WO2021095548A1 - Appareil de manutention de fret - Google Patents

Appareil de manutention de fret Download PDF

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Publication number
WO2021095548A1
WO2021095548A1 PCT/JP2020/040636 JP2020040636W WO2021095548A1 WO 2021095548 A1 WO2021095548 A1 WO 2021095548A1 JP 2020040636 W JP2020040636 W JP 2020040636W WO 2021095548 A1 WO2021095548 A1 WO 2021095548A1
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WO
WIPO (PCT)
Prior art keywords
unit
transport
luggage
holding
moving device
Prior art date
Application number
PCT/JP2020/040636
Other languages
English (en)
Japanese (ja)
Inventor
堀内　晴彦
丸山　修
康之 二瓶
嘉紀 栗田
俊之 千葉
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 WO2021095548A1 publication Critical patent/WO2021095548A1/fr

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    • 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
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/03—Stacking of articles by adding to the top of the stack from above
    • B65G57/04—Stacking of articles by adding to the top of the stack from above 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
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/16—Stacking of articles of particular shape
    • B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
    • B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
    • 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
    • B65G67/00—Loading or unloading vehicles
    • B65G67/02—Loading or unloading land vehicles
    • B65G67/04—Loading land vehicles
    • B65G67/20—Loading covered vehicles

Definitions

  • An embodiment of the present invention relates to a cargo handling device.
  • Conveyors have been used for handling luggage for containers. Conveyors are installed inside and outside the container when performing cargo handling operations. The worker manually loads the load conveyed into the container by the conveyor from outside the container into the container. In addition, the worker manually moves the luggage loaded in the container to the conveyor, and the conveyor moves the luggage from the inside of the container to the outside of the container.
  • the problem to be solved by the present invention is to provide a cargo handling device capable of improving the efficiency of cargo handling work for loading and unloading luggage while preventing the increase in size.
  • the cargo handling device includes a main transport part, a holding part, a first holding part moving device, a second holding part moving device, a support part, a support part moving device, and a traveling device.
  • the main transport unit transports an object placed on a transport surface.
  • the holding portion holds the object.
  • the first holding portion moving device supports the holding portion and moves the holding portion in a direction in which the holding portion is brought into contact with or separated from the conveying surface.
  • the second holding portion moving device supports the first holding portion moving device and moves the first holding portion moving device in a direction intersecting with the direction of contact and separation.
  • the support portion supports the main transport portion and the second holding portion moving device.
  • the support portion moving device moves the support portion in the direction of contact and separation.
  • the traveling device supports the support portion moving device and travels.
  • FIG. 1 is an explanatory diagram schematically showing a configuration of a cargo handling device according to an embodiment.
  • FIG. 2 is a perspective view showing a configuration of a device main body used in the cargo handling device.
  • FIG. 3 is an explanatory diagram schematically showing the operation of the second holding portion moving device used in the main body of the device.
  • FIG. 4 is an explanatory diagram showing the operation of the support portion moving device and the first holding portion moving device used in the main body of the device.
  • FIG. 5 is an explanatory diagram showing the operation of the first holding unit moving device.
  • FIG. 6 is an explanatory diagram showing the operation of the positioning device used in the main body of the device.
  • FIG. 7 is an explanatory diagram showing an example of an operation of loading a load in the accommodating portion by the cargo handling device.
  • FIG. 1 is an explanatory diagram schematically showing a configuration of a cargo handling device according to an embodiment.
  • FIG. 2 is a perspective view showing a configuration of a device main body used in the cargo
  • FIG. 8 is an explanatory diagram showing an example of an operation of loading a load in the accommodating portion by the cargo handling device.
  • FIG. 9 is an explanatory diagram showing an example of an operation of loading a load in the accommodating portion by the cargo handling device.
  • FIG. 10 is a plan view schematically showing a configuration of a modified example of the positioning device.
  • FIG. 11 is a side view showing a configuration of a modified example of the main body of the device.
  • FIG. 12 is a perspective view showing a configuration of a modified example of the holding portion used in the main body of the device.
  • FIG. 1 is an explanatory diagram schematically showing the configuration of the cargo handling device 10.
  • FIG. 2 is a perspective view showing a state in which the configuration of the device main body 20 used in the cargo handling device 10 is viewed from the first transport unit 51 side used in the device main body 20 to the second transport unit 52 side.
  • FIG. 3 is an explanatory diagram schematically showing the operation of the second holding portion moving device 60 used in the device main body 20.
  • FIG. 4 is an explanatory diagram showing the operation of the support portion moving device 71 and the first holding portion moving device 73 used in the device main body 20.
  • FIG. 5 is an explanatory diagram showing the operation of the first holding unit moving device 73.
  • FIG. 6 is an explanatory diagram showing the operation of the positioning device 110 used for the device main body 20.
  • the cargo handling device 10 is housed with a device main body 20 that transports the load in the accommodating portion 6 that accommodates the load 5 or conveys the load 5 in the accommodating portion 6 to the outside of the accommodating portion 6.
  • An external transport unit 125 for transporting the load 5 between the outside of the unit 6 and the device main body 20 is provided.
  • Luggage 5 is an example of an object to be handled by the cargo handling device 10.
  • the accommodating unit 6 is, for example, a container conveyed by a truck 7.
  • the cargo handling device 10 is used, for example, in the shipping berth 1.
  • the accommodating portion 6 is not limited to the container.
  • the accommodating section 6 may be, for example, a truck bed or a storage space for luggage 5 provided in a section of a factory. Further, accommodating in the accommodating portion 6 is a concept including placing the luggage 5 in a storage space or the like.
  • the accommodating portion 6 has, for example, a floor surface on which the luggage 5 is placed, two side surfaces, a ceiling surface, and a front surface.
  • the configuration may have a floor surface on which the luggage 5 is placed, two side surfaces, and a front surface.
  • the cargo handling device 10 transports the load 5 from the outside of the storage section 6 to the device body 20 by the external transport section 125, and transports the load 5 to the target position in the storage section 6 by the device body 20.
  • the cargo handling device 10 loads the cargo at a target position as an example of cargo handling. Further, the cargo handling device 10 moves the luggage 5 in the accommodating portion 6 to the external transport unit 125 by the device main body 20. Then, the external transport unit 125 transports the load 5 to a target position such as a load collection point.
  • the cargo handling device 10 unloads as an example of cargo handling. That is, the cargo handling device 10 performs vanning and devanning with respect to the accommodating portion 6 as an example.
  • the cargo handling device 10 can also move the load 5 conveyed by the external transfer unit 125 to another device such as a conveyor.
  • the target position to be transported by the cargo handling device 10 can be appropriately set.
  • the cargo 5 is handled by the external transport unit 125.
  • a robot arm 2 is used for cargo handling with respect to the external transport unit 125. Further, the robot arm 2 moves the luggage 5 between, for example, the external transport unit 125 and the pallet 3.
  • the pallet 3 is conveyed by, for example, a forklift 4. A plurality of luggage 5s are placed on the pallet 3.
  • the substantially horizontal direction includes a horizontal direction and a direction slightly inclined with respect to the horizontal direction.
  • the substantially vertical direction includes a vertical direction and a direction slightly inclined with respect to the vertical direction.
  • the cargo handling device 10 is set with the first direction X, the second direction Y, and the third direction Z.
  • Each of the first direction X, the second direction Y, and the third direction Z is a uniaxial direction orthogonal to each other.
  • the first direction X and the second direction Y are parallel to each other in the substantially horizontal direction
  • the third direction Z is the substantially vertical direction. Is parallel to.
  • the uniaxial direction referred to here includes one direction and a direction opposite to this one direction.
  • the apparatus main body 20 conveys the load 5 conveyed from the external transfer unit 125 to the target position of the accommodating unit 6, and transfers the load 5 in the accommodating unit 6 to the external transfer unit 125. It is configured to be able to be transported to. Transporting to the target position of the accommodating portion 6 includes flat stacking on the floor surface of the accommodating portion 6 and loading a plurality of luggage 5 on the floor surface. Further, the device main body 20 is configured to be self-propelled.
  • the device main body 20 has, for example, a traveling device 30 configured to be self-propelled, a holding unit 40 for holding the luggage 5, and a transport surface 50a, and externally transports the luggage 5 placed on the transport surface 50a.
  • a transport unit 50 for transporting between the unit 125 and the holding unit 40 is provided.
  • the device main body 20 supports the holding portion moving device 70 that moves the holding portion 40, the supporting portion 80 that supports the holding portion moving device, and the supporting portion 80 on the traveling device 30, and supports the supporting portion 80 as the traveling device.
  • a support portion moving device 71 that moves with respect to 30 is provided.
  • the apparatus main body 20 has a detection unit 90 that detects the inside of the storage unit 6, a height detection unit 91 that detects the height position of the luggage 5 mounted on the storage unit 6, and a transport unit 50. It includes a baggage detection unit 100 for detecting the baggage 5, a positioning device 110 for positioning the baggage 5 at a predetermined position on the transport surface 50a of the transport unit 50, and a control unit 120.
