Luggage case handling and palletizing equipment and control method thereof

Abstract

This invention provides a luggage handling and palletizing device and its control method, including a robotic arm, luggage position detection units, a control system, and a fixed track conveyor belt. The robotic arm is located at the outlet end of the fixed track conveyor belt, and a receiving tray is mounted on the robotic arm. The receiving tray includes a mounting frame and a conveyor belt, with the conveyor belt mounted on the mounting frame. Extendable movable side plates are provided on the left and right sides of the mounting frame. Multiple luggage detection units are mounted on the fixed track conveyor belt, and a luggage transfer vehicle is located next to the robotic arm. This invention, through the receiving tray with a conveyor belt, effectively avoids damage to luggage caused by conveyor-grip and suction-type luggage handling, as well as luggage with uneven surfaces, and is applicable to luggage of various sizes and shapes. No adjustments to the incoming direction and placement of luggage are required, allowing for adaptation to different directions and more flexible layout.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment, in particular to luggage case transporting and stacking equipment and a control method thereof. Background Art

[0002] As the demand for the construction of "four-type airports" in the future becomes clearer, the methods of baggage handling at future airports will place greater emphasis on a higher degree of automation and intelligence. At the same time, Resolution 753 of the International Transport Association (IATA) requires a large number of airlines around the world to be able to track the information of checked baggage at airports throughout the entire process, and to provide real-time feedback to passengers, ultimately solving problems such as mishandling and loss of baggage.

[0003] At present, the handling methods of checked baggage at domestic and foreign airports still rely on a large amount of manual labor. In the loading and unloading of inbound and outbound baggage, the loading and unloading of checked baggage depends on manual labor, and then the storage stage is almost all based on traditional belt conveyors, which have low transportation efficiency and low intelligence. In the unpacking and inspection stage of baggage, it is usually sent to the unpacking room by a conveyor belt, and then unpacked by manual handling, and then the baggage is manually put into the conveyor return line. In this process, there is a phenomenon of damage to the baggage. At the same time, when using automated equipment to load and unload baggage at home and abroad, industrial robots are mostly used in combination with loading and unloading devices. The existing loading and unloading devices mainly include two categories. One is to use a clamping method, which is easy to cause extrusion damage to the baggage, and the clamping effect of irregular-shaped baggage is not very good, and the baggage with too large size cannot be clamped. The second is to use vacuum suction cups for adsorption. Although this method will not cause extrusion damage to the baggage, it cannot handle baggage with poor surface airtightness and irregular surface. Summary of the invention

[0004] In order to solve the above problems, an object of the present invention is to provide a luggage case transporting and stacking device and a control method thereof.

[0005] The present invention is achieved by the following method:

[0006] Provided is a luggage handling and stacking device. By adopting a receiving tray with a conveyor belt to receive and stack luggage, the device can adapt to luggage of various shapes and avoid squeezing the luggage. The device is suitable for carrying large-sized luggage by extending a movable side plate. The luggage handling and stacking device comprises a mechanical arm, a luggage position detection unit, a control system and a fixed track conveyor belt. The mechanical arm is arranged at the outlet end of the fixed track conveyor belt. The mechanical arm is equipped with a receiving tray. The receiving tray comprises a mounting frame and a conveyor belt. The conveyor belt is mounted on the mounting frame. The left and right parts of the mounting frame are provided with extendable movable side plates. A plurality of luggage position detection units are mounted on the fixed track conveyor belt. A luggage shuttle is arranged beside the mechanical arm. The luggage detection unit, the mechanical arm, the fixed track conveyor belt and the receiving tray are connected to the control system. The luggage position detection unit is used to detect the position and size of the luggage. The control system is used to control the mechanical arm and the receiving tray to cooperate to receive the luggage on the fixed track conveyor belt and place it on the luggage shuttle vehicle.

[0007] Preferably, the installation frame comprises a left side frame and a right side frame, the left side frame and the right side frame are symmetrically installed, and a driving component for driving the movable side panel to extend is installed between the left side frame and the right side frame.

[0008] Preferably, the side surfaces of the left frame and the right frame are provided with extension grooves for the movable side panels, and the inner surfaces of the left frame and the right frame are provided with hinge seats, and the movable side panels are hinged on the corresponding hinge seats; the driving assembly drives the movable side panels to rotate around the hinge seats, extend from the extension grooves, or retract from the extension grooves.

