Cargo Handling System

Abstract

To simplify an autonomously traveling carrier and a cargo handling device for performing cargo handling work to the carrier.SOLUTION: A carrier 16 has receiving arms 42L, 42R on which a cargo 14 is placed. A cargo handling device 18 has a placement plate 20 that can be raised and lowered with the cargo 14 placed thereon. When the cargo 14 is transferred from the carrier 16 to the cargo handling device 18, the carrier 16 travels toward the cargo handling device 18 to position the cargo 14 above the placement plate 20, and the placement plate 20 rises to receive the cargo 14. When the carrier 16 receives the cargo 14 from the cargo handling device 18, the carrier 16 advances toward the cargo handling device 18 to cause the receiving arms 42L, 42R to enter under the cargo 14 placed on the placement plate 20, and the placement plate 20 descends to transfer the cargo 14 to the receiving arms 42 L, 42R.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a cargo handling system that delivers cargo between a transport vehicle that travels autonomously to transport cargo and cargo handling devices installed at the origin and destination of the goods. [Background technology]

[0002] Material handling devices are used to load and unload goods in factories and logistics warehouses. Patent Document 1 listed below discloses a mobile robot (110) that transports agricultural pods (105) in an agricultural production environment. The mobile robot (110) enters under the loading platform of the agricultural pod (105) to be transported, lifts the agricultural pod, and transports it (see paragraph 0023). Patent Document 2 listed below discloses a material handling device that uses an articulated robot (7) to grasp and transport a material (1). Note that the reference numerals in parentheses are the reference numerals used in Patent Documents 1 and 2 listed below, and are not related to the reference numerals used in the embodiments of the present application. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-68800 A [Patent Document 2] Japanese Patent Application Laid-Open No. 2009-262302 Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, there has been an increasing demand for automated transport in relatively small facilities such as offices, hospitals, and homes, which has led to calls for the miniaturization of transport vehicles that transport packages and the simplification of loading and unloading equipment that transfers packages to and from transport vehicles. [Means for solving the problem]

[0005] The cargo handling system according to the present invention includes an autonomously traveling transport vehicle that carries cargo on a receiving platform, and a cargo handling device having a liftable loading platform. When transferring cargo from the transport vehicle to the cargo handling device, the transport vehicle moves toward the cargo handling device to position the cargo above the loading platform of the cargo handling device, and the loading platform rises to receive the cargo positioned above the loading platform. When the transport vehicle receives cargo from the cargo handling device, the transport vehicle moves toward the cargo handling device to move a loading platform under the cargo placed on the loading platform, and the loading platform lowers to transfer the cargo to the loading platform of the transport vehicle.

[0006] The transfer of cargo is carried out by coordinating the forward and backward movement of the transport vehicle with the lifting and lowering movement of the loading device's plate. The transport vehicle only needs to be able to move forward and backward through its own travel motion, and is not required to lift or lower cargo. Therefore, there is no need to provide a structure for lifting and lowering. Furthermore, the loading device only needs to be able to simply lift and lower the plate, and does not need to be equipped with an articulated arm or a mechanism for gripping cargo.

[0007] The transport vehicle may have side panels positioned on both sides of the load on the platform to restrict the load from moving sideways. The side panels can prevent the load on the platform from falling sideways.

[0008] The side panels of the transport vehicle may be tapered so that the side that receives the luggage is open. When the transport vehicle receives the luggage, the luggage can be guided onto the receiving platform.

[0009] A platform stopper can be provided at the tip of the platform of the transport vehicle to restrict the movement of the load on the platform beyond the tip of the platform. The platform stopper can prevent the load on the platform from falling beyond the tip.

[0010] The loading plate of the loading device is , from the baggage claim area A stopper can be provided to restrict movement in the rear direction, which stabilizes the position of the package when the transport vehicle receives it and prevents it from falling off the loading plate.

