JP2022074736A - Luggage loading device - Google Patents

Abstract

To provide a luggage loading device that can easily load luggage from the side of a container into the container and improve the luggage loading rate in the container.SOLUTION: A luggage loading device 1 comprises: a loading robot 15 having a robot hand 22 for holding luggage 3; a first drive unit 33 for moving the robot hand 22 in three axial directions; a second drive unit 34 for rotating the robot hands 22 about three axes; and a loading computation unit 43 and a loading control unit 47 that control the robot hand 22 so that the robot hand 22 holds the luggage 3, and then, control the first drive unit 33 to move the robot hand 22 into a container 2, and further, control the robot hand 22 to load the luggage 3 held by the robot hand 22 into the container 2. The robot hand 22 has: a first conveyor unit 23; and a second conveyor unit 24 arranged in an L shape with respect to the first conveyor unit 23.SELECTED DRAWING: Figure 4

Description

The present invention relates to a luggage loading device.

As a conventional baggage loading device, for example, the technique described in Patent Document 1 is known. In the baggage loading device described in Patent Document 1, baggage is loaded in a container by a robot.

Japanese Unexamined Patent Publication No. 5-246546

By the way, when loading baggage such as a suitcase into a container at an airport, for example, it is required that the baggage can be easily loaded into the container from the side of the container. It is also required to reduce the empty space in the container and improve the baggage loading rate in the container.

An object of the present invention is to provide a cargo loading device capable of easily loading cargo from the side of the container into the container and improving the cargo loading rate in the container.

One aspect of the present invention is a load loading device for loading a square columnar load into the container from the side of the container, the loading robot having a robot hand for holding the load, and the robot hand in three axial directions. A drive unit that performs an operation of moving the robot hand to and / or an operation of rotating the robot hand around three axes, and a first control process for controlling the robot hand so as to hold a load on the robot hand are executed, and the first control process is performed. After executing the second control process that controls the drive unit so as to move the robot hand into the container, and after executing the second control process, the load held by the robot hand is loaded into the container. The robot hand is provided with a control unit that executes a third control process for controlling the robot hand, and the robot hand has an L-shape with respect to a first conveyor unit for loading and moving the luggage and a first conveyor unit. It is arranged in a shape and has a second conveyor unit on which the load is placed and the load is moved, and the control unit has at least the first conveyor unit and the second conveyor unit when executing the first control process. One is controlled to be driven to the base end side of the robot hand, and when the third control process is executed, at least one of the first conveyor portion and the second conveyor portion is controlled to be driven to the tip end side of the robot hand. do.

In such a load loading device, first, at least one of the first conveyor section and the second conveyor section is driven to the base end side of the robot hand, so that the load is held by the robot hand of the loading robot. .. Then, the robot hand moves into the container by the drive unit. Then, at least one of the first conveyor unit and the second conveyor unit is driven to the tip end side of the robot hand, so that the load held by the robot hand is loaded in the conveyor. By transferring the cargo from the robot hand to the container by the first conveyor section and the second conveyor section in this way, the cargo can be easily loaded into the container from the side of the container. Further, the second conveyor section is arranged in an L shape with respect to the first conveyor section. Therefore, for example, by rotating the robot hand around an axis parallel to the drive direction of the first conveyor unit and the second conveyor unit by the drive unit, it is possible to change the posture of the load by 90 degrees. Therefore, it is possible not only to load the luggage in the horizontal position but also to load the luggage in the vertical position. As a result, the empty space in the container can be reduced and the cargo loading rate in the container can be improved.

The drive unit has a first drive unit that moves the robot hand in the three-axis direction and a second drive unit that rotates the robot hand around the three axes. When the control unit executes the second control process. Controls the first drive unit so as to move the robot hand into the container, and when executing the third control process, the robot hand is moved to the first conveyor unit and the second conveyor unit when the posture of the load is changed. The second drive unit may be controlled so as to rotate about an axis parallel to the drive direction of the. In such a configuration, the posture of the load can be changed by 90 degrees by rotating the robot hand around the axis parallel to the drive direction of the first conveyor unit and the second conveyor unit by the second drive unit. .. Therefore, the luggage can be easily and surely loaded in either the horizontal or vertical state.

On the base end side of the robot hand, a wall portion for positioning the load in the driving direction of the first conveyor portion and the second conveyor portion with respect to the first conveyor portion and the second conveyor portion is provided, and the control unit is provided with a wall portion. When the first control process is executed, at least one of the first conveyor section and the second conveyor section is controlled to be driven toward the wall portion, and when the third control process is executed, the first conveyor section and the first conveyor section are controlled. 2 At least one of the conveyor portions may be controlled to be driven to the opposite side of the wall portion. In such a configuration, by abutting the load placed on the first conveyor section or the second conveyor section against the wall portion, the load held by the robot hand is applied to the first conveyor section and the second conveyor section. It will be positioned with reference to the wall. As a result, the load can be loaded with high accuracy at the loading position in the conveyor.

When executing the first control process, the control unit may control the second drive unit so as to rotate the robot hand so that the wall portion is located on the lower side. In such a configuration, even when the luggage is roughly placed on the first conveyor portion or the second conveyor portion, the robot hand is tilted so that the wall portion is located on the lower side, so that the luggage is due to its own weight. Hits the wall. Therefore, the load held by the robot hand is easily positioned in the driving direction of the first conveyor section and the second conveyor section.

When executing the first control process, the control unit turns the robot hand so that the load placed on one of the first conveyor unit and the second conveyor unit hits the other of the first conveyor unit and the second conveyor unit. The second drive unit may be controlled to move. In such a configuration, the load held by the robot hand is not only in the driving direction of the first conveyor section and the second conveyor section but also in the direction perpendicular to the driving direction with respect to the first conveyor section and the second conveyor section. Will also be positioned. As a result, the cargo can be loaded at the loading position in the container with higher accuracy.

