Magazine for workpiece transfer holder

Abstract

Multiple workpiece transfer holders for autonomous robots can be stacked and stored, and the stacked workpiece transfer holders for autonomous robots can be automatically unloaded. [Solution] By inserting the lowest ends of the four support columns of the upper work transport holder 10 into the openings at the uppermost ends of the four support columns of the lower work transport holder, it becomes possible to stack, for example, eight work transport holders, each with a pallet on it. An autonomous mobile robot (AGV) enters the work transport holder magazine 20 in the direction indicated by the solid arrow, raises the eight stacked work transport holders at once, and transports them from the work transport holder magazine in the direction indicated by the dashed arrow to a predetermined stock position.

Description

Technical Field

[0001] The present invention relates to a work transfer holder for an autonomous driving robot and a magazine for the work transfer holder.

Background Art

[0002] In an inventory system or storage facility, etc., for example, as shown in Patent Document 1 and Patent Document 2 respectively, there is a case where goods are carried into and out of shelf equipment by a self-propelled drive unit equipped with a lifting mechanism for lifting a stock holder described later, or a self-propelled transport cart equipped with a lifting table. For example, as shown in Patent Document 1, an inventory system includes a plurality of mobile drive units, a plurality of stock holders for storing inventory items respectively, a loading / unloading station, and a work space. The stock holder for storing inventory items is removably coupled to the mobile drive unit and transported to the loading / unloading station by the mobile drive unit. Such a stock holder includes a first surface capable of storing inventory items and a second surface located below the first surface and capable of being coupled to the upper part of the mobile drive unit when the mobile drive unit transports the stock holder, and is composed of a support body including four columns.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] As shown in Patent Document 1, when multiple inventory holders are not in use, if the inventory holders are left lying flat at the unloading station, the available workspace at the unloading station is reduced, which may prevent effective use of the limited storage space. In such cases, in order to make effective use of the limited storage space, it is conceivable that workers may stack the unused inventory holders vertically in a designated location.

[0005] However, as mentioned above, if each stock holder is a support structure consisting of four metal pillars, the weight of each stock holder is heavy, making it difficult for workers to stack them vertically to a height greater than their own.

[0006] Considering the above problems, the present invention provides a workpiece transfer holder for an autonomous mobile robot, The first objective is to provide a workpiece transfer holder for autonomous mobile robots that can be detachably mounted on the autonomous mobile robot and that allows multiple workpiece transfer holders to be easily stacked.

[0007] Furthermore, a second objective of the present invention is to provide a workpiece transfer holder magazine that can load workpiece transfer holders for autonomous mobile robots and automatically stack (store) multiple such holders, and can also automatically unload the stacked workpiece transfer holders for autonomous mobile robots. [Means for solving the problem]

[0008] To achieve the first objective described above, the workpiece transfer holder for an autonomous mobile robot according to the present invention is a mounting portion that can be in contact with and mounted on or detached from the mounting platform of the lifting device of the autonomous mobile robot, and comprises a mounting portion formed at a position higher than the height from the travel path to the uppermost end on the mounting platform at the initial position of the lifting device of the autonomous mobile robot, a pair of connecting members coupled to the mounting portion, and at least four support columns coupled to both ends of the pair of connecting members, wherein one end of the support column is formed into a concave or convex shape that can be fitted, and the other end of the support column has a concave or convex shape that can be fitted to the other end of the support column. One end of each of the four support columns may have at least one slit extending in the axial direction of the column. A pallet of a predetermined size may be mounted on the upper surface of the support section. Furthermore, the workpiece transfer holder for an autonomous mobile robot according to the present invention is a mounting portion that can be in contact with and mounted on or detached from the mounting platform of the lifting device of the autonomous mobile robot, and comprises a mounting portion formed at a position higher than the height from the travel path to the uppermost end on the mounting platform at the initial position of the lifting device of the autonomous mobile robot, a pair of connecting members connected to the mounting portion, and four support columns connected to both ends of the pair of connecting members, wherein a support bracket is formed at one end of the four support columns, and the other ends of the four support columns are formed to be received by the support brackets of the four support columns. A pallet of a predetermined size may be mounted on the upper surface of the mounting portion. Furthermore, in order to achieve the second objective described above, the magazine for workpiece transfer holders according to the present invention includes a workpiece transfer holder housing section for housing or discharging the above-mentioned workpiece transfer holders for autonomous mobile robots that have been transported and loaded by the autonomous mobile robot equipped with the above-mentioned lifting device; a positioning mechanism section for aligning the center position of the workpiece transfer holders for autonomous mobile robots loaded into the workpiece transfer holder housing section with the center position of the workpiece transfer holder housing section; a pair of sliders each equipped with a workpiece transfer holder holding / release mechanism section that temporarily raises the first workpiece transfer holder for autonomous mobile robots that has been positioned by the positioning mechanism section and lowers it so as to stack the first workpiece transfer holder for autonomous mobile robots that has been loaded into the lower part of the workpiece transfer holder housing section; a motor for driving a transmission device that moves the pair of sliders up and down; and a workpiece transfer holder The system comprises a control unit provided in the outer shell forming the housing section, which, based on detection outputs from multiple position sensors that detect the positions of a first autonomous mobile robot work transport holder, a second autonomous mobile robot work transport holder, and a work transport holder holding / release mechanism, causes the work transport holder holding / release mechanism and a pair of sliders to perform an operation to raise the first autonomous mobile robot work transport holder, which has been aligned by the positioning mechanism, and then lower it so that the first autonomous mobile robot work transport holder is stacked on the second autonomous mobile robot work transport holder, which has been brought into the lower part of the work transport holder housing section, and also causes the autonomous mobile robot equipped with a lifting device to perform an operation to unload at once the stacked work transport holders, including at least the first autonomous mobile robot work transport holder, onto the second autonomous mobile robot work transport holder. [Effects of the Invention]

