Goods handling system

Abstract

The present invention discloses an article handling system (100) for a naval surface warfare vessel / ship. The article handling system (100) comprises a lower frame (105) and an upper frame (110) interconnected by a plurality of scissor lift linkages (115). A plurality of drive units (140, 150, 160) are configured to translate the article (101) mounted on the article platform (130) in upward and downward, forward and aft, and tilt translation degrees of freedom. Each of the drive units (140, 150, 160) is configured to switch the article handling system (100) from a stowed position (RP) to an extended operating position (EP). The article handling system (100) is controlled manually or by a control unit (170a) or handheld controller (170b).

Description

Technical Field

[0001] The present invention relates to an article handling system for naval surface combat ships / vessels.

Background Art

[0002] Generally, the torpedo launch process from naval ships / vessels can be classified into underwater tubes / launchers for submarines and deck-mounted launchers installed on the ships / vessels. A torpedo tube / launcher is a cylindrical device that loads a torpedo before starting the launch process. The torpedo loading procedure for a submarine-based launch process is predetermined due to its limited environment and underwater restrictions. The torpedo loading procedure for a deck-mounted shipboard surface launcher that is open to the atmosphere is a process that depends on and is affected by many factors, including surrounding objects and the roll / pitch / yaw rates of the ship / vessel.

[0003] Currently, a manual hydraulic lift with the assistance of at least 8 to 10 personnel loads torpedoes into deck-mounted shipboard surface launchers. Space constraints on surface ships / vessels limit such a loading process. Also, when sailing in the middle of the sea, there are stability limitations due to the roll and pitch scenarios of the ship / vessel, and it is difficult to load the torpedo into the launcher without damaging the outer surface. The torpedo launch trial rate in such operating scenarios is very low.

[0004] Therefore, there is a need to provide a system that prevents and overcomes one or more of the aforementioned problems.

Summary of the Invention

[0005] This summary is provided to introduce concepts related to an article handling system. This summary is not intended to identify the essential features of the present invention nor to be used to determine or limit the scope of the present invention.

[0006] Accordingly, aspects of the present invention include a lower frame and an upper frame interconnected at the proximal and distal ends of the lower frame and an upper frame by a plurality of scissor-lift linkages, each of which has a pivotable first arm and a pivotable second arm, each of which has a first end and a second end, a lower frame and an upper frame, a first support frame having a plurality of pivotable link arms for coupling with the plurality of scissor-lift linkages, positioned between the lower and upper frames, an article stand attached to the first support frame and the second support frame coupled to the upper frame, the article stand having a plurality of multidirectional rollers positioned on the opposite side of the article stand, each of which is configured for the linear and rotational motion of the article, the article stand, the first support frame Disclosed is an article handling system comprising: a first drive unit mounted on a base / ship platform, configured to translate the article platform, which is interconnected with a plurality of scissor-lift linkages and the upper frame, around a longitudinal axis with upward and downward translational degrees of freedom; a second drive unit coupled to the article platform, configured to translate the article with forward and backward translational freedom around an axial feed axis perpendicular to the longitudinal axis of the first drive unit; and a third drive unit connected to the article platform, configured to translate the article platform around an angular pitch axis with inclined translational degrees of freedom, each drive unit configured to switch the article handling system mounted on the base / ship platform from a stowed position to an extended operating position, thereby stabilizing the translation of the article and ensuring protection of the article's outer surface.

[0007] The aforementioned and other aspects, features and advantages of certain exemplary embodiments of the present invention will become even clearer from the following detailed description in conjunction with the accompanying drawings. [Brief explanation of the drawing]

[0008] [Figure 1] This shows an isometric view of an article handling system according to an embodiment of the present invention. [Figure 2] An isometric view and a front view of an article handling system in a storage position according to an embodiment of the present invention are shown. [Figure 3] An isometric view and a front view of an article handling system in an extended operating position according to an embodiment of the present invention are shown. [Figure 4] Detailed diagrams of the first drive unit and the first support frame according to embodiments of the present invention are shown. [Figure 5] Detailed diagrams of a second drive unit and article stand according to an embodiment of the present invention are shown. [Figure 6] A detailed diagram of a third drive unit according to an embodiment of the present invention is shown. [Figure 7] A block diagram of a control unit according to an embodiment of the present invention is shown. [Figure 8] This is an isometric view of an article handling system, showing an article rotation or rolling mechanism and a plurality of storage plates according to an embodiment of the present invention. [Modes for carrying out the invention]

[0009] Those skilled in the art will understand that the elements in the figures are depicted for simplicity and clarity and are not necessarily drawn to actual size. For example, the dimensions of some elements in the figures may be exaggerated relative to others to help to improve the understanding of the various exemplary embodiments of this disclosure.

