Calibration device and transport robot provided with same

Abstract

The present invention provides a calibration device capable of quickly performing calibration of each of a plurality of mutually associated driven objects, and a transport robot including the calibration device. A calibration device according to the present disclosure is provided with: a setting unit that sets a reference position of a first drive object in a housing on the basis of a detection state of a first detection object by a first sensor, and that sets a reference position of a second drive object in the housing on the basis of a detection state of a second detection object by a second sensor, the setting unit determines a setting order of reference positions of each of the first drive object and the second drive object on the basis of an operation state of each of the first drive object and the second drive object.

Description

Technical Field

[0001] The present disclosure relates to a calibration device and a transport robot including the calibration device. Background Art

[0002] Generally, in order to achieve high-precision operation of a driven object driven by a motor or the like, it is required to calibrate the driven object with high precision. In other words, it is required to set the reference position of the driven object with high precision. For example, Patent Document 1 discloses a device that detects a case where a fluid control element that can move within a specified range in one direction is disposed at a reference position by an electrical or optical mechanism.

[0003] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2006-242917

[0004] However, Patent Document 1 does not disclose a method for detecting the reference positions of a plurality of mutually related driven objects. Therefore, in the device disclosed in Patent Document 1, when attempting to detect the reference position of any one of the driven objects, there is a possibility that the other driven objects may interfere and prevent the detection of the reference position of that any one driven object. That is, in the device disclosed in Patent Document 1, there is a problem that calibration of a plurality of mutually related driven objects cannot be executed quickly. Summary of the Invention

[0005] The present disclosure has been made in view of the above background, and an object thereof is to provide a calibration device and a transport robot including the calibration device that can quickly execute calibration of a plurality of mutually related driven objects.

[0006] The calibration device according to the present disclosure includes: a first detection object provided on one of a first drive object configured to be slidable or rotatable with respect to a first reference axis and a frame to which the first drive object is attached; a first sensor provided on the other of the first drive object and the frame, capable of detecting the first detection object; a second detection object provided on one of a second drive object configured to be slidable or rotatable with respect to a second reference axis and the frame to which the second drive object is attached together with the first drive object; a second sensor provided on the other of the second detection object and the frame, capable of detecting the second detection object; and a setting unit that sets a reference position of the first drive object in the frame based on a detection state of the first detection object by the first sensor, and sets a reference position of the second drive object in the frame based on a detection state of the second detection object by the second sensor, wherein the setting unit determines a setting order of the reference positions of the first drive object and the second drive object based on operation states of the first drive object and the second drive object respectively. This calibration device can quickly set the reference positions of a plurality of mutually related drive objects. That is, this calibration device can quickly perform calibration of a plurality of mutually related drive objects respectively.

[0007] According to the present disclosure, it is possible to provide a calibration device capable of quickly performing calibration of a plurality of mutually related drive objects respectively, and a conveying robot including this calibration device.

[0008] The above and other objects, features, and advantages of the present disclosure will be more fully understood from the following detailed description and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a schematic perspective view showing the appearance of a conveying robot to which the calibration device according to Embodiment 1 is applied.

[0010] Figure 2 It is a schematic perspective view showing a part of a conveying robot to which the calibration device according to Embodiment 1 is applied.

[0011] Figure 3 It is a schematic perspective view showing a part of a conveying robot to which the calibration device according to Embodiment 1 is applied.

[0012] Figure 4 It is a schematic top view for explaining an example of calibration performed by the calibration device according to Embodiment 1.

[0013] Figure 5It is a simplified top view for explaining an example of the calibration performed on the calibration device according to Embodiment 1.

[0014] Figure 6 It is a simplified top view for explaining an example of the calibration performed on the calibration device according to Embodiment 1.

[0015] Figure 7 It is a flowchart showing the operation of the calibration device according to Embodiment 1.

