JP7335091B2 - Goods loading device - Google Patents

Description

The present invention relates to an article loading device. For example, it relates to a loading device for loading articles into a transport location such as a container.

Patent Literature 1 discloses a conveying device that holds a large number of articles one by one and loads them onto the bed of a truck. Patent Literature 2 discloses a conveying device that holds and unloads a large number of box-shaped articles loaded in a cargo room of a truck one by one. This type of transport device has a robot arm and a robot hand provided at the tip of the robot arm to hold an article. The unloading work can be accelerated and unmanned by the transport device.

The conveying device of Patent Document 1 detects the distance from the conveying device to the loading position with a distance detection sensor such as a laser sensor. The robot hand holding the article is moved by the robot arm after the movement position is determined based on the detected distance. The conveying device of Patent Literature 2 photographs a large number of articles with image processing means such as a 3D camera. The robot hand is moved by the robot arm after the movement position is determined based on the position information of the article obtained by the image processing means.

Japanese Patent Publication No. 8-15950 JP 2017-206318 A

For example, passengers boarding an airplane at an airport check in their baggage (goods) at the check-in counter. Baggage is conveyed by a conveyor from the check-in counter to a loop-shaped make conveyor installed in the backyard. Conventionally, the baggage on the make conveyor was manually loaded into the container by an operator while being distributed according to the size of the baggage. It has been desired to automate the loading work from manual work to speed up the loading work and make it unmanned.

In addition, there is also a demand to prevent baggage from collapsing inside the container. For example, if there is a gap between pieces of baggage or between pieces of baggage and a wall of a container, the cargo may collapse due to shaking or the like during the flight, resulting in damage to the baggage. In the conventional manual loading operation, the baggage was loaded into the container in close contact with each other without gaps. Even in the case of automating the loading operation, it is desirable to load the baggage in close contact with each other without gaps. For example, when the movement position of baggage is determined based on distance detection by a laser sensor, a 3D camera, or the like, the accuracy of the determined movement position varies due to variations in the brightness in the container and the size of each piece of baggage. Therefore, in the loading operation automated by the conventional carrier, it may be difficult to load the baggage in close contact with each other without gaps.

Therefore, it is necessary to automate the work of loading articles to a transportation location such as a container to make the transportation route unmanned, and to prevent the cargo from collapsing by loading the articles in close contact with the transportation location.

According to one aspect of the present disclosure, a loading device holds and loads items to a transport location. The loading device has a retainer, a moving mechanism and a base. The holding section detachably holds an article and is moved by a moving mechanism. The base is provided in the moving mechanism and supports the holding part so as to be horizontally movable and vertically rotatable. The base portion has a detent portion that restricts the rotation of the holding portion at the lower position, which is the initial position in the vertical direction, and permits upward rotation. The loading device also has a biasing mechanism, a sensing mechanism and a control circuit. A biasing mechanism biases the retainer to a horizontal initial position relative to the base. The detection mechanism detects that the holder has moved from the initial position. The control circuit stops the moving mechanism based on the detection signal from the detection mechanism.

Therefore, by moving the holding part, the article held by the holding part can be brought into contact with the wall surface of the transfer location or other articles loaded in the transfer location. When this contact occurs, the retainer moves relative to the base in a direction opposite to the approach direction. When the held article is horizontally moved together with the holding part, the holding part is biased in the direction opposite to the direction of movement. Therefore, the goods to be loaded and the goods, or the goods and the wall surface of the conveying place are brought into close contact with each other without being damaged while being cushioned by the urging force.

When the held article is moved downward together with the holding part, only the base moves downward when the article collides with the floor surface of the conveying place or the articles already stacked in the conveying place. That is, the downward force from the base is not transmitted to the article and the holder, and the downward force can be relieved by the rotation of the base with respect to the holder. As a result, even during loading operations in the vertical direction, the articles can be brought into close contact with the floor surface or other articles without damaging the articles. Thus, the articles can be loaded in close contact with each other at the transfer location while being moved by the moving mechanism. Thus, it is possible to automate the loading work and prevent the collapse of the cargo in the transportation place.

According to another feature of the present disclosure, the biasing mechanism has a cylinder, a first pressure supply channel and a second pressure supply channel. The cylinder biases the retainer to the initial position. A first pressure supply path supplies a first pressure into the cylinder. A second pressure supply path supplies a second pressure less than the first pressure into the cylinder. The biasing mechanism has a first valve that opens and closes the first pressure supply path and a second valve that opens and closes the second pressure supply path. The base portion and the holding portion are arranged side by side in the X direction on the horizontal plane. A cylinder is provided between the base and the holder so as to bias the holder against the base in parallel with the X direction. A control circuit opens the first valve to supply a first pressure to the cylinder when the moving mechanism moves the article toward the transport location. A control circuit opens the second valve to supply the second pressure to the cylinder when the article is located near the transfer location.

Therefore, when the article is moved to the transport location, more specifically, when it is moved from a position relatively far from the transport location to the transport location, the holding portion is held at the initial position with a relatively large biasing force. Therefore, the article held by the holding portion moves substantially integrally with the base portion that movably supports the holding portion, and is less likely to swing with respect to the base portion. As a result, the articles can be stably moved to the transfer location. On the other hand, when the article is positioned near the transport location, the holding section is held at the initial position with a relatively small biasing force. Therefore, the article held by the holding portion can be easily moved in the horizontal direction with respect to the base portion together with the holding portion. As a result, when an article collides with the wall surface of the transfer location or another article already stacked in the transfer location, the article can easily move against the biasing force of the cylinder together with the holding portion. Thus, it becomes easy to bring the loaded articles and the articles or the article and the walls of the conveying place into close contact with each other while elastically cushioning along the urging direction of the cylinder.

The initial position of the holding part in the X direction is a position at which the holding part is movable with respect to the base at a predetermined distance. This predetermined interval is ensured by the biasing force of the cylinder. The moving mechanism moves the article in the X direction, and when the article hits the wall surface of the transfer location or other articles already stacked in the transfer location, the article approaches the base together with the holding portion against the urging force of the cylinder. Therefore, the cylinder can bring the goods to be loaded and the goods, or the goods and the walls of the conveying place, into close contact with each other without damaging each other. As a result, it is possible to prevent collapse of the cargo in the transportation place.

According to another feature of the present disclosure, the biasing mechanism includes a spring biasing the retainer to the initial position in the Y direction perpendicular to the X direction in the horizontal plane. An engagement mechanism is provided between the base and the holder to releasably engage the base and the holder so as to restrict the movement of the holder with respect to the base in the Y direction. The control circuit causes the engaging mechanism to engage the base and the holding portion when the moving mechanism moves the article toward the transport location. The control circuit causes the engagement mechanism to disengage the base and the holding portion when the article is positioned near the transfer location.