[0009] Preferably, the driving assembly includes a connecting plate and a telescopic cylinder, the connecting plate is arranged between the left frame and the right frame, the telescopic cylinder is symmetrically arranged on the left and right parts of the connecting plate, the push rod of the telescopic cylinder is hinged to the corresponding movable side plate, and the cylinder body of the telescopic cylinder is hinged to the connecting plate.

[0010] Preferably, a roller is installed at the front and rear parts between the left frame and the right frame respectively, the conveyor belt is arranged between the two rollers, and one of the rollers is driven by a motor.

[0011] Preferably, the driving assembly and the movable side plate are arranged between two rollers.

[0012] Preferably, the tail portions of the left side frame and the right side frame protrude upward, the motor is installed in the tail portion between the left side frame and the right side frame, a sprocket is installed on the output shaft of the motor, a sprocket is installed on the rotating shaft of the roller at the rear of the mounting frame, and a chain is arranged between the two sprockets for transmission.

[0013] Preferably, a cover is provided at the rear of the mounting frame to cover the raised portions of the left and right frames, as well as the motor, the sprocket and the chain.

[0014] Preferably, the receiving plate can be rotated horizontally in left and right directions with the robotic arm as the center.

[0015] The present invention further provides a control method for luggage transporting and stacking equipment, which ensures that luggage can be accurately received and placed, and the luggage is reasonably stacked and placed on a luggage shuttle, thereby maximizing the space utilization of the luggage shuttle, including the following steps:

[0016] S1: The luggage position detection unit detects the luggage position information and the luggage size information on the fixed track conveyor belt, and transmits the luggage position information and the size information to the control system. The control system calculates according to the luggage position information, obtains the receiving plate position information of the position and angle at which the robot arm needs to drive the receiving plate to receive the luggage, and determines whether the movable side panel needs to be extended;

[0017] S2: The robot arm drives the receiving plate on the robot arm to move to the receiving plate position information provided by the control system to dock with the exit end of the fixed track conveyor belt to receive the luggage. If the size of the luggage is greater than a specified value, the movable side plate on the receiving plate is controlled to extend. If the size is less than the specified value, the movable side plate does not need to be extended.

[0018] S3: The fixed track conveyor belt pushes the luggage on it onto the receiving tray, and the conveyor belt on the receiving tray operates to cooperate with the fixed track conveyor belt to connect the luggage to the receiving tray;

[0019] S4: the baggage shuttle is set at a designated position, the mechanical arm drives the receiving tray to move to the placement position on the baggage shuttle calculated by the control system, and the conveyor belt on the receiving tray rotates in the opposite direction to push the luggage on the receiving tray and drop it into the designated position on the baggage shuttle;

[0020] After the luggage is placed on the luggage shuttle, the above steps are repeated, and the robot arm drives the receiving plate to receive the newly delivered luggage again, and the luggage is stacked on the luggage shuttle layer by layer until the luggage shuttle is full;

[0021] S5: After the luggage shuttle is full, the luggage shuttle is pushed to a designated location.

[0022] Preferably, in step S4, a plurality of luggage shuttles are provided, and a virtual space coordinate system is established on the luggage shuttles, and the luggage is placed on the luggage shuttles in order. Each time a piece of luggage is placed, the control system deducts the space coordinate position occupied by the luggage from the virtual space coordinate system established by the control system; each time the luggage is placed, it is necessary to determine whether the remaining space on the layer can accommodate the luggage. If not, the luggage is placed on another luggage shuttle.

[0023] Preferably, in step S4, the control system is provided with a multiple judgment function, which gives priority to placing luggage boxes with relatively regular shapes on the first layer of multiple luggage shuttles, and placing irregular luggage on the second layer; if this is not possible, the irregular luggage is placed in a specific area designated by the system at its own discretion so as not to affect the storage of other regular luggage.

