WO2012092939A1 - Système et procédé de chargement de bagages - Google Patents

Système et procédé de chargement de bagages Download PDF

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Publication number
WO2012092939A1
WO2012092939A1 PCT/EP2011/005646 EP2011005646W WO2012092939A1 WO 2012092939 A1 WO2012092939 A1 WO 2012092939A1 EP 2011005646 W EP2011005646 W EP 2011005646W WO 2012092939 A1 WO2012092939 A1 WO 2012092939A1
Authority
WO
WIPO (PCT)
Prior art keywords
luggage
baggage
base plate
piece
consistency
Prior art date
Application number
PCT/EP2011/005646
Other languages
German (de)
English (en)
Inventor
Michael Neumaier
Original Assignee
Autoloader Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Autoloader Gmbh filed Critical Autoloader Gmbh
Priority to EP11782387.2A priority Critical patent/EP2661394A1/fr
Publication of WO2012092939A1 publication Critical patent/WO2012092939A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/36—Other airport installations
    • B64F1/368—Arrangements or installations for routing, distributing or loading baggage

Definitions

  • the present invention relates to a baggage handling system comprising a handling device for automatically loading luggage from a transfer point of a baggage handling system into a container to be loaded with a plurality of pieces of baggage, the handling device comprising a gripper tool movable between the transfer point and the container interior, and wherein the
  • GreifWerkzeug serving as a support for a piece of luggage to be transported base plate and a displaceable on the base plate arranged scraper for stripping a lying on the base piece of luggage. Furthermore, the present invention relates to a baggage loading method
  • the present invention relates to the loading of luggage at airports in a system that is to be automated or automated as far as possible, in which the items of luggage abandoned by the passengers, for example at different check-in counters, are automatically assigned to a respective destination by means of a luggage conveyor system Transfer point are transported and there - again as fully automatic - to be loaded in containers. Identification of the luggage during baggage handling from the check-in counter to
  • Transfer station or the assignment of the conveyed baggage to the destination or the container intended for this, in which the piece of luggage in question is to be loaded, takes place e.g. by means of trailers suitably attached to the baggage bag, containing the information on the destination and the class of service (and, if applicable, further information) and which are preferably non-contact during the transport process, e.g. optically or electronically, can be read out.
  • Luggage is usually transported to a respective destination associated with the transfer point and from there - by means of a suitable handling device - in a respective destination (and possibly the class of flight) assigned container loaded, each with a plurality of luggage to be loaded container then be spent on the aircraft in question, where then preferably the container in question or the entire baggage in the respective container - if necessary.
  • Manual - be loaded into a hold of the aircraft.
  • each flight is usually associated with a plurality of containers.
  • a container in the presently relevant sense can thus also be considered a luggage car or trailer for transporting luggage to an aircraft. Extensive automation of baggage handling, sorting and loading has long been sought to reduce staffing costs at airports.
  • Transfer point for the luggage are transported, in which also early checked baggage can be supplied using a cache automatically and at the right time of the relevant destination destination transfer point for the further loading of the luggage.
  • the patent document GB 1,384,593 published in 1975 also describes a largely automated baggage conveyor system.
  • EP 1 070 664 B1 discloses a method and an arrangement for the automated transport, sorting and loading of items of baggage in airports, in which the transport of the pieces of luggage to different loading means, in particular the sequence of the pieces of luggage to be loaded, is automatic depending on previously recorded characteristics of the established luggage, such as its weight, shape, volume, consistency and class of flight.
  • the loading of the luggage according to a classification according to their weight and consistency can be done gently by hard and / or heavy luggage first be placed close to the ground and soft and light luggage later stacked on it.
  • the use of a combination of metrological devices is provided, eg of tactile sensors and image processing systems.
  • DE 38 44 597 AI relates to the handling of passenger luggage at an airport, with luggage loaded into a container and the container is then placed in an aircraft.
  • a specifically designed device for loading containers with a plurality of pieces of luggage is described, which may be preceded by a measuring device with which the dimensions of each individual can be loaded.
  • Denden luggage can be detected, so that it is determined by a control on the basis of the known dimensions of the container, at which point of the container which luggage is stowed and what storage space then still remains in the container.