[0010] Note that throughout the drawings, similar reference numerals are used to indicate the same or similar elements, features, and structures.

[0011] The following description includes specific details for illustrative purposes to facilitate understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be implemented without these details. Those skilled in the art will understand that the embodiments of the invention, some of which are described below, can be incorporated into a number of systems.

[0012] The present invention relates to an article handling system for a naval surface warfare vessel / ship. The article handling system comprises a lower frame and an upper frame interconnected by a plurality of scissor-lift linkages, a first support frame positioned between the lower and upper frames and coupled to the plurality of scissor-lift linkages, an article platform mounted on a second support frame coupled to the upper frame, and a plurality of drive units configured to translate the article mounted on the article platform in upward and downward, forward and backward, and inclined translational degrees of freedom, each of which is configured to switch the article handling system mounted on the base / ship platform from a stowed position to an extended operating position, thereby stabilizing the translation of the article and ensuring protection of the article's outer surface. The article handling system is controlled manually or by a control unit or handheld controller.

[0013] Other aspects, advantages, and outstanding features of the present invention will become apparent to those skilled in the art from the following detailed description, in conjunction with the accompanying drawings disclosing exemplary implementations of the invention.

[0014] The terms and words used in the following description and claims are not limited to their bibliographic meanings but are used by the inventors solely to enable a clear and consistent understanding of the invention. Accordingly, it will be apparent to those skilled in the art that the following description of exemplary embodiments of the invention is presented for illustrative purposes only and is not intended to limit the invention as defined by the appended claims and their equivalents. Those skilled in the art will be able to devise various configurations that embody the principles of the invention, although not explicitly described herein. All terms and expressions in the description are for illustrative purposes only and do not limit the invention. Accordingly, those skilled in the art will recognize that many modifications and variations of the embodiments described herein can be made without departing from the scope and spirit of this specification. Furthermore, for clarity and brevity, descriptions of well-known functions and structures have been omitted. Terms such as first, second, top, bottom, upper, and lower are used to distinguish objects using the same term and are not intended to indicate chronological order unless specifically stated. Furthermore, all descriptions herein that enumerate the principles, aspects, and embodiments of the invention and their specific examples are intended to encompass their equivalents.

[0015] Refer to Figures 1-8 for the article (101), handling system (100), article exterior (101a), base / ship platform (102), proximal end (104a), distal end (104b), lower frame (105), upper frame (110), multiple scissor lift linkages (115), pivotable first arm (120a) and pivotable second arm (120b), first end (121a), second end (121b), first support frame. (125), multiple link arms (126), item platform (130), second support frame (135), multiple multi-directional rollers (136), first drive unit (140), planetary gear type bipolar stepper motor (142), ball screw linear actuator (144), jaw clutch (145), winch (146), rotary handle (148), second drive unit (150), planetary gear type bipolar stepper motor (152), ball screw linear actuator The diagram shows a near actuator (154), jaw clutch (155), chain drive (156), first handle (158), third drive unit (160), cubic worm gear screw jack (164), electric screwdriver (not shown), second handwheel (165), torque wrench (not shown), retracted position (RP), extended operating position (EP), control unit (170a), handheld controller (170b), power supply (171), multiple power limit switches (172), multiple power cables (173), user interface (174), display interface (175), memory (176), processor or microcontroller (178), control panel (190), multiple support legs (180), multiple suspension members (182), multiple wheels (184), towing handle (185), multiple user engagement holders (186), and multiple retraction plates (188).

[0016] Referring to Figures 1-3, various diagrams of the article handling system (100) in the stowed position (RP) and extended operating position (EP) are shown. The article (101) below is a torpedo in an exemplary embodiment, which must be loaded inside the torpedo launcher before being launched from a ship / vessel for naval surface warfare. The article handling system (100) can be used as an auxiliary device for the torpedo launcher, thereby increasing the launch trajectory velocity, reducing the personnel requirements for performing the loading process into the launcher, and protecting the outer surface of the torpedo during the loading process.