When executing the first control process and the third control process, the control unit may control the first conveyor unit and the second conveyor unit to be driven in the same direction at the same time. In such a configuration, for example, when the load placed on the first conveyor section moves in a state of being in contact with the second conveyor section, the load is prevented from being rubbed by the second conveyor section.

The width dimension of the first conveyor portion may be larger than the width dimension of the second conveyor portion. In such a configuration, the robot hand can be miniaturized, and the rectangular parallelepiped load can be easily loaded in the container in the horizontal and vertical positions.

According to the present invention, the cargo can be easily loaded into the container from the side of the container, and the cargo loading rate in the container can be improved.

It is a schematic block diagram which shows the baggage loading apparatus which concerns on one Embodiment of this invention. It is a perspective view which shows the appearance of the robot hand shown in FIG. FIG. 3 is a perspective view showing how the baggage is held in a horizontal position and a vertical position by the robot hand shown in FIG. 2. It is a perspective view which shows the driving direction of the 1st conveyor part and the 2nd conveyor part shown in FIG. It is a control system block diagram of the baggage loading apparatus shown in FIG. It is a figure which shows a plurality of storage areas set in a container with an example of the loading order of baggage. It is a figure which shows the address set in the container together with the accommodation area. It is a flowchart which shows the detail of the procedure of the loading operation processing executed by the loading operation unit shown in FIG. FIG. 2 is a side view showing how the baggage held by the robot hand shown in FIG. 2 is positioned with respect to the first conveyor portion and the second conveyor portion by the wall portion. FIG. 2 is a schematic side view showing how baggage is loaded in the auxiliary storage area in the container shown in FIG. 2.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a schematic configuration diagram showing a luggage loading device according to an embodiment of the present invention. In FIG. 1, the luggage loading device 1 of the present embodiment is installed, for example, in a backyard loading area at an airport. The luggage loading device 1 is a device that automatically loads the passenger's baggage 3 (luggage) into the container 2 loaded on the aircraft.

The baggage 3 loaded in the container 2 is a rectangular parallelepiped suitcase. The rectangular parallelepiped referred to here includes not only a perfect rectangular parallelepiped but also a substantially rectangular parallelepiped having chamfers or the like at the corners. The baggage 3 has two main surfaces 3a, an upper surface 3b, a lower surface 3c, and two side surfaces 3d. A handle 31 is provided on the upper surface 3b. A plurality of casters 32 are provided on the lower surface 3c.

The container 2 is mounted on a plurality of (here, two) trolleys 4 towed by a towing tractor (not shown). A coupler 4a is provided at the front end and the rear end of the carriage 4. The carriages 4 are connected to each other by a coupler 4a.

The luggage loading device 1 loads the baggage 3 into the two containers 2 at the same time. A door (not shown) is provided on one side of the container 2. The cargo loading device 1 loads the baggage 3 into the container 2 from the side of the container 2 with the door of the container 2 open. The container 2 located on the front side of the towing tractor is referred to as the front container 2A, and the container 2 located on the rear side of the towing tractor is referred to as the rear container 2B.

The luggage loading device 1 includes a main conveyor 5, a sorting conveyor 6, a retracting conveyor 7, a receiving conveyor 8, a pusher 9, a turntable 10, a pusher 11, a buffer conveyor 12, a pusher 13, and a pusher. A 14 and a loading robot 15 are provided.

The main conveyor 5 conveys the baggage 3 received from the airport side conveyor 16 toward the container 2. The airport-side conveyor 16 transports the baggage 3 from the boarding procedure counter installed in the terminal building of the airport to the loading area in the backyard. The main conveyor 5 is composed of a plurality of (here, five) progressive conveyors 17 that sequentially feed the baggage 3 one by one.

The sorting conveyor 6 is arranged on the downstream side of the main conveyor 5. The sorting conveyor 6 sends out the baggage 3 not to be loaded, that is, the baggage 3 other than the suitcase, which cannot be loaded into the container 2 by the loading robot 15 described later, toward the evacuation conveyor 7. The evacuation conveyor 7 transports the baggage 3 that is not subject to loading to the designated place.

The consignment conveyor 8 is branched and arranged with respect to the evacuation conveyor 7 on the downstream side of the sorting conveyor 6. The baggage 3 (suitcase) to be loaded to be loaded into the container 2 by the loading robot 15 is placed on the load receiving conveyor 8. The pusher 9 pushes the baggage 3 to be loaded from the sorting conveyor 6 toward the receiving conveyor 8 and moves it.

The turntable 10 is arranged on the downstream side of the load receiving conveyor 8. The baggage 3 to be loaded is placed on the turntable 10. The pusher 11 pushes the baggage 3 to be loaded from the receiving conveyor 8 toward the turntable 10 and moves it.

The buffer conveyor 12 is arranged on the downstream side of the turntable 10. The baggage 3 to be loaded is placed on the buffer conveyor 12. A wall portion 18 for positioning is provided at the end portion of the buffer conveyor 12 on the container 2 side. The end of the buffer conveyor 12 on the container 2 side is one end in the direction perpendicular to the arrangement direction of the turntable 10 and the buffer conveyor 12 in the buffer conveyor 12. The pusher 13 pushes the baggage 3 to be loaded from the turntable 10 toward the buffer conveyor 12 and moves it.