  • the device used for baggage loading which comprises a height-displaceable along a column and attached to horizontally movable telescopic slides luggage piece holding device, which in turn has a fork for receiving a piece of luggage, luggage pieces, however, only in the predetermined orientation laterally insert into a container, which is with regard to the most flexible use of given in a container storage space proves to be disadvantageous.
  • DE 100 12 090 A1 shows a generic baggage loading system with a baggage lifting device arranged at the end on a robot arm, with which pieces of baggage with a blade plate serving as a base plate are respectively grasped on its lower side, the container passing through an opened vertical side of the container bela- that will.
  • the blade plate is received on the robot arm projecting and adjustable in inclination.
  • a luggage slide is provided on the blade plate, which is used for the purpose of abrading a piece of luggage lying on the blade plate along the
  • Blade plate is moved close to the front free edge.
  • the pieces of luggage to be loaded can only be loaded in their orientation lying on the blade plate and that in the system described in DE 100 12 090 A1, as well as in that of DE 38 44 597 A1, the consistency of a piece of baggage to be loaded is not taken into account as a criterion for determining a suitable position and / or orientation of the piece of baggage within the container.
  • DE 10 2007 046 919 A1 which does not concern the loading of baggage at airports, shows a gripper for automatically gripping packing units of different dimensions and quality.
  • the gripper has a relative to a support frame horizontally movable support which rests on a pack unit to be gripped, and a hold-down, wherein the hold-down is movable vertically in the direction of the carrier, so that the packing unit can be pressed by mechanical clamping against the carrier. It is also proposed to determine by means of suitable sensors, the hold-down force exerted by the hold-down in order to avoid damage to sensitive products.
  • the present invention is intended to provide a luggage loading system of the type mentioned above which can be retrofitted at airports in the simplest possible way, as well as a corresponding baggage loading method, with which an automated, as reliable and gentle as possible
  • the luggage loading system according to the invention is in addition to the already mentioned features in that the GreifWerkmaschine at least one traversed in the direction of the base plate or
  • the luggage loading system further comprises a cooperating with the hold of the gripping tool measuring and evaluation, which is adapted to determine a characteristic which the consistency of reflects between the at least one hold-down and the base plate located luggage.
  • the inventively provided gripping tool which - a rounded in plan view, for example, rectangular or at a free end - base plate, one on it - for example, from a rear end to a front free end of the base out slidably disposed scraper and at least one with respect to the base plate perpendicularly between a each releasing luggage to be gripped and includes a piece of luggage pushing against the base plate position displaceable hold-down is ideal for secure gripping luggage pieces of various designs.
  • the GreifWerkzeug can be made compact at the same time, so that in the confined space of a - possibly already partially loaded - container to be loaded luggage in such positions - and, if necessary, in a direction opposite to the original orientation of the item of luggage on the baggage conveyor system changed orientation - can be sold, which are suitable taking into account the determined consistency of the luggage to achieve the highest possible packing density.
  • a piece of luggage to be loaded with the piece of baggage loading system according to the invention can first be deposited at the transfer point - with hold-down device in an open position - on the base plate of the gripping tool suitably positioned in the region of the transfer point, eg by the piece of baggage in question directly onto the base plate of the gripping tool by means of the baggage conveyor system is transported.
  • the at least one hold-down device from the open position in which it was suitably far away from the base plate for receiving the respective baggage, be driven in the direction of the base plate until the bag from the at least one hold-down - eg under a predetermined force or under a depending on the determinable when closing the blank consistency of the luggage) force to be determined against the base plate are pressed, whereby the bag is securely held in the GreifWerkzeug (between base plate and hold-down) and preferably also in any rotation of the gripper - Tool is held firmly in position about at least one axis.
  • the gripping tool of the inventively provided handling device - with the aid of suitable positioning means such as a robotic arm carrying the gripper tool (see below) - moved into the interior of the container to a suitable storage position for the respective piece of luggage, where the bag under the method of at least one hold-down in a position releasing the luggage again - and possibly.
  • suitable positioning means such as a robotic arm carrying the gripper tool (see below) - moved into the interior of the container to a suitable storage position for the respective piece of luggage, where the bag under the method of at least one hold-down in a position releasing the luggage again - and possibly.
  • the piece of baggage loading system according to the invention has one with the hold-down of the