[0016] Figure 8 It is a simplified top view for explaining an example of the operation of the calibration device according to Embodiment 1. Detailed implementation mode

[0017] Hereinafter, the present invention will be described by way of embodiments of the invention, but the invention covered by the scope of the claims of this application is not limited to the following embodiments. In addition, not all of the components described in the embodiments are necessarily essential as means for solving the problems. For the sake of clarity of explanation, the following description and drawings have been appropriately omitted and simplified. In each drawing, the same reference numerals are assigned to the same elements, and repeated explanations are omitted as necessary.

[0018] <Embodiment 1>

[0019] Figure 1 It is a simplified perspective view showing the appearance of a transport robot to which the calibration device according to Embodiment 1 is applied. Figure 2 And Figure 3 It is a simplified perspective view showing a part of the transport robot according to Embodiment 1. The transport robot according to this embodiment is an autonomous mobile robot that can automatically place a tray placed on a rack or the like provided at the departure point on the top plate and transport it to the destination and transfer it to a rack or the like provided at the destination.

[0020] The transport robot 100 according to this embodiment includes at least a frame 101, wheels 102, a top plate 103, a storage unit 104, and a calibration device 120. In addition, the transport robot 100 includes a motor (actuator) for driving each driven object and an encoder for measuring angle information of the motor.

[0021] The frame 101 supports the top plate 103 and the storage unit 104, and stores a battery, a motor for rotating the wheels 102, a control device for controlling the operation of the transport robot 100, and the like.

[0022] The top plate 103 is supported by the housing 101 via a lifting shaft 107 whose axis is in the vertical direction (z-axis direction). Here, the top plate 103 is configured to be able to slide in the vertical direction by the lifting shaft 107 expanding and contracting in the vertical direction. That is, the top plate 103 is configured to be able to move up and down. For the expansion and contraction process of the lifting shaft 107 in the vertical direction, a first motor and a first encoder are provided in the conveying robot 100. The first motor drives the lifting shaft 107 to expand and contract in the vertical direction. The first encoder measures the angle information of the first motor, etc. The calibration device 120 performs calibration of the lifting shaft 107, which is the driving object of the first motor, in the vertical direction. In other words, the calibration device 120 sets the reference position (initial position) of the lifting shaft 107 in the vertical direction. The calibration method of the lifting shaft 107 in the vertical direction performed by the calibration device 120 will be described later.

[0023] In addition, the top plate 103 is configured to be able to rotate along the horizontal plane (xy plane) with the lifting shaft 107 as the rotation axis. For the rotation process of the lifting shaft 107, a second motor and a second encoder are provided in the conveying robot 100. The second motor drives the lifting shaft 107 to rotate. The second encoder measures the angle information of the second motor, etc. The calibration device 120 performs calibration of the rotation angle of the lifting shaft 107, which is the driving object of the second motor. In other words, the calibration device 120 sets the reference position of the rotation angle of the lifting shaft 107. The calibration method of the rotation angle of the lifting shaft 107 performed by the calibration device 120 will be described later.

[0024] Moreover, the top plate 103 is configured to be able to slide in the horizontal direction by the linear motion shaft 110 for sliding the top plate 103 moving in the horizontal direction. For the movement process of the linear motion shaft 110 in the horizontal direction, a third motor and a third encoder are provided in the conveying robot 100. The third motor drives the linear motion shaft 110 to move in the horizontal direction. The third encoder measures the angle information of the third motor, etc. The calibration device 120 performs calibration of the linear motion shaft 110 for sliding the top plate 103, which is the driving object of the third motor, in the horizontal direction. The calibration method of the linear motion shaft 110 in the horizontal direction performed by the calibration device 120 will be described later.

