JPH09301690A - Cargo carrying-in-and-out apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily carry in and out cargos by setting a cargo mounting surface flash with a cargo loading surface at all times. SOLUTION: A cargo carrying-in-and-out apparatus consists of an acceleration sensor 2 provided in a transport apparatus to detect the inclination and vertical displacement of a cargo loading surface 7 trembling irregularily and output an attitude signal of the cargo loading surface 7, an actuator 3 disposed close to the cargo loading surface to control the attitude of a cargo mounting surface 6 for mounting temporarily a cargo 5 carried in or out and a controller 4 to input the attitude signal and figure out a control amount for making the cargo mounting surface have the same attitude as the cargo loading surface for outputting the control signal to the actuator. Thus, the cargo on the stationary cargo mounting surface 6 or cargo mounting surface 6 trembling irregularly can be carried in and out of the cargo loading surface 7 trembling irregularly differently from the cargo mounting surface or the cargo 5 on the cargo loading surface 7 can be carried in and out of the cargo mounting surface 6 only by lateral shift.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to an aircraft, an automobile,
Floor where cargo is loaded on transportation equipment such as ships (cargo loading surface)
Is installed in equipment for supporting large heavy goods loading / unloading, etc., and the cargo loading surface on which the cargo is temporarily placed when loading / unloading cargo is almost the same as the cargo loading surface on the aircraft side. The present invention relates to a cargo carrying-in / carrying-out device that facilitates carrying in and out of a large-sized heavy object to / from a cargo carrying surface by keeping it on the surface.

[0002]

2. Description of the Related Art Conventionally, for example, since the cargo to be loaded on an aircraft is mainly lighter than the weight of the fuselage, the cargo is loaded on the cargo loading surface provided inside the fuselage. However, the amount of vertical movement of the cargo carrying surface was insignificant. Further, even when a large heavy object is mounted on the airframe, the mounting work is mainly performed on the ground, and there has been almost no record of mounting the large heavy object on an aircraft on a swaying ship. For this reason, conventionally, a large-sized heavy object has been loaded into or unloaded from the machine using a cargo loading / unloading device as shown in FIG.

That is, helicopter 01 parked on the ground
The cargo 05 is placed on the cargo loading surface 04 installed on the loading / unloading support equipment 03 as the cargo loading / unloading device up to the position adjacent to the loading / unloading port provided on the side of the cargo loading surface 02 provided inside the aircraft. When the height of the cargo loading surface 04 is made equal to the height of the cargo loading surface 02 after moving the cargo, the cargo 05 is loaded onto the cargo loading surface 0.
It was carried out by moving laterally from No. 4 to the cargo loading surface 02 and carrying in or carrying out by the reverse procedure. As described above, the conventional cargo loading and unloading device is provided with a mechanism for raising and lowering the height of the cargo loading surface 04 on which the cargo 05 is temporarily loaded, from the ground to the height of the airframe floor, that is, the cargo loading surface 02. However, the cargo carrying surface 0 caused by the expansion and contraction of legs due to the loading of a large heavy cargo 05 on the cargo carrying surface 02
No correction was made on the inclination or height difference between the No. 2 and the cargo loading surface 04.

Therefore, even when the cargo 05 is loaded on the helicopter 01 from the ground without any shaking, the height of the cargo loading surface 04 is corresponding to the fluctuation of the cargo loading surface 02 caused by the loading of the cargo 05. However, even if the height can be corrected, the cargo loading surface 02 and the cargo loading surface 04 cannot be made to have the same inclination as shown in the figure, and when the cargo 05 is laterally moved, Due to the irregularity of the inclination, it has been difficult to carry the cargo 05 in and out.

Further, when the cargo 05 is loaded on the helicopter 01 parked on the upper deck of the swaying ship, irregular movement of the cargo loading surface 02 due to inertial force generated by the sway or the like generated on the ship is caused. In order to add more, it is almost impossible to adjust the cargo loading surface 02 and the cargo loading surface 04 to be the same, and a function for coping with this was not expected at all. Therefore, it is especially difficult to carry in and out large heavy objects to and from a helicopter parked on the upper deck of a ship that is swayed due to storms, etc., and there is no choice but to wait until the sway of the ship has subsided. There wasn't.