  • the device main body 20 is moved by the traveling device 30, the luggage 5 is held by the holding portion 40, and the holding portion 40 is moved by the holding portion moving device 70 and the support portion moving device 71 to move the luggage 5.
  • the traveling device 30 is configured so that the device main body 20 can be moved from the outside of the accommodating portion 6 into the accommodating portion 6 and can be moved from the inside of the accommodating portion 6 to the outside of the accommodating portion 6.
  • the traveling device 30 includes a traveling device base 31 and a traveling unit 32 provided on the traveling device base 31.
  • the traveling device base 31 is configured to have a long shape in one direction, for example.
  • a support portion moving device 71 is provided on the traveling device base portion 31.
  • the traveling unit 32 is configured to be able to travel on the device main body 20 by driving. Further, the traveling unit 32 is configured so that the device main body 20 can travel in two directions orthogonal to each other, for example.
  • the traveling unit 32 includes, for example, a plurality of wheels 32a.
  • the wheel 32a is, for example, a Mecanum wheel or an omni wheel.
  • a rubber crawler may be used for the traveling portion 32 instead of the wheel 32a. In this case, one or more rubber crawlers are used.
  • the traveling portion 32 may be a tire with a turning device.
  • the tire with a turning device is a tire configured so that the traveling direction of the traveling device 30 can be changed.
  • the traveling device 30 configured in this way is self-propelled by being driven by the traveling unit 32. Further, the size of the traveling unit 32 and the length of the traveling device base 31 in the longitudinal direction are accommodated in a state where the traveling device base 31 is arranged inside the accommodating portion 6 and outside the accommodating portion 6. Due to the height difference between the floor surface of the accommodating portion 6 and the floor surface outside the accommodating portion 6, the stepped portion between the floor surface of the accommodating portion 6 and the floor surface outside the accommodating portion 6 is the lower surface of the traveling device base 31. The dimensions are set so that they do not come into contact with. The height difference referred to here may change, for example, when the floor surface of the accommodating portion 6 is lowered due to the weight of the luggage 5 loaded on the accommodating portion 6.
  • the holding unit 40 is configured to be able to hold the luggage 5 by, for example, sucking the luggage 5 by suction.
  • the holding portion 40 includes, for example, a holding portion base 41 and a suction portion 42 provided on the holding base 41.
  • a plurality of types of holding portions 40 are prepared according to the size and shape of the luggage, and can be replaced and used according to the luggage 5.
  • the holding portion 40 has a configuration suitable for holding the rectangular parallelepiped luggage 5 as an example.
  • the holding portion 40 is not limited to a configuration in which the luggage 5 is held by suction.
  • the holding unit 40 may be configured to hold the luggage 5 by sandwiching the luggage 5, for example.
  • the holding portion base 41 is formed in a plate shape, for example, and the suction portion 42 is fixed to one of the main surfaces.
  • the suction unit 42 is fluidly connected to the vacuum pump.
  • the suction unit 42 is evacuated by a vacuum pump in a state of being in close contact with the load 5, so that the inside becomes negative pressure and the load 5 is sucked.
  • the suction portion 42 is formed in a tubular shape, for example.
  • the transport unit 50 is configured to be capable of transporting the load 5 placed on the transport surface 50a.
  • the transport unit 50 for example, transports the load 5 placed on the transport surface 50a in the first direction X.
  • the transport surface 50a is configured to be, for example, a flat surface.
  • the transport surface 50a becomes a horizontal plane when the apparatus main body 20 is placed on a horizontal plane.
  • the transport unit 50 includes a first transport unit (main transport unit) 51, a second transport unit 52, and a third transport unit 53.
  • main transport unit 51 In the case of loading in which the cargo 5 is transported from the outside of the storage unit 6 into the storage unit 6, the transport unit 50 transfers the cargo 5 transported from the external transport unit 125 to the third transport unit 53 and the second transport unit.
  • the 52 and the first transport unit 51 are transported in this order.
  • the transport unit 50 transfers the cargo 5 from the accommodating unit 6 to the first transport unit 51, the second transport unit 52, and the third. It is conveyed in the order of the conveying unit 53.
  • the first transport unit 51 transports the luggage 5 to a position where the luggage 5 can be held or placed by the holding unit 40.
  • the first transport unit 51 is configured to be capable of transporting the load 5 in the first direction X.
  • the transport surface 51a of the luggage 5 of the first transport unit 51 is configured to be parallel to the horizontal direction when the device main body 20 is placed on a horizontal plane.
  • the transport surface 51a constitutes a part of the transport surface 50a.
  • the first transport unit 51 is, for example, a roller conveyor composed of a plurality of rollers.
  • the first transport unit 51 is not limited to the roller conveyor.
  • the first transport unit 51 may be a belt conveyor in another example.
  • the first transport unit 51 has a plurality of transport units that can be driven independently. These plurality of transport units are arranged in the first direction X. Each transport unit has, for example, a length capable of accommodating at least one load 5 in the first direction X.
  • the first transport unit 51 has, for example, three transport units. Specifically, the first transport unit 51 includes a fourth transport unit 54, a fifth transport unit 55, and a sixth transport unit 56.
  • the transport surface 54a of the fourth transport unit 54, the transport surface 55a of the fifth transport unit 55, and the transport surface 56a of the sixth transport unit 56 are configured to be flush with each other.
  • the fourth transport unit 54 is arranged between the fifth transport unit 55 and the sixth transport unit 56.
  • the fifth transport unit 55 is a transport unit in which the luggage 5 is held or placed by the holding unit 40.
  • the sixth transport unit 56 is adjacent to the second transport unit 52.
  • the fourth transport unit 54, the fifth transport unit 55, and the sixth transport unit 56 are configured to be able to independently transport the load 5 in the first direction X. That is, the load 5 can be transported in the direction from the sixth transport unit 56 to the fifth transport unit 55 and in the direction from the fifth transport unit 55 to the sixth transport unit 56. In other words, it is a direction in which the luggage 5 is conveyed to the holding portion 40 side and a direction in which the luggage 5 is conveyed to the external conveying portion 125 side.
  • the fourth transport section 54, the fifth transport section 55, and the sixth transport section 56 are, for example, roller conveyors, but in other examples, they may be belt conveyors.
  • the fifth transport unit 55 is provided with, for example, a positioning device 110.
  • the first transport unit 51 configured in this way is supported by the traveling device base 31 so as to be movable in a direction substantially parallel to the third direction Z by the support unit moving device 71.
  • the second transport unit 52 is arranged adjacent to one end of the first transport unit 51.
  • the second transport unit 52 is configured to be capable of transporting the luggage 5 to and from the first transport unit 51.
  • the second transport unit 52 is configured to be able to move the load 5 in the first direction X and the third direction Z.
  • the second transport unit 52 includes a transport unit main body (secondary transport unit) 52a, an elevating device 52b, and a first stopper device 52c.
  • the transport unit main body 52a has a transport surface 52a1 on which the luggage 5 is placed.
  • the transport surface 52a1 constitutes a part of the transport surface 50a.
  • the transport surface 52a1 is configured to be a plane parallel to the horizontal direction when the apparatus main body 20 is placed on a horizontal plane.
  • the transport unit main body 52a is configured to be capable of transporting the load 5 placed on the transport surface 52a1 in the first direction X.
  • the transport unit main body 52a is, for example, a roller conveyor composed of a plurality of rollers. In another example, the transport unit main body 52a may be a belt conveyor.
  • the transport unit main body 52a is arranged adjacent to the first transport unit 51.
  • the elevating device 52b is configured to be movable along a direction intersecting the transport surface 51a, which is an example of a direction in which the transport unit main body 52a is brought into contact with and separated from the transport surface 51a.
  • the elevating device 52b is configured so that the transport unit main body 52a can be moved in the third direction Z.
  • the elevating device 52b is fixed on, for example, a traveling device base 31.
  • the first stopper device 52c includes a first stopper (stop portion) 52c1 and a drive unit 52c2.
  • the first stopper device 52c is configured to be able to regulate that the load 5 is transported from the transport unit main body 52a to the first transport unit 51 side.
  • the regulation referred to here is to stop the movement of the luggage 5 toward the first transport unit 51.
  • the first stopper 52c1 is arranged at one end of the transport portion main body 52a on the first transport portion 51 side, for example.
  • the first stopper 52c1 has a position that does not abut on the moving load 5 on the transport surface 52a1 and a position that restricts the movement of the load 5 to the first transport portion 51 side by contacting the load 5.
  • the transport unit main body 52a It is supported by the transport unit main body 52a so as to be movable between them.
  • the position that does not come into contact with the load 5 is, for example, a position below the transport surface 51a.
  • the position for restricting the movement of the luggage 5 is, for example, a position above the transport surface 51a.
