Loading and unloading system

Abstract

To provide a cargo loading and unloading system which reduces weight and save space, improves the economic efficiency of installation and equipment costs, improves convenience while reducing the human burden as much as possible, and allows for smooth delivery of packages to the next process, such as transportation in and out of the warehouse.SOLUTION: A loading / unloading system A that automatically transports cargo M back and forth on a platform P between a carrier B and a shipping / receiving station is configured by a plurality of automatic cargo transport devices A1 composed of: a horizontal conveyer 1; a rotation axis 2 which I pivotally supported to the horizontal conveyer 1; an axis drive 3 interlocked with the rotation axis 2; a turntable portion 4 that rotates horizontally separately from the horizontal conveyer 1 with the axial direction of the rotation axis 2 as the center of rotation; a carriage 5 that is provided under the turntable portion 4 so as to horizontally rotate together with the turntable portion 4 and that travels forward and horizontally turns; and a lifting lift 6 interposed between the turntable portion 4 and the carriage 5.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Conventionally, in warehouses such as distribution centers and factories, cargo is transported back and forth between a truck yard where the loading platform of a transport vehicle such as a truck or trailer is located and a cargo storage area within the warehouse using pallets on which cargo is stacked and forklifts to transport the pallets, and cargo handling work is carried out to load cargo from the warehouse onto the loading platform of a transport vehicle and unload cargo from the loading platform into the warehouse.

[0003] This loading and unloading work required workers to transfer the cargo one by one from the stacked pallet to the carrier of the transport vehicle when loading the cargo, and from the carrier to the empty pallet when unloading the cargo, and then the pallet was transported by another lift operator, which was a heavy manual labor.

[0004] As cargo loading and unloading systems that reduce such human burden, systems have been proposed that install fixed conveyors on platforms, install flexible bellows-type conveyors (see, for example, Patent Document 1), or use mobile drive conveyor devices (see, for example, Patent Document 2). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 6-336320 [Patent Document 2] Japanese Patent Application Publication No. 2018-30704 Summary of the Invention [Problem to be solved by the invention]

[0006] However, conventional cargo loading and unloading systems each have their advantages and disadvantages, and they are large and require extra space, are inefficient in terms of personnel, and are costly, resulting in problems such as a lack of ease of installation, convenience, and economy.

[0007] In other words, since fixed conveyors are permanently installed on a platform, there is a problem in that the platform cannot be used for other purposes except for loading and unloading operations, and the space cannot be used effectively.

[0008] Furthermore, although accordion-type conveyors can be extended and laid out on the platform as needed during loading and unloading operations, their telescopic structure means that the cargo must be transported and moved manually because they are constructed with free rollers. Additionally, because they are large and heavy, there are problems such as the need to increase the strength of the platform floor and to secure storage space when not in use.

[0009] In addition, a mobile drive conveyor device can be moved and installed on a platform to automatically transport cargo, but the conveyor line of the drive conveyor is long and large, which not only increases its weight but also makes the structure complex. As a result, like the bellows conveyor, there are problems with floor strength and storage space, and further problems such as the need for an operator to operate it when moving and installing it, and the high cost of the device.

[0010] To provide a cargo loading and unloading system using a horizontal conveyor that is lightweight and space-saving, improves ease of installation at unloading areas, and is economical in terms of equipment costs, etc., reduces human burden as much as possible, improves convenience, and allows cargo to be smoothly transferred to the next process such as warehouse entry and exit transportation. [Means for solving the problem]

[0011] In order to solve the above-mentioned conventional problems, the present invention provides a horizontal conveyor that is rotatable in a loading direction toward the bed of a transport vehicle or in a loading / unloading direction from the bed, a rotation shaft journaled on a frame of the horizontal conveyor, a shaft drive unit interlocked with the rotation shaft, a turntable unit that rotates horizontally and separately from the horizontal conveyor around the axial direction of the rotation shaft, a carriage that is provided below the turntable unit to rotate horizontally together with the turntable unit and that travels forward and turns horizontally, and an elevation lift interposed between the turntable unit and the carriage, The present invention provides a cargo loading and unloading system, characterized in that a plurality of automatic cargo transport devices are configured to rotate the horizontal conveyor relative to the cart around the rotation axis via the shaft drive unit in accordance with the horizontal rotation travel, thereby changing the forward travel direction of the cart while maintaining the posture of the horizontal conveyor, and the cargo is automatically transported back and forth on a platform between the transport vehicle parked in a warehouse truck yard and a loading and unloading station such as a rack or loading and unloading conveyor within the warehouse, and the transport starting end or transport terminal end of the horizontal conveyor is connected to the loading platform or the loading and unloading station.

[0012] The luggage loading and unloading system according to the present invention is characterized by the following points (2) to (4). (2) The horizontal conveyor is configured so that when unloading, the horizontal conveyor automatically transports the cargo in a juxtaposed manner, leaving the starting end of the transport empty and serving as a cargo loading section for receiving new cargo, and when loading, the horizontal conveyor automatically transports the cargo out and leaves the end of the transport in a loaded state, serving as a cargo unloading section for unloading new cargo. (3) The rotation axis is disposed eccentrically from the longitudinal center of the horizontal conveyor. (4) The loading platform of the transport vehicle, the loading / unloading station, and the plurality of automatic transport and running devices are each connected to a central management server via a wireless communication network and are capable of communicating with each other, and the plurality of automatic transport and running devices are remotely controlled by the central management server, and receive from the central management server stopping position information indicating the stopping location of the transport vehicle, station position information indicating the location of the loading / unloading station, sorting information indicating the sorting destination of the cargo to the loading / unloading station or the transport vehicle, cargo transfer information indicating the transfer status of the cargo between the horizontal conveyor and the loading / unloading station or the loading platform of the transport vehicle, and device position information indicating the relative position of each automatic transport and running device within the platform, and automatically run and stop sequentially so as not to interfere with each other within the platform. (5) When a load is transferred from the loading / unloading station or the loading platform of the transport vehicle, the automatic cargo transport running device automatically shifts the upper horizontal conveyor around the rotation axis via the shaft drive unit to an inclined position protruding from the carriage or to a straight position with the transport direction aligned with the direction of travel of the carriage, and automatically shifts to a cargo transfer configuration in which the lifting lift between the carriage and the horizontal conveyor is in an extended position, and when a load is transported, the upper horizontal conveyor around the rotation axis via the shaft drive unit to a straight position with the transport direction aligned with the direction of travel of the lower carriage, and automatically shifts to a running configuration in which the lifting lift between the carriage and the horizontal conveyor is in a retracted position. [Effects of the Invention]

[0013] According to the present invention, a horizontal conveyor that can rotate freely in a loading direction toward the bed of a transport vehicle or in a loading / unloading direction from the bed, a rotation shaft journaled on a frame of the horizontal conveyor, a shaft drive unit interlocked and connected to the rotation shaft, a turntable unit that rotates horizontally and separately from the horizontal conveyor around the axial direction of the rotation shaft as a rotation center, a carriage that is provided below the turntable unit to rotate horizontally together with the turntable unit and travels forward and turns horizontally, and an elevation lift interposed between the turntable unit and the carriage, and the horizontal conveyor is rotated relative to the carriage around the rotation shaft via the shaft drive unit in accordance with the horizontal rotation and travel of the carriage. By using a plurality of automatic cargo transport devices configured to be able to change the forward running direction of the trolley while maintaining the posture of the horizontal conveyor, cargo can be automatically transported and run on a platform between the transport vehicle parked in the warehouse truck yard and a cargo loading / unloading station such as a rack or loading / unloading conveyor within the warehouse, and the transport starting end or transport terminal end of the horizontal conveyor is connected to the loading platform or the cargo loading / unloading station, thereby achieving weight reduction and space saving, improving the ease of installation on the platform and the economic efficiency of the device, reducing the workload of loading and unloading cargo while eliminating human burden as much as possible, improving convenience, and allowing cargo to be smoothly handed over to the next transport process.

