JP7580910B2 - Cargo handling equipment - Google Patents

Description

An embodiment of the present invention relates to a loading device.

Conveyors have traditionally been used to load and unload cargo into containers. When performing loading and unloading operations, conveyors are installed both inside and outside the container. Workers manually load cargo that has been transported from outside the container into the container by the conveyor into the container. Workers also manually move cargo that has been loaded into the container onto the conveyor, and the conveyor then moves the cargo from inside the container to outside the container.

JP 2005-8409 A

The problem that this invention aims to solve is to provide a loading and unloading device that can improve the efficiency of loading and unloading operations while preventing the device from becoming too large.

According to an embodiment, a loading and unloading device includes a main transport unit, a holding unit, a first holding unit moving device, a second holding unit moving device, a support unit, a support unit moving device, and a traveling device. The main transport unit transports an object placed on a transport surface. The holding unit holds the object. The first holding unit moving device supports the holding unit and moves the holding unit in a direction approaching and retracting from the transport surface. The second holding unit moving device supports the first holding unit moving device and moves the first holding unit moving device in a direction intersecting the approaching and retracting direction. The support unit supports the main transport unit and the second holding unit moving device. The support unit moving device moves the support unit in the approaching and retracting direction. The traveling device supports the support unit moving device and travels. The second holder moving device includes a first moving device that moves the holder in a first direction that intersects the approaching and separating direction, and a second moving device that moves the holder along a second direction that intersects the first direction.

FIG. 1 is an explanatory diagram illustrating a configuration of a loading and unloading device according to an embodiment. FIG. 2 is a perspective view showing a configuration of a device main body used in the loading/unloading device. 11A to 11C are explanatory diagrams illustrating the operation of a second holder moving device used in the device body. 5A to 5C are explanatory diagrams showing the operation of a support unit moving device and a first holder moving device used in the device body. 5A to 5C are explanatory diagrams showing the operation of the first holder moving device. 5A to 5C are explanatory diagrams showing the operation of a positioning device used in the main body of the apparatus. FIG. 4 is an explanatory diagram showing an example of an operation of loading luggage into a storage section by the loading device. FIG. 4 is an explanatory diagram showing an example of an operation of loading luggage into a storage section by the loading device. FIG. 4 is an explanatory diagram showing an example of an operation of loading luggage into a storage section by the loading device. FIG. 13 is a plan view showing a schematic configuration of a modified example of the positioning device. FIG. 13 is a side view showing a configuration of a modified example of the device main body. FIG. 13 is a perspective view showing a configuration of a modified example of the holding portion used in the device body.

A loading/unloading apparatus 10 according to one embodiment will be described with reference to Figs.
Fig. 1 is an explanatory diagram showing a schematic configuration of a cargo handling apparatus 10. Fig. 2 is a perspective view showing the configuration of an apparatus main body 20 used in the cargo handling apparatus 10, viewed from a first conveying section 51 side to a second conveying section 52 side used in the apparatus main body 20.

Figure 3 is an explanatory diagram that shows a schematic diagram of the operation of the second holding unit moving device 60 used in the device body 20. Figure 4 is an explanatory diagram that shows the operation of the support unit moving device 71 and the first holding unit moving device 73 used in the device body 20. Figure 5 is an explanatory diagram that shows the operation of the first holding unit moving device 73. Figure 6 is an explanatory diagram that shows the operation of the positioning device 110 used in the device body 20.

As shown in FIG. 1, the loading and unloading device 10 includes a device main body 20 that transports luggage 5 into a storage section 6 that stores luggage 5, or transports luggage 5 in the storage section 6 to the outside of the storage section 6, and an external transport section 125 that transports luggage 5 between the outside of the storage section 6 and the device main body 20.

The luggage 5 is an example of an object to be loaded and unloaded by the loading device 10. The storage section 6 is, for example, a container transported by a truck 7. The loading device 10 is used, for example, at a shipping berth 1. The storage section 6 is not limited to a container. The storage section 6 may be, for example, the bed of a truck, or a storage space for luggage 5 provided in a section of a factory. The concept of storing in the storage section 6 also includes placing luggage 5 in a storage space or the like. The storage section 6 has, for example, a floor surface on which the luggage 5 is placed, two side surfaces, a ceiling surface, and a front surface. Another example of the storage section 6 may be a configuration having a floor surface on which the luggage 5 is placed, two side surfaces, and a front surface.

The loading and unloading device 10 transports the luggage 5 from outside the storage unit 6 to the device body 20 by the external transport unit 125, and transports the luggage 5 to a target position in the storage unit 6 by the device body 20. The loading and unloading device 10 loads the luggage at the target position as an example of loading and unloading. The loading and unloading device 10 also moves the luggage 5 in the storage unit 6 to the external transport unit 125 by the device body 20. The external transport unit 125 then transports the luggage 5 to a target position such as a luggage collection point. The loading and unloading device 10 unloads the luggage as an example of loading and unloading. That is, as an example, the loading and unloading device 10 performs vanning and devanning of the luggage from the storage unit 6.

The loading and unloading device 10 can also move the luggage 5 transported by the external transport unit 125 to another device such as a conveyor. The target position to which the luggage 5 is transported by the loading and unloading device 10 can be set as appropriate.

At a collection point or the like, cargo 5 is loaded onto an external transport unit 125. For example, a robot arm 2 is used to load cargo onto the external transport unit 125. The robot arm 2 also moves the cargo 5 between the external transport unit 125 and a pallet 3, for example. The pallet 3 is transported by a forklift 4, for example. A plurality of cargoes 5 are placed on the pallet 3.

Here, we define an example of a direction. The substantially horizontal direction includes the horizontal direction and a direction that is slightly inclined relative to the horizontal direction. The substantially vertical direction includes the vertical direction and a direction that is slightly inclined relative to the vertical direction.

In addition, a first direction X, a second direction Y, and a third direction Z are set for the loading/unloading device 10. The first direction X, the second direction Y, and the third direction Z are uniaxial directions that are mutually perpendicular. When the loading/unloading device 10 is placed on a horizontal surface that is perpendicular to the vertical direction, the first direction X and the second direction Y are each parallel to the approximately horizontal direction, and the third direction Z is parallel to the approximately vertical direction. The uniaxial direction referred to here includes both one direction and the opposite direction to this one direction.

As shown in Figures 1 and 2, the device main body 20 is configured to be able to transport the luggage 5 transported from the external transport unit 125 to a target position in the storage unit 6, and to transport the luggage 5 in the storage unit 6 to the external transport unit 125. Transporting the luggage 5 to a target position in the storage unit 6 includes stacking the luggage 5 flat on the floor of the storage unit 6, and stacking multiple luggage 5 on the floor. The device main body 20 is also configured to be self-propelled.

The device main body 20 includes, for example, a running device 30 configured to be self-propelled, a holding unit 40 that holds luggage 5, and a conveying unit 50 that has a conveying surface 50a and conveys luggage 5 placed on this conveying surface 50a between the external conveying unit 125 and the holding unit 40.

The device body 20 also includes a holding unit moving device 70 that moves the holding unit 40, a support unit 80 that supports the holding unit moving device, and a support unit moving device 71 that supports the support unit 80 on the running device 30 and moves the support unit 80 relative to the running device 30.

The device main body 20 also includes a detection unit 90 that detects the state inside the storage unit 6, a height detection unit 91 that detects the height position of the luggage 5 placed in the storage unit 6, a luggage detection unit 100 that detects the luggage 5 on the conveying unit 50, a positioning device 110 that positions the luggage 5 at a predetermined position on the conveying surface 50a of the conveying unit 50, and a control unit 120.

The device body 20 moves using the running device 30, holds the luggage 5 with the holding unit 40, and moves the luggage 5 by moving the holding unit 40 using the holding unit moving device 70 and the support unit moving device 71.

The running device 30 is configured to be able to move the device main body 20 from outside the storage unit 6 to inside the storage unit 6, and from inside the storage unit 6 to outside the storage unit 6. The running device 30 includes a running device base 31 and a running part 32 provided on the running device base 31.

The traveling device base 31 is configured, for example, in a shape that is long in one direction. A support unit movement device 71 is provided on the traveling device base 31.

The running unit 32 is configured to be able to run on the device main body 20 by being driven. The running unit 32 is also configured to be able to run on the device main body 20 in two directions that are perpendicular to each other, for example. The running unit 32 includes, for example, a plurality of wheels 32a. The wheels 32a are, for example, Mecanum wheels or omni wheels. Alternatively, the running unit 32 may use rubber crawlers instead of the wheels 32a. In this case, one or more rubber crawlers are used. In another example, the running unit 32 may be a tire with a turning device. Here, the tire with a turning device is a tire configured to be able to change the traveling direction of the running device 30.

The traveling device 30 configured in this manner is self-propelled by the driving of the traveling part 32 .
Furthermore, the size of the running unit 32 and the longitudinal length of the running device base 31 are set to dimensions such that, when the running device base 31 is disposed across the inside and outside of the storage unit 6, even if there is a height difference between the floor surface of the storage unit 6 and the floor surface of the outside of the storage unit 6, the step between the floor surface of the storage unit 6 and the floor surface of the outside of the storage unit 6 does not come into contact with the underside of the running device base 31. Note that the height difference referred to here may change, for example, when the floor surface of the storage unit 6 drops due to the weight of the luggage 5 loaded in the storage unit 6.

