Luggage support device and unmanned luggage transporter

Abstract

To support cargos having different sizes and shapes.SOLUTION: A cargo support device 14 includes a plate 20, a plurality of leg parts 22, a linear guide 24, a drive part 40, and a rotation support part 44. The plurality of leg parts 22 each has two contact parts 22A which are provided on a lower side of the plate 20 and are brought into contact with two adjacent side faces of a cargo 30 when being viewed from an upper side, and the two contact parts 22A each supports corner parts 30D of the cargo 30 in a state of being brought into contact with the two adjacent side faces of the cargo 30. The linear guide 24 is fixed to the lower side of the plate 20, and movably supports the respective leg parts 22 to the cargo 30 side or an opposite side to the cargo 30. The drive part 40 is operated to move the respective leg parts 22 to the cargo 30 side or the opposite side to the cargo 30. The rotary support part 44 is provided between the plate 20 and the respective leg parts 22, and rotatably supports the respective leg parts 22 with a vertical direction as an axial direction.SELECTED DRAWING: Figure 9

Description

[Technical field]

[0001] The present invention relates to a luggage support device and an unmanned luggage transport vehicle. [Background technology]

[0002] The following Patent Document 1 discloses a transport device that supports a container or the like at the bottom of a small unmanned aerial vehicle and transports the container or the like. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2020 / 194533 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the transport device described in Patent Document 1, the size and shape of containers etc. that can be supported on the bottom of the small unmanned aerial vehicle are fixed, and it is difficult to change the size and shape of the containers etc.

[0005] SUMMARY OF THE PRESENT EMBODIMENT In consideration of the above, an object of the present invention is to provide a luggage support device and an unmanned luggage transporter capable of supporting luggage of different sizes and shapes. [Means for solving the problem]

[0006] The first embodiment of the luggage support device comprises a base on top of which a small unmanned aerial vehicle is attached, a plurality of legs provided on the lower side of the base, each having two abutment portions that abut against two adjacent side surfaces of the luggage when viewed from above, and supporting each corner portion of the luggage with the two abutment portions abutting against the two adjacent side surfaces of the luggage, a first support portion fixed to the lower side of the base and supporting each of the legs so that they can be moved toward the luggage and toward the opposite side of the luggage, a drive portion that is activated to move each of the legs toward the luggage or the opposite side of the luggage, and a second support portion provided between the base and each of the legs, and supporting each of the legs so that they can rotate with the up and down direction as an axial direction.

[0007] According to the luggage support device of the first aspect, each leg is supported by a first support part fixed to a base. Therefore, by operating the drive part, each leg can be moved toward the luggage. When each leg moves toward the luggage, each leg supports a corner part of the luggage with two abutment parts of each leg abutting against two adjacent side surfaces of the luggage as seen from above. Here, the luggage support device of the first aspect includes a second support part that supports each leg rotatably with the vertical direction as an axial direction. Therefore, even if the size and shape of the luggage as seen from above are different, each leg can rotate with the vertical direction as an axial direction to abut against the two abutment parts of each leg against the two adjacent side surfaces of the luggage. In this way, according to the luggage support device of the first aspect, luggage of different sizes and shapes can be supported.

[0008] The second aspect of the luggage support device is the luggage support device of the first aspect, further comprising a rotation limiting section that limits the rotation of each of the legs about an axial direction in the vertical direction, and the rotation limiting section limits the rotation of each of the legs about an axial direction in the vertical direction when each of the legs is not supporting the luggage.

[0009] According to the luggage support device of the second aspect, when the legs are not supporting luggage, the rotation of each leg about its axial direction is limited by the rotation limiting portion, thereby making it possible to suppress unnecessary rotation of each leg about its axial direction.

[0010] A third aspect of the luggage support device is the luggage support device of the second aspect, wherein the rotation limiting portion is a rotation limiting spring, a portion of which is engaged with the leg portion, and deformation of the rotation limiting spring allows rotation of the leg along the vertical direction as an axial direction.

