WO2019244848A1 - Dispositif de manipulation de cargaison - Google Patents

Dispositif de manipulation de cargaison Download PDF

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Publication number
WO2019244848A1
WO2019244848A1 PCT/JP2019/023943 JP2019023943W WO2019244848A1 WO 2019244848 A1 WO2019244848 A1 WO 2019244848A1 JP 2019023943 W JP2019023943 W JP 2019023943W WO 2019244848 A1 WO2019244848 A1 WO 2019244848A1
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WO
WIPO (PCT)
Prior art keywords
suction
suction unit
center
unit
package
Prior art date
Application number
PCT/JP2019/023943
Other languages
English (en)
Japanese (ja)
Inventor
洋祐 矢部
Original Assignee
株式会社 東芝
東芝インフラシステムズ株式会社
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 株式会社 東芝, 東芝インフラシステムズ株式会社 filed Critical 株式会社 東芝
Publication of WO2019244848A1 publication Critical patent/WO2019244848A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
    • B65G47/06—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack
    • B65G59/04—De-stacking from the top of the stack by suction or magnetic devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for

Definitions

  • the embodiment of the present invention relates to a cargo handling device.
  • the problem to be solved by the present invention relates to a cargo handling device capable of stably moving a load to a destination.
  • the cargo handling device includes the first suction unit, the second suction unit, the first moving device, the second moving device, and the conveyor.
  • the first suction unit suctions the upper surface of the load.
  • the second suction unit suctions a side surface of the load.
  • the first moving device moves the first suction unit and the second suction unit.
  • the second moving device moves the second suction unit in a direction approaching the side surface of the package and in a direction away from the side surface of the package.
  • the conveyor is mounted on the first suction unit and the second suction unit, on which the load moved by the first moving device is placed, and moves the placed load in the away direction. I do.
  • FIG. 1 is a perspective view schematically illustrating a configuration of a cargo handling device according to an embodiment.
  • FIG. 2 is a perspective view schematically showing the configuration of the suction device used in the cargo handling device.
  • FIG. 3 is a perspective view schematically showing a configuration of the suction device.
  • FIG. 4 is a side view schematically showing the configuration of the suction device.
  • FIG. 5 is a bottom view schematically showing the configuration of the suction device.
  • FIG. 6 is a front view schematically showing the configuration of the adsorption device.
  • FIG. 7 is a flowchart illustrating an example of the operation of the cargo handling apparatus.
  • FIG. 8 is a flowchart showing an example of the operation of the cargo handling apparatus.
  • FIG. 7 is a flowchart illustrating an example of the operation of the cargo handling apparatus.
  • FIG. 9 is a flowchart illustrating an example of the operation of the cargo handling apparatus.
  • FIG. 10 is an explanatory diagram schematically illustrating an example of the operation of the cargo handling apparatus.
  • FIG. 11 is an explanatory diagram schematically illustrating an example of the operation of the cargo handling apparatus.
  • FIG. 1 is a perspective view schematically illustrating the configuration of the cargo handling device 10.
  • FIG. 2 is a perspective view schematically showing the configuration of the suction device 60 of the cargo handling device 10, and shows a state where the side suction device 63 used in the suction device 60 is at the initial position.
  • FIG. 3 is a perspective view schematically showing the configuration of the suction device 60, and shows a state in which the side suction device 63 has moved to the upper surface suction device 62 side.
  • FIG. 4 is a side view schematically showing the configuration of the suction device 60.
  • FIG. 5 is a bottom view schematically illustrating the configuration of the suction device 60.
  • FIG. 6 is a front view schematically showing the configuration of the suction device 60.
  • 7 to 9 are flowcharts illustrating an example of the operation of the cargo handling device 10.
  • 10 and 11 are explanatory diagrams schematically illustrating an example of the operation of the cargo handling device 10. In FIGS. 1 to 11, the shape of each component is simplified or the size is enlarged or reduced for convenience of description.
  • the cargo handling device 10 is used at a site 1 where a cargo handling operation is performed, such as a warehouse.
  • a first belt conveyor 6 that transports the load 5 to another destination is installed at the site 1.
  • the cargo handling device 10 takes out the packages 5 one by one from a placing section 7 such as a table on which a plurality of packages 5 are placed, and moves them to the first belt conveyor 6.
  • the cargo handling device 10 is arranged near one edge of the first belt conveyor 6 along the transport direction.
  • the placing unit 7 is disposed at a position facing the first belt conveyor 6 with the cargo handling device 10 interposed therebetween.
  • the direction parallel to the direction from the mounting portion 7 to the first belt conveyor 6 is defined as the front-back direction.
  • the direction perpendicular to the vertical direction and perpendicular to the front-back direction is defined as the width direction.
  • the cargo handling device 10 is provided in the housing 20, the first detection device 30 for detecting the package 5 on the placing section 7, and the A second belt conveyor 40 that moves to the first belt conveyor 6, a first lifting device 50 that is provided in the housing 20 and moves the second belt conveyor 40 up and down in the housing 20, and adsorbs the load 5.
  • Suction device 60, a negative pressure generating device 65 for generating a negative pressure in the suction device 60, and a casing 20 provided to move the suction device 60 between the mounting section 7 and the second belt conveyor 40.
  • the loading / unloading device 10 moves the suction device 60 to the receiver 7 with the moving device 70, sucks the luggage 5 with the suction device 60, and moves the suction device 60 to the second belt conveyor 40 with the moving device 70 to suck. Is released, the luggage 5 is placed on the second belt conveyor 40, and the luggage 5 is moved to the first belt conveyor 6 by the second belt conveyor 40.
  • the first belt conveyor 6 is an example of a destination to which the cargo 5 is moved by the cargo handling device 10. In other words, the first belt conveyor 6 is an example of a destination to which the load 5 is moved by the second belt conveyor 40.
  • the housing 20 is located between the first belt conveyor 6 and the placement unit 7 and is fixed, for example, to the floor of the site 1.
  • the housing 20 has, for example, a housing main body 21 and an eave portion 22.
