NON-MANNED CARGO HANDLING VEHICLE AND ITS DRIVING METHOD

摘要

PROBLEM TO BE SOLVED: To unload a work to a predetermined position while avoiding impact to the work without providing a rolling stop means such as a stopper when the cylindrical work is unloaded in the state where an end surface thereof is perpendicular to the unloading surface.;SOLUTION: The non-manned fork lift 1 is provided with a long arm 6 turnable by a fixed short arm 5 and a cylinder 7. A release angle sensor 17 is provided on the long arm 6 and a diameter of the work W gripped is calculated from the release angle obtained thereby. A target value of the release angle of the long arm 6 in unclamping, i.e., the release angle of the long arm at the position where a lower end of the work W is contacted with the unloading surface and the rolling is stopped is obtained based on the diameter of the work W. The long arm 6 repeats the release action/temporary stop of the fine angle several times until it arrives at the target value. The long arm 6 is totally released after it arrives at the target release angle and the whole of the vehicle is retreated from the work W.;COPYRIGHT: (C)2004,JPO&NCIPI