[0011] According to the luggage support device of the third aspect, the rotation limiting spring is deformed to allow the rotation of the leg about the vertical axis. In this configuration, the restoring force of the deformed rotation limiting spring allows the leg to return to its original position.

[0012] The unmanned luggage transporter of the fourth embodiment comprises a small unmanned aerial vehicle, a base to which the small unmanned aerial vehicle is attached, a plurality of legs provided on the lower side of the base and each having two abutment portions that abut against two adjacent side surfaces of the luggage when viewed from above, and supporting each corner portion of the luggage with the two abutment portions abutting against the two adjacent side surfaces of the luggage, respectively, a first support portion fixed to the lower side of the base and supporting each of the legs so that they can be moved toward the luggage and toward the opposite side of the luggage, a drive portion that operates to move each of the legs toward the luggage or the opposite side of the luggage, and a second support portion provided between the base and each of the legs and supporting each of the legs so that they can rotate with the up and down direction as an axial direction.

[0013] According to the unmanned baggage transporter of the fourth aspect, the small unmanned aerial vehicle flies, thereby carrying the supported baggage. Also, according to the unmanned baggage transporter of the fourth aspect, each leg is supported by a first support portion fixed to a base. Therefore, each leg can be moved toward the baggage side by operating the drive portion. When each leg moves toward the baggage side, each leg supports a corner portion of the baggage with the two abutment portions of each leg abutting against two adjacent side surfaces of the baggage as viewed from above. Here, the unmanned baggage transporter of the fourth aspect includes a second support portion that supports each leg rotatably with the up-down direction as an axial direction. Therefore, even if the size and shape of the baggage as viewed from above are different, each leg can rotate with the up-down direction as an axial direction to bring the two abutment portions of each leg into abutment against two adjacent side surfaces of the baggage. Thus, according to the unmanned baggage transporter of the fourth aspect, baggage of different sizes and shapes can be supported. Effect of the Invention

[0014] The luggage support device and unmanned luggage transporter according to the present invention have the excellent effect of being able to support luggage of different sizes and shapes. [Brief description of the drawings]

[0015] [Figure 1] FIG. 2 is a perspective view showing an unmanned luggage transport vehicle. [Diagram 2] FIG. 2 is a perspective view showing the unmanned luggage transport vehicle, illustrating a state in which the luggage support device is supporting luggage. [Diagram 3] FIG. [Figure 4] 2 is a plan view of the luggage support device as seen from above, with the plate not shown. FIG. [Diagram 5] 2 is a perspective view of the luggage support device from above, with the plate not shown. FIG. [Figure 6] FIG. 4 is an enlarged perspective view showing the vicinity of a rotation support portion. [Figure 7] 1 is a perspective view showing the luggage support device and luggage before each leg supports the luggage. FIG. [Figure 8] 1 is a plan view of the luggage support device and luggage viewed from above, with the plates not shown, showing the state before each leg supports the luggage. FIG. [Figure 9] FIG. 2 is a perspective view showing the luggage support device and luggage, with each leg supporting the luggage; [Figure 10] 1 is a plan view of the luggage support device and luggage viewed from above, with the plates not shown, showing the state in which each leg is supporting the luggage. FIG. [Figure 11] 2 is a bottom view of the luggage support device and luggage as viewed from below. FIG. [Figure 12] FIG. 12 is a bottom view corresponding to FIG. 11, in which luggage is not shown. [Figure 13] 12 is an enlarged perspective view showing the vicinity of a rotation support part in the state shown in FIG. 11. [Figure 14] 2 is a bottom view of the luggage support device and luggage as viewed from below. FIG. [Figure 15] FIG. 15 is a bottom view corresponding to FIG. 14, in which luggage is not shown. [Figure 16] 15 is an enlarged perspective view showing the vicinity of a rotation support part in the state shown in FIG. 14. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] An unmanned baggage transport vehicle 10 according to one embodiment of the present invention will be described with reference to Figs. 1 to 6.

