Transmission mechanism

Abstract

The transfer mechanism comprises an installed shelf used for placing the parcels; and a moving body including a moving body-side platform included in the moving body for placing the parcel, in which the moving body is configured to pass through the mounted shelf such that the parcel is transferred between the mounted shelf and the moving body.

Description

Technical Field

[0001] The present disclosure relates to a package transfer mechanism. Background Art

[0002] Japanese Unexamined Patent Application Publication (Translation of PCT Application) No. 2020-508274 (JP 2020-508274 A) discloses a robot including a housing device for housing an article. The robot includes an article gripping device for gripping the article. The article gripping device grips the article from an article storage device and places it in the housing device. The article gripping device also grips the article from the housing device and places it in the article storage device. Summary of the Invention

[0003] In JP 2020-508274 A, there is a problem that packages cannot be transferred effectively. When transporting a package by a moving body such as a robot, it is desirable to transfer (load or unload) an article (package) effectively. The transportation efficiency can be improved by simply transferring the package.

[0004] The transfer mechanism according to the first aspect of the present disclosure includes: a mounted shelf for placing a package; and a moving body including a moving body side platform for placing the package, the moving body side platform being included in the moving body, wherein the moving body is configured to pass by the mounted shelf so that the package is transferred between the mounted shelf and the moving body.

[0005] In the transfer mechanism, the mounted shelf may include a first platform and a second platform, and the second platform has a height different from the height of the first platform.

[0006] In the transfer mechanism, the moving body may be configured to pass by the mounted shelf so that a first package on the first platform is transferred to the moving body side platform, and a second package on the moving body side platform is transferred to the second platform.

[0007] In the transfer mechanism, the mounted shelf may include a first abutting portion configured to abut against a mechanism in the moving body when the moving body moves, and the moving body may include a second abutting portion configured to abut against a mechanism in the mounted shelf when the moving body moves.

[0008] In the transfer mechanism, the second abutting portion may be configured to push the first package on the first platform in the moving direction of the moving body, so that the first package is transferred to the moving body side platform; and the first abutting portion may be configured to push the second package on the moving body side platform in a direction opposite to the moving direction, so that the second package is transferred to the second platform.

[0009] In the transfer mechanism, the second abutting portion may be disposed at a position higher than the position of the second package and at the height of the first package.

[0010] In the transfer mechanism, at least one of the first abutting portion and the second abutting portion may include a locking member configured to lock the package.

[0011] In the transfer mechanism, at least one of the first abutting portion and the second abutting portion may include an elastic body configured to absorb energy when abutting.

[0012] In the transfer mechanism, at least one of the first abutting portion and the second abutting portion may include a rope-shaped or belt-shaped flexible body configured to absorb energy when abutting.

[0013] In the transfer mechanism, at least one of the first abutting portion and the second abutting portion may include a hook configured to hook the package.

[0014] In the transfer mechanism, the moving body side platform may be configured to pass at a height between the first platform and the second platform.

[0015] In the transfer mechanism, the first platform may be installed at a position higher than the position of the second platform, and the first abutting portion on the first platform may be disposed at the height of the second package.

[0016] In the transfer mechanism, at least one of the installed shelf and the moving body side platform may include a magnet configured to magnetically attract the package; and when the moving body passes by the installed shelf, a switching operation for switching on and off the magnetic attraction of the magnet may be performed.

[0017] The transfer mechanism may further include a sensor configured to detect the passing of the moving body, and the switching operation may be performed based on the detection result from the sensor.

[0018] According to the present disclosure, a transfer mechanism capable of effectively transferring packages can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, where like reference numerals denote like elements, and wherein:

[0020] Figure 1 is a perspective view showing the overall configuration of a transport robot according to an embodiment;

[0021] Figure 2 is a perspective view showing the configuration of a transport robot transporting a freight car;

[0022] Figure 3 is a top view showing the transfer mechanism;

[0023] Figure 4 is a side view showing the transfer mechanism;

[0024] Figure 5 is a schematic view showing a transfer operation;

[0025] Figure 6 is a schematic view showing a transfer operation;

[0026] Figure 7 is a schematic view showing a transfer operation;

[0027] Figure 8 is a schematic view showing a transfer operation;

[0028] Figure 9 is a schematic view showing a transfer operation;

[0029] Figure 10 is a schematic view showing a transfer operation;

[0030] Figure 11 is a side view showing a configuration in which a plurality of packages are placed on a rack;

[0031] Figure 12 is a flowchart showing the transfer operation of the second embodiment;

[0032] Figure 13 is a side view showing the configuration of an example of a sensor;

[0033] Figure 14 is a side view showing the configuration of an example of a sensor;

[0034] Figure 15 is a top view showing the configuration of an example of a sensor;

[0035] Figure 16 is a schematic view showing the transfer operation of the second embodiment;

[0036] Figure 17It is a schematic diagram showing the transfer operation of the second embodiment;

[0037] Figure 18 It is a schematic diagram showing the transfer operation of the second embodiment;

[0038] Figure 19 It is a schematic diagram showing the transfer operation of the second embodiment;

[0039] Figure 20 It is a schematic diagram showing the transfer operation of the third embodiment;

[0040] Figure 21 It is a schematic diagram showing the transfer operation of the third embodiment;

[0041] Figure 22 It is a schematic diagram showing the transfer operation of the third embodiment;

[0042] Figure 23 It is a schematic diagram showing the transfer operation of the third embodiment;

[0043] Figure 24 It is a schematic diagram showing the transfer operation of the fourth embodiment;

[0044] Figure 25 It is a schematic diagram showing the transfer operation of the fourth embodiment;

[0045] Figure 26 It is a schematic diagram showing the transfer operation of the fourth embodiment;

[0046] Figure 27 It is a schematic diagram showing the transfer operation of the fourth embodiment;

[0047] Figure 28 It is a schematic diagram showing the operation for opening and closing the wall portion 251;

[0048] Figure 29 It is a top view showing the structure of the abutting portion according to the fifth embodiment;

[0049] Figure 30 It is a schematic diagram showing the transfer operation of the fifth embodiment;

[0050] Figure 31 It is a schematic diagram showing the transfer operation of the fifth embodiment;

[0051] Figure 32 It is a schematic diagram showing the transfer operation of the fifth embodiment; and

[0052] Figure 33 It is a schematic diagram showing the transfer operation of the fifth embodiment. Detailed Description of the Invention

[0053] Hereinafter, the present invention will be described through embodiments of the present invention. However, the present invention according to the claims is not limited to the following embodiments. All configurations described in the embodiments are not necessarily essential means for solving the problems.

