Lid opening and closing device, automated guided vehicle system, and housing case

Abstract

A cover body of a box is opened and closed through a simple structure. The cover opening and closing device (12) includes a rotating unit (71) that is provided above the box (CS), approaches or moves away from the box (CS), and rotates about a virtual vertical line (B) passing through the box (CS). The rotating unit (71) includes: a cover suction cup (77) that approaches the box (CS) together with the rotating unit (71), sucks to a cover body (122) of the box (CS), and moves away from the box (CS) together with the rotating unit (71) to lift and open the cover body (122); and a contact roller (86) which is positioned on the inner side of the lid body (122) lifted by the lid suction cup (77), rotates together with the rotating unit (71) when the lid suction cup (77) is separated from the lid body (122), and comes into contact with the inner side of the lid body (122) to press and open the lid body (122).

Description

Technical Field

[0001] The present invention relates to a cover opening and closing device for opening and closing a cover of a housing, an unmanned transport vehicle system using the cover opening and closing device, and a housing for the unmanned transport vehicle system, and in particular to a cover of the housing and a technology for opening and closing the cover. Background Art

[0002] A container housing (e.g., a container) is provided with a lid that can be opened and closed freely to open and close an opening. When the lid is opened, thereby opening the opening, the contents are placed in and out of the container housing. For example, Patent Document 1 discloses a container having a lid opening and closing device, comprising: a container body having an opening at an upper portion; a pair of lids that separate and block the openings in the left and right directions; and an opening and closing device that causes the pair of lids to open and close between a closed position for blocking the openings and an open position for releasing the openings.

[0003] Various systems have also been proposed that use automated guided vehicles (AGVs) to move items. For example, in the unmanned transport system described in Patent Document 2, a conveyor transports goods. When the goods reach the end of the conveyor, a nearby AGV is called. A robot loads the goods onto the AGV, which then moves the goods to a shelf and stores them there.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2019-064675

[0007] Patent Document 2: Japanese Patent Application Laid-Open No. 2020-123196 Summary of the Invention

[0008] In Patent Document 2, when the cargo is a container, it is desirable not only to mount the container on an unmanned transport vehicle but also to open and close the container's lid to allow the contents to be placed in and out of the container. For example, the use of an arm robot to perform such operations is envisioned. However, using such a robot would complicate the system configuration and increase system costs.

[0009] Furthermore, when an opening and closing device for opening and closing the top cover is provided on the container itself as in Patent Document 1, the structure of the container becomes complicated and the cost of the container becomes high.

[0010] The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to enable opening and closing of a cover of a storage case with a simple structure.

[0011] The cover opening and closing device according to one aspect of the present invention includes a rotating unit, which is arranged above the position where the accommodating shell is placed, approaches or moves away from the accommodating shell, and rotates around a virtual vertical line passing through the accommodating shell, and the rotating unit includes: a cover suction cup, which approaches the accommodating shell together with the rotating unit and is adsorbed on the cover of the accommodating shell, and moves together with the rotating unit in a direction away from the accommodating shell to lift and open the cover; and an abutment component, which is arranged at a position on the rotating unit on the inner side of the cover lifted by the cover suction cup, and when the cover suction cup is detached from the cover, it rotates together with the rotating unit and contacts the inner side of the cover, pressing the cover from its inner side in the direction in which the cover opens.