The holding part is therefore biased to its initial position in the X direction by the cylinder and to its initial position in the Y direction by the spring. When the article is moved from a location relatively far from the transportation location to the transportation location, the holding portion is retained at the initial position with a relatively strong biasing force or engagement. For this reason, the article held by the holding portion moves substantially integrally with the base portion together with the holding portion, and the article is less likely to shake horizontally with respect to the base portion. As a result, the articles can be stably moved to the transfer location. On the other hand, when the article is positioned in the vicinity of the transport location, the urging force to return the holding portion to the initial position is relatively small. Therefore, the article held by the holding portion can be easily moved in the horizontal direction with respect to the base portion together with the holding portion. As a result, when an article collides with the wall surface of the conveying place or other articles already stacked in the conveying place, the article can move against the weak force together with the holding part. In this way, it becomes easy to bring the articles to be loaded into close contact with each other, or the articles and the walls of the conveying place, while elastically cushioning them in both the X and Y directions.

According to another feature of the present disclosure, the loading device has distance detection means for detecting the distance between the transfer location and the holder. The control circuit determines a target position that is farther than the transport location determined from the distance detection by the distance detection means, and causes the moving mechanism to move the holding section so as to move the article toward the target position. Thus, the articles can be reliably hit against the walls of the conveying station or against articles already stacked in the conveying station. Therefore, it is possible to more reliably bring the article to the article or the article to the wall surface of the conveying place in close contact with each other.

According to another feature of the present disclosure, the holding part has an opening opening downward so as to attract the upper surface of the article, and a pipe connecting the opening and a suction device for sucking air. An elastic pad formed from an elastic member is provided around the opening. Therefore, since the article is in a state of being suspended from the holding part, the article reliably hits the wall surface of the conveying place or another article when it is moved in the horizontal direction. This allows the article to be securely attached horizontally to the wall of the transport location or to another article without being disturbed by the holding part. Moreover, an elastic pad is interposed between the article to be sucked and the opening. As a result, the cushioning action in the vertical direction (Z direction) can be further enhanced.

It is a top view of a conveying apparatus. It is a side view of the conveying apparatus seen from the arrow II direction in FIG. It is a Y direction side view of the robot hand of the loading device which concerns on 1st Embodiment. It is a top view of a robot hand. FIG. 4 is a front view of the robot hand in the X direction; 4 is a cross-sectional view taken along the line VI-VI in FIG. 3; FIG. 4 is a cross-sectional view taken along line VII-VII in FIG. 3; FIG. FIG. 4 is a cross-sectional view taken along line VIII-VIII in FIG. 3; 4 is a cross-sectional view taken along line IX-IX in FIG. 3; FIG. FIG. 5 is a cross-sectional view taken along the line XX in FIG. 4; It is a pneumatic circuit diagram of a cylinder. FIG. 10 is a plan view of the holding part and baggage being moved in the X direction, and the container; FIG. 10 is a plan view of the holding part and baggage being moved in the Y direction, and the container; FIG. 10 is a side view of the holding part and baggage being moved downward in the Z direction and the container viewed from the entrance; 4 is a flow chart of the operation of loading baggage into a container by a loading device. FIG. 4 is a cross-sectional view taken along line XVI-XVI in FIG. 3 of the robot hand according to the second embodiment;

[First embodiment]
A first embodiment will be described with reference to FIGS. 1 to 15. FIG. As shown in FIGS. 1 and 2, the carrier device 1 is used, for example, at an airport to carry baggage of passengers checked in at a check-in counter to a cargo compartment of an aircraft 4 . The transport device 1 includes an upstream transport path 1a and a downstream transport path 1b. The upstream transport path 1a includes an oblong loop-shaped conveyor 2, also called a make conveyor. Passengers' baggage (articles) 5 are sequentially carried onto the conveyor 2 from a check-in counter (not shown). The conveyor 2 has a plurality of plates for conveying a plurality of pieces of baggage 5 in the counterclockwise direction indicated by the white arrows in FIG. 1, and a motor for moving the plurality of plates. The baggage 5 is, for example, a suitcase (travel bag) with casters.

As shown in FIGS. 1 and 2, downstream transport path 1b includes container 9 into which baggage 5 is loaded. The loaded container 9 is transported to the aircraft 4 and loaded into the cargo compartment 4a. A picking device 10 is arranged between the upstream transport path 1a and the downstream transport path 1b. The picking device 10 transfers the baggage 5 from the conveyor 2 to the downstream conveying path 1b. The picking device 10 holds the baggage 5 by sucking the upper surface of the baggage 5 with a negative pressure caused by air suction. Between the picking device 10 and the downstream transport path 1b, a size-specific conveyor 30 is arranged to distribute and transport the baggage 5 according to its size. The baggage 5 conveyed by the size-specific conveyor 30 is loaded into the container 9 by a loading device (loading robot) 40 . In the following description, the depth direction of the container 9 on the horizontal plane is the X direction, the vertical direction is the Z direction, and the direction perpendicular to both the X and Z directions is the Y direction.

As shown in FIGS. 1 and 2, the conveying state recognition means 7 and the picking device 10 are arranged above the right side area of the conveyor 2 (the area near the downstream conveying path 1b). The conveying state recognizing means 7 is arranged upstream (lower in the figure) in the conveying direction than the picking device 10 . The conveying state recognition means 7 is attached to the conveying frame 6 straddling the conveyor 2 and recognizes the baggage 5 on the conveyor 2 from above. The transport state recognition means 7 has, for example, a 2D camera or a 3D camera, and an image processing circuit for processing image information obtained from the camera. The conveying state recognizing means 7 obtains image information, and from the image information, obtains visual information regarding the position, size (width, length, height) of the baggage 5 on the conveyor 2, attitude (inclination) with respect to the conveying direction, and the like. Information about the baggage 5 obtained by the transportation state recognition means 7 is provided to the picking device 10 .

As shown in FIGS. 1 and 2, the transport frame 6 has left and right frames 6a and 6b extending along the Y direction. The left frame 6a is arranged substantially in the center of the conveyor 2 so as to be accommodated inside the loop shape. The right frame 6b is arranged on the right side of the conveyor 2, that is, on the side of the downstream conveying path 1b. A Y-direction moving mechanism 6c is provided to bridge the left and right frames 6a and 6b. The Y-direction moving mechanism 6c has, for example, a motor, and can move in the Y-direction along the left and right frames 6a and 6b by being driven by the motor. The Y-direction moving mechanism 6c has front and rear frames 6d and 6e that bridge the left and right frames 6a and 6b. The front and rear frames 6d and 6e are arranged side by side in the Y direction. An X-direction moving mechanism 6f is provided to bridge the front and rear frames 6d and 6e. The X-direction moving mechanism 6f has, for example, a motor, and can move in the X-direction along the front and rear frames 6d and 6e by being driven by the motor.