[0054] First Embodiment

[0055] Figure 1 FIG. 1 is a perspective view showing the overall configuration of the transport robot 100 according to the present embodiment. In the following description, the XYZ orthogonal coordinate system will be appropriately used. The X direction is the front-rear direction of the transport robot 100, the Y direction is the left-right direction, and the Z direction is the vertical up-down direction. More specifically, the +X direction is defined as the forward direction of the transport robot 100, and the -X direction is defined as the backward direction of the transport robot 100. The +Y direction is the left direction of the transport robot 100, and the -Y direction is the right direction of the transport robot 100. The +Z direction is the vertically upward direction, and the -Z direction is the vertically downward direction.

[0056] The transport robot 100 is capable of moving in both the forward direction and the backward direction. That is, the transport robot 100 moves in the forward direction by the forward rotation of the wheels and moves in the backward direction by the reverse rotation of the wheels. By changing the rotational speed between the right wheel and the left wheel, the transport robot 100 can turn right or left.

[0057] The transport robot 100 includes a chassis 110, a bracket 120, and an operation unit 130. Wheels, axles, batteries, a control computer, drive motors, etc. are mounted on the chassis 110. The chassis 110 rotatably holds the wheels ( Figure 1 not shown). The chassis 110 may be provided with various sensors such as cameras and distance sensors. The description will be made on the assumption that the transport robot 100 is an autonomous mobile robot. The transport robot 100 may be a mobile robot that moves in response to a user operation.

[0058] The chassis 110 houses a lifting mechanism 140 for loading and unloading packages. The lifting mechanism 140 is arranged on the upper surface side of the chassis 110. The lifting mechanism 140 is a lifting platform that can be raised and lowered. The chassis 110 is provided with a lifting motor and a guiding mechanism. The upper surface of the lifting mechanism 140 serves as a placement surface for placing the freight car. The lifting mechanism 140 includes a lifting mechanism for lifting the freight car. The space above the lifting mechanism 140 serves as a loading space for loading packages.

[0059] The bracket 120 is attached to the chassis 110. The bracket 120 is a rod-shaped member extending upward from the chassis 110. The bracket 120 has a cylindrical shape whose longitudinal direction corresponds to the Z direction. The longitudinal direction of the bracket 120 is parallel to the Z direction. The bracket 120 is arranged outside the lifting mechanism 140. That is, the bracket 120 is arranged so as not to interfere with the lifting operation of the lifting mechanism 140. The bracket 120 is arranged on one end side of the chassis 110 in the Y direction (left-right direction). The bracket 120 is attached near the left front corner of the chassis 110. In the XY plane, the bracket 120 is provided at the end of the chassis 110 on the +X side and -Y side.

[0060] The bracket 120 supports the operation unit 130. The operation unit 130 is attached near the upper end of the bracket 120. Therefore, the operation unit 130 can be installed at a height where a user can easily operate it. That is, the bracket 120 extends to a height where a standing user can easily operate it. The operation unit 130 extends from the bracket 120 toward the +Y side. The operation unit 130 is arranged in the middle of the chassis 110 in the left-right direction.

[0061] The operation unit 130 includes a touch panel monitor and the like that receive user operations. The operation unit 130 may include a microphone and the like for audio input. The monitor of the operation unit 130 is oriented relative to the chassis 110. That is, the display surface (operation surface) of the operation unit 130 is the surface on the +X side. The operation unit 130 may be detachable from the bracket 120. That is, a holder for holding the touch panel may be attached to the bracket 120. For example, the user can input, through the operation unit 130, information such as the shipping destination of a package and shipping information about the package. The operation unit 130 can display information to the user, such as details of the packages being shipped and to be shipped and the destinations of the packages.

[0062] The user stores a package (also referred to as an "item" or "transport target object") in the van placed on the transport robot 100 and requests transportation. The transport robot 100 transports the package to the set destination by autonomously moving. That is, the transport robot 100 performs a package transportation task (hereinafter also simply referred to as a "task"). In the following description, the location where the package is loaded will also be referred to as the "transport starting point" or "loading location", and the location where the package is delivered will also be referred to as the "transport destination" or "destination".

[0063] In an exemplary scenario, the transportation robot 100 moves within a general hospital that has multiple clinical departments. The transportation robot 100 transports equipment, consumables, medical devices, etc. within the clinical departments. For example, the transportation robot 100 delivers packages from the nurse's station of one clinical department to the nurse's station of another clinical department. Alternatively, the transportation robot 100 delivers packages from the warehouse of equipment and medical devices to the nurse's station of the clinical department. The transportation robot 100 also delivers medications dispensed in the pharmacy department to the clinical department or to the patient who is expected to use the medication.

[0064] Examples of packages include medications, consumables such as bandages, specimens, testing instruments, medical devices, hospital food, and equipment such as stationery. Examples of medical devices include sphygmomanometers, transfusion pumps, injection pumps, foot pumps, nurse call buttons, out-of-bed sensors, low-pressure continuous inhalers, electrocardiogram monitors, drug injection controllers, enteral nutrition pumps, artificial respirators, cuff pressure gauges, touch sensors, aspirators, nebulizers, pulse oximeters, manual resuscitators, sterile devices, and echographs. Meals such as hospital food and test meals can be transported. The transportation robot 100 can transport used equipment, used meal utensils, etc. When the transportation destination is on a different floor, the transportation robot 100 can move by using an elevator or the like.

[0065] Next, a construction for mounting a shelf on the transportation robot 100 will be described with reference to Figure 2 As shown in Figure 2 the shelf unit 200 is provided above the chassis 110. The shelf unit 200 is attached to the chassis 110. Thus, the chassis 110 supports the shelf unit 200. The shelf unit 200 includes a shelf 210, a frame 220, and a base plate 240. As will be described later, the transportation robot 100 can transfer packages to and from the installed shelf by passing by the installed shelf. That is, the transportation robot 100 can receive packages on the installed shelf by passing by the installed shelf. Alternatively, the transportation robot 100 can transfer packages on the shelf unit 200 to the installed shelf by passing by the installed shelf.

[0066] The shelf 210 is a plate-like member disposed along the XY plane. In Figure 2 the shelf unit 200 includes two shelves 210. The package 400 is placed on the shelf 210. That is, the shelf 210 supports the package 400. The two shelves 210 are arranged at different heights. The package 400 is placed on the two corresponding shelves 210. That is, the two shelves 210 are spaced apart from each other in the Z direction above the height of the package 400. The shelf unit 200 serves as a mobile body side platform on which packages are placed.

[0067] Although in Figure 2The middle shelf part 200 includes two shelves 210, but the number of the shelves 210 is not particularly limited. The number of the shelves 210 can be one, three or more. The shelves 210 are arranged directly above the chassis 110. That is, the shelves 210 are placed on the chassis 110 in the XY plane. The shelves 210 are arranged above the lifting mechanism 140.