  • the drive unit 52c2 is configured so that the first stopper 52c1 can be moved between a position where the first stopper 52c1 does not come into contact with the luggage 5 and a position where the movement of the luggage 5 is restricted.
  • the third transport unit 53 is arranged between the second transport unit 52 and the external transport unit 125.
  • the third transport unit 53 is configured to be capable of transporting the luggage 5 to and from the second transport unit 52. Further, the third transport unit 53 is configured to be capable of transporting the luggage 5 to and from the external transport unit 125.
  • the third transport unit 53 has, for example, a transport surface 53a on which the luggage 5 is placed.
  • the transport surface 53a constitutes a part of the transport surface 50a.
  • the transport surface 53a is configured to be a plane parallel to the horizontal direction when the apparatus main body 20 is placed on a horizontal plane.
  • the third transport unit 53 is configured to be able to move the load 5 placed on the transport surface 53a in the first direction X.
  • the height of the transport surface 53a is set to, for example, the same height as the transport surface 125a of the external transport unit 125.
  • the third transport unit 53 is, for example, a roller conveyor composed of a plurality of rollers.
  • the third transport unit 53 may be a belt conveyor in another example.
  • the third transport unit 53 is arranged between the second transport unit 52 and the external transport unit 125.
  • the third transport unit 53 configured in this way is movably connected to the traveling device 30 by, for example, the connecting member 53b, integrally with the traveling device 30.
  • the third transport unit 53 has, for example, a plurality of wheels 53c.
  • the third transport unit 53 is installed on the floor surface or the like via the wheels 53c.
  • the third transport unit 53 is provided with a second stopper device 53d.
  • the second stopper device 53d is configured to be able to regulate the transport of the load 5 from the third transport unit 53 to the second transport unit 52 side.
  • the regulation referred to here is to stop the movement of the luggage 5 to the second transport portion 52 side.
  • the second stopper device 53d includes a second stopper 53d1 and a drive unit 53d2.
  • the second stopper 53d1 is arranged at one end of the third transport portion 53 on the second transport portion 52 side, for example.
  • the second stopper 53d1 regulates the movement of the load 5 by contacting the transport surface 53a with the moving load 5 and the transport surface 53a with the moving load 5 toward the second transport portion 52. It is movably supported by a third transport section 53 between the position and the position.
  • the position that does not come into contact with the load 5 is, for example, a position below the transport surface 53a.
  • the position for restricting the movement of the luggage 5 is, for example, a position above the transport surface 53a.
  • the drive unit 53d2 is configured so that the second stopper 53d1 can be moved between a position where the second stopper 53d1 does not come into contact with the luggage 5 and a position where the movement of the luggage 5 is restricted.
  • the holding unit moving device 70 includes a first holding unit moving device 73 and a second holding unit moving device 60.
  • the holding portion moving device 70 supports the holding portion 40. Further, the holding portion moving device 70 is supported by the supporting portion 80.
  • the first holding portion moving device 73 supports the holding portion 40.
  • the first holding portion moving device 73 is supported by the supporting portion 80 via the second holding portion moving device 60.
  • the first holding unit moving device 73 moves the holding unit 40 in a direction in which the holding unit 40 is brought into contact with and separated from the transport surface 51a of the first transport unit 51.
  • the direction of contact and separation with respect to the transport surface 51a is a direction intersecting with the transport surface 51a.
  • the direction of contact and separation with respect to the transport surface 51a is, for example, a direction orthogonal to the transport surface 51a.
  • the first holding portion moving device 73 moves the holding portion 40 and the luggage 5 in the third direction Z.
  • first holding portion moving device 73 moves the holding portion 40 between the first height position and the second height position.
  • the first height position is a height position where the load 5 held by the holding portion 40 is lower than the transport surface 55a.
  • the lower height position referred to here is a height position where the lower end of the load 5 is lower than the transport surface 55a. That is, the first holding portion moving device 73 is configured to be able to move the load 5 below the transport surface 55a.
  • the first holding portion moving device 73 is configured so that the holding portion 40 can be moved below the transport surface 55a as an example of a configuration in which the load 5 held by the holding portion 40 is moved below the transport surface 55a. To. Further, the first holding portion moving device 73 enables the luggage 5 held by the holding portion 40 to be placed on the floor surface of the accommodating portion 6 when the first transport portion 51 is in the lowest height position. It is composed.
  • the second height position is higher than the position for holding the load 5 placed on the transport surface 55a, and the load 5 does not interfere with the positioning device 110 provided on the fifth transport portion 55.
  • the second height position is, for example, the height position of the support portion 80.
  • the height position of the support portion 80 referred to here is a position where the lower end of the luggage 5 is at the same height position as the lower surface of the support portion 80.
  • the first holding unit moving device 73 includes, for example, a rail 73a and a driving unit 73b.
  • the rail 73a extends in a direction intersecting the transport surface 55a.
  • the rail 73a has a length that allows the holding portion 40 to move between at least a first height position and a second height position.
  • the rail 73a has a length capable of moving the load 5 held by the holding portion 40 upward from the transport surface 55a of the fifth transport portion 55.
  • the rail 73a has a length such that the holding portion 40 can be moved downward by the load 5 held by the holding portion 40 below the transport surface 55a.
  • the rail 73a has a length that allows the holding portion 40 to move below the transport surface 55a.
  • the holding portion 40 is moved by the rail 73a being movably supported by the second holding portion moving device 60.
  • the rail 73a is supported by the second holding portion moving device 60 by the driving portion 73b.
  • the driving portion 73b By driving the drive unit 73b, the rail 73a and the holding unit 40 are moved.
  • the second holding unit moving device 60 moves the first holding unit moving device 73 in a direction intersecting the moving direction of the holding unit 40 by the first holding unit moving device 73.
  • the moving direction of the holding portion 40 by the first holding portion moving device 73 is an example of a direction in which the holding portion 40 is brought into contact with and separated from the transport surface 50a.
  • the second holding portion moving device 60 moves the holding portion 40 in a direction substantially parallel to, for example, the transport surface 55a.
  • the second holding unit moving device 60 is configured to be able to move the holding unit 40 and the luggage 5 in a direction substantially orthogonal to the third direction Z.
  • the second holding unit moving device 60 includes, for example, two devices for moving the holding unit 40 in each of the biaxial directions intersecting with each other, and the holding unit is provided by these two devices. 40 is configured to be movable.
  • the second holding portion moving device 60 is a first horizontal moving device (first moving device) configured to support the holding portion 40 and move the holding portion 40 in the first direction X. ) 61 and a second horizontal moving device (second moving device) 62 fixed to the upper surface of the support portion 80 and movably supporting the first horizontal moving device 61 in the second direction Y. To be equipped.
  • the first horizontal moving device 61 is configured to be expandable and contractible in the first direction X, for example.
  • the first direction X is an example of a direction in which the holding portion 40 intersects the transport surface 50a in the direction of contact and separation.
  • the first horizontal moving device 61 directly or indirectly supports the holding portion 40.
  • the first holding portion moving device 73 is supported at the tip thereof.
  • the first horizontal moving device 61 conveys the holding portion 40 at least at a position facing the fifth transport portion 55 of the first transport unit 51 and the third direction Z, and a fourth transport from this position. It is configured to be movable to a position outside the first transport section 51 along the direction from the section 54 to the fifth transport section 55.
  • the second direction Y which is the moving direction by the second horizontal moving device 62, is an example of a direction intersecting the first direction X, which is the moving direction by the first horizontal moving device 61.
  • the second horizontal moving device 62 is 60 degrees with respect to the transport direction of the load 5 by the first transport section 51 as a direction intersecting the transport direction of the load 5 by the first transport section 51.
  • the holding portion 40 may be moved in the direction of intersection or in the direction of intersection of 45 degrees.
  • the second horizontal movement device 62 is configured to be able to move the holding portion 40 to a position outside the first transport portion 51 or a position outside the support portion 80 in the second direction Y.
  • the dimension of the first transport portion 51 in the second direction Y is smaller than the dimension of the support portion 80 along the second direction Y. Then, the first transport portion 51 is arranged inside the support portion 80 in the second direction Y.
  • the second horizontal moving device 62 can move the holding portion 40 to both outer positions with the support portion 80 sandwiched in the second direction Y, as shown by the alternate long and short dash line in FIG. It is composed. Therefore, the second horizontal moving device 62 is configured to be able to move the holding portions 40 to both outer sides in the second direction Y with respect to both the supporting portion 80 and the first conveying portion 51.
  • the holding portion 40 is indicated by a two-dot chain line.
  • the second horizontal moving device 62 is, for example, a multi-stage rail device including a rail 63 and a plurality of rail devices 65 including a slide portion 64 that can move along the rail 63.
  • the second horizontal moving device 62 includes, for example, two rail devices 65.
  • one rail device 65 is referred to as a first rail device 65A
  • the other rail device 65 is referred to as a second rail device 65B.
  • the first rail device 65A is fixed to the upper part of the support portion 80 in a posture in which the extending direction of the rail 63 is the second direction Y.