[0011] The cargo may include a transport container for storing an item to be delivered. The bottom surface of the transport container has a first area and a second area at different heights, and the first area contacts the receiving platform when the transport container is placed on the transport vehicle, and the second area contacts the loading plate when the transport container is placed on the loading device. The transport container may have a storage box for storing items to be transported, and two container legs fixed to the bottom surface of the storage box in a tapered shape that widens toward the back. In the case of this transport container, the bottom surface of the storage box outside the two container legs is the first area, and the undersides of the two container legs is the second area. [Effects of the Invention]

[0012] Since the transport vehicle does not require a lifting mechanism, it can be made smaller and lighter. The loading device can be simply configured with only a lifting mechanism, and the space required for operation can be made smaller than that of a multi-joint arm that requires a rotating movement. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a diagram showing the configuration of a parcel delivery system. [Figure 2] FIG. 2 is a perspective view showing a schematic configuration of a transport vehicle. [Figure 3] FIG. 2 is a side view schematically showing the main configuration of the transport vehicle. [Figure 4] FIG. 2 is a plan view schematically showing the main configuration of the transport vehicle. [Figure 5] FIG. 2 is a perspective view showing a schematic configuration of the cargo handling device. [Figure 6] FIG. 2 is a plan view schematically showing a loading plate of the loading device and a container on the loading plate. [Figure 7] FIG. 2 is a side view schematically showing a loading plate of the cargo handling device and a container on the loading plate. [Figure 8] 8 is a view of the transport container as seen from the direction of arrow Y1 in FIGS. [Figure 9] FIG. 10 is an explanatory diagram of a baggage delivery operation. [Figure 10] FIG. 10 is an explanatory diagram of a baggage delivery operation. [Figure 11] FIG. 10 is an explanatory diagram of a baggage delivery operation. [Figure 12] FIG. 10 is an explanatory diagram of a baggage delivery operation. [Figure 13]FIG. 10 is an explanatory diagram of a baggage delivery operation. [Figure 14] FIG. 10 is an explanatory diagram of a baggage delivery operation. [Figure 15] FIG. 10 is a diagram schematically illustrating another embodiment of the transport vehicle. [Figure 16] FIG. 10 is a diagram schematically illustrating another aspect of the cargo handling device. DETAILED DESCRIPTION OF THE INVENTION

[0014] An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing the schematic configuration of a parcel delivery system 10. The system includes a transport vehicle 16 that transports parcels 14 between a plurality of collection and delivery stations 12, and a cargo handling device 18 installed at each collection and delivery station 12. At each collection and delivery station 12, the parcels 14 are placed on a loading plate 20 of the cargo handling device 18. Two collection and delivery stations 12 are shown in FIG. 1, and when it is necessary to distinguish between the collection and delivery stations 12, one is designated by the reference numeral 12A and the other by the reference numeral 12B. Furthermore, the cargo handling devices 18 installed at each collection and delivery station 12A, 12B and the loading plates 20 of the cargo handling devices 18 are designated by the reference numerals 18A, 18 and the loading plates 20A, 20B, respectively, to correspond to the collection and delivery stations 12A, 12B to which they belong, as necessary. In this package delivery system 10, at each collection and delivery station 12, a transport vehicle 16 and a loading device 18 form a loading system and cooperate to perform loading operations. Specifically, the loading operation is performed by combining the horizontal movement of the transport vehicle 16 as it travels and the lifting and lowering movement of the loading plate 20 of the loading device 18.