[0025] The top plate 103 has a rectangular planar shape and is formed to be able to place conveying objects such as trays. An entrance and exit of the hook portion 108 is provided on one of the four sides of the top plate 103. The hook portion 108 is configured to be able to project from this entrance and exit in a direction perpendicular to the side where the entrance and exit is located. The conveying robot 100 can move the conveying object hooked on the hook portion 108 from the top plate 103 to the storage portion 104, an external shelf, or move the conveying object from the storage portion 104, an external shelf to the top plate 103 by hooking the conveying object on the hook portion 108 and moving the linear motion shaft 109 with the hook portion 108 mounted at its front end in the horizontal direction. In addition, the conveying robot 100 can hook the hook portion 108 on the conveying object or remove the hook portion 108 from the conveying object by rotating the hook portion 108 with the linear motion shaft 109 as the rotation axis. Hereinafter, the side of the four sides of the top plate 103 where the entrance and exit of the hook portion 108 is provided is referred to as the interface of the conveying object in the top plate 103.

[0026] For the horizontal movement processing of the linear motion shaft 109, a fourth motor and a fourth encoder are provided in the conveying robot 100. The fourth motor drives the linear motion shaft 109 to move it in the horizontal direction. The fourth encoder measures angle information of the fourth motor and the like. The calibration device 120 performs calibration of the horizontal direction of the linear motion shaft 109 which is the driving object of the fourth motor. In other words, the calibration device 120 sets the reference position of the horizontal direction of the linear motion shaft 109. The calibration method of the horizontal direction of the linear motion shaft 109 performed by the calibration device 120 will be described later.

[0027] In addition, for the rotation processing of the linear motion shaft 109, a fifth motor and a fifth encoder are provided in the conveying robot 100. The fifth motor drives the linear motion shaft 109 to rotate it. The fifth encoder measures angle information of the fifth motor and the like. The calibration device 120 performs calibration of the rotation angle of the linear motion shaft 109 which is the driving object of the fifth motor. In other words, the calibration device 120 sets the reference position of the rotation angle of the linear motion shaft 109. The calibration method of the rotation angle of the linear motion shaft 109 performed by the calibration device 120 is the same as the calibration method of the rotation angle of the lifting shaft 107 performed by the calibration device 120.

[0028] For example, when transferring an object between the top plate 103 and an external rack, first, the top plate 103 is lifted or lowered according to the height of the external rack. Then, the top plate 103 rotates so that the interface of the top plate 103 faces the external rack. Then, the top plate 103 slides toward the external rack side, thereby connecting the top plate 103 to the external rack. Then, the hook portion 108 is used to transfer the object between the top plate 103 and the external rack. After the object is transferred between the top plate 103 and the external rack, for example, the top plate 103 returns to its original position by performing the processes in the reverse order of the processes until the object is transferred between the top plate 103 and the external rack.

[0029] In addition, when transferring an object between the top plate 103 and the storage portion 104, first, the top plate 103 is lifted or lowered according to the height of the storage portion 104. Then, the top plate 103 rotates so that the interface of the top plate 103 faces the storage portion 104. Then, the top plate 103 slides toward the storage portion 104 side, so that the top plate 103 is connected to the storage portion 104. Then, the hook portion 108 is used to transfer the object between the top plate 103 and the storage portion 104. After the object is transferred between the top plate 103 and the storage portion 104, for example, the top plate 103 returns to its original position by performing the processes in the reverse order of the processes until the object is transferred between the top plate 103 and the storage portion 104.

[0030] Here, in the first to fifth encoders, when the power supply of the transfer robot 100 is turned off, the storage of the measured angle information becomes uncertain. Therefore, the transfer robot 100 needs to calibrate (set the reference position) the driven objects driven by the first to fifth motors when the power is turned on. In view of this, the calibration device 120 calibrates each driven object when the power is turned on. In addition, not limited to when the power is turned on, the calibration device 120 can also calibrate each driven object as needed during operation.

[0031] Hereinafter, use Figure 2 、 Figures 4 to 6 to illustrate the calibration method of each driven object related to the calibration device 120. Figures 4 to 6 is a schematic top view for explaining an example of the calibration of the calibration device 120.

