Loading system

Abstract

To provide a loading system capable of shortening a waiting time of a truck for loading a cargo.SOLUTION: The loading system loads cargoes in a distribution facility in which a plurality of truck berths with which trucks come into contact are secured. The plurality of truck berths are arranged in a direction intersecting the front-rear direction of the truck to be parked. The carry-out table can be disposed on any of the plurality of track berths. A moving device moves the carry-out stand between the plurality of track berths.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a loading system. [Background technology]

[0002] A device for loading cargo onto a truck bed through a loading / unloading entrance at the rear of the bed is known (Patent Document 1). In conventional loading devices, a pallet is held by a movable body that moves on a table located at the rear of the bed, and the movable body is moved back and forth in the direction in which the cargo is loaded (the front-to-rear direction of the truck), thereby loading the cargo. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-246465 Summary of the Invention [Problem to be solved by the invention]

[0004] When loading cargo using a conventional loading device, the liftable table is aligned with the truck bed before loading. For example, the truck is stopped at a predetermined position where cargo will be loaded, the position of the bed is detected, and the position of the table is adjusted to match the position of the bed. This adjustment takes time, which increases the time that a particular truck occupies the truck berth. Furthermore, since the rear doors of the truck are opened to load cargo, after the loading operation is completed, the truck driver needs to close the various doors of the truck and exit the truck berth. As a result, the truck berth remains occupied for a period of time even after the loading operation is completed. As a result, the waiting time for other trucks increases. An object of the present invention is to provide a loading system that can shorten the waiting time of trucks for loading cargo. [Means for solving the problem]

[0005] According to one aspect of the present invention, A loading system for loading cargo at a logistics facility that has a plurality of truck berths for trucks to approach, the plurality of truck berths being arranged in a direction that intersects with the longitudinal direction of the approaching trucks, a delivery platform that can be placed on any one of the plurality of truck berths; a moving device that moves the outgoing platform between the plurality of truck berths; A loading system is provided comprising: [Effects of the Invention]

[0006] While loading work is being carried out at one truck berth, trucks can approach and stop at other truck berths, which shortens truck waiting times compared to when the next truck is parked in the same location after the truck that has finished loading its cargo leaves. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a schematic plan view of a loading system according to a first embodiment. [Figure 2] FIG. 2 is a schematic side view of the loading system according to the first embodiment. [Figure 3] FIG. 3 is a schematic plan view of a loading system according to a second embodiment. [Figure 4] FIG. 4 is a schematic side view of a loading system according to a second embodiment. [Figure 5] FIG. 5 is a schematic side view of a loading system according to a third embodiment. [Figure 6] FIG. 6 is a schematic plan view of a loading system according to a fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] [First Example] A loading system according to a first embodiment will be described with reference to FIGS. 1 and 2 are a schematic plan view and a schematic side view, respectively, of a loading system according to a first embodiment. The loading system according to the first embodiment loads cargo at a logistics facility that has multiple truck berths 30 to which trucks 50 can dock. Here, "docking" means that the truck 50 is parked close to the truck berth 30 with the loading / unloading entrance at the rear of the loading platform facing the truck berth 30. The multiple truck berths 30 are lined up in a direction that intersects with the fore-and-aft direction of the docking truck 50. The unloading platform 10 can be positioned on any of the multiple truck berths 30. A moving device 20 moves the unloading platform 10 between the multiple truck berths 30.

[0009] The mobile device 20 may be, for example, an automated guided vehicle (AGV), an autonomous mobile robot (AMR), or the like.

[0010] The AGV is equipped with wheels and a motor, and moves on the floor of the logistics facility while being guided along a pre-set magnetic induction line. The destination of the AGV is specified by coordinates on the floor. The AMR is equipped with wheels and a motor, and moves autonomously on the floor of the logistics facility. The movement route and destination of the AMR are specified by coordinates on the floor. The position of each of the multiple truck berths 30 is defined by coordinates.