[0015] The package delivery system 10 is installed, for example, in an office and collects and delivers materials used by office employees. The operation of the package delivery system 10 will be described using an example in which an office employee transports a document currently in use to a collection and delivery station 12B near the next employee who will use the document. The employee places the document in use by a specified deadline in a transport container 22 placed on a loading plate 20A of a specified loading device 18A (e.g., a loading device close to the employee). On the specified collection and delivery date and time, the material manager receives the transport container 22 containing the document as a package 14 at the collection and delivery station 12A and issues a command to transport the package 14 to the collection and delivery station 12B near the next employee who will use the document. The command is sent from the system control device 24 to the transport vehicle 16, and the transport vehicle 16, upon receiving the command, travels from a waiting area 26 to the collection and delivery station 12A along a predetermined collection and delivery route 28. Upon arriving at the collection and delivery station 12A, the transport vehicle 16 picks up the package 14 from the loading device 18A. The details of the delivery of the package 14 between the transport vehicle 16 and the cargo handling device 18 will be described later. After receiving the package 14, the transport vehicle 16 travels again along the collection and delivery route 28 toward the collection and delivery station 12B. When the transport vehicle 16 arrives at the collection and delivery station 12B, it hands over the package 14 to the cargo handling device 18B. The empty transport vehicle 16 returns to the waiting area 26 along the collection and delivery route 28.

[0016] 2 to 4 are schematic diagrams showing the transport vehicle 16, with Fig. 2 being a perspective view and Figs. 3 and 4 being side and plan views showing the main parts. The normal running direction of the transport vehicle 16 is to the left in Fig. 3, and this direction is referred to as the forward direction FR. The upward direction is indicated by the symbol UP, and the leftward direction facing the forward direction FR is indicated by the symbol LH.

[0017] The transport vehicle 16 includes a chassis 30 and a transport vehicle frame 32 fixed on the chassis 30. The transport vehicle frame 32 includes a frame lower portion 38 arranged on the left and right sides of the transport vehicle 16 and composed of side members 34L, 34R, each made up of rectangular pieces of lumber combined together, and several horizontal members 36 arranged to connect the side members 34L, 34R. The transport vehicle frame 32 further includes vertical members 40L, 40R erected from the frame lower portion 38. The vertical members 40L, 40R may be erected from the front ends of the side members 34L, 34R, and in particular may be formed as a member integral with one side of the front end of the rectangle formed by the side members 34L, 34R.

[0018] Receiving arms 42L, 42R extending rearward from the vertical members 40L, 40R are fixed to the vertical members 40L, 40R, respectively. The receiving arms 42L, 42R extend generally horizontally above the side members 34L, 34R at a distance from them. The receiving arms 42L, 42R are tables that receive and support the packages 14, on which the packages 14 are placed. The transport vehicle 16 carries the packages 14 on the receiving arms 42L, 42R and transports them between the collection and delivery stations 12.

[0019] Sloped surfaces 44, 46 are formed on at least one of the tip and base ends of the receiving arms 42L, 42R. The slope at the tip end is referred to as tip slope 44, and the slope at the base end is referred to as base slope 46. The tip slope 44 and base slope 46 stabilize the loading position of the load 14. In particular, the tip slope 44 prevents the load 14 from shifting backward during transport. The tip slope 44 is a receiving platform stopper that restricts the backward movement of a load placed on a receiving platform formed by the receiving arms 42L, 42R.

[0020] Side plates 48L, 48R are provided outside the receiving arms 42L, 42R in the left-right direction of the transport vehicle 16 and above the receiving arms 42L, 42R. The side plates 48L, 48R are spaced apart from the side members 34L, 34R in the up-down direction. The spacing between the left and right side plates 48L, 48R is tapered, widening toward the rear of the transport vehicle 16. The lower edges of the side plates 48L, 48R are connected to the outer edges of the receiving arms 42L, 42R, and the outer edges of the receiving arms 42L, 42R also widen toward the rear, similar to the side plates 48L, 48R.

[0021] The transport vehicle 16 travels autonomously and is equipped with a lidar (Light Detection and Ranging) for autonomous travel. The transport vehicle 16 is equipped with a lidar that detects facilities, equipment, and obstacles around the transport vehicle 16, and a transport vehicle control device 50 that controls the transport vehicle 16 to follow a predetermined collection and delivery route 28 based on the surrounding conditions detected by the lidar. A lidar transceiver 52 that emits and receives laser light is disposed on the top of the transport vehicle 16. Furthermore, the transport vehicle 16 includes a communication device 54 for communicating with the loading and unloading device 18.