The holding unit 40 is configured to be able to hold the luggage 5 by, for example, adsorbing the luggage 5 through suction. The holding unit 40 includes, for example, a holding unit base 41 and an adsorption unit 42 provided on the holding unit base 41. A number of types of holding units 40 are prepared, for example, according to the size and shape of the luggage, and can be replaced and used according to the luggage 5. In this embodiment, the holding unit 40 has a configuration suitable for holding rectangular parallelepiped luggage 5, as an example.

Note that the holding unit 40 is not limited to a configuration that holds the luggage 5 by suction. The holding unit 40 may be configured to hold the luggage 5 by clamping the luggage 5, for example.

The holder base 41 is formed, for example, in a plate shape, and the suction portion 42 is fixed to one of its main surfaces.
The suction unit 42 is fluidly connected to a vacuum pump. When the suction unit 42 is in close contact with the luggage 5 and is evacuated by the vacuum pump, a negative pressure is generated inside the suction unit 42, and the suction unit 42 adsorbs the luggage 5. The suction unit 42 is configured, for example, in a tubular shape.

The conveying unit 50 is configured to be capable of conveying luggage 5 placed on the conveying surface 50a. The conveying unit 50 conveys luggage 5 placed on the conveying surface 50a in a first direction X, for example. The conveying surface 50a is configured as a flat surface, for example. When the device main body 20 is placed on a horizontal surface, the conveying surface 50a becomes a horizontal flat surface.

The conveying unit 50 also includes a first conveying unit (main conveying unit) 51, a second conveying unit 52, and a third conveying unit 53. In the case of loading, in which the luggage 5 is conveyed from outside the storage unit 6 to inside the storage unit 6, the conveying unit 50 conveys the luggage 5 conveyed from the external conveying unit 125 in the order of the third conveying unit 53, the second conveying unit 52, and the first conveying unit 51. In the case of unloading, in which the luggage 5 is conveyed from the storage unit 6 to outside the storage unit 6, the conveying unit 50 conveys the luggage 5 from the storage unit 6 in the order of the first conveying unit 51, the second conveying unit 52, and the third conveying unit 53.

The first conveying unit 51 conveys the luggage 5 to a position where the luggage 5 can be held or placed by the holding unit 40. The first conveying unit 51 is configured to be able to convey the luggage 5 in the first direction X.

The transport surface 51a of the first transport unit 51 for the luggage 5 is configured as a surface that is parallel to the horizontal direction when the device body 20 is placed on a horizontal surface. The transport surface 51a constitutes part of the transport surface 50a. The first transport unit 51 is, for example, a roller conveyor configured with multiple rollers. Note that the first transport unit 51 is not limited to a roller conveyor. In another example, the first transport unit 51 may be a belt conveyor.

As shown in FIG. 1, the first conveying unit 51 has a plurality of conveying units that can be driven independently. These plurality of conveying units are arranged in the first direction X. Each conveying unit has a length in the first direction X that is sufficient to accommodate at least one piece of luggage 5, for example.

The first conveying section 51 has, for example, three conveying sections. Specifically, the first conveying section 51 includes a fourth conveying section 54, a fifth conveying section 55, and a sixth conveying section 56. The conveying surface 54a of the fourth conveying section 54, the conveying surface 55a of the fifth conveying section 55, and the conveying surface 56a of the sixth conveying section 56 are configured to be on the same plane. The fourth conveying section 54 is disposed between the fifth conveying section 55 and the sixth conveying section 56. The fifth conveying section 55 is a conveying section on which the luggage 5 is held or placed by the holding section 40. The sixth conveying section 56 is adjacent to the second conveying section 52.

The fourth conveying unit 54, the fifth conveying unit 55, and the sixth conveying unit 56 are each independently configured to be able to convey the luggage 5 in the first direction X. That is, the luggage 5 is configured to be able to be conveyed in the direction from the sixth conveying unit 56 to the fifth conveying unit 55, and in the direction from the fifth conveying unit 55 to the sixth conveying unit 56. In other words, the direction is a direction in which the luggage 5 is conveyed to the holding unit 40 side, and a direction in which the luggage 5 is conveyed to the external conveying unit 125 side. The fourth conveying unit 54, the fifth conveying unit 55, and the sixth conveying unit 56 are each, for example, a roller conveyor, but may be a belt conveyor in other examples. The fifth conveying unit 55 is provided with, for example, a positioning device 110.

The first conveying section 51 configured in this manner is supported on the traveling device base 31 by the support section moving device 71 so as to be movable in a direction approximately parallel to the third direction Z.

The second conveying unit 52 is disposed adjacent to one end of the first conveying unit 51. The second conveying unit 52 is configured to be able to convey luggage 5 between the second conveying unit 52 and the first conveying unit 51. The second conveying unit 52 is configured to be able to move luggage 5 in the first direction X and the third direction Z.

The second conveying section 52 specifically includes a conveying section main body (sub-conveying section) 52a, a lifting device 52b, and a first stopper device 52c.

The conveying unit main body 52a has a conveying surface 52a1 on which the luggage 5 is placed. The conveying surface 52a1 constitutes a part of the conveying surface 50a. The conveying surface 52a1 is configured as a plane that is parallel to the horizontal direction when the device main body 20 is placed on a horizontal surface.

The conveying unit main body 52a is configured to be able to convey luggage 5 placed on the conveying surface 52a1 in the first direction X. The conveying unit main body 52a is, for example, a roller conveyor composed of multiple rollers. In another example, the conveying unit main body 52a may be a belt conveyor. The conveying unit main body 52a is disposed adjacent to the first conveying unit 51.

The lifting device 52b is configured to be able to move the transport unit main body 52a along a direction intersecting the transport surface 51a, which is an example of a direction in which the transport unit main body 52a approaches and moves away from the transport surface 51a. In this embodiment, the lifting device 52b is configured to be able to move the transport unit main body 52a in the third direction Z. The lifting device 52b is fixed, for example, on the traveling device base 31.

The first stopper device 52c includes a first stopper (stopping part) 52c1 and a drive part 52c2. The first stopper device 52c is configured to be able to restrict the transport of the luggage 5 from the transport unit main body 52a to the first transport unit 51 side. The restriction here means stopping the movement of the luggage 5 to the first transport unit 51 side. The first stopper 52c1 is, for example, disposed at one end of the transport unit main body 52a on the first transport unit 51 side. The first stopper 52c1 is supported by the transport unit main body 52a so as to be movable between a position where it does not abut against the luggage 5 moving on the transport surface 52a1 and a position where it abuts against the luggage 5 to restrict the movement of the luggage 5 to the first transport unit 51 side. The position where it does not abut against the luggage 5 is, for example, a position below the transport surface 51a. The position where it restricts the movement of the luggage 5 is, for example, a position above the transport surface 51a.

The drive unit 52c2 is configured to be able to move the first stopper 52c1 between a position where it does not contact the luggage 5 and a position where it restricts the movement of the luggage 5.

The third conveying section 53 is disposed between the second conveying section 52 and the external conveying section 125. The third conveying section 53 is configured to be able to convey the luggage 5 between the second conveying section 52. The third conveying section 53 is also configured to be able to convey the luggage 5 between the second conveying section 52 and the external conveying section 125. The third conveying section 53 has, for example, a conveying surface 53a on which the luggage 5 is placed. The conveying surface 53a constitutes a part of the conveying surface 50a. The conveying surface 53a is configured as a plane that is parallel to the horizontal direction when the device main body 20 is placed on a horizontal surface. The third conveying section 53 is configured to be able to move the luggage 5 placed on the conveying surface 53a in the first direction X. The height of the conveying surface 53a is set to, for example, the same height as the conveying surface 125a of the external conveying section 125.

The third conveying section 53 is, for example, a roller conveyor composed of a plurality of rollers. In another example, the third conveying section 53 may be a belt conveyor. The third conveying section 53 is disposed between the second conveying section 52 and the external conveying section 125.

The third transport unit 53 configured in this manner is, for example, connected to the traveling device 30 by a connecting member 53b so as to be movable integrally with the traveling device 30. The third transport unit 53 has, for example, a plurality of wheels 53c. The third transport unit 53 is installed on a floor surface or the like via the wheels 53c.

The third conveying section 53 is also provided with a second stopper device 53d. The second stopper device 53d is configured to be able to restrict the transport of luggage 5 from the third conveying section 53 to the second conveying section 52 side. The restriction referred to here means stopping the movement of luggage 5 towards the second conveying section 52 side.

The second stopper device 53d includes a second stopper 53d1 and a drive unit 53d2. The second stopper 53d1 is disposed, for example, at one end of the third conveying unit 53 on the second conveying unit 52 side. The second stopper 53d1 is supported by the third conveying unit 53 so as to be movable between a position where it does not come into contact with the luggage 5 moving on the conveying surface 53a and a position where it comes into contact with the luggage 5 moving on the conveying surface 53a toward the second conveying unit 52, thereby restricting the movement of the luggage 5. The position where it does not come into contact with the luggage 5 is, for example, a position below the conveying surface 53a. The position where it restricts the movement of the luggage 5 is, for example, a position above the conveying surface 53a.

The drive unit 53d2 is configured to be able to move the second stopper 53d1 between a position where it does not contact the luggage 5 and a position where it restricts the movement of the luggage 5.

The holding unit moving device 70 includes a first holding unit moving device 73 and a second holding unit moving device 60. The holding unit moving device 70 supports the holding unit 40. The holding unit moving device 70 is supported by a support unit 80.

The first holder moving device 73 supports the holder 40. The first holder moving device 73 is supported by the support 80 via the second holder moving device 60.