As shown in FIGS. 1 and 2, an elevating mechanism 6g is provided below the X-direction moving mechanism 6f. The lifting mechanism 6g has a holding portion 6h extending downward from the X-direction moving mechanism 6f, and a slider 6i that can move up and down in the Z direction along the holding portion 6h. The picking device 10 is supported by the slider 6i. The picking device 10 can be moved in the X, Y, and Z directions by movement by the X-direction movement mechanism 6f and the Y-direction movement mechanism 6c and elevation of the slider 6i. The picking device 10 is moved synchronously with the baggage 5 moving by the conveyor 2 . The picking device 10 sucks and holds the upper surface of the baggage 5 using the negative pressure generated by air suction.

When the slider 6i is positioned below the holding portion 6h as shown in FIG. As a result, the picking device 10 picks up the baggage 5 in a posture in which the upper surface of the baggage 5 on the conveyor 2 and the suction surface are substantially parallel. The baggage 5 sucked and held by the picking device 10 is conveyed to the size-specific conveyor 30 provided at the same height as the upper portion of the holding portion 6h. When the slider 6i is positioned above the holding portion 6h, the picking device 10 is supported at a vertical angle such that the suction surface is substantially horizontal. As a result, the size conveyor 30 receives the baggage 5 in a substantially horizontal posture from the picking device 10 .

As shown in FIGS. 1 and 2, the size conveyor 30 has four distribution conveyors 31-34 arranged in parallel. Each of the distribution conveyors 31 to 34 distributes and transports the baggage 5 to be transferred by the picking device 10 into four sizes (for example, S size, M1 size, M2 size, and L size). The distribution conveyors 31 to 34 having the optimum size to be conveyed are appropriately selected to efficiently load the baggage 5 into the container 9, and the baggage 5 is conveyed. A movable stopper 35 for restricting movement of the baggage 5 is provided at the downstream end of each of the distribution conveyors 31 to 34 in the conveying direction.

As shown in FIGS. 1 and 2, one standby conveyor (traverser) 36 is arranged downstream of the distribution conveyors 31-34. The waiting conveyor 36 can move quickly in the horizontal direction (vertical direction in the drawing) intersecting the conveying direction of the distribution conveyors 31 to 34, as indicated by the white arrow in FIG. The waiting conveyor 36 has a loading area capable of transporting at least one large piece of baggage 5 . When the standby conveyor 36 approaches the distribution conveyors 31 to 34 of the size to be transported, the stopper 35 is opened, and the baggage 5 is transported from the size-specific conveyor 30 to the standby conveyor 36 . When the baggage 5 is carried onto the waiting conveyor 36 , the waiting conveyor 36 moves to a waiting position where the baggage is delivered to the loading device 40 . The waiting conveyor 36 that has moved to the waiting position stops the conveying operation and enters the waiting state.

As shown in FIG. 2, above the waiting conveyor 36, the waiting state recognition means 8 is arranged. A 2D camera or a 3D camera is used for the standby state recognition means 8 . Visual information regarding the size and posture of the baggage 5 on the waiting conveyor 36 is again obtained by the waiting state recognition means 8 . Information about the baggage 5 obtained by the standby state recognition means 8 is provided to a control panel (control circuit) 11 that controls the loading device 40 .

As shown in FIG. 2, the handed over baggage 5 is loaded into a container (transportation place) 9 by the operation of the loading device 40 . The loading operation is repeated for each of the distribution conveyors 31-34 to load all the large and small pieces of baggage 5 into the container 9. During this time, the baggage 5 is distributed and conveyed from the conveyor 2 to the conveyor 30 by size by the picking device 10 . When loading of the baggage 5 into the container 9 is completed, the container 9 is transported to the aircraft 4 by the tractor and loaded into the cargo room 4 a of the aircraft 4 .

As shown in FIGS. 1 and 2, the loading device 40 is installed on a table 42 so as to be horizontally movable. A control panel 11 for performing various controls of the loading device 40 is arranged side by side on the table 42 . A multi-joint robot arm 40 a is used for the loading device 40 . A robot hand (moving mechanism) 41 for clamping the baggage 5 is provided at the tip of the robot arm 40a. As shown in FIG. 3 , the robot hand 41 is connected to and supported by the robot arm 40 a by the base 50 . The robot hand 41 has a holding portion 60 supported by the base portion 50 . The holding part 60 is arranged side by side under the base part 50 so as to be movable in the X direction.

As shown in FIGS. 3 and 6, the base 50 has an upper first base 50a, a lower second base 50b, and a third base 50h behind in the X direction (robot arm 40a side). The first base portion 50a is supported by the robot arm 40a to support the upper portion of the second base portion 50b. A pair of slide bearings 50c arranged in parallel in the Y direction is formed on the lower portion of the first base portion 50a and the upper portion of the second base portion 50b. A pair of slide bearings 50c extend in the X direction. As indicated by a two-dot chain line in FIG. 3, the second base portion 50b is supported by the first base portion 50a by a pair of slide bearings 50c so as to be horizontally movable in the X direction.

As shown in FIGS. 3 and 7, a pair of slide bearings 50d arranged side by side in the X direction is formed on the lower portion of the second base portion 50b and the upper portion of the holding portion 60. As shown in FIG. A pair of slide bearings 50d extends in the Y direction. The holding portion 60 is supported by the second base portion 50b by a pair of slide bearings 50d so as to be horizontally movable in the Y direction as indicated by the two-dot chain lines in FIGS.

As shown in FIGS. 4 and 6, the first base portion 50a and the second base portion 50b respectively have rectangular holes 50e and 50f penetrating vertically at substantially the center thereof. As shown in FIGS. 3 and 8, the upper portion of the holding portion 60 is provided with a pipe base portion 60d extending upward. The pipe base 60d extends above the base 50 through the rectangular holes 50e and 50f. By providing the rectangular holes 50e and 50f, when the holding portion 60 moves horizontally with respect to the second base portion 50b or when the second base portion 50b moves horizontally with respect to the first base portion 50a, the pipe base portion 60d can be horizontally moved. Do not hinder movement. A vertically extending pipe 60b is provided inside the pipe base 60d. A lower end of the pipe 60b is connected to an opening 60a that opens downward in the lower portion of the holding portion 60 .