[0022] Fig. 5 is a perspective view showing the schematic configuration of the loading device 18 with a transport container 22 placed on it. Figs. 6 and 7 are a plan view and a side view showing the loading plate 20 and the transport container 22 on the loading plate 20, respectively. In Figs. 5 to 7, the approach direction of the transport vehicle 16 to the loading device 18 is indicated by arrow Y1, and hereinafter, the end of the approach direction will be referred to as the back, and the opposite side as the front.

[0023] The cargo handling device 18 has two support legs 56L, 56R, and the loading plate 20 is supported by the support legs 56L, 56R. The support legs 56L, 56R have built-in actuators that extend and retract the support legs, and this extension and retraction causes the loading plate 20 to rise and lower. Therefore, the actuators built into the support legs are lifting and lowering actuators that raise and lower the loading plate 20. The support legs 56L, 56R also support an upper plate 58 at a position higher than the loading plate 20, and the upper plate 58 also rises and lowers as the support legs 56L, 56R extend and retract. A manual switch 60 is disposed on the upper plate 58 for manually raising or lowering the loading plate 20.

[0024] A loading plate stopper 62 is provided on the rear side of the loading plate 20 to restrict the movement of the cargo 14 or transport container 22 toward the rear. The loading plate stopper 62 is a protrusion on the loading plate 20, and abuts against the lower end of the cargo 14 on the rear side, and in the case of the transport container 22 in particular, a container leg 64.

[0025] The cargo handling device 18 is equipped with a cargo handling control device 66 that integrates a communication device that communicates with the communication device 54 of the transport vehicle 16 and a control device that controls the elevation of the loading plate 20. The cargo handling control device 66 controls the cargo handling operation by coordinating the forward and backward traveling operation of the transport vehicle 16 with the elevation operation of the cargo handling device 18.

[0026] Figure 8 is a diagram showing the transport container 22 as viewed from the direction of arrow Y1 in Figure 6 etc. The transport container 22 includes a storage box 68 having an open-topped rectangular box shape for storing the object to be transported, and container legs 64 fixed to the bottom surface 70 of the storage box 68. The container legs 64 are, for example, two rod- or plate-shaped members extending generally in the direction of arrow Y1, and may be arranged in a tapered shape so that the distance between the two container legs 64 becomes wider at the back side.

[0027] When the transport container 22 is placed on the receiving arms 42L, 42R of the transport vehicle 16, an area 72 (first area) of the bottom surface 70 of the transport box that is outside the two container legs 64 comes into contact with the receiving arms 42L, 42R, thereby supporting the transport container 22. When the transport container 22 is placed on the loading plate 20, an underside 74 (second area) of the container legs 64 comes into contact with the loading plate 20, thereby supporting the transport container 22. There is a height difference between the bottom surface 70 of the storage box and the undersides 74 of the container legs 64, and as will be described later, this difference is used to move the receiving arms 42L, 42R into and out of the space below the storage box 68.

[0028] 9 to 14 are diagrams illustrating the operation of handing over the luggage 14 between the transport vehicle 16 and the cargo handling device 18. In Fig. 9 to 14, thick dotted arrows indicate the operation of the transport vehicle 16 and the cargo handling device 18 when the transport vehicle 16 receives the luggage 14 from the cargo handling device 18, and thick hollow arrows indicate the operation when the luggage 14 is handed over to the cargo handling device 18.

[0029] First, the operation of the transport vehicle 16 when it receives the package 14 from the package handling device 18 will be described.