The first holding unit moving device 73 moves the holding unit 40 in a direction toward and away from the conveying surface 51a of the first conveying unit 51. The direction toward and away from the conveying surface 51a is a direction intersecting the conveying surface 51a. The direction toward and away from the conveying surface 51a is, for example, a direction perpendicular to the conveying surface 51a. As an example, the first holding unit moving device 73 moves the holding unit 40 and the luggage 5 in the third direction Z.

The first holder moving device 73 also moves the holder 40 between the first height position and the second height position.

The first height position is a height position where the luggage 5 held by the holding unit 40 is lower than the conveying surface 55a. Note that the lower height position referred to here is a height position where the bottom end of the luggage 5 is lower than the conveying surface 55a. In other words, the first holding unit moving device 73 is configured to be able to move the luggage 5 below the conveying surface 55a.

The first holding unit moving device 73 is configured to be able to move the holding unit 40 below the conveying surface 55a, as an example of a configuration for moving the luggage 5 held by the holding unit 40 below the conveying surface 55a. The first holding unit moving device 73 is also configured to be able to place the luggage 5 held by the holding unit 40 on the floor surface of the storage unit 6 when the first conveying unit 51 is at the lowest height position.

The second height position is a position higher than the position where the luggage 5 placed on the conveying surface 55a is held, and is a height position where the luggage 5 does not interfere with the positioning device 110 provided on the fifth conveying section 55. The second height position is, for example, the height position of the support section 80. Note that the height position of the support section 80 referred to here is a position where the bottom end of the luggage 5 is at the same height position as the bottom surface of the support section 80.

The first holding unit moving device 73 includes, for example, a rail 73a and a drive unit 73b. The rail 73a extends in a direction intersecting the conveying surface 55a. The rail 73a has a length that allows the holding unit 40 to move at least between the first height position and the second height position. Specifically, the rail 73a has a length that allows the luggage 5 held by the holding unit 40 to move above the conveying surface 55a of the fifth conveying unit 55. The rail 73a also has a length that allows the luggage 5 held by the holding unit 40 to move below the conveying surface 55a. The rail 73a also has a length that allows the holding unit 40 to move below the conveying surface 55a.

In this embodiment, as an example, the rail 73a is supported movably relative to the second holding unit moving device 60, thereby moving the holding unit 40. The rail 73a is supported on the second holding unit moving device 60 by the driving unit 73b. The driving unit 73b is driven to move the rail 73a and the holding unit 40.

The second holding unit moving device 60 moves the first holding unit moving device 68 in a direction intersecting the direction of movement of the holding unit 40 by the first holding unit moving device 68. Note that the direction of movement of the holding unit 40 by the first holding unit moving device 68 is an example of a direction in which the holding unit 40 moves toward or away from the conveying surface 50a. In this embodiment, the second holding unit moving device 60 moves the holding unit 40, for example, in a direction approximately parallel to the conveying surface 55a.

For this reason, the second holding unit moving device 60 is configured to be able to move the holding unit 40 and the luggage 5 in a direction substantially perpendicular to the third direction Z.

As shown in FIG. 6, the second holding unit moving device 60 is configured to include, for example, two devices that move the holding unit 40 in each of two intersecting axial directions, and the holding unit 40 can be moved by these two devices.

As a specific example, the second holding unit moving device 60 includes a first horizontal direction moving device (first moving device) 61 that supports the holding unit 40 and is configured to be able to move the holding unit 40 in the first direction X, and a second horizontal direction moving device (second moving device) 62 that is fixed to the upper surface of the support unit 80 and supports the first horizontal direction moving device 61 so that it can move in the second direction Y.

The first horizontal movement device 61 is configured to be extendable and retractable in, for example, a first direction X. The first direction X is an example of a direction intersecting the direction in which the holding unit 40 moves toward and away from the conveying surface 50a. The first horizontal movement device 61 directly or indirectly supports the holding unit 40. As an example, the first horizontal movement device 61 supports a first holding unit movement device 73 at its tip.

The first horizontal movement device 61 is configured to be able to move the holding unit 40 at least to a position facing the fifth conveying unit 55 of the first conveying unit 51 in the third direction Z, and to a position further outward than the first conveying unit 51 in the direction from the fourth conveying unit 54 to the fifth conveying unit 55.

The second direction Y, which is the direction of movement by the second horizontal movement device 62, is an example of a direction intersecting the first direction Y, which is the direction of movement by the first horizontal movement device 61. In another example, the second horizontal movement device 62 may be configured to move the holding unit 40 in a direction intersecting the direction of transport of the luggage 5 by the first transport unit 51 at an angle of 60 degrees or 45 degrees.

The second horizontal movement device 62 is configured to be able to move the holding unit 40 in the second direction Y to a position outside the first conveying unit 51 or to a position outside the support unit 80.

In this embodiment, the dimension of the first conveying section 51 in the second direction Y is smaller than the dimension of the support section 80 along the second direction Y. The first conveying section 51 is disposed inside the support section 80 in the second direction Y.

The second horizontal movement device 62 is configured to be able to move the holding unit 40 to both outer positions in the second direction Y, sandwiching the support unit 80, as shown by the two-dot chain line in FIG. 3, for example. Therefore, the second horizontal movement device 62 is configured to be able to move the holding unit 40 to both outer positions in the second direction Y relative to both the support unit 80 and the first transport unit 51. Note that the holding unit 40 is shown by the two-dot chain line in FIG. 3.

The second horizontal movement device 62 is, for example, a multi-stage rail device that includes a rail 63 and a plurality of rail devices 65 that include a slide portion 64 that can move along the rail 63. The second horizontal movement device 62 includes, for example, two rail devices 65. Here, one rail device 65 is referred to as a first rail device 65A, and the other rail device 65 is referred to as a second rail device 65B.

The first rail device 65A is fixed to the top of the support part 80 in a position in which the rail 63 extends in the second direction Y. The rail 63 of the first rail device 65A has a length that extends, for example, from a position near one end of the support part 80 to a position near the other end in the second direction Y.

The longitudinal length of the first rail device 65A is set to be, for example, longer than the length of the support portion 80 along the second direction Y. In another example, the longitudinal length of the first rail device 65A may be the same as the length of the support portion 80.

The second rail device 65B is fixed to the slide portion 64 of the first rail device 65A in a position in which the direction in which the rail 63 of the second rail device 65B extends is the second direction Y. The longitudinal length of the second rail device 65B is set to a length that is shorter than the longitudinal length of the first rail device 65A, for example.

As shown in FIG. 3, the length of each rail 63 of the multiple rail devices 65 is set to a length that allows the holding portion 40 to be moved to a position outside the support portion 80 in the second direction Y. Note that in FIG. 3, as an example, a second rail device 65 in which the holding portion 40 has been moved to one side outside in the second direction Y relative to the support portion 80 is shown by a solid line, and a second rail device 65 in which the holding portion 40 has been moved to the other side outside is shown by a two-dot chain line.

The support unit moving device 71 is fixed to, for example, the upper surface of the traveling device base 31. The support unit 80 is fixed to the support unit moving device 71. The support unit moving device 71 moves the support unit 80 in a direction in which the holding unit 40 approaches or moves away from the conveying surface 50a, so that the first conveying unit 51, the second holding unit moving device 60, the holding unit 40, and the support unit 80 are moved together in the direction in which they approach or move away from each other. The support unit moving device 71 includes, for example, a link mechanism 71a that can expand and contract in the third direction Z, and a drive unit 71b that drives the link mechanism 71a, as shown in Figures 10, 8, and 9.

For example, two link mechanisms 71a and two drive units 71b are provided. The two link mechanisms 71a and the two drive units 71b are arranged, for example, on both outer sides of the first conveying unit 51 in the second direction Y.

The support unit 80 is disposed above at least a portion of the first conveying unit 51 other than the fifth conveying unit 55. The support unit 80 is disposed, for example, above the fourth conveying unit 54 and the sixth conveying unit 56.

The support unit 80 is also configured to be capable of supporting the second horizontal movement device 62. As an example, the support unit 80 is configured in a plate shape that covers the fourth transport unit 54 and the sixth transport unit 56. The support unit 80 is configured in a plate shape, for example.

The support unit 80 is fixed to the support unit moving device 71. For example, the second holder moving device 60 is supported on the upper surface of the support unit 80.

The first conveying unit 51 is fixed to the support unit 80, for example, using a fixing device 83. Since the first conveying unit 51 is fixed to the support unit 80, the distance in the third direction Z between the lower surface 82a of the support unit 80 and the conveying surface 51a of the first conveying unit 51 is fixed to a constant distance. In other words, the height of the conveying path formed by the conveying surface 51a and the support unit 80, that is, the height from the conveying surface 51a to the support unit 80, is constant.

The fixing device 83, for example, has a configuration for suspending the first transport unit 51 from the support unit 80. The fixing device 83 includes, for example, a wire or a frame that suspends and fixes the first transport unit 51 from the lower surface 82a.

The predetermined constant distance referred to here is the distance that forms a gap between the conveying surface 51a and the support part 80 that allows the luggage 5 to pass through. When the loading device 10 conveys multiple types of luggage 5, the distance between the lower surface 82a and the conveying surface 51a is determined according to the luggage 5 with the largest height dimension.

The detection unit 90 is configured to be able to detect the inside of the storage unit 6. The detection unit 90 is configured to be able to detect, for example, luggage 5 stacked on the floor surface of the storage unit 6, luggage 5 held by the holding unit 40, and luggage 5 placed on the fifth conveying unit 55 of the conveying unit 50. The detection unit 90 is, for example, a camera that can capture an image of the range in front of the device main body 20 along the direction from the fourth conveying unit 54 to the fifth conveying unit 55, and the fifth conveying unit 55. The detection unit 90 is, for example, fixed to the support unit 80. The detection unit 90 transmits the captured information to the control unit 120.