[0006]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems of the conventional cargo carrying-in / carrying-out apparatus, the present invention adjusts the attitude of the cargo-carrying surface for carrying in / out cargo and repeating irregular shaking. The cargo to be loaded and unloaded is temporarily placed at the time of loading and unloading. By changing the posture of the cargo loading surface so that the cargo loading surface and the cargo loading surface are always on the same surface, An object is to provide a cargo carry-in / carry-out device that can easily carry out the above.

[0007]

Therefore, the cargo carrying-in / out apparatus of the present invention has the following means.

(1) Detecting the inclination and vertical position of the cargo-carrying surface, which causes repeated expansion and contraction of legs due to changes in the body weight due to the loading of large-sized heavy cargo and shaking of the parked ship. The acceleration sensor that detects the attitude of the cargo carrying surface including the height of the cargo and outputs the attitude signal of the cargo carrying surface is provided.

(2) It is arranged in the vicinity of the cargo loading surface, and the cargo to be carried out from the cargo loading surface or to be loaded into the cargo loading surface is temporarily placed, and the inclination and vertical position of the cargo loading surface are changed. An actuator for controlling the posture including the height of the cargo loading surface is provided.

(3) The attitude signal of the cargo loading surface from the acceleration sensor is input, the attitude of the cargo loading surface and the attitude of the cargo loading surface are compared and calculated, and the attitude of the cargo loading surface is determined as the cargo loading surface. A control device that calculates a control amount that is substantially on the same plane as the above and outputs a control signal corresponding to this control amount to the actuator is provided.

The cargo loading surface is installed on the ground and is controlled by an actuator, or even if the attitude is not changed, or is installed on a rocking ship upper deck or the like. The attitude may be changed by both control and shaking of the ship or the like. However, if the cargo loading surface is such as to cause irregular motion due to inertial force generated by shaking, etc., in addition to the above-mentioned means, the posture of the cargo loading surface is detected,
It is necessary to employ means for inputting the signal to the control device together with the attitude signal.

In the cargo loading / unloading apparatus of the present invention, by the above-mentioned means, (a) the acceleration sensor mounted on the cargo loading surface or the like causes an inclination or vertical displacement which is irregularly generated on the cargo loading surface due to expansion and contraction of legs or the like. Detects the quantity, the so-called cargo loading surface attitude.

(A) An attitude signal corresponding to the detected attitude of the cargo-carrying surface and the amount of vertical displacement is transmitted from the acceleration sensor to the control device.

(C) The control device is obtained from the input attitude signal of the cargo loading surface from the acceleration sensor, the control signal transmitted to the actuator at the time of the previous control, or the sensor provided on the cargo loading surface or the like. Outputs a control signal to the actuator that controls the attitude of the cargo loading surface by comparing and calculating the attitude signal of the cargo loading surface and making the cargo loading surface flush with the cargo loading surface. .

(D) The actuator receiving the control signal changes the posture of the cargo loading surface by expanding and contracting the hydraulic cylinder and the like based on the control signal so that the cargo loading surface and the cargo loading surface are flat. .

(E) By repeating the above-mentioned operations, a cargo carrying surface is provided which is always provided in the transportation equipment and carries the cargo to be transferred,
It is possible to control so that the cargo-carrying surface on which the cargo is temporarily placed when loading and unloading large heavy goods is flush with each other.

As a result, even a large heavy object which is provided in the transportation equipment and which supports the cargo loading surface, for example, a large amount of expansion and contraction of legs, which is relatively large compared to the weight of the machine body,
It is possible to carry in and out the aircraft without any difficulty. In addition, even if the cargo loading surface and the cargo loading surface make irregular movements independently due to the inertial force generated by the sway of a ship, the cargo can be safely carried in and out of the cargo loading surface without any trouble. And it will be easy to do.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of a cargo loading / unloading device of the present invention will be described below with reference to the drawings. 1 is an overall configuration diagram showing a first embodiment of a cargo loading / unloading device of the present invention, FIG. 2 is a control block diagram by a control device shown in FIG. 1,
FIG. 3 is an overall configuration diagram for explaining the operation of the embodiment shown in FIG.

As shown in the figure, the body attitude data is measured by an accelerometer 2 as an acceleration sensor, which is attached to a section of the helicopter 10 in which the cargo is loaded. This airframe attitude data is the same as the attitude data of the cargo loading surface 7, and the measured airframe attitude data is converted into an attitude signal and mounted on the large heavy goods loading / unloading support device 1. It is transmitted to the control device 4.