[0009] According to the workpiece transfer holder for autonomous mobile robots of the present invention, at least four support columns have one end formed into a recessed or convex shape that can be fitted into it, and the other end of each support column has a recessed or convex shape that can be fitted into the other end of the support column. This allows the holder to be detachably mounted on an autonomous mobile robot, and multiple workpiece transfer holders can be easily stacked. Furthermore, according to the workpiece transfer holder magazine of the present invention, the control unit is provided in the outer shell that forms the workpiece transfer holder housing section, and based on the detection output from a plurality of position sensors that detect the positions of the first autonomous mobile robot workpiece transfer holder, the second autonomous mobile robot workpiece transfer holder, and the workpiece transfer holder holding / releasing mechanism, the control unit raises the first autonomous mobile robot workpiece transfer holder, which has been aligned by the positioning mechanism, and then loads the second autonomous mobile robot workpiece transfer holder, which has been brought into the lower part of the workpiece transfer holder housing section, into the second The work transport holder holding / releasing mechanism is made to lower the first autonomous robot work transport holder so that it is stacked on top of the first autonomous robot work transport holder, and the autonomous robot equipped with a lifting device is made to unload at once the stack of at least two autonomous robot work transport holders, each containing the first autonomous robot work transport holder, in one go. This allows for the loading of multiple autonomous robot work transport holders and their automatic stacking (stacked) storage, as well as the automatic unloading of multiple stacked autonomous robot work transport holders. [Brief explanation of the drawing]

[0010] [Figure 1] This is a top view showing an example of a magazine for a workpiece transfer holder according to the present invention, in which a first embodiment of the workpiece transfer holder for an autonomous mobile robot according to the present invention is positioned and held. [Figure 2] This is a plan view showing a positioning mechanism in an example of a magazine for a workpiece transfer holder according to the present invention, in which a first embodiment of the workpiece transfer holder for an autonomous mobile robot according to the present invention is positioned and held. [Figure 3] (A) and (B) are a top view and a front view, respectively, of a first embodiment of the workpiece transfer holder for an autonomous mobile robot according to the present invention. [Figure 4] Figures 3(A) and (B) are perspective views showing the pallet mounted on the workpiece transfer holder for the autonomous mobile robot. [Figure 5]It is a front view showing a state in which a plurality of workpiece transfer holders for an autonomous driving robot shown in FIGS. 3(A) and (B) are stacked one above the other. [Figure 6] It is a top view of an example of a magazine for a workpiece transfer holder according to the present invention. [Figure 7] It is a front view of an example of a magazine for a workpiece transfer holder according to the present invention. [Figure 8] It is a left side view of an example of a magazine for a workpiece transfer holder shown in FIG. 7. [Figure 9] It is a left side view of an example of a magazine for a workpiece transfer holder shown in FIG. 7. [Figure 10] It is a front view of an example of a magazine for a workpiece transfer holder shown in FIG. 7, shown together with an 8 - stage - stacked workpiece transfer holder for an autonomous driving robot. [Figure 11] It is a side view of an example of a magazine for a workpiece transfer holder shown in FIG. 7, shown together with an 8 - stage - stacked workpiece transfer holder for an autonomous driving robot. [Figure 12] (A) and (B) are, respectively, a top view and a front view of a second embodiment of a workpiece transfer holder for an autonomous driving robot according to the present invention. [Figure 13] It is a front view showing a state in which a plurality of workpiece transfer holders for an autonomous driving robot shown in FIGS. 12(A) and (B) are stacked one above the other. [Figure 14] It is a front view of an example of a magazine for a workpiece transfer holder shown in FIG. 7, shown together with a second embodiment of a workpiece transfer holder for an autonomous driving robot. [Figure 15] It is a right side view of an example of a magazine for a workpiece transfer holder shown in FIG. 14, shown together with a second embodiment of a workpiece transfer holder for an autonomous driving robot. [Figure 16] It is a left side view of an example of a magazine for a workpiece transfer holder shown in FIG. 14, shown together with a second embodiment of a workpiece transfer holder for an autonomous driving robot. [Figure 17] It is a block diagram showing the configuration of a control unit provided in an example of a magazine for a workpiece transfer holder. [Figure 18]It is a flowchart showing an example of the operation of a magazine for a work transfer holder controlled by the control unit shown in FIG. 17. [Figure 19] It is a flowchart showing an example of the operation of a magazine for a work transfer holder controlled by the control unit shown in FIG. 17. [Figure 20] (A) and (B) are respectively a plan view and a side view showing another example of a work transfer holder holding / releasing mechanism portion applied to an example of a magazine for a work transfer holder according to the present invention. [Figure 21] (A) and (B) are respectively diagrams used for explaining the operation of another example of a positioning mechanism portion applied to an example of a magazine for a work transfer holder according to the present invention.

Embodiments for Carrying out the Invention

[0011] FIG. 1 is a plan view schematically showing an example of the configuration of a magazine for a work transfer holder to which a first embodiment of a work transfer holder for an autonomous mobile robot according to the present invention is applied. In FIG. 1, a magazine 20 for a work transfer holder is installed, for example, on the floor surface FL of a loading / unloading station in an assembly factory, and is positioned and stored by a positioning mechanism portion 30 described later, and a work transfer holder 10 for an autonomous mobile robot (hereinafter also referred to as the work transfer holder 10) carried in by an autonomous mobile robot AGV (see FIG. 10) described later. Also, a plurality of stored work transfer holders 10 are selectively carried out by the autonomous mobile robot AGV. The autonomous mobile robot AGV (manufactured by TAKUMI) can, for example, move forward, backward, and spin turn, has a lifter function for moving the work transfer holder 10 up and down, and performs position recognition by the GRID method of reading a laid two-dimensional code. The transfer weight of the work transfer holder 10 that the autonomous mobile robot AGV can transfer is, for example, 1000 kg or less. The outer dimensions of the autonomous mobile robot AGV are set, for example, to 1132 (D) × 850 (W) × 290 (H) (mm).

[0012] The workpiece transfer holder 10 is formed in a roughly square shape using, for example, square pipes (square steel pipes), and its main components include four support columns 16a, 16b, 16c, and 16d located at the corners of the square, a connecting member 12a that is perpendicular to the axes of support columns 16a and 16b and connects support column 16a and support column 16b, a connecting member 12b that is perpendicular to the axes of support columns 16b and 16c and connects support column 16b and support column 16c, a connecting member 12c that is perpendicular to the axes of support columns 16c and 16d and connects support column 16c and support column 16d, and a connecting member 12d that is perpendicular to the axes of support columns 16d and 16a and connects support column 16d and support column 16a.

[0013] Connecting members 14a and 14b are connected between connecting member 12b and connecting member 12d so as to be parallel to connecting members 12a and 12c. Connecting plate 14c, which is shorter than connecting member 14a, is connected between connecting member 14a and connecting member 14b so as to be parallel to connecting members 12b and 12d. As a result, the mounting portion that is placed on the mounting portion of the lifting mechanism of the above-mentioned autonomous mobile robot (AGV) is formed by the connecting members 14a and 14b and the connecting plate 14c.