[0024] The beneficial effects of the present invention are as follows: the present invention provides a luggage handling and stacking device and a control method thereof. Compared with the prior art, the present invention has at least the following technical effects: 1. The present invention receives luggage from the fixed track conveyor belt of the airport through a receiving tray mechanism with a conveyor belt, which effectively avoids the damage to the luggage caused by the traditional clamping and suction grabbing of luggage, and can also carry and place luggage with irregular surface that cannot be sucked, and can carry large-sized luggage through the extension of the movable side panels on both sides, and can be applicable to luggage of various sizes and shapes. 2. The luggage on the limited conveyor belt is blocked by the upward protrusion of the tail of the left frame and the right frame to prevent it from falling from the rear of the conveyor belt, which plays a role of limited protection. 3. The control method of the present invention ensures that the luggage can be accurately received and placed, and the luggage is reasonably stacked and placed on the luggage shuttle, so as to maximize the space utilization of the luggage shuttle, without adjusting the incoming direction and placement position of the luggage, and can adapt to different directions, and the use and arrangement are more flexible. When the luggage needs to be placed, the luggage is pushed out of the receiving tray by the reverse rotation of the conveyor belt. The entire mechanism has a simple structure and is convenient for subsequent use and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the installation of the luggage case handling and stacking equipment of the present invention.

[0026] Figure 2 It is a schematic diagram of another installation state of the luggage case transporting and stacking equipment of the present invention.

[0027] Figure 3 It is a schematic diagram of a state where the receiving plate of the present invention is installed on a mechanical arm.

[0028] Figure 4 It is a schematic diagram of the internal structure of the receiving plate of the present invention.

[0029] Figure 5 It is a schematic diagram of the structure of the receiving plate of the present invention with a cover.

[0030] Figure 6 It is a structural schematic diagram of the receiving plate of the present invention from another perspective.

[0031] Figure 7 It is an internal schematic diagram of the receiving plate of the present invention from another perspective.

[0032] Figure 8 It is a principle block diagram of the control circuit of the present invention.

[0033] Description of the drawings: 1-receiving plate, 11-installing frame, 111-left side frame, 112-right side frame, 113-extending groove, 114-hinge seat, 12-conveyor belt, 13-movable side plate, 14-driving assembly, 141-connecting plate, 142-telescopic cylinder, 15-motor, 16-chain, 17-sprocket, 18-roller, 19-cover body; 2-mechanical arm, 3-luggage position detection unit, 4-fixed track conveyor belt, 5-luggage shuttle. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0035] See also Figures 1 to 8 The luggage handling and stacking equipment includes a mechanical arm 2, a luggage position detection unit 3, a control system (not shown) and a fixed track conveyor belt 4. The mechanical arm 2 is arranged at the exit end of the fixed track conveyor belt 4. A receiving tray 1 is installed on the mechanical arm 2. The receiving tray 1 includes a mounting frame 11 and a conveyor belt 12. The conveyor belt 12 is installed on the mounting frame 11. The left and right parts of the mounting frame 11 are provided with extendable movable side panels 13. A plurality of luggage position detection units 3 are installed on the fixed track conveyor belt 4. A luggage shuttle 5 is arranged next to the mechanical arm 2. The luggage position detection unit 3, the mechanical arm 2 and the fixed track conveyor belt 4 are connected to the control system. The receiving tray 1 using the conveyor belt 12 can cover luggage of different sizes, and the way the conveyor belt 12 is placed will not cause any damage to the luggage. A total of 3 luggage detection units are arranged to measure the position of the luggage, as well as the size information and the placement angle status information, and transmit the information data to the control system. The control system controls the mechanical arm to move and adjust the receiving tray to a suitable receiving position and angle according to the information. A preferred luggage position monitoring unit may be a CCD camera, and the mechanical arm is a multi-axis mechanical arm. The control system is a mature prior art and will not be described in detail here; the fixed track conveyor belt may be an annular conveyor belt or a long strip.

[0036] See also Figures 3 to 7Preferably, the mounting frame 11 includes a left side frame 111 and a right side frame 112, the left side frame 111 and the right side frame 112 are symmetrically mounted, and a driving assembly 14 for driving the movable side panels 13 to extend is mounted between the left side frame 111 and the right side frame 112; after the movable side panels 13 are extended, larger luggage can be placed to prevent them from sliding off from both sides; when receiving small luggage, the movable side panels 13 on both sides are retracted into the mounting frame 11, which is more flexible to use, and when the robotic arm 2 drives it to place luggage, the limitation caused by the excessive size of the receiving tray 1 can be avoided, and the placement of large and small luggage can be better adapted.