[0030] FIG. 9 shows a state in which the transport vehicle 16 has come to receive the package 14 placed on the loading device 18, i.e., the transport container 22 containing the delivery item. Based on a collection / delivery command from the system control device 24, the transport vehicle 16 heads toward the collection / delivery station 12 (see FIG. 1) where the package 14 to be collected is located. When the transport vehicle 16 arrives at the collection / delivery station 12, it aligns itself with the loading device 18 at a ready position. The ready position may be a predetermined position with respect to the loading device 18, or may be a position directly facing the position of the package 14 placed on the loading device 18 as detected by a lidar. In the ready position, the transport vehicle 16 takes a posture facing backward with respect to the loading device 18. The position of the transport vehicle 16 shown in FIG. 9 is the ready position. In addition, the loading plate 20 of the loading device 18 is at a raised position 80, which is a height that makes it easy for an operator to load and unload delivery items into and from the transport container 22.

[0031] When the transport vehicle 16 reaches the preparation position, it communicates with the cargo handling control device 66 using the communication device 54, and the cargo handling control device 66 disables manual operation by the manual switch 60 of the cargo handling device 18 and enables operation by automatic control. Next, the cargo handling control device 66 controls the actuator of the cargo handling device 18 to lower the loading plate 20 to a first lowered position 82 (see FIG. 10). The first lowered position 82 is a position where the gap formed between the bottom surface 70 of the storage box and the upper surface of the loading plate 20 is at the same height as the receiving arms 42L, 42R of the transport vehicle 16.

[0032] 10 shows the state in which the loading plate 20 has been lowered to the first lowered position 82. When the loading plate 20 is lowered, the cargo handling control device 66 communicates with the communication device 54 of the transport vehicle 16, and the transport vehicle 16 moves (backs) toward the loading device 18. As the transport vehicle 16 moves forward, the receiving arms 42L, 42R enter the space below the transport container 22, particularly the storage box 68. The loading plate 20 also enters the gap between the frame lower portion 38 of the transport vehicle 16 and the receiving arms 42L, 42R. At this time, because the side plates 48L, 48R are tapered with open ends, the transport vehicle 16 can receive the transport container 22 even if the transport container 22 is slightly misaligned to the left or right. The container legs 64 are also tapered, and the receiving arms 42L, 42R abut against the sides of the container legs 64 to absorb any misalignment of the transport container 22, as in the case of the side plates 48L, 48R. Even if the transport container 22 comes into contact with the side plates 48L, 48R or the receiving arms 42L, 42R, the loading plate stopper 62 on the loading plate 20 prevents the transport container 22 from moving further inward. When the transport vehicle 16 reaches a predetermined approach position, the transport vehicle 16 stops. The approach position is a position where the receiving arms 42L, 42R face the entire length of the bottom surface 70 of the transport container 22 in the approach direction. Arrival at the approach position may be detected based on the distance traveled from the preparation position, or may be detected by a sensor (e.g., an infrared sensor) provided on the loading device 18.

[0033] Figure 11 shows the state when the transport vehicle 16 has reached the entry position, where (a) shows the transport vehicle 16 and the loading device 18 as viewed from the side of the transport vehicle 16, and (b) shows the luggage 14, loading plate 20, receiving arms 42L, 42R, etc. as viewed from the rear of the transport vehicle 16 (from the direction of arrow Y2 in the figure).

[0034] At the approach position, the transport container 22 is placed in a space defined by the receiving arms 42L, 42R and the side panels 48L, 48R. When the transport vehicle 16 reaches the approach position, the cargo handling control device 66 further lowers the loading plate 20 to a second lowered position 84 (see FIG. 12). During the lowering process, the bottom surface 70 of the storage box of the transport container 22 abuts against the receiving arms 42L, 42R, and the transport container 22 is transferred from the loading plate 20 to the receiving arms 42L, 42R.

[0035] 12 shows the state in which the loading plate 20 has been lowered to the second lowered position 84, and (a) and (b) show the state as seen from the side and rear of the transport vehicle 16, as in FIG. 11. The second lowered position 84 is a position in which the container legs 64 of the transport container 22 supported by the receiving arms 42L, 42R are separated from the loading plate 20 and the loading plate 20 does not abut against the frame lower portion 38 of the transport vehicle 16. When the loading plate 20 reaches the second lowered position 84, the cargo handling control device 66 communicates with the communication device 54 and issues a command to the transport vehicle 16 to separate from the cargo handling device 18 and return to the standby position. The transport vehicle 16 moves forward based on this command.