[0012] In addition, an unmanned transport vehicle system according to one aspect of the present invention comprises: the cover opening and closing device according to one aspect of the present invention; a conveyor for loading and transporting articles; and an unmanned transport vehicle, said unmanned transport vehicle comprising: a travel drive unit for rotating the drive wheels of the unmanned transport vehicle so as to enable the unmanned transport vehicle to travel; a pair of arms, said pair of arms being provided at respective positions on the unmanned transport vehicle on the downstream side and the upstream side of the direction in which the articles are transported by the conveyor when the unmanned transport vehicle travels along the conveyor, said pair of arms being arranged along the conveyor belt along the conveyor belt The arms extend in a direction perpendicular to the conveying direction and are opposed to each other at positions spaced apart in the direction of conveying the article by the conveyor, the distance being equivalent to the width of the article. The pair of arms reciprocate in the perpendicular direction to protrude from the unmanned transport vehicle to the outside and be pulled into the unmanned transport vehicle from the protruding position; an arm driving unit for causing the pair of arms to reciprocate in the perpendicular direction; each first claw portion is provided on the front end side of the pair of arms, protruding from the arm portion on the front end side to the space between the pair of arms, and retracting to the arm portion the interior of the vehicle; a first claw driving unit for causing each of the first claws to perform the protruding and retracting actions; and a control unit for controlling the travel driving unit, the arm driving unit, and the first claw driving unit so that the unmanned transport vehicle travels along the conveyor at a travel speed higher than the conveying speed of the articles, and causes the arm provided on the upstream side to protrude from the unmanned transport vehicle to above the conveyor, and when the arm provided on the upstream side in the conveying direction moves to the position of the articles conveyed by the conveyor, causes the arm provided on the downstream side to protrude from the unmanned transport vehicle to Above the conveyor, when the article is present between the pair of arms, the first claws are protruded from the front end sides of the pair of arms to the space between the pair of arms, and then the pair of arms are pulled into the unmanned transport vehicle from above the conveyor. The control unit is also used to control the travel drive unit, the arm drive unit and the first claw drive unit to move the unmanned transport vehicle to the cover opening and closing device, so that the claws are protruded from the rear end sides of the pair of arms to the space between the pair of arms, and the pair of arms are pushed out from the unmanned transport vehicle to the cover opening and closing device side.

[0013] 18. The container of claim 17, wherein the lid is configured to have a first end portion for retaining the container and a second end portion for retaining the container, the first end portion for retaining the container and the second end portion for retaining the container. The cover is fixed to the container body and is moved in a direction away from the container body to lift and open the container body; and a support member is provided at a position on the cover unit which is the inner side of the pair of cover bodies lifted by the cover suction cup. When the cover suction cup is detached from the pair of cover bodies, the cover suction cup rotates together with the rotating unit and contacts the inner side of the pair of cover bodies, pressing the pair of cover bodies from the inner side thereof in the direction of opening the pair of cover bodies, and when the cover suction cup is attached to the cover body of the container body, the cover suction cup is attached to the outer side of the wide part of the pair of cover bodies. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a plan view schematically showing an unmanned guided vehicle system to which a cover opening and closing device according to one embodiment of the present invention is applied.

[0015] Figure 2 It is a perspective view showing an unmanned guided vehicle in the unmanned guided vehicle system.

[0016] Figure 3 It is a perspective view showing the sliding state of each arm of the unmanned transport vehicle.

[0017] Figure 4 This is a diagram schematically showing a rack and a pinion for reciprocating an arm.

[0018] Figure 5 (A) is a perspective view showing a mechanism for protruding or retracting the first claw and the second claw of each arm. Figure 5 (B) is a plan view showing the mechanism.

[0019] Figure 6 This is a block diagram showing a control system of an unmanned guided vehicle.

[0020] Figure 7 The flowchart shows a control process for transferring a storage case transported by a conveyor to an unmanned transport vehicle and moving the storage case by the unmanned transport vehicle.

[0021] FIG8(A) is a perspective view showing a state where the storage case is being transported by the conveyor, and FIG8(B) is a perspective view showing a state where the unmanned transport vehicle catches up with the storage case being transported by the conveyor.

[0022] Figure 9 This is a perspective view showing a state in which an arm located upstream in the conveyance direction of the storage case in the automated guided vehicle is in contact with the storage case being conveyed by the conveyor.

[0023] 10(A) is a perspective view showing a state where a container housing transported by a conveyor is sandwiched between the arms of an unmanned transport vehicle, and FIG. 10(B) is a perspective view showing a process of transferring the container housing transported by a conveyor to an unmanned transport vehicle.

[0024] Figure 11 This is a perspective view showing a state in which a storage case transported by a conveyor is sandwiched between the arms of an unmanned transport vehicle, and a first claw portion on the inner side of the front end of each arm is protruding.

[0025] Figure 12 It is a perspective view showing an unmanned transport vehicle loaded with a storage case transferred from a conveyor.

[0026] Figure 13 This is a perspective view showing a state where the unmanned guided vehicle stops in front of the lid opening and closing device.

[0027] Figure 14 This is a perspective view showing a state in which the storage case is sandwiched between the arms of the unmanned transport vehicle and the second claw portion on the inner side of the rear end of each arm is protruding.

[0028] Figure 15 This is a perspective view showing the process of transferring the storage case from the unmanned transport vehicle to the lid opening and closing device.

[0029] Figure 16 It is a perspective view schematically showing the cover opening and closing device according to the present embodiment.