In addition, in another example, the detection unit 90 may be a camera capable of capturing an image in front of the device body 20 in the direction from the fourth transport unit 54 to the fifth transport unit 55. The detection unit 90 is fixed to the support unit 80, for example. The detection unit 90 transmits the captured information to the control unit 120.

The height detection unit 91 is configured to be able to detect the height of the luggage 5 placed in the storage unit 6. The height detection unit 91 is, for example, a laser range finder. As shown in FIG. 4, the height detection unit 91 is provided, for example, at the lower end of the tip of the first conveying unit 51. The height detection unit 91 irradiates a laser, for example, to the front of the device main body 20 along the direction from the fourth conveying unit 54 to the fifth conveying unit 55.

As shown in FIG. 1, the luggage detection unit 100 is configured to be able to detect, for example, that luggage 5 is placed on each of the first conveying unit 51, the second conveying unit 52, and the third conveying unit 53. Specifically, the luggage detection unit 100 includes a first detection unit 101 that detects luggage 5 on the first conveying unit 51, a second detection unit 102 that detects luggage 5 on the conveying unit main body 52a of the second conveying unit 52, and a third detection unit 103 that detects luggage 5 on the third conveying unit 53.

For example, a plurality of first detection units 101 are provided. The plurality of first detection units 101 are arranged along the conveying direction of the first conveying unit 51. Specifically, the first detection unit 101 includes a fourth detection unit 104 that detects luggage 5 on the fourth conveying unit 54, a fifth detection unit 105 that detects luggage 5 on the fifth conveying unit 55, and a sixth detection unit 106 that detects luggage 5 on the sixth conveying unit 56.

The fourth detection unit 104 is provided, for example, at both ends of the fourth transport unit 54 in the first direction X. The fourth detection unit 104 includes, for example, an irradiation unit arranged at one end of the fourth transport unit 54 in the second direction Y, and a light receiving unit arranged at the other end of the fourth transport unit 54 in the second direction Y. The fourth detection unit 104 irradiates, for example, a laser from the irradiation unit and receives the light at the light receiving unit. The fourth detection unit 104 is connected to the control unit 120.

The light receiving section of the fourth detection unit 104 transmits a signal to the control unit 120 in response to receiving the laser light emitted from the irradiation section. For example, when the light receiving section receives a laser light from the irradiation section, it transmits a predetermined signal. Furthermore, when the light receiving section is not receiving a laser light, it does not transmit a signal, or transmits a signal different from the signal transmitted when the laser light is received. Alternatively, the light receiving section may be configured to stop transmitting a signal when it receives a laser light, and transmit a signal when it is not receiving a laser light.

The fifth detection unit 105 is provided, for example, at the center of the fifth transport unit 55 in the first direction X. The fifth detection unit 105 has, for example, a configuration similar to that of the fourth detection unit 104. The fifth detection unit 105 includes an irradiation unit provided at one end of the fifth transport unit 55 in the second direction Y, and a light receiving unit provided at the other end of the fifth transport unit 55 in the second direction Y. The fifth detection unit 105 is connected to the control unit 120.

The irradiation unit and light receiving unit of the fifth detection unit 105 are disposed above the positioning device 110. The irradiation unit and light receiving unit of the fifth detection unit 105 are disposed, for example, at a position slightly higher than the upper end of the positioning device 110.

The sixth detection unit 106 is provided at each end of the sixth transport unit 56 in the first direction X. The sixth detection unit 106 has a configuration similar to that of the fourth detection unit 104, for example. The sixth detection unit 106 includes an irradiation unit arranged at one end of the sixth transport unit 56 in the second direction Y, and a light receiving unit arranged at the other end of the sixth transport unit 56 in the second direction Y. The sixth detection unit 106 is connected to the control unit 120.

The second detection unit 102 is provided at both ends of the transport unit body 52a of the second transport unit 52 in the first direction X. The second detection unit 102 has a configuration similar to that of the fourth detection unit 104, for example. The second detection unit 102 includes an irradiation unit arranged at one end of the transport unit body 52a in the second direction Y, and a light receiving unit arranged at the other end of the transport unit body 52a in the second direction Y. The second detection unit 102 is connected to the control unit 120.

The third detection unit 103 is provided at each end of the third transport unit 53 in the first direction X. The third detection unit 103 has a configuration similar to that of the fourth detection unit 104, for example. The third detection unit 103 includes an irradiation unit arranged at one end of the third transport unit 53 in the second direction Y, and a light receiving unit arranged at the other end of the third transport unit 53 in the second direction Y. The third detection unit 103 is connected to the control unit 120.

The light receiving units of the second, third, fifth, and sixth detection units 102, 103, 105, and 106 each transmit a signal to the control unit 120 in response to reception of the laser light irradiated from the irradiation unit of the second, third, fifth, and sixth detection units 102, 103, 105, and 106. For example, when the light receiving unit receives a laser light from the irradiation unit, it transmits a predetermined signal. Also, when the light receiving unit is not receiving a laser light, it does not transmit a signal, or transmits a signal different from the signal transmitted when the light is received. Alternatively, the light receiving unit may be configured to stop transmitting a signal when it receives a laser light, and transmit a signal when it is not receiving a laser light.

The positioning device 110 is provided on the fifth conveying section 55. The positioning device 110 is configured to be able to position, for example, the luggage 5 placed on the conveying surface 55a of the fifth conveying section 55 at a predetermined position on the conveying surface 55a. The predetermined position here is the position where the luggage 5 is held by the holding section 40. The predetermined position is, for example, the position where the center of the luggage 5 and the center of the conveying surface 55a coincide with each other.

The positioning device 110 includes, for example, a pressing unit 111 and a driving unit 112 .
The pressing unit 111 is configured to be able to move the luggage 5 to the center of the conveying surface 55a by pressing a plurality of points on the circumferential surface of the luggage 5 toward the center of the conveying surface 55a. The pressing unit 111 is provided, for example, on both ends of the fifth conveying unit 55 in the second direction Y. The pressing unit 111 includes two arms 113. The vicinity of one end of each of the two arms 113 is supported by the fifth conveying unit 55 so as to be rotatable around a rotation axis 113a along the third direction Z.

The driving unit 112 rotates the two arms 113 around a rotation axis 113a.
The positioning device 110 configured in this manner positions the luggage 5 placed on the conveying surface 55a of the fifth conveying section 55 at a predetermined position on the conveying surface 55a by pressing the luggage 5 from the circumferential direction of the luggage 5 toward the center of the conveying surface 55a with each of the two arms 113 of the two pressing sections 111.

As shown in FIG. 1, the control unit 120 controls the running device 30, the holding unit 40, the transport unit 50, the first holding unit moving device 73, the second holding unit moving device 60, the support unit moving device 71, the positioning device 110, the first stopper device 52c, and the second stopper device 53d. The control unit 120 is fixed to the support unit 80 of the device body 20, for example.

The control unit 120 automatically controls the running device 30, the holding unit 40, the transport unit 50, the first holding unit moving device 73, the second holding unit moving device 60, the support unit moving device 71, the positioning device 110, the first stopper device 52c, and the second stopper device 53d, for example, based on the detection results of the detection unit 90, the height detection unit 91, and the luggage detection unit 100 and on a pre-stored program.

As another example, the control unit 120 may control the running device 30, the holding unit 40, the transport unit 50, the first holding unit moving device 73, the second holding unit moving device 60, the support unit moving device 71, the positioning device 110, the first stopper device 52c, and the second stopper device 53d in accordance with commands from an operation unit operated by an operator.

The external transport unit 125 transports luggage between, for example, a luggage 5 collection point outside the storage unit 6 and the third transport unit 53 of the transport unit 50. The external transport unit 125 is a conveyor that is configured to be expandable and contractible in the transport direction.

Next, as an example of the operation of the loading device 10, an example of the operation of the loading device 10 in which one layer of luggage 5 is stacked on the floor surface of the storage section 6 will be described with reference to Figures 7 and 8. The loading device 10 is used, for example, while being placed on the floor of the storage section 6 which is configured as a horizontal surface. For this reason, the transport section 50 transports the luggage 5 in a substantially horizontal direction, and the first holding section moving device 73 moves the holding section 40 and the luggage 5 in a substantially vertical direction. In addition, the first horizontal direction moving device 61 and the second horizontal direction moving device 62 each move the first holding section moving device 73 in a substantially horizontal direction.

The control unit 120 first moves the device main body 20 into the storage unit 6 by driving the driving device 30 based on the image captured by the detection unit 90.

The loading/unloading device 10 is moved in its initial state. The initial state of the loading/unloading device 10 is, for example, as shown in FIG. 7A, in which the first conveying unit 51 is positioned at the lowest height position of its movement range in the substantially vertical direction by the support unit moving device 71, the holding unit 40 is positioned at a predetermined height position above the fifth conveying unit 55 by the first holding unit moving device 73, and the holding unit 40 is positioned at the center of the first conveying unit 51 in the second direction Y by the second holding unit moving device 60.

When the device body 20 has completed moving to a predetermined position within the storage unit 6, the control unit 120 stops driving the running unit 32. The predetermined position of the storage unit 6 here is a position at which the holding unit 40 can transport the luggage 5 to a target position on the floor surface of the storage unit 6.

Next, the control unit 120 controls the lifting device 52b to raise and lower the transport unit body 52a of the second transport unit 52, thereby aligning the height position of the transport unit body 52a with the height position of the third transport unit 53.