[0036] 13 is a diagram showing the state in which the transport vehicle 16 has returned to the preparation position. At this time, the transport vehicle 16 is carrying the cargo 14 (transport container 22). When the transport vehicle 16 moves a predetermined distance and returns to the preparation position, it communicates with the cargo handling control device 66 via the communication device 54, and based on this, the cargo handling control device 66 raises the loading plate 20 and returns it to the raised position 80, which is the normal position.

[0037] 14 shows a state in which the loading plate 20 has reached the raised position 80, and the transport vehicle 16 returns to traveling along the collection and delivery route 28. The transport vehicle 16 may return to collection and delivery without waiting for the loading plate 20 to reach the raised position 80. When the loading plate 20 reaches the raised position 80, the cargo handling control device 66 ends automatic control and enables manual operation.

[0038] The transfer of the package 14 from the transport vehicle 16 to the loading device 18 is performed in the reverse order of the above-described receiving of the package 14 from the loading device 18 to the transport vehicle 16. When the transport vehicle 16 carrying the package 14 (transport container 22) reaches the preparation position (FIG. 14), the loading plate 20 is lowered to the second lowered position 84 (FIG. 13). Next, the transport vehicle 16 moves toward the loading device 18 and positions the transport container 22 above the loading plate 20 (FIG. 12). Next, the loading plate 20 is raised to the first lowered position 82 and receives the transport container 22 (FIG. 11), and the transport vehicle 16 moves away from the loading device 18 (FIG. 10). Finally, the loading plate 20 is raised and returned to the raised position 80, and the transport vehicle 16 resumes traveling along the collection and delivery route 28 (FIG. 9).

[0039] 15 and 16 are diagrams showing other embodiments of the transport vehicle and the cargo handling device. The transport vehicle 16 described above is configured so that a gap is provided between the receiving arms 42L, 42R and the frame lower portion 38, and the loading plate 20 of the cargo handling device 18 fits into this gap to transfer the cargo 14. On the other hand, in the transport vehicle 100 shown in FIG. 15 and the cargo handling device 102 shown in FIG. 16, slits 106L, 106R are provided in the loading plate 104 of the cargo handling device 102, and side members 108L, 108R of the transport vehicle 100 fit into these slits 106L, 106R to transfer the cargo.

[0040] FIG. 15 is a side view showing a schematic diagram of the transport vehicle 100. The transport vehicle 100 differs from the transport vehicle 16 described above in the configuration of the lower frame portion. The lower frame portion 110 of the transport vehicle 100 includes side members 108L, 108R on both the left and right sides. The side members 108L, 108R are taller than the side members 34L, 34R described above, and their upper edges contact and support the support arms 42L, 42R. The other configuration of the transport vehicle 100 is the same as that of the transport vehicle 16 described above, and therefore a description thereof will be omitted.

[0041] FIG. 16 is a perspective view schematically showing the cargo handling apparatus 102. The cargo handling apparatus 102 differs from the aforementioned cargo handling apparatus 18 in the configuration of the loading plate 104, but the other configurations are the same as those of the cargo handling apparatus 18. The loading plate 104 is provided with two slits 106L, 106R spaced apart to correspond to the two side members 108L, 108R of the transport vehicle 100. When the transport vehicle 100 approaches the cargo handling apparatus 102 and enters the approach position, the side members 108L, 108R of the transport vehicle 100 enter the corresponding slits 106L, 106R, respectively. As a result, the receiving arms 42L, 42R of the transport vehicle 100 and the loading plate 104 of the cargo handling apparatus 102 are arranged to overlap, and the loading plate 104 can be raised and lowered to allow the cargo to be handed over.