[0030] Figure 17 (A) is a perspective view showing a rotating unit in the cover opening and closing device, Figure 17(B) is a top view showing the rotating unit in the cover opening and closing device, Figure 17 (C) is a side view showing the rotating unit in the cover opening and closing device.

[0031] Figure 18 This is a block diagram showing a control system of the cover opening and closing device according to the present embodiment.

[0032] Figure 19 (A) is a perspective view showing a housing, Figure 19 (B) is a plan view showing the housing case.

[0033] Figure 20 (A) is a perspective view showing a state where each cover of the storage case is halfway opened, Figure 20 (B) is a perspective view showing a state in which each cover is opened.

[0034] Figure 21 This is a flowchart showing a control process for opening and closing each cover of the storage case by the cover opening and closing device.

[0035] Figure 22 (A) is a top view showing the rotating unit and the accommodating case positioned below the unit, Figure 22 (B) is a side view showing the rotating unit and the accommodating case positioned below the unit.

[0036] Figure 23 (A) Figure 23 (B) is a side view showing a process in which the accommodating case is lifted up to approach the rotating unit.

[0037] Figure 24 (A) is a top view showing a process of opening the cover of the accommodating case by the rotating unit, Figure 24 (B) is a side view showing a process of opening the cover of the accommodation case by the rotation unit.

[0038] Figure 25 (A) is a top view showing a process of opening the cover of the accommodating case by the rotating unit, Figure 25 (B) is a front view showing a process of opening the cover of the accommodation case by the rotation unit.

[0039] Figure 26 It is a side view showing a state in which the cover of the accommodating case is opened by the rotating unit.

[0040] Figure 27 (A) is a plan view showing a state where the cover of the accommodating case is opened by the rotating unit, Figure 27 (B) is a front view showing a state in which the cover of the accommodating case is opened by the rotation unit.

[0041] Figure 28 is a side view showing the rotating unit and the accommodating case with the cover opened and lowered.

[0042] Figure 29 It is a side view showing a process of taking out the contents in the accommodating case by the rotating unit.

[0043] Figure 30 It is a side view showing a process of placing the contents taken out by the rotating unit on the moving rack.

[0044] Figure 31 (A) is a plan view showing a state immediately before the cover of the housing case is closed by the rotating unit, Figure 31 (B) is a front view showing a state immediately before the lid of the storage case is closed by the rotation unit.

[0045] Figure 32 (A) is a top view showing a process of closing the cover of the accommodating case by the rotating unit, Figure 32 (B) is a front view showing a process of closing the cover of the accommodation case by the rotation unit.

[0046] Figure 33 It is a front view showing a process of closing the cover of the accommodating case by the rotating unit. DETAILED DESCRIPTION

[0047] Hereinafter, a cover opening and closing device, an unmanned guided vehicle system, and a storage case according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0048] Figure 1 This is a schematic diagram showing an unmanned guided vehicle system according to one embodiment of the present invention. Figure 1 The unmanned guided vehicle system Sy shown includes an unmanned guided vehicle 10 and a conveyor 11 for conveying articles. The unmanned guided vehicle system Sy is installed indoors in a warehouse or the like and includes a cover opening and closing device 12.

[0049] First, the structure and operation of the unmanned guided vehicle system Sy and the unmanned guided vehicle 10 will be described. Thereafter, the structure and operation of the lid opening and closing device 12 of this embodiment will be described.

[0050] The unmanned guided vehicle 10 travels autonomously along a travel line 15 laid on a floor surface. For example, the travel line 15 may be a magnetic tape attached to the floor surface, and the unmanned guided vehicle 10 may be equipped with a magnetic sensor for detecting the magnetic tape. In the unmanned guided vehicle 10, the magnetic sensor detects the position of the magnetic tape (travel line 15), and steering control is performed based on the position of the travel line 15, causing the unmanned guided vehicle 10 to travel along the travel line 15. Alternatively, the travel line 15 may be a colored tape attached to the floor surface, having a color or reflectivity different from that of the floor surface, and the unmanned guided vehicle 10 may be equipped with an optical sensor such as a CCD for detecting the colored tape. In the unmanned guided vehicle 10, a control unit (described later) detects the position of the colored tape (travel line 15) based on information obtained from the optical sensor, and steering control is performed based on the position of the travel line 15, causing the unmanned guided vehicle 10 to travel along the travel line 15. Such methods using magnetic tape and magnetic sensors, as well as methods using colored tape and optical sensors, are both known technologies.