[0014] The external dimensions of the workpiece transport holder 10 are set to, for example, approximately 1322 × 1322 × 530 (mm). This allows a rectangular pallet (approximately 1200 × 1200 × 150 (mm)) 18, as shown in Figure 4, to be placed across the connecting members 12a, 12b, 12c, and 12d of the workpiece transport holder 10. The rectangular pallet 18 has, for example, an upper surface 18A on which the transported object is placed and a lower surface 18B opposite the upper surface 18A. Rectangular holes 18a and 18b are formed on each side between the upper surface 18A and the lower surface 18B, through which the forks of a forklift are inserted and removed.

[0015] The uppermost ends of the four support columns 16a, 16b, 16c, and 16d in the workpiece transfer holder 10 are rectangular in shape. The lowermost ends of the four support columns 16a, 16b, 16c, and 16d are tapered to a rounded shape with a diameter of approximately 30 mm, which is smaller than the diameter of the rectangular opening at the uppermost end.

[0016] As a result, for example, as shown in Figure 5, by inserting the lowest ends of the four support columns 16a, 16b, 16c, and 16d of the upper workpiece transfer holder 10 into the openings at the uppermost ends of the four support columns 16a, 16b, 16c, and 16d of the lower workpiece transfer holder 10, the pallets 18 can be placed on multiple workpiece transfer holders 10a1, 10a2, 10a3, 10a4, and 10a5, respectively. 、 For example, it becomes possible to stack 10a6, 10a7, and 10a8 in eight layers. Furthermore, the tapered lower ends of the four support columns 16a, 16b, 16c, and 16d may each have at least one slit formed along the axial direction of the column. This allows the lower ends of the four support columns 16a, 16b, 16c, and 16d to be easily inserted into the openings at the upper ends of the four support columns 16a, 16b, 16c, and 16d. Furthermore, the four support columns 16a, 16b, 16c, and 16d may be formed from solid rectangular members. In such cases, the lowest ends of the four support columns may be formed to have a pointed convex cross-section, and the uppermost ends of the four support columns may have a funnel-shaped concave cross-section so that the pointed lower ends fit into each other. Moreover, if the four support columns 16a, 16b, 16c, and 16d are formed from solid rectangular members, the uppermost ends of the four support columns may have a pointed convex cross-section, and the lowest ends of the four support columns may have a funnel-shaped concave cross-section so that the upper ends fit into each other.

[0017] As shown in Figures 7 and 8, the framework of the workpiece transport holder magazine 20 includes, for example, support columns 22 and 24 erected on the left side of the floor FL of the unloading station at predetermined intervals in Figure 7, and bearing sections 54 connected to the upper parts of the support columns 22 and 24 and supporting a drive shaft 50 which is connected via a coupling to a reduction gear 40 and the output shaft of the reduction gear 40, which will be described later. 52 A beam member 26 that supports the beam member 26, a diagonal member 28 that connects the support column 24 and the beam member 26, and support columns 22 and 24 erected on the right side in Figure 7. (See Figure 15) , a bearing section 54 which is connected to the upper part of the support columns 22 and 24 and supports the drive shaft 50 which is connected via a coupling to the reduction gear 42 and the output shaft of the reduction gear 42, which will be described later, and 52 A beam member 26 that supports and (See Figure 15) ), a diagonal member 28 connecting the support column 24 and the beam member 26 (See Figure 15) The structure includes two motors 44, and a connecting beam member 25 that supports transmission shafts 46 and 48 connected to the output shafts of the motors 44 via couplings, and connects the left and right beam members 26.

[0018] In Figures 6 and 8, the arm portions 30A and 30B of the positioning mechanism 30, which positions the workpiece transport holder 10 brought in by the autonomous mobile robot (AGV), are fixed at predetermined positions at the lower part of the left and right support columns 22 and 24, close to the floor surface FL of the unloading station. The positions of the arm portions 30A and 30B along the axes of the support columns 22 and 24 are set, for example, as shown in Figure 2, to the position where the four support columns 16a, 16b, 16c, and 16d of the workpiece transport holder 10 lifted by the autonomous mobile robot (AGV) face each other, or as shown in Figure 10, to the position where the four support columns 16a, 16b, 16c, and 16d of the workpiece transport holder 10 lowered to the floor surface FL of the unloading station face each other. The bent ends of the opposing arm sections 30A and 30B are separated by a predetermined distance, for example, more than the outer dimensions of the workpiece transport holder 10 (approximately 1322 mm).

[0019] As shown in Figures 2 and 8, the bent ends of the arm portion 30A are provided with an air cylinder 32 having a rod with a gripping portion 32P that is close to and engages with or separates from the support column 16a, and an air cylinder 34 having a rod with a gripping portion 34P that is close to and engages with or separates from the support column 16d. The bent ends of the arm portion 30B are provided with an air cylinder 38 having a rod with a gripping portion 38P that is close to and engages with or separates from the support column 16b, and an air cylinder 36 having a rod with a gripping portion 36P that is close to and engages with or separates from the support column 16c. Air cylinders 32, 34, 36, and 38 are controlled by an air cylinder drive control unit 97 (see Figure 17), which will be described later. The positioning mechanism 30 is not limited to this example, and may also include, for example, gripping members 310A and 310B that grip the support columns 16a and 16d of the workpiece transport holder 10 while adjusting the distance between the gripping portion 32P and the gripping portion 34P, as shown in Figures 21(A) and (B). In Figures 21(A) and (B), the same reference numerals are used to indicate the same components as those in the example shown in Figure 2, and their redundant explanations are omitted. However, in Figures 21(A) and (B), gripping members provided between the gripping portion 32P and the gripping portion 34P are shown, and the explanation of gripping members that grip the support columns 16b and 16c of the workpiece transport holder 10, provided between the gripping portion 36P and the gripping portion 38P, which have the same configuration as gripping members 310A and 310B, is omitted. The base ends of gripping members 310A and 310B are fixed to gripping portions 32P and 34P, respectively. The end portion of gripping member 310A has a connecting end portion 310a that is thinner than the thickness of the base end portion. The connecting end portion 310a is slidably fitted into the slit 310bs of the end portion of gripping member 310B, which will be described later, along the axial direction of the coupling member 12d of the workpiece transport holder 10. A guide pin 310bp passes through the elongated hole 310as of the connecting end portion 310a, which is aligned along the axial direction of the coupling member 12d of the workpiece transport holder 10, perpendicular to the slit 310bs of the end portion of gripping member 310B. As a result, the end portions of gripping members 310A and 310B are movably connected to each other. Therefore, even if the spacing between the support columns 16a and 16d of the workpiece transfer holder 10 varies due to manufacturing tolerances and is slightly shorter than the predetermined spacing, the gripping members 310A and 310B can grip the support columns 16a and 16d of the workpiece transfer holder 10, as shown in Figure 21(B), making it possible to position the workpiece transfer holder 10.