[0011] An xyz Cartesian coordinate system is defined, with the direction in which multiple truck berths 30 are lined up being the y direction and the vertically upward being the z direction. The x direction corresponds to the fore-and-aft direction of the truck 50. Hereinafter, the x direction may be referred to as the fore-and-aft direction, the y direction as the lateral direction, and the z direction as the height direction. Note that when the truck 50 is parked, its fore-and-aft direction may deviate from the predetermined specified direction due to variations in the parking position and posture of the truck 50. The x direction is parallel to the fore-and-aft direction when the truck 50 is parked at a predetermined target stopping position and posture.

[0012] A detector 13 is arranged corresponding to each of the plurality of truck berths 30. The detector 13 detects the position of the loading platform 51 of the truck 50 parked at the corresponding truck berth 30.

[0013] A transfer device 15 is movably arranged on the carrying-out platform 10. The transfer device 15 holds a plurality of loads 60 and enters the loading platform 51 of the truck 50 from the carrying-out platform 10, transfers the held loads 60 onto the loading platform 51, and then exits from the loading platform 51.

[0014] The output table 10 has a substantially horizontal upper surface, and the transfer device 15 moves on this horizontal upper surface. The moving device 20 has the function of moving the output table 10 in the y direction, as well as the function of adjusting the height of the output table 10 and the function of adjusting the rotational position of the output table 10 around the z axis. The height adjustment function can be achieved by, for example, a hydraulic cylinder or a wedge mechanism. The rotational position adjustment function can be achieved by adjusting the movement direction and movement distance of the moving device 20, which supports both ends of the output table 10 in the x direction.

[0015] The detector 13 includes a side sensor disposed on the side of the bed 51 of the parked truck 50 and a rear sensor disposed at the rear. The side sensor and the rear sensor are supported by, for example, a support (not shown). For example, LiDAR or the like can be used as the side sensor and the rear sensor.

[0016] The side sensors measure the distances to multiple points lined up horizontally on the side of the loading platform 51. Based on these measurement results, the position of the loading platform 51 in the y direction and its position in the rotational direction around the z axis can be calculated. The rear sensors measure the distances to the rear end of the loading platform 51, the floor of the loading platform 51, and multiple points on the side. Based on these measurement results, the height and x-direction positions of the loading platform 51 can be calculated.

[0017] The control device 40 controls the operations of the transfer device 15 and the moving device 20 based on the detection result of the detector 13. Next, the operation of the loading system according to the first embodiment will be described.

[0018] When a truck 50 comes alongside one of the truck berths 30, the control device 40 acquires the detection result from the detector 13 of the truck berth 30 where the truck 50 has come alongside, and calculates the position of the loading platform 51. Thereafter, the moving device 20 is operated to move the output platform 10 to the truck berth 30 where the truck 50 has come alongside. In parallel with the movement of the output platform 10, the position of the output platform 10 is aligned with the loading platform 51. Here, "alignment" means that the center line of the loading platform 51 in the fore-and-aft direction and the center line of the output platform 10 are aligned.

[0019] When the movement of the output platform 10 is completed, the load to be loaded is placed on the transfer device 15, and the transfer device 15 is operated to load the load onto the loading platform 51. For example, the transfer device 15 includes a transport path for transporting the load in the forward and backward directions, and the load is placed at the rear end of this transport path and transported forward. Note that the load may be placed on the transfer device 15 before the output platform 10 is moved. When loading the load onto the loading platform 51, the transfer device 15 with the load loaded is advanced into the loading platform 51, and the load is transferred from the transfer device 15 to the floor of the loading platform 51. The movement of the transfer device 15 is performed by driving the wheels 15A of the transfer device 15. The load is transferred by operating the transfer device 15B of the transfer device 15, for example. Note that the load may be transferred by other known methods. When the transfer of the load is completed, the transfer device 15 is withdrawn from the loading platform 51.

[0020] When another truck 50 approaches another truck berth 30 while cargo is being loaded, the control device 40 activates the detector 13 to measure the position of the loading platform 51. Once measurement of the position of the loading platform 51 is complete, this truck berth 30 is added to the loading queue. Once loading of cargo using one truck berth 30 is complete, the outgoing platform 10 is moved to the truck berth 30 registered at the head of the loading queue, and the cargo is loaded.