The pusher 14 presses the baggage 3 to be loaded placed on the buffer conveyor 12 against the wall portion 18. The pusher 14 and the wall portion 18 position the baggage 3 placed on the buffer conveyor 12 in a direction perpendicular to the arrangement direction of the turntable 10 and the buffer conveyor 12.

The loading robot 15 is a robot that loads the baggage 3 to be loaded into the container 2. The loading robot 15 has a traveling carriage 19 and a robot arm 20 attached to the traveling carriage 19.

The traveling carriage 19 travels along a rail 21 extending parallel to the arrangement direction of each container 2. The rail 21 is installed on the front side (door side) of each container 2. The robot arm 20 is movable in the three-axis direction and is rotatable around the three axes (described later). At the tip of the robot arm 20, a robot hand 22 for holding the baggage 3 to be loaded mounted on the buffer conveyor 12 is provided.

FIG. 2 is a perspective view showing the appearance of the robot hand 22. In FIG. 2, the robot hand 22 has a first conveyor unit 23 and a second conveyor unit 24 arranged in an L shape with respect to the first conveyor unit 23. The second conveyor portion 24 is vertically erected on one side edge portion in the width direction of the first conveyor portion 23 via the connecting portion 25. That is, the first conveyor unit 23 and the second conveyor unit 24 are provided in an L shape when viewed from the front side of the robot hand 22. A thin conveyor is used as the first conveyor unit 23 and the second conveyor unit 24.

The first conveyor unit 23 is a horizontal conveyor unit on which the baggage 3 is placed and the baggage 3 is moved. The first conveyor portion 23 engages with the main surface 3a of the baggage 3. The second conveyor unit 24 is a conveyor unit for vertical installation on which the baggage 3 is placed and the baggage 3 is moved. The second conveyor portion 24 engages with the side surface 3d of the baggage 3.

The width dimension W1 of the first conveyor portion 23 is larger than the width dimension W2 of the second conveyor portion 24. The width dimension W1 of the first conveyor unit 23 is smaller than, for example, the lateral dimension of the large-sized baggage 3A described later. The width dimension W2 of the second conveyor portion 24 is smaller than, for example, the vertical dimension of the large baggage 3A. As a result, the robot hand 22 can be made compact.

A storage case 26 is provided at the base end of the robot hand 22. The base end portion of the robot hand 22 is the end portion of the robot hand 22 on the robot arm 20 side. The storage case 26 is provided over the first conveyor section 23 and the second conveyor section 24.

Inside the housing case 26, the motor roller 27 that drives the first conveyor unit 23, the motor roller 28 that drives the second conveyor unit 24, and the motor rollers 27, 28 are controlled to control the first conveyor unit 23. And a control board 29 for controlling the second conveyor unit 24 are housed.

The storage case 26 has a wall portion 30 that positions the baggage 3 in the drive direction (longitudinal direction) of the first conveyor portion 23 and the second conveyor portion 24 with respect to the first conveyor portion 23 and the second conveyor portion 24. There is. The wall portion 30 is provided on the base end side of the robot hand 22.

When holding the baggage 3 in the robot hand 22, the baggage 3 is placed horizontally on the first conveyor unit 23 as shown in FIG. 3 (a). The state in which the baggage 3 is placed horizontally is a state in which the two main surfaces 3a of the baggage 3 are positioned vertically. At this time, the baggage 3 is placed on the first conveyor portion 23 so that the handle 31 faces the wall portion 30 side.

On the other hand, when the baggage 3 held by the robot hand 22 is loaded into the container 2, the baggage 3 is placed horizontally on the first conveyor unit 23 or as shown in FIG. 3A. As shown in (b), the baggage 3 is vertically placed on the second conveyor section 24. The state in which the baggage 3 is placed vertically is a state in which the two side surfaces 3d of the baggage 3 are positioned vertically. Also at this time, the baggage 3 is placed on the second conveyor portion 24 so that the handle 31 faces the wall portion 30 side.

When holding the baggage 3 in the robot hand 22, the first conveyor unit 23 and the second conveyor unit 24 are driven to the wall portion 30 side (base end side of the robot hand 22) as shown in FIG. 4 (a). Will be done. In this case, the baggage 3 moves toward the wall portion 30.

When the baggage 3 held by the robot hand 22 is loaded into the container 2, the first conveyor portion 23 and the second conveyor portion 24 are on the opposite side of the wall portion 30 (robot) as shown in FIG. 4 (b). It is driven by the tip side of the hand 22). That is, when the baggage 3 is loaded in the container 2, it is driven in the direction opposite to that when the baggage 3 is held in the robot hand 22. In this case, the baggage 3 moves away from the wall portion 30.

Further, as shown in FIG. 5, the loading robot 15 has a first drive unit 33, a second drive unit 34, and a control board 35. The first drive unit 33 is a drive unit that moves the robot hand 22 in the three-axis directions (X-axis direction, Y-axis direction, and Z-axis direction). The second drive unit 34 is a drive unit that rotates the robot hand 22 around three axes (around the X axis, around the Y axis, and around the Z axis). The control board 35 controls the first drive unit 33 and the second drive unit 34.

As shown in FIG. 1, the X-axis, the Y-axis, and the Z-axis are represented by a robot coordinate system with the specified position of the loading robot 15 as the origin. The specified position is, for example, the base end position of the robot arm 20. The X-axis direction corresponds to the front-back direction of the loading robot 15. The front side of the loading robot 15 is the side on which the robot arm 20 faces. The Y-axis direction corresponds to the left-right direction of the loading robot 15. The Z-axis direction corresponds to the vertical direction (height direction) of the loading robot 15.

Further, as shown in FIG. 5, the luggage loading device 1 includes an upstream camera 36, a downstream camera 37, a loading processing unit 38, and a control panel 39.