As shown in FIG. 3, the upper end of the pipe 60b is airtightly connected to one end of the air hose 43 above the pipe base 60d. The air hose 43 is supported above the third base portion 50h. The other end of the air hose 43 is connected to a suction machine 44 installed integrally with the robot hand 41 or externally. When the suction device 44 is activated, the air in the air hose 43, the pipe 60b, and the opening 60a is sucked to generate a negative pressure. Articles such as baggage 5 that are in contact with the opening 60a when the suction machine 44 is activated are sucked by the opening 60a due to the negative pressure. A regulating valve 46 is provided at the rear portion of the third base portion 50h. The adjustment valve 46 can adjust the negative pressure due to air suction by the suction device 44, the air pressure supplied from the compressor shown in FIG. 11, and the like.

As shown in FIGS. 4 and 6, a biasing mechanism 51 supported by the first base portion 50a is provided between the second base portion 50b and the third base portion 50h that support the holding portion 60. As shown in FIGS. The biasing mechanism 51 has a cylinder (piston cylinder) 51a extending in the X direction and a piston shaft 51b. The piston shaft 51b extends forward in the X direction (toward the second base portion 50b) from the cylinder 51a. A receiving groove 50g having a rectangular notch shape is provided at the rear portion of the second base portion 50b in the X direction. The tip of the piston shaft 51b can be engaged with the receiving groove 50g. As shown in FIG. 11, compressed air is supplied from the compressor 65 to the cylinder 51a through the air supply path 66. As shown in FIG. Thereby, the cylinder 51a shown in FIG. 6 biases the piston shaft 51b toward the second base portion 50b. By receiving the tip of the piston shaft 51b in the receiving groove 50g, the second base portion 50b is biased to the initial position in the X direction.

The biasing force with which the biasing mechanism 51 shown in FIG. 6 biases the second base portion 50b in the X direction is changed by switching the air supply path 66 shown in FIG. 11 based on the control of the control panel 11 shown in FIG. be. When the solenoid valve 69a and the second valve 68b are closed and the solenoid valve 66a and the first valve 67b are opened, the first pressure supply path 67 supplies air to the first chamber 51c of the cylinder 51a. The first pressure supply path 67 supplies high pressure air at a flow rate controlled by the speed control valve 69b. Therefore, when air is supplied from the first pressure supply path 67, the biasing force forward in the X direction on the second base portion 50b shown in FIG. 6 is relatively large.

As shown in FIG. 11, when the solenoid valve 69a and the first valve 67b are closed and the solenoid valve 66a and the second valve 68b are opened, the second pressure supply path 68 supplies air to the first chamber 51c. The second pressure supply path 68 supplies relatively low-pressure air set by the regulator 68a at a flow rate controlled by the speed control valve 69b. Therefore, when air is supplied from the second pressure supply path 68, the biasing force forward in the X direction on the second base portion 50b shown in FIG. 6 is relatively small.

As shown in FIG. 11, when the solenoid valve 66a is closed and the solenoid valve 69a is opened, air is supplied to the second chamber 51d of the cylinder 51a through the air discharge path 69. As shown in FIG. The air discharge path 69 supplies air to the second chamber 51d at a flow rate controlled by the speed control valve 66b. As a result, the second chamber 51d expands and the air in the first chamber 51c is released. Therefore, when air is supplied from the air release path 69 to the second chamber 51d, the second base portion 50b shown in FIG.

As shown in FIG. 6, the cylinder 51a has a detection mechanism (reed switch) 53. As shown in FIG. The piston shaft 51b has a magnet 53a. When the piston shaft 51b protrudes from the cylinder 51a and biases the second base portion 50b, the magnet 53a approaches the detection mechanism 53 and turns the detection mechanism 53 on. When the piston shaft 51b is pushed rearward in the X direction (toward the cylinder 51a) from the second base portion 50b, the magnet 53a separates from the detection mechanism 53 to turn off the detection mechanism 53.

As shown in FIG. 6, an engaging mechanism 52 supported by the second base portion 50b is provided behind the holding portion 60 in the X direction. The engagement mechanism 52 has a cylinder (piston cylinder) 52a extending in the X direction and a wheel 52b rotatable around the Z direction. The wheel 52b is provided at the tip of the piston shaft of the cylinder 52a extending forward in the X direction. A V-shaped groove 60c is provided at the rear portion of the holding portion 60 in the X direction, and the wheel 52b can be engaged with the V-shaped groove 60c. When compressed air is supplied from the compressor to the cylinder 52a, the wheel 52b is urged toward the holding portion 60. As shown in FIG.

As shown in FIG. 6, the biasing force of the cylinder 52a is changed by switching the air supply path based on the control of the control panel 11 shown in FIG. The cylinder 52a switches between the case where the wheel 52b is urged toward the V-shaped groove 60c and the case where it is not urged. When wheel 52b is biased, wheel 52b and V-groove 60c are difficult to disengage. Therefore, the holding portion 60 is restricted from moving in the Y direction with respect to the second base portion 50b. Since the engagement between the wheel 52b and the V-shaped groove 60c is easily released when the wheel 52b is not biased, the holding portion 60 can freely move horizontally with respect to the second base portion 50b.

As shown in FIGS. 6, 7 and 9, a compression spring 51e that compresses or expands in the Y direction is provided behind the holding portion 60 in the X direction. Both ends of the compression spring 51e in the Y direction are supported by spring support portions 50i at the rear portion of the second base portion 50b. A spring connecting portion 60e extending toward the compression spring 51e is provided at the rear portion of the holding portion 60. As shown in FIG. The spring connecting portion 60e is connected to substantially the center of the compression spring 51e. When the holding portion 60 moves in the Y direction with respect to the second base portion 50b, the compression spring 51e to which the holding portion 60 has moved from the spring connecting portion 60e is compressed, and the spring connecting portion 60e moves in the direction opposite to the moving direction of the holding portion 60. The side compression springs are extended. As a result, the holding portion 60 is biased toward the initial position in the Y direction by the compression spring 51e. Therefore, for example, the holding part 60 hits the container wall 9b in the Y direction shown in FIG. 13 and moves in the direction opposite to the container wall 9b. The moved holding part 60 is biased toward the container wall 9b by the compression spring 51e.

As shown in FIG. 6, the second base portion 50b has a detection mechanism (photoswitch) 54 in front of approximately the center of the compression spring 51e in the Y direction. As shown in FIG. 7, the spring connecting portion 60e has a light blocking plate 54a. When the Y-direction position of the holding portion 60 is the initial position, the detection mechanism 54 is in an ON state because light emitted from the detection mechanism 54 is blocked by the light shielding plate 54a. When the holding portion 60 moves in the Y direction from the initial position as indicated by the two-dot chain lines in FIGS. Therefore, the detection mechanism 54 is turned off.