[0068] The substrate 240 is a plate-like member arranged along the XY plane. The substrate 240 is attached to the upper surface of the lifting mechanism 140. The substrate 240 is arranged on the -X side of the bracket 120. The substrate 240 can be fixed to the chassis 110 by using fixing means such as bolts.

[0069] The frame 220 is attached to the substrate 240. The substrate 240 supports the frame 220. The frame 220 is attached to the substrate 240 at the end of the substrate 240 on the -Y side. The frame 220 extends upward from the substrate 240. That is, the frame 220 is arranged above the right end of the chassis 110. The frame 220 is arranged on the -X side of the bracket 120.

[0070] The frame 220 supports the shelves 210. The frame 220 is attached to the chassis 110 outside the lifting mechanism 140. The frame 220 extends upward outside the lifting mechanism 140. The shelves 210 extend from the frame 220 to the +Y side. That is, the shelves 210 are arranged to protrude from the frame 220 to the +Y side. The shelves 210 have substantially the same size as the chassis 110 in the XY plane.

[0071] The shelf part 200 transfers the package 400 to and from the installed shelf. The installed shelf is arranged in the facility using the transport robot 100. The package placed on the installed shelf is transferred to the shelf part 200. The package 400 placed on the shelf part 200 is transferred to the installed shelf. The frame 220 includes an abutting part 230 for transferring the package 400. For example, the abutting part 230 is a rod-shaped member extending in the +Y direction. Alternatively, the abutting part 230 can have a hook shape for engaging with the package 500. The abutting part 230 will be described later.

[0072] When the transport robot 100 passes by the installed shelf, the package 400 is transferred. The packages 400 and 500 can be transferred between the shelf part 200 and the installed shelf without using a transport actuator. That is, there is no need to set up a transfer robot arm for the installed shelf or the transport robot. By attaching the shelf part 200, the package can be loaded and unloaded simply and quickly.

[0073] Reference will be made to Figure 3 and Figure 4 describe the structure of the transport robot 100 and the installed shelf. Figure 3is a top view schematically showing the structure of the installed shelf 300 and the transport robot 100. Figure 4 is a cross-sectional side view schematically showing the structure of the installed shelf 300 and the transport robot 100. Figure 3 and Figure 4 show the structure before the package transfer. That is, in Figure 3 and Figure 4 the state shown, the transport robot 100 moves in the +X direction to approach the installed shelf 300. When the transport robot 100 passes by the installed shelf 300, the package is transferred.

[0074] The installed shelf 300 is a fixed shelf fixed to a storage device, a passage, etc. The package 500 is placed on the installed shelf 300. The transport robot 100 includes a shelf portion 200. The shelf 210 of the shelf portion 200 installed on the transport robot 100 can be regarded as a "moving side platform".

[0075] When the transport robot 100 passes by the installed shelf 300, the package 500 is transferred from the installed shelf 300 to the shelf portion 200, and the package 400 is transferred from the shelf portion 200 to the installed shelf 300. That is, when the transport robot 100 passes by the installed shelf 300, the packages 400 and 500 are transferred between the installed shelf 300 and the shelf portion 200. Since the transport robot 100 can basically perform the transfer of the package 400 and the transfer of the package 500 simultaneously, the packages can be reloaded effectively. Although the packages 400 and 500 are described as rectangular parallelepiped boxes, the shapes of the packages 400 and 500 are not particularly limited.

[0076] The installed shelf 300 includes a first shelf 310, a frame 330, and a second shelf 320. The first shelf 310 serves as the first platform to which the package 400 is transferred. The second shelf 320 serves as the second platform on which the package 500 is placed. Before the transfer, the first shelf 310 is an empty shelf without the package 500 placed on it. When the transfer is completed, the package 500 is placed on the shelf 210, and the package 400 is placed on the first shelf 310. After the transfer is completed, the second shelf 320 is an empty shelf without the package 500 placed on it. Although the first shelf 310 and the second shelf 320 are flat plates parallel to the XY plane, they may have a chute structure inclined in the Y direction.

[0077] Similar to the shelf 210, the first shelf 310 is formed into two upper and lower platforms. Similar to the shelf 210, the second shelf 320 is also formed into two upper and lower platforms. The package 400 on the upper shelf 210 is transferred to the upper first shelf 310. The package 500 on the upper second shelf 320 is transferred to the upper shelf 210. The following description will be made regarding the structure of the same platform among the two platforms of the shelf. For example, only the upper shelf will be described, and the description of the lower shelf will be omitted.

[0078] The first shelf 310 is arranged on the -X side of the second shelf 320. The first shelf 310, the second shelf 320, and the shelf 210 have different heights. Specifically, the first shelf 310 is installed lower than the shelf 210, and the second shelf 320 is installed higher than the shelf 210. Even when the transport robot 100 moves, the heights of the first shelf 310, the second shelf 320, and the shelf 210 do not change.

[0079] When the transport robot 100 moves, the shelf 210 passes at the height between the first shelf 310 and the second shelf 320. Specifically, when the transport robot 100 passes by, the package 400 on the shelf 210 is transferred to the first shelf 310. Therefore, the upper surface (placement surface) of the first shelf 310 is below the lower surface of the package 400. When the transport robot 100 passes by, the package 500 on the second shelf 320 is transferred to the shelf 210. Therefore, the upper surface (placement surface) of the shelf 210 is below the lower surface of the package 500.

[0080] When the transport robot 100 moves in the +X direction, the package 400 on the shelf 210 is first transferred to the first shelf 310. Therefore, a space for placing the package 500 is ensured on the shelf 210. The transfer of the package 400 from the shelf unit 200 to the installed shelf 300 is completed. When the transport robot 100 further moves in the +X direction, the package 500 on the second shelf 320 is transferred to the shelf 210. The transfer of the package 500 from the installed shelf 300 to the shelf unit 200 is completed.

[0081] The installed shelf 300 includes an abutting portion 321. The abutting portion 321 is arranged at a position higher than the position of the shelf 210. Specifically, the abutting portion 321 is provided at the height of the package 400. As will be described later, the abutting portion 321 abuts on the package 400 to push the package 400 onto the first shelf 310. Herein, the abutting portion 321 is provided at the height of the second shelf 320. For example, the abutting portion 321 is provided at the end of the second shelf 320 on the -X side. The abutting portion 321 is a rod-shaped member extending from the frame 330 in the -Y direction. Alternatively, the abutting portion 321 may have a hook shape for engaging with the package 400. Alternatively, the end surface of the second shelf 320 may be used as the abutting portion 321.

[0082] The movement of the package 400 is restricted by the abutting portion 321 abutting on the package 400. That is, the abutting portion 321 holds the package 400 so that the package 400 does not move as the transport robot 100 moves. Therefore, the abutting portion 321 can push the package 400 in the -X direction from the shelf 210. The package 400 is transferred from the shelf 210 to the first shelf 310.