[0017] According to embodiments of the present invention, non-limiting features of the article handling system (100) include a lift height of 1200 mm, a maximum load capacity of 450 kg, an overall length and width of 2600 × 720 mm, a closed height of 620 mm and an open height of 1620 mm from the lower frame with a C-channel. In the system (100), a plurality of automatic drive units, each consisting of a stepper motor connected to its respective drive unit, help move the system from the stowed position (RP) to the extended operating position (EP). A first stepper motor is configured for operating the scissor lift. The first stepper motor raises and lowers the scissor lift from approximately 0 mm to 1200 mm. A second stepper motor is configured for the linear motion of the torpedo so that the torpedo is inserted into the torpedo tube / launcher. The stepper motor has maximum torque and minimum angular moment of 1.8 degrees. The application of stepper motors is also advantageous in avoiding complex VFD drive phenomena, thereby significantly reducing the overall cost of the system. The third degree of freedom of the system is the angular motion / tilt of the torpedo platform, which is constructed using an electric screwdriver. The maximum tilt of the torpedo platform, without limitation, is possible from 0 degrees to ±2 degrees.

[0018] In some aspects, the present invention discloses an article handling system (100) comprising a lower frame (105) and an upper frame (110) interconnected at the proximal (104a) and distal (104b) ends of the lower (105) and upper (110) frames by a plurality of scissor-lift linkages (115). Each scissor-lift linkage (115) has a pivotable first arm (120a) and a pivotable second arm (120b). Each pivotable arm (120a, 120b) has a first end (121a) and a second end (121b).

[0019] According to the embodiment, a plurality of drive units (140, 150, 160) are configured to switch the article handling system (100), which is mounted on the base / ship platform (102), from a stowed position (RP) to an extended operating position (EP), thereby stabilizing the movement of the article (101) and ensuring protection of the outer surface (101a) of the article (101).

[0020] According to the embodiment, the first end (121a) or the second end (121b) of the pivotable first (120a) and second (120b) arms is slidable along the axial plane within the lower frame (105) and upper frame (110) when the article handling system (100) is switched from the storage position (RP) to the extended operating position (EP).

[0021] According to the embodiment, the lower frame (105) includes a plurality of support legs (180) configured to extend about 130 degrees to stabilize the translation of the article (101) at an angle greater than 25 degrees under the pitch conditions of the base / ship platform (102). A plurality of suspension members (182) are positioned on the lower frame (105) to receive the absorbed load of the article (101) in the stowed position (RP). A plurality of wheels (184) and a towing handle (185) are coupled to the lower frame (105), and a plurality of user engagement holders (186) are coupled to the lower frame (105) and upper frame (110) for operating and transporting the article handling system (100).

[0022] According to the present invention, the system is robust, and the stability of the system (100) conforms to the required ship roll criteria. To enhance stability, at least four support arms / jibs (180) are provided, which is not limited. According to an exemplary embodiment, when the shear lift (115) is in the fully raised state and the torpedo (101) is placed on the support base (130) and loaded inside the launcher, a stability analysis of the system (100) about the pitch axis is performed. Thus, the base / ship platform (102) of the system is tilted up to 30 degrees, and the horizontal distance from the system CG to the end of the support arm is measured until the distance decreases to zero. The results indicate that the system (100) has good stability in terms of the ship roll criteria.

[0023] Referring to FIG. 4, together with FIGS. 1 - 3, a detailed view of the first drive unit (140) and the first support frame (125) according to an embodiment of the present invention is shown. According to the embodiment, the first drive unit (140) is attached to the first support frame (125) and configured to translate the article table (130) interconnected with the plurality of shear lift linkages (115) and the upper frame (110) with translational degrees of freedom in the upward and downward directions around the vertical axis. According to the embodiment, the first support frame (125) has a plurality of pivotable link arms (126) for coupling with the plurality of shear lift linkages (115), and the first support frame (125) is disposed intermediate the lower (105) and upper (110) frames.

[0024] According to the embodiment, in automatic mode, the first drive unit (140) includes a planetary gear bipolar stepper motor (142) coupled to a ball screw linear actuator (144) via jaw clutches (145) interconnected to transmit power, translating the article platform (130) in the upward and downward translational degrees of freedom. In manual override mode, the first drive unit (140) includes a winch (146) having a rotary handle (148) coupled to the ball screw linear actuator (144) to manually translate the article platform (130) in the upward and downward translational degrees of freedom, at which point the jaw clutches (145) are disengaged from the ball screw linear actuator (144).