[0032] First, use Figure 4 to illustrate an example of the case where the calibration device 120 performs the horizontal calibration of the linear motion shaft 109 with the hook portion 108 mounted at the front end as the driven object. Figure 4The top plate 103, the hook portion 108, the linear motion shaft 109, and a part of the calibration device 120 are shown. In addition, in Figure 4 the detection object 131, the sensor 132, and the setting unit 123 are shown as a part of the calibration device 120.

[0033] The detection object 131 has, for example, a specific shape, pattern, or color and is attached to the rear end of the linear motion shaft 109. The sensor 132 is, for example, a photo reflector and is attached to the top plate 103 (the housing side). The sensor 132 is configured to be able to detect the detection object 131 located within the detection range A1. Here, the mounting positions of the sensor 132 and the detection object 131 may be reversed.

[0034] For example, in the calibration device 120, the setting unit 123 uses a motor to slide the linear motion shaft 109, which is the calibration target, in the direction (negative direction of the y-axis) of housing the hook portion 108 in the top plate 103 at a speed v1. Then, the setting unit 123 sets the position of the linear motion shaft 109 at the timing when the transition from non-detection of the detection object 131 by the sensor 132 to detection is detected as the reference position. In addition, the setting unit 123 may also slide the linear motion shaft 109 in the opposite direction (positive direction of the y-axis) and set the position of the linear motion shaft 109 at the timing when the transition from detection of the detection object 131 by the sensor 132 to non-detection is detected as the reference position.

[0035] Alternatively, in the case where the detection object 131 enters the inside of the detection range A1 of the sensor 132 due to a delay in the detection timing of the transition from non-detection of the detection object 131 by the sensor 132 to detection, the setting unit 123 may slide the linear motion shaft 109 in the opposite direction (positive direction of the y-axis) at a speed v2 slower than the speed v1, and set the position of the linear motion shaft 109 at the timing when the transition from detection of the detection object 131 by the sensor 132 to non-detection is detected as the reference position. Here, since the speed v2 is slower than the speed v1, the deviation of the detection timing of the transition from detection of the detection object 131 by the sensor 132 to non-detection is small. Therefore, the calibration device 120 can set the reference position in the horizontal direction of the linear motion shaft 109, which is the calibration target, with high precision and quickly. That is, the calibration device 120 can perform the calibration of the linear motion shaft 109 in the horizontal direction with high precision and quickly.

[0036] Next, an example of the case where the calibration device 120 performs the calibration in the horizontal direction of the linear motion shaft 110 for sliding the top plate 103, which is the drive object, will be described using Figure 5 In Figure 5The housing 101, the top plate 103, the hook portion 108, the linear motion shaft 109, and a part of the calibration device 120 are shown. In addition, in Figure 5 the detection object 141, the sensor 142, and the setting unit 123 are shown as a part of the calibration device 120.

[0037] The detection object 141 has, for example, a specific shape, pattern, or color and is mounted on the top plate 103 that is linked to the linear motion shaft 110. The sensor 142 is, for example, a light reflector and is mounted on the housing 101. The sensor 142 is configured to be able to detect the detection object 141 located within the detection range A2. Here, the mounting positions of the sensor 142 and the detection object 141 may be reversed.

[0038] For example, in the calibration device 120, the setting unit 123 uses a motor to slide the linear motion shaft 110, which is the calibration object, in the direction (negative direction of the y-axis) of housing the top plate 103 in the housing 101 at a speed v1. Moreover, the setting unit 123 sets the position of the linear motion shaft 110 at the timing when the transition from non-detection of the detection object 141 by the sensor 142 to detection is detected as the reference position. In addition, the setting unit 123 may also slide the linear motion shaft 110 in the opposite direction (positive direction of the y-axis) and set the position of the linear motion shaft 110 at the timing when the transition from detection of the detection object 141 by the sensor 142 to non-detection is detected as the reference position.