Next, the control unit 120 adjusts the height position of the first conveying unit 51 according to the height position of the floor surface of the storage unit 6, which is the target position for placing the luggage 5. Since the target position is the floor surface, the height position of the first conveying unit 51 is moved to the minimum height position. Note that in the initial state of the device main body 20, the height position of the first conveying unit 51 is, as an example, the minimum height position, so in this operation example, the control unit 120 does not change the height position of the first conveying unit 51.

Next, the control unit 120 drives the conveying unit main body 52a and the third conveying unit 53. Next, the control unit 120 drives the drive unit 52c2 of the first stopper device 52c to move the first stopper 52c1 to a position that restricts the movement of the luggage 5. The control unit 120 drives the drive unit 53d2 of the second stopper device 53d to move the second stopper 53d1 to a position that restricts the movement of the luggage 5.

When the device main body 20 is moved to a predetermined position within the storage section 6, the worker places the external conveying section 125 in a position adjacent to the third conveying section 53, as shown in FIG. 1. Next, the worker conveys the luggage 5 to the device main body 20 using the external conveying section 125. The luggage 5 that has reached the device main body 20 first enters the third conveying section 53.

The control unit 120 detects that the luggage 5 has entered the third conveying unit 53 by a signal from the third detection unit 103 provided on the external conveying unit 125 side of the third conveying unit 53. That is, as the luggage 5 moves, the laser irradiated from the irradiation unit of the third detection unit 103 is blocked by the luggage 5, and the laser reception state of the light receiving unit changes. When the control unit 120 detects the entry of the luggage 5 into the third conveying unit 53 based on the change in the laser reception state of the light receiving unit, it checks whether the height position of the conveying unit main body 52a is at a height at which the luggage 5 can be moved from the third conveying unit 53 to the conveying unit main body 52a. When the control unit 120 determines that the height position of the conveying unit main body 52a is at a height at which the luggage 5 can be moved from the third conveying unit 53, it drives the drive unit 53d2 of the second stopper device 53d to move the second stopper 53d1 to a position where it does not abut against the luggage 5.

The control unit 120 also detects the exit of the luggage 5 from the third conveying unit 53 based on a signal from the third detection unit 103 provided on the second conveying unit 52 side.

As shown in FIG. 7A, the luggage 5 that exits the third conveyor 53 enters the second conveyor 52. When the control unit 120 detects the entry of the luggage 5 into the second conveyor 52 based on a signal from the second detection unit 102, it stops driving the conveyor main body 52a. By stopping the driving of the conveyor main body 52a, the luggage 5 is held on the conveyor main body 52a.

Next, the control unit 120 drives the fourth transport unit 54, the fifth transport unit 55, and the sixth transport unit 56. Next, as shown in FIG. 7B, the control unit 120 drives the lifting device 52b to move the transport unit main body 52a to the height position of the sixth transport unit 56.

When the conveying unit main body 52a moves to the height position of the sixth conveying unit 56, the control unit 120 drives the drive unit 52c2 of the first stopper device 52c to move the first stopper 52c1 to a position where it does not contact the luggage 5. Next, the control unit 120 drives the conveying unit main body 52a. As the conveying unit main body 52a is driven, the luggage 5 enters the sixth conveying unit 56 from the conveying unit main body 52a. The control unit 120 detects the entry of the luggage 5 into the sixth conveying unit 56 based on a signal from the sixth detection unit 106.

The luggage 5 moves in the order of the sixth conveyor 56, the fourth conveyor 54, and the fifth conveyor 55. Based on signals from each detection unit 104, 105, and 106, the control unit 120 detects the exit of the luggage 5 from the sixth conveyor 56, the entry and exit of the luggage 5 into the fourth conveyor 54, and the entry of the luggage 5 into the fifth conveyor 55.

As shown in FIG. 7B, when the control unit 120 detects that the luggage 5 has entered the fifth conveying unit 55 based on a signal from the fifth detection unit 105, the control unit 120 stops driving the fifth conveying unit 55. In other words, when the laser emitted from the irradiation unit is blocked by the luggage 5, causing the light receiving unit to stop receiving the laser, the control unit 120 determines that the luggage 5 has entered the fifth conveying unit 55.

Next, the control unit 120 drives the positioning device 110 as shown in FIG. 6 to position the luggage 5 at a predetermined position on the conveying surface 55a of the fifth conveying unit 55. When the positioning of the luggage 5 by the positioning device 110 is completed, the control unit 120 returns the positioning device 110 to its initial position. For example, the control unit 120 determines that the positioning operation of the luggage 5 is complete when a predetermined time has elapsed since starting to drive the positioning device 110.

Next, as shown in FIG. 7C, the control unit 120 drives the first holding unit moving device 73 and the second holding unit moving device 60 to move the holding unit 40 directly above a predetermined position of the fifth transport unit 55, thereby bringing the suction unit 42 into contact with the upper surface of the luggage 5, and drives the vacuum pump to suction the luggage 5 with the suction unit 42. The luggage 5 is held by the holding unit 40 as a result of the suction unit 42 suctioning the luggage 5.

Next, the control unit 120 drives the first horizontal movement device 61, the second horizontal movement device 62, and the first holding unit movement device 73 as shown in FIG. 7(D) to transport the holding unit 40 and the luggage 5 held by the holding unit 40 to the floor surface that is the target position of the storage unit 6.

An example of the operation of transporting the luggage 5 from the fifth transport unit 55 to the target position in the storage unit 6 will be described. First, the control unit 120 drives the first holding unit moving device 73 to move the holding unit 40 and the luggage 5 upward to a position above the positioning device 110. In other words, the holding unit 40 and the luggage 5 are raised to a position where the holding unit 40 or the luggage 5 do not interfere with the positioning device 110 even when the holding unit 40 is moved in the second direction Y.

Specifically, the control unit 120 moves the luggage 5 to a position above the fifth detection unit 105. When the control unit 120 detects that the light receiving unit of the fifth detection unit 105 has received the laser emitted by the irradiation unit, it stops driving the first holder moving device 73.

That is, when the luggage 5 is placed on the conveying surface 55a of the fifth conveying unit 55, the laser irradiated from the irradiation unit is blocked by the luggage 5 and does not reach the light receiving unit, but since the detection position by the fifth detection unit 105 is higher than the height position of the upper end of the positioning device 110, when the light receiving unit receives the laser irradiated from the irradiation unit as a result of the luggage 5 being moved upward by the first holding unit moving device 73, the luggage 5 has moved to a position above the fifth detection unit 105. Furthermore, the height of the bottom end of the luggage 5 from the conveying surface 55a at the time when the light receiving unit receives the laser irradiated from the irradiation unit is the same height position as the height position of the light receiving unit of the fifth detection unit 105.

Next, the control unit 120 detects the height position of the bottom end of the luggage 5 from the floor surface based on the height position of the transport surface 55a of the fifth transport unit 55 from the floor surface of the storage unit 6 and the height position of the bottom end of the luggage 5 from the transport surface 55a.

Next, the control unit 120 drives the second horizontal movement device 62 according to the target position to move the holding unit 40 in the second direction Y.

Next, the control unit 120 drives the first horizontal movement device 61 to transport the holding unit 40 and the luggage 5 to directly above the floor surface, which is the target position for the luggage 5.

Next, the control unit 120 drives the first holding unit moving device 73 based on the height position of the bottom end of the luggage 5 from the floor surface, and places the luggage 5 on the floor surface at the target position. Specifically, the height of the storage unit 6 for the luggage 5 from the floor surface becomes the movement distance by the first holding unit moving device 73 to place the luggage 5 on the floor surface at the target position. The control unit 120 drives the first holding unit moving device 73 to move the luggage 5 held by the holding unit 40 below the conveying surface 55a, thereby placing the luggage 5 on the floor surface at the target position.

When the luggage 5 is transported to the floor surface that is the target position, the control unit 120 releases the hold on the luggage 5 by breaking the vacuum in the suction unit 42. The vacuum in the suction unit 42 is broken, for example, by stopping the operation of the vacuum pump. In another example, the vacuum in the suction unit 42 is broken by operating a valve in the flow path that connects the vacuum pump and the suction unit 42.

These operations of the loading/unloading device 10 complete the transport of the luggage 5 to the storage section 6. When the transport of the luggage 5 to the storage section 6 is completed, the control section 120 first drives the first horizontal movement device 61 to move the holding section 40 along the transport direction of the first transport section 51, and then drives the second horizontal movement device 62 to move the holding section 40 toward the fourth transport section 54.

When loading the next load 5, if the target position to which the load 5 is to be moved is outside the range of movement of the load 40 by the second load moving device 60, the worker drives the travel device 30 to move the device body 20 to a position where the load 40 can be moved to the target position.

When the range of movement of the luggage 5 in the third direction Z from the conveying surface 55a of the fifth conveying section 55 is relatively small, such as when moving the luggage 5 to the first level of the storage section 6 as shown in FIG. 7, it is not necessary to drive both the support section moving device 71 and the first holding section moving device 73, and only one of them may be driven. In the above example, as an example of this, only the first holding section moving device 73 is driven.

As shown in FIG. 8, when luggage 5 is stacked in one or more layers, the control unit 120 detects the height position of the upper end of luggage 5 placed in the storage unit 6, which is the target position to which luggage 5 is moved, by the height detection unit 91. When detecting the height of the upper surface of luggage 5 placed in the storage unit 6, for example, the support unit moving device 71 may be driven.

With this configuration, the control unit 120 detects the height of the bottom end of the luggage 5 held by the holding unit 40 relative to the top end of the luggage 5 that was previously transported to the storage unit 6, based on the height position of the top end of the luggage 5 that was previously transported to the storage unit 6 and the height position of the bottom end of the luggage 5 that was held by the holding unit 40 and moved to a position above the positioning device 110.