[0020] As shown in Figures 2 and 8, chain sprockets 60 are provided below the central portion of the arm sections 30A and 30B, respectively, which are wrapped around the lower end of each chain 56. The chain sprockets 60 are fixed to a rotating shaft 66, which is rotatably supported at both ends by bearing sections 62 and 64. The upper end of each chain 56 is wrapped around a chain sprocket 58, which is fixed to the drive shaft 50.

[0021] Sliders 70 and 74, which constitute part of the lifting mechanism of the workpiece transfer holder 10, are connected to the middle section of each chain 56 via connecting parts 78. Sliders 70 and 74 are guided to move up and down along the axes of the support columns 22 and 24 by linear guides 22LGA, 22LGB, 24LGA, and 24LGB, which are fixed to the support columns 22 and 24, respectively.

[0022] As shown in Figure 1, the slider 70 includes a workpiece transfer holder holding / releasing mechanism 72 equipped with claw members 72N1 and 72N2 that engage with or disengage from the lower surface of the coupling member 12d of the workpiece transfer holder 10. The claw members 72N1 and 72N2 are connected to the rods of the air cylinder 80 and air cylinder 82, respectively, via link members. As a result, when the rods of the air cylinder 80 and air cylinder 82 are actuated, the claw members 72N1 and 72N2, which are arranged at a predetermined interval, engage with or disengage from the lower surface of the coupling member 12d of the workpiece transfer holder 10, as shown in Figure 1.

[0023] As shown in Figure 1, the slider 74 includes a workpiece transfer holder holding / releasing mechanism 76 equipped with claw members 76N1 and 76N2 that engage with or disengage from the lower surface of the coupling member 12b of the workpiece transfer holder 10. The claw members 76N1 and 76N2 are connected to the rods of the air cylinder 86 and air cylinder 84, respectively, via link members. As a result, when the rods of the air cylinder 86 and air cylinder 84 are actuated, the claw members 76N1 and 76N2, which are positioned at a predetermined interval, engage with or disengage from the lower surface of the coupling member 12b of the workpiece transfer holder 10, as shown in Figure 1. The air cylinders 80, 82, 84, and 86 are controlled by an air cylinder drive control unit 97 (see Figure 17), which will be described later. The motor 44 is controlled by a drive motor circuit control unit 96 (see Figure 17), which will be described later. 40 When the reduction gear 42 is in operation, the chain sprocket 58 and chain sprocket 60 are rotated, causing the sliders 70 and 74 to move up and down. The workpiece transfer holder holding / releasing mechanisms 72 and 76 described above are not limited to this example. For example, as shown in Figures 20(A) and (B), an electric motor 300 and hook-shaped hook members 304N1 and 304N2 may be used instead of the air cylinder and claw member. In Figures 20(A) and (B), the same reference numerals are used for components that are the same as those in the example shown in Figure 1, and redundant explanations are omitted. In Figures 20(A) and (B), only the workpiece transfer holder holding / releasing mechanism provided on slider 74 is shown, while the workpiece transfer holder holding / releasing mechanism provided on slider 70 is omitted from the illustration. The workpiece transfer holder holding / releasing mechanism includes hook-shaped hook members 304N1 and 304N2 provided at both ends of a pivot shaft 302 that is rotatably supported by the slider 74 and extends parallel to the coupling member 12b of the workpiece transfer holder 10, and an electric motor 300 supported by the slider 74, the pivot shaft 302 passing through the head portion. In this configuration, when the electric motor 300 is activated, the hook-shaped tips of the hook members 304N1 and 304N2, which rotate clockwise in Figure 20(B), engage with the corners of the coupling member 12b of the workpiece transfer holder 10 from below, thereby holding the workpiece transfer holder 10. On the other hand, the hook-shaped tips of the hook members 304N1 and 304N2, which rotate counterclockwise in Figure 20(B), separate from the corners of the coupling member 12b of the workpiece transfer holder 10, thereby releasing the workpiece transfer holder 10.

[0024] As shown in Figure 9, the workpiece transfer holder magazine 20 includes, for example, a position sensor PH1 that detects when the claw members 72N1 and 72N2 in the workpiece transfer holder holding / release mechanism 72 of the slider 70 and the claw members 76N1 and 76N2 in the workpiece transfer holder holding / release mechanism 76 of the slider 74 are lowered to the position (initial position) where they are inserted into the first stage workpiece transfer holder 10a1, and a position sensor PH2 that detects when the claw members 72N1 and 72N2, claw members 76N1 and 76N2 are lowered to the position where they are inserted into the second stage workpiece transfer holder 10a2. The system includes a position sensor PH3 that detects the loading position when it is raised, a position sensor PH4 that detects the position reached and held by the first-stage work transport holder 10a1 or the second-stage work transport holder 10a2 when the autonomous mobile robot AGV moves into the magazine 20 for the work transport holder, when the first-stage work transport holder 10a1 or the second-stage work transport holder 10a2 is raised by the claw members 72N1, 72N2, 76N1, and 76N2, a position sensor PH4 that detects the position reached and held by the first-stage work transport holder 10a1 or the second-stage work transport holder 10a2, a position sensor PH5 that detects the presence of the first-stage work transport holder 10a1, a position sensor PH6 that detects the presence of the second-stage work transport holder 10a2, and a position sensor PH7 that detects the presence of the eighth-stage work transport holder 10a8, all of which are provided at predetermined positions. The position sensor PH5 is set at a predetermined distance L1 from the floor FL of the unloading station, for example, at a height of approximately 371 mm. Position sensor PH6 is set at a predetermined distance L2, for example, approximately 254 mm above the position of position sensor PH5. Position sensor PH7 is set at a predetermined distance L3, for example, approximately 1584 mm above the position of position sensor PH6. Position sensor PH1 is set at a predetermined distance L4, for example, approximately 494 mm above the floor level FL of the unloading station. Position sensor PH2 is set at a predetermined distance L5, for example, approximately 234 mm above the position of position sensor PH1. Position sensor PH3 is set at a predetermined distance L6, for example, approximately 45 mm above the position of position sensor PH2.Position sensor PH4 is set at a predetermined distance L7, for example, approximately 375 mm above the position of position sensor PH3.