[0014] In other words, on the warehouse platform, the horizontal conveyor of the automatic cargo transport and running device is positioned by a cart near the opening of the loading platform of a transport vehicle parked in the truck yard, allowing cargo transfer workers to smoothly receive or transfer cargo between the automatic cargo transport and running device and the loading platform of the transport vehicle.

[0015] Specifically, a trolley is used to position the upper end of the horizontal conveyor facing the opening in the platform of the transport vehicle, and the horizontal conveyor is raised and lowered by a lifting device lift to position the horizontal conveyor in a load transfer position at a level that makes it easy for the load transfer worker to perform the load transfer work.

[0016] In the load transfer position of the horizontal conveyor, when unloading cargo, the cargo is transferred from the conveyor transfer start end to the conveyor while the conveyor is rotated from the loading platform in the unloading direction to place the cargoes side by side, and when loading cargo, the cargoes placed side by side on the conveyor are received from the conveyor transfer end end in order while the conveyor is rotated in the loading direction toward the loading platform to place the cargoes side by side.

[0017] By repeating this process of transferring cargo between the end of the horizontal conveyor and the loading platform, the entire top surface of the horizontal conveyor is left empty or loaded with cargo.The horizontal conveyor then rotates at the bottom, faces forward toward the warehouse, and is transported by cart to the loading / unloading station as the next transportation process.

[0018] The cart maintains the load transfer position of the upper horizontal conveyor and rotates around the axial direction of its rotation shaft, together with the turntable unit that rotates horizontally separately from the horizontal conveyor, so that the forward travel direction is reversed.

[0019] Specifically, as the wheels of the carriage rotate in the reverse direction to rotate the carriage, the shaft drive unit provided in the turntable unit rotates the rotation shaft supported on the frame of the horizontal conveyor by the amount of rotation of the carriage, causing the horizontal conveyor to rotate horizontally in the opposite direction.

[0020] As a result, the upper horizontal conveyor appears to be stationary and held in a load transfer position, while only the lower carriage is rotated so that the front and rear are reversed.

[0021] In other words, by rotating the upper horizontal conveyor and the lower carriage horizontally relative to each other, it is possible to rotate only the lower carriage at the carriage stopping location while leaving the load transfer position of the upper horizontal conveyor unchanged, and therefore it is possible to change direction without having to detour each of the automatic load transport traveling devices.

[0022] This eliminates the risk of conveyors or carts colliding with one another, causing the placed cargo to accidentally fall or being damaged. Furthermore, because multiple horizontal conveyors can be densely arranged in a limited space near the opening of the carrier's platform, the efficiency of cargo transfer work can be improved by operating each automatic cargo transport traveling device according to the type of cargo assigned to its destination, for example.

[0023] Finally, the cart, whose forward running direction has been reversed, travels forward to the loading / unloading station, where the cargo is loaded and unloaded by a horizontal conveyor connected to the loading / unloading station. At the loading / unloading station, the automatic cargo transport traveling device also changes the direction of the cart, transports and changes the position of the horizontal conveyor, and raises and lowers the lift in the same manner as above.

[0024] In this way, the automatic transport traveling device transports goods back and forth between the loading / unloading station and the transport vehicle, and assists the transfer worker in loading and unloading goods between the loading / unloading station and the transport vehicle at the destination. This reduces the human burden in loading and unloading work and dramatically improves work efficiency, resulting in a reduction in labor costs and shortening of work time required for overall warehousing, packaging, and warehousing, and has the effect of improving work productivity within the warehouse.

[0025] Furthermore, according to the invention of claim 2, the horizontal conveyor is configured so that when unloading, the horizontal conveyor automatically transports the cargo in a juxtaposed manner, leaving the starting end of the transport empty and serving as a cargo input section for receiving new cargo, and when loading, the horizontal conveyor automatically transports the cargo out and leaves the end of the transport in a loaded state as a cargo output section for unloading new cargo. This has the effect of enabling safe cargo transfer work to be carried out at the pace of the transfer worker without causing cargo to collapse, etc., and improving work efficiency.

[0026] Furthermore, according to the invention of claim 3, the rotation axis is arranged eccentrically from the longitudinal center of the horizontal conveyor. For example, in addition to being arranged at the longitudinal center of the horizontal conveyor, it can be arranged closer to either the front or rear end from the longitudinal center of the horizontal conveyor, or closer to either the left or right end from the center of the width of the horizontal conveyor. This makes it possible to adjust the interference position between the carts when multiple horizontal conveyors are positioned near the opening of the loading platform of the transport vehicle, and has the effect of improving the efficiency of loading and unloading work by bringing the ends of the horizontal conveyors closer to each other.

[0027] According to the invention of claim 4, the loading / unloading station and the plurality of automatic transport and running devices of the transport vehicle are each connected to a central management server via a wireless communication network and can communicate with each other, and the plurality of automatic transport and running devices are remotely controlled by the central management server, and receive from the central management server stopping position information indicating where the transport vehicle is stopped, station position information indicating the location of the loading / unloading station, sorting information indicating where the luggage is to be sorted to the loading / unloading station or the transport vehicle, luggage transfer information indicating the transfer status of the luggage between the horizontal conveyor and the loading / unloading station or the loading / unloading station, and device position information indicating the relative position of each automatic transport and running device within the platform, and automatically run and stop in sequence so as not to interfere with each other within the platform. This allows the information necessary for the operation of the automatic transport and running devices to be centrally managed by the central management server, dramatically improving the efficiency of transporting luggage back and forth between the transport vehicle and the loading / unloading station, and significantly reducing the human burden.