In the control device 4, the input attitude signal,
The cargo 5 which is provided in the large-sized heavy goods loading / unloading support equipment 1 and is placed for transferring the large-sized heavy cargo 5 on the ground 8 is compared with the posture signal of the cargo loading surface 6 to calculate the cargo. Actuator expansion / contraction as a control signal that operates the actuator 3 attached to the large-sized heavy goods loading / unloading support device 1 so that the attitude of the loading surface 6 is the same as the attitude of the cargo loading surface 7 and both surfaces are in the same plane. Output the quantity control signal.

That is, as shown in FIG. 1, when the helicopter 1 is parked on the ground which is not shaken to carry in / out the cargo 5, or when the helicopter 1 is parked on a shaken ship or the like, inertial force due to the shake of the ship or the like is generated. When loading and unloading the cargo 5 by placing it on the cargo loading surface 6 that does not occur, an attitude signal of the cargo loading surface 7 with respect to the ground or a ship is input to the control device 4 and the control block diagram shown in FIG. Calculation is performed, and an actuator expansion / contraction amount control signal that makes the attitude of the cargo carrying surface 6 the same as the attitude of the cargo carrying surface 7 is output to the actuator 3. In addition, when an inertial force is generated on the cargo loading surface 6 due to shaking, an accelerometer or the like is also provided on the cargo loading surface 6, and the attitude signal of the cargo loading surface 6 is transmitted from the actuator 3 The signal may be input to the control device 4 and the control device 4 may perform the calculation.

The actuator 3 which has received the actuator expansion / contraction amount control signal from the control device 4 makes a stroke by a required amount to tilt the cargo loading surface 7 as shown in FIG.
The attitude of the cargo carrying surface 6 is changed according to the vertical displacement, so-called posture, so that the cargo carrying surface 6 and the cargo carrying surface 7 are flush with each other.

By repeating the above procedure, the cargo loading surface 7 and the cargo loading surface 6 can always be kept flat.

As a result, even a large heavy object, which is relatively large compared to the weight of the body, such that the amount of expansion and contraction of the legs of the helicopter 10 through which the cargo 5 is transferred is large, and the helicopter 10 is also large. Even if the cargo loading surface moves irregularly independently of the cargo loading surface due to the inertial force generated by the shaking,
The cargo 5 placed on the cargo loading surface 6 can be transferred to the cargo loading surface 7 by only a lateral movement operation, or the cargo 5 carried on the cargo loading surface 7 can also be moved only by a lateral movement operation. The cargo can be transferred to the cargo loading surface 6, and the cargo can be safely carried in and out of the cargo loading surface.

[0025]

As described above, according to the cargo carrying-in / carrying-out device of the present invention, by the structure shown in the claims, a. It is a large heavy object that is installed in a transportation device that transfers cargo and that supports the cargo carrying surface on which cargo is loaded, such as a large amount of expansion and contraction of legs, which is relatively large compared to the weight of the aircraft. In addition, it is possible to carry in and out on the plane only by lateral movement, and it is possible to eliminate the difficulties involved in carrying in and out of cargo. I. Even if the cargo loading surface moves irregularly due to the inertial force generated by the sway of a ship or the like, the cargo can be easily loaded and unloaded into and from the cargo loading surface.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram showing a first embodiment of a cargo loading / unloading device of the present invention,

FIG. 2 is a control block diagram of the control device shown in FIG.

FIG. 3 is an overall configuration diagram for explaining the operation of the embodiment shown in FIG.

FIG. 4 is an overall configuration diagram showing a conventional cargo loading / unloading device.

[Explanation of symbols]

 1 Large heavy goods loading and unloading support equipment 2 Accelerometer as an acceleration sensor 3 Actuator 4 Controller 5 Cargo 6 Cargo loading surface 7 Cargo loading surface 8 Ground 10 Helicopter

Claims (1)

[Claims] 1. A cargo loading / unloading device for loading / unloading the cargo between a cargo loading surface that repeats irregular shaking and a cargo loading surface on which the cargo loaded on the cargo loading surface is loaded / unloaded. In the acceleration sensor for detecting the inclination and the vertical position of the cargo mounting surface and outputting the attitude signal of the cargo mounting surface, the inclination and the vertical position of the cargo mounting surface are changed to detect the cargo mounting surface. An actuator for controlling the attitude, and a control for inputting the attitude signal, calculating a control amount that makes the attitude of the cargo loading surface substantially the same as the attitude of the cargo loading surface, and outputting a control signal to the actuator. A cargo loading / unloading device, which is provided with a device.