  • the housing body 21 has an opening 23 that communicates inside and outside in the front-rear direction in a region facing the mounting portion 7.
  • the opening 23 has a size such that a part of the luggage 5, the suction device 60, and the moving device 70 can move from the mounting portion 7 side into the housing body 21.
  • the width of the opening 23 is the same as or larger than the width of the mounting portion 7.
  • Each of both ends in the width direction of the opening 23 faces the both ends in the width direction of the mounting portion 7 in the front-rear direction, or is located outside in the width direction.
  • the housing body 21 has an opening 24 that communicates the inside and outside in the front-rear direction in a region facing the first belt conveyor 6.
  • the opening 24 has a size that allows the load 5 to move.
  • the inside of the housing body 21 is moved by the moving device 70 so that the suction device 60 and the load 5 sucked by the suction device 60 can move to the second belt conveyor 40 through the opening 23 and the second device.
  • the load 5 is configured to be movable to the opening 24 by the belt conveyor 40.
  • Such a housing body 21 is configured to have, for example, four pillars 21a and a plurality of beams 21b provided at the upper and lower ends of the four pillars 21a.
  • An opening 23 is formed by the two pillar portions 21a and the two beam portions 21b on the mounting portion 7 side.
  • An opening 24 is formed by the two pillars 21a and the two beams 21b on the first belt conveyor 6 side.
  • the eaves portion 22 is formed, for example, in a frame shape that protrudes forward from the upper ends of the two pillars 21 a on the mounting portion 7 side.
  • the eaves section 22 is located above the mounting section 7.
  • the eave portion 22 has a fixing portion 26 to which the first detection device 30 is fixed.
  • the first detection device 30 is fixed to the fixing portion 26.
  • the first detection device 30 is configured to be able to detect the horizontal position of the center C1 of the upper surface 5a of each of the plurality of packages 5 on the placement unit 7.
  • the first detection device 30 is, for example, a camera.
  • the first detection device 30 photographs the upper surface 5a of each of the plurality of packages 5 placed on the placement unit 7.
  • the first detection device 30 transmits the captured video to the control device 100.
  • the second belt conveyor 40 has a belt 41 on which the load 5 can be placed, and a motor 42 for driving the belt 41.
  • the belt 41 is an endless belt.
  • the motor 42 is disposed at one end of the belt 41 having a flat annular shape.
  • the motor 42 drives the belt 41 by pulling the upper surface 41 a of the belt 41 toward the motor 42.
  • the second belt conveyor 40 configured as described above is configured such that the motor 42 is positioned on the first belt conveyor 6 side, and the moving direction of the upper surface 41a of the belt 41 is parallel to the front-rear direction. It is installed in the main body 21. In other words, the second belt conveyor 40 moves the loaded luggage 5 in a direction in which a second suction pad 63a described later separates from the first suction pad 62a.
  • One end of the belt 41 on the opening 23 side is located near the opening 23.
  • One end of the belt 41 on the opening 24 side is located near the opening 24.
  • the distance from one end of the belt 41 on the first belt conveyor 6 side to the belt 6a of the first belt conveyor 6 is smaller than the length of the baggage 5 in the front-rear direction, and the baggage 5 can move from the belt 41 to the belt 6a. Is set to a certain distance. In other words, the gap between the belt 41 and the belt 6a is set so that the load 5 does not fall through the gap.
  • the first elevating device 50 includes, for example, a first driving unit 51 provided on the beam 21 b at the upper end of the housing body 21, a first shaft 52 provided on the first driving unit 51, And a first wire 53 wound around one shaft 52.
  • the first driving unit 51 is driven, the first shaft 52 is rotated.
  • the second belt conveyor 40 is moved up and down via the first wire 53.
  • the first lifting device 50 may be configured to be able to move up and down the second belt conveyor 40.
  • the above-described configuration of the first elevating device 50 is an example, and is not limited.
  • the suction device 60 suctions a base 61 supported by the moving device 70, an upper surface suction device 62 fixed to the base 61 and suctioning the upper surface 5 a of the package 5, and a side surface 5 b of the package 5 on the housing body 21 side.
  • the apparatus includes a side suction device 63 and a forward / backward moving device (second moving device) 64 provided on the base 61 and moving the side suction device 63 in the front-back direction.
  • the suction device 60 holds the load 5 by suctioning the upper surface 5a with the upper surface suction device 62 and suctioning the side surface 5b with the side surface suction device 63.
  • the base 61 has a base main body 61a formed in a bar shape extending in one direction, and an extending portion 61b extending from one longitudinal end of the base main body 61a in a direction orthogonal to the longitudinal direction of the base main body 61a. .
  • the base 61 thus configured is rotatably connected to the moving device 70 by a rotation shaft 67 parallel to the width direction, as shown in FIG.
  • the base main body 61a and the extending portion 61b have a positional relationship in which the base main body 61a is parallel to the front-rear direction and the extending portion 61b can assume a posture of extending downward.
  • One end surface of the base main body 61a on the side of the rotation shaft 67 is formed into, for example, a curved surface that allows the base main body 61a to rotate.
  • the base 61 is configured to be rotatable by a predetermined angle from an initial position where the upper surface suction device 62 and the side surface suction device 63 are not suctioning the load 5.
  • the predetermined angle is a rotation angle in a direction in which the upper surface suction device 62 and the side surface suction device 63 are rotated by the weight of the load 5 while the load 5 is being sucked.
  • This predetermined angle is an angle at which the suction device 60 does not contact the moving device 70 when the base 61 rotates around the rotation axis 67 due to the weight of the load 5.
  • the predetermined angle is, for example, 10 degrees to 15 degrees.
  • the base 61 configured as described above is provided with the upper surface suction device 62 and the side surface suction device 63 according to the weight of the upper surface suction device 62, the weight of the side surface suction device 63, and the weight of the front-rear movement device 64. In a state in which the baggage 5 is not sucked, the base portion 61 is maintained at the initial position parallel to the front-back direction.
  • the upper surface suction device 62 is fixed to, for example, a front end of the base 61.