[0017] As shown in Figures 1 and 2, the unmanned baggage transport vehicle 10 of this embodiment is composed of a small unmanned aerial vehicle 12 and a baggage support device 14 attached below the small unmanned aerial vehicle 12.

[0018] As shown in Figures 1, 3, 4 and 5, the luggage support device 14 includes an aircraft fixing part 16 to which the small unmanned aerial vehicle 12 is fixed, and a pair of grounding parts 18 that are grounded on the ground when the aircraft is in a landing state. In this embodiment, six small unmanned aerial vehicles 12 are fixed to the aircraft fixing part 16. The pair of grounding parts 18 include a grounding part main body 18A that extends horizontally and is grounded on the ground, and a central leg part 18B that extends upward from the center of the longitudinal direction of the grounding part main body 18A. The upper end part of the central leg part 18B is connected to the lower part of the aircraft fixing part 16.

[0019] The luggage support device 14 also includes a plate 20 serving as a base that is disposed below the aircraft fixing part 16 and is connected to the aircraft fixing part 16. The luggage support device 14 also includes four legs 22 serving as luggage support parts, four linear guides 24 serving as first support parts, a link mechanism 26, and an actuator 28.

[0020] 3, the plate 20 is formed in a plate shape with the thickness direction being the up-down direction, and is generally rectangular when viewed from above with each side of the rectangle curved inward. Legs 22 are attached to the four corners of the plate 20.

[0021] The leg 22 includes two abutment parts 22A spaced apart in the horizontal direction, which is a direction perpendicular to the vertical direction, an upper connecting part 22B connecting the upper ends of the two abutment parts 22A in the horizontal direction, and a lower connecting part 22C connecting the lower ends of the two abutment parts 22A in the horizontal direction. The two abutment parts 22A are formed in a round bar shape with the vertical direction as the axial direction. The upper connecting part 22B is formed in a plate shape extending horizontally with the vertical direction as the thickness direction. The upper end of one of the abutment parts 22A is fixed to one end of the upper connecting part 22B, and the upper end of the other abutment part 22A is fixed to the other end of the upper connecting part 22B. The lower connecting part 22C is formed in a plate shape extending horizontally with the vertical direction as the thickness direction. A lower end of one of the contact portions 22A is fixed to one end of the lower connecting portion 22C, and a lower end of the other contact portion 22A is fixed to the other end of the lower connecting portion 22C. As shown in Fig. 2, the lower connecting portion 22C serves as a portion that supports the luggage 30 from below. The two contact portions 22A serve as portions that support the luggage 30 from the lateral sides. Each of the four legs 22 has the same configuration.

[0022] As shown in Figs. 3 and 4, the linear guide 24 is formed in a plate shape extending in the horizontal direction with the thickness direction being the up-down direction. The linear guide 24 is rectangular when viewed from above. The four linear guides 24 are fixed to the plate 20 in a state in which they are respectively disposed below the four corners of the plate 20. When viewed from above, one side of the longitudinal direction of each of the four linear guides 24 faces the center (centroid) of the plate 20. The four linear guides 24 support four legs 22 via slide parts 42 and rotation support parts 44, which will be described later. Each leg 22 is movable along each linear guide 24 from the corner of the plate 20 toward the center, and from the center of the plate 20 toward the corner.

[0023] The link mechanism 26 includes a central link 32 disposed below the center of the plate 20 as viewed from above, and four outer links 34 each connected to the central link 32. As shown in FIG. 4 and FIG. 5, the central link 32 includes a rotating part 32A supported on the plate 20 so as to be rotatable with the vertical direction as the axial direction, and four protruding arms 32B protruding from the rotating part 32A toward the outside in the rotational radial direction of the rotating part 32A. The four protruding arms 32B are arranged at intervals in the rotational circumferential direction of the rotating part 32A. One end of each of the four outer links 34 is connected to the end of each of the four protruding arms 32B on the opposite side to the rotating part 32A via a ball joint. The other end of each of the four outer links 34 is connected to four slide brackets 46 (described later) via a ball joint.