[0021] Next, the excellent effects of the first embodiment will be described. While cargo is being loaded at one truck berth 30, a truck 50 can be parked at another truck berth 30. This shortens the truck waiting time compared to a method in which the next truck is parked at the same truck berth 30 after the truck that has finished loading cargo leaves.

[0022] Furthermore, after the truck 50 is parked at one truck berth 30, preparations for loading, such as measuring the position of the loading platform 51, can be made before the unloading platform 10 moves to that truck berth 30. This makes it possible to shorten the time from when the truck 50 is parked at the truck berth 30 until loading begins.

[0023] The transfer device 15 holds a plurality of loads and enters the loading platform 51 to transfer the loads onto the loading platform 51, which can improve loading efficiency compared to a method in which the transfer device holds the loads one by one and repeatedly goes in and out of the loading platform 51 to load them.

[0024] [Second Example] Next, a loading system according to a second embodiment will be described with reference to Figures 3 and 4. Below, a description of the configuration common to the loading system according to the first embodiment will be omitted.

[0025] 3 and 4 are respectively a schematic plan view and a schematic side view of a loading system according to the second embodiment. In the second embodiment, the moving device 20 (FIGS. 1 and 2) is composed of a plurality of rails 22 and a traverse carriage 23. A plurality of pairs (e.g., three pairs) of rails 22 extend in the y direction (horizontal direction). A traverse carriage 23 is disposed on each of the plurality of pairs of rails 22, and the traverse carriage 23 is movable along the rails 22. The output platform 10 is supported by the plurality of traverse carriages 23. The traverse carriage 23 functions as a drive device that moves the output platform 10 along the rails 22.

[0026] The multiple pairs of rails 22 are arranged, for example, at intervals in the x direction. Each of the traverse carriages 23 has a height adjustment mechanism 23A. By moving the traverse carriages 23 along the rails 22, the output platform 10 can be moved in the y direction. By controlling the movement distance and movement direction of the multiple traverse carriages 23, the position of the output platform 10 in the y direction and the position in the rotational direction around the z axis can be adjusted. Furthermore, by operating the height adjustment mechanism 23A, the height of the output platform 10 can be adjusted.

[0027] Next, the excellent effects of the second embodiment will be described. In the second embodiment, as in the first embodiment, the waiting time of the truck can be shortened.

[0028] Next, the respective advantageous effects of the first and second embodiments will be described. In the first embodiment, when an AMR is used as the moving device 20, an advantageous effect is obtained in that there is no need to install a dedicated running path on the floor of the logistics facility. When an AGV is used as the moving device 20, the movement path of the AVG can be physically set in advance by installing a magnetic guide wire on the floor of the logistics facility.

[0029] Tires are generally used for the wheels of AGVs and AMRs. In contrast, when rails 22 are used for the moving device 20, as in the second embodiment, metal wheels are used. This ensures higher rigidity than when rubber tires are used. As a result, the positioning accuracy of the output platform 10 can be improved. Furthermore, since the movement path of the traversing carriage 23 is determined mechanically, the positioning control of the output platform 10 is easy.

[0030] The decision as to whether to use an AGV, an AMR, or a rail system as the moving device 20 should be made taking into consideration the weight of the load, various requirements placed on the logistics facility, etc.

[0031] [Third Example] Next, a loading system according to a third embodiment will be described with reference to Fig. 5. Below, a description of the components common to the loading system according to the first embodiment will be omitted.

[0032] FIG. 5 is a schematic side view of a loading system according to a third embodiment. In the first embodiment (FIG. 2), the truck 50 is parked on the ground of the logistics facility when loading cargo. In contrast, in the third embodiment, the truck 50 is parked on the vehicle bed 25. The loading platform adjustment device 26 adjusts the position of the vehicle bed 25. For example, the position in the y direction, the position in the x direction, and the position in the rotational direction around the z axis are adjusted. By adjusting the position of the vehicle bed 25, the position of the loading platform 51 is adjusted. The position adjustment function of the loading platform adjustment device 26 can be realized, for example, by multiple hydraulic cylinders.