The upstream camera 36 is arranged above the progressive conveyor 17 located on the most upstream side of the main conveyor 5. The upstream camera 36 images the baggage 3 mounted on the main conveyor 5 and acquires a captured image of the baggage 3. The downstream camera 37 is arranged above the turntable 10. The downstream camera 37 takes an image of the baggage 3 placed on the turntable 10 and acquires a captured image of the baggage 3.

The loading processing unit 38 is composed of a CPU, RAM, ROM, an input / output interface, and the like. The loading processing unit 38 acquires the captured images of the baggage 3 obtained by the upstream camera 36 and the downstream camera 37, detects the baggage 3 based on the captured images of the baggage 3, and obtains the detection data of the baggage 3 and the baggage 3. A control signal to be loaded in the container 2 is output to the control panel 39.

The control panel 39 is composed of a CPU, RAM, ROM, an input / output interface, and the like. The control panel 39 executes predetermined processing based on the detection data and the control signal from the loading processing unit 38, and pushers 9, 11 and the turntable 10 so as to convey the baggage 3 toward the loading robot 15. And pushers 13 and 14, and the buffer conveyor 12 and the loading robot 15 are controlled so that the baggage 3 is loaded in the container 2.

The loading processing unit 38 has a first baggage detection unit 41, a second baggage detection unit 42, and a loading calculation unit 43.

The first baggage detection unit 41 detects the type of baggage 3 carried by the main conveyor 5 based on the captured image of the baggage 3 acquired by the upstream camera 36, and sends the detection data to the control panel 39. The first baggage detection unit 41 cooperates with the upstream camera 36 to detect the type of baggage 3.

The second baggage detection unit 42 detects the dimensions and orientation of the baggage 3 placed on the turntable 10 based on the captured image of the baggage 3 acquired by the downstream camera 37, and transmits the detection data to the control panel 39. Send out. The second baggage detection unit 42 cooperates with the downstream camera 37 to detect the dimensions and orientation of the baggage 3.

The loading calculation unit 43 obtains a control signal for loading the baggage 3 into the container 2 based on the dimensions of the baggage 3 detected by the second baggage detection unit 42, and sends the control signal to the control panel 39. .. The arithmetic processing by the stacking arithmetic unit 43 will be described in detail later.

The control panel 39 has a movement control unit 44, a rotation control unit 45, a position control unit 46, and a loading control unit 47.

The movement control unit 44 determines whether or not the baggage 3 is a loading target (suitcase) based on the detection data of the first baggage detecting unit 41, and when the baggage 3 is a loading target, the baggage 3 Is controlled to pushers 9 and 11 so as to move to the turntable 10.

The rotation control unit 45 controls the turntable 10 so that the orientation of the baggage 3 placed on the turntable 10 is constant based on the orientation of the baggage 3 detected by the second baggage detection unit 42. At this time, the rotation control unit 45 obtains the rotation direction and the rotation amount of the turntable 10 so that the handle 31 of the baggage 3 faces the downstream side (buffer conveyor 12 side) of the turntable 10, and determines the rotation direction and the rotation amount. The turntable 10 is controlled accordingly.

The position control unit 46 controls the pushers 13 and 14 so that the baggage 3 is positioned with respect to the wall portion 18 on the buffer conveyor 12 after the turntable 10 is controlled so that the orientation of the baggage 3 is constant. ..

The loading control unit 47 controls the buffer conveyor 12 to be driven in response to a control signal from the loading calculation unit 43 of the loading processing unit 38, and also controls the first conveyor unit via the control boards 29 and 35. 23, the second conveyor unit 24, the first drive unit 33, and the second drive unit 34 are controlled.

In the luggage loading device 1 configured as described above, a method of loading the baggage 3 into the container 2 will be specifically described.

As shown in FIG. 6, the baggage 3 is randomly transported by the main conveyor 5 regardless of the dimensions. Then, the baggage 3 is loaded in the front container 2A and the rear container 2B in the order of transportation.

A notch 2f is provided on one of the left and right sides (here, the left side) of the container 2 when viewed from the door side (not shown) of the container 2. The cutout portion 2f has a structure in which the lower corner portion of the container 2 is cut out in a tapered shape. In the container 2, a plurality of (here, three) storage areas are set according to the dimensions of the baggage 3.

Specifically, in the front container 2A, a back side storage area Sa1 located on the back side of the main area of the front container 2A and a front side storage area Sa2 located on the front side of the main area of the front container 2A. Auxiliary storage area Sa3 located in the area corresponding to the notch 2f in the front container 2A is set. The main region of the front container 2A is a region excluding the region corresponding to the notch 2f in the front container 2A. In the auxiliary storage area Sa3, a shelf board 50 on which the baggage 3 is placed is arranged (see FIG. 10).

Large-sized baggage 3A is loaded in the back storage area Sa1. Medium-sized baggage 3B is loaded in the front storage area Sa2. The auxiliary storage area Sa3 is mainly loaded with small baggage 3C. Here, the auxiliary storage area Sa3 is loaded with a small-sized baggage 3C and a large-sized baggage 3A.

In the rear container 2B, there are a back storage area Sb1 located on the back side of the main area of the rear container 2B, a front storage area Sb2 located on the front side of the main area of the rear container 2B, and a notch in the rear container 2B. An auxiliary accommodating area Sb3 located in an area corresponding to the portion 2f is set. The main area of the rear container 2B is an area excluding the area corresponding to the notch 2f in the rear container 2B. In the auxiliary storage area Sb3, a shelf board 50 on which the baggage 3 is placed is arranged (see FIG. 10).

