Apparatus and method for loading and unloading cargo of air mobility
The present disclosure relates to an apparatus and method for loading and unloading cargo of air mobility, in which cargo loading and unloading may be automated without the aid of human resources, as well as enabling loading and unloading of cargo in a required location without an air mobility landing. The apparatus includes a winch installed in a cargo hold of an air mobility, a multiarticulated robot arm suspended from the winch, and a gripper provided on an end of the multiarticulated robot arm and capable of gripping a container.
1 . An apparatus for loading and unloading cargo, the apparatus comprising:
a winch configured to be installed in an air mobility vehicle; and
a multiarticulated robot arm in communication with the winch and comprising a gripper provided capable of gripping a container,
wherein the gripper comprises:
a guide coupled to an end of the multiarticulated robot arm;
a plurality of finger members, at least one of which reciprocates along the guide; and
a driving unit connected to at least one reciprocating finger member and driving the finger member,
wherein the driving unit comprises:
a motor capable of forward and reverse rotation, and mounted on one side of the guide,
a bolt shaft connected to the motor and rotated; and
a nut portion engaged with the bolt shaft, and
wherein a reciprocating finger member is fixedly connected to the nut portion.
2 . The apparatus of claim 1 , wherein the cargo hold has a bottom plate capable of being opened to allow entry and exit of the container, and
wherein the winch is fixed to a ceiling in a position corresponding to an opening of the bottom plate.
3 . The apparatus of claim 1 , wherein the multiarticulated robot arm comprises at least a six-axis multiarticulated robot arm or a flexible multiarticulated robot arm.
4 . The apparatus of claim 1 , comprising a magnetic portion coupled to an end of the multiarticulated robot arm together with or instead of the gripper.
5 . The apparatus of claim 1 , wherein an end of the multiarticulated robot arm or the gripper is provided with an image sensor installed thereon, and
wherein the image sensor is electrically connected to a controller.
6 . The apparatus of claim 1 , further comprising a load measuring unit sensing a load of the container,
wherein the load measuring unit is electrically connected to a controller, and
wherein the load measuring unit comprises a load sensor installed between an end of the multiarticulated robot arm and the gripper or a torque sensor installed on the winch.
7 . An air mobility vehicle comprising an apparatus of claim 1 .
8 . An apparatus for loading and unloading cargo, the apparatus comprising:
a winch configured to be installed in an air mobility vehicle;
a multiarticulated robot arm in communication with the winch and comprising a gripper provided capable of gripping a container; and
a transfer robot capable of loading the container thereon and movable on the ground,
wherein a control unit of the transfer robot is capable of communicating with a controller of the air mobility, and
wherein on an upper plate of the transfer robot, a protrusion inserted into and coupled to a concave groove in a lower surface of the container is formed.
9 . A method of loading and unloading cargo, the method comprising:
hovering an air mobility vehicle without landing when the air mobility vehicle arrives at a destination of cargo loading or unloading;
moving a transfer robot toward the destination and positioning below the air mobility;
communicating between a control unit of the transfer robot and a controller of the air mobility;
descending a multiarticulated robot arm and a gripper from a cargo hold of the air mobility vehicle; and
detecting a positional deviation between the gripper and the transfer robot, and correcting the positional deviation,
wherein the method further comprises:
when unloading a container from the air mobility vehicle to the transfer robot,
operating the multiarticulated robot arm to move the gripper toward the container to be unloaded;
operating the gripper to grip the container;
moving, by the multiarticulated robot arm, the gripper and the container toward a door of the cargo hold; and
operating a winch after the door is opened, and lowering the multiarticulated robot arm, the gripper, and the container to an outside of the air mobility vehicle through an open opening of the cargo hold.
10 . The method of claim 9 , wherein in the correcting of the positional deviation, the positional deviation between the gripper and the transfer robot is detected by an image sensor, and the multiarticulated robot arm is operated or the transfer robot is moved through communication as much as the detected positional deviation.
11 . The method of claim 9 , further comprising:
monitoring a load applied to the multiarticulated robot arm or the winch and determining that the container is seated on the transfer robot; and
actuating the gripper to release a grip on the container.
12 . The method of claim 9 , wherein, when the container is unloaded from the air mobility vehicle to the transfer robot, the container is disposed on an upper plate of the transfer robot while descending, and a protrusion formed on the upper plate of the transfer robot is inserted into a concave groove of the container.
13 . The method of claim 9 , further comprising:
when loading a container from the transfer robot to the air mobility,
operating a winch after a door of the cargo hold is opened, and lowering the multiarticulated robot arm and the gripper to an outside of the air mobility vehicle through an open opening of the cargo hold;
monitoring a load applied to the multiarticulated robot arm or the winch, and determining that the gripper touches the container on the transfer robot; and
operating the gripper to grip the container.
14 . The method of claim 9 , further comprising:
when loading a container from the transfer robot to the air mobility vehicle,
lifting the multiarticulated robot arm, the gripper, and the container into the air mobility vehicle through an open opening of the cargo hold by operating a winch after the gripper grips the container on the transfer robot;
stopping an operation of the winch when a wire of the winch is completely wound up;
after a door of the cargo hold is closed, operating the multiarticulated robot arm to move the gripper and the container toward a position on which the container is to be loaded;
operating the gripper and releasing a grip on the container; and
returning the multiarticulated robot arm and the gripper to original positions.