[0025] According to the embodiment, the ball screw is provided with two basic components: a rotating screw (S) and a rotating nut (N). The rotating screw assembly is operated by a motor that rotates the lead screw and translates the load attached to the lead nut. Motion is achieved by either constraining the motor to translate the load attached to the lead screw or constraining the lead screw to translate the load attached to the motor. Upward and downward translational degrees of freedom are achieved by a lead screw rod equipped with a 2HP motor stepper motor assembly. A scissor lift equipped with the first drive unit (140) in automatic mode has direct drive from the motor (142) shaft to the lead screw rod via a jaw clutch (145). Whenever the motor is operating with current, the handle (148) of the manual winch (146) is removed and stored in the tool kit.

[0026] According to the embodiment, since power supply to the system (100) is unavailable during a power-down, the system is shifted to manual override mode. A custom-made winch (146) is attached to the end of the ball screw assembly (144) using fasteners. Loosening the fasteners on the jaw clutch (145) releases the power transmission from the motor (142) to the ball screw rod. A manual operating handle (148) is assembled to the winch (146) by press-fitting. Rotation of the manual winch handle (148) generates power transmission to the ball screw rod (144). This manual rotational motion of the ball screw rod manipulates the upward and downward translational degrees of freedom of the article stand (130). Thus, the system is manually operated, the equipment is easy to handle, and power is efficiently transmitted from the motor to the ball screw. After operation is complete, the installation and removal processes are reversed for normal use of the powered system (100).

[0027] Referring to Figures 1-3 and Figure 5, a detailed diagram of a second drive unit (150) according to an embodiment of the present invention is shown. According to the embodiment, the second drive unit (150) is coupled to the article stand (130) and configured to translate the article (101) freely forward and backward around an axial feed axis perpendicular to the longitudinal axis of the first drive unit (140). According to the embodiment, the article stand (130) is mounted on a second support frame (135) coupled to the upper frame (110), and the article stand (130) has a plurality of multidirectional rollers (136) located on the opposite side of the article stand (130), each of which multidirectional rollers (136) is configured for the linear and rotational motion of the article (101). Thus, although not limited thereto, eight pairs of multidirectional rollers may be used on each side, and a total of 16 rollers may be used to translate the article in linear motion.

[0028] According to the embodiment, in automatic mode, the second drive unit (150) includes a planetary gear bipolar stepper motor (152) coupled to a ball screw linear actuator (154) via interconnected jaw clutches (155) and a chain drive (156) to transmit power, translating the article (101) in its forward and backward translational degrees of freedom. In manual override mode, the second drive unit (150) includes a first handwheel (158) coupled to the ball screw linear actuator (154) to manually translate the article (101) in its forward and backward translational degrees of freedom, at which point the jaw clutch (155) is disengaged from the ball screw linear actuator (154). According to the present invention, during the automatic power supply mode, the second drive unit transmits power from the motor (152) to the ball screw rod via the chain drive (156) by engaging the jaw clutch with the driven chain sprocket by tightening or loosening the jaw clutch fasteners. The output shaft of the motor (152) is connected to the drive chain (156) sprocket, and the lead screw is connected to the driven gear sprocket. Whenever the motor is operating with current, the first handwheel (158) used for the driven gear is removed and stored in the tool kit. During the power-down scenario, the fasteners of the jaw clutch (155) are loosened, thereby disengaging the connection between the motor (152) and the ball screw rod (154). Manual operation of the forward and backward translational degrees of freedom is achieved by rotating a socket bit attached to the tail of the ball screw (154) with a wrench or the first handle (158). After the operation is complete, reverse the installation and removal process to use the powered system (100) normally.

[0029] Referring to Figures 1-3 and Figure 6, a detailed diagram of a third drive unit according to an embodiment of the present invention is shown. According to the embodiment, the third drive unit (160) is connected to an article stand (130) and configured to translate the article stand (130) around an angular pitch axis with inclined translational degrees of freedom. According to the embodiment, in automatic mode, the third drive unit (160) includes a cubic worm gear screw jack (164) interconnected to an electric screwdriver and coupled to the article stand (130) to control the angular pitch position of the article stand (130) with inclined translational degrees of freedom of about 0 to ±2. In manual override mode, a third drive unit (160) includes a second handwheel (165) or torque wrench, coupled to the cubic worm gear screw jack (164), to manually control the angular pitch position of the article stand (130) with respect to the inclination translational degrees of freedom, while the electric screwdriver is detached from the cubic worm gear screw jack (164).