[0028] Furthermore, according to the invention of claim 5, when a load is transferred from the loading / unloading station or the loading platform of the transport vehicle, the automatic load transport traveling device automatically shifts the upper horizontal conveyor around the rotation axis via the shaft drive unit to an inclined position protruding from the carriage or to a straight position with the transport direction aligned with the traveling direction of the carriage, and the lift between the carriage and the horizontal conveyor to an extended position, into a load transfer configuration; and when a load is transported, the automatic load transport traveling device automatically shifts the upper horizontal conveyor around the rotation axis via the shaft drive unit to a straight position with the transport direction aligned with the traveling direction of the lower carriage, and the lift between the carriage and the horizontal conveyor to a retracted position, thereby further reducing the human burden and achieving the effect of semi-automating loading / unloading operations and improving work productivity in the warehouse. [Brief explanation of the drawings]

[0029] [Figure 1] FIG. 2 is a schematic explanatory diagram showing a cargo transfer operation in the loading and unloading system of the present embodiment. [Figure 2] 1 is a schematic plan view showing the process of transporting luggage using the loading and unloading system of this embodiment. FIG. [Figure 3] 1 is a schematic plan view showing the process of transporting luggage using the loading and unloading system of this embodiment. FIG. [Figure 4] 1 is a schematic explanatory diagram showing the configuration of an automatic cargo transport traveling device of a loading and unloading system according to the present embodiment. FIG. [Figure 5] 1 is a schematic rear view showing the configuration of an automatic cargo transport traveling device of a loading and unloading system according to the present embodiment. FIG. [Figure 6] 1 is a schematic bottom view showing a horizontal turning state of the automatic transport traveling device of the loading and unloading system of the present embodiment. FIG. [Figure 7] 1 is a schematic plan view showing a horizontal turning state of an automatic transport traveling device of a loading and unloading system according to the present embodiment. FIG. [Figure 8] FIG. 10 is a schematic plan view of an automatic transport device for goods according to another embodiment. [Figure 9]FIG. 2 is a conceptual diagram showing the connection configuration of a central management server of the loading and unloading system of the present embodiment. [Figure 10] 2 is a block diagram showing the electrical configuration of the automatic cargo transport traveling device of the loading and unloading system of the present embodiment. FIG. [Figure 11] FIG. 2 is a flow chart of the loading and unloading system of the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0030] The gist of this invention is a horizontal conveyor that can rotate freely in a loading direction toward the bed of a transport vehicle or in a loading / unloading direction from the bed, a rotation shaft journaled on a frame of the horizontal conveyor, a shaft drive unit interlocked and connected to the rotation shaft, a turntable unit that rotates horizontally and separately from the horizontal conveyor around the axial direction of the rotation shaft as a rotation center, a carriage that is provided below the turntable unit to rotate horizontally together with the turntable unit and travels forward and turns horizontally, and an elevation lift interposed between the turntable unit and the carriage, and that moves in accordance with the horizontal rotation and travel of the carriage. The object of the present invention is to provide a cargo loading and unloading system characterized in that a plurality of automatic cargo transport devices are configured to rotate the horizontal conveyor relative to the cart around the rotation axis via the shaft drive unit, thereby changing the forward running direction of the cart while maintaining the posture of the horizontal conveyor, and the cargo is automatically transported back and forth on a platform between the transport vehicle parked in a truck yard of a warehouse and a loading and unloading station such as a rack or an in-and-out conveyor in the warehouse, and the transport starting end or transport terminal end of the horizontal conveyor is connected to the loading platform or the loading and unloading station.

[0031] The horizontal conveyor is also characterized in that, when unloading, it automatically transports the cargo in a juxtaposed manner, leaving the starting end of the transport empty and serving as a cargo input section for receiving new cargo, and, when loading, it automatically transports the cargo out and leaves the end of the transport in a loaded state and serves as a cargo output section for unloading new cargo.

[0032] The rotating shaft is also characterized in that it is disposed eccentrically from the longitudinal center of the horizontal conveyor.

[0033] In addition, the loading platform of the transport vehicle, the loading / unloading station, and the multiple automatic transport and running devices are each connected to a central management server via a wireless communication network so as to be able to communicate with each other, and the multiple automatic transport and running devices are remotely controlled by the central management server and receive from the central management server stopping position information indicating the stopping location of the transport vehicle, station position information indicating the location of the loading / unloading station, sorting information indicating the sorting destination of the cargo to the loading / unloading station or the transport vehicle, cargo transfer information indicating the transfer status of the cargo between the horizontal conveyor and the loading / unloading station or the loading platform of the transport vehicle, and device position information indicating the relative position of each automatic transport and running device within the platform, and automatically run and stop sequentially so as not to interfere with each other within the platform.

[0034] Furthermore, the automatic cargo transport running device is characterized in that, during a cargo transfer operation when the automatic cargo transport running device is connected and stopped at the loading / unloading station or the loading platform of the transport vehicle, it automatically displaces the upper horizontal conveyor, centered on the rotation axis via the axis drive unit, into an inclined position protruding from the carriage or into a straight position with the transport direction aligned with the direction of travel of the carriage, and automatically displaces the lift between the carriage and the horizontal conveyor into an extended position, into a cargo transfer configuration; and, during cargo transport, it automatically displaces the upper horizontal conveyor, centered on the rotation axis via the axis drive unit, into a straight position with the transport direction aligned with the direction of travel of the lower carriage, and automatically displaces the lift between the carriage and the horizontal conveyor into a retracted position, into a running configuration.

[0035] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. Figures 1(a) and 1(b) are respectively a schematic side view and a schematic plan view showing a load transfer operation in a loading and unloading system, Figures 2(a) to 3(c) are schematic plan views showing the process of transporting luggage by a loading and unloading system A, Figures 4(a) and 4(b) are respectively a schematic side view and a schematic bottom view showing the configuration of an automatic luggage transport traveling device, Figure 5 is a schematic rear view showing the configuration of an automatic luggage transport traveling device, and Figures 6(a) and 6(b) are respectively a schematic side view and a schematic bottom view showing the configuration of an automatic luggage transport traveling device. 7(a) to 7(d) are schematic plan views showing the horizontal turning state of the automatic cargo transport traveling device, FIGS. 8(a) to 8(d) are schematic plan views of other embodiments of the automatic cargo transport traveling device, FIG. 9 is a conceptual diagram showing the connection configuration of the central management server of the loading and unloading system, FIG. 10 is a block diagram showing the electrical configuration of the automatic cargo transport traveling device, and FIG. 11 is a work flow diagram of the loading and unloading system.

[0036] <1. Overview of the loading and unloading system> As shown in Figures 1(a) to 3(c), the cargo loading and unloading system A of this embodiment is configured to assist the receiving and delivering of cargo M by running a plurality of automatic cargo transport traveling devices A1, each equipped with a horizontal conveyor 1 that can rotate freely, back and forth on a platform P between the loading platform B1 of a transport vehicle B parked in a truck yard Y of a warehouse and a loading and unloading station W, which is the next transport process, such as a storage rack in the warehouse or a transport conveyor connected to the rack.

[0037] As shown in Figures 1(a) and 1(b), the automatic cargo transport traveling device A1 is composed of a horizontal conveyor 1 that can rotate freely in the loading direction toward the loading platform B1 or in the loading / unloading direction from the platform, a rotating shaft 2 supported on a frame 10 of the horizontal conveyor 1, an axis drive unit 3 that is linked and connected to the rotating shaft 2, a turntable unit 4 that rotates horizontally and separately from the horizontal conveyor 1, with the axial direction of the rotating shaft 2 as the center of rotation, a cart 5 provided below the turntable unit 4 so as to rotate horizontally together with the turntable unit 4, and an elevating lift 6 interposed between the turntable unit 4 and the cart 5.

