Loading device, loading program, and loading method

Abstract

To provide an unloading device capable of improving unloading work efficiency, and to provide an unloading program and an unloading method therefor.SOLUTION: A control device for an unloading device according to an embodiment performs controlling so as to hold a cargo via control of a holding device in a state of maintaining a support part to an initial position via control of a turning device; and to move the cargo in a state where a lower end of the cargo comes into contact with a placement surface of the cargo via control of a first moving device, in a state of maintaining the support part to a turning position via control of the turning device, after elevating the cargo to predetermined height by controlling the first moving device.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] FIELD An embodiment of the present invention relates to an unloading device, a program, and an unloading method. [Background technology]

[0002] For example, unloading devices are known that are used in logistics warehouses and unload cargo loaded on a loading section such as a pallet. Such unloading devices are known to have a configuration in which a holding section holds the cargo and unloads the held cargo onto a destination such as a conveyor. This type of unloading device is known to have a configuration in which a holding section holds the cargo by suction on the top and sides of the cargo. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-24679 Summary of the Invention [Problem to be solved by the invention]

[0004] The problem to be solved by the present invention is to provide an unloading device, an unloading program, and an unloading method that can improve the efficiency of unloading work. [Means for solving the problem]

[0005] The unloading device according to the embodiment includes a holding device, a support unit, a first moving device, a rotating device, and a control device. The holding device includes an upper surface suction unit that suctions an upper surface of a load and a side surface suction unit that suctions a side surface of the load. The support unit supports the holding device rotatably around a single axis that intersects the vertical direction. The first moving device is connected to the support unit and moves the support unit. The rotating device maintains the support unit around the single axis at a rotated position where the upper surface suction unit is moved downward from an initial position where the upper surface suction unit is substantially horizontal. The control device controls the holding device to hold the load while controlling the rotating device to maintain the support unit at the initial position, controls the first moving device to raise the load to a predetermined height, and then controls the rotating device to maintain the support unit at the rotated position and controls the first moving device to move the load with the lower end of the load in contact with the load placement surface. [Brief explanation of the drawings]

[0006] [Figure 1] FIG. 1 is a perspective view showing a configuration of an unloading device according to an embodiment. [Figure 2] FIG. 4 is a side view showing the holding device and the support part of the unloading device. [Figure 3] FIG. 2 is a block diagram showing the configuration of the unloading device. [Figure 4] 4 is a flowchart showing an example of the operation of the unloading device. [Figure 5] 4 is a flowchart showing an example of the operation of the unloading device. [Figure 6] FIG. 4 is a schematic diagram illustrating an example of the operation of the unloading device. [Figure 7] FIG. 4 is a schematic diagram illustrating an example of the operation of the unloading device. [Figure 8] FIG. 4 is a schematic diagram illustrating an example of the operation of the unloading device. [Figure 9] FIG. 4 is a schematic diagram illustrating an example of the operation of the unloading device. [Figure 10] FIG. 4 is a schematic diagram illustrating an example of the operation of the unloading device. [Figure 11]FIG. 4 is a schematic diagram illustrating an example of the operation of the unloading device. [Figure 12] FIG. 4 is a schematic diagram illustrating an example of the operation of the unloading device. [Figure 13] FIG. 4 is a schematic diagram illustrating an example of the operation of the unloading device. DETAILED DESCRIPTION OF THE INVENTION

[0007] An unloading device 10 according to one embodiment will be described with reference to FIGS. 1 to 13. FIG.

[0008] FIG. 1 is a perspective view showing the configuration of the unloading apparatus 10. FIG. 2 is a side view showing the holding device 70 and the support part 80 of the unloading apparatus 10. FIG. 3 is a block diagram showing the configuration of the unloading apparatus 10. FIGS. 4 and 5 are flowcharts showing an example of the operation of the unloading apparatus 10. FIGS. 6 to 13 are schematic diagrams explaining an example of the operation of the unloading apparatus 10.

[0009] As shown in Figures 1 to 3, the unloading device 10 includes, for example, a frame 20, an intermediate conveyor 30, a lifting device 40, a first sensor 50, a second sensor 60, a holding device 70, a support portion 80, a first moving device 90, a second moving device 110, a rotating device 120, a third sensor 140, and a control device 130.

[0010] The unloading device 10 is used, for example, in a logistics warehouse, and holds a load 2 from a load group 3 consisting of multiple loads 2 loaded on a loading section 1 such as a pallet using a holding device 70, unloads the load 2 onto an intermediate conveyor 30, which is an example of a load destination, using a first moving device 90, and then transports the load to a main conveyor 4, which is an example of a load destination, using the intermediate conveyor 30 and a lifting device 40.

[0011] The unloading device 10 is disposed, for example, between the placement unit 1 and the main conveyor 4. In this embodiment, the direction of gravity is defined as the downward direction, and the up-down direction Z is defined as the downward direction, the direction perpendicular to the up-down direction Z and extending from the unloading device 10 to the placement unit 1 is defined as the forward direction, and the direction perpendicular to both the up-down direction Z and the up-down direction X is defined as the width direction Y.

[0012] As shown in FIG. 2, each piece of luggage 2 is, for example, rectangular and has an upper surface 6, side surfaces 7, and a lower surface 8. The side surfaces 7 include a front surface 5a and a rear surface 5b. In the luggage group 3, the plurality of pieces of luggage 2 are arranged, for example, with the front surfaces 5a and rear surfaces 5b perpendicular to the front-to-rear direction. Between two pieces of luggage 2 arranged in the vertical direction Z, an anti-slip agent 5 such as glue is provided to prevent the luggage from shifting. For example, the anti-slip agent 5 is provided at least in two locations on the top surface 6 of the piece of luggage 2, spaced apart in the front-to-rear direction X. The two pieces of luggage 2 arranged in the vertical direction are fixed together by the anti-slip agent 5. As shown in FIG. 1, the main conveyor 4 is configured to transport pieces of luggage 2 unloaded by the unloading device 10 to a secondary destination of the unloading device 10.