[0042] As described above, the loading plate 20, 104 of the loading device 18, 102 can be raised and lowered between a height that allows for easy work and a height at which cargo is transferred between the transport vehicle 16,100 and the loading device 18, 102. This allows for the height of the loading vehicle 16, 100 to be reduced without lifting or lowering, while still ensuring workability. Lowering the height of the loading vehicle 16, 100 improves the stability of the loading vehicle 16, 100 and reduces tipping or other problems. Furthermore, the loading vehicle 16, 100 does not require a lifting mechanism, which contributes to a reduction in size and weight of the loading vehicle 16, 100. Furthermore, the need for power to drive the lifting mechanism eliminates the need for a battery as a power source mounted on the loading vehicle 16, 100, allowing for a smaller battery size and longer operating time per charge of the loading vehicle 16, 100. Furthermore, the loading device 18, 102 only requires linear lifting and lowering movements, thereby narrowing the working range compared to the movements of articulated robots, which require pivoting movements. Furthermore, since the operation of the cargo handling devices 18, 102 is only a lifting and lowering operation, people nearby can intuitively understand the working range of the cargo handling devices 18, 102. [Explanation of symbols]

[0043] 10 Baggage delivery system, 12 Collection and delivery station, 14 Baggage, 16,100 Transport vehicle, 18,102 Load handling device, 20,104 Loading plate, 22 Transport container, 28 Collection and delivery route, 32 Transport vehicle frame, 34L, 34R; 108L, 108R Side member, 38, 110 Frame lower part, 42L, 42R Receiving arm (receiving base), 44 Tip slope (receiving base stopper), 48L, 48R Side plate, 56L, 56R Support leg, 62 Loading plate stopper, 64 Container leg, 68 Storage box, 70 (of storage box) bottom surface, 72 Area outside the container leg on the bottom surface (first area), 74 Underside of container leg (second area), 80 Raised position, 82 First lowered position, 84 Second lowered position, 106 Slit.

Claims

1. A transport vehicle that travels autonomously and carries luggage on a receiving platform; A loading device having a liftable loading plate; Equipped with When transferring the cargo from the transport vehicle to the cargo handling device, the transport vehicle moves toward the cargo handling device to position the cargo above the loading plate of the cargo handling device, and the loading plate rises to receive the cargo positioned above the loading plate; When the transport vehicle receives the cargo from the cargo handling device, the transport vehicle moves toward the cargo handling device, causing the receiving platform to enter under the cargo placed on the loading plate, and the loading plate descends to transfer the cargo to the receiving platform of the transport vehicle.

1. A cargo handling system comprising: The loading plate of the cargo handling device is provided with a loading plate stopper that restricts movement of the cargo on the loading plate toward the rear side from the cargo receiving position. Load handling system.

2. 2. A cargo handling system according to claim 1, wherein the transport vehicle has side panels positioned on both sides of the cargo on the receiving platform and restricting lateral movement of the cargo.

3. 3. A cargo handling system according to claim 2, wherein the side panels on both sides of the transport vehicle are arranged in a tapered shape with an open side for receiving cargo.

4. A cargo handling system as described in any one of claims 1 to 3, wherein a platform stopper is provided at the tip of the platform of the transport vehicle to restrict the movement of the cargo on the platform beyond the tip.

5. 5. A loading and unloading system according to claim 1, wherein the cargo includes a transport container for storing items to be delivered, the bottom surface of the transport container having a first area and a second area of ​​different heights, the first area contacting the receiving platform when the transport container is placed on the transport vehicle, and the second area contacting the loading plate when the transport container is placed on the loading and unloading device.

6. A cargo handling system as described in claim 5, The transport container has a storage box for storing items to be transported, and two container legs that are fixed to the bottom surface of the storage box and tapered so as to become wider at the back side, The bottom surface of the storage box outside the two container legs is the first area, and the lower surfaces of the two container legs are the second area. Load handling system.

Images