[0038] As shown in Figures 1(b) and 2(b), multiple such automatic cargo transport traveling devices A1 are parked close together so as to connect to the loading / unloading opening B10 of the loading platform B1 of the transport vehicle B, and this allows a transfer worker H to transfer cargo M between the loading platform B1 and the horizontal conveyor 1 of the automatic cargo transport traveling device A1, thereby reducing the human burden.

[0039] <2. Configuration of the automatic cargo transport device> The automatic cargo transport traveling device A1 is configured so that the control unit 7, which will be described later, automatically controls the self-propulsion of the trolley 5 and its traveling path, the raising and lowering operation of the lifting lift 6, the transport operation and horizontally inclined posture of the horizontal conveyor 1 with the transport surface as a horizontal plane, and the relative horizontal rotation of the trolley 5 and the horizontal conveyor 1 by the rotation axis 2 and axis drive unit 3.

[0040] As shown in Figures 4(a) to 5, the cart 5 is a so-called unmanned automatic guided cart, and is configured to be able to travel forward and turn horizontally using a flat-shaped housing 51, four wheels 50 provided at predetermined positions on the bottom of the housing 51, and drive motors 52L, 52R provided inside the housing 51.

[0041] Of the four wheels of the bogie 5, the front and rear wheels are front and rear driven wheels consisting of swivel casters 50F, 50B that can rotate horizontally, and the left and right wheels are left and right drive wheels 50L, 50R that are driven to rotate in the front and rear directions.

[0042] The left and right drive wheels 50L, 50R are respectively mounted on drive shafts of a pair of left and right wheel drive units 52L, 52R disposed on the left and right sides of the lower part of the housing 51, and are configured to be independently driven to rotate forward and backward. The left and right wheel drive units 52L, 52R each employ a drive motor connected to the control unit 7.

[0043] That is, the automatic cargo transport traveling device A1 is configured to travel forward by driving the pair of left and right drive wheels 50L, 50R of the carriage 5 in forward rotational direction, respectively, and to travel horizontally by driving the wheels in reverse rotational direction relative to each other.

[0044] The carriage 5 can basically only travel forward, and if it attempts to travel backward, the front and rear swivel casters 50F, 50B interfere and inadvertently restrict movement. Therefore, the carriage 5 is configured to rotate the wheels relatively on the spot, allowing it to horizontally turn in the opposite direction to the forward travel direction.

[0045] A control unit 7 is provided at the rear end of the housing 51 of the cart 5. The control unit 7, the details of which will be described later, is connected to the operating members and controls the various operating members of the automatic article transporting traveling device A1.

[0046] The lift 6 is a table lift that moves up and down parallel to one another while maintaining a horizontal state, and is mounted integrally on the cart 5 on the upper surface of the housing 51 of the cart 5.

[0047] Specifically, as shown in Figures 4(a) and 5, the lift 6 is composed of a lower rectangular frame-shaped base 60, an upper lift platform 61, and left and right X arms 62L and 62R that extend and retract up and down between the base 60 and the lift platform 61, and raise and lower the lift platform 61 from the base 60 in a parallel vertical position while maintaining a horizontal position.

[0048] The left and right X arms 62L, 62R have fixed upper and lower rear ends that are fixed to the left and right rear ends of the base 60 and the lifting platform 61, and upper and lower front ends that are free ends that slide back and forth along the left and right inner edges of the base 60 and the lifting platform 61.

[0049] 5 denotes an elevation drive unit 64 that extends and retracts each of the X arms 62L, 62R up and down, and is linked to an arm connection unit 63 that is installed between each of the X arms 62L, 62R. A motor with a reducer or a hydraulic cylinder may be used as the elevation drive unit 64. The X arms 62L, 62R are configured by crossing an outer arm unit and an inner arm unit and pivoting them at the crossing point via a pivot.

[0050] The turntable unit 4 is provided integrally with the lift 6 on a lift platform 61 at the top of the lift 6 .

[0051] The turntable unit 4 is composed of a hollow rectangular housing 40 and a cylindrical bearing body 41 standing upright at the center of the bottom of the rectangular housing 40. Note that reference numeral 41b in Figures 4(a) and 5 denotes a bearing provided on the inner circumferential surface of the shaft hole 41a of the bearing body 41.

[0052] A shaft drive unit 3 is provided integrally with the turntable unit 4. The shaft drive unit 3 is fixed to the inner wall of the rectangular housing 40, protrudes vertically upward so as to rotate the drive shaft 30 horizontally, and is configured by providing a drive gear 31 that rotates integrally with the tip of the drive shaft 30. The shaft drive unit 3 employs a servo motor, which facilitates precise drive control of the drive shaft 30.

[0053] 4(a) and 5, the rotation shaft 2 that meshes with the shaft drive unit 3 is loosely fitted into the shaft hole 41b of the bearing body 41 in the center of the turntable unit 4. The rotation shaft 2 is made up of a swivel shaft 20 that extends vertically downward, a swivel gear 21 that meshes with the drive gear 31 and is integrally provided on the upper outer periphery of the swivel shaft 20, and a bracket 22 that is at the upper end of the swivel shaft 20 and supports the horizontal conveyor 1 above.

[0054] Specifically, the rotating shaft 2 is configured so that the swivel shaft 20 is loosely fitted into the bearing body 41 of the turntable section 4, and the horizontal conveyor 1 is pivoted horizontally on the cart 5 via the bracket 22 at the upper end, and the swivel gear 21 exposed at the top of the bearing body 41 is engaged with the drive gear 31 of the shaft drive section 3 so that it can rotate as the drive gear 31 rotates.

[0055] In this embodiment, the rotating shaft 2 is a driven shaft that rotates in response to the drive shaft of the shaft drive unit 3 via the gears 21 and 31, but it is also possible to configure the rotating shaft 2 to be the drive shaft of the shaft drive unit 3 by connecting the shaft drive unit 3 to the lower end of the rotating shaft 2 in an interlocking manner.

[0056] 5, the bracket 22 at the upper end of the rotation shaft 2 is U-shaped with an upward opening, and both ends of the U-shape are connected to approximately the longitudinal center of the frame 10 of the horizontal conveyor 1. In other words, the rotation shaft 2 is suspended below the longitudinal center position C of the horizontal conveyor 1 via the bracket 22, with its axis oriented vertically.

[0057] This automatic cargo transport traveling device A1 rotates the horizontal conveyor 1 relative to the cart 5 around the rotation axis 2 via the axis drive unit 3 in accordance with the horizontal rotation traveling of the cart 5, and is configured to be able to change the forward traveling direction of the cart 5 while maintaining the horizontal conveyor 1 with the transport surface in a horizontal position.

[0058] Specifically, as shown in Figure 6(b), the automatic cargo transport running device A1 is configured so that, when the left and right drive wheels 50L, 50R of the carriage 5 rotate relative to each other (indicated by the hollow arrows in the figure) and the carriage 5 turns (indicated by the solid arrows in the figure), the axis drive unit 3 attached to the turntable unit 4 above it rotates and causes the spinning axis 2 to rotate in the opposite direction (indicated by the dashed double-dashed arrow in the figure) at the same angular velocity as the carriage 5.