[0033] Next, the excellent effects of the third embodiment will be described. In the third embodiment, after the position of the loading platform 51 is measured, the position of the loading platform 51 can be adjusted before the delivery platform 10 moves to the truck berth 30. Therefore, the procedure for adjusting the position of the delivery platform 10 can be omitted.

[0034] [Fourth Example] Next, a loading system according to a fourth embodiment will be described with reference to Fig. 6. Below, a description of the components common to the loading system according to the first embodiment will be omitted.

[0035] FIG. 6 is a schematic plan view of a loading system according to a fourth embodiment. Output conveying paths 45 are provided continuously corresponding to the multiple truck berths 30. For example, an output conveying path 45 extending in the y direction (horizontal direction) is arranged across the multiple truck berths 30. The output conveying path 45 conveys goods that are carried out from the warehouse in the y direction. A first conveying path 12 is installed on the output platform 10. The first conveying path 12 is configured, for example, by a roller conveyor and conveys goods in the front-to-rear direction. The transfer device 15 includes a second conveying path 16 that conveys goods in the front-to-rear direction. In FIG. 6, the transfer device 15 is hatched. With the transfer device 15 placed on the output platform 10, goods can be transferred from the first conveying path 12 to the second conveying path 16. The output conveying path 45 includes a sorting mechanism 45A that transfers goods transported in the y direction to the first conveying path 12 installed on the output platform 10 when the output platform 10 is located at each of the multiple track berths 30.

[0036] The first conveying path 12 extends, for example, from the rear end of the output table 10 toward the front to halfway along the output table 10. The first conveying path 12 includes, for example, a plurality of rollers arranged in two rows in the front-to-rear direction. The second conveying path 16 extends, for example, from the front end of the transfer device 15 toward the rear. The second conveying path 16 includes, for example, a plurality of rollers arranged in three rows in the front-to-rear direction. Of the three roller rows of the second conveying path 16, the central roller row is arranged between the two roller rows of the first conveying path 12, and the remaining two roller rows are arranged outside the two roller rows of the first conveying path 12.

[0037] When the transfer device 15 is placed on the discharge table 10, a part of the rear side of the first conveying path 12 and a part of the front side of the second conveying path 16 overlap in the front-to-rear direction. The load is transferred from the first conveying path 12 to the second conveying path 16 through the overlapping area.

[0038] The sorting mechanism 45A includes a plurality of sorting rollers that can be raised and lowered and are arranged between a plurality of conveying rollers of the output conveying path 45. The sorting rollers move the load in the front-to-rear direction. The load conveyed along the output conveying path 45 is transferred from the conveying rollers to the sorting rollers, and then delivered to the rear end of the first conveying path 12 by the sorting rollers.

[0039] Next, the operation of the loading system according to the fourth embodiment will be described. First, the load to be loaded onto the loading platform 51 is transported to the second transport path 16 via the first transport path 12. The transfer device 15 enters the loading platform 51 together with the second transport path 16, and transfers the multiple loads placed on the second transport path 16 onto the loading platform 51.

[0040] While the transfer device 15 is entering the loading platform 51, the load to be loaded onto the leading truck 50 among the trucks 50 registered in the loading queue is supplied from the outgoing conveying path 45 to the first conveying path 12 and made to wait on the first conveying path 12. When the transfer device 15 leaves the loading platform 51 and returns to the outgoing platform 10, the load that was waiting on the first conveying path 12 is conveyed to the second conveying path 16. In parallel, the outgoing platform 10 is moved to the truck berth 30 where the next loading destination truck 50 is parked.

[0041] Next, the excellent effects of the fourth embodiment will be described. In the fourth embodiment, while the transfer device 15 enters the loading platform 51 and performs the final loading of the cargo onto the loading platform 51, cargo to be loaded onto the next destination truck 50 can be prepared on the first conveying path 12. Therefore, after the delivery platform 10 is moved to the next truck berth 30, loading can begin in a short time. This shortens the time that the truck 50 occupies the truck berth 30, and shortens the waiting time for other trucks.