As shown in FIG. 3, the third base portion 50h has a rotary connecting portion 55 that rotatably supports the rear portion of the first base portion 50a. The rotary connecting portion 55 is provided above the slide bearing 50 c and behind the second base portion 50 b and the holding portion 60 . The rotary connecting portion 55 supports the first base portion 50a so as to be rotatable upward about the Y direction as its axial direction.

As shown in FIGS. 3 and 10 , the first base portion 50 a has a detent portion 56 below the rotation connecting portion 55 . The downward rotation of the first base portion 50a is restricted by the contact of the anti-rotation portion 56 with the third base portion 50h. The first base portion 50 a has a detection mechanism (photoswitch) 57 near the anti-rotation portion 56 . The third base portion 50h has a light shielding plate 57a at a position facing the detection mechanism 57 when the third base portion 50h is in contact with the anti-rotation portion 56. As shown in FIG.

As shown in FIGS. 3 and 10, when the anti-rotation portion 56 is in contact with the third base portion 50h, light emitted from the detection mechanism 57 is blocked by the light shielding plate 57a and the detection mechanism 57 is turned on. When the anti-rotation portion 56 is separated from the third base portion 50h, the detection mechanism 57 is also separated from the light shielding plate 57a, so that the detection mechanism 57 is turned off. Therefore, for example, when the baggage 5 held by the holding portion 60 comes into contact with the floor or the like, the base portion 50 and the holding portion 60 rotate upward around the axis of the rotary connecting portion 55 as indicated by the two-dot chain line in FIG. . The upward rotation of the base portion 50 and the holding portion 60 turns off the detection mechanism 57 .

As shown in FIGS. 3 and 5, the holding part 60 has an elastic pad 61 on the lower surface of the opening 60a. The elastic pad 61 has a substantially rectangular ring shape along the opening shape of the opening 60a and is exposed downward from the opening 60a. The elastic pad 61 is made of an elastic member, such as a sponge, which is highly airtight when in contact. Inside the holding portion 60, holding detection means 62 for detecting holding of the baggage 5 by the opening portion 60a is provided. A contact portion 62a provided at the lower portion of the holding detection means 62 has a horizontal disk shape. The contact portion 62a is connected to the lower portion of the shaft portion 62b extending in the Z direction. The upper portion of the shaft portion 62b is supported by a support portion 62c provided on the upper portion of the holding portion 60. As shown in FIG. The shaft portion 62b is biased downward by a spring incorporated in the support portion 62c. When the shaft portion 62b is at the lower end position, the contact portion 62a protrudes downward from the opening surface of the opening portion 60a.

As shown in FIG. 3, the support portion 62c has a detection mechanism (photoswitch) 62d for detecting displacement of the shaft portion 62b in the Z direction. A light shielding plate 62e is provided above the shaft portion 62b. The detection mechanism 62d faces the light shielding plate 62e when the shaft portion 62b is displaced upward. As the opening 60 a approaches the baggage 5 , the contact portion 62 a contacts the baggage 5 . The contact portion 62a and the shaft portion 62b are pushed upward by the baggage 5. As shown in FIG. As a result, light emitted from the detection mechanism 62d is blocked by the light shielding plate 62e, and the detection mechanism 62d is turned on. When the baggage 5 is separated from the opening 60a, the abutting portion 62a and the shaft portion 62b are displaced downward by the urging force of the holding detecting means 62. As shown in FIG. As a result, the detection mechanism 62d and the light shielding plate 62e are separated from each other, and the detection mechanism 62d is turned off.

As shown in FIG. 3, a distance detection means (3D camera) 45 is provided in front of the upper portion of the holding portion 60 in the X direction. The distance detection means 45 measures the distance between the holding portion 60 holding the baggage 5 and the scheduled loading location of the baggage 5 in the container 9 (see FIGS. 12 to 14). The distance is measured by dividing it into components in the X, Y, and Z directions.

A series of flows for loading the baggage 5 into the container 9 will be described based on the flow of FIG. 15 . First, as shown in FIG. 2, the robot hand 41 moves toward the baggage 5a waiting on the waiting conveyor 36, thereby starting the loading operation flow (step (hereinafter abbreviated as ST) 01). The holder 60 is moved above the baggage 5a to bring the opening 60a into contact with the baggage 5a. As shown in FIG. 3, when the holding detection means 62 is turned on and the suction device 44 is activated, the baggage 5a is attracted to the opening 60a and held by the holding section 60 (ST02). With the holding unit 60 holding the baggage 5a, the distance detection means 45 measures the distances in the X, Y, and Z directions to the loading position of the container 9 (ST03). Based on the measured loading position of the baggage 5a, target positions E1 to E3 for moving the center C of the holding portion 60 are set as shown in FIGS. 12 to 14 (ST04).

Here, target positions E1 to E3 shown in FIGS. 12 to 14 are target positions of the center C when the holding portion 60 is moved in the X, Y, and Z directions, respectively. An assumed position C1 indicated by a dashed line in the figure is an assumed position of the center C when the baggage 5a comes into close contact with the container wall 9a perpendicular to the X direction when the holding part 60 is moved in the X direction. Similarly, assumed positions C2 and C3 indicated by dashed lines in the figure are when the baggage 5a comes in close contact with the Y-direction side surface of the already-loaded baggage 5b and the floor 9c when the holding portion 60 is moved in the Y and Z directions, respectively. is the assumed position of the center C in . The target positions E1 to E3 are set by the control panel 11 shown in FIG. 1 to positions closer to the container wall 9a, the Y-direction side surface of the baggage 5b, and the floor surface 9c than the assumed positions C1 to C3, respectively. Depending on the state of loading into the container 9, the target positions E1 and E3 may be set based on the rear surface in the X direction and the upper surface in the Z direction of already loaded baggage 5b, or the target positions E1 and E3 may be set based on the container wall 9b perpendicular to the Y direction. A position E2 may also be set.

At the stage of ST04, relatively high-pressure air is supplied from the first pressure supply path 67 to the first chamber 51c of the cylinder 51a shown in FIG. Relatively high pressure air is supplied to the cylinder 52a shown in FIG. 6 so as to urge the wheel 52b forward in the X direction.

After ST04, as shown in FIG. 12, the holding unit 60 is moved in the X direction to the loading place of the container 9 (ST05). When the distance d1 in the X direction between the center C of the holding portion 60 and the target position E1 becomes equal to or less than the predetermined value (ST06), the pressure in the first chamber 51c is reduced by supplying air from the second pressure supply path 68 (ST07). . This makes it easier for the second base portion 50b to move along the slide bearing 50c in the X direction with respect to the first base portion 50a. Furthermore, the center C is moved at low speed to the target position E1 (ST08). When baggage 5a moving in the X direction hits the container wall 9a, the second base 50b shown in FIGS. 3 and 6 moves rearward in the X direction relative to the first base 50a. As a result, the piston shaft 51b is pushed rearward in the X direction, the detection mechanism 53 is turned off (ST09), and the movement of the holding portion 60 in the X direction is stopped (ST10).