[0039] Alternatively, in the case where the detection object 141 enters the inside of the detection range A2 of the sensor 142 due to a delay in the detection timing of the transition from non-detection of the detection object 141 by the sensor 142 to detection, the setting unit 123 may slide the linear motion shaft 110 in the opposite direction (positive direction of the y-axis) at a speed v2 slower than the speed v1 and set the position of the linear motion shaft 110 at the timing when the transition from detection of the detection object 141 by the sensor 142 to non-detection is detected as the reference position. Here, since the speed v2 is slower than the speed v1, the deviation of the detection timing of the transition from detection of the detection object 141 by the sensor 142 to non-detection is small. Therefore, the calibration device 120 can set the reference position in the horizontal direction of the linear motion shaft 110, which is the calibration object, with high precision and quickly. That is, the calibration device 120 can perform the calibration in the horizontal direction of the linear motion shaft 110 with high precision and quickly.

[0040] Next, an example of the case where the calibration device 120 performs the calibration in the vertical direction of the lifting shaft 107 that raises and lowers the top plate 103, which is the driving object, will be described. In Figure 2 the Figure 2The detection object 121, the sensor 122, the setting unit 123, and the spring 124 are shown as part of the calibration device 120.

[0041] The detection object 121 is a mechanical limiter installed on the housing 101. The sensor 122 is a pressure-sensitive sensor that detects whether it has come into contact with the mechanical limiter and is installed on the lifting shaft 107. In addition, a spring 124 that absorbs the impact when the sensor 122 comes into contact with the mechanical limiter is provided on the sensor 122. Among them, the installation positions of the sensor 122 and the detection object 121 can be reversed.

[0042] The calibration of the vertical direction of the lifting shaft 107 by the calibration device 120 is basically the same as the calibration of the horizontal direction of the linear motion shaft 109 by the calibration device 120.

[0043] Specifically, in the calibration device 120, the setting unit 123 uses a motor to slide the lifting shaft 107, which is the object to be calibrated, in the direction of lowering the top plate 103 (the negative direction of the z-axis) at a speed v1. Moreover, the setting unit 123 sets the position of the lifting shaft 107 at the timing of detecting the transition from non-detection of the detection object 121 by the sensor 122 to detection as the reference position. In addition, the setting unit 123 can also slide the lifting shaft 107 in the opposite direction (the positive direction of the z-axis) and set the position of the lifting shaft 107 at the timing of detecting the transition from detection of the detection object 121 by the sensor 122 to non-detection as the reference position.

[0044] Alternatively, when the detection timing of the transition from non-detection of the detection object 121 by the sensor 122 to detection is delayed, and the lowering of the lifting shaft 107 even after the sensor 122 comes into contact with the detection object 121 is advanced by the absorption of the spring 124, the setting unit 123 can slide the lifting shaft 107 in the opposite direction (the positive direction of the z-axis) at a speed v2 slower than the speed v1, and set the position of the lifting shaft 107 at the timing of detecting the transition from detection of the detection object 121 by the sensor 122 to non-detection as the reference position. Here, since the speed v2 is slower than the speed v1, the deviation of the detection timing of the transition from detection of the detection object 121 by the sensor 122 to non-detection is small. Therefore, the calibration device 120 can set the reference position of the vertical direction of the lifting shaft 107, which is the object to be calibrated, with high precision and quickly. That is, the calibration device 120 can perform the calibration of the vertical direction of the lifting shaft 107 with high precision and quickly.

[0045] Next, an example of the case where the calibration device 120 calibrates the rotation angle of the lifting shaft 107, which is the object to be driven, will be described using Figure 6 Figure 6Part of the housing 101, the lifting shaft 107, and the calibration device 120 are shown. Additionally, Figure 6 The detection object 151, the sensor 152, and the setting unit 123 are shown as part of the calibration device 120. The detection object 151 is mounted on the lifting shaft 107. The sensor 152 is, for example, a light reflector and is mounted on the housing 101. The sensor 152 is configured to be able to detect the detection object 151 located within the detection range A3. Here, the mounting positions of the sensor 152 and the detection object 151 can be reversed.