  • the rail 63 of the first rail device 65A has, for example, a length extending from a position near one end of the support portion 80 to a position near the other end in the second direction Y.
  • the length of the first rail device 65A in the longitudinal direction is set to be longer than the length of the support portion 80 along the second direction Y, for example. In another example, the length of the first rail device 65A in the longitudinal direction may be the same as the length of the support portion 80.
  • the second rail device 65B is fixed to the slide portion 64 of the first rail device 65A in a posture in which the extending direction of the rail 63 of the second rail device 65B is the second direction Y.
  • the longitudinal length of the second rail device 65B is set to be shorter than, for example, the longitudinal length of the first rail device 65A.
  • each rail 63 of the plurality of rail devices 65 is set so that the holding portion 40 can be moved to a position outside the support portion 80 in the second direction Y.
  • Rail the second rail device 65 in which the holding portion 40 is moved to the outside of one side in the second direction Y with respect to the supporting portion 80 is shown by a solid line, and the holding portion 40 is shown outside the other.
  • the second rail device 65 that has moved to is indicated by a chain double-dashed line.
  • the support portion moving device 71 is fixed to, for example, the upper surface of the traveling device base portion 31.
  • the support portion 80 is fixed to the support portion moving device 71.
  • the support portion 80 By moving the support portion 80 in the direction in which the holding portion 40 is brought into contact with and separated from the transport surface 50a by the support portion moving device 71, the first transport portion 51, the second holding portion moving device 60, and the holding portion 40 are moved.
  • the support portion 80 are integrally moved in the direction of contact and separation.
  • the support portion moving device 71 includes a link mechanism 71a that can expand and contract in the third direction Z, and a drive unit 71b that drives the link mechanism 71a. ..
  • two link mechanisms 71a and two drive units 71b are provided.
  • the two link mechanisms 71a and the two drive units 71b are arranged on both outer sides in a second direction Y with respect to the first transport unit 51, for example.
  • the support portion 80 is arranged above at least a part of the first transport portion 51 other than the fifth transport portion 55.
  • the support portion 80 is arranged above, for example, the fourth transport portion 54 and the sixth transport portion 56.
  • the support portion 80 is configured to be able to support the second horizontal moving device 62.
  • the support portion 80 is configured in a plate shape that covers the fourth transport portion 54 and the sixth transport portion 56.
  • the support portion 80 is formed in a plate shape, for example.
  • the support portion 80 is fixed to the support portion moving device 71.
  • a second holding portion moving device 60 is supported on the upper surface of the supporting portion 80.
  • the first transport portion 51 is fixed to the support portion 80 by using, for example, a fixture 83. Since the first transport portion 51 is fixed to the support portion 80, the distance between the lower surface 82a of the support portion 80 and the transport surface 51a of the first transport portion 51 in the third direction Z is a constant distance. Is fixed to. In other words, the height from the transport surface 51a to the support portion 80, which is the height of the transport path composed of the transport surface 51a and the support portion 80, is unchanged.
  • the fixture 83 has, for example, a configuration in which the first transport portion 51 is suspended from the support portion 80.
  • the fixture 83 includes, for example, a wire or a frame for suspending and fixing the first transport portion 51 from the lower surface 82a.
  • the predetermined constant distance referred to here is a distance forming a gap through which the load 5 can pass between the transport surface 51a and the support portion 80.
  • the distance between the lower surface 82a and the transport surface 51a is determined according to the luggage 5 having the largest height dimension.
  • the detection unit 90 is configured to be able to detect the inside of the accommodating unit 6.
  • the detection unit 90 can detect, for example, the luggage 5 loaded on the floor surface of the storage unit 6, the luggage 5 held by the holding unit 40, and the luggage 5 arranged in the fifth transport unit 55 of the transport unit 50. It is composed of.
  • the detection unit 90 is, for example, a camera capable of photographing the range in front of the apparatus main body 20 and the fifth transport unit 55 along the direction from the fourth transport unit 54 to the fifth transport unit 55.
  • the detection unit 90 is fixed to, for example, the support unit 80.
  • the detection unit 90 transmits the captured information to the control unit 120.
  • the detection unit 90 may be a camera capable of photographing the front of the apparatus main body 20 along the direction from the fourth transport unit 54 to the fifth transport unit 55.
  • the detection unit 90 is fixed to, for example, the support unit 80.
  • the detection unit 90 transmits the captured information to the control unit 120.
  • the height detection unit 91 is configured to be able to detect the height of the luggage 5 arranged in the storage unit 6.
  • the height detection unit 91 is, for example, a laser range finder. As shown in FIG. 4, the height detecting unit 91 is provided, for example, at the lower end of the tip portion of the first transport unit 51.
  • the height detection unit 91 irradiates the front of the apparatus main body 20 with a laser along the direction from the fourth transport unit 54 to the fifth transport unit 55, for example.
  • the baggage detection unit 100 can detect that, for example, the baggage 5 is arranged in each of the first transport unit 51, the second transport unit 52, and the third transport unit 53. It is composed of. Specifically, the luggage detection unit 100 detects the first detection unit 101 that detects the luggage 5 on the first transportation unit 51 and the luggage 5 on the transportation unit main body 52a of the second transportation unit 52. It includes a second detection unit 102 and a third detection unit 103 that detects the load 5 on the third transport unit 53.
  • a plurality of first detection units 101 are provided.
  • the plurality of first detection units 101 are arranged along the transport direction of the first transport unit 51.
  • the first detection unit 101 has a fourth detection unit 104 that detects the load 5 on the fourth transport unit 54, and a fifth detection that detects the load 5 on the fifth transport unit 55.
  • a unit 105 and a sixth detection unit 106 for detecting the load 5 on the sixth transport unit 56 are provided.
  • the fourth detection unit 104 is provided at both ends in the first direction X of the fourth transport unit 54, for example.
  • the fourth detection unit 104 is, for example, arranged at one end in the second direction Y of the fourth transport unit 54 and at the other end in the second direction Y of the fourth transport unit 54. It is provided with a light receiving unit.
  • the fourth detection unit 104 irradiates, for example, a laser from the irradiation unit and receives light from the light receiving unit.
  • the fourth detection unit 104 is connected to the control unit 120.
  • the light receiving unit of the fourth detection unit 104 transmits a signal to the control unit 120 in response to the light reception of the laser irradiated from the irradiation unit.
  • the light receiving unit receives a laser from the irradiation unit, for example, it transmits a predetermined signal. Further, the light receiving unit does not transmit a signal when the laser is not received, or transmits a signal different from the signal transmitted when the light is received. Alternatively, the light receiving unit may be configured to stop transmitting a signal when the laser is received, and transmit a signal when the laser is not received.
  • the fifth detection unit 105 is provided, for example, in the center of the fifth transport unit 55 in the first direction X.
  • the fifth detection unit 105 has the same configuration as, for example, the fourth detection unit 104.
  • the fifth detection unit 105 includes an irradiation unit provided at one end in the second direction Y of the fifth transport unit 55 and a light receiving unit provided at the other end in the second direction Y of the fifth transport unit 55. , Equipped with.
  • the fifth detection unit 105 is connected to the control unit 120.
  • the irradiation unit and the light receiving unit of the fifth detection unit 105 are arranged above the positioning device 110.
  • the irradiation unit and the light receiving unit of the fifth detection unit 105 are arranged at positions slightly higher than the upper end of the positioning device 110, for example.
  • the sixth detection unit 106 is provided at both ends in the first direction X of the sixth transport unit 56, respectively.
  • the sixth detection unit 106 has the same configuration as, for example, the fourth detection unit 104.
  • the sixth detection unit 106 has an irradiation unit arranged at one end in the second direction Y of the sixth transport unit 56 and a light receiving unit arranged at the other end in the second direction Y of the sixth transport unit 56. It has a part and.
  • the sixth detection unit 106 is connected to the control unit 120.
  • the second detection unit 102 is provided at both ends in the first direction X of the transport unit main body 52a of the second transport unit 52.
  • the second detection unit 102 has the same configuration as, for example, the fourth detection unit 104.
  • the second detection unit 102 includes an irradiation unit arranged at one end in the second direction Y of the transport unit main body 52a and a light receiving unit arranged at the other end in the second direction Y of the transport unit main body 52a. Be prepared.
  • the second detection unit 102 is connected to the control unit 120.
  • the third detection unit 103 is provided at both ends in the first direction X of the third transport unit 53, respectively.
  • the third detection unit 103 has the same configuration as, for example, the fourth detection unit 104.
  • the third detection unit 103 includes an irradiation unit arranged at one end in the second direction Y of the third transport unit 53 and a light receiving unit arranged at the other end in the second direction Y of the third transport unit 53. It has a part and.
  • the third detection unit 103 is connected to the control unit 120.
  • the light receiving parts of the detection units 102, 103, 105 and 106 of the second, third, fifth and sixth are irradiated from the irradiation parts of the detection units 102, 103, 105 and 106 of the second, third, fifth and sixth.