[0083] The shelf portion 200 includes an abutting portion 230. The abutting portion 230 is arranged at a position higher than the positions of the second shelf 320 and the package 400. Specifically, the abutting portion 230 is provided at the height of the package 500. As will be described later, the abutting portion 230 abuts on the package 500 to push the package 500 onto the shelf 210. The abutting portion 230 is arranged on the -X side of the package 400. In the X direction, the abutting portion 230 is arranged near the end of the shelf 210 on the -X side. The abutting portion 230 is attached to the frame 220. For example, the abutting portion 230 is a member extending from the frame in the +Y direction.

[0084] When the abutting portion 230 abuts on the package 500, the package 500 moves in the +X direction as the transport robot 100 moves. That is, the abutting portion 230 can push the package 500 in the positive direction from the second shelf 320. The package 500 is transferred from the second shelf 320 to the shelf 210.

[0085] The frame 330 etc. are arranged at positions where they do not interfere with the shelf portion 200. Similarly, the bracket 120, the frame 220 etc. are arranged at positions where they do not interfere with the installed shelf 300.

[0086] Next, reference will be made to Figures 5 to 10 Describe the package transfer operation in detail. Figures 5 to 10 Is a side view showing the steps of the transfer operation. Figures 5 to 10 Simply shows Figures 1 to 4 A part of the structure shown. For example, in Figures 5 to 10The transport robot 100, the frame 220, and the frame 330 are omitted.

[0087] Figure 5 The configuration before transferring the packages 400 and 500 is shown. That is, the package 400 is placed on the shelf 210 of the shelf unit 200, and the package 500 is placed on the second shelf 320 of the installed shelf 300. The shelf unit 200 is positioned on the -X side of the installed shelf 300.

[0088] When the transport robot 100 moves to Figure 5 the +X side in the configuration shown, the configuration changes to Figure 6 the configuration shown. In Figure 6 the shelf 210 is located directly above the first shelf 310. In the X direction, the position of the shelf 210 is substantially the same as the position of the first shelf 310. The abutting portion 321 abuts against the package 400. That is, the side surface of the package 400 on the +X side and the abutting portion 321 are in contact with each other. Since the movement of the package 400 in the +X direction is restricted, the package 400 does not move together with the transport robot 100.

[0089] When the transport robot 100 moves to Figure 6 the +X side in the configuration shown, the configuration changes to Figure 7 the configuration shown. In Figure 7 the second shelf 320 is located directly above the shelf 210. In the X direction, the position of the shelf 210 is substantially the same as the position of the second shelf 320. Since the shelf 210 has passed directly above the first shelf 310, the shelf 210 is located on the +X side of the first shelf 310. The abutting portion 321 pushes the package 400 from the shelf 210. The package 400 falls from the shelf 210 onto the first shelf 310. By the movement of the transport robot 100, the package 400 is transferred from the shelf 210 to the first shelf 310. Since the abutting portion 321 abuts against the package 400, the package 400 can be prevented from falling from the shelf 210.

[0090] When the transport robot 100 moves to Figure 7 the +X side in the configuration shown, the configuration changes to Figure 8 the configuration shown. In Figure 8 the second shelf 320 is located directly above the shelf 210. The abutting portion 230 abuts against the package 500. That is, the side surface of the package 500 on the -X side and the abutting portion 230 are in contact with each other. Therefore, the package 500 moves in the +X direction as the transport robot 100 moves.

[0091] When the transport robot 100 moves to Figure 8 the +X side in the configuration shown, the configuration changes to Figure 9 the configuration shown. InFigure 9 In this case, since the shelf 210 has passed directly below the second shelf 320, the shelf 210 is located on the +X side of the second shelf 320. Since the abutting portion 230 abuts against the package 500, the abutting portion 230 pushes the package 500 in the +X direction from the second shelf 320. As Figure 10 shown, the package 500 drops onto the shelf 210. Through the movement of the transport robot 100, the package 500 is transferred from the second shelf 320 to the shelf 210.

[0092] Therefore, the transfer of the package 400 and the transfer of the package 500 are completed. The transport robot 100 passes by the installed shelf 300, thereby transferring the package 400 on the shelf 210 to the first shelf 310 and transferring the package 500 on the second shelf 320 to the shelf 210. That is, the packages 400 and 500 can be transferred between the shelf unit 200 and the installed shelf 300 by the movement of the transport robot 100. There is no need for an arm mechanism or the like for transferring the packages. Therefore, the packages 400 and 500 can be transferred using a simple structure. Therefore, the transfer operation can be effectively performed.

[0093] As Figure 5 shown, before the transfer, the abutting portion 230 is located on the -X side of the package 400. The abutting portion 321 is located on the -X side of the package 500. Therefore, after the abutting portion 321 abuts against the package 400, the abutting portion 230 abuts against the package 500. That is, after the package 400 is placed on the first shelf 310, the abutting portion 230 abuts against the package 500. After the package 400 is pushed onto the first shelf 310, the package 500 is pushed onto the shelf 210. The abutting portion 230 is installed at a position higher than the position of the object to be transported and is at the same height as the package 500. Therefore, the transfer mechanism can appropriately transfer the packages.

[0094] For example, the package 400 can be an empty container, and the package 500 can be a container containing used equipment or samples. When the transfer of the package 400 is completed, the empty container is placed on the installed shelf 300, and the container containing the equipment or the like is placed on the shelf unit 200. The transport robot 100 transports the container containing the equipment or the like to the necessary user or transport destination. When the user loads the equipment or the like into the empty container, the transport robot 100 transfers the container again. Therefore, the equipment or the like can be effectively transported.

[0095] The abutting portion 230 and the abutting portion 321 can include an elastic body or a flexible body. Therefore, the energy at the time of abutment can be absorbed. For example, the abutting portion 230 and the abutting portion 321 can be made of an elastic material such as rubber or resin. The abutting portion 230 and the abutting portion 321 can be hooks for hooking the packages.

[0096] Although the abutting portion 230 has been described as abutting on the package 500, the abutting portion 230 may abut on an object other than the package 500. For example, the abutting portion 230 may abut on a mechanism on the installed shelf side to push out the package 500. That is, the abutting portion 230 may push the package 500 by using a mechanism on the installed shelf side that is between the abutting portion 230 and the package 500.

[0097] Similarly, the abutting portion 321 may abut on an object other than the package 400. For example, the abutting portion 321 may abut on a mechanism on the side of the transport robot 100 to restrict the movement of the package 400. That is, the abutting portion 321 may push the package 400 by using a mechanism on the side of the transport robot 100 that is between the abutting portion 321 and the package 400.