[0024] As shown in FIG. 5, the actuator 28 is, for example, a motor actuator in which an output shaft 28A rotates. The actuator 28 is fixed to the plate 20 (see FIG. 3) in a state in which it is disposed on the upper side of the plate 20. A first rod 36 is fixed to the output shaft 28A of the actuator 28. The first rod 36 is inserted through an opening formed in the plate 20. As a result, the end of the first rod 36 opposite the output shaft 28A is located on the lower side of the plate 20. In addition, one end of a second rod 38 is connected to the end of the first rod 36 opposite the output shaft 28A via a ball joint. Furthermore, the other end of the second rod 38 is connected to the protruding arm portion 32B of the central link 32 via a ball joint. As a result, the output shaft 28A of the actuator 28 and the central link 32 are connected to each other via the first rod 36 and the second rod 38. As a result, the central link 32 rotates in conjunction with the rotation of the output shaft 28A of the actuator 28. Here, the actuator 28, the first rod 36, the second rod 38, the central link 32 and the four outer links 34 constitute a drive unit 40 that moves each leg 22 towards the luggage 30 or away from the luggage 30.

[0025] As described above, the leg 22 is supported by the linear guide 24 via the slide portion 42, the rotation support portion 44, and the like. More specifically, as shown in FIG. 6, the leg 22 is supported by the linear guide 24 via the slide portion 42, the slide bracket 46, and the rotation support portion 44. The slide portion 42 is engaged with the linear guide 24. This slide portion 42 is adapted to slide (move) along the longitudinal direction of the linear guide 24. In addition, the slide bracket 46 is fixed to the lower portion of the slide portion 42. As shown in FIG. 5, the other end of the outer link 34 is connected to the end of the slide bracket 46 on the opposite side to the slide portion 42 via a ball joint. In addition, the rotation support portion 44 as a second support portion protrudes downward from the lower portion of the slide bracket 46. This rotation support portion 44 engages with the longitudinal center portion of the upper connecting portion 22B of the leg 22, so that the leg 22 is supported by the rotation support portion 44 so as to be rotatable about the vertical direction as the axial direction.

[0026] A rotation limiting spring 48 is provided between the upper connecting portion 22B of the leg 22 and the slide bracket 46 as a rotation limiting portion. The rotation limiting spring 48 is, for example, a torsion spring. The rotation support portion 44 is inserted into the rotation limiting spring 48. One end 48A of the rotation limiting spring 48 is engaged with a hole formed in the upper connecting portion 22B. The other end 48B of the rotation limiting spring 48 is engaged with a hole formed in the slide bracket 46. The deformation of the rotation limiting spring 48 allows the leg 22 to rotate about an axial direction extending in the vertical direction.

[0027] (Actions and Effects of the Present Embodiment) Next, the operation and effects of this embodiment will be described.

[0028] As shown in Figures 1 and 2, in the unmanned luggage transport vehicle 10 of this embodiment, the luggage support device 14 can support luggage 30 when the ground contact portion 18 is in contact with the ground (when the unmanned luggage transport vehicle 10 has landed).

[0029] 7 and 8, a load 30 having a rectangular parallelepiped shape is placed below the plate 20, and each leg 22 is separated from the load 30. In this state, each leg 22 is held in a position determined by a rotation limiting spring 48 (see FIG. 6). This makes it possible to limit unnecessary rotation of each leg 22 about the vertical direction as the axial direction when each leg 22 is not supporting the load 30. The position of each leg 22 with respect to each linear guide 24 when each leg 22 is not supporting the load 30 is referred to as the "standard position A1."