  • Gripping tool cooperating measuring and evaluation unit which is adapted to determine the consistency of the held-down and base plate piece of luggage reflecting indicator, as this taking into account the determinable during the loading process consistency characteristic of the bag a suitable storage location and orientation for the bag within of the container can be determined or in any case can be checked whether the baggage piece to be loaded taking into account the determined consistency characteristic for Storage at a possibly initially independent of this calculated storage location and orientation within the container is suitable. If this is not the case, by means of the evaluation unit or another computer unit connected thereto (eg a computer system controlling the entire loading process, which may optionally contain the aforesaid evaluation unit), taking into account the determined consistency parameter, either a suitable other position and orientation for the Storage of baggage within the container determines and the handling device
  • ascertainable consistency parameter is to allow a classification of the pieces of luggage to be loaded in different consistency classes and is in the smallest requirement of the measurement and evaluation system one
  • a division into other intermediate classes eg a division into a total of three, four, five or even more different Consistency classes
  • a continuous parameter for the consistency or the "degree of hardness” or the "deformability" of a piece of luggage may also be advantageous.
  • the determination of a consistency parameter as explained above during the loading process with the gripper is particularly useful for determining suitable storage positions and orientations for the piece of luggage to be loaded in the remaining free space of a container, for example soft luggage - unlike hard luggage - bad for settling in an upright orientation is suitable (unless it can be set off or pushed into a suitably sized space between two pieces of luggage using the GreifTerkzeug in upright orientation) or because soft luggage in a container preferably above the hard luggage is to be arranged.
  • ascertainable consistency parameter reflects the consistency, ie in particular the deformability of the item of luggage to be loaded in the direction perpendicular to the base plate, which - depending on the type of luggage - does not necessarily have to coincide with the given perpendicular consistency or deformability of the luggage.
  • cooperating measuring and evaluation unit which is set up to determine a further parameter which determines the consistency of the item of luggage. reflects a force applied in the direction of movement of the scraper.
  • the scraper can be pressed in a suitable manner against the luggage piece, while it is already pressed by the hold-down with predetermined (in particular constant) force against the base plate, so that under evaluation caused by the scraper deformation of the luggage or the scraper
  • a force for the consistency of the item of luggage when force is applied in a direction perpendicular to the base plate direction is determined applied force or the pressure applied here.
  • Baggage adjacent space of the container can be pressed.
  • the packing density achievable within the container can be increased compared to a mere adjustment to the geometric dimensions of the respective items of luggage and the given clearances. It is thus within the scope of the invention of particular advantage if the loading process controlling computing unit to determine a suitable storage position and
  • Determining a suitable storage position and orientation can be taken into account for each piece of luggage to be loaded.
  • the transfer point at which the pieces of luggage are transferred from the baggage conveyor to the gripping tool, can be advantageously formed in the context of the present invention by a free end of a luggage conveyor belt.
  • the gripping tool is then preferably at the free end of the
  • Transfer positions suitable to be controlled conveyor belts that the transported by the conveyor belt items are automatically transported to the base plate of the gripping tool, e.g. from its front free end and / or from another side of the base plate.
  • the gripper tool for taking over a piece of luggage with the front free end of its base plate at the free end of the conveyor belt (immediately adjacent to this and the sem facing) is positionable.
  • the base plate can be brought into a tilted position (by a suitable adjustment of the position of the gripping tool), so that the piece of luggage in question automatically slips into the free space within the gripping tool, which is bounded to the rear by the wiper.
  • the piece of luggage can be fixed on the base plate by means of a suitable method of the hold-down and, at the same time, the corresponding consistency characteristic of the item of luggage can be determined.
  • the GreifWerkzeug is alternatively positioned by appropriate design and arrangement of the gripper tool carrying robotic arm at the end of the conveyor belt, that the baggage the GreifWerkzeug not laterally from the free end of the base plate, but is supplied laterally, so in the With regard to the possible orientations of the baggage during its subsequent storage in the container greater flexibility exists.
  • the hold-down device and / or the wiper can be brought into a position, in particular to accelerate the loading process with already known geometry of the piece of luggage to be picked up beforehand, in a position which accommodates the item of luggage in the bag