[0098] Although a configuration in which one package is placed on each of the shelf 210, the first shelf 310, and the second shelf 320 has been described, a plurality of packages may be placed. For example, as Figure 11 shown, two packages 400 may be placed on the shelf 210. The two packages 400 are placed side by side in the X direction. Similarly, two packages 500 may be placed on the second shelf 320. The two packages 500 are placed side by side in the X direction. Therefore, the number of packages that can be transferred at one time can be increased. The packages 400, 500 may be placed side by side in the Y direction or the Z direction.

[0099] Second Embodiment

[0100] In the second embodiment, the transfer mechanism includes an actuator for transferring a package. The actuator may be a magnet for magnetically attracting the package. The actuator turns on and off the magnetic attraction in response to the passage of the transport robot 100. The transfer mechanism may further include a sensor for detecting the package. The actuator performs a switching operation based on the detection result from the sensor. First, the transfer method of the second embodiment will be described with reference to Figure 12 the following. Figure 12 FIG. is a flowchart showing a transfer operation.

[0101] First, the sensor senses the package (S11). Next, the sensor detects the passage of the package (S12). Then, the actuator performs a switching operation (S13). For example, the actuator includes a magnet that magnetically attracts the package. The actuator switches on and off the magnetic attraction based on the detection result from the sensor. The packages 400, 500 may be transferred by magnetically attracting the packages by using the magnet of the actuator. The sensor etc. check the transfer (S14). For example, the sensor of the transport robot 100 detects that the package 500 has been received.

[0102] Figures 13 to 15 FIG. is a schematic diagram showing an example of the sensor. InFigure 13 In this case, the sensor 600 is attached to the first shelf 310. The sensor 600 is an optical sensor and includes a light-emitting part, a light-receiving part, etc. The light-emitting part includes a light source that emits light upward, etc. The light-receiving part includes a photodiode that detects light from above, etc.

[0103] When the shelf 210 is not directly above the sensor 600, the light from the light source is not reflected by the shelf 210. When the shelf 210 is directly above the sensor 600, the light from the light source is reflected by the shelf 210. In this case, the photodiode detects the light reflected by the shelf 210. Therefore, the detection result from the light-receiving part changes according to whether the shelf 210 is directly above the sensor 600. The sensor 600 can detect that the shelf 210 is directly above the sensor 600.

[0104] When the shelf 210 is directly above the sensor 600, the passage of the transport robot 100 is detected. Therefore, the sensor 600 turns on the passage switch. When the shelf 210 is not directly above the sensor 600, the passage of the transport robot 100 is not detected. Therefore, the sensor 600 turns off the passage switch. The attachment position of the sensor 600 is not limited to the position below the shelf 210. For example, the sensor 600 can be attached laterally to the shelf 210 or the package 400 or attached above the shelf 210 or the package 400.

[0105] In Figure 14 In this case, the sensor 620 is attached to the first shelf 310. The sensor 620 is a mechanical switch. For example, the sensor 620 has a wedge shape and includes an elastic body such as a spring. When the shelf 210 is not directly above the sensor 620, the sensor 620 does not contact the shelf 210. When the shelf 210 is directly above the sensor 620, the sensor 620 contacts the shelf 210. Therefore, a driving force is applied to push the sensor 620 downward and the sensor 620 deforms. Therefore, it can be detected that the shelf 210 is directly above the sensor 620.

[0106] When the shelf 210 is directly above the sensor 620, the passage of the transport robot 100 is detected. Therefore, the sensor 620 turns on the passage switch. When the shelf 210 is not directly above the sensor 620, the passage of the transport robot 100 is not detected. Therefore, the sensor 620 turns off the passage switch. The attachment position of the sensor 620 is not limited to the position below the shelf 210. For example, the sensor 620 can be attached laterally to the shelf 210 or the package 400 or attached above the shelf 210 or the package 400.

[0107] In Figure 15Among them, the sensor 610 is an optical entry sensor. The sensor 610 includes a light emitting part 611 and a light receiving part 612. The sensor 610 is installed at the height where the package 400 passes. For example, the sensor 610 is attached to the first shelf 310 ( Figure 15 not shown in the figure).

[0108] The light emitting part 611 emits light such as infrared rays toward the light receiving part 612. When the package 400 reaches the position of the sensor 610, the light from the light emitting part 611 is blocked. That is, when there is a package 400 between the light emitting part 611 and the light receiving part 612, the light from the light emitting part 611 does not enter the light receiving part 612. When there is no package 400 between the light emitting part 611 and the light receiving part 612, the light from the light emitting part 611 enters the light receiving part 612. Therefore, the sensor 610 can detect the passing of the package 400. The sensor 610 can detect the passing of the package 400 based on the detection result from the light receiving part 612.

[0109] When there is a package 400 between the light emitting part 611 and the light receiving part 612, the passing of the package 400 is detected. Therefore, the sensor 610 turns on the passing switch. When there is no package 400 between the light emitting part 611 and the light receiving part 612, the passing of the transport robot 100 is not detected. Therefore, the sensor 610 turns off the passing switch.

[0110] The sensor is not limited to Figures 13 to 15 the sensor in the illustrated configuration. For example, a camera or a lidar sensor provided on the transport robot 100 can be used as a passing sensor. Sensors provided around the installed shelf 300 can detect the passing of the transport robot 100.

[0111] Reference will be made to Figures 16 to 19 describe the transfer operation of the transfer mechanism. Figures 16 to 19 is a side view showing the steps of the transfer operation. Figures 16 to 19 simply shows Figures 1 to 4 a part of the configuration shown in the figure. For example, the transport robot 100 is omitted. Although sensors 600 are provided in Figures 16 to 19 the figure, sensors 610, 620, etc. can be used instead of the sensors 600.

[0112] In this embodiment, the sensor 600 is provided on the first shelf 310. The installed shelf 300 includes an actuator 370. The shelf part 200 includes an actuator 270. Each of the actuators 270 and 370 includes a magnet that magnetically attracts the packages 400 and 500. The magnet can be an electromagnet or a permanent magnet.

[0113] In the case of an electromagnet, the actuator 370 controls the current to control the on and off of magnetic attraction. In the case of a permanent magnet, a magnetic circuit arranged around the permanent magnet can be used as an actuator. By changing the angle and position of the yoke arranged around the permanent magnet, the actuator can turn on or off magnetic attraction. At least a part of the packages 400 and 500 is made of a metal material that can be magnetically attracted.

[0114] Figure 16 The configuration before transferring the packages 400 and 500 is shown. That is, the package 400 is placed on the shelf 210 of the shelf unit 200, and the package 500 is placed on the second shelf 320 of the installed shelf 300. The shelf unit 200 is positioned on the -X side of the installed shelf 300.