[0030] Here, the luggage 30 has a rectangular upper surface 30A and a lower surface 30B (see FIG. 11), and four side surfaces 30C that connect the upper surface 30A and the lower surface 30B in the up-down direction. Two of the four side surfaces 30C that have a smaller horizontal dimension are called first side surfaces 30C1, and two of the four side surfaces 30C that have a larger horizontal dimension than the horizontal dimension of the first side surface 30C1 are called second side surfaces 30C2. The luggage 30 shown in FIG. 7 to FIG. 11 is a standard aspect ratio luggage 30 in which the ratio of the horizontal dimension of the first side surface 30C1 to the horizontal dimension of the second side surface 30C2 (hereinafter referred to as the "aspect ratio") is set to a predetermined aspect ratio.

[0031] 5, when the output shaft 28A of the actuator 28 rotates to one side (the direction of the arrow C1), the central link 32 rotates to one side (the direction of the arrow C2), and the four outer links 34 pull the four slide brackets 46. As a result, each leg 22 moves toward the load 30. The operating state of the drive unit 40 caused by the output shaft 28A of the actuator 28 rotating to one side (the direction of the arrow C1) is referred to as the "operating state when supporting a load" as a first state.

[0032] As shown in Figures 9 and 10, when each leg 22 moves toward the luggage 30, the two contact portions 22A of each leg 22 contact the adjacent first side surface 30C1 and second side surface 30C2, respectively. Here, as shown in Figures 10, 11, 12, and 13, in the case of luggage 30 having a standard aspect ratio, each leg 22 is designed to hardly rotate from the standard posture A1. That is, in this embodiment, the standard posture A1 of each leg 22 is set according to luggage 30 having a standard aspect ratio. Note that the luggage 30 is not shown in Figures 12 and 13.

[0033] 9, 11, and 12, when the two contact portions 22A of each leg 22 contact the adjacent first side surface 30C1 and second side surface 30C2, respectively, the lower connecting portion 22C of each leg 22 is disposed along the lower surface 30B of the luggage 30. As a result, the four corner portions 30D of the luggage 30 are supported by each leg 22.

[0034] 2, when each small unmanned aerial vehicle 12 is operated, each small unmanned aerial vehicle 12 flies together with the luggage support device 14. This allows the luggage 30 supported by the luggage support device 14 to be transported by air.

[0035] When the unmanned baggage transport vehicle 10 has landed, as shown in FIG. 5, the output shaft 28A of the actuator 28 rotates to the other side (opposite the direction of the arrow C1), causing the central link 32 to rotate to the other side (opposite the direction of the arrow C2), and the four outer links 34 push the four slide brackets 46. This causes each leg 22 to move to the side opposite the baggage 30. As a result, the baggage 30 supported by each leg 22 can be lowered from the baggage support device 14. The operating state of the drive unit 40 caused by the output shaft 28A of the actuator 28 rotating to the other side (opposite the direction of the arrow C1) is referred to as the "operating state when lowering the baggage" as a second state.

[0036] 14 shows luggage 30 with a flat aspect ratio in which the horizontal dimension of first side surface 30C1 is smaller than the horizontal dimension of first side surface 30C1 of luggage 30 with a standard aspect ratio. The movement of each leg 22 when each leg 22 supports luggage 30 with a flat aspect ratio will be described below.

[0037] As shown in Figures 14, 15 and 16, when each leg 22 moves toward the luggage 30, first, one abutment portion 22A of the leg 22 abuts against the first side surface 30C1. When each leg 22 further moves toward the luggage 30 with one abutment portion 22A of the leg 22 abutting against the first side surface 30C1, each leg 22 rotates from the standard position A1 to one side (the direction of the arrow C3). When each leg 22 rotates from the standard position A1 to one side, the rotation limiting spring 48 (see Figure 6) is deformed. When each leg 22 rotates from the standard position A1 to one side, the other abutment portion 22A of the leg 22 abuts against the second side surface 30C2. When the two contact portions 22A of each leg 22 contact the adjacent first side surface 30C1 and second side surface 30C2, respectively, the lower connecting portion 22C of each leg 22 is disposed along the lower surface 30B of the luggage 30 with a flat aspect ratio. As a result, the four corner portions 30D of the luggage 30 with a flat aspect ratio are supported by each leg 22.