  • the upper suction device 62 includes a plurality of first suction pads (first suction portions) 62a and a first support portion 62b that supports the plurality of first suction pads 62a.
  • Each of the plurality of first suction pads 62a has an opening 62a1.
  • Each of the plurality of first suction pads 62a is evacuated due to the opening 62a1 being closed by the upper surface 5a of the baggage 5 while the air is sucked by the negative pressure generating device 65, and a negative pressure is generated inside.
  • the upper surface 5a is attracted by the negative pressure.
  • Each of the plurality of first suction pads 62a is directly or indirectly connected to a pipe 66 connected to the negative pressure generator 65.
  • the plurality of first suction pads 62a are connected indirectly.
  • the first suction pad 62a is connected to the tube 66 via the first support 62b.
  • the first support portion 62b has a space therein that communicates with each of the openings 62a1 of the plurality of first suction pads 62a.
  • the tube 66 is connected to the first support portion 62b.
  • the external appearance of the first support portion 62b is configured, for example, in a rectangular parallelepiped shape.
  • the tube 66 and the plurality of first suction pads 62a are fluidly connected via the first support portion 62b.
  • the upper surface suction device 62 thus configured is configured such that when the base 61 is at the initial position, the openings 62a1 of the plurality of first suction pads 62a are positioned on a plane perpendicular to the vertical direction, and the base body 61a Fixed to.
  • the side suction device 63 is fixed to the front and rear moving device 64.
  • the side suction device 63 includes a plurality of second suction pads (second suction portions) 63a and a second support portion 63b that supports the plurality of second suction pads 63a.
  • Each of the plurality of second suction pads 63a has an opening 63a1.
  • Each of the plurality of second suction pads 63a is evacuated by closing the opening 63a1 on the side surface 5b in a state where the air is sucked by the negative pressure generating device 65, and a negative pressure is generated inside.
  • the side surface 5b is sucked by the pressure.
  • Each of the plurality of second suction pads 63a is directly or indirectly connected to a pipe 66 connected to the negative pressure generator 65.
  • the plurality of second suction pads 63a are connected indirectly.
  • the first suction pad 62a is connected to the tube 66 via the first support 62b.
  • the second support portion 63b has a space therein that communicates with each of the openings 63a1 of the plurality of second suction pads 63a.
  • the tube 66 is connected to the second support portion 63b.
  • the external appearance of the second support portion 63b is, for example, formed in a rectangular parallelepiped shape.
  • the tube 66 and the plurality of second suction pads 63a are fluidly connected via the second support 63b.
  • each opening 63a1 of the plurality of second suction pads 63a faces the mounting portion 7 side in the front-back direction, and
  • the second suction pad 63a is fixed to the front / rear moving device 64 in a posture in which each opening 63a1 is located on a plane orthogonal to the front / rear direction.
  • the back-and-forth moving device 64 includes a base 64a fixed to, for example, the extension 61b of the base 61, a moving unit 64b movably connected to the base 64a in a linear direction, and a driving unit 64c. .
  • the side surface suction device 63 is fixed to, for example, a distal end of the moving unit 64b in the moving direction.
  • the position where the moving section 64b is farthest away from the upper surface suction device 62 in the front-rear direction is defined as an initial position.
  • the driving unit 64c moves the side suction device 63 by driving the moving unit 64b.
  • the drive unit 64c is, for example, a motor.
  • the driving unit 64c is fixed to, for example, the base 64a.
  • the front-rear moving device 64 configured as described above is fixed to the base 61 in a posture in which the moving direction of the moving unit 64b is parallel to the front-rear direction when the base 61 is at the initial position.
  • the front-rear movement device 64 is configured, for example, by using the side suction device 63 with respect to the upper surface suction device 62 to the length in the front-rear direction of the luggage 5 having the maximum length in the front-rear direction assumed as shown in FIG. It is possible to move from a position that is at least the same distance as a half to a position that is the same distance as half of the length in the front-rear direction of the luggage 5 having the minimum length in the front-rear direction as shown in FIG. Be composed.
  • the front-rear movement device 64 is configured such that the plurality of first suction pads 62a are connected to the center C1 of the upper surface 5a of the baggage 5 where the center C2 of the plurality of first suction pads 62a has the maximum length in the front-rear direction.
  • the side suction device 63 is in contact with the upper surface 5a at an opposing position or a position on the back side in the front-rear direction with respect to the center C1 and in the up-down direction
  • the plurality of second suction pads 63a Can be arranged at a position in contact with the side surface 5b.
  • the back side in the front-back direction is the side away from the housing body 21 in the front-back direction.
  • the direction in which the side suction device 63 approaches the upper suction device 62 that is, the direction in which the second suction pad 63a approaches the first suction pad 62a, is on the side opposite to the second suction pad 63a.
  • the center C2 of the plurality of first suction pads 62a is used as a reference position.
  • the center of the first suction pad 62a specifically, the center of the opening 62a1 is set as a reference. The position is used as the center C2.
  • the plurality of first suction pads 62a are positioned such that the center C2 of the plurality of first suction pads 62a vertically opposes the center C1 of the upper surface 5a of the package 5 where the length in the front-rear direction is minimum.
  • the side suction device 63 can be disposed at a position where the plurality of second suction pads 63a are in contact with the side surface 5b in a state where the side suction device 63 is in contact with the upper surface 5a.
  • the negative pressure generating device 65 generates a negative pressure on each of the plurality of first suction pads 62a and each of the plurality of second suction pads 63a.
  • the negative pressure generator 65 may generate a negative pressure by being driven, and release the suction of air by being stopped.
  • the negative pressure generating device 65 may have a configuration in which a valve is provided, and the valve is opened and closed to switch between an air suction state and a suction release state.
  • the negative pressure generating device 65 only needs to have a configuration that generates a negative pressure in each of the plurality of first suction pads 62a and each of the plurality of second suction pads 63a.
  • the negative pressure generator 65 includes, for example, a pump.
  • the moving device 70 moves the upper surface suction device 62 and the side surface suction device 63 in the horizontal and vertical directions.
  • the moving device 70 moves the upper surface suction device 62 and the side surface suction device 63 by moving the base 61.