[0013] The frame 20 supports the intermediate conveyor 30 , the lifting device 40 , the first sensor 50 , the second sensor 60 , the holding device 70 , the support portion 80 , the first moving device 90 , the second moving device 110 , and the rotating device 120 .

[0014] The frame 20 includes, for example, a frame main body 21 and ribs 22 . The frame body 21 supports the intermediate conveyor 30, the lifting device 40, the second sensor 60, the holding device 70, the support section 80, the first moving device 90, the second moving device 110, and the rotating device 120. The frame body 21 has a first opening 23 facing the placement section 1 and a second opening 24 facing the main conveyor 4. The first opening 23 and the second opening 24 are configured to allow the luggage 2 to pass through in the front-rear direction X.

[0015] The frame body 21 includes, for example, a plurality of pillars 25 (for example, four pillars) and a plurality of beams 26. The multiple pillar portions 25, for example, form a first opening 23 by two pillar portions 25 adjacent to each other in the width direction Y and two beam portions 26 provided at the upper and lower ends, and form a second opening 24 by two pillar portions 25 adjacent to each other in the width direction Y behind the two pillar portions 25 that form the first opening 23 and two beam portions 26 provided at the upper and lower ends.

[0016] The rim portion 22 is provided at the front end of the upper end of the frame main body 21. The rim portion 22 protrudes forward from the frame main body 21. The rim portion 22 is disposed, for example, at a position aligned with the placement portion 1 in the up-down direction.

[0017] The intermediate conveyor 30 is housed within the frame body 21. The intermediate conveyor 30 is configured to be able to transport the cargo 2 that has been carried into the frame body 21 through the first opening 23 to the main conveyor 4 through the second opening 24.

[0018] The intermediate conveyor 30 is, for example, a belt conveyor. The intermediate conveyor 30 includes, for example, a belt 31, a first drive unit 32, and a first transmission mechanism 33. The intermediate conveyor 30 may be a roller conveyor.

[0019] The belt 31 is, for example, an endless belt. The front end of the belt 31 is located near the first opening 23. The rear end of the belt 31 is located near the second opening 24. The gap between the rear end of the belt 31 and the main conveyor 4 is set to a gap that prevents the luggage 2 transported by the intermediate conveyor 30 from falling downward from between the belt 31 and the main conveyor 4.

[0020] The first driving unit 32 generates a driving force for driving the belt 31. The first driving unit 32 is, for example, a motor. The first transmission mechanism 33 receives a driving force generated by the first drive unit 32 and rotates the belt 31. The first transmission mechanism 33 rotatably supports the belt 31 in an orientation in which an upper surface 34 of the belt 31 is, for example, a plane perpendicular to the vertical direction Z. The first transmission mechanism 33 includes, for example, a pair of pulleys provided at the front end and the rear end of the belt 31, which rotatably support the belt 31, and a shaft portion which connects the pulley at the rear end and the main shaft of the first drive unit 32 and rotates the pulley at the rear end integrally with the first drive unit 32.

[0021] In the intermediate conveyor 30 configured in this manner, the belt 31 is rotated by driving the first drive unit 32, and the baggage 2 placed on the belt 31 is carried out to the main conveyor 4.

[0022] The lifting device 40 is configured to be able to lift and lower the intermediate conveyor 30 within the frame main body 21. The lifting device 40 is provided, for example, in the frame main body 21. The lifting device 40 includes, for example, a second drive unit 41 and a second transmission mechanism 42.

[0023] The second drive unit 41 generates a drive force for raising and lowering the intermediate conveyor 30. The second drive unit 41 is, for example, a motor. The second drive unit 41 is installed, for example, at the upper end of the frame main body 21.

[0024] The second transmission mechanism 42 transmits the driving force generated by the second drive unit 41 to the intermediate conveyor 30 to raise and lower the intermediate conveyor 30. The second transmission mechanism 42 includes, for example, a shaft 43 and a plurality of wires 44.

[0025] The shaft 43 is rotated by the second driving unit 41. The shaft 43 is fixed, for example, directly or indirectly to the main shaft of the second driving unit 41. The shaft 43 is installed at the upper end of the frame main body 21 in a position parallel to the horizontal direction, for example, a position parallel to the width direction Y.

[0026] The plurality of wires 44 have one end fixed to the shaft 43 and the other end fixed to the intermediate conveyor 30 .

[0027] In the lifting device 40 configured in this manner, the shaft 43 rotates when the second drive unit 41 is driven, and the plurality of wires 44 are wound around or unwound from the shaft 43, thereby lifting and lowering the intermediate conveyor 30.

[0028] The first sensor 50 detects information about the luggage 2 in the luggage group 3, including position information about the luggage 2. The first sensor 50 transmits the detection result to the control device 130. The first sensor 50 is, for example, a stereo camera. The first sensor 50 measures the distance between the first sensor 50 and the luggage 2 based on the parallax when images are captured from two different points. In addition to the position information about the luggage 2, the first sensor 50 also detects the size and shape of the luggage 2 as an example of information about the luggage 2. The first sensor 50 is installed, for example, on the frame 20, specifically on the eaves 22. The first sensor 50 is placed in a position aligned with the placement unit 1 in the vertical direction. The second sensor 60 measures the height of the underside 8 of the luggage 2 on the movement trajectory of the luggage 2 held by the holding device 70 and moved to the intermediate conveyor 30. The second sensor 60 transmits the detection result to the control device 130. The second sensor 60 is installed, for example, between the placement unit 1 and the intermediate conveyor 30, below the intermediate conveyor 30. The second sensor 60 is installed, for example, at the front end of the lower end of the frame main body 21.