After ST10, the holder 60 is moved in the Y direction as shown in FIG. 13 (ST11). When the distance d2 in the Y direction between the center C and the target position E2 becomes equal to or less than the predetermined value (ST12), the air in the cylinder 52a is released and the wheel 52b is removed from the V-shaped groove 60c (ST13). This makes it easier for the holding portion 60 to move along the slide bearing 50d in the Y direction with respect to the second base portion 50b. Furthermore, the center C is moved at low speed to the target position E2 (ST14). When the baggage 5a moving in the Y direction hits the baggage 5b, the holding part 60 shown in FIGS. 5 and 6 moves in the Y direction with respect to the second base part 50b. As a result, the compression spring 51e is compressed, the detection mechanism 54 is turned off (ST15), and the movement of the holding portion 60 in the Y direction is stopped (ST16).

After ST16, the robot arm 40a is operated to move the holding portion 60 in the Z direction as shown in FIG. 14 (ST17). When the distance d3 in the Z direction between the center C and the target position E3 becomes equal to or less than the predetermined value (ST18), the center C is moved to the target position E3 at low speed (ST19). When the baggage 5a moving downward in the Z direction hits the floor surface 9c, the first base portion 50a shown in FIG. As a result, the detection mechanism 57 is turned off (ST20), and the movement of the holding portion 60 in the Z direction is stopped (ST21). As shown in FIGS. 12 to 14, the holding of the baggage 5a by the holding portion 60 is released (ST22), and the baggage 5a is loaded into the container 9 while being in close contact with the container wall 9a, the baggage 5b, and the floor surface 9c. The air pressure supplied to the cylinders 51a and 52a shown in FIG. 6 is returned to the initial pressure (ST23), the loading device 40 shown in FIG. 2 is returned to the standby position (ST24), and a series of loading operations is completed (ST25). .

As described above, the loading device 40 holds the baggage 5a and loads it into the container 9 as shown in FIG. As shown in FIG. 3, the loading device 40 has a robot hand 41, a holding section 60 and a base section 50. As shown in FIG. The holding unit 60 detachably holds the baggage 5 a and is moved by the robot hand 41 . The base portion 50 is provided on the robot hand 41 and supports the holding portion 60 so as to be horizontally movable. The third base portion 50h of the base portion 50 has a rotation connecting portion 55 that vertically rotatably connects the holding portion 60. The rotation of the holding portion 60 is restricted at the lower position, which is the initial position in the vertical direction, and is rotated upward. The first base portion 50a has a detent portion 56 that allows the rotation of.

Further, as shown in FIGS. 3 and 6, the loading device 40 has an urging mechanism 51, detection mechanisms 53, 54 and 57, and a control panel 11 (see FIG. 1). The biasing mechanism 51 biases the second base portion 50b to the initial position in the X direction with respect to the first base portion 50a, and biases the holding portion 60 to the initial position in the Y direction with respect to the second base portion 50b. The detection mechanisms 53, 54, 57 detect that each of the holding portion 60, the second base portion 50b, and the first base portion 50a has moved from the initial position. The control panel 11 stops the robot hand 41 based on detection signals from the detection mechanisms 53 , 54 and 57 .

Therefore, by moving the holding part 60, the baggage 5a held by the holding part 60 can be brought into contact with the container walls 9a and 9b and the floor surface 9c and the baggage 5b already loaded in the container 9 ( 12 to 14). When this contact occurs, the second base portion 50b moves horizontally with respect to the first base portion 50a in the direction opposite to the approaching direction along the X direction, and is biased in the direction opposite to the approaching direction. The holding part 60 moves horizontally with respect to the second base part 50b in the direction opposite to the approaching direction along the Y direction, and is biased in the direction opposite to the approaching direction. Therefore, the baggage 5a is brought into close contact with the container walls 9a, 9b or the baggage 5b while being cushioned by the urging force without causing damage to each other.

When the baggage 5a is moved downward in the Z direction together with the holding portion 60, only the third base portion 50h moves downward when the baggage 5a hits the floor surface 9c or the baggage 5b. That is, the downward force from the third base portion 50h is not transmitted to the baggage 5a and the holding portion 60, and the downward force can be released by the rotation of the third base portion 50h with respect to the holding portion 60. FIG. As a result, the baggage 5a can be brought into close contact with the floor surface 9c or other baggage 5b without damaging the baggage 5a even in the vertical loading operation. Thus, while the baggage 5a is being moved by the robot hand 41, the baggage 5a can be loaded in the container 9 in close contact without any gaps. As a result, it is possible to prevent the collapse of cargo in the container 9 while automating the loading operation.

As shown in FIG. 11, the biasing mechanism 51 has a cylinder 51a, a first pressure supply path 67 and a second pressure supply path 68. As shown in FIG. As shown in FIG. 6, the cylinder 51a biases the holding portion 60 to the initial position in the X direction via the second base portion 50b. As shown in FIG. 11, the first pressure supply path 67 supplies the first pressure into the first chamber 51c of the cylinder 51a. The second pressure supply path 68 supplies a second pressure lower than the first pressure into the first chamber 51c. The biasing mechanism 51 has a first valve 67 b that opens and closes the first pressure supply path 67 and a second valve 68 b that opens and closes the second pressure supply path 68 . As shown in FIGS. 3 and 6, the base portion 50 and the holding portion 60 are arranged side by side in the X direction on the horizontal plane. The cylinder 51a biases the holding portion 60 supported by the second base portion 50b against the first base portion 50a in parallel with the X direction. The cylinder 51a is provided on the first base portion 50a between the second base portion 50b and the third base portion 50h. The control panel 11 shown in FIG. 2 opens the first valve 67b so as to supply the first pressure to the cylinder 51a as shown in FIG. 11 when the robot hand 41 moves the baggage 5a toward the container 9. The control panel 11 shown in FIG. 2 opens the second valve 68b to supply the second pressure to the cylinder 51a as shown in FIG.