The control unit 120 drives the first holding unit moving device 73 based on the height position of the lower end of the luggage 5 held by the holding unit 40 relative to the upper end of the luggage 5 that was moved first to the storage unit 6, and places the luggage 5 held by the holding unit 40 on the upper end of the luggage 5 that was moved first to the storage unit 6. In other words, the holding unit 40 is moved upward or downward by the height of the lower end of the luggage 5 held by the holding unit 40 relative to the upper end of the luggage 5 that was moved first to the storage unit 6.

As shown in FIG. 9, the control unit 120 drives the support unit moving device 71 according to the height position of the upper end of the luggage 5 previously moved to the storage unit 6, which is the target position to which the luggage 5 is to be moved. The control unit 120 may calculate the height position of the upper end of the luggage 5, which is the target position, based on information about the luggage 5 transported to the storage unit 6. For example, if the luggage 5 is already stacked three layers high, the sum of the heights of the three layers of luggage 5 is the height position of the upper end of the luggage 5, which is the target position.

When transporting luggage 5 from the storage unit 6 to the outside of the storage unit 6, the loading and unloading device 10 performs, for example, the reverse operation of the operation of transporting luggage 5 to the storage unit 6 described above. Specifically, the control unit 120 first holds the luggage 5 placed in the storage unit 6 using the holding unit 40. Position information of the luggage 5 held by the holding unit 40 may be obtained from the detection results of the height detection unit 91 or the detection results of the detection unit 90. Alternatively, the position information of the luggage 5 may be stored in advance in the storage unit 6. Alternatively, the luggage 5 may be held by the holding unit 40 by an operator operating the operation unit based on visual inspection or the detection results of the detection unit 90.

Next, the control unit 120 drives, for example, the first holder moving device 73 to move the luggage 5 to a position higher than the positioning device 110.

Next, the control unit 120 drives the first horizontal movement device 61 to move the holding unit 40 and the luggage 5 toward the first conveying unit 51. The control unit 120 moves the holding unit 40 at least to a position where it is not lined up with other luggage 5 in the second direction Y. The control unit 120 drives the first horizontal movement device 61 to move the holding unit 40 and the luggage 5, for example, to a position where it is lined up with the fifth conveying unit 55 in the second direction Y.

Next, the control unit 120 drives the second horizontal movement device 62 to move the holding unit 40 and the luggage 5 above the fifth conveying unit 55.

When the luggage 5 placed in the storage section 6 is positioned next to the fifth conveying section 55 in the direction of movement of the holding section 40 by the first horizontal movement device 61, the control section 120 drives the first horizontal movement device 61 to move the luggage 5 above the fifth conveying section 55.

Next, the control unit 120 drives the first holding unit moving device 73 to move the luggage 5 downward. When the control unit 120 detects the luggage 5 with the fifth detection unit 105, it stops driving the first holding unit moving device 73. By detecting the luggage 5 with the fifth detection unit 105, the control unit 120 obtains the distance from the bottom end of the luggage 5 to the conveying surface 55a of the fifth conveying unit 55. The distance from the detection position by the fifth detection unit 105 to the conveying surface 55a is the distance from the bottom end of the luggage 5 to the conveying surface 55a.

Next, the control unit 120 drives the first holding unit moving device 73 based on the distance from the bottom end of the luggage 5 to the conveying surface 55a obtained as described above, and places the luggage 5 on the conveying surface 55a of the fifth conveying unit 55. That is, by driving the first holding unit moving device 73 to move the luggage 5 downward the distance from the bottom end of the luggage 5 to the conveying surface 55a obtained as described above, the luggage 5 can be safely placed on the conveying surface 55a. When the luggage 5 is placed on the conveying surface 55a, the control unit 120 breaks the vacuum in the suction unit 42 and releases its hold on the luggage 5.

Next, the loading/unloading device 10 drives the conveying section 50 to convey the luggage 5 to the external conveying section 125. Next, the loading/unloading device 10 conveys the luggage 5 by the external conveying section 125. Through these operations of the loading/unloading device 10, the conveying of the luggage 5 from inside the storage section 6 to outside the storage section 6 is completed.

The device body 20 of the loading and unloading device 10 configured in this manner includes a conveying section 50 that conveys the luggage 5 to the storage section 6, a holding section 40 that holds the luggage 5, and a first holding section moving device 73, a second holding section moving device 60, and a support section moving device 71 that move the luggage 5 between the conveying section 50 and the target position of the storage section 6. As a result, the worker does not have to manually move the luggage 5 from outside the storage section 6 to the target position of the storage section 6, and the worker does not have to manually move the luggage 5 from the storage section 6 to outside the storage section 6. As a result, the efficiency of the work of conveying the luggage 5 to the target position of the storage section 6, or the efficiency of the work of conveying the luggage 5 from the storage section 6 to outside the storage section 6 can be improved.

The device body 20 further includes a running device 30 that enables the device body 20 to move on its own. This allows the device body 20 to be installed in the storage section 6 by the running device 30, improving the efficiency of the work of transporting the luggage 5.

Furthermore, the first holder moving device 73 is configured to be able to move the luggage 5 below the conveying surface 55a of the fifth conveying unit 55. Therefore, the device main body 20 can convey the luggage 5 to the floor surface or the upper end of the luggage 5 that is a target position in a range near the conveying surface 55a by the first holder moving device 73, and the luggage 5 can be conveyed to the floor surface or the upper end of the luggage 5 that is a target position in a range relative to the conveying surface 55a by the first holder moving device 73 and the support unit moving device 71.

For this reason, the device body 20 separates the devices that move the holding unit 40 in a direction toward and away from the conveying surface 51a of the first conveying unit 51 into the support unit moving device 71 and the first holding unit moving device 73, thereby preventing the support unit moving device 71 and the first holding unit moving device 73 from becoming large, while reducing the number of devices that move the holding unit 40 in a direction toward and away from the conveying surface 55a to two, thereby preventing the configuration of the loading and unloading device 10 from becoming complicated.

Furthermore, a lifting device 52b is provided as a configuration for moving the luggage 5 between the first conveying section 51 and the third conveying section 53 in a direction toward and away from the conveying surface 51a. This prevents the configuration of the device main body 20 from becoming large. The effect of this will be specifically described.

As a configuration of the conveying section that conveys the luggage 5 in a direction toward and away from the conveying surface 51a, for example, a conveying section that is inclined with respect to the direction of approach and separation is conceivable, and in this configuration, the length of the conveying section 50 in the conveying direction becomes longer. Furthermore, the greater the difference in height between the first conveying section 51 and the third conveying section 53, the longer the length of the conveying section 50 in the conveying direction.

However, because the lifting device 52b is configured to lift and lower the luggage 5 by moving the conveying unit main body 52a in a direction toward and away from the conveying surface 51a, it is possible to prevent the overall length of the conveying unit 50 in the conveying direction from increasing. Furthermore, even if the height difference between the first conveying unit 51 and the third conveying unit 53 is large, the length of the conveying unit 50 in the conveying direction is not increased.

Furthermore, the device main body 20 is equipped with a height detection unit 91 that detects the height position of the upper end of the luggage 5 placed in the storage unit 6, and a fifth detection unit 105 that detects the height position of the lower end of the luggage 5 held by the holding unit 40 relative to the conveying surface 55a of the fifth conveying unit 55, making it possible to calculate the amount of movement of the holding unit 40 in the third direction Z when placing the luggage 5 on the target position, which is the floor surface or the upper end of the luggage 5.

Furthermore, the conveying unit 50 is provided with a luggage detection unit 100 that detects that luggage 5 has been conveyed onto the conveying surface 50a of the conveying unit 50. Therefore, the luggage detection unit 100 makes it possible to automate the loading and unloading operation of luggage 5.

Furthermore, the first conveying unit 51, the second conveying unit 52, and the third conveying unit are each provided with a detection unit 101, 102, and 103, respectively, so that the position of the luggage 5 on the conveying unit 50 can be detected.

Furthermore, the first conveying section 51 is divided into a plurality of conveying sections that can be driven independently, and a detection section that detects luggage 5 is provided in each of these conveying sections, making it possible to place luggage 5 on each conveying section.

For example, while the luggage 5 placed on the fifth conveyor 55 is held by the holding unit 40 and transported to the target position, either the floor surface or the top end of the luggage 5, the fourth conveyor 54 and the sixth conveyor 56 can be driven to have the luggage 5 waiting on both the fourth conveyor 54 and the sixth conveyor 56. As a result, it is possible to shorten the time it takes to transport the luggage 5 to the fifth conveyor 55, thereby improving the efficiency of the transport operation by the loading and unloading device 10.

Furthermore, since the second holding unit moving device 60 is equipped with a first horizontal direction moving device 61 and a second horizontal direction moving device 62, it is possible to expand the range of movement of the holding unit 40.

Furthermore, the second horizontal movement device 62 is configured to be able to move the holding unit 40 to a position outside the support unit 80 in the second direction Y. This allows the luggage 5 to be stably positioned near the fifth conveying unit 55, and also allows the luggage 5 positioned near the fifth conveying unit 55 to be stably held by the holding unit 40. The effect of this will be described in detail below.