[0029] The second sensor 60 is, for example, a laser range finder (LRF). The second sensor 60 irradiates, for example, laser light such as infrared laser light, visible light, ultraviolet light, or X-rays upward onto the underside 8 of the luggage 2 being moved between the placement unit 1 and the intermediate conveyor 30, and receives the laser light reflected by the underside 8. Then, the second sensor 60 detects the height of the underside 8 of the luggage 2 based on the time between the irradiation and the reception of the reflected light.

[0030] The holding device 70 includes an upper surface suction portion 71 and a side surface suction portion 72. The holding device 70 holds the luggage 2 by suctioning the upper surface 6 of the luggage 2 with the upper surface suction portion 71 and by suctioning the side surface 7 of the luggage 2 with the side surface suction portion 72. The holding device 70 releases its hold on the luggage 2 by releasing the suction by the upper surface suction portion 71 and the side surface suction portion 72.

[0031] As shown in FIG. 3, in this embodiment, the holding device 70 is equipped with a negative pressure generating device 77 including a pump, and by driving this negative pressure generating device 77, the upper surface suction portion 71 and the side surface suction portion 72 adsorb the luggage 2.

[0032] As shown in FIG. 2, the upper surface suction portion 71 includes, for example, a first main body 73 and one or more first suction pads 74. The first body 73 is connected to a negative pressure generator 77. The first body 73 is supported by a support 80. The first body 73 has a lower surface 73a formed on a plane perpendicular to the up-down direction Z, for example. The first body 73 is formed in the shape of a rectangular parallelepiped, for example.

[0033] For example, a plurality of first suction pads 74 are provided on the first main body 73. The plurality of first suction pads 74 are provided on the lower surface 73a, for example. The plurality of first suction pads 74 are formed in a cylindrical shape, for example, a truncated conical cylindrical shape, with an open end 74a at the lower end. The plurality of first suction pads 74 are connected to the negative pressure generator 77 via the first main body 73. The open ends 74a of the plurality of first suction pads 74 are arranged, for example, on the same plane perpendicular to the up-down direction.

[0034] The side suction portion 72 includes, for example, a second main body 75 and one or more second suction pads 76. The second body 75 is connected to the negative pressure generator 77. The second body 75 is supported by a support 80. The second body 75 has a front surface 75a formed on a plane perpendicular to the front-rear direction X, for example. The second body 75 is formed in the shape of a rectangular parallelepiped, for example.

[0035] For example, a plurality of second suction pads 76 are provided on the front surface 75a of the second main body 75. The second suction pads 76 are formed in a cylindrical shape, for example, a truncated conical cylindrical shape, with an open end 76a at the front end. The plurality of second suction pads 76 are connected to the negative pressure generator 77 via the second main body 75. The plurality of open ends 76a of the plurality of second suction pads 76 are arranged, for example, on the same plane perpendicular to the front-rear direction X.

[0036] The negative pressure generator 77 is configured to generate negative pressure within the plurality of first suction pads 74 and the plurality of second suction pads 76 and to be able to release this negative pressure. The negative pressure generator 77 includes, for example, a pump, a first pipe connecting the pump and the upper surface suction portion 71, a second pipe connecting the pump and the side surface suction portion 72, and valves provided in the first pipe and the second pipe and connecting the first pipe and the second pipe to the atmosphere. The pump may be shared by both the upper surface suction portion 71 and the side surface suction portion 72, or one pump may be provided for each of the upper surface suction portion 71 and the side surface suction portion 72.

[0037] In the holding device 70 configured in this manner, the upper surface suction portions 71 and the side surface suction portions 72 hold the load 2 by vacuum suction due to the negative pressure generated by the negative pressure generator 77. When the valve is opened to release the negative pressure in the first suction pad 74 and the second suction pad 76, in other words, when a vacuum break occurs, the upper surface suction portions 71 and the side surface suction portions 72 release the load 2.

[0038] The support section 80 supports the holding device 70 on the first moving device 90 in a position where the upper surface suction section 71 can suction the upper surface 6 of the luggage 2 and the side surface suction section 72 can suction the rear surface 5b of the luggage 2.

[0039] Furthermore, the support unit 80 supports the holding device 70 on the first moving device 90 so that the holding device 70 can rotate about an axis perpendicular to the up-down direction Z. In this embodiment, the support unit 80 supports the holding device 70 so that the holding device 70 can rotate about an axis parallel to the width direction Y between an initial position A1 and a rotation position A2.

[0040] The initial position A1 is a position where the upper surface suction portion 71 can suction the upper surface of the luggage 2 placed on the loading portion 1, and the side surface suction portion 72 can suction the rear surface 5b of the luggage 2. The initial position A1 is a position where the surface of the upper surface suction portion 71 that abuts against the upper surface 6 is approximately horizontal.

[0041] Here, "substantially horizontal" includes both horizontal and having a slight inclination with respect to the horizontal. For example, depending on the assembly accuracy of each component, such as the support unit 80 and the holding device 70, of the unloading device 1, when an attempt is made to position the surface of the upper surface suction unit 71 that abuts against the upper surface 6 horizontally, the surface may be slightly inclined. "Having a slight inclination with respect to the horizontal" includes an error in which the surface of the upper surface suction unit 71 that abuts against the upper surface 6 is slightly inclined with respect to the horizontal when the rotation device 120, which will be described later, is controlled so that the surface of the upper surface suction unit 71 that abuts against the upper surface 6 is horizontal. In this embodiment, the initial position A1 is, for example, a position where the open ends 74a of the multiple first suction pads 74 of the upper surface suction unit 71 are horizontal and the open ends 76a of the multiple second suction pads 76 are perpendicular to the front-rear direction X. The rotation position A2 is a position where the side surface adsorption portion 72 is disposed above the initial position A1.

[0042] The support part 80 includes, for example, a support part main body 81 and a connecting part 82 . The support body 81 is provided with an upper surface suction portion 71 and a side surface suction portion 72. The support body 81 includes a first portion 83 and a second portion 84, for example.