[0037] See also Figures 4 to 7 Preferably, the side surfaces of the left side frame 111 and the right side frame 112 are provided with extension grooves 113 for the movable side panels 13, and the inner surfaces of the left side frame 111 and the right side frame 112 are provided with hinge seats 114, and the movable side panels 13 are hinged on the corresponding hinge seats 114; the driving assembly 14 drives the movable side panels 13 to rotate around the hinge seats 114, extend from the extension grooves 113, or retract from the extension grooves 113 ... The assembly 14 includes a connecting plate 141 and a telescopic cylinder 142. The connecting plate 141 is arranged between the left frame 111 and the right frame 112. The telescopic cylinder 142 is symmetrically arranged on the left and right parts of the connecting plate 141. The push rod of the telescopic cylinder 142 is hinged to the corresponding movable side plate 13. The cylinder body of the telescopic cylinder 142 is hinged to the connecting plate 141. When the push rod of the telescopic cylinder 142 is pushed out, the movable side plate 13 will rotate around the hinge point and extend out of the installation frame 11. When the push rod of the telescopic cylinder 142 is retracted, the movable side plate 13 will rotate around the hinge point and retract into the installation frame 11.

[0038] See also Figures 4 to 7 Preferably, a roller 18 is installed at the front and rear of the left frame 111 and the right frame 112 respectively, and the conveyor belt 12 is arranged between the two rollers 18, one of the rollers 18 is driven by the motor 15, thereby driving the rotation of the conveyor belt 12, thereby realizing the reception and push-out placement of the luggage.

[0039] See also Figures 4 to 7 Preferably, the driving assembly 14 and the movable side panel 13 are arranged between two rollers 18 to facilitate the storage and hiding of the movable side panel 13.

[0040] See also Figures 4 to 7Preferably, the tails of the left side frame 111 and the right side frame 112 protrude upward, and the motor 15 is installed in the tail between the left side frame 111 and the right side frame 112. A sprocket 17 is installed on the output shaft of the motor 15, and a sprocket 17 is installed on the rotating shaft of the roller 18 at the rear of the mounting frame 11, and a chain 16 is arranged between the two sprockets 17 for transmission; the motor 15 drives the sprocket 17 to rotate, and the sprocket 17 transmits power to another sprocket 17 through the chain 16, thereby driving the roller 18 connected thereto to rotate, thereby realizing the driving of the conveyor belt 12; preferably, the present invention can also be driven by a synchronous belt, a synchronous pulley, or a gear transmission, but is not limited thereto.

[0041] See also Figures 4 to 7 Preferably, a cover 19 is provided at the rear of the mounting frame 11 to cover the raised portions of the left frame 111 and the right frame 112, as well as the motor 15, the sprocket 17 and the chain 16 to prevent the transmission mechanism from leaking out, so as to protect related equipment. When in use, the receiving tray 1 is driven by the mechanical arm 2 to align with the exit end of the fixed track conveyor belt of the airport. The conveyor belt 12 on the receiving tray has the same running direction as the fixed track conveyor belt. If it is a large piece of luggage, the push rod of the driving mechanism is extended to make the movable side plate 13 extend and unfold, so that the grabbing mechanism can have a larger holding area. If it is a small piece of luggage, there is no need to unfold the movable side plate 13; after receiving the luggage, the receiving tray 1 is driven by the mechanical arm 2 to the specified position, and then the motor 15 drives the conveyor belt 12 to rotate in the opposite direction, pushes out the luggage placed on it, and makes the luggage fall to the specified position to achieve the stacking of the luggage; then the mechanical arm 2 is driven to receive the luggage again. If the movable side plate 13 has been unfolded before, it is determined whether to retract the movable side plate 13 or continue to unfold the movable side plate 13 according to the size of the luggage to be picked up next time.

[0042] Preferably, the receiving plate 1 can be rotated horizontally in left and right directions with the robot arm 2 as the center.

[0043] See also Figures 1 to 8 The present invention also provides a control method for luggage transporting and stacking equipment, which ensures that luggage can be accurately received and placed, and the luggage is reasonably stacked and placed on a luggage shuttle, thereby maximizing the space utilization of the luggage shuttle, including the following steps:

[0044] S1: The luggage position detection unit 3 detects the luggage position information, size information and angle information on the fixed track conveyor belt 4, and records the barcode information of the luggage, and transmits the above information to the control system. The control system calculates according to the luggage position information, size information and angle information, obtains the position information and angle information of the receiving tray 1 where the robot arm 2 needs to drive the receiving tray 1 to receive the luggage, and determines whether the movable side panel needs to be extended;

[0045] S2: The robot arm 2 drives the receiving plate 1 on the robot arm 2 to move to the position and angle information of the receiving plate 1 given by the control system to dock with the exit end of the fixed track conveyor belt 4 to receive the luggage. If the control system determines that the size of the luggage is greater than a specified value (such as 24 inches), the movable side plate on the receiving plate 1 is controlled to extend. If it is less than the specified value, the movable side plate does not need to be extended.