  • Gripping tool allow, however, in the case of the hold down the least possible route for pressing the bag against the base plate and / or in the case of the scraper the least possible route for stripping the bag (at later discontinuation of the bag in the container) condition.
  • the least possible route for stripping the bag at later discontinuation of the bag in the container
  • the scraper to achieve the most gentle and positionally accurate recording of the luggage in the GreifWerkzeug if necessary. First, be brought into a forward position and then, if the bag is in the correct position, in a moved backwards so that the piece of luggage gently and with continuous contact with the scraper completely on the base plate of the
  • Gripping tool slips By suitable timing of the movement of the scraper, the "impact" of the item of luggage on the scraper can also already be reduced.
  • the handling device comprises a robot arm on which the gripper tool projects forward from one end of the robot arm protruding base plate is fixed and with which the gripping tool between the transfer point and the interior of a suitably positioned container is movable. It can then be provided in a particularly advantageous manner that the gripping tool by means of the robot arm in such a way about at least one axis, advantageously about two mutually orthogonal axes, rotated or tilted, so that the base plate can assume a vertical orientation. In this case, in particular, such an orientation should be taken, in which the base plate with its front free end and / or a lateral edge facing down.
  • the baggage conveyor system in lying orientation on the base plate of the gripping tool conveyed luggage in an upright orientation in the container settle, which is advantageous for optimal utilization of the limited space in the container to be loaded and allows a particularly high packing density.
  • the evaluation unit determines the consistency of the item of luggage by evaluating the contact pressure exerted by the hold-down or by the scraper on the item of luggage in different positions (or by means of the respective drive unit for the downholder or the wiper applied force) and / or by the hold-down or the wiper at a given Contact pressure (or force) caused deformation of the baggage determined. If necessary. can for comparison purposes on the previously determined in the unloaded state geometric dimensions of the luggage
  • the measurement and evaluation unit thus advantageously evaluates the forces exerted by the hold-down device and / or scrapers in different positions on the item of luggage and the deformation caused thereby, thus to a certain extent the resistance of the item of luggage to one of the respective position Determined by hold-down or scraper deformation corresponding and thus ultimately the bag a characteristic is assigned, the consistency of the bag (ie the resistance of the bag against one of hold-down or wiper exercised
  • the luggage piece loading system according to the invention further comprises one of the handling device
  • upstream measuring device which is adapted to determine the use of optical measuring means, the geometric dimensions and / or color and / or other surface texture and / or a characteristic edge profile of the baggage to be loaded.
  • Abstell too on several of the aforementioned parameters can improve continuously during operation.
  • CCD cameras e.g. for the purpose of edge detection, for the determination of surface properties or for the determination of geometrical dimensions on common image recognition and image recognition
  • the baggage loading system expediently also has a comparison unit, by means of which a comparison between the estimated and the parameter determined in cooperation with the at least one hold-down device and / or the wiper of the gripping tool during the loading of the respective item of luggage is made.
  • a comparison unit by means of which a comparison between the estimated and the parameter determined in cooperation with the at least one hold-down device and / or the wiper of the gripping tool during the loading of the respective item of luggage is made.
  • consistency of the item of baggage so that in a relevant discrepancy between "estimated” and determined (ie actual) consistency of the piece of baggage if necessary, a recalculation of another storage location (and orientation) or a sorting of the item in question for a later manual loading can be done in the container.
  • the baggage loading system is a sorting device for controlling the order of the transfer point by means of
  • Baggage conveyor system has supplied luggage, the order of the baggage depending on the estimated characteristic for the
  • Consistency of the pieces of luggage to be loaded takes place. As a result, then also the order of the transfer point supplied luggage in terms of a space-saving and careful loading of luggage in the respective container to be controlled.
  • a further device preceding the handling device can be provided for determining the (actual) consistency of the pieces of baggage to be loaded, with which, for example, e.g. with the use of suitable tactile sensors, the consistency of the baggage supplied to the transfer point, with respect to advantageous
  • Kraftbeautschonne in different directions can be determined, which can then be used for computer-aided planning of the automated loading process.