[0043] The first portion 83 is provided with the upper surface suction portion 71. The first portion 83 is formed in a shape that is long in the front-rear direction X. The upper surface suction portion 71 is provided on the front end portion of the first portion 83, for example.

[0044] The second portion 84 is provided with the side suction portion 72, for example, via the second moving device 110. The second portion 84 is provided, for example, at the rear end of the first portion 83, and is formed in a downwardly elongated shape.

[0045] The connecting portion 82 connects the support portion main body 81 to the first moving device 90 so as to be rotatable around an axis parallel to the width direction Y. The connecting portion 82 includes a bracket 85 and a rotation shaft 86, for example.

[0046] The bracket 85 is fixed to, for example, the first moving device 90. The rotation shaft 86, for example, rotatably connects the rear end of the first portion 83 to the bracket 85. The rotation shaft 86 is formed parallel to the width direction Y.

[0047] 1, the first moving device 90 is connected to the support section 80 and moves the support section 80. The first moving device 90 moves the holding device 70 via the support section 80 between the placement section 1 and the intermediate conveyor 30. In other words, the first moving device 90 moves the support section 80 between a holding position where the luggage 2 is held and a destination where the luggage 2 is to be unloaded.

[0048] The first movement device 90 is supported by, for example, the frame main body 21. The first movement device 90 includes, for example, a horizontal movement device 91 and an elevation device 92.

[0049] The horizontal movement device 91 moves the support part 80 in the horizontal direction. The horizontal movement device 91 includes, for example, a base part 93, a movable part 95, and an arm 94.

[0050] The base portion 93 is formed above the intermediate conveyor 30 in the frame main body 21 so as to be movable in the up-down direction Z. The base portion 93 is formed, for example, in the shape of a flat plate.

[0051] The movable part 95 is provided on the base part 93. The movable part 95 moves the arm 94 in the front-rear direction X and the width direction Y relative to the base part 93. As shown in FIG. 3 , the movable part 95 includes, for example, a front-rear direction actuator 95a and a width direction actuator 95b. The front-rear direction actuator 95a moves the arm 94 in the front-rear direction X. The width direction actuator 95b moves the arm 94 in the width direction Y.

[0052] The arm 94 is formed in a shape that extends in the front-rear direction X. The arm 94 is supported by a movable part 95. The bracket 85 is fixed to the front end of the arm 94.

[0053] The lifting device 92 moves the horizontal movement device 91 in the vertical direction Z. The lifting device 92 includes, for example, a shaft 96, a vertical actuator 97, and a plurality of wires 98.

[0054] The shaft 96 is rotatably supported at the upper end of the frame main body 21 in a position parallel to the width direction Y, for example. The vertical actuator 97 is fixed to the upper end of the frame body 21 , for example, and rotates the shaft 96 . A plurality of wires 98 have one end fixed to the shaft 96 and the other end fixed to the base 93 of the horizontal movement device 91 .

[0055] 2, the second moving device 110 is provided on the support unit 80 and moves the side surface adsorption unit 72 toward and away from the side surface of the luggage 2, which in this embodiment is the rear surface 5b. The second moving device 110 moves the side surface adsorption unit 72 in the front-rear direction X. The second moving device 110 includes, for example, a base unit 111, a moving unit 112, and a third driving unit 113.

[0056] The base 111 is fixed to the second portion 84 of the support body 81, for example. The moving portion 112 is supported by the base portion 111 so as to be movable in the front-rear direction X, for example. The third driving unit 113 is fixed to, for example, the base unit 111. The third driving unit 113 moves the moving unit 112 in the front-rear direction X.

[0057] The rotation device 120 rotates the support unit 80 between an initial position A1 and a rotated position A2. The rotation device 120 maintains the support unit 80 at the initial position A1 when the holding device 70 holds the luggage 2. The rotation device 120 maintains the support unit 80 at the rotated position A2 when the holding device 70 holds the luggage 2. The rotation device 120 may be configured to be able to maintain the support unit 80 at any position between the initial position A1 and the rotated position A1 when the holding device 70 holds the luggage 2, for example.

[0058] The rotation device 120 includes, for example, an arm 121 and a rotation actuator 122 .

[0059] The arm 121 is provided, for example, on the arm 94 of the horizontal movement device 91, and is formed in a shape extending in the front-rear direction X above the arm 94. The front end of the arm 121 is disposed at a position opposite to the front end of the first part 83 of the support portion main body 81 in the up-down direction.

[0060] The rotation actuator 122 connects the front end of the arm 121 and the front end of the first portion 83, and extends and contracts in the vertical direction to rotate the support part 80 around the rotation shaft 86. The rotation actuator 122 is, for example, an air cylinder.

[0061] 2 and 3, the rotation actuator 122 includes, for example, a cylinder 123, a piston 124, a pump 125, and a circuit 126. In the rotation actuator 122, the pump 125 and the cylinder 123 are connected by the circuit 126, and the piston 124 moves in the vertical direction Z relative to the cylinder 123 by air supplied to the pump 125.

[0062] A pump 125 supplies air to the cylinder 123 via a circuit 126 . The circuit 126 connects the pump 125 and the cylinder 123. For example, the circuit 126 includes a flow path and one or more relief valves. The circuit 126 supplies the cylinder 123 with a pressure to maintain the cylinder 123 at the initial position A1 or a pressure to maintain the cylinder 123 at the rotation position A2 by controlling the relief valve.

[0063] By adjusting the amount of protrusion of the piston 124 relative to the cylinder 123 using the rotation device 120, the amount of rotation of the support part 80 around the rotation shaft 86 is controlled.