[0046] S3: The fixed track conveyor belt 4 pushes the luggage on it onto the receiving tray 1. At this time, the conveyor belt on the receiving tray 1 operates to cooperate with the fixed track conveyor belt 4 to connect the luggage to the receiving tray 1. When the luggage is pushed onto the receiving tray 1, the fixed track conveyor belt 4 stops running to prevent the luggage from falling.

[0047] S4: The luggage shuttle 5 is set at a designated position; the mechanical arm 2 drives the receiving tray 1 to move to the placement position on the luggage shuttle 5 calculated by the control system, and the conveyor belt on the receiving tray 1 rotates in the opposite direction to push the luggage on the receiving tray 1 out and drop it into the designated position on the luggage shuttle 5;

[0048] S5: the robot arm 2 drives the receiving plate 1 to repeat the above steps to receive the newly delivered luggage again, and stack the luggage on the luggage shuttle 5 layer by layer until the luggage shuttle 5 is full;

[0049] S6: After the luggage shuttle 5 is full, the luggage shuttle 5 is pushed to a designated location.

[0050] See also Figures 1 to 7 Preferably, in step S4, there are 3 shuttle buses in total, and each of the luggage shuttle buses 5 is provided with two layers of space for placing luggage. A virtual space coordinate system is established on each of the luggage shuttle buses 5. The luggage is placed on the luggage shuttle buses 5 in a manner of placing the luggage from the front to the rear and from left to right in sequence, and a dedicated handbag placement area is provided on the luggage shuttle buses 5. Each time the robotic arm 2 places a piece of luggage, the control system deducts the space coordinate position occupied by the piece of luggage in the virtual space of the corresponding luggage shuttle bus 5. Each time the luggage is placed, it is necessary to determine whether the remaining space on the first layer of the luggage shuttle bus 5 can accommodate the piece of luggage. If it cannot be placed, the piece of luggage is placed on the first layer of another luggage shuttle bus 5. When the first layers of all luggage shuttle buses 5 are full, the second layers of the luggage shuttle buses 5 are placed. A position sensor (not shown) is provided at the placement position of the luggage shuttle 5, and the position sensor is connected to the control system. When the luggage shuttle 5 is misplaced, the control system issues an alarm to prompt the luggage shuttle 5 to be pushed into the correct position.

[0051] Preferably, in step S4, the control system is provided with a multiple judgment function, which gives priority to placing relatively regular luggage on the first layer of multiple luggage shuttles 5, and placing irregular luggage on the second layer; if this is not possible, the irregular luggage is placed in a specific area designated by the system (such as the designated specific luggage placement area on the luggage shuttle 5) by self-judgment, so as not to affect the storage of other regular luggage.

[0052] In another embodiment of the present invention, the luggage shuttle 5 can be set as luggage shuttles 5 for stacking different types of luggage as needed, and different labels are set on the corresponding luggage shuttles 5. The control system controls the mechanical arm 2 to stack the luggage on different types of luggage shuttles 5 according to the type (which can be known from the barcode information of the luggage). The position sensor can also be used to identify the type of luggage shuttle, and record the location of the corresponding type of luggage shuttle 5 and upload it to the control system; the control system calculates the luggage shuttle 5 where the luggage should be placed and the placement position on the luggage shuttle 5 according to the detection information of the luggage position detection unit 3, and the mechanical arm 2 drives the receiving plate 1 to move to the specified position to receive and place the luggage according to the calculation result.

[0053] Several points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, and can be mechanical or electrical connections, or internal connectivity between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may change.

[0054] Secondly: In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved, and other structures can refer to the usual design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other.

[0055] Finally, the above is only a preferred implementation of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention.

[0056] It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications without departing from the principle of the present invention should also be regarded as within the scope of protection of the present invention.