Medium-sized baggage 3B is loaded in the back storage area Sb1. Large-sized baggage 3A is loaded in the front storage area Sb2. The auxiliary storage area Sb3 is mainly loaded with small baggage 3C. Here, the auxiliary storage area Sb3 is loaded with a small-sized baggage 3C and a large-sized baggage 3A.

Further, as shown in FIG. 7, an address for designating the loading position of the baggage 3 is preset in the container 2. Inside the container 2, addresses are set in order from the lower side to the upper side and from the back side to the front side. Further, in the back side storage area Sa1 and the front side storage area Sa2 of the front container 2A, addresses are set in order from the right side (opposite side of the auxiliary storage area Sa3) to the left side (auxiliary storage area Sa3 side). .. Addresses are set in order from the right side (opposite side of the auxiliary storage area Sb3) to the left side (auxiliary storage area Sb3 side) in the rear side storage area Sb1 and the front side storage area Sb2 of the rear container 2B.

The large-sized baggage 3A is loaded in the rear storage area Sa1 of the front container 2A and the front storage area Sb2 of the rear container 2B in the order of addresses. The medium-sized baggage 3B is loaded in the rear storage area Sb1 of the rear container 2B and the front storage area Sa2 of the front container 2A in the order of addresses. The small baggage 3C is loaded in the auxiliary storage area Sa3 of the front container 2A and the auxiliary storage area Sb3 of the rear container 2B in the order of addresses.

The loading calculation unit 43 of the loading processing unit 38 and the loading control unit 47 of the control panel 39 hold the buffer conveyor 12, the first conveyor unit 23, the second conveyor unit 24 and the baggage 3 so as to hold the baggage 3 in the robot hand 22. The first control process for controlling the second drive unit 34 is executed. After executing the first control process, the loading calculation unit 43 and the loading control unit 47 execute the second control process of controlling the first drive unit 33 so as to move the robot hand 22 into the container 2. After executing the second control process, the loading calculation unit 43 and the loading control unit 47 have the first conveyor unit 23 and the second conveyor unit so as to load the baggage 3 held by the robot hand 22 into the container 2. A third control process for controlling the 24 and the second drive unit 34 is executed.

The loading calculation unit 43 and the loading control unit 47 cooperate with the control boards 29 and 35 to form a control unit that executes the first control process, the second control process, and the third control process.

FIG. 8 is a flowchart showing the details of the procedure of the loading calculation processing executed by the loading calculation unit 43. This processing shows the procedure of the calculation processing for each baggage 3.

At the time of executing this process, the robot hand 22 of the loading robot 15 is in a holding position for holding the baggage 3 placed on the buffer conveyor 12. The holding position is a position on the downstream side of the buffer conveyor 12 where the baggage 3 can be delivered from the buffer conveyor 12 to the first conveyor unit 23 of the robot hand 22. At this time, the first conveyor portion 23 may be arranged so as to be slightly lowered toward the wall portion 30 side.

When the robot hand 22 is in the holding position, the robot hand 22 is in an initial state in which the baggage 3 can be received from the buffer conveyor 12. Further, the first conveyor unit 23 and the second conveyor unit 24 of the robot hand 22 are in a stopped state.

In FIG. 8, the loading calculation unit 43 first sends a control signal for driving the buffer conveyor 12 for a predetermined time to the loading control unit 47 (procedure S101). Further, the loading calculation unit 43 sends a control signal to the loading control unit 47 that simultaneously drives the first conveyor unit 23 and the second conveyor unit 24 toward the wall unit 30 for a specified time (procedure S102). As a result, the buffer conveyor 12 is driven and the first conveyor section 23 and the second conveyor section 24 are driven toward the wall section 30, so that the baggage 3 is transferred from the buffer conveyor 12 to the first conveyor section 23. Conveyor belt.

Subsequently, as shown in FIG. 9, the loading calculation unit 43 transmits a control signal for rotating the robot hand 22 around the Y axis so that the wall portion 30 is located on the lower side. (Procedure S103). As a result, the robot hand 22 rotates around the Y axis, and the robot hand 22 is tilted so that the wall portion 30 is located on the lower side.

Subsequently, the loading calculation unit 43 loads and controls a control signal for rotating the robot hand 22 around the X axis while the baggage 3 mounted on the first conveyor unit 23 hits the second conveyor unit 24. It is sent to the unit 47 (procedure S104). As a result, the robot hand 22 rotates around the X axis, and the baggage 3 hits the second conveyor portion 24.

Subsequently, the loading calculation unit 43 determines whether or not the storage area in which the baggage 3 is loaded is not the auxiliary storage area Sa3 of the front container 2A and the auxiliary storage area Sb3 of the rear container 2B (procedure S105).

When the loading calculation unit 43 determines that the storage area in which the baggage 3 is loaded is not the auxiliary storage areas Sa3 and Sb3, the loading calculation unit 43 loads a control signal for moving the robot hand 22 to the front of the loading position of the baggage 3. It is sent to the attached control unit 47 (procedure S106). As a result, the robot hand 22 moves to the front of the loading position of the baggage 3.

Subsequently, the loading calculation unit 43 determines whether or not the loading position of the baggage 3 corresponds to the address to be loaded in the horizontal position (procedure S107). When the loading calculation unit 43 determines that the loading position of the baggage 3 corresponds to the address where the baggage 3 is loaded in the horizontal position, the first conveyor unit 23 and the second conveyor unit 24 are simultaneously placed on the wall unit 30 for a specified time. A control signal for driving to the opposite side is sent to the loading control unit 47 (procedure S108). As a result, the baggage 3 is horizontally transferred from the first conveyor unit 23 to the loading position in the container 2.