[0046] First, in the calibration device 120, the setting unit 123 uses a motor to rotate the lifting shaft 107, which is the calibration object, counterclockwise at a speed v1. Moreover, the setting unit 123 sets the position of the lifting shaft 107 at the timing when the transition from non-detection to detection of the detection object 151 by the sensor 152 is detected as the reference position. Here, the setting unit 123 can also reverse the rotation of the lifting shaft 107 (rotate clockwise) to set the position of the lifting shaft 107 at the timing when the transition from detection to non-detection of the detection object 151 by the sensor 152 is detected as the reference position.

[0047] Alternatively, in the case where the detection object 151 enters the inside of the detection range A2 of the sensor 152 due to a delay in the detection timing of the transition from non-detection to detection of the detection object 151 by the sensor 152, the setting unit 123 can reverse the rotation of the lifting shaft 107 at a speed v2 slower than the speed v1 (rotate clockwise), and set the position of the lifting shaft 107 at the timing when the transition from detection to non-detection of the detection object 151 by the sensor 152 is detected as the reference position. Here, since the speed v2 is slower than the speed v1, the deviation of the detection timing of the transition from detection to non-detection of the detection object 151 by the sensor 152 is small. Therefore, the calibration device 120 can set the reference position of the rotation angle of the lifting shaft 107, which is the calibration object, with high precision and quickly. That is, the calibration device 120 can perform the calibration of the rotation angle of the lifting shaft 107 with high precision and quickly.

[0048] It should be noted that in a conveying robot having a plurality of drive objects that operate in association with each other, when attempting to perform the calibration of any one of the drive objects, there is a possibility that the other drive objects may interfere and the calibration of that one drive object cannot be performed. In view of this, in the calibration device 120, the setting unit 123 determines the calibration order of each of the plurality of drive objects based on the operating conditions of the plurality of drive objects that operate in association with each other. Here, the operating conditions of each drive object are judged based on the control conditions of the control device, etc. Hereinafter, Figure 7 and Figure 8 will be specifically described.

[0049] Figure 7 is a flowchart showing the operation of the calibration device 120. Figure 8 is a simplified top view for explaining an example of the operation of the calibration device 120. The processing proceeds in the order of (A), (B), (C), and (D) in Figure 8 . Here, as an example, the linear motion shaft 109 that slides the hook portion 108 in the horizontal direction, the linear motion shaft 110 that slides the top plate 103 in the horizontal direction, and the lifting shaft 107 that rotates the top plate 103 are taken as cases where calibration objects are to be calibrated. In addition, the following example is given where the calibration device 120 starts the execution of calibration from the state where the transfer robot moves the transfer object T1 from the top plate 103 to an external shelf. Therefore, at the moment of starting calibration, the hook portion 108 protrudes from the top plate 103 toward the shelf side, and the top plate 103 is connected to the external shelf.

[0050] First, the calibration device 120 selects a drive object to be calibrated among a plurality of drive objects (step S101). For example, the calibration device 120 selects the linear motion shaft 110 that slides the top plate 103 in the horizontal direction as the calibration object.

[0051] Then, the calibration device 120 determines whether the calibration of the selected linear motion shaft 110 will be interfered with by other drive objects associated with the linear motion shaft 110 (step S102). Here, the motion state of each drive object (that is, whether a certain drive object will be interfered with by other drive objects) is determined based on the control state of the control device, etc.

[0052] Here, referring to Figure 8 , in (A), since the linear motion shaft 109 that slides the hook portion 108 in the horizontal direction is in a state of protruding from the top plate 103, if the calibration of the linear motion shaft 110 that slides the top plate 103 in the horizontal direction is to be executed, there is a possibility that the hook portion 108 swings and accidentally contacts the transfer object T1. That is, the calibration of the linear motion shaft 110 is interfered with by the linear motion shaft 109 ( "Yes" in step S102). Therefore, the calibration device 120 puts the execution of the calibration of the selected linear motion shaft 110 on standby (step S104).