[0025] In addition to the above configuration, for example, as shown in Figure 17, the workpiece transfer holder magazine 20 includes a drive motor circuit control unit 96 that controls the motor 44 mentioned above, and a control unit 94 that controls the air cylinder drive control unit 97 that controls each air cylinder.

[0026] The control unit 94 is supplied with, for example, a group of detection output signals SG from the position sensors PH1, PH2, PH3, PH4, PH5, PH6, and PH7 mentioned above, and a group of operation control data DG from the AGV operation control device 98, which controls the operation of the autonomous mobile robot (AGV) via bidirectional communication through communication equipment in the assembly plant.

[0027] The control unit 94 stores programs for controlling the operation of the motor of the workpiece transfer holder magazine 20 and each air cylinder, and also includes a storage unit 94M that temporarily stores operation control data group DG from the AGV operation control device 98 and detection output signal group SG from each position sensor PH1, PH2, PH3, PH4, PH5, PH6, PH7.

[0028] In this configuration, when an autonomous mobile robot (AGV) holding a workpiece transfer holder 10 loads the workpiece transfer holder 10 into a workpiece transfer holder magazine 20, as shown in Figure 18, after the workpiece transfer holder magazine 20 starts operation, in step 200 the workpiece transfer holder magazine 20 waits, and then in step 202 the autonomous mobile robot (AGV) supplies a group of operation control data DG representing a request to load the workpiece transfer holder 10 into the workpiece transfer holder magazine 20 via the AGV operation control device 98 to the control unit 94. In the following step 204, the control unit 94 determines that the position sensor PH7 is in the OFF state, in the following step 206, the position sensor PH5 is in the ON state, and in the following step 208, the control unit 94 determines that the autonomous mobile robot (AGV) is on standby. In the following step 210, the control unit 94 operates the air cylinder drive control unit 97 and the drive motor circuit control unit 96 to operate the air cylinder drive control unit 97 and the drive motor circuit control unit 96, respectively, so that the claw members 72N1 and 72N2, 76N1 and 76N2 engage with the lower surfaces of the coupling members 12d and 12b of the workpiece transfer holder 10, and also operates the motor 44 in step 212 to raise the first stage workpiece transfer holder 10a1. The control unit 94 then supplies the drive control signal group CA and the drive control signal CM to these units. In the subsequent step 214, when the control unit 94 determines that the position sensor PH4 is in the ON state, that is, when the first stage workpiece transfer holder 10a1 rises and reaches a predetermined position, it stops supplying the drive control signal CM in step 216 in order to hold the first stage workpiece transfer holder 10a1.In the following step 218, the control unit 94 determines that the position sensor PH5 is in the OFF state, that is, that there is no workpiece transfer holder 10 in the first stage. In the following step 220, the control unit 94 supplies the autonomous mobile robot AGV with a set of operation control data DG via the AGV operation control device 98 indicating that the autonomous mobile robot AGV can enter the workpiece transfer holder magazine 20 and can load the workpiece transfer holder 10. In the following step 222, the autonomous mobile robot AGV lifts the workpiece transfer holder 10 using the lifting mechanism based on the control signal from the AGV operation control device 98, enters the workpiece transfer holder magazine 20, and then lowers the workpiece transfer holder 10 using the lifting mechanism to complete the installation in the workpiece transfer holder magazine 20, and proceeds to step 224. The autonomous mobile robot (AGV) sends a group of operation control data DG indicating the completion of installation via the AGV operation control device 98 to the control unit 94. It supplies the material to the workpiece transfer holder magazine 20. This causes the autonomous AGV robot to retract and exit the magazine 20.

[0029] In step 224, the control unit 94 proceeds to step 225 based on the operation control data group DG from the AGV operation control device 98 indicating that a new workpiece transfer holder 10 has been installed in the workpiece transfer holder magazine 20. To position the second stage workpiece transfer holder 10 using the gripping parts 32P, 34P, 36P, and 38P, the control unit 94 supplies a drive control signal group CA to the air cylinder drive control unit 97 to activate the air cylinders 32, 34, 38, and 36. After positioning the center of the workpiece transfer holder 10 relative to the center of the positioning mechanism, the process proceeds to the next step 226, in which the control unit 94 supplies a group of drive control signals CA to the air cylinder drive control unit 97 in order to operate the air cylinders 32, 34, 38, and 36 in order to return the gripping parts 32P, 34P, 36P, and 38P to their initial state. In the next step 227, the control unit 94 supplies a drive control signal CM to the drive motor circuit control unit 96 in order to lower the sliders 70 and 74. In the following step 228, when the control unit 94 determines that the position sensor PH2 is ON, that is, when the claw members 72N1, 72N2, 76N1, and 76N2 have each reached the predetermined position of the second stage, it proceeds to the following step 229, where it stops supplying the drive control signal CM to the drive motor circuit control unit 96, and in the following step 230, it supplies the drive control signal group CA to the air cylinder drive control unit 97 so that the claw members 72N1, 72N2, 76N1, and 76N2 are retracted. As a result, the second stage workpiece transfer holder 10 is stacked on top of the new first stage workpiece transfer holder 10.

[0030] In the following step 232, the control unit 94 supplies a drive control signal CM to the drive motor circuit control unit 96 to lower the sliders 70 and 74, and proceeds to step 234. In step 234, when the control unit 94 determines that the position sensor PH1 is in the ON state, that is, when the claw members 72N1 and 72N2, 76N1 and 76N2 each reach the predetermined position of the first stage, it stops supplying the drive control signal CM to the drive motor circuit control unit 96 in the following step 236. As a result, the workpiece transfer holder magazine 20 stops operating and enters a standby state.

[0031] In step 202, if the autonomous mobile robot (AGV) does not supply the control unit 94 with a set of operation control data DG via the AGV operation control device 98 indicating a request to load the workpiece transfer holder 10 into the workpiece transfer holder magazine 20, the process returns to step 200, and the workpiece transfer holder magazine 20 goes into standby mode.

[0032] In step 204, if the position sensor PH7 is ON, the process proceeds to step 238, where the autonomous mobile robot (AGV) waits. In step 240, if the workpiece transfer holder magazine 20 supplies the autonomous mobile robot (AGV) with a set of operation control data DG representing a transfer request for the workpiece transfer holder 10 via the AGV operation control device 98, in step 242, the autonomous mobile robot (AGV) lowers one of the workpiece transfer holders 10 it is holding and places the workpiece transfer holder 10 in the waiting position. The process proceeds to step 44, in which the autonomous mobile robot AGV enters the workpiece transfer holder magazine 20 in the direction indicated by the solid arrow shown in Figure 1, raises the eight stacked workpiece transfer holders 10 at once, and transports them out of the workpiece transfer holder magazine 20 in the direction indicated by the dashed arrow shown in Figure 1 to a predetermined stock position. In the following step 246, the autonomous mobile robot AGV returns to the standby position with the workpiece transfer holders 10 lowered, and the autonomous mobile robot AGV raises the workpiece transfer holders 10.