Claims

1. Luggage case handling and stacking equipment, including a mechanical arm, a luggage position detection unit, a control system and a fixed track conveyor belt, characterized in that: The mechanical arm is arranged at the exit end of the fixed track conveyor belt, and a receiving plate is installed on the mechanical arm, and the receiving plate includes a mounting frame and a conveyor belt, and the conveyor belt is installed on the mounting frame; the left and right parts of the mounting frame are provided with extendable movable side panels, and a plurality of the luggage position detection units are installed on the fixed track conveyor belt. A luggage shuttle is arranged next to the mechanical arm, and the luggage position detection unit, the mechanical arm, the fixed track conveyor belt and the receiving plate are connected to the control system, and the luggage position detection unit is used to detect the position and size of the luggage, and the control system is used to control the mechanical arm and the receiving plate to cooperate in receiving the luggage on the fixed track conveyor belt and placing it on the luggage shuttle; the mounting frame includes a left frame and a right frame, and the left The frame and the right side frame are symmetrically installed, and a driving component for driving the movable side panel to extend is installed between the left side frame and the right side frame; the side surfaces of the left side frame and the right side frame are provided with extension grooves of the movable side panel, and the inner sides of the left side frame and the right side frame are provided with hinge seats, and the movable side panel is hinged on the corresponding hinge seats; the driving component drives the movable side panel to rotate around the hinge seat, extend from the extension groove, or retract from the extension groove; the driving component includes a connecting plate and a telescopic cylinder, the connecting plate is arranged between the left side frame and the right side frame, the telescopic cylinder is symmetrically arranged on the left and right parts of the connecting plate, the push rod of the telescopic cylinder is hinged to the corresponding movable side panel, and the cylinder body of the telescopic cylinder is hinged to the connecting plate.

2. The luggage case transporting and stacking equipment according to claim 1, characterized in that: A roller is installed at the front and rear parts between the left frame and the right frame respectively, the conveyor belt is arranged between the two rollers, and one of the rollers is driven by a motor.

3. The luggage case handling and stacking equipment according to claim 2, characterized in that: The driving assembly and the movable side plate are arranged between two rollers.

4. The luggage case transporting and stacking equipment according to claim 2, characterized in that: The tails of the left side frame and the right side frame protrude upwards, the motor is installed in the tail between the left side frame and the right side frame, a sprocket is installed on the output shaft of the motor, a sprocket is installed on the rotating shaft of the roller at the rear of the mounting frame, and a chain is arranged between the two sprockets for transmission.

5. The luggage case handling and stacking equipment according to claim 4, characterized in that: A cover is provided at the rear of the mounting frame to cover the raised parts of the left and right frames, as well as the motor, sprocket and chain; the receiving plate can be rotated horizontally in left and right directions with the robot arm as the center.

6. The control method of the luggage case transporting and stacking equipment according to any one of claims 1 to 5, characterized in that: The following steps are involved: S1: The luggage position detection unit detects the luggage position information and size information on the fixed track conveyor, and records the barcode information, and transmits the above information to the control system. The control system calculates according to the luggage position information and size information, obtains the receiving plate position and angle information of the receiving plate that the robot arm needs to drive to receive the luggage, and determines whether the movable side panel needs to be extended; S2: The robot arm drives the receiving plate on the robot arm to move to the receiving plate position information provided by the control system to dock with the exit end of the fixed track conveyor belt to receive the luggage. If the size of the luggage is greater than a specified value, the movable side plate on the receiving plate is controlled to extend. If the size is less than the specified value, the movable side plate does not need to be extended. S3: The fixed track conveyor belt pushes the luggage on it onto the receiving tray, and the conveyor belt on the receiving tray operates to cooperate with the fixed track conveyor belt to connect the luggage to the receiving tray; S4: The luggage shuttle is set at a designated position, the mechanical arm drives the receiving tray to move to the placement position on the luggage shuttle calculated by the control system, and the conveyor belt on the receiving tray rotates in the opposite direction to push out the luggage on the receiving tray and drop it into the designated position on the luggage shuttle; the above steps are repeated, the mechanical arm drives the receiving tray to receive the newly delivered luggage again, and the luggage is stacked layer by layer on the luggage shuttle until the luggage shuttle is full; S5: After the luggage shuttle is full, the luggage shuttle is pushed to a designated location.

7. The control method of the luggage case transporting and stacking equipment according to claim 6, characterized in that: In step S4, a plurality of luggage shuttles are provided, and a virtual space coordinate system is established on the luggage shuttles. The luggage is placed on the luggage shuttles in order. Each time a piece of luggage is placed, the control system deducts the space coordinate position occupied by the luggage in the virtual space coordinate system established by the control system. Each time a piece of luggage is placed, it is necessary to determine whether the remaining space on the layer can accommodate the luggage. If not, the luggage is placed on another luggage shuttle.

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