[0115] As Figure 16 shown, the actuator 270 is arranged above the shelf 210. The actuator 370 is arranged above the first shelf 310. Each of the actuators 270 and 370 has a flat plate shape parallel to the XY plane. Before transfer, the package 400 is located between the actuator 270 and the shelf 210. The package 400 is located below the actuator 270 with a space therebetween. The actuator 270 is arranged at a position higher than the positions of the package 500 and the actuator 370. The actuator 370 is arranged at a height between the package 400 and the actuator 270. The actuator 370 is arranged on the -X side of the shelf 210, the package 400, and the actuator 270. In Figure 16 the state shown, the sensor 600 disconnects the passing switch. Therefore, the magnetic attraction of the actuators 270 and 370 is disconnected.

[0116] When the transport robot 100 moves to the Figure 16 +X side in the configuration shown, the configuration changes to the Figure 17 configuration shown. In Figure 17 this configuration, the shelf 210 and the actuator 270 are located directly above the first shelf 310. In the X direction, the positions of the shelf 210 and the actuator 270 are substantially the same as the positions of the first shelf 310 and the actuator 370. Since the shelf 210 is located directly above the sensor 600, the sensor 600 turns on the passing switch. The actuator 370 switches to turn on magnetic attraction. Therefore, the actuator 370 magnetically attracts the package 400. That is, the package 400 is lifted from the shelf 210. Therefore, the package 400 does not move with the transport robot 100.

[0117] When the transport robot 100 moves to the Figure 17 +X side in the configuration shown, the configuration changes to the Figure 18 configuration shown. In Figure 18Among them, the shelf 210 is located directly above the second shelf 320. In the X direction, the positions of the shelf 210, the second shelf 320, and the actuator 270 are aligned with each other. Since the shelf 210 has passed directly above the first shelf 310, the shelf 210 is located on the +X side of the first shelf 310. The shelf 210 is not located directly above the sensor 600. Therefore, the sensor 600 disconnects the passing switch.

[0118] When the passing switch is switched from on to off, the actuator 270 turns on magnetic attraction, and the actuator 370 turns off magnetic attraction. Since the actuator 370 turns off the magnetic attraction on the package 400, the package 400 drops onto the first shelf 310. Since the actuator 270 turns on magnetic attraction, the package 500 is magnetically attracted. The package 500 is lifted from the second shelf 320.

[0119] When the transport robot 100 moves to Figure 18 the +X side in the structure shown, the structure changes to Figure 19 the structure shown. In Figure 19 it, the shelf 210 is located on the +X side of the second shelf 320. In Figure 19 it, since the magnetic attraction of the actuator 270 has been turned off, the package 500 has dropped onto the shelf 210. Therefore, the package 500 is transferred to the shelf unit 200. After the second shelf 320 has passed above the shelf 210, the actuator 270 turns off magnetic attraction. For example, after a predetermined period of time has passed since the passing switch is switched from on to off, the actuator 270 turns off. Therefore, the package 500 is placed on the shelf 210.

[0120] In this way, the actuators 270 and 370 control the on and off of magnetic attraction based on the detection result from the sensor 600. That is, the actuators 270 and 370 control the switching moment of magnetic attraction based on the moment when the sensor 600 detects passing. For example, the actuators 270 and 370 perform the operation of switching the on and off of magnetic attraction by using a timer. After a predetermined period of time has passed since the moment when the sensor 600 detects passing, the on and off of magnetic attraction can be switched. Therefore, the transfer mechanism can transfer the package 400 and the package 500. In the second embodiment, the abutting portion 230 and the abutting portion 321 are not necessary.

[0121] Third Embodiment

[0122] In the third embodiment, the actuators function as shelves (platforms) for supporting the packages 400 and 500. That is, the actuators each have a flat plate shape and are installed below the packages 400 and 500. The package 400 and the package 500 are placed on the actuators.

[0123] Reference will be made toFigures 20 to 23 Describe the transfer operation of the transfer mechanism. Figures 20 to 23 is a side view showing the steps of the transfer operation. Figures 20 to 23 simply shows Figures 1 to 4 a part of the shown configuration. For example, the transport robot 100 is omitted.

[0124] As Figure 20 shown, the installed shelf 300 includes an actuator 371. The actuator 371 is provided at the position of the first shelf 310 of the first embodiment. The package 400 will be placed on the actuator 371. The shelf unit 200 includes an actuator 271. The actuator 271 is provided at the position of the shelf 210 of the first embodiment. The package 400 is placed on the actuator 271. The actuator 271 is arranged at a position higher than the position of the actuator 371. The actuator 271 is arranged at a position lower than the position of the second shelf 320. Therefore, the actuator 271 passes between the second shelf 320 and the actuator 371.

[0125] The actuators 371, 271 include a magnetic circuit or an electromagnet. The upper surfaces of the actuators 271, 371 can be subjected to a low-friction treatment to reduce the frictional force. Alternatively, the actuators 271, 371 can include rollers or the like to reduce the frictional force. Therefore, the package 400 can slide along the actuator 271. Similarly, the package 400 can slide along the actuator 371.

[0126] Figure 20 shows the configuration before transferring the packages 400, 500. That is, the package 400 is placed on the actuator 271 of the shelf unit 200, and the package 500 is placed on the second shelf 320 of the installed shelf 300. The shelf unit 200 is positioned on the -X side of the installed shelf 300. In Figure 20 the shown state, the sensor 600 disconnects the passing switch. Therefore, the magnetic attraction of the actuators 271 and 371 is disconnected.

[0127] When the transport robot 100 moves to the Figure 20 +X side in the shown configuration, the configuration changes to the Figure 21 shown configuration. In Figure 21 , the actuator 271 is located directly above the actuator 371. In the X direction, the position of the actuator 271 is substantially the same as the position of the actuator 371. Since the actuator 271 is present directly above the sensor 600, the sensor 600 turns on the passing switch. The actuator 371 switches to turn on the magnetic attraction. Therefore, the actuator 371 magnetically attracts the package 400. The actuator 271 disconnects the magnetic attraction.

[0128] Actuator 371 magnetically attracts package 400. Thus, package 400 slides along actuator 271. Even when actuator 271 moves in the +X direction, package 400 does not move in the +X direction. Due to the magnetic attraction of actuator 371, package 400 does not move together with transport robot 100.

[0129] When transport robot 100 moves to the Figure 21 +X side in the structure shown, the structure changes to the Figure 22 structure shown. In Figure 22 it, actuator 271 is located directly below the second shelf 320. In the X direction, the position of actuator 271 coincides with the position of the second shelf 320. Since actuator 271 has passed directly above actuator 371, actuator 271 is located on the +X side of actuator 371. Actuator 271 is not located directly above sensor 600. Thus, sensor 600 disconnects the passing switch.