[0033] If, in step 240, the workpiece transfer holder magazine 20 does not supply the AGV operation control device 98 with the operation control data group DG representing the request for the autonomous mobile robot AGV to transfer the workpiece transfer holder 10, the process returns to step 238.

[0034] In step 206, when the control unit 94 determines that the position sensor PH5 is in the OFF state, that is, when there is no first-stage work transport holder 10, in the following step 252, the autonomous mobile robot AGV waits, and in step 254, the control unit 94 supplies a signal to the AGV operation control device 98 indicating that the autonomous mobile robot AGV can enter the work transport holder magazine 20, and in the following step 256, the autonomous mobile robot AGV enters the work transport holder magazine 20 with the work transport holder 10 raised, lowers the work transport holder 10 to the floor surface FL of the unloading station, exits, and proceeds to step 258, where the autonomous mobile robot AGV supplies a set of operation control data DG indicating that the installation is complete to the control unit 94 via the AGV operation control device 98, and with the work transport holder 10 placed on the floor surface FL of the unloading station, The process proceeds to step 260, in order to position the workpiece transfer holder 10 using the gripping parts 32P, 34P, 36P, and 38P, the control unit 94 supplies a group of drive control signals CA to the air cylinder drive control unit 97 in order to activate the air cylinders 32, 34, 38, and 36. After positioning the center of the workpiece transfer holder 10 relative to the center of the positioning mechanism, the process proceeds to the next step 262, in order to return the gripping parts 32P, 34P, 36P, and 38P to their initial state, the control unit 94 supplies a group of drive control signals CA to the air cylinder drive control unit 97 in order to activate the air cylinders 32, 34, 38, and 36.

[0035] In step 254, if the autonomous mobile robot AGV is not able to enter the workpiece transfer holder magazine 20, the control unit 94 returns to step 252. In step 258, if the autonomous mobile robot AGV does not supply the operation control data group DG indicating that installation is complete to the control unit 94 via the AGV operation control device 98, the control unit returns to step 256.

[0036] Furthermore, when the autonomous mobile robot AGV holding the workpiece transfer holder 10 unloads the workpiece transfer holder 10 from the workpiece transfer holder magazine 20, as shown in Figure 19, after the workpiece transfer holder magazine 20 starts operation, in step 100 the workpiece transfer holder magazine 20 waits, then the process proceeds to step 102, where the autonomous mobile robot AGV controls the workpiece transfer holder magazine 20 via the AGV operation control device 98 to control the operation control data group DG which represents the request to unload the workpiece transfer holder 10. The control unit 94 is supplied with power, and in the following step 104, if the control unit 94 determines that the position sensor PH5 is ON, if the control unit 94 determines in the following step 106 that the position sensor PH6 is ON, if the control unit 94 determines in the following step 108 that the autonomous mobile robot (AGV) is on standby, in the following step 110, it supplies a drive control signal CM to the drive motor circuit control unit 96 to raise the sliders 70 and 74, and proceeds to step 112. In step 112, if the control unit 94 determines that the position sensor PH3 is ON, that is, if the claw members 72N1 and 72N2, 76N1 and 76N2 have each reached the second stage workpiece transfer holder 10 at a predetermined position, in the following step 114, it stops supplying the drive control signal CM to the drive motor circuit control unit 96, and proceeds to step 116.

[0037] In order to engage the claw members 72N1, 72N2, 76N1, and 76N2 with the workpiece transfer holder 10, the control unit 94 supplies a drive control signal group CA to the air cylinder drive control unit 97 to operate the air cylinders 32, 34, 38, and 36. In the following step 118, it supplies a drive control signal CM to the drive motor circuit control unit 96 to raise the sliders 70 and 74, and proceeds to step 120. When it is determined that the position sensor PH4 is in the ON state, that is, when it is determined that the workpiece transfer holder 10 has reached a predetermined holding position, in the following step 122, the supply of the drive control signal CM to the drive motor circuit control unit 96 is stopped, and the process proceeds to step 124.In step 124, when the control unit 94 determines that the position sensor PH5 is ON, that is, when the first stage workpiece transfer holder 10 is present, in the following step 126, it supplies a signal to the autonomous mobile robot AGV via the AGV operation control device 98 indicating that the workpiece can be transferred, and proceeds to step 128, where the autonomous mobile robot AGV moves to a position below the first stage workpiece transfer holder 10 in the workpiece transfer holder magazine 20, then raises the first stage workpiece transfer holder 10 using the lifting mechanism, and then moves back and away from the workpiece transfer holder magazine 20 with the workpiece transfer holder 10 raised, and in step 130, when the control unit 94 determines that the autonomous mobile robot AGV has supplied operation control data group DG indicating the completion of the transfer of the workpiece transfer holder 10 to the control unit 94 via the AGV operation control device 98, in the following step 132, the claw members 72N1, 72N2, 76N1, and A drive control signal CM is supplied to the drive motor circuit control unit 96 to lower the sliders 70 and 74 to a position where the claw member 76N2 engages with the first stage workpiece transfer holder 10, and the process proceeds to step 134. When it is determined that the position sensor PH1 is in the ON state, that is, when it is determined that the sliders 70 and 74 have been lowered to a position where the claw members 72N1, 72N2, 76N1, and 76N2 engage with the first stage workpiece transfer holder 10, When the connection is interrupted, the process proceeds to step 136, where the supply of the drive control signal CM to the drive motor circuit control unit 96 is stopped. In the following step 138, the control unit 94 supplies a group of drive control signals CA to the air cylinder drive control unit 97 in order to activate the air cylinders 80, 82, 84, and 86 in order to return the claw members 72N1, 72N2, 76N1, and 76N2 to their initial state.

[0038] Furthermore, in step 102, if the control unit 94 does not receive the operation control data group DG, which indicates a request for the workpiece transfer holder 10 to be unloaded, from the workpiece transfer holder magazine 20 via the AGV operation control device 98, the control unit 94 returns to step 100.