  • a signal corresponding to the received light of the laser is transmitted to the control unit 120.
  • the light receiving unit receives a laser from the irradiation unit, for example, it transmits a predetermined signal. Further, the light receiving unit does not transmit a signal when the laser is not received, or transmits a signal different from the signal transmitted when the light is received. Alternatively, the light receiving unit may be configured to stop transmitting a signal when the laser is received, and transmit a signal when the laser is not received.
  • the positioning device 110 is provided in the fifth transport unit 55.
  • the positioning device 110 is configured so that, for example, the load 5 placed on the transport surface 55a of the fifth transport unit 55 can be positioned at a predetermined position on the transport surface 55a.
  • the predetermined position referred to here is a position where the luggage 5 is held by the holding portion 40.
  • the predetermined position is, for example, a position where the center of the luggage 5 and the center of the transport surface 55a coincide with each other.
  • the positioning device 110 includes, for example, a pressing unit 111 and a driving unit 112.
  • the pressing portion 111 is configured to be able to move the load 5 to the center of the transfer surface 55a by pressing a plurality of locations on the peripheral surface of the load 5 toward the center of the transfer surface 55a.
  • the pressing portions 111 are provided at both ends in the second direction Y of the fifth conveying portion 55, for example.
  • the pressing portion 111 includes two arm portions 113. The vicinity of one end of each of the two arm portions 113 is supported by the fifth transport portion 55 so as to be rotatable around the rotation shaft 113a along the third direction Z.
  • the drive unit 112 rotates the two arm portions 113 around the rotation shaft 113a.
  • the load 5 placed on the transfer surface 55a of the fifth transfer section 55 is placed in the circumferential direction of the load 5 by the two arm portions 113 of the two pressing portions 111, respectively.
  • the load 5 is positioned at a predetermined position on the transport surface 55a by pressing toward the center of the transport surface 55a.
  • the control unit 120 includes a traveling device 30, a holding unit 40, a conveying unit 50, a first holding unit moving device 73, a second holding unit moving device 60, a support unit moving device 71, and a positioning device. It controls 110, a first stopper device 52c, and a second stopper device 53d.
  • the control unit 120 is fixed to, for example, the support unit 80 of the device main body 20.
  • Such a control unit 120 may be configured to include, for example, a processor and a storage medium.
  • the processor may consist of, for example, one or more integrated circuits.
  • the control unit 120 holds the traveling device 30, the holding unit 40, the transporting unit 50, and the first holding unit 120, for example, based on the detection results of the detecting unit 90, the height detecting unit 91, and the luggage detecting unit 100, and a program stored in advance.
  • the part moving device 73, the second holding part moving device 60, the support part moving device 71, the positioning device 110, the first stopper device 52c, and the second stopper device 53d are automatically controlled.
  • control unit 120 has a traveling device 30, a holding unit 40, a conveying unit 50, a first holding unit moving device 73, and a second holding unit in accordance with a command from an operating unit operated by an operator.
  • the unit moving device 60, the support moving device 71, the positioning device 110, the first stopper device 52c, and the second stopper device 53d may be controlled.
  • the external transport unit 125 transports the luggage between, for example, a collection point for the luggage 5 outside the storage unit 6 and a third transport unit 53 of the transport unit 50.
  • the external transport unit 125 is a conveyor that is configured to expand and contract in the transport direction.
  • the cargo handling device 10 is used, for example, in a state of being placed on the floor of the accommodating portion 6 formed in a horizontal plane. Therefore, the transport unit 50 transports the load 5 in the substantially horizontal direction, and the first holding unit moving device 73 moves the hold unit 40 and the load 5 in the substantially vertical direction. Further, each of the first horizontal moving device 61 and the second horizontal moving device 62 moves the first holding portion moving device 73 in the substantially horizontal direction.
  • control unit 120 travels the device main body 20 by the traveling device 30 based on the image captured by the detecting unit 90, and moves the device main body 20 into the accommodating unit 6.
  • the cargo handling device 10 is moved in the initial state.
  • the support portion moving device 71 arranges the first transport portion 51 at the lowest height position of the moving range in the substantially vertical direction.
  • the holding unit 40 is arranged at a predetermined height position above the fifth transport unit 55 by the first holding unit moving device 73, and the holding unit 40 is placed on the first transport unit 51 by the second holding unit moving device 60. It is in a state of being arranged in the center in the second direction Y.
  • the control unit 120 stops driving the traveling unit 32 when the device main body 20 has been moved to a predetermined position in the accommodating unit 6.
  • the predetermined position of the accommodating portion 6 referred to here is a position where the holding portion 40 can convey the luggage 5 to the target position on the floor surface of the accommodating portion 6.
  • control unit 120 controls the elevating device 52b to raise and lower the transport unit main body 52a of the second transport unit 52, so that the height position of the transport unit main body 52a is changed to the height of the third transport unit 53. Adjust to the position.
  • the control unit 120 adjusts the height position of the first transport unit 51 according to the height position of the floor surface of the accommodating unit 6, which is the target position on which the luggage 5 is placed. Since the target position is the floor surface, the height position of the first transport portion 51 is moved to the minimum height position. In the initial state of the apparatus main body 20, the height position of the first transport unit 51 is the lowest height position as an example. Therefore, in this operation example, the control unit 120 is the height of the first transport unit 51. Do not change the position.
  • control unit 120 drives the transport unit main body 52a and the third transport unit 53.
  • control unit 120 drives the drive unit 52c2 of the first stopper device 52c to move the first stopper 52c1 to a position that restricts the movement of the luggage 5.
  • the control unit 120 drives the drive unit 53d2 of the second stopper device 53d to move the second stopper 53d1 to a position that restricts the movement of the luggage 5.
  • the operator arranges the external transport unit 125 at a position adjacent to the third transport unit 53, as shown in FIG.
  • the worker transports the luggage 5 to the apparatus main body 20 by the external transport unit 125.
  • the luggage 5 that has reached the apparatus main body 20 first invades the third transport unit 53.
  • the control unit 120 detects that the load 5 has entered the third transport unit 53 by a signal from the third detection unit 103 provided on the external transport unit 125 side of the third transport unit 53. That is, as the luggage 5 moves, the laser emitted from the irradiation unit of the third detection unit 103 is blocked by the luggage 5, so that the light receiving state of the laser by the light receiving unit changes.
  • the control unit 120 detects the intrusion of the load 5 into the third transport unit 53 based on the change in the light receiving state of the laser by the light receiving unit, the height position of the transport unit main body 52a is changed to the third transport unit 53. It is confirmed whether or not the load 5 has a height that allows it to move to the main body 52a of the transport unit.
  • control unit 120 determines that the height position of the transport unit main body 52a is the height at which the load 5 can be moved from the third transport unit 53, the control unit 120 drives the drive unit 53d2 of the second stopper device 53d. , The second stopper 53d1 is moved to a position where it does not come into contact with the luggage 5.
  • control unit 120 detects the exit of the luggage 5 from the third transport unit 53 by the signal from the third detection unit 103 provided on the second transport unit 52 side.
  • the luggage 5 that has exited from the third transport unit 53 invades the second transport unit 52.
  • the control unit 120 detects the intrusion of the load 5 into the second transport unit 52 based on the signal from the second detection unit 102, the control unit 120 stops driving the transport unit main body 52a. By stopping the driving of the transport unit main body 52a, the luggage 5 is held on the transport unit main body 52a.
  • control unit 120 drives the fourth transport unit 54, the fifth transport unit 55, and the sixth transport unit 56.
  • control unit 120 drives the elevating device 52b to move the transport unit main body 52a to the height position of the sixth transport unit 56.
  • the control unit 120 drives the drive unit 52c2 of the first stopper device 52c to bring the first stopper 52c1 into contact with the load 5. Move to a position where you do not.
  • the control unit 120 drives the transport unit main body 52a.
  • the luggage 5 invades the sixth transport unit 56 from the transport unit main body 52a.
  • the control unit 120 detects the intrusion of the load 5 into the sixth transport unit 56 based on the signal from the sixth detection unit 106.
  • the luggage 5 moves in the order of the sixth transport unit 56, the fourth transport unit 54, and the fifth transport unit 55.
  • the control unit 120 ejects the luggage 5 from the sixth transport unit 56, enters and exits the luggage 5 from the fourth transport unit 54, and sets the third.
  • the intrusion of the load 5 into the transport unit 55 of the 5 is detected.
  • the control unit 120 detects that the load 5 has invaded the fifth transport unit 55 by the signal from the fifth detection unit 105, the control unit 120 detects that the load 5 has entered the fifth transport unit 55, and the fifth transport unit 55 Stop driving. That is, when the laser received from the irradiation unit is blocked by the luggage 5 and the light receiving of the laser by the light receiving unit is stopped, the control unit 120 determines that the luggage 5 has entered the fifth transport unit 55.