  • an optical measuring device can advantageously be provided on the gripper tool with which, with the use of suitable algorithms, the correct deposit of a piece of luggage in the container is verified and / or the free space (still) present in a container - e.g. before and / or after the storage of each piece of luggage in the container - determined and then the processing unit controlling the loading process can be transmitted.
  • the loading system according to the invention advantageously has a device by means of which always the exact position and orientation of a load to be loaded Containers (in particular relative to the gripper tool or relative to the robot arm), unless this is always exactly predetermined by suitable means, can be determined.
  • the present invention relates to a method for baggage loading using a baggage loading system according to one of the preceding claims, comprising at least the following - iteratively repeated steps:
  • Fig. 1 is a side view of a piece of luggage loading system according to the invention.
  • FIG. 1 shows an exemplary embodiment of a piece of baggage loading system 1 according to the invention with a handling device 2 which comprises a movable robot arm 3 and a gripping tool 4 mounted thereon with a base plate 5, a two-part hold-down device 6 and a wiper 7.
  • the gripping tool 4 will be explained in more detail below with reference to FIGS. 2-6.
  • Gripping tool 4 next supplied case 9 when it is transported by the conveyor belt 8 in the conveying direction F beyond the free end 15 of the conveyor belt 8, automatically slides into the gripping tool 4 on the base plate 5, until it at the scraper located in a rear position. 7 comes to the plant.
  • the baggage item 9 can be gripped securely in the gripper tool 4 by moving the hold-down device 6 in the direction of the base plate 5 until it presses the item of luggage 9 against the base plate 5 with a predetermined contact pressure, so that the item of luggage 9 is independent of the orientation and movement of the gripping tool 4 is always securely held.
  • the gripper tool 4 can be moved by means of the robot arm 3 through an access opening 17 released from an opened cover 16 into the interior 18 of the container 13, which is hereby accessible from above and partly laterally ,
  • the gripping tool 4 mounted on the robot arm 3 with the base plate 5 protruding forwardly from the end of the robot arm 3 can be tilted about the axis L, in particular by moving the end of the robot arm according to the double arrow P and together with another part of the robot arm 3 according to the double arrow Q around the axis M can be rotated or pivoted, whereby the base plate 5 of the gripping tool 4 for the purpose of an upright deposition of initially lying on the base plate 5 held luggage can be brought into different substantially vertical orientations.
  • the movement of the robot arm 3 further allows pivotal movements of its components according to double arrows R and S about the axes N and O and can also be rotated altogether according to double arrow T on its base 19 about a vertical axis, so that a total of a large range of motion for the gripping tool 4 moved by means of the robot arm 3.
  • the entire loading operation including the movement of the conveyor belt 8, the movement of the robot arm 3 and the gripping tool 4 about the said axes and the adjustment of the hold 6 and the scraper 7, is controlled by a central processing unit 20, which is also a respectively suitable Storage position and orientation for each to be loaded in the container 13 baggage 9, 10, 11 determines, if not this example because of a momentarily (or generally) inappropriate dimension or consistency - such as the baggage 24 deposited by the picking tool 4 in a previous process on a delivery table 23 - has to be sorted out for the purpose of manual loading.
  • the arithmetic unit 20 serves in cooperation with suitable measuring means (not shown in FIG. 1), which are associated with the hold-down 6 and the scraper 7, at the same time as an evaluation unit 21, 22, taking into account one of the hold-down 6 and the scraper 7 on the respectively to be loaded piece of luggage 9, 10, 11 force exerted or a deformation of the baggage piece 9, 10, 11 caused thereby to determine a parameter for the given in the respective direction of action consistency of the baggage piece 9, 10, 11, then for the planning of the further loading process or the determination / verification of a suitable storage position and orientation within the container 13 is taken into account.
  • the container 13 located on a trailer 13 is - due to a located at the loading position for the container 13 ramp 26 on which the trailer 25 comes to rest - arranged in an inclined orientation (angle) relative to the horizontal, so that by means of the handling device. 2 in the interior 18 of the container 13 near the side wall 27 located at the sloping end of the container bottom 27 (shown in broken lines) on the sloping bottom surface of the container 13 according to arrow V in the direction of the side wall 27 slips and comes to rest on the same, which is a particularly positionally accurate Storage of luggage pieces 28, 9, 10, 11 is made possible within the container 13.
  • a measuring device 29 arranged in the region of the conveyor belt 8 and thus upstream of the handling device 2 is shown schematically with two CCD cameras 30, 31 installed in the region of the conveyor belt, with which the luggage items 9, 10 conveyed past it 11 from different directions (here: from above and one side) can be optically detected.