[0030] According to the embodiment, the cubic worm gear screw jack (164) is operated with an automatic portable screwdriver (not shown), and in any case of releasing force from the bottom of the screw jack, a torque wrench (not shown) or a second handwheel (165) is used instead of the automatic portable screwdriver. In the power-down state, the portable screwdriver is removed from the screw jack and two extension bits are attached to the worm gear jack (164). Rotating the socket bits using the torque wrench or the second handle (165) allows for angle or tilt motion of the torpedo. Rotating the second handle (165) clockwise and counterclockwise moves the head of the jack (164) up and down, thereby tilting the torpedo platform at the respective angles and facilitating the alignment of the torpedo platform (130) for loading the torpedo platform. After the operation is complete, the mounting and removal process is reversed for normal use of the automatic portable screwdriver system (100).

[0031] Referring to Figure 7, a block diagram of a control panel (190) according to an embodiment of the present invention is shown. According to an embodiment of the present invention, the first drive unit (140), the second drive unit (150), and the third drive unit (160) are electrically connected to a control unit (170a) or a handheld controller (170b) mounted offset from the article handling system (100). The control unit (170a) is located within the control panel (190). The operation of both controllers (170a, 170b) is mutually exclusive. The control unit functions as the master hub for power switching and motor drive electronics, and the handheld controller (170b) can be operated from a distance of 3 meters from the system (100), thereby allowing the operator to move independently. Switching between the two controllers can be done via a switch provided on the control unit (170a). At any given moment, only one controller is active.

[0032] According to the embodiment, the control unit (170a) or handheld controller (170b) includes a user interface (174), a display interface (175), memory (176), a processor or microcontroller (178), and is configured to adjust the power supply from a power source (171) to the item handling system (100) in real time, to invoke a signal indicating the start of an operation, to operate the drive (140, 150, 160) units based on the user's finger movements or command control signal input received from a joystick, to trigger on / off signals indicating the execution of the command control signal sent to the drive units (140, 150, 160), to trigger on / off signals indicating feedback signals from the power limit switch (172), and to allow the user to switch between the control unit (170a) or the handheld controller (170b).

[0033] According to the embodiment, the system (100) includes a total of four limit switches that restrict movement along the horizontal and vertical axes, and the limit switches (172) normally operate in the open (NO) state. The multiple power limit switches (172) are configured for the first drive (140), second drive (150), and third drive (160) units to sense and lock the position of the article (101) within threshold positions during the translational degrees of freedom of the upward / downward, forward / backward, and angular pitch.

[0034] According to this embodiment, two bipolar stepper motors are used to achieve vertical and horizontal motion of the payload. Each bipolar stepper motor has one winding per stator phase. A two-phase bipolar stepper motor has four leads. In a bipolar stepper, common leads cannot be used as in a unipolar stepper motor. Therefore, there is no natural reversal of the current direction through the windings. Bipolar stepper motors are easy to wire but somewhat complex to operate. Driving a bipolar stepper requires an H-bridge configuration, thus necessitating a separate motor drive unit that can be controlled via a microcontroller or processor.

[0035] According to an exemplary embodiment, the operating voltage of the stepper motor and each driver unit is 72VDC, but the power supply available on the ship / vehicle is 230VAC, and therefore a transformer-based AC / DC converter adapted to the system (100) converts 230VAC to 72Vdc. Two independent output ports capable of supplying 6A are provided inside the system, with one stepper driver connected to each port. When operating, a rotating light indicates that the control unit (170a) is "on," i.e., that the control unit has been read to operate. A light indicator provided on the control unit panel (190) indicates whether the system (100) has reached its limit and whether the upper / lower limit switches have been triggered. Similarly, the control panel is provided with a light indicator to show extreme conditions, in the case of the horizontal axis, when the limit switch is triggered. The control unit panel (190) also includes an indicator and user input prompt to switch between whether the control mechanism is by the control unit (170a) or a handheld controller (170b) and to inform the user which controller will operate the motor. A two-axis joystick is provided on the control unit to control movement along the horizontal and vertical axes. The joystick is activated only when the key switch at the top of the joystick is pressed. The control unit panel (190) also includes an input / user interface (174) and an output port / display (175), and accommodates various cables (173) for connecting motors, power limit switches, etc.