When the loading calculation unit 43 determines that the loading position of the baggage 3 does not correspond to the address to be loaded in the horizontal position, that is, the loading position of the baggage 3 corresponds to the address to be loaded in the vertical position. A control signal for rotating the robot hand 22 by 90 degrees around the X axis is sent to the loading control unit 47 (procedure S109). As a result, the posture of the robot hand 22 changes from the horizontal position to the vertical position. Then, the loading calculation unit 43 executes the above procedure S108. As a result, the baggage 3 is vertically transferred from the first conveyor unit 23 to the loading position in the container 2.

When the loading calculation unit 43 determines in step S105 that the storage area in which the baggage 3 is loaded is the auxiliary storage areas Sa3 and Sb3, the robot hand 22 is used as the baggage 3 as shown in FIG. 10A. A control signal for moving the robot to the upper right side of the loading position is sent to the loading control unit 47 (procedure S110). As a result, the robot hand 22 moves to the upper right side of the loading position of the baggage 3.

Then, as shown in FIGS. 10 (b) and 10 (c), the loading calculation unit 43 rotates the robot hand 22 counterclockwise when viewed in the forward direction of the loading robot 15 around the X axis. Such a control signal is sent to the loading control unit 47 (procedure S111). As a result, the baggage 3 is horizontally transferred from the robot hand 22 to the loading position in the container 2. In FIG. 10, the housing case 26 of the robot hand 22 is omitted.

After executing the above procedure S108 or S111, the loading calculation unit 43 sends a control signal to the loading control unit 47 to return the robot hand 22 to the initial state and move it to the holding position (procedure S112). .. As a result, the robot hand 22 moves to the holding position, so that the baggage 3 to be carried next can be loaded.

Here, the procedures S101 to S104 and S112 correspond to the above-mentioned first control process. Procedures S105, S106, and S110 correspond to the above-mentioned second control process. Procedures S107 to S109 and S111 correspond to the above-mentioned third control process.

In the baggage loading device 1 as described above, when the baggage 3 to be loaded is loaded into the container 2, the baggage 3 is first held by the robot hand 22 of the loading robot 15. Specifically, the buffer conveyor 12 is driven while the robot hand 22 is in the holding position, and as shown in FIG. 4A, the first conveyor unit 23 and the second conveyor unit of the robot hand 22 are driven. When the 24 is driven toward the wall portion 30, the baggage 3 is transferred from the buffer conveyor 12 to the first conveyor portion 23 of the robot hand 22.

Then, as shown in FIG. 9, the robot hand 22 rotates around the Y axis and inclines so that the baggage 3 is located on the lower side, so that the baggage 3 is tilted along the first conveyor portion 23 due to its own weight. As it descends, the handle 31 of the baggage 3 hits the wall portion 30. Therefore, the baggage 3 is positioned with respect to the first conveyor portion 23 in the driving direction of the first conveyor portion 23 with respect to the wall portion 30.

Further, the robot hand 22 rotates around the X axis so that the baggage 3 hits the second conveyor section 24, so that the side surface 3d of the baggage 3 hits the second conveyor section 24. Therefore, the baggage 3 is also positioned in a direction perpendicular to the driving direction of the first conveyor unit 23 with respect to the first conveyor unit 23.

Then, in that state, the robot hand 22 moves in the three-axis direction and rotates around the three axes, so that the baggage 3 held by the robot hand 22 is stored in the container 2 according to the size of the baggage 3. Will be loaded into.

When the baggage 3 is loaded into the front container 2A, the traveling carriage 19 remains stopped at a position in front of the front container 2A (see FIG. 1). When the baggage 3 is loaded on the rear container 2B, the traveling carriage 19 travels along the rail 21 to a position in front of the rear container 2B. The baggage 3 is loaded into the container 2 with the handle 31 facing the front side of the container 2.

The large-sized baggage 3A is first loaded in the back storage area Sa1 and the auxiliary storage area Sa3 of the front container 2A in the order of addresses, and then in the front storage area Sb2 of the rear container 2B in the order of addresses. The medium-sized baggage 3B is first loaded in the rear storage area Sb1 of the rear container 2B in the order of the address, and then in the front storage area Sa2 of the front container 2A in the order of the address. The small baggage 3C is loaded in the auxiliary storage area Sa3 of the front container 2A and the auxiliary storage area Sb3 of the rear container 2B in the order of addresses.

When the baggage 3A is loaded in the back storage area Sa1 and the front storage area Sb2, the robot hand 22 moves to the front of the loading position of the baggage 3A. At this time, if the loading position of the baggage 3A corresponds to the address where the baggage 3A is loaded horizontally, as shown in FIGS. 3A and 4B, the first conveyor portion 23 of the robot hand 22 By driving the second conveyor portion 24 to the opposite side of the wall portion 30, the baggage 3A is transferred from the robot hand 22 to the loading position in a horizontal position.

When the loading position of the baggage 3A corresponds to the address where the baggage 3A is loaded vertically, the robot hand 22 moves around the X axis in front of the loading position of the baggage 3A as shown in FIG. 3 (b). By rotating 90 degrees, the posture of the robot hand 22 changes from the horizontal position to the vertical position. The addresses that can be stacked in the vertical installation state are No. 5, No. 8, No. 23, and No. 28 (see FIG. 7). In that state, the first conveyor section 23 and the second conveyor section 24 are driven to the opposite sides of the wall section 30, so that the baggage 3A is vertically transferred from the robot hand 22 to the loading position.

