallet of cargo 63, and lifts the claw 24 and thus the cargo 63 to a required height. This lifting height of the cargo 63 is selected depending on whether or not light is emitted from the light emitting element 64. If no light is emitted, it is set to the lower stacking height, for example 350 mm, and if it is emitted, it is set to the upper stacking height. It becomes 1254mm. When the lifting of the cargo 63 is completed, the driving means 7
is reactivated to advance the cargo handling device 6 to a predetermined loading position by operating the push button,
Then, the timer is used again to stop the process for a certain period of time. The cargo handling device 6 detects this stoppage of the drive means 7 using a stoppage detection device provided in association with the traveling wheels 52, and lowers the cargo 63 onto the container floor at that position.

The driving means 7, which detects the completion of such work of the cargo handling device 6 by a timer, then causes the cargo handling device 6 to move backward, and finally returns it to the backward limit position shown in FIGS. 2 and 3. In that state, it waits for operation based on the next command.

The above-mentioned loading and advancing/retracting movements of the cargo handling device 6 are almost the same for both upper and lower tiers, but in the case of upper tier loading, as described above, the claws 2
4 is preferably lowered during the backward movement of the cargo handling device 6.

Then, by successive operations of the push button, the cargo handling device 6 repeats the loading movement to different loading positions and the advance/retreat movement in the same manner as described above.

Although FIG. 14 shows a flowchart for stacking the cargo 63 in two stages, it is also possible to perform the same procedure as described above when stacking three or more stages. Furthermore, when unloading the cargo 63 from the container 1, it goes without saying that the cargo handling device 6 may be operated by following the flowchart shown in FIG. 14 from the opposite direction.

〔Effect of the invention〕

Therefore, according to the present invention, the work of loading and unloading cargo into the cargo container can be automatically performed by a small number of workers, so the burden and man-hours of the workers are significantly reduced, and work efficiency is greatly improved. This has the remarkable effect of increasing

In addition, here, the drive means of the cargo handling device is constructed of multiple rigid members in a nested arrangement that are driven forward and backward by one hydraulic cylinder and multiple chains, so that the For a long cargo storage body that has an opening only at one end and cannot be equipped with any cargo loading/unloading equipment inside, the cargo handling device can be sufficiently run over its entire length.
Therefore, cargo can be unloaded from any position in the cargo storage body in a sufficiently appropriate manner from the longitudinal direction of the cargo storage body.

Moreover, since the drive means here can swing in a plane perpendicular to the platform, and the cargo handling device can swing in a plane perpendicular to the drive means, the cargo storage Even if the bottom surface of the platform is inclined vertically in the longitudinal direction with respect to the plane including the top surface of the platform due to road conditions, loading conditions, etc., the approach of cargo handling equipment from the platform to the cargo storage structure and its cargo will be prevented. The retraction from the storage body onto the platform can always be made smooth and reliable without causing bending stress or other stresses.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing a conventional example, FIGS. 2 and 3 are a plan view and a side view showing an embodiment of the present invention, and FIGS. 4a and 4 b are a plan view and a side view showing a connecting means, respectively. Figure 5 is a perspective view showing the relationship between the cargo handling device and the drive means, Figures 6a and b are schematic views showing the telescopic structure of the drive means, and Figure 7 is the
8 is a perspective view showing the mechanical part of the stop detection device, FIG. 9 is a block diagram showing the stop detection circuit, and FIGS. 10 a, b, c, and d are Diagrams showing the signal processing state in the stop detection circuit, Figures 11a, b, and c are side views showing the operating mode of the claws, Figure 12 is a plan view showing the arrangement of the push buttons, Figures 13a, b,
c, d, and e are plan views showing how the container and the automatic loading/unloading device are connected, and FIG. 14 is a flowchart showing the automatic cargo loading process. DESCRIPTION OF SYMBOLS 1... Container, 2... Automatic loading/unloading device, 3... Base, 4... Platform, 5... Connecting means, 6... Cargo handling device, 7... Drive means, 8a, 8b... Wheels, 9...
Gangplank, 21... corner fitting, 23, 25... control device, 24... pawl, 52... traveling wheel, 63... cargo, 6
6...Self-propelled conveyor.

Claims (1)

[Claims] 1. A base 3, mounted on this base,
A platform 4 that is open at one end in the length direction and is movable horizontally in the width direction of the cargo storage body 1; a connecting means 5 that connects the platform 4 to the cargo storage body 1 on the opening side thereof; and a connecting means 5 disposed on the platform. A cargo handling device 6 that is loaded and unloaded with respect to the cargo storage body 1, and a running wheel 52 provided on this cargo handling device.
and a cargo handling claw 24, a drive means 7 which is connected to the cargo handling device 6 and the platform 4 and causes the cargo handling device to move forward and backward into the cargo storage body, and a control device which controls the loading and unloading movement and the forward and backward movement of the cargo handling device 6. 23, 25, and the driving means 7 is connected to one hydraulic cylinder 34.
The base of the driving means 7 is connected to the platform 4. , are connected to be swingable in a vertical plane, and at the tip of the driving means,
An automatic cargo loading and unloading device that connects cargo handling devices so that they can swing in a vertical plane.