[0039] In step 104, if the control unit 94 determines that the position sensor PH5 is in the OFF state, that is, if there is no first-stage workpiece transfer holder 10, the autonomous mobile robot AGV will wait in the following step 142 and proceed to step 144. The control unit 94 will supply a signal to the autonomous mobile robot AGV via the AGV operation control device 98 indicating a request to load the first-stage workpiece transfer holder 10, and in the following step 146, the autonomous mobile robot AGV will move to a predetermined stock position for the workpiece transfer holder 10. 8 layers The workpiece transfer holder 10 is moved while being lifted by the lifting mechanism, and the process proceeds to step 148, where the autonomous mobile robot AGV performs the above-mentioned 8 layers After moving the workpiece transfer holder 10 from its predetermined stock position into the workpiece transfer holder magazine 20, 8 layers The workpiece transfer holder 10 is lowered by the lifting mechanism. Inside the magazine 20 for the workpiece transport holder The robot is set up and, in the following step 150, waits away from the workpiece transfer holder magazine 20. Also, in step 144, if the control unit 94 does not receive a signal from the AGV via the AGV operation control device 98 indicating a request to load the workpiece transfer holder 10, it returns to step 142.

[0040] Furthermore, in step 106, if the control unit 94 determines that the position sensor PH6 is in the OFF state, that is, if there is no second-stage workpiece transfer holder 10, the autonomous mobile robot AGV waits in the following step 156, proceeds to step 157, and supplies a signal indicating a request to unload the workpiece transfer holder 10 to the autonomous mobile robot AGV via the AGV operation control device 98, proceeds to step 158, the autonomous mobile robot AGV moves into the workpiece transfer holder magazine 20, the autonomous mobile robot AGV raises the workpiece transfer holder 10 using the lifting mechanism and exits, and in the following step 160, the control unit 94 supplies a group of operation control data DG indicating that the autonomous mobile robot AGV has raised the workpiece transfer holder 10 using the lifting mechanism and exited via the AGV operation control device 98, and then proceeds to step 162, where the workpiece transfer holder magazine 20 waits.

[0041] Furthermore, in step 124, if the control unit 94 determines that the position sensor PH5 is in the OFF state, that is, that there is no first-stage workpiece transfer holder 10, and in step 126, if the control unit 94 determines that a signal indicating a request to unload the workpiece transfer holder 10 is not supplied to the autonomous mobile robot AGV via the AGV operation control device 98, the control unit 94 determines in the subsequent step 152 that an abnormality has occurred.

[0042] Figure 14 is a schematic plan view showing an example of a workpiece transfer holder magazine to which the second embodiment of the autonomous mobile robot workpiece transfer holder according to the present invention (see Figures 12(A) and (B), and Figure 13) is applied.

[0043] In the examples shown in Figures 14 to 16, the same reference numerals are used to indicate the same components as those in the examples shown in Figures 1 and 7 to 9, and their redundant explanations are omitted.

[0044] As shown in Figures 12(A) and (B), the workpiece transfer holder 90 is formed in a roughly square shape from, for example, an aluminum rectangular prism, and has four support brackets located at the corners of the square: column 96ap with column support bracket 96a, column 96bp with column support bracket 96b, column 96cp ​​with column support bracket 96c, and column 96dp with column support bracket 96d, and column support brackets 96a and 96b perpendicular to the axes of columns 96ap and 96bp. The main components of this structure are a connecting member 92a, a connecting member 92b that is perpendicular to the axes of the support columns 96bp and 96cp ​​and connects the support bracket 96b and the support bracket 96c, a connecting member 92c that is perpendicular to the axes of the support columns 96cp ​​and 96dp and connects the support bracket 96d and the support bracket 96c, and a connecting member 92d that is perpendicular to the axes of the support columns 96dp and 96ap and connects the support bracket 96d and the support bracket 96a.

[0045] Connecting members 94a and 94b are connected between connecting member 92a and connecting member 92c, spaced apart from each other and parallel to connecting members 92b and 92d. The external dimensions of the work transport holder 90 are set to, for example, approximately 1302 × 1302 × 416 (mm). This allows a rectangular pallet (approximately 1200 × 1200 × 150 (mm)) 18, as shown in Figure 4, to be placed across the connecting members 92a, 92b, 92c, and 92d of the work transport holder 10. The rectangular pallet 18 has, for example, an upper surface 18A on which the transported object is placed and a lower surface 18B opposite the upper surface 18A. Rectangular holes 18a and 18b are formed on each side between the upper surface 18A and the lower surface 18B, through which the forks of a forklift are inserted and removed. The lowest ends of the four support columns 96ap, 96bp, 96cp, and 96dp in the workpiece transfer holder 90 each have a flat surface perpendicular to the axis of the support column.

[0046] As a result, for example, as shown in Figure 13, the lowest ends of the four support columns 96a, 96b, 96c, and 96d of the upper work transport holder 90 engage with the L-shaped portions (position restricting portions) of the four support brackets 96a to 96d of the lower work transport holder 90, making it possible to stack, for example, eight work transport holders 90a1, 90a2, 90a3, 90a4, 90a5, 90a5, 90a6, 90a7, and 90a8, each on which a pallet 18 is placed, in this manner.

[0047] In this configuration as well, as shown in Figure 17, the workpiece transfer holder magazine 20 includes a drive motor circuit control unit 96 that controls the motor 44 mentioned above, and a control unit 94 that controls the air cylinder drive control unit 97 that controls each air cylinder.

[0048] The control unit 94 is supplied with, for example, a group of detection output signals SG from the position sensors PH1, PH2, PH3, PH4, PH5, PH6, and PH7 mentioned above, and a group of operation control data DG from the AGV operation control device 98, which controls the operation of the autonomous mobile robot (AGV) via bidirectional communication through communication equipment in the assembly plant.

[0049] The control unit 94 stores programs for controlling the operation of the motor of the workpiece transfer holder magazine 20 and each air cylinder, and also includes a storage unit 94M that temporarily stores operation control data group DG from the AGV operation control device 98 and detection output signal group SG from each position sensor PH1, PH2, PH3, PH4, PH5, PH6, PH7.

[0050] In this configuration, when the autonomous mobile robot AGV holding the workpiece transfer holder 90 loads the workpiece transfer holder 90 into the workpiece transfer holder magazine 20, the control unit 94 performs similar control as described above with reference to Figure 18. Furthermore, when the autonomous mobile robot AGV holding the workpiece transfer holder 90 unloads the workpiece transfer holder 90 from the workpiece transfer holder magazine 20, the control unit 94 performs similar control as shown in Figure 19, as described above with reference to Figure 19.