Therefore, when the baggage 5a is moved to the container 9, more specifically, when it is moved from a position relatively far from the container 9 to the loading place of the container 9, the holding portion 60 is held at the initial position with a relatively large biasing force. Therefore, the baggage 5 a held by the holding portion 60 moves substantially integrally with the base portion 50 that movably supports the holding portion 60 , and is less likely to swing relative to the base portion 50 . As a result, the baggage 5a can be stably moved to the transfer location. On the other hand, when the baggage 5a is located near the loading place of the container 9, the holding portion 60 is held at the initial position with a relatively small biasing force. Therefore, the baggage 5a can be easily moved in the horizontal direction with respect to the base portion 50 together with the holding portion 60. As shown in FIG. Accordingly, when the baggage 5a hits the container walls 9a, 9b or the baggage 5b (see FIGS. 12 to 14), the baggage 5a and the holding portion 60 are easily moved against the biasing force of the cylinder 51a. Thus, the baggage 5a is elastically cushioned against the container walls 9a, 9b or the baggage 5b along the urging direction of the cylinder 51a, and can be easily brought into close contact with each other.

The holding portion 60 is urged to the initial position in the X direction by urging the second base portion 50b in the X direction by the cylinder 51a. The initial position of the holding portion 60 in the X direction is a position provided with a predetermined gap at which the holding portion 60 is movable with respect to the base portion 50 . This predetermined interval is ensured by the biasing force of the cylinder 51a. The baggage 5a is moved in the X direction by the robot hand 41, and when the baggage 5a hits the container wall 9a and the baggage 5b (see FIG. 12), the baggage 5a moves against the urging force of the cylinder 51a and moves toward the base 50 together with the holding portion 60. get closer to Cylinders 51a thus enable baggage 5a to be brought into close contact with baggage 5b or container walls 9a, 9b in the X-direction without damaging each other. As a result, collapse of cargo in the container 9 can be prevented.

As shown in FIG. 6, the biasing mechanism 51 has a compression spring 51e that biases the holding portion 60 to the initial position in the Y direction. Between the second base portion 50b and the holding portion 60, the second base portion 50b and the holding portion 60 are released so as to restrict the movement of the holding portion 60 with respect to the second base portion 50b in the biasing direction of the compression spring 51e. An engagement mechanism 52 is provided for releasable engagement. The control panel 11 shown in FIG. 2 engages the second base portion 50b and the holding portion 60 by the engaging mechanism 52 when the baggage 5a is moved toward the container 9 by the robot hand 41. As shown in FIG. The control panel 11 disengages the second base portion 50b from the holding portion 60 by means of the engaging mechanism 52 shown in FIG.

Therefore, the holding portion 60 is biased to the initial position in the Y direction by the compression spring 51e. When the baggage 5a is moved from a position relatively far from the container 9 to the container 9, the engaging mechanism 52 engages the holding portion 60 with the second base portion 50b at the initial position. Therefore, the baggage 5 a held by the holding portion 60 moves substantially integrally with the base portion 50 that movably supports the holding portion 60 , and is less likely to swing relative to the base portion 50 . As a result, the baggage 5a can be stably moved to the transfer location. On the other hand, when the baggage 5a is positioned near the transfer location, the wheel 52b at the tip of the cylinder 52a is disengaged from the V-shaped groove 60c, and the holding portion 60 is held at the initial position by the biasing force of the compression spring 51e. Therefore, the baggage 5a held by the holding portion 60 can be easily moved in the Y direction together with the holding portion 60 with respect to the second base portion 50b. As a result, when the baggage 5a hits the container wall 9b or the baggage 5b, the baggage 5a can move together with the holding portion 60 against the biasing force of the compression spring 51e. Thus, the baggage 5a is elastically cushioned along the Y direction in which the compression spring 51e is biased against the container wall 9b or the baggage 5b, and easily adheres to the baggage 5b.

As shown in FIG. 3, the loading device 40 has distance detection means 45 for detecting the distance between the loading location of the container 9 and the holding portion 60 shown in FIGS. The control panel 11 determines target positions E1 to E3 that are farther than the assumed positions C1 to C3 at the time of loading determined from the distance detection by the distance detection means 45 . The robot hand 41 moves the baggage 5a and the holder 60 toward the target positions E1 to E3. Therefore, the baggage 5a can be reliably brought into contact with the container walls 9a, 9b, the floor 9c or the baggage 5b. Therefore, the baggage 5a and the container walls 9a and 9b, the floor surface 9c, or the baggage 5b can be brought into close contact with each other.

As shown in FIGS. 3, 12, and 13, the holding portion 60 includes an opening 60a that opens downward so as to adhere to the upper surface of the baggage 5a, and a pipe 60b that connects the opening 60a and the suction device 44 that sucks air. have An elastic pad made of an elastic member is provided around the opening 60a. Therefore, since the baggage 5a is suspended from the holding portion 60, the baggage 5a reliably hits the container walls 9a and 9b or the baggage 5b when moved in the horizontal direction. As a result, the baggage 5a can be brought into close contact with the container walls 9a, 9b or the baggage 5b in the horizontal direction without being disturbed by the holding portion 60.例文帳に追加Moreover, an elastic pad is interposed between the sucked baggage 5a and the opening 60a. As a result, the cushioning action in the vertical direction (Z direction) can be further enhanced.

[Second embodiment]
A second embodiment will be described with reference to FIG. The loading device 70 has a robot hand 71 instead of the robot hand 41 according to the first embodiment. The robot hand 71 has a holding portion 73 instead of the holding portion 60 shown in FIG. The holding part 73 has an opening 73a that opens downward and absorbs baggage under negative pressure, and two pipes 73b that are connected to the opening 73a and extend vertically. The holding portion 73 has a force sensor 74 instead of the detection mechanisms 53, 54, 57 shown in FIGS. The force sensor 74 is a so-called strain gauge, and can detect forces in each of the X, Y, and Z directions at once.

The holding part 73 holding the baggage 5a is moved toward the loading place of the container 9 (see FIGS. 12 to 15). The baggage 5a hits the container walls 9a and 9b, the floor 9c or the baggage 5b, and the holding portion 73 receives force. A single force sensor 74 can detect the X-, Y-, and Z-direction components of the force applied to the holding portion 73 . Therefore, the number of parts of the robot hand 71 can be reduced, and space can be saved. Further, for example, when the holding portion 73 receives a force in the Y direction when the holding portion 73 is moved along the X direction, the force sensor 74 detects the force in the Y direction component. As a result, it can be recognized that the baggage 5a is in close contact with the container wall 9b or the baggage 5b in the Y direction. That is, it is possible to determine at an early stage whether to move the holding portion 73 in the Y direction. Thus, the work of loading the baggage 5a can be shortened.