  • control unit 120 drives the positioning device 110 as shown in FIG. 6 to position the load 5 at a predetermined position on the transport surface 55a of the fifth transport unit 55.
  • the control unit 120 returns the positioning device 110 to the initial position.
  • the control unit 120 determines, for example, that the positioning operation of the luggage 5 is completed when a predetermined predetermined time has elapsed since the driving of the positioning device 110 was started.
  • the control unit 120 drives the first holding unit moving device 73 and the second holding unit moving device 60 to move the holding unit 40 to the fifth conveying unit 55.
  • the suction unit 42 is brought into contact with the upper surface of the load 5 by moving directly above the predetermined position, and the load 5 is sucked by the suction unit 42 by driving the vacuum pump.
  • the luggage 5 is held by the holding portion 40.
  • control unit 120 drives the first horizontal movement device 61, the second horizontal movement device 62, and the first holding unit movement device 73 as shown in FIG. 7D.
  • the holding portion 40 and the luggage 5 held by the holding portion 40 are conveyed to the floor surface which is the target position of the accommodating portion 6.
  • the control unit 120 drives the first holding unit moving device 73 to move the holding unit 40 and the luggage 5 upward to a position above the positioning device 110.
  • the holding portion 40 and the luggage 5 are raised to a position where the holding portion 40 or the luggage 5 does not interfere with the positioning device 110 even if the holding portion 40 is moved in the second direction Y.
  • control unit 120 moves the luggage 5 to a position above the fifth detection unit 105.
  • control unit 120 detects that the light receiving unit of the fifth detection unit 105 has received the laser irradiated by the irradiation unit, the control unit 120 stops driving the first holding unit moving device 73.
  • the light receiving unit receives the laser irradiated from the irradiation unit by moving the luggage 5 upward by the first holding unit moving device 73. Then, the baggage 5 has moved to a position above the fifth detection unit 105.
  • the height of the lower end of the baggage 5 at the time when the laser emitted from the irradiation unit by the light receiving unit is received from the transport surface 55a is the same height position as the height position of the light receiving unit of the fifth detection unit 105. It becomes.
  • control unit 120 sets the floor based on the height position of the transport surface 55a of the fifth transport unit 55 from the floor surface of the accommodating portion 6 and the height position of the lower end of the load 5 from the transport surface 55a. The height position of the lower end of the luggage 5 from the surface is detected.
  • control unit 120 moves the holding unit 40 in the second direction Y by driving the second horizontal movement device 62 according to the target position.
  • control unit 120 drives the first horizontal moving device 61 to convey the holding unit 40 and the luggage 5 directly above the floor surface at which the luggage 5 is the target position.
  • the control unit 120 drives the first holding unit moving device 73 based on the height position of the lower end of the luggage 5 from the floor surface, and places the luggage 5 on the floor surface which is the target position. Specifically, the height of the storage portion 6 of the luggage 5 from the floor surface is the moving distance by the first holding portion moving device 73 for placing the luggage 5 on the floor surface which is the target position.
  • the control unit 120 drives the first holding unit moving device 73 to move the load 5 held by the holding unit 40 below the transport surface 55a so that the load 5 is set on the floor surface as the target position. Place it.
  • the control unit 120 releases the holding of the luggage 5 by vacuum-breaking the suction unit 42.
  • the vacuum breaking of the suction unit 42 is performed, for example, by stopping the driving of the vacuum pump. Further, in another example, the vacuum breaking of the suction unit 42 is performed by operating the valve of the flow path connecting the vacuum pump and the suction unit 42.
  • the control unit 120 first drives the first horizontal movement device 61 to move the holding unit 40 along the transfer direction of the first transfer unit 51. Then, the second horizontal moving device 62 is driven to move the holding portion 40 to the fourth transporting portion 54 side.
  • the operator drives the traveling device 30. By doing so, the apparatus main body 20 is moved to a position where the holding portion 40 can be moved to the target position.
  • the control unit 120 is the height detecting unit 91 of the luggage 5 arranged in the storage unit 6, which is a target position for moving the luggage 5. Detect the height position of the upper end.
  • the support portion moving device 71 may be driven.
  • control unit 120 is moved to a height position of the upper end of the load 5 previously conveyed to the accommodating unit 6 and a position held by the holding unit 40 and exceeding the positioning device 110 upward. Based on the height position of the lower end of the luggage 5, the height of the lower end of the luggage 5 held by the holding portion 40 is detected with respect to the upper end of the luggage 5 previously conveyed to the accommodating portion 6.
  • the control unit 120 drives the first holding unit moving device 73 based on the height position of the lower end of the luggage 5 held by the holding unit 40 with respect to the upper end of the luggage 5 previously moved to the accommodating unit 6. Then, the luggage 5 held by the holding portion 40 is placed on the upper end of the luggage 5 previously moved to the accommodating portion 6. That is, the holding portion 40 is moved upward or downward by the height of the lower end of the luggage 5 held by the holding portion 40 with respect to the upper end of the luggage 5 previously moved to the accommodating portion 6.
  • the control unit 120 sets the support unit moving device 71 according to the height position of the upper end of the luggage 5 previously moved to the accommodating unit 6, which is the target position for moving the luggage 5. To drive.
  • the control unit 120 may calculate the height position of the upper end of the luggage 5 which is the target position based on the information of the luggage 5 conveyed to the accommodation unit 6. For example, if the luggage 5 is already stacked in three stages, the total height of the three-stage luggage 5 becomes the height position of the upper end of the luggage 5 which is the target position.
  • the cargo handling device 10 transports the luggage 5 from the storage unit 6 to the outside of the storage unit 6, for example, the cargo handling device 10 performs the reverse operation of the above-mentioned operation of transporting the luggage 5 to the storage unit 6.
  • the control unit 120 first holds the luggage 5 arranged in the storage unit 6 by the holding unit 40.
  • the position information of the luggage 5 held by the holding unit 40 may be obtained from the detection result of the height detection unit 91 or the detection result of the detection unit 90.
  • the position information of the luggage 5 may be stored in advance in the accommodating portion 6.
  • the luggage 5 may be held by the holding unit 40 by the operator operating the operation unit visually or based on the detection result of the detection unit 90.
  • control unit 120 drives, for example, the first holding unit moving device 73 to move the luggage 5 to a position higher than the positioning device 110.
  • control unit 120 drives the first horizontal movement device 61 to move the holding unit 40 and the luggage 5 to the first transport unit 51 side.
  • the control unit 120 moves the holding unit 40 to at least a position not aligned with the other luggage 5 in the second direction Y.
  • the control unit 120 drives the first horizontal movement device 61 to move the holding unit 40 and the load 5 to, for example, a position aligned with the fifth transport unit 55 in the second direction Y.
  • control unit 120 drives the second horizontal movement device 62 to move the holding unit 40 and the luggage 5 above the fifth transport unit 55.
  • the control unit 120 Drives the first horizontal movement device 61 to move the load 5 above the fifth transport unit 55.
  • the control unit 120 drives the first holding unit moving device 73 to move the luggage 5 downward.
  • the control unit 120 stops driving the first holding unit moving device 73.
  • the control unit 120 detects the load 5 by the fifth detection unit 105 to obtain the distance from the lower end of the load 5 to the transport surface 55a of the fifth transport unit 55.
  • the distance from the detection position by the fifth detection unit 105 to the transport surface 55a is the distance from the lower end of the cargo 5 to the transport surface 55a.
  • the control unit 120 drives the first holding unit moving device 73 based on the distance from the lower end of the load 5 obtained as described above to the transfer surface 55a to transfer the load 5 to the fifth transfer unit 55. It is placed on the transport surface 55a of. That is, by driving the first holding portion moving device 73 to move the luggage 5 downward by the distance from the lower end of the obtained luggage 5 to the transport surface 55a as described above, the luggage 5 is safely moved to the transport surface 55a. Can be placed on.
  • the control unit 120 vacuum-breaks the suction unit 42 and releases the holding of the load 5.
  • the cargo handling device 10 transports the load 5 to the external transport unit 125 by driving the transport unit 50.
  • the cargo handling device 10 transports the cargo 5 by the external transport unit 125.
  • the apparatus main body 20 of the cargo handling device 10 configured in this way has a transport unit 50 for transporting the load 5 to the storage section 6, a holding section 40 for holding the load 5, and a target position of the transport section 50 and the storage section 6.
  • a first holding portion moving device 73, a second holding portion moving device 60, and a support portion moving device 71 for moving the luggage 5 between the luggages 5 are provided. Therefore, the worker does not manually move the luggage 5 from the outside of the storage unit 6 to the target position of the storage unit 6, and the worker manually moves the luggage 5 from the storage unit 6 to the storage unit 6. No work to move outside. Therefore, it is possible to improve the efficiency of the work of transporting the luggage 5 to the target position of the storage unit 6 or the efficiency of the work of transporting the luggage 5 from the storage unit 6 to the outside of the storage unit 6.