  • the arithmetic unit 20 in cooperation with the arithmetic unit 20, to which the signals of the CCD cameras 30, 31 are transmitted, firstly, the geometrical dimensions of the luggage pieces 9, 10, 11 that are relevant for the loading process can be determined and secondly Insofar as the arithmetic unit 20 also functions as a consistency estimation device 32, by evaluating the dimensions, the ascertainable color of a piece of luggage, another surface property and / or characteristic edge profiles of the respective item of luggage and using a database containing relevant correlations
  • Probable characteristic for the consistency of the item of luggage 9, 10, 11 determined and utilized to determine a suitable storage position and orientation.
  • the arithmetic unit 20 then also functions as a comparison unit 33 in that during the subsequent loading process of a piece of luggage 9, 10, 11 the or the determined during the loading process characteristics for the (actual) consistency with the previously determined by the consistency estimation means 33 characteristics for Consistency in the respective direction compares, so that in the case of relevant deviations if necessary, a new storage location for the item of luggage within the container is determined or a sorting of the item of luggage for manual loading under the luggage item on the storage table 23 is caused.
  • Fig. 2 shows the gripping tool 4 in a perspective view obliquely from the front with for receiving a Luggage suitably wide open hold-down 6, wherein the hold-6 has two laterally spaced, in plan view substantially rectangular, above the base plate arranged and aligned parallel thereto flat hold-down elements 6a, 6b, which, as explained below, in a perpendicular to Base plate 5 lying axis are movable to press a lying on the base plate 5 luggage against selbige.
  • the hold-down elements 6a, 6b can thus be moved starting from the position shown in FIG. 2 according to arrow B in the direction of the base plate until they press a piece of luggage not shown here with eg specifiable force against the base plate 5 and thus keep safe.
  • a suitable adjustment of the (maximum) exercisable force can prevent damage to the luggage (or its contents).
  • Support arm 36, 37 attached, which to achieve a compact design up behind the level of
  • Scraper plate 35 extends in its rearmost position and which in turn there is in turn attached to a vertically displaceably guided guide rail 38, 39 of each one (behind the scraper 7) arranged servomotor 40, 41 via a respective traction drive 42, 43 (here: in Type of positive toothed belt drive) is adjusted.
  • the respective servo motor 40, 41 is controlled by the arithmetic unit 20 so that the hold-down elements 6a, 6b press with predetermined force on the luggage, then can be from each by means of the computing or evaluation 20, 21 in cooperation with the electronics of the servo motor 40, 41 determinable position of the respective hold-down element 6a, 6b (ie the distance between hold-down element 6a, 6b and base plate 5) and determine by comparison with the known geometric dimensions of non-kraftbeetzschlagten baggage as far the baggage piece acted upon by the hold-down elements 6a, 6b with a predetermined force has deformed, which allows an immediate conclusion as to its consistency and thus the determination of a parameter suitable for this purpose.
  • adjustable hold-down elements 6a, 6b may present - depending on the particular piece of luggage - if necessary.
  • Consistency characteristics if the item of luggage, e.g. in the region of the first hold-down element 6a is more yielding than in the region of the second hold-down element 6b.
  • a parameter formed by the mean of the two parameters can be essentially determined as the consistency of the piece of luggage (in the relevant direction) or, for further calculations, it can be assumed that the piece of luggage in question has a spatially inhomogeneous consistency, as determined become. With more than two juxtaposed and separately driven by means of a servo motor hold-down elements even better statement on the spatially inhomogeneous consistency of the luggage to be loaded could be achieved, bringing the computerized loading of
  • the scraper 7 formed by the stripper plate 35 is driven by means of a - not visible in FIGS. 2-6 servomotor, which is arranged approximately centrally below the base plate 5. Again, with the baggage piece firmly holding down device 6 in cooperation with the measurement and evaluation unit 22 likewise formed by the central processing unit 20, as already described above, a value for the consistency of the item of luggage in the feed direction of the scraper can be determined.
  • Figs. 3-5 show the gripping tool 4 with closed, i. down to the base plate approached hold-6 in different views obliquely from the front (Fig. 3), obliquely from behind (Fig. 4) and from the side (Fig. 5).
  • the mounting plate 44 with which the gripping tool 4 is attached to a free end of the robot arm 3 already shown in Fig. 1, well visible.
  • a support structure 45 connected to the mounting plate 44 can be seen, to which e.g. the two guide rails 38, 39 are guided linearly displaceable and to which the base plate 5 is attached.
  • FIG. 6 again shows, in a view obliquely from the front, the gripping tool with the scraper 7 moved forward and the hold-down 6 wide open.