[0059] In this way, the horizontal conveyor 1 and the trolley 5 are synchronized by the control unit 7 to rotate relative to each other at the same rotational distance and speed, so that, as shown in Figures 7(a) to 7(b), the upper horizontal conveyor 1 appears to be stationary and remains in a load transfer position, while only the lower trolley 5 rotates horizontally.

[0060] Here, the relationship between the turntable unit 4 and the rotating gear 21 of the rotation axis 2 arranged on the turntable unit 4 and the drive gear 31 of the drive axis 30 is such that the turntable unit 4 is a planetary carrier, the rotating gear 21 of the rotation axis 2 is a sun gear, and the drive gear 31 of the drive axis 30 is a planetary gear that revolves around the rotation axis 2.

[0061] That is, as shown in Figures 7(a) to 7(d), the automatic cargo transport traveling device A1 is configured with a planetary unit that causes the turntable unit 4 to revolve around the rotation axis 2 together with the axis drive unit 3 in the opposite direction to the rotation direction of the carriage 5 as the carriage 5 turns, and causes the rotation axis 2 to act like a fixed axis, causing the horizontal conveyor 1 above it to appear immobile and stationary.

[0062] The amount of rotation of the horizontal conveyor 1 is the amount by which the carriage 5 can make a U-turn forward or backward, and the rotation angle at the angular velocity is 180°. Also, the direction of rotation of the horizontal conveyor 1 and carriage 5 may be either counterclockwise or clockwise as long as they rotate relative to each other.

[0063] In another embodiment, the rotation axis 2 may be disposed eccentrically from the longitudinal center position C of the horizontal conveyor 1, as shown in FIGS. 8(a) to 8(d).

[0064] That is, by arranging the rotation axis 2 closer to either the front or rear end from the longitudinal center position C of the horizontal conveyor 1 as shown in Figures 5(a) and 5(b), or by arranging the rotation axis 2 closer to either the left or right end from the width center position C of the horizontal conveyor 1 as shown in Figures 5(c) and 5(d), the interference position between the trolleys 5 when multiple horizontal conveyors 1 are positioned near the loading / unloading opening B10 of the loading platform B1 of the transport vehicle B can be adjusted, and the loading / unloading operation can be effectively performed with the transport ends of the horizontal conveyors 1 facing the loading platform B1 closer to each other.

[0065] As shown in Figures 4(a) to 7(b), the horizontal conveyor 1 is a so-called belt conveyor with a horizontal conveying surface, and is composed of a pair of left and right band-shaped frame sections 10L and 10R as a frame 10, front and rear conveying rollers 11F and 11B axially mounted on the front and rear ends of the left and right frame sections 10L and 10R, and a conveying belt 12 suspended endlessly around the front and rear conveying rollers 11F and 11B.

[0066] The horizontal conveyor 1 may be a roller conveyor or a chain conveyor, as long as it can receive and transport the cargo M and is drivable. Furthermore, it is preferable to use a horizontal conveyor 1 that can be mounted on the loading platform B1 and has a length that allows the automatic cargo transport traveling device A1 to travel in a normal position, and that is at least as long as the loading platform B1, specifically, approximately 1 to 5 times the length of the loading platform, in order to reduce weight and size.

[0067] As shown in Figure 7(a), the horizontal conveyor 1 is configured so that when unloading, it automatically transports the luggage M in a juxtaposed manner, leaving the starting end of the transport empty and serving as a luggage input section 12a for receiving new luggage M, and when loading, it automatically transports the luggage M out and leaves the end of the transport in a loaded state and serves as a luggage output section 12b for unloading the luggage M.

[0068] That is, as shown in Figure 7(a), the horizontal conveyor 1 virtually divides the upper conveying surface of the conveyor belt 12 into multiple loading sections 13 (areas surrounded by dotted lines in the figure) where cargo M is arranged in an orderly manner along the longitudinal direction, enabling intermittent transport so that cargo M is placed sequentially on each loading section 13, and a cargo loading section 12a for unloading and a cargo unloading section 12b for loading are formed at the ends of the conveyor.

[0069] 4(a) to 5, reference numeral 14 denotes a conveyance drive unit that drives the conveyance rollers 11F, 11B, and employs a servo motor. An input unit 8 that reads the type of package M is provided at the end of the frame 10.

[0070] The input unit 8 is a luggage information device 80 that is connected to the control unit 7 and scans luggage information that assigns sorting destinations, storage locations, etc. to individual luggage M, and in this embodiment is composed of a barcode reader terminal that reads barcodes.

[0071] The automatic cargo transport traveling device A1 also includes a cargo sensor device 81 as an input unit 8 that detects the placement status of cargo M. The cargo sensor device 81 is connected to the control unit 7 and enables operation control of the horizontal conveyor 1 according to the quantity and loading position of cargo M loaded on the conveyor.

[0072] The luggage sensor device 81 may be configured, for example, by providing a load cell below the horizontal conveyor 1 to detect the total weight of the luggage M placed side by side on the horizontal conveyor 1, or by providing a position sensor at the end of the horizontal conveyor 1.

[0073] The input unit 8 may be a direct input terminal device (e.g., a touch panel) that allows various operating conditions of the automatic cargo transport running device A1 to be directly input manually, and the terminal device may be provided at a predetermined position on the frame or housing of the horizontal conveyor 1, turntable unit 4, trolley 5, etc.

[0074] Furthermore, the automatic cargo transport traveling device A1 is equipped with a wireless communication device 70 as wireless communication means for receiving and transmitting various information from a central management server 100 (described later). The wireless communication device 70 may be an optical signal receiving / receiving device or a wireless LAN device. The automatic cargo transport traveling device A1 is also equipped with obstacle detection sensors such as ultrasonic waves and beams that are necessary for traveling while avoiding obstacles.

[0075] <3. Electrical configuration of the luggage loading and unloading system> Next, the electrical configuration of the cargo loading and unloading system will be described. As shown in Fig. 9, this system A is configured to include a central management server 100 that manages various information required for the operation of the automatic cargo transport traveling device A1.

[0076] The central management server 100, truck yard Y or transport vehicle B, and loading / unloading station W each include a wireless communication device 70 as a wireless communication means and a control unit 7, similar to the automatic transport traveling device A1.

[0077] That is, the central management server 100 is connected to the truck yard Y or the transport vehicle B parked at the truck yard Y, the loading / unloading station W such as a storage rack or loading / unloading conveyor arranged in the warehouse, and the automatic cargo transport running device A1 so that they can communicate with each other via wireless communication means.

[0078] The central management server 100 collectively manages various information necessary for the operation of the automatic cargo transport traveling device A1, such as cargo information such as the weight and number of loaded cargoes M sent from the automatic cargo transport traveling device A1, as well as information on the stopping position of the transport vehicle B in the truck yard Y, load information such as the number and type of cargo on the loading platform B1, position information of each automatic cargo transport traveling device A1 within the platform P, travel route information of each automatic cargo transport traveling device A1, station position information such as the location of the rack or loading / unloading station W that will be the next transport process, sorting information for the next transport process of the cargo M and the transport vehicle B, cargo transfer information between the automatic cargo transport traveling device A1 and the next transport process, cargo transfer information between the automatic cargo transport traveling device A1 and the transport vehicle B, and transfer progress information for the cargo M.