[Other Modifications]
Various modifications can be made to the loading devices 40, 70 described above. For example, a caster-equipped suitcase (baggage 5) of an aircraft passenger is illustrated as an object to be transported, but a box-shaped object such as a cardboard box, a plastic case, or the like can also be an object to be transported. In the airport terminal building, the transportation route from loading the baggage 5 of the passenger in close contact with the container 9 to loading it in the cargo compartment 4a of the aircraft 4 is illustrated, but for example, the transportation device illustrated in the transportation route at the collection point of home delivery baggage. may be applied. As the holding part 60 of the robot hand 41 and the article holding part of the picking device 10, the configuration of sucking the baggage 5 with negative pressure is illustrated, but the article may be clamped by mechanical pinching or hooking, for example. . Although the size-specific conveyor 30 that distributes and conveys the baggage 5 by size is illustrated, if the size of the articles to be conveyed is uniform, it can also be used as a distribution conveyor that distributes and conveys the articles by weight. good.

As for the biasing mechanism, the cylinder 51a that biases the second base portion 50b by air supply and the compression spring 51e that biases the holding portion 60 by spring force have been exemplified. It may be used as a mechanism. Although the detection mechanisms 53, 54, and 57 that detect the movement of the holding portion 60 in the X, Y, and Z directions using reed switches and photoswitches have been exemplified, a detection mechanism that detects contact pressure using, for example, a piezoelectric sensor may be used instead. good. Although the target positions E1 to E3 for moving the holding part 60 are set to positions farther than the assumed positions C1 to C3, for example, the target positions E1 to E3 are set to substantially the same positions as the assumed positions C1 to C3. Also good. Instead of the force sensor 74, a configuration having strain gauges in the X and Y directions may be used.

DESCRIPTION OF SYMBOLS 1... Conveying apparatus 1a...Upstream conveying path, 1b...Downstream conveying path 2...Conveyor (make conveyor)
4... Aircraft, 4a... Cargo compartment 5... Baggage (goods)
5a...Baggage (newly loaded) 5b...Baggage (already loaded) 6...Transportation frame 6a...Left frame 6b...Right frame 6c...Y direction movement mechanism 6d, 6e...Front and rear frames 6f...X direction Moving mechanism 6g Lifting mechanism 6h Holding part 6i Slider 7 Conveyance state recognition means 8 Standby state recognition means 9 Container (conveyance place)
9a... (X direction) container wall, 9b... (Y direction) container wall, 9c... floor surface 10... picking device 11... control panel (control circuit)
30 Conveyors by size, 31 to 34 Distribution conveyor 35 Stopper 36 Waiting conveyor (traverser)
40... Loading device (loading robot), 40a... Robot arm 41... Robot hand (moving mechanism)
42... Table 43... Air hose 44... Suction machine 45... Distance detecting means (3D camera)
46... Adjustment valve 50... Base 50a... First base 50b... Second base 50c, 50d... Slide bearings 50e, 50f... Rectangular hole 50g... Receiving groove 50h... Third base 50i... Spring support 51... Biasing mechanism 51a Cylinder (piston cylinder) 51b Piston shaft 51c First chamber 51d Second chamber 51e Compression spring 52 Engagement mechanism 52a Cylinder (piston cylinder) 52b Wheel 53 Detecting mechanism (reed switch) 53a Magnet 54 Detecting mechanism (photoswitch) 54a Light shielding plate 55 Rotation connecting part 56 Detent part 57 Detection mechanism (photoswitch) 57a Light shielding plate 60 Holding Part 60a... Opening 60b... Piping 60c... V-groove 60d... Piping base 60e... Spring connecting part 61... Elastic pad 62... Holding detection means 62a... Contact part 62b... Shaft part 62c... Support portion 62d...Detection mechanism (photoswitch) 62e...Light shielding plate 65...Compressor 66...Air supply path 66a...Solenoid valve 66b...Speed control valve 67...First pressure supply path 67b...First valve 68... Second pressure supply path 68a Regulator 68b Second valve 69 Air release path 69a Solenoid valve 69b Speed control valve 70 Loading device 71 Robot hand (moving mechanism)
73: Holding portion 73a: Opening 73b: Pipe 74: Force sensor C: Center (of holding portion) C1, C2, C3: Assumed positions d1, d2, d3 (at the time of loading): Distances E1, E2 , E3 ... target position

Claims (5)

A loading device for holding and loading articles to a transport location, comprising:
a holding section that detachably holds the article;
a moving mechanism for moving the holding part;
a base portion provided in the moving mechanism and supporting the holding portion so as to be horizontally movable and vertically rotatable;
a detent portion provided on the base portion for restricting rotation of the holding portion at a lower position, which is an initial position in the vertical direction, and allowing upward rotation;
a biasing mechanism that biases the holding portion to a horizontal initial position with respect to the base;
a detection mechanism for detecting that the holding portion has moved from the initial position;
A loading device comprising a control circuit for stopping said moving mechanism based on a detection signal from said detection mechanism. A loading device according to claim 1, comprising:
The urging mechanism includes a cylinder that urges the holding portion to the initial position, a first pressure supply path that supplies a first pressure into the cylinder, and a second pressure that is lower than the first pressure into the cylinder. a second pressure supply path that supplies pressure, a first valve that opens and closes the first pressure supply path, and a second valve that opens and closes the second pressure supply path,
The base portion and the holding portion are arranged side by side in the X direction on a horizontal plane,
the cylinder is provided between the base portion and the holding portion so as to bias the holding portion against the base portion in parallel with the X direction;
The control circuit opens the first valve so as to supply the first pressure to the cylinder when the moving mechanism moves the article toward the conveying place, and the article moves to the vicinity of the conveying place. A loading device which, when positioned, opens said second valve to supply said second pressure to said cylinder. A loading device according to claim 1 or 2,
The base portion and the holding portion are arranged side by side in the X direction on a horizontal plane,
The biasing mechanism has a spring that biases the holding portion to the initial position in a Y direction orthogonal to the X direction on a horizontal plane,
An engaging mechanism is provided between the base portion and the holding portion for releasably engaging the base portion and the holding portion so as to restrict the movement of the holding portion with respect to the base portion in the Y direction. be
The control circuit causes the engaging mechanism to engage the base portion and the holding portion when the moving mechanism moves the article toward the transfer location, and the control circuit engages the base portion and the holding portion when the article is positioned near the transfer location. a loading device that disengages the base and the holding portion by the engagement mechanism. A loading device according to any one of claims 1 to 3,
Having a distance detection means for detecting the distance between the transfer location and the holding part,
The control circuit determines a target position that is farther than the transport location determined from the distance detection by the distance detection means, and moves the holding section by the moving mechanism so as to move the article toward the target position. Loader to move. A loading device according to any one of claims 1 to 4,
The holding part has an opening that opens downward so as to adhere to the upper surface of the article, and a pipe that connects the opening and a suction device that sucks air,
A stowage device in which a resilient pad formed from a resilient member is provided around said opening.

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