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Abstract

L'invention concerne un système de chargement de bagages (1) muni d'un dispositif de manipulation (2) destiné à charger automatiquement des bagages (9, 10, 11) depuis un emplacement de transfert d'un système de transport de bagages (12, 8) dans un conteneur (13) destiné à loger une pluralité de bagages (9, 10, 11). Selon l'invention, le dispositif de manipulation (2) comprend un outil de préhension (4), qui peut être déplacé entre l'emplacement de transfert et l'intérieur du conteneur (18) et qui présente une plaque de base (5) servant de support pour un bagage (9, 10, 11) destiné à être chargé et un élément poussoir (7) agencé de manière à pouvoir coulisser sur la plaque de base (5) pour pousser un bagage (9, 10, 11) situé sur la plaque de base (5). En outre, l'outil de préhension (4) comporte au moins un élément de maintien par serrage (6) mobile ou pivotant en direction de la plaque de base (5) et destiné à presser le bagage (9, 10, 11) contre la plaque de base (5) de l'outil de préhension (4). En outre, le système de chargement de bagages (1) comprend une unité de mesure et d'évaluation (20, 21), qui coopère avec l'élément de maintien par serrage (6) de l'outil de préhension (4) et est configurée pour déterminer une grandeur caractéristique reflétant la consistance du bagage (9, 10, 11) se trouvant entre l'élément ou les éléments de maintien par serrage (6) et la plaque de base (5).
PCT/EP2011/005646 2011-01-05 2011-11-10 Système et procédé de chargement de bagages WO2012092939A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP11782387.2A EP2661394A1 (fr) 2011-01-05 2011-11-10 Système et procédé de chargement de bagages