[0036] Referring to Figure 8, an isometric view of the article handling system (100) shows the rotation or rolling of the article (101) and a plurality of storage plates (188) according to an embodiment of the present invention. In an exemplary embodiment, an article (referred to as a torpedo) is loaded into the launcher. When the article handling system (100) is in the fully extended forward position (EP), the article (101) is pushed inward into the launcher using second (150) and third drive (160) units. Before loading the article into the launcher, the article is placed on the torpedo platform and rolled by hand using a multi-directional omni-wheel / roller to align its scoop with the scoop slot of the launcher, thereby safely inserting the article into the launcher. This is the reference point used to align the article into the launcher without scratching. In a real-world scenario, if the torpedo launch is aborted for any reason, the article is stored or the unlaunched article is removed from the launcher. Multiple storage plates (188) are coupled to a second drive unit (150) and assembled with the underside of the article (101), and the system (100) is then rotated rearward to safely land on the multi-directional omni wheels / rollers of the torpedo platform. The time and effort required for manual loading / storage are significantly reduced. According to the embodiment, the article handling system (100) includes leveling carters (bottom wheels) (184) that allow the article handling system (100) carrying the article (101) to be moved from one place to another, and that also allow the complete system (100) to be locked in place and prevented from moving further.

[0037] This specification has described and illustrated several embodiments of article handling systems. While specific embodiments of the present invention have been described, the invention is not intended to be limited thereto, as the invention is as broad as the scope permitted in the art and the specification is intended to be read similarly. The types of materials and components of the elements are not limited to those described herein. Furthermore, the structure, coupling methods, and configurations of the systems and elements are presented for reference and discretionary purposes only. For example, the length, width, height, angular motion, drive units, and types of mechanisms are not limited to those described herein and are presented for reference and discretionary purposes only. Embodiments may be manufactured from other types of materials, and furthermore, the structure and design of the assemblies may also vary accordingly. For example, the system has three different degrees of freedom, and all movements are controlled using different drive mechanisms. These mechanisms can be interchanged, or alternative mechanisms can be used for similar types of movements to achieve the same degrees of freedom, and this includes, but is not limited to, hydraulic systems, pneumatic systems, belt dive systems, chain drive systems, and AC / DC motors with their respective control systems.

[0038] It is understood that the above description is intended to be illustrative, not restrictive. It is intended to encompass all substitutes, modifications, and equivalents that may fall within the spirit and scope of the invention as defined by the appended claims. Many other embodiments will become apparent to those skilled in the art upon reviewing the above description. Therefore, the scope of the invention should be determined with respect to the appended claims, along with a sufficient range of equivalents to which such claims are granted. In the appended claims, the term “including” is used as the plain English equivalent of the respective term “comprising.”

Claims

1. A goods handling system (100), The lower frame (105) and upper frame (110) are interconnected at their proximal ends (104a) and distal ends (104b) by a plurality of scissor-lift linkages (115), each of which has a pivotable first arm (120a) and a pivotable second arm (120b), and each pivotable arm (120a, 120b) has a first end (121a) and a second end (121b), and the lower frame (105) and upper frame (110) are interconnected by a plurality of scissor-lift linkages (115), each of which has a pivotable first arm (120a) and a pivotable second arm (120b), and each pivotable arm (120a, 120b) has a first end (121a) and a second end (121b), A first support frame (125) having a plurality of pivotable link arms (126) for connecting with the plurality of scissor lift linkages (115), wherein the first support frame (125) is positioned between the lower frame (105) and the upper frame (110), An article stand (130) is attached to a second support frame (135) coupled to the upper frame (110), and has a plurality of multidirectional rollers (136) arranged on opposite sides of the article stand (130), each of which is configured for the linear and rotational motion of an article (101), the article stand (130) and A first drive unit (140) is attached to the first support frame (125), and is configured to translate the article platform (130), which is interconnected with the plurality of scissor lift linkages (115) and the upper frame (110), along the vertical axis in the vertical translational degrees of freedom, A second drive unit (150) is coupled to the article stand (130), and is configured to translate the article (101) with respect to an axial feed axis perpendicular to the vertical axis of the first drive unit (140) in the translational degrees of freedom in the front-rear direction, The system includes a third drive unit (160) connected to the article stand (130) and configured to tilt the article stand (130) with respect to the angular pitch axis in the degree of freedom of tilt movement, Each of the drive units (140, 150, 160) is configured to switch the article handling system (100), which is mounted on the platform (102), from a stowed position (RP) to an extended operating position (EP), thereby stabilizing the movement of the article (101) and ensuring protection of the outer surface (101a) of the article (101).