[0038] As described above, the luggage support device 14 of the unmanned luggage transport vehicle 10 of this embodiment can support luggage 30 of different sizes and shapes (aspect ratios).

[0039] Furthermore, when the legs 22 move away from the luggage 30 with a flat aspect ratio, with the four corner portions 30D of the luggage 30 being supported by the legs 22, the luggage 30 with a flat aspect ratio supported by the legs 22 is lowered from the luggage support device 14. At this time, the legs 22 are returned to the standard position A1 by the restoring force (biasing force) of the rotation limiting springs 48. In this manner, in this embodiment, when the legs 22 move away from the luggage 30, the legs 22 can be returned to the standard position A1.

[0040] In this embodiment, an example is described in which the rotation limiting spring 48 is used to suppress unnecessary rotation of each leg 22, but the invention is not limited to this. For example, unnecessary rotation of each leg 22 may be suppressed by providing a rotation limiting part that generates friction between the upper connecting part 22B of the leg 22 and the slide bracket 46.

[0041] Although one embodiment of the present invention has been described above, the present invention is not limited to the above, and it is of course possible to implement the present invention in various other modified forms without departing from the spirit and scope of the present invention. [Explanation of symbols]

[0042] 10. Unmanned baggage transport vehicle 12 Small unmanned aircraft 14 Luggage support device 20 Plate (base) 22 Legs 22A Contact part 24 Linear guide (first support part) 30 Luggage 30D Corner of luggage 40 Drive unit 44 Rotation support part (second support part) 48 Rotation limiting spring (rotation limiting part)

Claims

1. A base on which a small unmanned aerial vehicle can be attached, a plurality of legs provided on a lower side of the base, each having two abutment portions that respectively abut against two adjacent side surfaces of the luggage when viewed from above, and supporting corner portions of the luggage in a state in which the two abutment portions are respectively abutted against the two adjacent side surfaces of the luggage; a first support portion fixed to a lower side of the base and supporting each of the legs so as to be movable toward the luggage side and toward an opposite side to the luggage; a drive unit that, when actuated, moves each of the legs toward the luggage or toward an opposite side to the luggage; a second support portion provided between the base and each of the legs and configured to support each of the legs rotatably about an axial direction in the vertical direction; Equipped with Further, a rotation limiting portion is provided which limits the rotation of each of the legs about an axial direction in the vertical direction, The rotation limiting portion is a luggage support device that limits the rotation of each of the legs about an axial direction in the vertical direction when each of the legs is not supporting the luggage.

2. The rotation limiting portion is a rotation limiting spring, a portion of which is engaged with the leg portion, The luggage support device according to claim 1 , wherein the rotation limiting spring is deformed to allow the leg to rotate about an axial direction extending in the vertical direction.

3. Small unmanned aerial vehicles and A base on which the small unmanned aerial vehicle is attached; a plurality of legs provided on a lower side of the base, each having two abutment portions that respectively abut against two adjacent side surfaces of the luggage when viewed from above, and supporting corner portions of the luggage in a state in which the two abutment portions are respectively abutted against the two adjacent side surfaces of the luggage; a first support portion fixed to a lower side of the base and supporting each of the legs so as to be movable toward the luggage side and toward an opposite side to the luggage; a drive unit that, when actuated, moves each of the legs toward the luggage or toward an opposite side to the luggage; a second support portion provided between the base and each of the legs and configured to support each of the legs rotatably about an axial direction in the vertical direction; Equipped with Further, a rotation limiting portion is provided which limits the rotation of each of the legs about an axial direction in the vertical direction, The rotation limiting unit is an unmanned baggage transport vehicle that limits the rotation of each of the legs about an axial direction in the vertical direction when each of the legs is not supporting the baggage.

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