[0064] In the above-described rotation actuator 122, as an example, the circuit 126 is controlled to switch the pressure supplied to the cylinder 123 between a pressure for maintaining the cylinder 123 at the initial position A1 and a pressure for maintaining the cylinder 123 at the rotation position A2. However, this is not limiting. In another example, the rotation actuator 122 may not include the circuit 126, and the pump 125 may be configured to supply the cylinder 123 with the pressure for maintaining the cylinder 123 at the initial position A1 and the pressure for maintaining the cylinder 123 at the rotation position A2. Alternatively, the pump 125 and the circuit 126 may form a hydraulic circuit. Alternatively, the rotation device 120 may include a motor as the rotation actuator 122, and the driving force generated by the motor may be used to maintain the support unit 80 in the initial position A1 when the holding device 70 holds the load 2, or to maintain the support unit 80 in the rotation position A2 when the holding device 70 holds the load 2.

[0065] The third sensor 140 detects information to determine whether there is space behind the luggage 2 in which the side suction portion 72 can be moved to the rear surface 5b of the luggage 2 when the top surface suction portion 71 is suctioned to the top surface 6 of the luggage 2 to be held in the holding position.

[0066] In this embodiment, when the upper surface suction portions 71 suction the upper surface 6, the plurality of first suction pads 74 contract in the vertical direction Z due to negative pressure. When the opening ends 74a of the plurality of first suction pads 74 are in contact with the upper surface 6 of the load 2 but the upper surface 6 has not yet been suctioned by the plurality of first suction pads 74, the plurality of first suction pads 74 do not contract in their axial direction.

[0067] 11 , when the opening ends 74a of the first suction pads 74 are in contact with the upper surface 6 of the load 2 at the holding position but the first suction pads 74 are not suctioning the upper surface 6, the first suction pads 74 are in a state before they contract, so it may be possible to position the side suction portions 72 behind the load 2. However, if the negative pressure generator 77 creates a negative pressure inside the first suction pads 74 in this state and the first suction pads 74 contract in the axial direction, there is a risk that the side suction portions 72 may interfere with the load 2 or the placement portion 1 below.

[0068] In this manner, the third sensor 140 detects the distance to the luggage 2 or the placement unit 1 below the side suction unit 72 when the open ends 74a of the multiple first suction pads 74 are in contact with the upper surface 6 of the luggage 2 but the multiple first suction pads 74 are not suctioning the upper surface 6. In this embodiment, the third sensor 140 detects the distance to the luggage 2 or the placement unit 1 diagonally downward and forward. The third sensor 140 transmits the detection result to the control device 130. The third sensor 140 is installed, for example, at the lower end of the side suction unit 72, specifically, at the lower end of the second main body 75. The third sensor 140 is, for example, a laser range finder. The third sensor 140 emits a laser beam diagonally downward and forward.

[0069] The control device 130 controls the operation of each part of the unloading device 10. The control device 130 may also control the main conveyor 4. The main conveyor 4 may also be controlled by another control device. The control device 130 is provided on the frame 20, for example.

[0070] The control device 130 controls the holding device 70, the first moving device 90, the second moving device 110, and the rotating device 120. The control device 130 detects the position, shape, and size of the luggage 2 on the placement unit 1 based on the detection result of the first sensor 50. The control device 130 detects the height of the bottom surface of the luggage 2 being unloaded from the placement unit 1 onto the intermediate conveyor 30 based on the detection result of the second sensor 60. The control device 130 determines, based on the detection result of the third sensor 140, whether there is space behind the luggage 2 to place the side suction units 72 when the top surface 6 of the luggage 2 is suctioned by the top surface suction units 71 at the holding position.

[0071] In addition, the control device 130 controls the rotation device 120 to maintain the support part 80 at the initial position A1, controls the holding device 70 to hold the luggage 2, controls the first moving device 90 to raise the luggage 2 to a predetermined height, and then controls the rotation device 120 to maintain the support part 80 at the rotation position A2, and controls the first moving device 90 to move the luggage 2 with the lower end of the luggage 2 in contact with the loading surface of the luggage 2.

[0072] The control device 130 constitutes a computer for controlling the unloading device 10. The control device 130 has, for example, a communication interface 131, a processor 132, a memory 133, and a storage 134. These communicate with each other via a bus line 135.

[0073] The communication interface 131 is an interface used for communication with external devices, and includes terminals and circuits that comply with communication standards for communication between the control device 130 and each part of the unloading device 10.

[0074] The communication interface 131 is connected to and communicates with the intermediate conveyor 30, the first sensor 50, the second sensor 60, the holding device 70, the first moving device 90, the second moving device 110, the rotating device 120, and the third sensor 140 via a wire or wirelessly. The control device 130 controls the intermediate conveyor 30, the first sensor 50, the second sensor 60, the holding device 70, the first moving device 90, the second moving device 110, the rotating device 120, and the third sensor 140. The processor 132 is configured by, for example, a CPU (Central Processing Unit). The memory 133 includes a ROM (Read Only Memory), which is a read-only data memory, or a RAM (Random Access Memory), which temporarily stores data. The storage 134 may be a large-capacity storage such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The memory 133 or the storage 134 stores control programs and various data for each device of the unloading device 10. The control program includes a program related to unloading of the luggage 2 placed on the mounting section 1. The processor 132 performs various processes based on the programs stored in the memory 133 or the storage 134. In other words, the processor 132 executes various programs as a software function unit. Instead of a CPU, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array) may be used as a hardware function unit.

[0075] Next, an example of the operation of the unloading device 10 will be described with reference to Figures 4 to 11. The control device 130 of the unloading device 10 unloads the luggage 2 placed on the loading section 1 by the processor 132 executing a program related to unloading of the luggage 2 stored in the memory 133.

[0076] 4, the control device 130 sets the tilt amount of the support part 80 to "small" (step ST1). Here, setting the tilt amount to "small" means controlling the pump 125 and the circuit 126 to control the protrusion amount of the piston 124 relative to the cylinder 123, thereby maintaining the support part 80 at the initial position A1.