[0042] Alternatively, the goods to be loaded can be kept waiting in the vicinity of the truck berth 30 where the goods will be loaded next, on the outgoing conveying path 45. Therefore, after the outgoing platform 10 moves to the truck berth 30 where the goods will be loaded next, the transfer of the goods from the outgoing conveying path 45 to the first conveying path 12 can be started in a short time. This shortens the time that the truck 50 occupies the truck berth 30, and shortens the waiting time of other trucks.

[0043] [Fifth Example] Next, a loading system according to a fifth embodiment will be described. Below, a description of the configuration common to the loading systems according to the first to fourth embodiments will be omitted.

[0044] The loading system according to the fifth embodiment is equipped with a detector that detects obstacles ahead in the direction of movement of the discharge platform 10 (FIG. 1, etc.). Obstacles detected by the detector include, for example, people, luggage, other vehicles traveling within the logistics facility, etc. The detector may be attached to both sides of the discharge platform 10 in the y direction. For example, a LiDAR may be used as the detector. In the second embodiment shown in FIG. 3, the detector may be attached to the traversing cart 23 (FIGS. 3 and 4).

[0045] The detector may be a sensor attached to the environment (equipment) side of the logistics facility. This sensor may be, for example, a camera, and performs image analysis to determine whether or not an obstacle is present. Note that detectors may be attached to both the outgoing platform 10 or the traversing cart 23 and the environment side of the logistics facility.

[0046] The loading system may have a function to stop the unloading platform 10 and issue an alarm when a detector detects an obstacle ahead in the direction of movement of the unloading platform 10 (see FIG. 1, etc.). This function can enhance safety.

[0047] The above-described embodiments are merely examples, and it goes without saying that partial substitution or combination of the configurations shown in different embodiments is possible. Similar effects resulting from similar configurations of multiple embodiments will not be mentioned sequentially for each embodiment. Furthermore, the present invention is not limited to the above-described embodiments. For example, it will be obvious to those skilled in the art that various modifications, improvements, combinations, etc. are possible. [Explanation of symbols]

[0048] 10 Loading platform 12 First conveying path 15 Transfer equipment 15A wheels 15B Transfer device 16 Second conveying path 20 Mobile Device 22 Rail 23 Traverse cart 23A Height adjustment mechanism 25 vehicle base 26 Loading platform adjustment device 30 truck berth 40 Control device 45. Unloading conveyor route 45A Sorting Mechanism 50 Tracks 51 Cargo bed 60 Load

Claims

1. A loading system for loading cargo at a logistics facility that has a plurality of truck berths for trucks to access, the plurality of truck berths being arranged in a direction that intersects with the longitudinal direction of the trucks that access the loading system, a delivery platform that can be placed on any one of the plurality of truck berths; a moving device that moves the outgoing platform between the plurality of truck berths; Equipped with a loading system.

2. The moving device is a rail extending in the direction in which the track berths are arranged; a drive device that moves the delivery table along the rail; 10. The loading system of claim 1, comprising:

3. The loading system according to claim 1 , wherein the moving device includes a guided traveling robot that supports the outgoing platform and moves along a magnetic guide line.

4. The loading system according to claim 1 , wherein the moving device includes an autonomous traveling robot that supports the outgoing platform and travels autonomously.

5. The loading system according to any one of claims 1 to 4, further comprising a detector for detecting an obstacle ahead of the outgoing platform in the direction of movement.

6. The loading system according to any one of claims 1 to 4, further comprising a detector that is arranged corresponding to each of the plurality of truck berths and detects the position of the loading platform of a truck that stops with its rear loading / unloading entrance facing the loading platform arranged on the truck berth.

7. The loading system according to any one of claims 1 to 4, further comprising a transfer device that is movably arranged on the discharge platform, holds multiple loads, enters the truck bed from the discharge platform, transfers the held loads onto the bed, and exits the bed.

8. 5. The loading system according to claim 1, further comprising an unloading conveying path provided continuously in correspondence with the plurality of truck berths.

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