[0130] When the passing switch switches from on to off, actuator 371 disconnects the magnetic attraction. Package 400 is transferred onto actuator 371. When the passing switch switches from on to off, actuator 271 turns on the magnetic attraction. Thus, actuator 271 magnetically attracts package 500.

[0131] Package 500 slides along the second shelf 320. Thus, package 500 moves together with transport robot 100. As Figure 23 shown, when actuator 271 passes below the second shelf 320, package 500 is transferred onto actuator 271.

[0132] For example, after a predetermined period of time has elapsed since the moment when the passing switch switches from on to off, actuator 271 disconnects the magnetic attraction. After placing package 500 on actuator 271, actuator 271 disconnects the magnetic attraction. Thus, package 500 is transferred to shelf section 200.

[0133] In this way, actuators 271, 371 control the turning on and off of the magnetic attraction based on the detection result from sensor 600. That is, the actuators control the switching moment of the magnetic attraction based on the moment when sensor 600 detects passing. For example, actuator 271 or actuator 371 can switch the turning on and off of the magnetic attraction by using a timer. For example, the turning on and off of the magnetic attraction can be switched after a predetermined period of time has elapsed since the moment when sensor 600 detects passing. Thus, the transfer mechanism can transfer package 400 and package 500. In the third embodiment, abutting portion 230 and abutting portion 321 are not necessary.

[0134] Fourth Embodiment

[0135] The transfer operation of the transfer mechanism according to the fourth embodiment will be described. Figures 24 to 27 is a side view showing the steps of the transfer operation. Figures 24 to 27 simply shows Figures 1 to 4 a part of the structure shown. For example, the transport robot 100 is omitted. In this embodiment, an actuator and a sensor are not necessary.

[0136] In this embodiment, as Figure 24 shown, the shelf portion 200 includes an upper plate 250 and a wall portion 251. In the shelf portion 200, the upper plate 250 and the wall portion 251 are provided in place of the abutting portion 230 of the first embodiment. The installed shelf 300 includes an upper plate 350 and a wall portion 351. In the installed shelf 300, the upper plate 350 and the wall portion 351 are provided in place of the abutting portion 321 of the first embodiment.

[0137] The upper plate 350 is arranged above the first shelf 310. The upper plate 350 is a flat plate parallel to the XY plane. The upper plate 350 is positioned higher than the package 400. The wall portion 351 is provided on the lower surface of the upper plate 350. The wall portion 351 projects downward from the upper plate 350. The wall portion 351 may include a protrusion or a hook for hooking and holding the package 400. The wall portion 351 may include an elastic body such as a spring. Thus, the wall portion 351 can firmly hold the package 400.

[0138] The upper plate 250 is arranged above the shelf 210. The upper plate 250 is a flat plate parallel to the XY plane. The upper plate 250 is positioned higher than the package 500. Before transfer, the package 400 is positioned between the upper plate 250 and the shelf 210.

[0139] The wall portion 251 is provided on the lower surface of the upper plate 250. The wall portion 251 projects downward from the upper plate 250. The wall portion 251 is attached to both ends of the upper plate 250 in the X direction. The wall portion 251 has a wedge shape to lock the package 500. The wall portion 251 may each include a protrusion or a hook for hooking and holding the package 500. The wall portion 251 may include an elastic body such as a spring. Thus, the wall portion 251 can firmly hold the package 500.

[0140] The two wall portions 251 are coupled to each other to open and close to hold the package 500. For example, when the package 500 is present directly below the wall portion 251, the wall portion 251 is pushed upward by the package 500. Thus, the two wall portions 251 open. When the package 500 is not present directly below the wall portion 251, the wall portion 251 is not pushed upward by the package 500. Thus, the wall portion 251 closes. That is, the two wall portions 251 serve as a switching mechanism for the wall portions 251 to be coupled to each other.

[0141] Reference will be made to Figure 28 describe the operation of the wall portion 251. Figure 28The figure shows the operations for opening and closing the wall portion 251. When the transport robot 100 moves, the wall portion 251 performs opening and closing operations in the order of ST1, ST2, ST3, and ST4. Before the wall portion 251 contacts the package 500 as in ST1, the wall portion 251 is closed. ST1 corresponds to Figure 24 the configuration shown.

[0142] When the transport robot 100 moves in the state of ST1, the state changes to the state of ST2. In ST2, the package 500 exists directly below the wall portion 251 on the +X side. When the package 500 exists directly below the wall portion 251, the wall portion 251 contacts the package 500. Therefore, the wall portion 251 is pushed upward by the package 500, and the two wall portions 251 are opened. For example, when the wall portion 251 includes an elastic body such as a spring, the elastic body is pushed and deformed. In the open state, the wall portion 251 can be squeezed and deformed. ST2 corresponds to Figure 25 the moment between Figure 26 the previous time.

[0143] When the transport robot 100 moves, the state changes to the state of ST3. In ST3, the package 500 exists between the two wall portions 251. In this case, the two wall portions 251 are not pushed upward by the package 500, and thus are closed. Therefore, the two wall portions 251 can lock the package 500. That is, the package 500 is held when it is sandwiched between the two wall portions 251. ST3 corresponds to Figure 26 the configuration shown.

[0144] When the transport robot 100 moves further, the state changes to the state of ST4. In ST4, the package 500 moves from the second shelf 320. Even in this state, the pair of wall portions 251 engage with the package 500 from both sides. Therefore, the wall portion 251 can firmly hold the package 500.

[0145] The description returns to Figure 24 the description in. Figure 24 It shows the configuration before transferring the packages 400 and 500. That is, the package 400 is placed on the shelf 210 of the shelf portion 200, and the package 500 is placed on the second shelf 320 of the installed shelf 300. The shelf portion 200 is positioned on the -X side of the installed shelf 300.

[0146] When the transport robot 100 moves to the +X side in the Figure 24 configuration shown, the configuration changes to Figure 25 the configuration shown. In Figure 25In [description], the upper plate 350 is positioned directly above the shelf 210 and the package 400. In the X direction, the position of the upper plate 350 is substantially the same as the position of the shelf 210. The wall portion 351 abuts against and holds the package 400. Therefore, the movement of the package 400 is restricted. The wall portion 351 may have a hook shape for hooking and holding the package 400.

[0147] When the transport robot 100 moves to Figure 25 the +X side in the configuration shown, the configuration changes to Figure 26 the configuration shown. In Figure 26 In [description], the upper plate 250 is positioned above the package 500 and the shelf 210. In the X direction, the position of the upper plate 250 is substantially the same as the position of the second shelf 320. The wall portion 251 abuts against and holds the package 500. Since the wall portion 251 is closed, the package 500 is hooked and held. Therefore, the package 500 is transferred to the shelf portion 200. The package 500 moves together with the transport robot 100.

