To shorten the time required to correct a positional deviation of a fork device with respect to a shelf.SOLUTION: A pallet conveyance system includes: a shelf having a storage part for storing a pallet; a traveling device that travels in a right and left direction of the shelf; a lifting device having a loading platform that moves up and down in a vertical direction of the shelf; a fork device having a claw part that expands and contracts in a front and back direction of the shelf; a three-dimensional marker fixed to the shelf in a predetermined positional relation with respect to the storage part; a three-dimensional camera fixed to the loading platform or the claw part; and a control device that moves the loading platform to a predetermined preparation position using the traveling device and the lifting device, and then expands and contracts the claw part by a predetermined amount of expansion and contraction to convey the pallet between the claw part and the storage part. The control device photographs the three-dimensional marker with the three-dimensional camera, obtains position information of the three-dimensional marker with respect to the three-dimensional camera in front and back, right and left, and upper and lower directions, and uses the position information to correct the preparation position and the amount of expansion and contraction of the claw part.SELECTED DRAWING: Figure 1

    【課題】棚に対するフォーク装置の位置ずれを補正する時間を短縮する。【解決手段】パレット搬送システムは、パレットを収納する収納部を有する棚と、棚の左右方向に沿って走行する走行装置と、棚の上下方向に沿って昇降する荷台を有する昇降装置と、棚の前後方向に沿って伸縮する爪部を有するフォーク装置と、収納部に対して予め定められた位置関係になるように棚に固定されている立体マーカと、荷台または爪部に固定されている三次元カメラと、走行装置と昇降装置とによって所定の準備位置に荷台を移動させた後、所定の伸縮量で爪部を伸縮させて爪部と収納部との間でのパレットの受け渡しを実行する制御装置とを備える。制御装置は、三次元カメラで立体マーカを撮影して、前後、左右および上下方向における三次元カメラに対する立体マーカの位置情報を取得し、位置情報を用いて準備位置と爪部の伸縮量とを補正する。【選択図】図1


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    Title :

    PALLET CONVEYANCE SYSTEM


    Additional title:

    パレット搬送システム


    Contributors:

    Publication date :

    2023-11-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B65G TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS , Transport- oder Lagervorrichtungen, z.B. Förderer zum Laden oder Abladen / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last



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