When the baggage 3A is loaded into the auxiliary storage areas Sa3 and Sb3, the robot hand 22 moves to the upper right side of the loading position of the baggage 3A as shown in FIG. 10A. Then, as shown in FIGS. 10B and 10C, the robot hand 22 rotates counterclockwise when viewed from the robot arm 20 side around the X axis, so that the baggage 3A is separated from the robot hand 22. .. Then, the baggage 3A is placed horizontally in the loading position while rolling.

When the baggage 3B is loaded in the back storage area Sb1 and the front storage area Sa2, the robot hand 22 moves to the front of the loading position of the baggage 3B. Then, as shown in FIG. 4B, the first conveyor section 23 and the second conveyor section 24 are driven to the opposite sides of the wall section 30, so that the baggage 3B is laterally loaded from the robot hand 22 to the loading position. It is reprinted in a stationary state.

When the baggage 3C is loaded in the auxiliary storage areas Sa3 and Sb3, the robot hand 22 moves to the upper right side of the loading position of the baggage 3C as shown in FIG. 10A. Then, as shown in FIGS. 10B and 10C, the robot hand 22 rotates counterclockwise when viewed from the robot arm 20 side around the X axis, so that the baggage 3C is separated from the robot hand 22. , The baggage 3C is placed horizontally in the loading position while rolling.

As described above, in the present embodiment, the baggage 3 is held by the robot hand 22 by driving the first conveyor unit 23 and the second conveyor unit 24 of the robot hand 22 toward the base end side of the robot hand 22. Will be done. Then, the robot hand 22 is moved into the container 2 by the first drive unit 33. Then, the first conveyor unit 23 and the second conveyor unit 24 are driven toward the tip end side of the robot hand, so that the baggage 3 held by the robot hand 22 is loaded in the container 2. By transferring the baggage 3 from the robot hand 22 to the container 2 by the first conveyor unit 23 and the second conveyor unit 24 in this way, the baggage 3 can be easily loaded into the container 2 from the side of the container 2. can. Further, the second conveyor section 24 is arranged in an L shape with respect to the first conveyor section 23. Therefore, the posture of the baggage 3 can be changed by 90 degrees by rotating the robot hand 22 around the X axis parallel to the drive direction of the first conveyor unit 23 and the second conveyor unit 24 by the second drive unit 34. It will be possible. Therefore, it is possible not only to load the baggage 3 in the horizontal position but also to load the baggage 3 in the vertical position. As a result, the empty space in the container 2 can be reduced and the baggage loading rate in the container 2 can be improved. The baggage loading rate in the container 2 is the ratio of the volume of the baggage 3 to the volume of the container 2.

Further, in the present embodiment, since the robot hand 22 having the first conveyor unit 23 and the second conveyor unit 24 is used, the baggage 3 having various sizes and shapes such as a hard suitcase, a soft suitcase, and a cardboard can be used. It is possible. Therefore, the loading robot 15 can be handled without exchanging with a dedicated robot hand according to the size and shape of the baggage 3.

Further, in the present embodiment, the robot hand 22 is rotated by the second drive unit 34 around an axis parallel to the drive direction of the first conveyor unit 23 and the second conveyor unit 24, so that the posture of the baggage 3 is 90 degrees. It will be possible to change. Therefore, the baggage 3 can be easily and reliably loaded in either the horizontal or vertical position.

Further, in the present embodiment, the baggage 3 is positioned on the base end side of the robot hand 22 in the driving direction of the first conveyor section 23 and the second conveyor section 24 with respect to the first conveyor section 23 and the second conveyor section 24. A wall portion 30 is provided. Therefore, by abutting the baggage 3 placed on the first conveyor portion 23 against the wall portion 30, the baggage 3 held by the robot hand 22 is attached to the first conveyor portion 23 and the second conveyor portion 24. It will be positioned with reference to the wall portion 30. As a result, the baggage 3 can be loaded with high accuracy at the loading position in the container 2.

Further, in the present embodiment, the robot hand 22 is rotated by the second drive unit 34 so that the wall portion 30 is located on the lower side. Therefore, even when the baggage 3 is roughly placed on the first conveyor portion 23, the robot hand 22 is tilted so that the wall portion 30 is located on the lower side, so that the baggage 3 becomes a wall due to the weight of the baggage 3. It surely hits the part 30. Therefore, the baggage 3 held by the robot hand 22 is easily positioned in the driving direction of the first conveyor unit 23 and the second conveyor unit 24.

Further, in the present embodiment, the second drive unit 34 rotates the robot hand 22 so that the baggage 3 placed on the first conveyor unit 23 hits the second conveyor unit 24. Therefore, the baggage 3 is positioned not only in the drive direction of the first conveyor unit 23 and the second conveyor unit 24 but also in the direction perpendicular to the drive direction with respect to the first conveyor unit 23 and the second conveyor unit 24. Will be. As a result, the baggage 3 can be loaded at the loading position in the container 2 with higher accuracy.

Further, in the present embodiment, the first conveyor unit 23 and the second conveyor unit 24 are simultaneously driven in the same direction. Therefore, when the baggage 3 placed on the first conveyor section 23 moves in contact with the second conveyor section 24, the baggage 3 is prevented from being rubbed by the second conveyor section 24.

Further, in the present embodiment, the width dimension W1 of the first conveyor portion 23 is larger than the width dimension W2 of the second conveyor portion 24. Therefore, while the robot hand 22 is downsized, the rectangular parallelepiped baggage 3 can be easily loaded in the container 2 in the horizontal and vertical states.

The present invention is not limited to the above embodiment. For example, in the above embodiment, when the baggage 3 is held by the robot hand 22, the first conveyor unit 23 and the second conveyor unit 24 are simultaneously driven toward the wall portion 30, but the embodiment is not particularly limited. Only the first conveyor portion 23 may be driven toward the wall portion 30.