  • the device main body 20 includes a traveling device 30 that enables the device main body 20 to run on its own. Therefore, the traveling device 30 makes it possible to install the device main body 20 in the accommodating portion 6, so that the efficiency of the transportation work of the luggage 5 can be improved.
  • the first holding portion moving device 73 is configured to be able to move the luggage 5 below the transport surface 55a of the fifth transport unit 55. Therefore, the device main body 20 can transport the load 5 to the floor surface or the upper end of the load 5 which is a target position in a range close to the transfer surface 55a by the first holding portion moving device 73, and the transfer surface 55a.
  • the luggage 5 can be conveyed to the floor surface or the upper end of the luggage 5 which is the target position of the range by the first holding portion moving device 73 and the supporting portion moving device 71.
  • the apparatus main body 20 moves the holding portion 40 in the direction of contacting and separating the holding portion 40 with respect to the conveying surface 51a of the first conveying portion 51 to the support portion moving device 71 and the first holding portion moving device 73.
  • the number of devices that move the holding unit 40 in the direction of contacting and separating from the transport surface 55a is increased by 2. It is possible to prevent the configuration of the cargo handling device 10 from becoming complicated.
  • an elevating device 52b is provided as a configuration for moving the load 5 between the first transport section 51 and the third transport section 53 in the direction of contacting and separating the load 5 with respect to the transport surface 51a. Therefore, it is possible to prevent the configuration of the apparatus main body 20 from becoming large. This effect will be specifically described.
  • the transport unit 50 As a configuration of the transport unit that transports the load 5 in the direction of contacting and separating with respect to the transport surface 51a, for example, a transport unit that is inclined with respect to the contact and separation direction can be considered. With this configuration, the transport unit 50 The length in the transport direction becomes longer. Further, the larger the height difference between the first transport unit 51 and the third transport unit 53, the longer the length of the transport unit 50 in the transport direction.
  • the elevating device 52b since the elevating device 52b has a configuration in which the load 5 is moved up and down by moving the transport unit main body 52a in the direction of contacting and separating from the transport surface 51a, the total length of the transport unit 50 in the transport direction is increased. Can be prevented. Further, even if the height difference between the first transport unit 51 and the third transport unit 53 is large, the length of the transport unit 50 in the transport direction is not increased.
  • the apparatus main body 20 is held by the height detecting unit 91 that detects the height position of the upper end of the luggage 5 arranged in the accommodating unit 6 and the holding unit 40 of the fifth transport unit 55 with respect to the transport surface 55a.
  • the fifth detection unit 105 for detecting the height position of the lower end of the luggage 5, the third of the holding unit 40 when the luggage 5 is placed on the floor surface or the upper end of the luggage 5 which is the target position. It is possible to calculate the amount of movement in the direction Z of.
  • the transport unit 50 is provided with a load detection unit 100 that detects that the load 5 has been transported on the transport surface 50a of the transport unit 50. Therefore, the luggage detection unit 100 can automate the cargo handling operation of the luggage 5.
  • the position of the load 5 on the transport unit 50 is detected. it can.
  • the first transport unit 51 is divided into a plurality of transport units that can be driven independently, and further, the plurality of transport units are provided with a detection unit for detecting the load 5, so that the load 5 is provided in each transport unit. Can be placed.
  • the fourth transport section 54 and the sixth transport section 54 and the sixth are driven by driving the transport unit 56 of the above, it is possible to make both the fourth transport unit 54 and the sixth transport unit 56 stand by for the luggage 5. As a result, it is possible to shorten the transport time of the load 5 to the fifth transport section 55, so that the efficiency of the transport work by the cargo handling device 10 can be improved.
  • the second holding unit moving device 60 includes the first horizontal moving device 61 and the second horizontal moving device 62, so that the range of movement of the holding unit 40 can be expanded.
  • the second horizontal movement device 62 is configured so that the holding portion 40 can be moved to a position outside the support portion 80 in the second direction Y. Therefore, the luggage 5 can be stably arranged in the vicinity of the fifth transport portion 55, and the luggage 5 arranged in the vicinity of the fifth transport portion 55 can be stably arranged by the holding portion 40. It becomes possible to hold. This effect will be specifically described.
  • the target position for transporting the luggage 5 of the accommodating portion 6 is the floor surface near the fifth transport portion 55 or the upper end of the luggage 5
  • the fifth transport portion 55 becomes an obstacle and the luggage 5 is set to the target position. It is assumed that it cannot be transported to.
  • the holding portion 40 can be moved to the outside of the supporting portion 80 in the second direction Y, the device main body 20 is orthogonal to the target position in the transport direction of the first transport portion 51.
  • the holding portion 40 By moving the holding portion 40 to the outside of the support portion 80 in a direction orthogonal to the transport direction of the first transport portion 51 by moving to a position shifted to, the luggage 5 is moved to the floor surface or the luggage 5 which is the target position. Can be transported to the upper end.
  • the holding unit 40 can hold the luggage 5 placed on the floor surface or the upper end of the luggage 5 which is the target position.
  • the second horizontal moving device 62 is configured to include a plurality of rail devices 65, the total length of the second horizontal moving device 62 can be shortened. Therefore, the installation space of the device main body 20 can be saved by shortening the total length of the second horizontal moving device 62 when the cargo handling device 10 is not used. Further, the second horizontal moving device 62 is provided with a plurality of rail devices 65, so that the length of the moving range of the holding portion 40 can be lengthened.
  • the cargo handling device 10 is provided with the external transport unit 125, it is possible to transport the luggage 5 between, for example, the luggage collection point and the transport unit 50 outside the storage unit 6. Therefore, the efficiency of the transportation work of the luggage 5 can be improved.
  • the cargo handling device 10 is provided with the first stopper device 52c, the height of the transport surface 52a1 of the second transport unit 52 does not match the height of the transport surface 51a of the first transport unit 51. At this time, the movement of the load 5 from the second transport section 52 to the first transport section 51 is restricted by the first stopper 52c1, so that the load 5 can be prevented from falling. Further, by restricting the movement of the luggage 5 while the transport unit main body 52a is being lifted and lowered by the elevating device 52b, the luggage 5 is between the first transport unit 51 and the transport unit main body 52a in the third direction Z. It is possible to prevent the situation where the device is pinched by the device.
  • the first transporting unit 40 is moved as a moving device that moves the holding portion 40 in the direction of contacting and separating with respect to the transport surface 51a of the first transporting unit 51.
  • the luggage 5 is provided with the holding portion moving device 73 and the supporting portion moving device 71 that moves the holding portion 40 and the first transporting portion 51 via the supporting portion 80, while preventing the load from becoming large. The efficiency of transport work can be improved.
  • the configuration in which the second holding portion moving device 60 includes the first horizontal moving device 61 and the second horizontal moving device 62 has been described as an example, but the present invention is limited to this. Not done.
  • the second holding portion moving device 60 may be configured to include either the first horizontal moving device 61 or the second horizontal moving device 62.
  • the configuration in which the cargo handling device 10 is automatically operated by the control unit 120 has been described as an example.
  • the cargo handling device 10 is configured to automatically perform cargo handling operations based on the detection results of the detection unit 90 and the luggage detection unit 100, a program stored in advance, and the like.
  • a guide unit for guiding the traveling of the device main body 20 may be provided outside the accommodating unit 6.
  • the device main body 20 is guided to move from the outside of the accommodating portion 6 to the accommodating portion 6 by the guide portion.
  • a linear display for guiding the traveling of the device main body 20 may be provided outside the accommodating unit 6, and a detection unit may be provided for the cargo handling device 10 to detect this linear display.
  • the positioning device 110 includes a pressing portion 111 having two arm portions 113 and a driving portion 112 for rotating the two arm portions 113, and the luggage 5 is formed by rotating the two arm portions 113.
  • the configuration in which the luggage 5 is positioned at a predetermined position by pressing is described as an example, but the present invention is not limited to this.
  • the pressing portion 111 is configured to have a shape corresponding to the shape of the luggage 5 as in the modified example shown in FIG. 10, and the pressing portion 111 presses the luggage 5 toward a predetermined position.
  • the luggage 5 may be positioned at a predetermined position.
  • the pressing portion 111 is formed in an L shape according to the corner portion formed by the two side surfaces of the luggage 5. Then, the pressing portion 111 presses the corner portion formed by the two side surfaces of the luggage 5, thereby positioning the luggage 5 at a predetermined position.
  • the cargo handling device 10 has been described as an example of a configuration in which the lifting device 52b is provided as a configuration for raising and lowering the load 5 between the first transport unit 51 and the third transport unit 53. Not limited to.
  • the transport unit main body 52a can be tilted with respect to the third direction Z instead of the configuration including the elevating device 52b, and further, the third direction Z. The tilt angle with respect to the relative may be changed.
  • the cargo handling device 10 has been described as an example of a configuration in which the cargo handling device 10 handles a rectangular parallelepiped luggage 5, but the shape of the luggage 5 handled by the cargo handling device 10 is not limited to the rectangular parallelepiped shape.