[0079] The automatic transporting traveling device A1 transmits and receives various information to and from the central management server 100 via the wireless communication device 70 as wireless communication means, and stores the information in the control unit 7.

[0080] As shown in Figure 10, the control unit 7 is connected to the conveying drive unit 14 of the horizontal conveyor 1, the axis drive unit 3 that rotates the rotation axis 2, the lifting drive unit 64 of the lifting lift 6, the left and right wheel drive units 52L, 52R of the trolley 5, the luggage information device 80 and luggage sensor device 81 as input unit 8, and the wireless communication device 70, and controls the operation of various components.

[0081] The control unit 7 is composed of a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and flash memory. The ROM stores programs for the CPU to execute the transport operation of the horizontal conveyor 1, the rotational drive of the axis drive unit 3, the lifting and lowering operation of the lift 6, the forward running operation or horizontal turning running operation of the cart 5, and the synchronized relative rotation operation of the horizontal conveyor 1 and the cart 5, while the RAM functions as a temporary storage area for various information received by the input unit 8 when the CPU executes the programs.

[0082] In this way, the multiple automatic cargo transport running devices A1 are remotely controlled by the central management server 100, and are configured to receive from the central management server 100 stopping position information indicating the stopping location of the transport vehicle B, station position information indicating the location of the loading / unloading station W for the next transport process, sorting information indicating the sorting destination of the cargo M to the loading / unloading station or transport vehicle B, cargo transfer information indicating the cargo transfer status between the horizontal conveyor 1 and the loading / unloading station W or the loading platform B1 of the transport vehicle B, and device position information indicating the relative position of each automatic cargo transport running device A1 within the platform P, and to automatically run and stop in sequence within the platform P so as not to interfere with each other.

[0083] This allows the information necessary for the operation of the automatic cargo transport traveling device A1 to be centrally managed by the central management server 100, dramatically improving the efficiency of transporting cargo back and forth between the transport vehicle B and the cargo unloading / retrieval station W and significantly reducing the human burden.

[0084] <4. Workflow of the cargo loading and unloading system> Next, we will explain the workflow of the loading and unloading system A. Note that the following mainly explains the workflow when unloading cargo from transport vehicle B to a warehouse as an example, but unless otherwise specified, the workflow is basically the same when loading cargo from a warehouse to transport vehicle B.

[0085] (Step 1: Traveling form process S1 of the automatic transport traveling device) As shown in Figs. 1(a) to 3(d), a plurality of packages M are loaded on the loading platform B1 of the transport vehicle B parked in the truck yard Y, and a transfer worker H is on board to transfer the packages M. In addition, at a predetermined position within the platform P, a plurality of automatic transport traveling devices A1 for transporting packages are waiting with the horizontal conveyor 1 in an empty state.

[0086] As shown in Fig. 11, the automatic transporting traveling device A1 stopped at the waiting location executes the traveling configuration step S1 so that it can travel in response to a command from the central management server 100. That is, as shown in Fig. 2(a), the automatic transporting traveling device A1 is configured to travel in such a way that the upper horizontal conveyor 1 is in a straight posture with the transport direction aligned with the forward and backward traveling direction of the lower carriage 5, via the axis drive unit 3 provided on the turntable unit 4 around the rotation axis 2, and the lift 6 between the carriage 5 and the horizontal conveyor 1 is in a retracted posture.

[0087] (Step 2: Automatic transport device running operation process S2) Next, the multiple automatic cargo transport traveling devices A1 in a traveling mode perform a traveling operation process S2 in which the carts 5 travel forward as shown in Figures 11 and 2(a) and automatically travel sequentially within the platform P from the waiting location to the vicinity of the loading / unloading opening B10 of the loading platform B1 of the transport vehicle B.

[0088] At this time, each of the automatic transporting and running devices A1 receives the transporting vehicle information and stopping position information of the transporting vehicle B sent from the central management server 100 at the input unit 8, and selects the shortest route by the control unit 7 and automatically runs along it.

[0089] If an obstacle is encountered in the forward travel direction, the automatic cargo transport traveling device A1 detects it using an obstacle detection sensor and controls the amount of rotation of each of the left and right drive wheels 50L, 50R via the control unit 7 to avoid the obstacle by turning right or left in advance.

[0090] Each of these multiple automatic cargo transport running devices A1 is clustered near the loading / unloading opening B10 of the loading platform B1 of the transport vehicle B so as not to interfere with each other, and stops running with one end of the horizontal conveyor 1 directed toward the loading platform B1, by the control unit 7 which has received device position information of the other automatic cargo transport running devices A1.

[0091] (Step 3: Load transfer process S3 of the automatic transport traveling device) Next, as shown in Figure 11, the automatic cargo transport traveling device A1 executes the cargo transfer form process S3 in which it rotates the axis drive unit 3 to change the transport posture of the horizontal conveyor 1 and raises and lowers the lifting lift 6 to adjust the level of the horizontal conveyor 1 to the working position of the transfer worker H.

[0092] That is, the automatic cargo transport traveling device A1, which has stopped traveling near the loading platform B1, moves the upper horizontal conveyor 1 through the axis drive unit 3 provided on the turntable unit 4 around the rotation axis 2 so that the front end of the horizontal conveyor 1 faces the loading platform B1, in an inclined position protruding from the trolley 5 or in a straight position with the transport direction aligned with the forward and backward traveling direction of the trolley 5, and displaces the lift 6 between the trolley 5 and the horizontal conveyor 1 into an extended position, thereby changing the load transfer configuration.

[0093] Each automatic cargo transport running device A1, which is stopped near the loading / unloading opening B10 of the loading platform B1 of the transport vehicle B, connects the front end of the horizontal conveyor 1 to the loading / unloading opening B10 of the loading platform B1, raises the lift 6 to an extended state, and adjusts the upper horizontal conveyor 1 to a working height that makes it easy for a transfer worker H to place the cargo M on the transport surface.

[0094] (Step 4: Horizontal conveyor load transfer process S4) Next, the automatic cargo transport traveling device A1 executes a cargo transfer step S4 in which the horizontal conveyor 1 is operated for transport, as shown in FIG. 11, to assist the transfer worker H in transferring the cargo M.

[0095] That is, as shown in Figures 1(a), 1(b), 2(b) and 2(c), both ends of the horizontal conveyor 1 on the transport vehicle B side, which is leveled to the working height of the transfer worker H, function as a load input section 12a to assist the transfer worker H in effectively placing the cargo M and a load receiving section 22b to receive the cargo M.

[0096] When a transfer worker H places a load M on the load input section 12a of the horizontal conveyor 1, the horizontal conveyor 1 automatically operates to transport the load M in the loading / unloading direction.

[0097] Specifically, when the luggage sensor device 81 detects that luggage has been placed into the luggage insertion section 12a of the conveyor belt 12, the conveyor belt 12 is operated intermittently to move the luggage M to the luggage placement section 13 adjacent to the luggage insertion section 12a, and the luggage insertion section 12a becomes empty and ready to accept new luggage M.