  • the moving device 70 is configured to move the upper surface suction device 62 and the side surface suction device 63 at the same time because the cargo handling device 10 includes the front-rear moving device 64, and the upper surface suction device 62 and the side surface suction device 63
  • the present invention is not limited to a configuration in which they move integrally.
  • the moving device 70 moves the upper surface suction device 62 and the side suction device 63 integrally. . In other words, it moves while the position of the side suction device 63 with respect to the upper suction device 62 is fixed.
  • the moving device 70 simultaneously moves the upper suction device 62 and the side suction device 63, but the relative positions of the upper suction device 62 and the side suction device 63 are different. Since they are not fixed, they do not move together.
  • the moving device 70 includes, for example, a horizontal moving device 71 that is connected to the base 61 and moves the base 61 in the horizontal direction, and a second lifting device 80 that moves the base 61 up and down by moving the horizontal moving device 71 up and down.
  • the horizontal movement device 71 has an arm 72 to which the base 61 is connected by a rotating shaft 67, and a support portion 73 that movably supports the arm 72.
  • the arm 72 is configured to move the base 61 in one direction.
  • the arm 72 is configured to be extendable and contractable, for example.
  • the arm 72 moves the base 61 in one direction by expanding and contracting.
  • the arm 72 is configured to be extendable and contractible by, for example, a telescopic structure.
  • the support portion 73 supports the arm 72 movably in a direction perpendicular to the direction in which the arm 72 extends and contracts.
  • the expansion and contraction of the arm 72 is performed by a drive unit such as a motor or an air cylinder.
  • the movement of the arm 72 with respect to the support part 73 in the direction orthogonal to the expansion and contraction direction is performed by a drive unit such as a motor or an air cylinder.
  • the horizontal moving device 71 configured as described above has a posture in which the direction of expansion and contraction of the arm 72 is parallel to the front-back direction, and the direction of movement of the arm 72 with respect to the support portion 73 perpendicular to the direction of expansion and contraction is parallel to the width direction.
  • the support part 73 and a part of the arm 72 are housed in the housing body 21.
  • the minimum length of the arm 72 is such that at least the center C2 of the plurality of first suction pads 62a of the upper surface suction device 62 can be arranged above the belt 41 of the second belt conveyor 40.
  • the minimum length of the arm 72 is preferably such a length that the center C2 of the plurality of first suction pads 62a is arranged on the horizontal surface of the belt 41.
  • the horizontal moving device 71 sets the center C2 of the plurality of first suction pads 62a to the center C1 of the upper surface 5a with respect to each of the plurality of packages 5 placed on the mounting portion 7.
  • it is configured to be movable to a position vertically opposed to a position on the back side in the front-rear direction from the center C1.
  • the second elevating device 80 includes, for example, a second driving unit 81 provided on the beam 21 b at the upper end of the housing body 21, a second shaft 82 provided on the second driving unit 81, And a second wire 83 wound around the second shaft 82.
  • the second drive unit 81 is driven, the second shaft 82 is rotated.
  • the horizontal moving device 71 is moved up and down via the second wire 83.
  • the second lifting device 80 may be configured to be able to move the horizontal moving device 71 up and down, and is not limited to the above-described configuration.
  • the second detection device 90 includes a first proximity sensor 91 that detects that the upper surface suction device 62 has approached the upper surface 5a from a first predetermined distance, and a side surface suction device. 63 has a second proximity sensor 92 for detecting that the side surface 5b has approached the second predetermined distance.
  • a plurality of first proximity sensors 91 are provided as an example.
  • the first proximity sensor 91 detects the first detection target portion fixed to the plurality of first suction pads 62a in the upper surface suction device 62, so that the upper surface suction device 62 1 is detected as approaching a predetermined distance.
  • the first detected portion is, for example, the first support portion 62b.
  • the first support portion 62b has, for example, metal detected by the plurality of first proximity sensors 91.
  • the first support 62b is made of metal.
  • the first predetermined distance is a position at which the plurality of first suction pads 62a can suction the upper surface 5a.
  • the position where the plurality of first suction pads 62a can suck the upper surface 5a is the position where the first suction pad 62a contacts the upper surface 5a and the opening 62a1 of the first suction pad 62a is closed by the upper surface 5a. is there.
  • a plurality of second proximity sensors 92 are provided as an example.
  • the second proximity sensor 92 detects the second detection portion fixed to the plurality of second suction pads 63a in the side suction device 63, so that the side suction device 63 It detects that it has approached the predetermined distance of 2.
  • the second detected portion is, for example, the second support portion 63b.
  • the second support portion 63b includes, for example, metal detected by the plurality of second proximity sensors 92.
  • the second support 63b is made of metal.
  • the second predetermined distance is a position at which the plurality of second suction pads 63a can suction the side surface 5b.
  • the position where the plurality of second suction pads 63a can suction the side surface 5b is a position where the second suction pad 63a contacts the side surface 5b and the opening 63a1 of the second suction pad 63a is closed by the side surface 5b. is there.
  • the first proximity sensor 91 is fixed to the first support portion 62b by, for example, a fixing member 93, and is disposed outside the lower surface of the first support portion 62b and near each of the four corners.
  • the second proximity sensor 92 is, for example, a proximity sensor.
  • the second proximity sensor 92 is fixed to the second support portion 63b by, for example, a fixing member 94, and is disposed in the vicinity of each of two corners on the mounting portion 7 side of the upper surface of the second support portion 63b. Have been.
  • the third detection device 95 is, for example, a laser range finder installed between the housing main body 21 and the mounting portion 7 as shown in FIG.
  • the third detection device 95 is configured to be able to detect the height position of the lower surface 5c of the package 5 passing above.
  • the third detection device 95 transmits a detection result to the control device 100.
  • the control device 100 includes a first detection device 30, a second belt conveyor 40, a first elevating device 50, a forward and backward moving device 64, a negative pressure generating device 65, The moving device 71, the second elevating device 80, the second detecting device 90, and the third detecting device 95 are electrically connected.