2. The article handling system (100) according to claim 1, wherein the first drive unit (140) includes a planetary gear type bipolar stepper motor (142) coupled to a ball screw linear actuator (144) via jaw clutches (145) interconnected to transmit power, and translating the article platform (130) in the vertical translational degrees of freedom.

3. The article handling system (100) according to claim 1 or 2, wherein the second drive unit (150) includes a planetary gear bipolar stepper motor (152) coupled to a ball screw linear actuator (154) via interconnected jaw clutches (155) and a chain drive (156) for transmitting power, and translating the article (101) in the longitudinal translational degrees of freedom.

4. The article handling system (100) according to any one of claims 1 to 3, wherein the third drive unit (160) is interconnected with an electric screwdriver and includes a cubic worm gear screw jack (164) which is coupled to the article table (130) and controls the angular pitch position of the article table (130) to a degree of freedom of tilt movement of about 0 to ±2.

5. The article handling system (100) according to any one of claims 1 to 4, wherein the first drive unit (140), the second drive unit (150), and the third drive unit (160) are electrically connected to a control unit (170a) or a handheld controller (170b) mounted offset from the article handling system (100).

6. The article handling system (100) according to any one of claims 1 to 5, wherein the first end (121a) or the second end (121b) of the pivotable first and second arms (120a, 120b) is slidable within the lower frame (105) and the upper frame (110) along the axial plane of the frames (105, 110) when the article handling system (100) is switched from the storage position (RP) to the extended operating position (EP).

7. The article handling system (100) according to any one of claims 1 to 6, wherein the first drive unit (140) includes a winch (146) having a rotary handle (148) coupled to the ball screw linear actuator (144) for manually translating the article platform (130) in the vertical translational degrees of freedom when the jaw clutch (145) is disengaged from the ball screw linear actuator (144).

8. The article handling system (100) according to any one of claims 1 to 7, wherein the second drive unit (150) includes a first handwheel (158) coupled to the ball screw linear actuator (154) for manually translating the article (101) in the longitudinal translational degrees of freedom when the jaw clutch (155) is disengaged from the ball screw linear actuator (154).

9. The article handling system (100) according to any one of claims 1 to 8, wherein the third drive unit (160) includes a second handwheel (165) or torque wrench coupled to the cubic worm gear screw jack (164) for manually adjusting the angular pitch position of the article platform (130) by the degree of tilt movement when the electric screwdriver is removed from the cubic worm gear screw jack (164).

10. The article handling system (100) according to any one of claims 1 to 9, wherein a plurality of power limit switches (172) are configured for the first drive unit (140), the second drive unit (150), and the third drive unit (160) to sense and lock the position of the article (101) within a threshold position between the translational degrees of freedom in the vertical and longitudinal directions and the tilting degrees of freedom of angular pitch.

11. The article handling system (100) according to any one of claims 1 to 10, wherein the lower frame (105) includes a plurality of support legs (180) pivotally attached to the lower frame (105) and configured to extend outward by about 130 degrees from a closed position, in order to stabilize the translation or movement of the article (101) at an angle greater than 25 degrees under the roll / pitch conditions of the platform (102).

12. The article handling system (100) according to any one of claims 1 to 11, wherein a plurality of suspension members (182) are arranged on the lower frame (105) to receive and absorb the load of the article (101) in the storage position (RP).

13. The article handling system (100) according to any one of claims 1 to 12, wherein a plurality of storage plates (188) are coupled to the second drive unit (150) to assemble with an article (101) and store the article (101) on the article stand (130) by the multi-directional rollers (136).

14. The control unit (170a) or handheld controller (170b) includes a user interface (174), a display interface (175), memory (176), a processor, or a microcontroller (178), and provides real-time functionality. The power supply from the power source (171) to the item handling system (100) is adjusted. Calling the signal to start the operation, Based on the input of command control signals received from the user's finger movements or joystick via the user interface (174), the drive units (140, 150, 160) are activated. The drive units (140, 150, 160) are triggered by on / off signals indicating the execution of the transmitted command control signals. It triggers an on / off signal indicating feedback signals from multiple power limit switches (172), and The article handling system (100) according to any one of claims 1 to 13, configured to allow the user to switch between the control unit (170a) and the handheld controller (170b).

Images