[0077] Next, the control device 130 detects the position of the luggage 2 to be unloaded based on the detection result of the first sensor 50, and controls the first moving device 90 to move the upper surface suction unit 71 to the luggage 2 to be unloaded (step ST2). Here, moving the upper surface suction unit 71 to the luggage 2 means moving the upper surface suction unit 71 to a position where it will suction the upper surface 6 of the luggage 2.

[0078] Next, the control device 130 controls the holding device 70 to perform upper surface gripping by sucking the upper surface 6 with the upper surface suction portion 71 (step ST3).

[0079] Next, based on the detection result of the third sensor 140, the control device 130 determines whether or not other luggage 2 or loading section 1 that would hinder the side suction section 72 from suctioning the rear surface 5b has been detected while the upper surface 6 is being suctioned by the upper surface suction section 71 (step ST4).

[0080] Specifically, when the control device 130 determines based on the detection result of the third sensor 140 that the distance from the side surface suction portion 72 to another piece of luggage 2 or the placement unit 1 while the upper surface suction portion 71 is suctioning the upper surface 6 is not a distance that prevents the side surface suction portion 72 from suctioning the rear surface 5b of the piece of luggage 2 (NO in step ST4), the control device 130 controls the second moving device 110 to move the side surface suction portion 72 to the piece of luggage 2 (step ST5), as shown in Fig. 6. Here, moving the side surface suction portion 72 to the piece of luggage 2 means moving the side surface suction portion 72 to a position where the opening end 76a of the second suction pad 76 of the side surface suction portion 72 abuts against the rear surface 5b of the piece of luggage 2 and the piece of luggage 2 can be suctioned by the side surface suction portion 72.

[0081] Next, as shown in FIG. 6, the control device 130 controls the holding device 70 to hold the rear surface of the luggage 2 by the side surface suction portion 72 (step ST6).

[0082] Next, the control device 130 sets a timer (step ST7). Here, setting the timer means starting to measure the time estimated to be required for the load 2 to move from the holding position where the load 2 is held to the lifting target position at a predetermined height.

[0083] Here, the target lifting position is a position where, when the support part 80 is rotated to the rotation position A2, the front end of the luggage 2 abuts against the placement surface of the luggage 2. When the support part 80 is in the rotation position A2, the front end of the luggage 2 becomes the lower end of the luggage 2. In this embodiment, the placement surface is the upper surface of the lower luggage 2 or the upper surface of the placement part 1. In addition, the target lifting position is a height position where the side suction part 72 does not interfere with other luggage 2 or the placement part 1 below the side suction part 72.

[0084] The lifting target position is set, for example, according to the length in the front-rear direction of the luggage 2. The control device 130 detects the length in the front-rear direction of the luggage 2 based on the detection result of the first sensor 50, and sets the lifting target position based on the length in the front-rear direction of the luggage 2 and the rotation angle from the initial position A1 to the rotation position A2.

[0085] The lifting target position may also be set based on the length of the luggage 2 in the front-rear direction X, which is input in advance to the memory 133. Alternatively, the lifting target position may be a predetermined height that is set in advance.

[0086] Next, the control device 130 controls the first moving device 90 to start lifting the luggage 2 from the holding position (step ST8). As shown in Fig. 7, the control device 130 moves the first moving device 90 toward the luggage 2 relative to the side suction portion 72 while moving the luggage 2 upward. In other words, the control device 130 lifts the luggage 2 by moving the luggage 2 forward while moving it upward.

[0087] In this way, when the support part 80 is moved upward and forward while being maintained at the initial position A1, a shear force acts in addition to a peeling force on the anti-slip agent 5 that secures the luggage 2 held by the holding device 70 and the lower luggage 2. These forces cause the anti-slip agent 5 provided between the luggage 2 held by the holding device 70 and the lower luggage 2 to peel off from the luggage 2, thereby releasing the upper and lower luggage 2 from their fastening.

[0088] Next, as shown in Fig. 8, when the luggage 2 reaches the lifting target position (step ST9), the control device 130 controls the first moving device 90 to stop lifting the luggage 2 (step ST10). Furthermore, the control device 130 stops driving the first moving device 90 and maintains the luggage 2 at the lifting target position until the timer set in step ST7 fires (step ST11). The timer firing indicates that the time assumed to be required to lift the luggage 2 to the lifting target position has elapsed.

[0089] When the timer is fired, the control device 130 sets the tilt amount of the support unit 80 to "large" (step ST12), as shown in Figures 5 and 9. Here, setting the tilt amount to "large" means controlling the pump 125 and the circuit 126 to control the amount of protrusion of the piston 124 relative to the cylinder 123, thereby maintaining the support unit 80 at the rotation position A2. When the support unit 80 is rotated to the rotation position A2, the front end of the luggage 2 held by the holding device 70 comes into contact with the upper surface of the luggage 2 below or the upper surface of the placement unit 1, which is the placement surface for the luggage 2.

[0090] After setting the tilt amount of the support unit 80 to "large," the control device 130 then controls the first movement device 90 and the lifting device 40 to start drawing in the luggage 2, as shown in FIG. 10 (step ST13). Drawing in the luggage 2 here means detecting the height position of the lower end of the luggage 2 held by the holding device 70 based on the detection result of the second sensor 60, controlling the lifting device 40 to adjust the position of the upper surface of the intermediate conveyor 30 to the height position of the lower end of the luggage 2 held by the holding device 70, and controlling the first movement device 90 to draw the luggage 2 into the frame main body 21 through the first opening 23 of the frame main body 21 and place it on the intermediate conveyor 30. With the support unit 80 maintained in the rotation position A2, the luggage 2 is moved with its front end abutting the upper surface 6 of the luggage 2 below or the upper surface of the placement unit 1.