  • the control device 100 based on the image captured by the first detection device 30, the detection result of the second detection device 90, and the detection result of the third detection device 95, , A forward / backward moving device 64, a negative pressure generating device 65, a horizontal moving device 71, and a second lifting / lowering device 80.
  • the control device 100 has a main control unit 101 and a sub control unit 102 in the present embodiment.
  • the main control unit 101 receives the detection result of the first detection device 30.
  • the main control unit 101 has functions 1 to 10.
  • Function 1 is a function of determining the moving luggage 5 based on the detection result of the first detection device 30.
  • the function 1 determines the luggage 5 closest to the housing body 21 in the front-rear direction as the luggage 5 to be moved among the luggage 5 whose upper surface 5a is photographed by the first detection device 30.
  • the luggage 5 located at the center in the width direction is determined as the luggage 5 to be moved.
  • the function 2 is a function of calculating the horizontal position of the center C1 of the determined upper surface 5a of the package 5.
  • the function 3 is based on the position of the center C1 of the upper surface 5a calculated by the function 2 and the detection results of the plurality of first proximity sensors 91, the second elevating device 80, the horizontal moving device 71, By controlling the device 64 and the negative pressure generator 65, the center C2 of the plurality of first suction pads 62a is opposed to the center C1 of the upper surface 5a in the vertical direction, or the center C2 is higher than the center C1. This is a function of sucking the upper surface 5a with the plurality of first suction pads 62a at a position facing the position on the back side in the front-rear direction.
  • Whether the center C2 of the plurality of first suction pads 62a is opposed to the center C1 of the upper surface 5a in the up-down direction or the center C2 is opposed to the back in the front-rear direction with respect to the center C1 is, for example, It may be determined before the operation of the cargo handling device 10 starts.
  • the center C2 is vertically opposed to the center C1 and is suctioned.
  • the mode in which the suction is performed with the center C2 facing the back side in the front-rear direction with respect to the center C1 is selected. This selection may be made by operating a button or an input key.
  • the main control unit 101 sets the center C2.
  • a determination may be made to face a position on the back side in the front-rear direction from the center C1.
  • the main controller 101 can face the center C2 with the back side in the front-rear direction from the center C1.
  • the center C2 may be opposed to the back side of the center C1.
  • the center C2 may be vertically opposed to the center C1 without selection by the operator or selection by the main control unit 101.
  • the center C2 may be opposed to the center C1 on the back side in the front-rear direction without performing selection by the operator or selection by the main control unit 101.
  • the second suction pad 63a is located at a position on the back side in the front-rear direction with respect to the center C1, in other words, along the direction in which the second suction pad 63a is closer to the first suction pad 62a than the center C1.
  • the position opposite to 63a is a position within a range where the plurality of first suction pads 62a can maintain stable suction of the load 5. This range can be obtained in advance by experiments or the like.
  • the main control unit 101 has information on the position on the back side in advance.
  • the information on the position on the back side is, for example, the distance from the center C1.
  • the information on the position on the back side may differ depending on the size of the upper surface 5a of the baggage 5.
  • the plurality of first suction pads 62a are arranged such that the center C2 of the plurality of suction pads 62a faces the center C1 of the upper surface 5a of the baggage 5 whose length in the front-rear direction is relatively short, as shown in FIG.
  • the upper surface 5a can be sucked at a position where the center C1 is located, or at a position where the center C1 faces the back side in the front-rear direction with respect to the center C2. Further, as shown in FIG.
  • the plurality of suction pads 62a are positioned such that the center C2 of the plurality of suction pads 62a faces the center C1 of the upper surface 5a of the baggage 5 whose length in the front-rear direction is relatively long, or The upper surface 5a can be sucked at a position where the center C1 faces the back side in the front-rear direction with respect to the center C2.
  • the function 4 controls the arm 72 to contract and move the suction device 60 that has absorbed the load 5 to the belt 41 of the second belt conveyor 40, and drives the belt 41 at the same speed as the arm 72 contracts. Function.
  • the function 5 is a function for calculating the height position of the lower surface 5c of the target based on the detection result of the third detection device 95.
  • the function 6 controls the second elevating device 80 on the basis of the calculated height position of the lower surface 5c to change the height position of the upper surface of the belt 41 of the second belt conveyor 40 to the height position of the lower surface 5c. It is a function to match.
  • the function 7 controls the second belt conveyor 40 to stop the movement of the belt 41 when the arm 72 is contracted to the minimum length, and controls the negative pressure generating device 65 to cause the suction device 60 to suck the load 5. This is the function to cancel.
  • the function 8 is a function of controlling the forward / backward moving device 64 to move the side suction device 63 in a direction away from the load 5 when the suction by the suction device 60 is released.
  • the function 9 is a function of controlling the second lifting / lowering device 80 and moving the moving device 70 upward when the side suction device 63 is moved away from the load 5.
  • the function 10 controls the second belt conveyor 40 when the moving device 70 moves upward, moves the load 5 to the first belt conveyor 6 side, and controls the first lifting device 50,
  • the function is to adjust the height position of the upper surface of the belt 41 of the second belt conveyor 40 to the height position of the upper surface 6a1 of the belt 6a of the first belt conveyor 6.
  • the sub-control unit 102 has the function 11 specifically. In other words, until the side suction device 63 determines that the side suction device 63 has approached the side surface 5b from the predetermined distance based on the detection results of all the second proximity sensors 92, in other words, the plurality of second suction pads This is a function of moving the moving unit 64b to the load 5 until it is determined that the position 63a has reached the position where the side surface 5b is sucked.
  • the initial state is a state where at least the moving unit 64b is located at the initial position, the horizontal moving device 71 is located at the uppermost position, and the second belt conveyor 40 is stopped (step S1).
  • the first detection device 30 photographs the plurality of packages 5 placed on the placement unit 7 and transmits the captured video to the main control unit 101 of the control device 100 (Step S2).
  • the main control unit 101 determines the package 5 to be moved to the first belt conveyor 6 among the multiple packages 5 based on the image captured by the first detection device 30.