[0098] By repeating the intermittent operation of the conveyor belt 12 and the loading work of the transfer worker H, multiple packages M are placed in an orderly manner on each of the multiple loading sections 13 formed along the length of the horizontal conveyor 1.

[0099] Finally, when the luggage M reaches the luggage placement section 13 (luggage discharge section 12b) at the end of the conveyor belt 12, the luggage sensor device 81 detects this and stops the intermittent operation of the conveyor belt 12.

[0100] In this state, the cargo insertion section 12a at the start of conveyance is switched to the cargo placement section 13, and the cargo M is placed on the cargo placement section 13 at the start of conveyance. As a result, the automatic cargo conveying traveling device A1 enters a loading state in which multiple cargoes M are placed side by side across the entire upper surface of the horizontal conveyor 1.

[0101] On the other hand, when loading cargo from the automatic cargo transport traveling device A1 onto the loading platform B1, when the cargo M at the cargo discharge section 12b of the horizontal conveyor 1 is removed by the transfer worker H, the horizontal conveyor 1 automatically transports the cargo in the loading direction.

[0102] Specifically, when the luggage sensor device 81 detects the removal of luggage from the luggage discharge section 12b of the conveyor belt 12, the conveyor belt 12 is operated intermittently to move luggage M from the luggage placement section 13 adjacent to the luggage discharge section 12b, and a loading state is established in which new luggage M is positioned at the luggage discharge section 12b.

[0103] By repeating the intermittent operation of the conveyor belt 12 and the loading work of the transfer worker H, a plurality of cargoes M are orderly loaded onto or emptied from each of the loading sections 13 formed along the length of the horizontal conveyor 1.

[0104] Finally, the baggage sensor device 81 detects that there are no bags M at the baggage placement section 13 (baggage discharge section 12b) at the end of the conveyor belt 12, and the conveyor belt 12 stops intermittently operating. As a result, the automatic baggage transport traveling device A1 enters an empty state in which all bags M have been discharged from the entire upper surface of the horizontal conveyor 1.

[0105] (Step 5: Cart direction change process S5) Next, the automatic cargo transport traveling device A1 executes a direction change step S5 in which, as shown in FIG. 11, the posture of the upper horizontal conveyor 1 is kept the same and only the lower carriage 5 is turned horizontally at the stopping location to change the forward direction.

[0106] As shown in Figures 3(a) and 3(b), the automatic cargo transport traveling device A1 maintains the cargo transfer position of the upper horizontal conveyor 1 and turns and reverses the cart 5 together with the turntable unit 4, which rotates horizontally around the rotation axis 2, so that the cart can travel forward toward the cargo loading / unloading station for the next transport process.

[0107] Specifically, as shown in Figures 7(a) and 7(d), the left and right drive wheels 50L, 50R of the bogie 5 rotate relative to each other, and in synchronization with the timing at which the bogie 5 turns, the shaft drive unit 3 attached to the turntable unit 4 above it rotates and rotates the spinning shaft 2 in the opposite direction at the same rotational speed by the amount of rotation of the bogie 5.

[0108] In this way, the horizontal conveyor 1 and the trolley 5 rotate relative to each other by the same amount of rotation in synchronization with each other via the control unit 7, so that the upper horizontal conveyor 1 appears to be stationary and remains in a load transfer position, while only the lower trolley 5 rotates horizontally.

[0109] As a result, each of the automatic cargo transport traveling devices A1 crowdedly arranged side by side in the vicinity of the loading / unloading opening B10 of the loading platform B1 of the transport vehicle B can turn the forward traveling direction at the stopping place without making a detour or interfering with each other's carriages 5, thereby enabling quick transport to the next transport process without the upper horizontal conveyors 1 colliding with each other.

[0110] After executing the direction change process S5 of the trolley 5, the automatic cargo transport traveling device A1 executes the traveling form process S1 to change from the cargo transfer form to the traveling form, as shown in Figures 3(c) and 11, receives the station position information sent from the central management server 100, and executes the traveling operation process S2 to start traveling operation toward the cargo unloading / retrieval station W assigned to it.

[0111] Finally, the automatic cargo transport running device A1 arrives at a position near the cargo loading / unloading station W and stops, and executes the cargo transfer form process S3 to change from the running form to the cargo transfer form so as to connect the transport end of the horizontal conveyor 1 to the transport start end of the cargo loading / unloading station W.

[0112] Specifically, the automatic cargo transport running device A1 drives the upper horizontal conveyor 1 around the rotation axis 2 via the axis drive unit 3, so that the upper horizontal conveyor 1 is in an inclined position protruding from the trolley 5 or in a straight position with the transport direction aligned with the forward and backward traveling direction of the trolley 5, and the lift 6 between the trolley 5 and the horizontal conveyor 1 is in an extended position, resulting in a cargo transport configuration.

[0113] In particular, when the loading / unloading station W as the next transport process is a transport conveyor as in this embodiment, the horizontal conveyor 1 of the automatic cargo transport running device A1, as shown in Figure 3(c), rotates to a position where the transport direction is the same as the transport direction of the loading / unloading station W, and moves up and down so that the transport surface is flush with the transport surface of the loading / unloading station W, connecting to the loading / unloading station W, and performs the cargo transfer process S4 to form a continuous transport path that enables continuous transport of cargo M.

[0114] In this way, in this system A, the work flow involves repeatedly performing each of the above steps S1 to S5 on the platform P between the transport vehicle B and the loading / unloading station W, making it possible to sequentially transfer the cargo M to the transport vehicle B or the loading / unloading station W.

[0115] As described above, according to the present invention, a horizontal conveyor that can rotate freely in a loading direction toward the bed of a transport vehicle or in a loading / unloading direction from the bed, a rotation shaft journaled on a frame of the horizontal conveyor, a shaft drive unit interlocked and connected to the rotation shaft, a turntable unit that rotates horizontally and separately from the horizontal conveyor around the axial direction of the rotation shaft as a rotation center, a carriage that is provided below the turntable unit so as to rotate horizontally together with the turntable unit and that travels forward and turns horizontally, and an elevating lift interposed between the turntable unit and the carriage, and the horizontal conveyor is rotated relative to the carriage around the rotation shaft via the shaft drive unit in accordance with the horizontal rotation and travel of the carriage. By using a plurality of automatic cargo transport devices that are configured to change the forward running direction of the cart while rotating relative to one another to maintain the posture of the horizontal conveyor, cargo can be automatically transported and run on a platform between the transport vehicle parked in the warehouse truck yard and a cargo loading / unloading station such as a rack or loading / unloading conveyor within the warehouse, and by connecting the transport starting end or transport terminal end of the horizontal conveyor to the loading platform or the cargo loading / unloading station, weight and space can be reduced, improving installation on the platform and the economy of the device, reducing human burden as much as possible and reducing the workload of loading and unloading cargo, improving convenience, and allowing cargo to be smoothly handed over to the next transport process.

[0116] In addition, on the warehouse platform, the horizontal conveyor of the automatic cargo transport and running device is positioned near the opening of the loading platform of a transport vehicle parked in the truck yard using a lower cart, allowing cargo transfer workers to smoothly receive or transfer cargo between the automatic cargo transport and running device and the loading platform of the transport vehicle.