[0091] Next, when the load 2 reaches the target retraction position (step ST14), the control device 130 controls the holding device 70 to release the load 2 (step ST15). The load 2 reaching the target retraction position means that the load 2 reaches a position on the intermediate conveyor 30 where it will not fall from the intermediate conveyor 30. Releasing the load 2 means controlling the pump 125 and the circuit 126 to cause a vacuum break in the plurality of first suction pads 74 and the plurality of second suction pads 76, thereby releasing the suction of the top surface 6 by the plurality of first suction pads 74 and releasing the suction of the rear surface 5b by the plurality of second suction pads 76.

[0092] Next, when the load 2 is released, the control device 130 sets the tilt amount of the support part 80 to "small" (step ST16).

[0093] In this way, the unloading of one piece of luggage 2 is completed.

[0094] Furthermore, in step ST4, when the control device 130 detects the luggage 2 based on the detection result of the third sensor 140, that is, when it detects that the side suction units 72 are at risk of interfering with surrounding luggage 2 or the placement unit 1 below (YES in step ST4), it lifts the luggage 2 and raises it to the target position before the luggage 2 is attracted by the side suction units 72, and then the side suction units 72 attracts the luggage 2. For example, similar to steps ST8 to ST11, the control device 130 lifts the luggage 2, the upper surface 6 of which has been attracted by the upper surface suction units 71, and raises it to the target position, and then attracts the luggage 2 by the side suction units 72, similar to steps ST5 to ST6. Specifically, the control device 130 performs control in steps ST17 to ST23.

[0095] Step ST17 corresponds to step ST7. Step ST18 corresponds to step ST8. Step ST19 corresponds to step ST9. Step ST20 corresponds to step ST10. Step ST21 corresponds to step ST11. Step ST22 corresponds to step ST5. Step ST23 corresponds to step ST6.

[0096] As shown in FIG. 11, when the control device 130 detects the baggage 2 based on the detection result of the third sensor 140 (YES in step ST4), the control device 130 sets a timer (step ST17).

[0097] Next, as shown in FIG. 12, the control device 130 controls the first moving device 90 to start lifting the support part 80 and the load 2 (step ST18), and when it rises to the lifting target position (step ST19), controls the first moving device 90 to stop lifting the load 2 (step ST20). After stopping the driving of the first moving device 90, when the timer fires (step ST21), the control device 130 controls the second moving device 110 to move the side suction portion 72 to the rear surface 5b of the luggage 2, as shown in Figure 13 (step ST22).

[0098] Next, the control device 130 controls the holding device 70 to suck the rear surface 5b of the baggage 2 by the side surface suction portion 72 (step ST23).

[0099] When the side suction units 72 have sucked the rear surface 5b, the control device 130 proceeds to step ST12. In this way, if the side suction units 72 cannot suck the luggage 2 placed on the placement unit 1, the upper surface 6 is sucked by the upper surface suction units 71, and then the luggage 2 is raised to a position where the side suction units 72 do not interfere with the luggage 2 or placement unit 1 below, and then the luggage 2 is sucked by the side suction units 72.

[0100] In the unloading device 10 configured in this manner, when the luggage 2 is held by the holding device 70 at the holding position, the support part 80 is maintained at the initial position A1 by the rotating device 120, and the luggage 2 is lifted and raised to the target position.

[0101] For this reason, when lifting the luggage 2, the position of the holding device 70 around the rotation axis 86 does not change, so even if the luggage 2 is fixed to the luggage 2 below by the anti-slip agent 5, the fixation of the two luggages 2 lined up vertically by the anti-slip agent 5 can be efficiently released by the action of lifting the luggage 2.

[0102] That is, when lifting the luggage 2, the anti-slip agent 5 acts as a resistance, but by maintaining the support part 80 in the initial position A1, the force that tries to release the fixation by the anti-slip agent 5 is prevented from escaping, so that the fixation by the anti-slip agent 5 can be efficiently released by the action of lifting the luggage 2.

[0103] Furthermore, when the luggage 2 is raised to the lifting target position, the support unit 80 is rotated to rotation position A2 by the rotation device 120. As a result, the luggage 2 held by the holding device 70 tilts, and one end of the underside of the luggage 2 that is rearward in the retraction direction abuts against the luggage 2 below or the placement unit 1. In this way, the posture of the luggage 2 is stabilized by the luggage 2 or placement unit 1 below being supported during movement. As a result, the speed at which the luggage 2 is retracted by the first moving device 90 can be increased.

[0104] In this way, the cargo 2 can be efficiently released from the anti-slip agent 5, and furthermore, the speed at which the cargo 2 is pulled in can be increased, thereby improving the efficiency of the cargo unloading operation.

[0105] Furthermore, when the luggage 2 is raised to the target lifting position, the luggage 2 is moved toward the luggage 2 relative to the side suction portion 72 while being raised. In other words, the luggage 2 is raised in a direction inclined relative to the up-down direction. As a result, a force in the shear direction is applied to the anti-slip agent 5 in addition to a force in the peeling direction, so that the fixation of the luggage 2 by the anti-slip agent 5 can be efficiently released.

[0106] Furthermore, by moving the luggage 2 upward while moving it in a direction from the side suction portions 72 toward the luggage 2, it becomes possible to press the luggage 2 with the side suction portions 72. Pressing the luggage 2 with the side suction portions 72 prevents the side suction portions 72 from peeling off from the luggage 2 when the luggage 2 is raised.

[0107] Furthermore, when the upper surface suction portions 71 are holding the luggage 2 and there is a risk that the side suction portions 72 may interfere with the luggage 2 or the placement portion 1 below, the upper surface suction portions 71 suction and hold the luggage 2, and then the luggage 2 is lifted and raised to the target position, and then the side suction portions 72 suction the rear surface of the luggage 2. In this way, even when there is a risk of interference between the side suction portions 72 and the luggage 2 below, the luggage 2 can be held by the side suction portions 72, making it possible to stably hold the luggage 2. Furthermore, by lifting the luggage 2 to the target lifting position and then using the side suction portions 72 to hold the luggage 2, it becomes possible to use the side suction portions 72.