[0051] In the example of the workpiece transfer holder magazine 20 described above, eight stacked workpiece transfer holders 10 and 90 are unloaded at once by an autonomous mobile robot (AGV). However, the invention is not limited to this example, and for example, two to seven stacked workpiece transfer holders 10 and 90 may be unloaded at once by an autonomous mobile robot (AGV). In this case, the autonomous mobile robot (AGV) may be configured to enter the workpiece transfer holder magazine 20 from the opposite direction to the direction indicated by the solid arrow in Figure 1 and pass through the workpiece transfer holder magazine 20. Furthermore, while a motor, reduction gear, chain, sprocket, etc. are used to raise and lower the sliders 70 and 74, the system is not limited to such examples, and for example, a motor, reduction gear, ball screw, etc. may be used. Also, instead of an air cylinder, for example, a hydraulic cylinder or an electric motor may be used. In such cases, instead of an air cylinder drive control unit, the hydraulic cylinder or electric motor may be controlled by a hydraulic cylinder drive control unit or an electric motor drive control unit, respectively. [Explanation of symbols]

[0052] 10, 90 Workpiece Transfer Holder 12a, 12b, 12c, 12d Connecting members 14a, 14b Connecting members 14c connection plate 16a, 16b, 16c, 16d posts 18 Palettes 20 Magazine for workpiece transfer holder 22, 24 posts 30 Positioning mechanism 32, 34, 36, 38, 80, 82, 84, 86 Air Cylinders 44 motors 70, 74 Slider 72, 76 Workpiece transfer holder holding / release mechanism 94 Control Unit 94M storage section 96 Drive motor circuit control unit 96a, 96b, 96c, 96d Post support brackets 98 AGV Operation Control System 97 Air Cylinder Drive Control Unit AGV (Autonomous Guided Vehicle)

Claims

1. A mounting portion that can be in contact with and mounted on or detached from the mounting platform of the lifting device of an autonomous mobile robot, the mounting portion is formed at a position higher than the height from the travel path to the uppermost end on the mounting platform at the initial position of the lifting device of the autonomous mobile robot, A pair of connecting members connected to the mounting portion, Each of the pair of connecting members is provided with at least four support columns to which they are connected. A workpiece transfer holder for an autonomous mobile robot, characterized in that one end of the support column is formed into a recessed or convex shape that can be fitted into, and the other end of the support column has a recessed or convex shape that can be fitted into the one end of the support column.

2. The workpiece transport holder for an autonomous mobile robot according to claim 1, characterized in that a pallet of a predetermined size can be mounted on the upper surface of the mounting portion.

3. A mounting portion that can be in contact with and mounted on or detached from the mounting platform of the lifting device of an autonomous mobile robot, the mounting portion is formed at a position higher than the height from the travel path to the uppermost end on the mounting platform at the initial position of the lifting device of the autonomous mobile robot, A pair of connecting members connected to the mounting portion, Each of the pair of connecting members is provided with at least four support columns to which it is connected. A workpiece transport holder for an autonomous mobile robot, characterized in that a support bracket is formed at one end of the support column, and the other end of the support column is formed to be received by the support bracket of the support column.

4. The workpiece transport holder for an autonomous mobile robot according to claim 3, characterized in that a pallet of a predetermined size can be mounted on the upper surface of the mounting portion.

5. A workpiece transfer holder housing section for housing or discharging a workpiece transfer holder for an autonomous mobile robot according to claim 1, which has been transported and brought in by an autonomous mobile robot equipped with a lifting device, A positioning mechanism that aligns the center position of the workpiece transfer holder for the autonomous mobile robot, which has been brought into the workpiece transfer holder housing, with the center position of the workpiece transfer holder housing, A pair of sliders each equipped with a workpiece holder holding / releasing mechanism that raises a first workpiece holder for an autonomous mobile robot, which has been aligned by the positioning mechanism, and then lowers it so that the first workpiece holder for an autonomous mobile robot is stacked on a second workpiece holder for an autonomous mobile robot that has been brought into the lower part of the workpiece holder housing, A motor that drives a transmission device for raising and lowering the pair of sliders, A control unit is provided in the outer shell forming the work transport holder housing section and, based on detection outputs from multiple position sensors that detect the positions of the first autonomous mobile robot work transport holder, the second autonomous mobile robot work transport holder, and the work transport holder holding / releasing mechanism, causes the work transport holder holding / releasing mechanism and the pair of sliders to perform an operation to raise the first autonomous mobile robot work transport holder, which has been aligned by the positioning mechanism, and then lower it so that the first autonomous mobile robot work transport holder is stacked on the second autonomous mobile robot work transport holder, which has been brought into the lower part of the work transport holder housing section, and also causes the autonomous mobile robot equipped with the lifting device to perform an operation to unload at least the stacked first autonomous mobile robot work transport holders on the second autonomous mobile robot work transport holder in one go. A magazine for a workpiece transport holder, comprising the following components.

6. A workpiece transfer holder housing section for housing or discharging a workpiece transfer holder for an autonomous mobile robot according to claim 3, which has been transported and brought in by an autonomous mobile robot equipped with a lifting device, A positioning mechanism that aligns the center position of the workpiece transfer holder for the autonomous mobile robot, which has been brought into the workpiece transfer holder housing, with the center position of the workpiece transfer holder housing, A pair of sliders each equipped with a workpiece holder holding / releasing mechanism that raises a first workpiece holder for an autonomous mobile robot, which has been aligned by the positioning mechanism, and then lowers it so that the first workpiece holder for an autonomous mobile robot is stacked on a second workpiece holder for an autonomous mobile robot that has been brought into the lower part of the workpiece holder housing, A motor that drives a transmission device for raising and lowering the pair of sliders, A control unit is provided in the outer shell forming the work transport holder housing section and, based on detection outputs from multiple position sensors that detect the positions of the first autonomous mobile robot work transport holder, the second autonomous mobile robot work transport holder, and the work transport holder holding / releasing mechanism, causes the work transport holder holding / releasing mechanism and the pair of sliders to perform an operation to raise the first autonomous mobile robot work transport holder, which has been aligned by the positioning mechanism, and then lower it so that the first autonomous mobile robot work transport holder is stacked on the second autonomous mobile robot work transport holder, which has been brought into the lower part of the work transport holder housing section, and also causes the autonomous mobile robot equipped with the lifting device to perform an operation to unload at least the stacked first autonomous mobile robot work transport holders on the second autonomous mobile robot work transport holder in one go. A magazine for a workpiece transport holder, comprising the following components.

7. The workpiece transfer holder for an autonomous mobile robot according to claim 1, characterized in that one end of the support column has at least one slit extending in the axial direction of the support column.

Images