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011007958.0 2011-01-05
DE201110007958 DE102011007958B4 (de) 2011-01-05 2011-01-05 Gepäckstückverladesystem und -verfahren

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Publication Number Publication Date
WO2012092939A1 true WO2012092939A1 (fr) 2012-07-12

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PCT/EP2011/005646 WO2012092939A1 (fr) 2011-01-05 2011-11-10 Système et procédé de chargement de bagages

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EP (1) EP2661394A1 (fr)
DE (1) DE102011007958B4 (fr)
WO (1) WO2012092939A1 (fr)

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CN111546353A (zh) * 2020-04-26 2020-08-18 盛视科技股份有限公司 一种智能服务机器人
WO2021183958A1 (fr) * 2020-03-12 2021-09-16 Leidos Security & Automation Limited Effecteurs terminaux de chargement de bagages et de colis, système et procédés d'utilisation

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DE102019102144A1 (de) 2019-01-29 2020-07-30 Airbus Operations Gmbh Verfahren zur Optimierung der Auslastung von Gepäckfächern

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US3260349A (en) 1965-10-04 1966-07-12 Rapids Standard Co Inc Coded carrier conveyor system
GB1384593A (en) 1972-04-06 1975-02-19 Rapistan Inc Baggage handling system
DE3844597A1 (de) 1988-05-30 1989-12-28 Shirakawa Shiro Vorrichtung zum beladen von containern mit gepaeckstuecken
EP1070664B1 (fr) 1999-07-21 2005-06-22 ABB PATENT GmbH Procédé et dispositif pour le transport, le triage et le chargement automatiques des bagages
DE19959622C2 (de) 1999-12-10 2001-10-18 Fraunhofer Ges Forschung Verfahren und Vorrichtung zum Greifen sowie zum Beladen von Stückgut, insbesondere von Gepäckstücken
DE10012090A1 (de) 2000-03-15 2001-09-27 Loedige Foerdertechnik Verfahren und Einrichtung zum Beladen von in Flugzeugen mitführbaren Containern
DE10018385A1 (de) 2000-04-13 2001-10-18 Abb Patent Gmbh Verfahren und Vorrichtung zum selbsttätigen Be- und Entladen von Stückgut
EP1174374A1 (fr) * 2000-07-22 2002-01-23 ABB PATENT GmbH Procédé et dispositif de manipulation d' objets, en particulier dé bagages
NL1023904C2 (nl) * 2003-07-11 2005-01-12 Csi Ind B V Bagageafhandeling.
DE102005022828B4 (de) 2005-05-12 2010-11-18 Projektlogistik Gmbh Verladeeinrichtung an Flughäfen für Gepäckstücke
DE102007046919A1 (de) 2007-09-28 2009-04-16 Dematic Gmbh & Co. Kg Greifer zum automatischen Ergreifen von Packeinheiten
DE202007015169U1 (de) 2007-10-31 2008-02-07 Optativus Gmbh Vorrichtung zum Erfassen und Umladen von Gepäckstücken

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WO2021183958A1 (fr) * 2020-03-12 2021-09-16 Leidos Security & Automation Limited Effecteurs terminaux de chargement de bagages et de colis, système et procédés d'utilisation
CN111546353A (zh) * 2020-04-26 2020-08-18 盛视科技股份有限公司 一种智能服务机器人

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