[0053] Moreover, the calibration device 120 selects a drive object for which calibration has not been performed as the calibration object in the state where the execution of the calibration of the linear motion shaft 110 is on standby ( "No" in step S105 → step S101). For example, the calibration device 120 selects the linear motion shaft 109 that slides the hook portion 108 in the horizontal direction as the calibration object.

[0054] Then, the calibration device 120 determines whether the calibration of the selected linear motion shaft 109 will be interfered with by other drive objects associated with the linear motion shaft 109 (step S102).

[0055] Here, if (A) in Figure 8 is referred to, even if the alignment of the linear motion shaft 109 is performed, it will not be interfered with by other driven objects associated with the linear motion shaft 109 (the "No" in step S102). Therefore, the alignment device 120 performs the alignment of the selected linear motion shaft 109 (step S103). Specifically, as shown in (B) in Figure 8 , for the selected linear motion shaft 109, the alignment device 120 performs alignment by sliding it in the direction in which the hook portion 108 is received in the top plate 103.

[0056] Then, the alignment device 120 selects a driven object for which alignment has not been performed as the alignment target (the "No" in step S105 → step S101).

[0057] For example, the alignment device 120 selects the lifting shaft 107 that rotates the top plate 103 as the alignment target. However, in this case, as shown in (B) in Figure 8 , since the top plate 103 is connected to an external shelf, the alignment of the lifting shaft 107 that rotates the top plate 103 cannot be performed. That is, the alignment of the lifting shaft 107 is interfered with by the linear motion shaft 110 that slides the top plate 103 in the horizontal direction (the "Yes" in step S102). Therefore, in this case, the alignment device 120 waits for the execution of the alignment of the selected lifting shaft 107 (step S104).

[0058] Moreover, the alignment device 120 selects a driven object for which alignment has not been performed as the alignment target in a state where the execution of the alignment of the lifting shaft 107 is on standby (the "No" in step S105 → step S101). For example, the alignment device 120 selects the standby linear motion shaft 110 as the alignment target. In addition, the alignment device 120 may select the standby linear motion shaft 110 as the alignment target without selecting the lifting shaft 107 after the selection of the linear motion shaft 109.

[0059] Here, if (B) in Figure 8 is referred to, since the hook portion 108 has already been received in the top plate 103, even if the alignment of the linear motion shaft 110 that slides the top plate 103 in the horizontal direction is performed, the hook portion 108 will not swing and accidentally contact the conveyed object T1. That is, the alignment of the linear motion shaft 110 will not be interfered with by other driven objects including the linear motion shaft 109 that slides the hook portion 108 in the horizontal direction (the "No" in step S102). Therefore, the alignment device 120 performs the alignment of the selected linear motion shaft 110 (step S103). Specifically, as shown in (C) in Figure 8 , for the selected linear motion shaft 110, the alignment device 120 performs alignment by sliding it in the direction in which the top plate 103 is received on the side of the housing 101.

[0060] Then, the calibration device 120 selects the lifting shaft 107 of the drive object for which calibration has not been performed as the calibration object ( "No" in step S105 → step S101).

[0061] Here, referring to (C) in Figure 8 , since the top plate 103 has already been stored on the side of the housing 101 and the top plate 103 is not connected to an external shelf, there is no problem even if the calibration of the lifting shaft 107 that rotates the top plate 103 is performed. That is, the calibration of the lifting shaft 107 is not interfered with by other drive objects including the linear motion shaft 110 that slides the top plate 103 in the horizontal direction ( "No" in step S102). Therefore, the calibration device 120 performs the calibration of the selected lifting shaft 107 (step S103). Specifically, as shown in (D) in Figure 8 , for the selected lifting shaft 107, the calibration device 120 performs calibration by rotating it in the direction of, for example, counterclockwise rotation of the top plate 103.

[0062] Then, if there is no drive object for which calibration has not been performed ( "Yes" in step S105), the calibration device 120 ends the execution of calibration.