Further, in the above embodiment, when the baggage 3 is loaded into the inner side storage areas Sa1 and Sb1 and the front side storage areas Sa2 and Sb2 in the container 2, the first conveyor part 23 and the second conveyor part 24 are simultaneously walled. It is driven to the opposite side of 30, but is not particularly limited to such a form. When loading the baggage 3 horizontally in the inner storage areas Sa1 and Sb1 and the front storage areas Sa2 and Sb2 in the container 2, even if only the first conveyor portion 23 is driven to the opposite side of the wall portion 30. good. When loading the baggage 3 vertically in the inner storage areas Sa1 and Sb1 and the front storage areas Sa2 and Sb2 in the container 2, even if only the second conveyor portion 24 is driven to the opposite side of the wall portion 30. good.

Further, in the above embodiment, the control panel 39 has a movement control unit 44, a rotation control unit 45, a position control unit 46, and a loading control unit 47, but is not particularly limited to such a form. For example, when the control panel 39 is not installed, the loading processing unit 38 may be provided with a movement control unit 44, a rotation control unit 45, a position control unit 46, and a loading control unit 47.

Further, in the above embodiment, the width dimension W1 of the first conveyor section 23 is larger than the width dimension W2 of the second conveyor section 24, but the form is not particularly limited, and the first conveyor section 23 and the second conveyor section 24 are not particularly limited. Width dimensions may be equal. In this case, the shape of the baggage 3 to be loaded in the container 2 is not particularly limited to a rectangular parallelepiped shape, and may be a cubic shape. That is, the shape of the baggage 3 may be a square columnar shape. It should be noted that the square column includes a complete square column and a substantially square column.

Further, in the above embodiment, the operations of the first drive unit 33 and the second drive unit 34 are performed separately, but the operation is not particularly limited to that mode, and the operations of the first drive unit 33 and the second drive unit 34 are performed. May be performed at the same time. Further, the loading robot 15 may have only the first drive unit 33. In this case, for example, the operator may manually rotate the robot hand 22.

Further, in the above embodiment, the baggage 3 is loaded in the container 2 provided with the notch 2f at the lower left and right corners, but the present invention is not particularly limited to that embodiment, for example, the notch. It can also be applied to a luggage loading device for loading luggage in a rectangular parallelepiped container without a portion 2f. The present invention is also applicable to a luggage loading device for loading luggage in a container other than that for an aircraft.

1 ... Luggage loading device, 2 ... Container, 3 ... Baggage (luggage), 15 ... Loading robot, 22 ... Robot hand, 23 ... 1st conveyor section, 24 ... 2nd conveyor section, 29 ... Control board (control) Unit), 30 ... Wall unit, 33 ... First drive unit, 34 ... Second drive unit, 35 ... Control board (control unit), 43 ... Loading calculation unit (control unit), 47 ... Loading control unit (control) Part), W1, W2 ... Width dimensions.

Claims (7)

It is a luggage loading device that loads square columnar luggage from the side of the container into the container.
A loading robot having a robot hand for holding the luggage,
A drive unit that moves the robot hand in three axes and / or rotates the robot hand around three axes.
A first control process for controlling the robot hand so as to hold the load on the robot hand is executed, and after the first control process is executed, the drive unit is moved so as to move the robot hand into the container. The second control process for controlling the robot hand is executed, and after the second control process is executed, the third control process for controlling the robot hand so as to load the baggage held by the robot hand in the container is performed. Equipped with a control unit to execute
The robot hand is arranged in an L-shape with respect to the first conveyor unit on which the luggage is placed and the luggage is moved, and the first conveyor portion, and the luggage is placed and the luggage is loaded. It has a second conveyor part to move and
When the first control process is executed, the control unit controls at least one of the first conveyor unit and the second conveyor unit to be driven toward the base end side of the robot hand, and the third control unit. A load-loading device that controls at least one of the first conveyor unit and the second conveyor unit to be driven toward the tip of the robot hand when the process is executed. The drive unit has a first drive unit that moves the robot hand in three axial directions and a second drive unit that rotates the robot hand around three axes.
The control unit controls the first drive unit so as to move the robot hand into the container when the second control process is executed, and the baggage when the third control process is executed. The luggage according to claim 1, wherein the robot hand is controlled so as to rotate around an axis parallel to the drive direction of the first conveyor unit and the second conveyor unit when the posture of the robot hand is changed. Loading device. On the base end side of the robot hand, a wall portion for positioning the load in the driving direction of the first conveyor portion and the second conveyor portion is provided with respect to the first conveyor portion and the second conveyor portion. Conveyor belt
When the first control process is executed, the control unit controls at least one of the first conveyor unit and the second conveyor unit to be driven toward the wall portion, and executes the third control process. 2. The luggage loading device according to claim 2, wherein at least one of the first conveyor section and the second conveyor section is controlled to be driven to the opposite side of the wall portion. The luggage according to claim 3, wherein the control unit controls the second drive unit so as to rotate the robot hand so that the wall portion is located on the lower side when the first control process is executed. Loading device. When the control unit executes the first control process, the load placed on one of the first conveyor unit and the second conveyor unit is the other of the first conveyor unit and the second conveyor unit. The luggage loading device according to claim 4, wherein the second drive unit is controlled so as to rotate the robot hand in a state corresponding to the above. The control unit controls the first conveyor unit and the second conveyor unit to drive the first conveyor unit and the second conveyor unit in the same direction at the same time when the first control process and the third control process are executed. The luggage loading device described in any one of the items. The luggage loading device according to any one of claims 1 to 6, wherein the width dimension of the first conveyor section is larger than the width dimension of the second conveyor section.

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