  • the cargo handling device 10 may be configured to handle, for example, tires, tubular luggage, columnar luggage such as rice bales, and bag-shaped irregular luggage such as cement bags and hemp bags.
  • the holding unit 40 has a configuration suitable for holding a load to be handled.
  • the holding portion 40 includes a frame 130, a plurality of arms 131 rotatably supported by the frame 130, and a plurality of holding portions 40, as shown in FIG. It may be configured to include a driving device 132 for driving the arm 131 of the above.
  • the holding portion 40 shows a state in which it is turned upside down.
  • the frame 130 is configured in a plate shape, for example.
  • One end of each of the plurality of arms 131 in the longitudinal direction is rotatably supported by the lower surface 133 of the frame 130 around a rotation axis parallel to the third direction Z.
  • One ends of the plurality of arms 131 are arranged at equal intervals.
  • the plurality of arms 131 are, for example, three arms.
  • a claw portion 134 is provided at the other end of each of the plurality of arms 131.
  • the claw portion 134 is configured to be able to be hooked on the bead portion by contacting the bead portion of the tire from below.
  • the claw portion 134 includes, for example, a support portion 135 and a flange portion 136.
  • the support portion 135 is configured to extend downward from the arm 131.
  • the flange portion 136 is formed at the lower end of the support portion 135.
  • the drive device 132 includes an actuator 137 and a connecting mechanism 138.
  • the connecting mechanism 138 connects each of the actuator 137 and the plurality of arms 131, and transmits the driving force of the actuator 137 to each of the plurality of arms 131.
  • the coupling mechanism 138 includes, for example, a plurality of gears.
  • the connecting mechanism 138 rotates a plurality of arms 131 at the same time. Further, the connecting mechanism 138 makes the plurality of arms 131 rotatable between a position where the claw portions 134 of the plurality of arm 131 are separated from each other and a position where the claw portions 134 are close to each other as shown in FIG. It is composed.
  • each of the plurality of arms 131 is rotated with respect to the frame 130 by the actuator 137. Then, the flange portion 136 abuts on the bead portion of the tire from below to hook the tire and hold the tire.
  • the holding portion 40 may be a needle gripper that holds the hemp bag by puncturing the hemp bag with a needle.
  • the holding unit 40 is configured to be able to hold according to the object.
  • the first holding portion moving device 73 preferably has the flange portion 136, which is the lower end of the holding portion 40, more than the transport surface 55a of the fifth transport portion 55. It is configured to be movable downward.
  • the device main body 20 has been described as an example of a configuration in which the luggage 5 is positioned at a predetermined position on the transport surface 55a by the positioning device 110, but the present invention is not limited to this.
  • the apparatus main body 20 may be configured not to include the positioning device 110 but to include a camera for photographing the luggage 5 mounted on the transport surface 55a. In this configuration, the position of the luggage 5 may be detected by this camera and the luggage 5 may be held by the holding unit 40.
  • the detection unit 90 may be able to detect the luggage 5 loaded on the floor surface of the storage unit 6, the luggage 5 held by the holding unit 40, and the luggage 5 arranged in the fifth transport unit 55 of the transport unit 50. It may be a plurality of sensors that detect each of them. As a specific example of the sensor, a laser range finder using a laser beam may be used.
  • the configuration in which the second horizontal moving device 62 includes the first rail device 65A and the second rail device 65B as a configuration including the rail device 65 has been described as an example.
  • the second horizontal moving device 62 may include three or more rail devices 65.
  • one rail device 65 is fixed to the support portion 80, and the first horizontal moving device 61 is fixed to the slide portion 64 of the other rail device 65. ..
  • the other one or more slide portions are connected between the slide portion 64 of the rail device 65 fixed to the support portion 80 and the rail 63 of the rail device 65 to which the first horizontal moving device 61 is fixed.
  • the second horizontal moving device 62 may be configured to include one rail device 65.
  • the configuration using three or more rail devices 65 makes it possible to more safely expand the moving range of the holding unit 40.
  • the support portion moving device 71 has been described as an example of a configuration in which the link mechanism 71a is provided as a configuration that expands and contracts in the third direction Z, but the present invention is not limited to this.
  • the support portion moving device 71 and the first holding portion moving device 73 may be configured to include a cylinder as a configuration that expands and contracts in the third direction Z.
  • the second horizontal moving device 62 is configured so that the holding portion 40 can be moved to positions on both outer sides of the first transport portion 51 and the support portion 80 in the second direction Y. An example was explained.
  • the second horizontal movement device 62 may be configured so that the holding portion 40 can be moved only to a position outside one of the first transport portion 51 and the support portion 80.
  • the second horizontal moving device 62 is configured so that the holding portion 40 can be moved to one outside or both outsides in the second direction Y with respect to the first conveying portion 51 or the supporting portion 80. You may.
  • the device main body 20 is used by being placed on a horizontal surface such as the floor surface of the accommodating portion 6, and therefore, the holding portion 40 can be moved in the uniaxial direction.
  • An example used in a horizontal orientation was explained. That is, one device is the first holding portion moving device 73 and the supporting portion moving device 71, and the other device is the second holding portion moving device 60. However, it is not limited to this.
  • the configuration in which the support portion moving device 71 moves the first transport portion 51, which is a part of the transport unit 50, in the third direction Z has been described as an example.
  • the support portion moving device 71 has a configuration in which the entire transport portion 50 is moved in the third direction Z.
  • the moving direction of each of the holding portions 40 of the above-mentioned two devices may be appropriately set according to the surface on which the device main body 20 is placed.
  • the moving direction of each of the holding portions 40 of the two devices is such that when the device main body 20 is mounted on this surface, the movement direction is set.
  • One device may be set in a direction in which the holding portion 40 can be moved in the vertical direction, and the other device may be set in a direction in which the holding portion 40 can be moved in the horizontal direction.
  • the transport unit 50 may be configured to be capable of transporting the luggage 5 in a direction parallel to the surface on which the device main body 20 is placed, for example.
  • the fourth detection unit 104 is provided at each of both ends in the transport direction of the fourth transport unit 54
  • the sixth detection unit is provided at each of both ends in the transport direction of the sixth transport unit 56.
  • the configuration in which 106 is provided has been described as an example, but is not limited thereto.
  • the fourth transport unit 54 may be provided with one fourth detection unit 104
  • the sixth transport unit 56 may be provided with one sixth detection unit 106.
  • the configuration in which the transport unit main body 52a of the second transport unit 52 is provided with two second detection units 102 for detecting the load 5 as a plurality of examples has been described as an example. Not limited to this.
  • the transport unit main body 52a may be configured to be provided with one second detection unit 102.
  • the first holding unit moving device 73 moves the holding unit 40.
  • the support portion moving device 71 moves the holding portion 40 and the first transport portion 51 via the support portion 80.
  • the cargo handling device 10 includes a first holding portion moving device 73 and a supporting portion moving device 71 as a moving device that moves the holding portion 40 in a direction in which the holding portion 40 moves in the direction of contacting and separating from the transport surface 51a of the first transport unit 51. Therefore, it is possible to improve the efficiency of the transportation work of the luggage 5 while preventing the increase in size.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • Loading Or Unloading Of Vehicles (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

Selon un mode de réalisation, l'invention concerne un appareil de manutention de fret, comprenant une unité de transport principale, une unité de maintien, un premier dispositif de déplacement d'unité de maintien, un second dispositif de déplacement d'unité de maintien, une unité de support, un dispositif de déplacement d'unité de support, et un dispositif de voyage. Le premier dispositif de déplacement d'unité de maintien soutient l'unité de maintien et amène l'unité de maintien à se déplacer dans une direction s'éloignant d'une surface de transport. Le second dispositif de déplacement d'unité de maintien soutient le premier dispositif de déplacement d'unité de maintien et amène le premier dispositif de déplacement d'unité de maintien à se déplacer dans une direction croisant la direction qui s'éloigne de la surface de transport. L'unité de support supporte l'unité de transport principale et le second dispositif de déplacement d'unité de maintien. Le dispositif de déplacement de partie de support amène l'unité de support à se déplacer dans la direction opposée à la surface de transport.
PCT/JP2020/040636 2019-11-14 2020-10-29 Appareil de manutention de fret WO2021095548A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019206263A JP2021080034A (ja) 2019-11-14 2019-11-14 荷役装置
JP2019-206263 2019-11-14

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WO2021095548A1 true WO2021095548A1 (fr) 2021-05-20

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WO (1) WO2021095548A1 (fr)

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Publication number Priority date Publication date Assignee Title
JP7161256B1 (ja) 2022-01-28 2022-10-26 株式会社モテック トラックへの積載方法及びその積載装置

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS563300B2 (fr) * 1978-03-31 1981-01-24
JPS563299B2 (fr) * 1978-03-31 1981-01-24

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS563300B2 (fr) * 1978-03-31 1981-01-24
JPS563299B2 (fr) * 1978-03-31 1981-01-24

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