[0117] Furthermore, by rotating the upper horizontal conveyor and the lower carriage horizontally relative to each other, it is possible to rotate only the lower carriage at the carriage stopping location while leaving the load transfer posture of the upper horizontal conveyor as it is, and therefore it is possible to change direction without having to detour each of the automatic load transport traveling devices.

[0118] This eliminates the risk of conveyors or carts colliding with one another, causing the placed cargo to accidentally fall or being damaged. Furthermore, because multiple horizontal conveyors can be densely arranged in a limited space near the opening of the carrier's platform, the efficiency of cargo transfer work can be improved by operating each automatic cargo transport traveling device according to the type of cargo assigned to its destination, for example.

[0119] Furthermore, the horizontal conveyor is configured so that when unloading, it automatically transports the cargo in a juxtaposed manner, leaving the starting end of the transport empty and serving as a cargo input section for receiving new cargo, and when loading, it automatically transports the cargo out and leaves the end of the transport in a loaded state as a cargo output section for unloading new cargo. This allows for safe cargo transfer work to be carried out at the transfer worker's pace without causing cargo to collapse, etc., and has the effect of improving work efficiency.

[0120] Furthermore, by arranging the rotation axis eccentrically from the longitudinal center of the horizontal conveyor, for example, at the longitudinal center of the horizontal conveyor, or toward either the front or rear end from the longitudinal center of the horizontal conveyor, or toward either the left or right end from the width center of the horizontal conveyor, it is possible to adjust the interference position between the carts when multiple horizontal conveyors are positioned near the opening of the loading platform of the transport vehicle, and it is possible to improve the efficiency of loading and unloading operations by bringing the ends of the horizontal conveyors closer to each other.

[0121] In addition, the loading platform of the transport vehicle, the loading / unloading station, and the multiple automatic transport and running devices are each connected to a central management server via a wireless communication network so as to be able to communicate with each other, and the multiple automatic transport and running devices are remotely controlled by the central management server, and receive from the central management server stopping position information indicating where the transport vehicle is stopped, station position information indicating the location of the loading / unloading station, sorting information indicating where the luggage will be sorted to the loading / unloading station or the transport vehicle, luggage transfer information indicating the transfer status of the luggage between the horizontal conveyor and the loading / unloading station or the loading platform of the transport vehicle, and device position information indicating the relative position of each automatic transport and running device within the platform, and automatically run and stop sequentially so as not to interfere with each other within the platform.This allows the information necessary for the operation of the automatic transport and running devices to be centrally managed by the central management server, dramatically improving the efficiency of transporting luggage back and forth between the transport vehicle and the loading / unloading station, and significantly reducing the human burden.

[0122] Furthermore, when transferring cargo that has been connected to and stopped at the loading / unloading station or the loading platform of the transport vehicle, the automatic cargo transport traveling device automatically shifts the upper horizontal conveyor around the rotation axis via the shaft drive unit to an inclined position protruding from the carriage or to a straight position with the transport direction aligned with the direction of travel of the carriage, and the lift between the carriage and the horizontal conveyor to an extended position, thereby transferring the cargo; and when transporting cargo, the automatic cargo transport traveling device automatically shifts the upper horizontal conveyor around the rotation axis via the shaft drive unit to a straight position with the transport direction aligned with the direction of travel of the lower horizontal conveyor, and the lift between the carriage and the horizontal conveyor to a retracted position, thereby further reducing the human burden and achieving the effect of semi-automating cargo handling operations and improving work productivity in the warehouse.

[0123] In other words, the present invention reduces the human burden in loading and unloading work and dramatically improves work efficiency, resulting in a reduction in labor costs and work time required for comprehensive warehousing, packaging, and storage, and has the effect of improving work productivity within the warehouse. [Explanation of symbols]

[0124] A System 1 transport vehicle 10 Cargo bed 2. Rotation axis 3-axis drive unit 4 Turntable section 5 carts 6. Lift 7 Control Unit

Claims

1. a horizontal conveyor that can rotate freely in a loading direction toward the loading platform of the transport vehicle or in a loading / unloading direction from the loading platform; a rotation shaft supported on the frame of the horizontal conveyor; a shaft drive unit interlocked with the rotation shaft; a turntable unit that rotates horizontally and separately from the horizontal conveyor around the axial direction of the rotation shaft; a carriage that is provided below the turntable unit and that can travel forward and turn horizontally to rotate horizontally together with the turntable unit; a lift interposed between the turntable unit and the carriage, A cargo loading and unloading system characterized in that a plurality of automatic cargo transport devices are configured to rotate the horizontal conveyor relative to the carriage around the rotation axis via the axis drive unit in accordance with the horizontal rotation of the carriage, thereby changing the forward travel direction of the carriage while maintaining the posture of the horizontal conveyor, and the cargo is automatically transported back and forth on a platform between the transport vehicle parked in a warehouse truck yard and a loading and unloading station such as a rack or an in-and-out conveyor within the warehouse, and the transport starting end or transport terminal end of the horizontal conveyor is connected to the loading platform or the loading and unloading station.

2. 2. The cargo loading and unloading system according to claim 1, wherein the horizontal conveyor is configured such that, when unloading, it automatically transports cargo in a juxtaposed manner, leaving the starting end of the transport empty as a cargo input section for receiving new cargo, and when loading, it automatically transports cargo out and leaves the end of the transport in a loaded state as a cargo output section for unloading new cargo.

3. 3. The cargo loading and unloading system according to claim 1, wherein the rotation axis is disposed eccentrically from the longitudinal center of the horizontal conveyor.

4. the loading platform of the transport vehicle, the loading / unloading station, and the plurality of automatic transport traveling devices are each connected to a central management server via a wireless communication network so as to be able to communicate with each other; The multiple automatic cargo transport traveling devices are remotely controlled by the central management server, and receive from the central management server stopping position information indicating the stopping location of the transport vehicle, station position information indicating the location of the loading / unloading station, sorting information indicating the sorting destination of the cargo at the loading / unloading station or the transport vehicle, cargo transfer information indicating the transfer status of the cargo between the horizontal conveyor and the loading / unloading station or the loading platform of the transport vehicle, and device position information indicating the relative position of each automatic cargo transport traveling device within the platform, and automatically travel and stop sequentially within the platform so as not to interfere with each other.

5. The cargo loading and unloading system according to any one of claims 1 to 4, characterized in that, during a cargo transfer operation connected and stopped at the loading / unloading station or the loading platform of the transport vehicle, the automatic cargo transport traveling device automatically displaces the upper horizontal conveyor about the rotation axis via the shaft drive unit into an inclined position protruding from the carriage or into a straight position with the transport direction aligned with the traveling direction of the carriage, and automatically displaces the lift between the carriage and the horizontal conveyor into an extended position, and during cargo transport, automatically displaces the upper horizontal conveyor about the rotation axis via the shaft drive unit into a straight position with the transport direction aligned with the traveling direction of the lower carriage, and automatically displaces the lift between the carriage and the horizontal conveyor into a retracted position.

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