  • the main control unit 101 determines, as the moving luggage 5, the luggage 5 that is positioned closest to the housing body 21 in the front-rear direction among the luggage 5 arranged at the uppermost level (step S ⁇ b> 3).
  • the main control unit 101 calculates the horizontal position of the center C1 of the upper surface 5a of the moving luggage 5 (step S4).
  • the main control unit 101 controls the negative pressure generator 65 to suck air through the plurality of first suction pads 62a and the plurality of second suction pads 63a (step S5).
  • the sub-control unit 102 drives the moving device 70 to cause the centers C2 of the plurality of first suction pads 62a to face the center C1 of the upper surface 5a of the moving load 5 in the vertical direction.
  • the center C2 of the plurality of first suction pads 62a is made to face a position deeper than the center C1 of the upper surface 5a (step S6).
  • the main control unit 101 operates the second driving unit until it detects that the plurality of first suction pads 62a are at the position where the upper surface 5a is sucked.
  • the upper surface suction device 62 is lowered (No in step S7 and step S8).
  • the second lifting device 80 is controlled to stop the lowering of the upper surface suction device 62 (step S9).
  • the openings 62a1 of the plurality of first suction pads 62a are closed by the upper surface 5a to be evacuated, and each of the plurality of first suction pads 62a is evacuated. Negative pressure is generated inside the. Each of the plurality of first suction pads 62a suctions the upper surface 5a by the negative pressure.
  • the main control unit 101 may determine that the plurality of first suction pads 62a have suctioned the upper surface 5a when a predetermined time has elapsed after stopping the lowering of the upper surface suction device 62.
  • a pressure sensor may be provided on the pipe 66, and based on the detection result of the pressure sensor, it may be determined that the plurality of first suction pads 62a have suctioned the upper surface 5a.
  • the sub control unit 102 controls the driving unit of the forward / backward movement device 64 until the plurality of second suction pads 63a reach the position where the second suction pads 63a suck the side surface 5b.
  • the side suction device 63 is moved to the baggage 5 side by controlling 64c (Step S10 and No in Step S11).
  • step S11 When the sub-control unit 102 determines that each of the plurality of second suction pads 63a has reached the position at which the side surface 5b is sucked based on the detection result of the second proximity sensor 92 (Yes in step S11), the drive is started. The movement of the side surface suction device 63 is stopped by controlling the portion 64c (step S12).
  • the openings 63a1 of the plurality of second suction pads 63a are closed by the side surfaces 5b, so that the plurality of second suction pads 63a are evacuated. Negative pressure is generated inside the. Each of the plurality of second suction pads 63a suctions the side surface 5b by the negative pressure.
  • the main controller 101 controls the second lifting / lowering device 80 to perform suction.
  • the device 60 is moved upward (step S13).
  • the moving amount at this time is a moving amount in which the lower end of the load 5 inclined by its own weight is kept in contact with the upper surface 5a of another load 5 located below the load 5 as shown in FIG. .
  • the main controller 101 controls the arm 72 to move the luggage 5 sucked by the suction device 60 in the horizontal direction and draw it into the housing body 21 (step S14).
  • the main control unit 101 calculates the position of the lower surface 5c of the moved luggage 5 based on the detection result of the third detection device 95 (step S15).
  • the main control unit 101 controls the first drive unit 51 to move the second belt conveyor 40 in the up-down direction and to move the second belt conveyor 40 to the height position of the upper surface 41 a of the belt 41 of the second belt conveyor 40. To the lower surface 5c (step S16).
  • the main controller 101 controls the motor 42 to move the upper surface 41a at the same speed as the speed at which the arm 72 contracts until it determines that the arm 72 has contracted to the minimum length (steps S17 and S17). (No in S18). After the lower surface 5c of the luggage 5 is on the upper surface 41a, the luggage 5 is moved while a part of the lower surface 5c is supported by the upper surface 41a.
  • a sensor that detects the length of the arm 72 may be provided on the arm 72, and the main control unit 101 may determine that the length of the arm 72 has become the minimum length based on the detection result of this sensor. .
  • step S18 when determining that the arm 72 has contracted to the minimum length (Yes in step S18), the main control unit 101 stops driving the arm 72 and controls the motor 42 to stop the movement of the belt 41 (step S18). Step S19).
  • the centers C2 of the plurality of first suction pads 62a are located above the upper surface 41a of the belt 41. Since the center C2 is located above the upper surface 41a, a half area of the lower surface 5c of the package 5 is on the upper surface 41a.
  • the main control unit 101 controls the negative pressure generator 65 to release the suction of the baggage 5 by the plurality of first suction pads 62a and the plurality of second suction pads 63a (step S20).
  • the sub-control unit 102 controls the driving unit 64c of the forward / backward moving device 64 to move the side suction device 63 in a direction to retreat from the load 5 (step S21).
  • the main controller 101 controls the second driver 81 to move the suction device 60 upward (step S22).
  • the cargo handling device 10 configured as described above can move the position of the side suction device 63 with respect to the upper surface suction device 62, the suction position of the upper surface 5 a by the upper surface suction device 62 is set with respect to the upper surface suction device 62. It can be set arbitrarily within the movable range of the side suction device 63.
  • the plurality of first suction pads 62a can be suctioned at a position near the center C1 of the upper surface 5a, so that the suction device 60 can stably suction the luggage 5. Furthermore, when the arm 72 is set to the minimum length, a wide area of the lower surface 5c of the load 5 can be placed on the belt 41, so that the load 5 can be stably placed on the belt 41.
  • the cargo handling device 10 since the cargo handling device 10 has the second belt conveyor 40, the movement of the load 5 from the placement section 7 to the first belt conveyor 6 is not performed only by the moving device 70.
  • the moving device 70 When moving the load 5 to the first belt conveyor 6 only by the moving device 70, it is necessary to arrange a part of the arm 72 above the first belt conveyor 6.
  • the housing body 21 is configured to cover a part of the first belt conveyor 6, and the size is increased.
  • the housing body 21 can be made compact.
  • the length of the arm 72 in the front-rear direction can be made compact.