[0063] In addition, for example, when there is a conveyed object disposed on the top plate 103, the calibration device 120 can also standby the execution of the calibration of each drive object and perform the calibration of each drive object after moving the conveyed object from the top plate 103 to an external shelf or the storage unit 104.

[0064] In this way, the calibration device according to the present disclosure determines the calibration order of each of the plurality of drive objects based on the motion states of the plurality of mutually related drive objects. Thereby, the calibration device according to the present disclosure can quickly set the reference positions of the plurality of mutually related drive objects. That is, the calibration device according to the present disclosure can quickly perform the calibration of each of the plurality of mutually related drive objects.

[0065] The present invention is not limited to the above-described embodiments and can be appropriately changed without departing from the gist. For example, the calibration device according to the present disclosure is not limited to being applied to a conveyance robot and can be applied to any device or system that requires calibration.

[0066] In addition, the present disclosure can implement a part or all of the control processing in the calibration device 120 by causing a CPU (Central Processing Unit) to execute a computer program.

[0067] The above program includes a set of commands (or software code) that, when read into a computer, cause the computer to perform one or more functions described in the embodiments. The program can be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable media or tangible storage media include RAM (Random-Access Memory), ROM (Read-Only Memory), flash memory, SSD (Solid-State Drive) or other memory technologies, CD-ROM, DVD (Digital Versatile Disc), Blu-ray (registered trademark) disc or other optical disc storage, magnetic cassette, tape, magnetic disk storage or other magnetic storage devices. The program can also be transmitted on a transitory computer-readable medium or a communication medium. By way of example and not limitation, transitory computer-readable media or communication media include electrical, optical, acoustic, or other forms of propagated signals.

[0068] Based on the above disclosure, it is obvious that the embodiments of the present disclosure can be varied in many ways. These variations should not be regarded as departing from the spirit and scope of the present disclosure, and it is obvious to those skilled in the art that all such modifications are intended to be included within the scope of the technical solution.

Claims

1. A calibration device, comprising: A first detection object, which is disposed on one of a first driven object configured to be able to slide or rotate with respect to a first reference axis and a frame on which the first driven object is mounted; A first sensor, which is disposed on the other of the first driven object and the frame and is capable of detecting the first detection object; A second detection object, which is disposed on one of a second driven object configured to be able to slide or rotate with respect to a second reference axis and the frame on which the second driven object is mounted together with the first driven object; A second sensor, which is disposed on the other of the second detection object and the frame and is capable of detecting the second detection object; and A setting unit, which sets a reference position of the first driven object in the frame according to a detection state of the first detection object by the first sensor, and sets a reference position of the second driven object in the frame according to a detection state of the second detection object by the second sensor, wherein the setting unit determines a setting order of the reference positions of the first driven object and the second driven object based on the respective motion states of the first driven object and the second driven object.

2. The calibration device according to claim 1, wherein when it is determined that the second driven object cannot slide or rotate due to a specified motion of the first driven object, the setting unit sets the reference position of the second driven object after the specified motion of the first driven object is completed.

3. The calibration device according to claim 1, wherein, It further comprises: A third detection object, which is disposed on one of a third driven object configured to be able to slide or rotate with respect to a third reference axis and the frame on which the third driven object is mounted together with the first driven object and the second driven object; and A third sensor, which is disposed on the other of the third driven object and the frame and is capable of detecting the third detection object, the setting unit further sets a reference position of the third driven object in the frame according to a detection state of the third detection object by the third sensor, and determines a setting order of the reference positions of the first driven object to the third driven object based on the respective motion states of the first driven object to the third driven object.

4. The calibration device according to claim 3, wherein when it is determined that the third driven object cannot slide or rotate due to a specified motion of at least one of the first driven object and the second driven object, the setting unit sets the reference position of the third driven object after the specified motion of at least one of the first driven object and the second driven object is completed.

5. A conveying robot, wherein, It comprises: The calibration device according to any one of claims 1 to 4; The driven object; and The frame.

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