For example, if the target position for transporting the luggage 5 in the storage unit 6 is the floor surface near the fifth transport unit 55 or the top end of the luggage 5, it is assumed that the fifth transport unit 55 will be an obstacle and the luggage 5 cannot be transported to the target position. However, since the holding unit 40 is configured to be movable to the outside of the support unit 80 in the second direction Y, the luggage 5 can be transported to the floor surface or the top end of the luggage 5 that is the target position by moving the device main body 20 to a position shifted in a direction perpendicular to the transport direction of the first transport unit 51 relative to the target position and moving the holding unit 40 to the outside of the support unit 80 in a direction perpendicular to the transport direction of the first transport unit 51. Alternatively, the luggage 5 placed on the floor surface or the top end of the luggage 5 that is the target position can be held by the holding unit 40.

Furthermore, since the second horizontal movement device 62 is configured to include multiple rail devices 65, it is possible to shorten the overall length of the second horizontal movement device 62. Therefore, by shortening the overall length of the second horizontal movement device 62 when the loading device 10 is not in use, it is possible to save space for installing the device main body 20. Furthermore, since the second horizontal movement device 62 is configured to include multiple rail devices 65, it is possible to increase the length of the movement range of the holding section 40.

Furthermore, by providing the loading and unloading device 10 with the external transport section 125, it becomes possible to transport the luggage 5 outside the storage section 6, for example, between a luggage collection point and the transport section 50. This improves the efficiency of the work of transporting the luggage 5.

Furthermore, by providing the loading/unloading device 10 with the first stopper device 52c, when the height of the conveying surface 52a1 of the second conveying section 52 does not match the height of the conveying surface 51a of the first conveying section 51, the movement of the luggage 5 from the second conveying section 52 to the first conveying section 51 is restricted by the first stopper 52c1, thereby preventing the luggage 5 from falling. In addition, by restricting the movement of the luggage 5 when the conveying section main body 52a is being raised and lowered by the lifting device 52b, it is possible to prevent the luggage 5 from being pinched between the first conveying section 51 and the conveying section main body 52a in the third direction Z.

According to the embodiment of the loading and unloading device 10 described above, the configuration includes a first holding unit moving device 73 that moves the holding unit 40 as a moving device that moves the holding unit 40 in a direction toward and away from the conveying surface 51a of the first conveying unit 51, and a support unit moving device 71 that moves the holding unit 40 and the first conveying unit 51 via the support unit 80, thereby improving the efficiency of the work of conveying the luggage 5 while preventing the device from becoming too large.

In the above example, the second holding unit moving device 60 is described as having a configuration including a first horizontal direction moving device 61 and a second horizontal direction moving device 62, but is not limited to this. In other examples, the second holding unit moving device 60 may be configured to have either the first horizontal direction moving device 61 or the second horizontal direction moving device 62.

In the above example, the loading/unloading device 10 has been described as being configured to operate automatically by the control unit 120. As an example, the loading/unloading device 10 is configured to automatically perform loading/unloading operations based on the detection results of the detection unit 90 and the baggage detection unit 100, as well as pre-stored programs, etc. In this way, when the loading/unloading device 10 is configured to automatically perform loading/unloading operations, a guide unit that guides the movement of the device main body 20 may be provided outside the storage unit 6. The movement of the device main body 20 is guided from outside the storage unit 6 to the storage unit 6 by this guide unit. For example, a linear display that guides the movement of the device main body 20 may be provided outside the storage unit 6, and the loading/unloading device 10 may be provided with a detection unit that detects this linear display.

In the above example, the positioning device 110 is provided with a pressing unit 111 having two arms 113, and a drive unit 112 that rotates the two arms 113, and is configured to rotate the two arms 113 to press the luggage 5 and position the luggage 5 at a predetermined position, but is not limited to this. In another example, the pressing unit 111 may be configured to have a shape corresponding to the shape of the luggage 5, as in the modified example shown in FIG. 10, and the pressing unit 111 may be configured to press the luggage 5 toward the predetermined position, thereby positioning the luggage 5 at the predetermined position.

As a specific example, if the luggage 5 is a rectangular parallelepiped, the pressing unit 111 is configured in an L-shape according to the corner formed by the two side surfaces of the luggage 5. Then, the pressing unit 111 presses the corner formed by the two side surfaces of the luggage 5, thereby positioning the luggage 5 in a predetermined position.

In the above example, the loading and unloading device 10 has been described as having a lifting device 52b for lifting and lowering the luggage 5 between the first conveying section 51 and the third conveying section 53, but is not limited thereto. In another example, as in the modified example shown in FIG. 11, instead of a configuration having a lifting device 52b, the conveying section main body 52a may be tiltable with respect to the third direction Z, and the tilt angle with respect to the third direction Z may be changeable. By tilting the conveying section main body 52a with respect to the third direction Z, it becomes possible to transport the luggage 5 between the first conveying section 51 and the second conveying section 52, even if a difference in height occurs between the first conveying section 51 and the third conveying section 53.

In the above example, the loading device 10 is described as being configured to load and unload rectangular parallelepiped-shaped cargo 5, but the shape of the cargo 5 that the loading device 10 loads and unloads is not limited to a rectangular parallelepiped. The loading device 10 may be configured to load and unload, for example, tires, cylindrical cargo, cylindrical cargo such as rice bales, or bag-shaped cargo of irregular shape such as cement bags or gunny bags. The holding unit 40 is configured to be suitable for holding the cargo to be loaded and unloaded.

For example, when the loading/unloading device 10 is configured to load tires, the holding unit 40 may be configured to include a frame 130, a plurality of arms 131 rotatably supported on the frame 130, and a drive unit 132 that drives the plurality of arms 131, as shown in FIG. 12. Note that FIG. 12 shows the holding unit 40 in an upside-down state.

The frame 130 is configured, for example, in a plate shape. One end of each of the multiple arms 131 in the longitudinal direction is supported on the lower surface 133 of the frame 130 so as to be rotatable around a rotation axis parallel to the third direction Z. One ends of the multiple arms 131 are disposed at equal intervals. The multiple arms 131 are, for example, three arms.

A claw portion 134 is provided at the other end of each of the multiple arms 131. The claw portion 134 is configured so that it can hook onto the bead portion of the tire by abutting against the bead portion from below. The claw portion 134 includes, for example, a support portion 135 and a flange portion 136.

The support portion 135 is configured to extend downward from the arm 131. The flange portion 136 is formed at the lower end of the support portion 135.

The driving device 132 includes an actuator 137 and a connecting mechanism 138. The connecting mechanism 138 connects the actuator 137 and each of the multiple arms 131, and transmits the driving force of the actuator 137 to each of the multiple arms 131. The connecting mechanism 138 includes, for example, multiple gears. The connecting mechanism 138 rotates the multiple arms 131 simultaneously. In addition, the connecting mechanism 138 is configured to be able to rotate the multiple arms 131 between a position where the claw portions 134 of each of the multiple arms 131 are separated from each other as shown in FIG. 12 and a position where the claw portions 134 approach each other.

In the holding unit 40 configured in this manner, each of the multiple arms 131 is rotated relative to the frame 130 by the actuator 137. Then, the flange portion 136 abuts against the bead portion of the tire from below, thereby hooking and holding the tire.

In addition, if the loading and unloading device 10 is configured to load and unload, for example, gunny bags, the holding unit 40 may be a needle gripper that holds the gunny bag by piercing the gunny bag with a needle. In this way, the holding unit 40 is configured to be able to hold the gunny bag according to the object.

When the holding unit 40 has the configuration shown in FIG. 12, the first holding unit moving device 73 is preferably configured to be able to move the flange portion 136, which is the lower end of the holding unit 40, below the conveying surface 55a of the fifth conveying unit 55.

In the above example, the device body 20 has been described as being configured to position the luggage 5 at a predetermined position on the conveying surface 55a using the positioning device 110, but is not limited to this. In another example, the device body 20 may not be configured to have the positioning device 110, but may instead have a camera that photographs the luggage 5 placed on the conveying surface 55a. In this configuration, the camera may detect the position of the luggage 5, and the luggage 5 may be held by the holding unit 40.

In the above example, a configuration in which a camera is used as the detection unit 90 has been described as an example, but the present invention is not limited to this. The detection unit 90 only needs to be capable of detecting the luggage 5 piled on the floor of the storage unit 6, the luggage 5 held in the holding unit 40, and the luggage 5 placed on the fifth transport unit 55 of the transport unit 50, and may be a plurality of sensors that detect each of them. As a specific example of a sensor, a laser range finder using laser light may be used.

In the above example, the second horizontal movement device 62 is described as having a first rail device 65A and a second rail device 65B as a configuration having a rail device 65, but is not limited to this. In another example, the second horizontal movement device 62 may have three or more rail devices 65. In a configuration using three or more rail devices 65, one rail device 65 is fixed to the support portion 80, and the first horizontal movement device 61 is fixed to the slide portion 64 of another rail device 65. The other one or more slide portions are connected between the slide portion 64 of the rail device 65 fixed to the support portion 80 and the rail 63 of the rail device 65 to which the first horizontal movement device 61 is fixed. Alternatively, the second horizontal movement device 62 may be configured to have one rail device 65.

In this way, a configuration using three or more rail devices 65 makes it possible to more safely expand the range of movement of the holding part 40.

In the above example, the support unit moving device 71 is described as having a link mechanism 71a that expands and contracts in the third direction Z, but this is not limiting. In another example, the support unit moving device 71 and the first holding unit moving device 73 may be configured to have a cylinder that expands and contracts in the third direction Z.

In the above example, the second horizontal movement device 62 is configured to be able to move the holding unit 40 to a position outside both the first conveying unit 51 and the support unit 80 in the second direction Y.