[0148] When the transport robot 100 moves to Figure 26 the +X side in the configuration shown, the configuration changes to Figure 27 the configuration shown. In Figure 27 In [description], the shelf 210 is positioned on the +X side of the second shelf 320. In Figure 27 In [description], the package 500 is transferred to the shelf portion 200. The package 500 is lifted from the shelf 210.

[0149] Therefore, the transfer of the package 400 and the package 500 is completed. That is, the package 400 is transferred from the shelf portion 200 to the installed shelf 300, and the package 500 is transferred from the installed shelf 300 to the shelf portion 200. In this embodiment, sensors and actuators are not required.

[0150] Fifth Embodiment

[0151] In the fifth embodiment, the abutting portion includes a shock absorbing member that absorbs shock when abutting. The abutting portion 700 including the shock absorbing member will be described with reference to Figure 29 Although the abutting portion 700 is described as abutting against the package 400, the package 500 may also have the same configuration. In other words, the abutting portion 700 may be replaced by at least one of the abutting portion 230 and the abutting portion 321 of the first embodiment.

[0152] The abutting portion 700 includes an attachment portion 701, an attachment portion 702, and a flexible body 703. The flexible body 703 is a rope-shaped or belt-shaped member and serves as a shock-absorbing member for absorbing shock. One end of the flexible body 703 is attached to the attachment portion 701, and the other end is attached to the attachment portion 702. The attachment portion 701 is disposed on the +Y side of the package 400, and the attachment portion 702 is disposed on the -Y side of the package 400. At least one of the attachment portion 701 and the attachment portion 702 includes a reel around which the flexible body 703 is wound. The flexible body 703 is linearly arranged from the attachment portion 701 to the attachment portion 702 before abutment.

[0153] When the package 400 abuts against the flexible body 703, the flexible body 703 deforms. Thus, the shock at the time of abutment is absorbed. For example, the flexible body 703 wound around the attachment portion 701 is unwound and extended. Thus, the shock received by the package 400 can be reduced.

[0154] Reference will be made to Figures 30 to 33 describe the transfer operation of the transfer mechanism using the abutting portion 700. The shelf portion 200 includes an abutting portion 700a. The installed shelf 300 includes an abutting portion 700b. The abutting portion 700a of the shelf portion 200 is provided at the same height as the package 500. The abutting portion 700b of the installed shelf 300 is provided at the same height as the package 400. The abutting portion 700a of the shelf portion 200 is provided at a position higher than the position of the package 400. The abutting portion 700a and the abutting portion 700b have the same structure as the Figure 29 abutting portion 700 in

[0155] Figure 30 The structure before transferring the packages 400 and 500 is shown. That is, the package 400 is placed on the shelf 210 of the shelf portion 200, and the package 500 is placed on the second shelf 320 of the installed shelf 300. The shelf portion 200 is positioned on the -X side of the installed shelf 300.

[0156] When the transport robot 100 moves to the Figure 30 +X side in the structure shown in Figure 31 , the structure changes to the Figure 31 shown structure. In

[0157] Figure 31 When the transport robot 100 moves to the Figure 32 +X side in the structure shown in Figure 32 Figure 32Among them, the package 500 abuts against the abutting portion 700a. Therefore, the package 500 moves in the +X direction as the transport robot 100 moves. The abutting portion 700a absorbs shock during abutment. Therefore, the shock on the package 500 can be reduced.

[0158] When the transport robot 100 moves to Figure 32 the +X side in the configuration shown, the configuration changes to Figure 33 the configuration shown. In Figure 32 this case, the package 500 is placed on the second shelf 320. In Figure 33 this case, the package 500 is transferred to the shelf portion 200. Thus, the transfer of the package 400 and the package 500 is completed. That is, the package 400 is transferred from the shelf portion 200 to the installed shelf 300, and the package 500 is transferred from the installed shelf 300 to the shelf portion 200. In this embodiment, the sensor 600 and the actuator are not necessary.

[0159] The first to fifth embodiments can be used in appropriate combination. Although the transport robot 100 is described as a moving body that moves the package 400, the moving body can be a cart or the like that moves when pushed by a person. The present invention is not limited to the above embodiments and can be appropriately modified without departing from the spirit.

Claims

1. A transfer mechanism, comprising: An installed shelf for placing packages; And A moving body including a moving body side platform, the moving body side platform being included in the moving body for placing the package, wherein The moving body is configured to pass by the installed shelf so that the package is transferred between the installed shelf and the moving body.

2. The transfer mechanism according to claim 1, wherein, The installed shelf includes a first platform and a second platform, and the second platform has a height different from that of the first platform.

3. The transfer mechanism according to claim 2, wherein, The moving body is configured to pass by the installed shelf so that the first package on the first platform is transferred to the moving body side platform, and the second package on the moving body side platform is transferred to the second platform.

4. The transfer mechanism according to claim 3, wherein: The installed shelf includes a first abutting portion configured to abut against a mechanism in the moving body when the moving body moves; and The moving body includes a second abutting portion configured to abut against a mechanism in the installed shelf when the moving body moves.

5. The transfer mechanism according to claim 4, wherein: The second abutting portion is configured to push the first package on the first platform in the moving direction of the moving body so that the first package is transferred to the moving body side platform; and The first abutting portion is configured to push the second package on the moving body side platform in a direction opposite to the moving direction so that the second package is transferred to the second platform.

6. The transfer mechanism according to claim 4 or 5, wherein, The second abutting portion is provided at a position higher than the position of the second package and at the height of the first package.

7. The transfer mechanism according to claim 4 or 5, wherein At least one of the first abutting portion and the second abutting portion includes a locking member configured to lock the package.

8. The transfer mechanism according to claim 4 or 5, wherein, At least one of the first abutting portion and the second abutting portion includes an elastic body configured to absorb energy when abutting.

9. The transfer mechanism according to claim 4 or 5, wherein At least one of the first abutting portion and the second abutting portion includes a rope-shaped or belt-shaped flexible body configured to absorb energy when abutting.

10. The transfer mechanism according to claim 4 or 5, wherein, At least one of the first abutting portion and the second abutting portion includes a hook configured to hook the package.

11. The transfer mechanism according to any one of claims 3 to 6, wherein The moving body side platform is configured to pass by at a height between the first platform and the second platform.

12. The transfer mechanism according to claim 11, wherein: The first platform is installed at a position higher than the position of the second platform; and The first abutting portion on the first platform is provided at the height of the second package.

13. The transfer mechanism according to claim 1 or 2, wherein: At least one of the installed shelf and the moving body side platform includes a magnet configured to magnetically attract the package; And When the moving body passes by the installed shelf, a switching operation for switching on and off the magnetic attraction of the magnet is performed.

14. The transfer mechanism according to claim 13, further comprising a sensor configured to detect the passing of the moving body, and the switching operation is performed based on the detection result from the sensor.

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