  • the length of the arm 72 in the front-rear direction can be made compact, it is not necessary to increase the front-rear length of the housing body 21, so that it is possible to prevent the cargo handling device 10 from being enlarged.
  • the second side of the side suction device 63 is moved.
  • the suction pad 63a can be brought into contact with the side surface 5b of the load 5.
  • the second suction pad 63a of the side suction device 63 can be pressed against the side surface 5b in a direction perpendicular to the side surface 5b, so that the opening 63a1 of the second suction pad 63a is formed by the side surface 5b. Can be reliably closed. As a result, it is possible to prevent the loss of the suction force due to the negative pressure generated in the second suction pad 63a and the pipe 66, so that the load 5 can be stably sucked.
  • the cargo handling device 10 advances the side suction device 63 to bring the second suction pad 63a into contact with the side surface 5b.
  • the side suction device 63 comes into contact after the load 5 is sucked by the upper surface suction device 62, the position of the load 5 with respect to the upper surface suction device 62 due to the contact of the side suction device 63 is prevented. it can.
  • the front-rear movement device 64 can move the position of the side suction device 63 with respect to the upper surface suction device 62 to a position separated by the same distance or more than half of the front-rear length of the baggage 5 whose expected front-back length is the largest. .
  • the plurality of first suction pads 62a are arranged such that the center C2 faces the center C1 of the upper surface 5a in the vertical direction, or the center C2 faces the position on the back side in the front-rear direction with respect to the center C1 of the upper surface 5a.
  • the upper surface 5a can be sucked at the position where the load 5 is located, so that an area that is half or more of the lower surface 5c of the load 5 having different lengths in the front-rear direction can be placed on the upper surface 41a of the second belt conveyor 40. Can be placed on the belt 41 more stably.
  • the suction device 60 can more stably suction the luggage 5. .
  • the center C2 of the plurality of first suction pads 62a is moved onto the upper surface 41a of the second belt conveyor 40 when the luggage 5 is pulled into the housing main body 21 from the mounting portion 7, the plurality of By releasing the suction of the load 5 by the first suction pad 62a and the plurality of second suction pads 63a, the load 5 can be stably placed on the upper surface 41a.
  • the front / rear moving device 64 is controlled to retract the side suction device 63 with respect to the load 5, and the moving device 70 suctions the upper surface.
  • the front / rear moving device 64 is controlled to retract the side suction device 63 with respect to the load 5, and the moving device 70 suctions the upper surface.
  • the luggage 5 moves on the belt 41 by moving the belt 41 of the second belt conveyor 40 at the same speed as the speed at which the arm 72 contracts. Since the lower end and the upper end of the luggage 5 move at the same speed when placed on the luggage, the posture of the luggage 5 does not become unstable. In other words, it is possible to stably load the load 5 on the belt 41.
  • the cargo handling device 10 since the cargo handling device 10 includes the first proximity sensor 91, the upper surface 5a can be more reliably sucked by the plurality of first suction pads 62a. Further, since the cargo handling device 10 includes the second proximity sensor 92, the side surface 5b can be more reliably sucked by the plurality of second suction pads 63a.
  • the upper surface suction device 62 can suction a position suitable for moving the load 5. Therefore, the load 5 can be stably moved to the second belt conveyor 40.
  • the second detection device 90 has a first proximity sensor 91 as a configuration for detecting that the upper surface suction device 62 has approached the upper surface 5a of the package 5 by a predetermined distance or more, and has a side surface suction device.
  • the device 63 has the second proximity sensor 92 as a configuration for detecting that the device 63 has approached the side surface 5b of the package 5 by a predetermined distance or more, but is not limited thereto.
  • the second detection device 90 may be, for example, a camera capable of photographing the upper surface 5a and the side surface 5b of the package.
  • a plurality of cameras may be used.
  • the camera may be used also as the camera used as the first detection device 30.
  • a switch may be used. Examples of the case where a switch is used include a switch that is turned on or off when the first suction pad 62a of the upper surface suction device 62 reaches a position where the upper surface 5a is suctioned, and a second suction pad 63a of the side surface suction device 63.
  • a switch may be used that is turned on or off when it reaches a position at which it absorbs the side surface 5b.
  • the cargo handling device 10 has the negative pressure generating device 65, but is not limited to this.
  • the pump may be used.
  • the negative pressure generating device 65 is commonly used for the upper surface suction device 62 and the side surface suction device 63, and the suction by the upper surface suction device 62 and the suction by the side surface suction device 63 are simultaneously released. Configuration. However, it is not limited to this. The release of the suction by the upper surface suction device 62 and the release of the suction by the side surface suction device 63 may be performed independently.
  • the plurality of first suction pads 62a suck the upper surface 5a at a position where the center C2 is closer to the center C1 of the upper surface 5a, in other words, at a position facing the housing body 21 side, so that the arm 72
  • the suction by the upper surface suction device 62 is released, the belt 41 is driven, and the longitudinal movement device 64 is moved.
  • the load 5 can be stably placed on the belt 41.
  • the horizontal movement device 71 and the front-rear movement while the air is sucked by the plurality of first suction pads 62a and the plurality of second suction pads 63a by controlling the negative pressure generating device 65 are described.
  • the device 64 is driven, when the plurality of first suction pads 62a contact the upper surface 5a, the upper surface 5a is sucked by the plurality of first suction pads 62a, and the plurality of second suction pads 63a are attached to the side surfaces 5b. Upon contact, the side surfaces were sucked by the plurality of second suction pads 63a (step S5).
  • the horizontal moving device 71 and the front-rear moving device 64 are not limited to being driven in a state where air is sucked by the plurality of first suction pads 62a and the plurality of second suction pads 63a.
  • the negative pressure generator 65 is controlled to Air in the first suction pad 62a and in the plurality of second suction pads 63a may be sucked.
  • the negative pressure generating device 65 when configured to be able to independently suction the air in the plurality of first suction pads 62a and the air in the plurality of second suction pads 63a, After one suction pad 62a contacts the upper surface 5a, the negative pressure generator 65 is controlled to suck air in the plurality of first suction pads 62a, and thereafter, the plurality of second suction pads 63a are moved to the side surface 5b. After the contact, the negative pressure generator 65 may be controlled to suck the air in the plurality of second suction pads 63a.