However, this is not limited to the above. The second horizontal movement device 62 may be configured to be capable of moving the holding unit 40 only to one of the outer positions between the first transport unit 51 and the support unit 80. Alternatively, the second horizontal movement device 62 may be configured to be capable of moving the holding unit 40 in the second direction Y to one outer position or both outer positions relative to the first transport unit 51 or the support unit 80.

In the above example, the device body 20 is assumed to be used while placed on a horizontal surface, such as the floor surface of the storage section 6, and therefore includes a device capable of moving the holding section 40 in one axial direction, and a device capable of moving the holding section 40 in one axial direction perpendicular to the one axial direction, and is used in an attitude in which the movement direction of the holding section 40 by one device is approximately vertical, and the movement direction of the holding section 40 by the other device is approximately horizontal. In other words, one device is the first holding section moving device 73 and the support section moving device 71, and the other device is the second holding section moving device 60. However, this is not limited to this.

In the above example, the support unit moving device 71 is configured to move the first conveying unit 51, which is part of the conveying unit 50, in the third direction Z. For example, if the loading and unloading device 10 has only the device main body 20, the support unit moving device 71 is configured to move the entire conveying unit 50 in the third direction Z.

The movement direction of each of the holding parts 40 of the two devices described above may be set appropriately according to the surface on which the device body 20 is placed when used. For example, when the device body 20 is used by being placed on a surface intersecting a horizontal plane, the movement direction of each of the holding parts 40 of the two devices may be set in a direction in which, when the device body 20 is placed on this surface, one device can move the holding part 40 in the vertical direction, and the other device can move the holding part 40 in the horizontal direction. In this configuration, the conveying part 50 may be configured to be able to convey the luggage 5, for example, in a direction parallel to the surface on which the device body 20 is placed.

In the above example, a configuration in which a fourth detection unit 104 is provided at each end in the conveying direction of the fourth conveying unit 54, and a sixth detection unit 106 is provided at each end in the conveying direction of the sixth conveying unit 56 has been described as an example, but this is not limited to this. In another example, the fourth conveying unit 54 may be provided with one fourth detection unit 104, and the sixth conveying unit 56 may be provided with one sixth detection unit 106.

In the above example, the transport unit main body 52a of the second transport unit 52 is provided with two second detection units 102 that detect luggage 5, which is an example of a plurality of second detection units 102. However, the present invention is not limited to this. In another example, the transport unit main body 52a may be provided with one second detection unit 102.

According to the loading and unloading device 10 relating to at least one of the modified examples described above, the configuration includes a first holding unit moving device 73 that moves the holding unit 40 as a moving device that moves the holding unit 40 in a direction toward and away from the conveying surface 51a of the first conveying unit 51, and a support unit moving device 71 that moves the holding unit 40 and the first conveying unit 51 via the support unit 80, thereby improving the efficiency of the work of conveying the luggage 5 while preventing the device from becoming too large.

Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims.
The following is a summary of the claims of this application as filed.
[Appendix 1]
A main conveying unit that conveys an object placed on a conveying surface;
A holding unit that holds the object;
a first holder moving device that supports the holder and moves the holder in a direction toward and away from the conveyance surface;
a second holder moving device that supports the first holder moving device and moves the first holder moving device in a direction intersecting the approaching and separating direction;
a support section for supporting the main transfer section and the second holder moving device;
a support part moving device that moves the support part in the approaching and separating directions;
A traveling device that supports the support portion moving device and travels;
A loading and unloading device comprising:
[Appendix 2]
the conveying surface and the support portion form a conveying path along which the object is conveyed;
The loading and unloading device according to claim 1, wherein the distance from the conveying surface, which is the height of the conveying path, to the support portion is constant.
[Appendix 3]
The loading and unloading apparatus of claim 1 or 2, wherein the second holding unit moving device includes a first moving device that moves the holding unit in a first direction that intersects with the direction of approach and separation, and a second moving device that moves the holding unit along a second direction that intersects with the first direction.
[Appendix 4]
The loading and unloading apparatus of claim 3, wherein the second moving device moves the first holder moving device along the second direction to the outside of the main transport section or the support section.
[Appendix 5]
5. The loading and unloading apparatus according to claim 1, wherein the first holder moving device is configured to be able to move the object held by the holder below the conveying surface.
[Appendix 6]
an auxiliary conveyor that conveys the object to the main conveyor;
a sub-conveyance unit moving device that moves the sub-conveyance unit in the approaching and separating directions;
6. The loading and unloading apparatus according to claim 1, further comprising:
[Appendix 7]
The loading and unloading apparatus according to claim 6, wherein the sub-conveying unit is provided with a restraining unit that restricts the transport of the object along the transport direction.
[Appendix 8]
A loading and unloading device as described in any one of Supplementary Note 1 to Supplementary Note 7, comprising a main conveying section detection section that is provided on the main conveying section and arranged along the direction in which the object is conveyed by the main conveying section, and that detects the object.
[Appendix 9]
7. The loading and unloading apparatus according to claim 6, further comprising a sub-transport detection unit provided in the sub-transport unit to detect the object.
[Appendix 10]
10. The loading and unloading apparatus according to claim 1, wherein the main transport unit includes a plurality of transport units arranged in a transport direction of the object.
[Appendix 11]
The loading and unloading apparatus according to claim 10, wherein each of the plurality of transport sections is provided with a detection section for the main transport section.
[Appendix 12]
12. The loading and unloading apparatus according to claim 1, further comprising an external transport unit that transports the object to the sub-transport unit.
[Appendix 13]
13. The loading and unloading apparatus according to claim 1, wherein the main transport unit is provided with a positioning device that positions the object at a holding position on the transport surface where the object is held by the holding unit.
[Appendix 14]
A loading and unloading apparatus as described in Appendix 13, which is dependent on Appendix 8, wherein one of the plurality of main transport section detectors is positioned at a position to detect the object placed at the holding position.
[Appendix 15]
15. The loading and unloading apparatus according to claim 1, further comprising a height detection device for detecting a height of a target position to which the object is to be transported.

5...baggage, 6...storage section, 10...loading device, 20...device body, 30...traveling device, 31...traveling device base, 32...traveling section, 32a...wheel, 40...holding section, 41...holding section base, 42...suction section, 50...transport section, 51...first transport section (main transport section), 51a...transport surface, 52...second transport section, 52a...transport section body, 52a1...transport surface, 52b...lifting device, 52c1...first stopper (stop section), 53...third transport section, 53a...transport surface, 54...fourth transport section, 55...fifth transport section, 56...sixth transport section, 60...second holding section movement device, 61...first horizontal movement device, 62...second horizontal movement device, 63... Rail, 64...slide section, 65A...first rail device, 65B...second rail device, 70...holding section moving device, 71...supporting section moving device, 71a...link mechanism, 71b...drive section, 73...first holding section moving device, 73a...rail, 73b...drive section, 80...supporting section, 83...fixing device, 91...height detection section, 100...luggage detection section, 101...first detection section, 102...second detection section, 103...third detection section, 104...fourth detection section, 105...fifth detection section, 106...sixth detection section, 106...detection section, 110...positioning device, 111...pressing section, 112...drive section, 113...arm section, 120...control section, 125...external transport section.

Claims (13)

A main conveying unit that conveys an object placed on a conveying surface;
A holding unit that holds the object;
a first holder moving device that supports the holder and moves the holder in a direction toward and away from the conveyance surface;
a second holder moving device that supports the first holder moving device and moves the first holder moving device in a direction intersecting the approaching and separating direction;
a support section for supporting the main transfer section and the second holder moving device;
a support part moving device that moves the support part in the approaching and separating directions;
A traveling device that supports the support portion moving device and travels;
Equipped with
The second holding unit moving device includes a first moving device that moves the holding unit in a first direction that intersects the approaching and separating direction, and a second moving device that moves the holding unit along a second direction that intersects the first direction . the conveying surface and the support portion form a conveying path along which the object is conveyed;
The loading and unloading apparatus according to claim 1 , wherein a distance from the conveying surface, which is a height of the conveying path, to the support portion is constant. The loading and unloading apparatus according to claim 1 or 2 , wherein the second moving device moves the holding section along the second direction to an outside of the main transport section or the support section. The loading and unloading apparatus according to claim 1 , wherein the first holder moving device is configured to be able to move the object held by the holder below the conveying surface. an auxiliary conveyor that conveys the object to the main conveyor;
a sub-conveyance unit moving device that moves the sub-conveyance unit in the approaching and separating directions;
The loading and unloading apparatus according to any one of claims 1 to 4, further comprising: The loading and unloading apparatus according to claim 5 , wherein the sub-conveyor includes a stopper that restricts the conveyance of the object along the conveyance direction. 7. A loading and unloading device as claimed in claim 1, further comprising a main conveying section detection section which is provided on the main conveying section and arranged along the direction in which the object is conveyed by the main conveying section, and which detects the object. The loading and unloading apparatus according to claim 5 , further comprising a sub-conveyor detector provided at the sub-conveyor for detecting the object. The loading and unloading apparatus according to claim 1 , wherein the main transport section includes a plurality of transport sections arranged in a transport direction of the object. The loading and unloading apparatus according to claim 9 dependent on claim 7 , wherein each of the plurality of transport sections includes a main transport section detector. The loading and unloading apparatus according to claim 5 or any one of claims 6 to 10 depending on claim 5 , further comprising an external transport section for transporting the object to the sub-transport section. 12. The loading and unloading apparatus according to claim 1, wherein the main transport section includes a positioning device that positions the object at a holding position on the transport surface where the object is held by the holding section. The loading and unloading apparatus according to claim 1 , further comprising a height detection device that detects a height of a target position to which the object is to be transported.