[0108] As described above, according to this embodiment, the holding device 70, which holds the luggage 2 at the holding position, is raised to the lift target position while being maintained at the initial position A1, and then the holding device 70 is rotated to the rotation position A2 and maintained at that position. This allows the fastening of the two upper and lower luggage pieces 2 by the anti-slip agent 5 to be efficiently released, and further, when the luggage 2 is pulled in, the rear end of the lower surface of the luggage 2 in the pulling direction abuts against the lower luggage piece 2 or the placement section 1, stabilizing the luggage 2, and allowing the speed at which the luggage 2 is pulled in to be increased. This improves the efficiency of the unloading operation.

[0109] The unloading device 10 is not limited to the above example. For example, in the above example, the rotation device 120 is configured to rotate the support unit 80 to the initial position A1 and the rotated position A2 by the rotation actuator 122 and maintain the support unit 80 at the initial position A1 or the rotated position A2, but is not limited to this. In another example, the rotation device 120 may be configured to include multiple springs and to rotate the support unit 80 to the initial position A1 or the rotated position A2 by switching between the multiple springs.

[0110] In the above example, the rotation device 120 is configured to rotate the support unit 80 between the initial position A1 and the rotated position A2 and maintain the support unit 80 at each position, but is not limited to this. In other examples, the rotation device 120 may be configured to maintain the support unit 80 at any position between the initial position A1 and the rotated position A2.

[0111] According to at least one embodiment described above, the holding device 70, which holds the luggage 2 at the holding position, is raised to the lift target position while being maintained at the initial position A1, and then the holding device 70 is rotated to the rotation position A2 and maintained at that position. This allows the fastening of the two upper and lower luggage pieces 2 by the anti-slip agent 5 to be efficiently released, and further, when the luggage 2 is pulled in, the rear end of the lower surface of the luggage 2 in the pulling direction abuts against the lower luggage 2 or the loading section 1, stabilizing the luggage 2, and therefore the speed at which the luggage 2 is pulled in can be increased. This improves the efficiency of the unloading operation.

[0112] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as defined in the claims. [Explanation of symbols]

[0113] 2...baggage, 5...anti-slip agent, 5b...rear surface, 6...top surface, 10...load-discharging device, 30...intermediate conveyor, 40...lifting device, 70...holding device, 71...upper surface suction portion, 72...side surface suction portion, 74...first suction pad, 76...second suction pad, 77...negative pressure generating device, 80...support portion, 81...support portion main body, 82...connecting portion, 83...first portion, 84...second portion, 85...bracket, 86...rotating shaft, 90...first moving device, 91...horizontal moving device, 92...lifting device, 93...base, 94...arm, 95...moving portion, 95a...front-rear direction actuator, 95 b...width-direction actuator, 96...shaft, 97...vertical-direction actuator, 98...wire, 110...second moving device, 111...base, 112...moving section, 113...third drive section, 120...rotating device, 121...arm, 122...rotating actuator, 123...cylinder, 124...piston, 125...pump, 126...circuit, 130...control device, 131...communication interface, 132...processor, 133...memory, 134...storage, 135...bus line, 140...third sensor, A1...initial position, A2...rotation position.

Claims

1. a holding device including an upper surface suction portion that suctions an upper surface of the luggage and a side surface suction portion that suctions a side surface of the luggage; a support portion that supports the holding device so as to be rotatable around a single axis that intersects the vertical direction; a first moving device connected to the support and configured to move the support; a rotation device that maintains the support portion at a rotation position around the single axis where the upper surface suction portion has moved downward from an initial position where the upper surface suction portion is substantially horizontal; and a control device that controls the holding device to hold the luggage while controlling the rotating device to maintain the support unit at the initial position, controls the first moving device to raise the luggage to a predetermined height, and then controls the first moving device to move the luggage while controlling the rotating device to maintain the support unit at the rotated position, with a lower end of the luggage in contact with a loading surface for the luggage; An unloading device comprising:

2. The unloading device according to claim 1 , wherein the control device controls the first moving device to lift the support portion and the cargo in a direction intersecting the up-down direction.

3. The unloading device according to claim 2 , wherein the intersecting direction is a direction from the side suction portion toward the luggage side as it goes upward.

4. a second moving device provided on the support portion and configured to move the side surface suction portion in a direction approaching the side surface and in a direction away from the side surface, When the luggage reaches the predetermined height, which is a height at which the side surface suction portions do not interfere with the surroundings, the control device controls the second moving device to move the side surface suction portions to the side surface, and controls the holding device to cause the side surface to be suctioned by the side surface suction portions.

2. The unloading device of claim 1.

5. On the computer, a process of controlling a rotation device to control the holding device to hold the luggage in a state in which a support section that supports the holding device, which has an upper surface suction section that suctions an upper surface of the luggage, so as to be rotatable about a single axis that intersects in the vertical direction, is maintained at an initial position in which the upper surface suction section is approximately horizontal; a process of controlling a first moving device connected to the support section and moving the support section to raise the support section to a predetermined height, and then controlling the rotating device to maintain the support section at the rotated position, and then controlling the first moving device to move the luggage with the lower end of the luggage in contact with the luggage placement surface; An unloading program that executes the following.

6. a rotation device is controlled to hold the luggage, while a support section that supports the holding device, which has an upper surface suction section that suctions the upper surface of the luggage, so as to be rotatable about a single axis that intersects in the vertical direction, is maintained at an initial position where the upper surface suction section is substantially horizontal; a first moving device connected to the support section and moving the support section is controlled to raise the support section to a predetermined height, and then the first moving device is controlled to move the luggage with the lower end of the luggage in contact with the luggage placement surface while the rotation device is controlled to maintain the support section at the rotation position; Unloading method.

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