  • the belt 41 of the second belt conveyor 40 is moved at the same speed as the speed at which the arm 72 contracts when the luggage 5 is pulled into the housing body 21 from the placing portion 7.
  • the moving speed of the luggage 5 in the front-rear direction when the luggage 5 is pulled into the housing body 21 is the same as the moving speed of the upper surface 41a of the belt 41.
  • the moving speed of the baggage 5 in the front-rear direction when the baggage 5 is pulled into the housing body 21 may be slower or faster than the moving speed of the upper surface 41 a of the belt 41.
  • the plurality of first suction pads 62a are located at the center C1 of the upper surface 5a of the package 5 or the second suction pad 63a is closer to the first suction pad 62a than the center C1. On the side opposite to the suction pad 63a.
  • the phrase “the plurality of first suction pads 62a suction the center C1” means that the upper surface 5a is suctioned at a position where the center C2 of the plurality of first suction pads 62a vertically opposes the center C1.
  • the center C2 of the opening 62a1 of the first suction pad 62a is opposed to the center C1 of the upper surface 5a in the vertical direction. Is to adsorb.
  • the plurality of first suction pads 62a are located at the center C1 of the upper surface 5a or on the side opposite to the second suction pad 63a in the direction in which the second suction pad 63a approaches the first suction pad 62a from the center C1. It is not limited to adsorption. In another example, the plurality of first suction pads 62a are formed substantially in the center of the upper surface 5a or in the direction in which the second suction pad 63a approaches the first suction pad 62a from the substantially center. The opposite side may be adsorbed.
  • the approximate center of the upper surface 5a is a position including the center C1 and the vicinity of the center. Suctioning the approximate center of the upper surface 5a is not strictly limited to sucking the upper surface 5a at a position where the center C2 faces the center C1 in the vertical direction. For example, depending on the accuracy of the movement of the movement device 70 and the accuracy of the movement of the front-rear movement device 64, even if the upper surface suction device 62 is moved so that the center C2 is opposed to the center C1 in the vertical direction, the center C2 of the upper surface 5a is not In some cases, the center C2 is shifted in the horizontal direction with respect to the center C2, and the center C2 does not face the center C1 in the vertical direction. In this case, the center C1 faces the approximate center of the upper surface 5a. As described above, the approximate center of the upper surface 5a absorbs a positional shift caused by an error in the movement of the apparatus.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Specific Conveyance Elements (AREA)
  • De-Stacking Of Articles (AREA)
  • Feeding Of Articles To Conveyors (AREA)

Abstract

L'invention concerne un dispositif de manipulation de cargaison qui peut maintenir et déplacer de manière stable des paquets jusqu'à une destination. Un dispositif de manipulation de cargaison selon un mode de réalisation comprend une première unité d'aspiration, une deuxième unité d'aspiration, un premier dispositif de déplacement, un deuxième dispositif de déplacement et un transporteur. La première unité d'aspiration applique une aspiration sur la surface supérieure d'un paquet. La deuxième unité d'aspiration applique une aspiration sur la surface latérale du paquet. Le premier dispositif de déplacement déplace la première unité d'aspiration et la deuxième unité d'aspiration. Le deuxième dispositif de déplacement déplace la deuxième unité d'aspiration dans la direction vers la surface latérale du paquet et dans la direction s'éloignant de la surface latérale du paquet. Le paquet subissant l'aspiration par la première unité d'aspiration et la deuxième unité d'aspiration et déplacé par le premier dispositif de déplacement est chargé sur le transporteur, et le transporteur déplace le paquet chargé dans la direction s'éloignant de la surface latérale du paquet.
PCT/JP2019/023943 2018-06-18 2019-06-17 Dispositif de manipulation de cargaison WO2019244848A1 (fr)

Applications Claiming Priority (2)

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JP2018-115571 2018-06-18
JP2018115571A JP6595665B1 (ja) 2018-06-18 2018-06-18 荷役装置

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WO2019244848A1 true WO2019244848A1 (fr) 2019-12-26

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Publication number Priority date Publication date Assignee Title
WO2022221433A1 (fr) 2021-04-16 2022-10-20 Mujin, Inc. Ensembles de préhension multi-surface robotiques et leurs procédés de fonctionnement

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0769599A (ja) * 1993-09-02 1995-03-14 Yoshida Sharyo Kiki Kk 物品の積込み・積出し方法および装置
JPH1087074A (ja) * 1996-09-17 1998-04-07 Okura Yusoki Co Ltd 移載荷物保持装置
JPH1120948A (ja) * 1997-07-07 1999-01-26 Okuma Mach Works Ltd ワーク搬送制御装置
JP2000084882A (ja) * 1998-09-14 2000-03-28 Okura Yusoki Co Ltd 物品保持方法および装置、並びに物品移載装置
US20150274447A1 (en) * 2014-03-31 2015-10-01 Intelligrated Headquarters, Llc Autonomous truck loader and unloader
JP2016094280A (ja) * 2014-11-13 2016-05-26 株式会社東芝 移載装置及び荷物取出方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0769599A (ja) * 1993-09-02 1995-03-14 Yoshida Sharyo Kiki Kk 物品の積込み・積出し方法および装置
JPH1087074A (ja) * 1996-09-17 1998-04-07 Okura Yusoki Co Ltd 移載荷物保持装置
JPH1120948A (ja) * 1997-07-07 1999-01-26 Okuma Mach Works Ltd ワーク搬送制御装置
JP2000084882A (ja) * 1998-09-14 2000-03-28 Okura Yusoki Co Ltd 物品保持方法および装置、並びに物品移載装置
US20150274447A1 (en) * 2014-03-31 2015-10-01 Intelligrated Headquarters, Llc Autonomous truck loader and unloader
JP2016094280A (ja) * 2014-11-13 2016-05-26 株式会社東芝 移載装置及び荷物取出方法

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