[0051] The conveyor 11 is a conveyor that arranges multiple rollers 16 in the conveying direction of a box (an example of a container) CS. Each roller 16 is supported by a separate axis that intersects the conveying direction of the box CS and is driven to rotate in one direction to convey the box CS on each roller 16.

[0052] The travel lane 15 is formed by connecting the first travel lane 15A, the second travel lane 15B, the third travel lane 15C, and the fourth travel lane 15D in a rectangular shape. Each of the travel lanes 15A to 15D is linear. The first travel lane 15A extends parallel to the direction of extension of the first conveyor 11A (the direction in which the boxes CS are conveyed). The fourth travel lane 15D passes near the lid opening and closing device 12.

[0053] The AGV 10 begins its journey from a standby position HP located near the starting point of the first travel lane 15A, traveling parallel to the first conveyor 11A along the first travel lane 15A. At the end of the first travel lane 15A, the AGV 10 changes direction 90 degrees and transitions to travel along the second travel lane 15B. At the end of the second travel lane 15B, the AGV 10 changes direction 90 degrees and transitions to travel along the third travel lane 15C. The AGV 10 travels along the third travel lane 15C and reaches the lid opening and closing device 12. At the end of the third travel lane 15C, the AGV 10 changes direction 90 degrees and transitions to travel along the fourth travel lane 15D. At the end of the fourth travel lane 15D, the AGV 10 changes direction 90 degrees and transitions to travel along the first travel lane 15A, returning to its standby position HP near the starting point of the first travel lane 15A.

[0054] Furthermore, while traveling along the first travel lane 15A parallel to the conveyor 11, the unmanned guided vehicle 10 transfers a box CS conveyed by the conveyor 11 to the unmanned guided vehicle 10. Then, while traveling along the third travel lane 15C, passing the second travel lane 15B, the unmanned guided vehicle 10 stops in front of the lid opening and closing device 12. At this position, the unmanned guided vehicle 10 transfers the box CS from the unmanned guided vehicle 10 to the lid opening and closing device 12, or receives the box CS from the lid opening and closing device 12 to the unmanned guided vehicle 10.

[0055] Figure 2 FIG is a perspective view that schematically and enlarges the unmanned guided vehicle 10. Figure 2 As shown, the unmanned guided vehicle 10 is configured such that a travel unit 22 is provided on the lower side of a vehicle body, and a working unit 23 is provided on the upper side of the vehicle body.

[0056] Casters 31 are provided at the four corners of the bottom of the traveling portion 22, and a plurality of drive wheels 32 are separately provided on the inner side of the bottom of the traveling portion 22. Each drive wheel 32 is driven by its own travel drive motor 33, so that the unmanned guided vehicle 10 travels and the wheel of each caster 31 rotates. In addition, the travel drive motor 33 that drives the drive wheel 32 is controlled for each drive wheel 32, thereby adjusting the rotation speed of each drive wheel 32 and changing the travel direction of the unmanned guided vehicle 10. Figure 2 In FIG. 1 , illustration of a mechanism including a driving source for each driving wheel 32 is omitted.

[0057] A pair of support walls 41 are arranged opposite each other and project from the top surface of the working section 23. Each support wall 41 supports an arm 42 via its top and outer sidewalls. Each arm 42 is, for example, a hollow shell-shaped arm and is supported on each support wall 41 via a slide rail 43 so as to slide freely along the support wall 41. The distance between the arms 42 is set to a predetermined distance slightly longer than the width of the box CS conveyed by the conveyor 11, so that the box CS can be inserted and sandwiched between the arms 42.

[0058] Figure 3The figure is a perspective view showing the sliding state of each arm 42. Each arm 42 is supported by two horizontally extending slide rails 43, allowing it to slide freely relative to each support wall 41 and be guided in its movement direction. Each arm 42 reciprocates along its length. Each slide rail 43 is, for example, a three-section slide rail, with a portion thereof projecting outward and moving to the side of the working unit 23. The slide rails 43 include a first guide rail, which is provided on the side wall of the support wall 41, and a second guide rail, which is secured to and supported by the first guide rail, thereby being guided in its movement direction and moving outward to the side of the working unit 23. The second guide rail is mounted on the arm 42. As a result, each arm 42 reciprocates horizontally, and the entire arm 42 is configured to be able to project outward from the unmanned guided vehicle 10 and be retracted into the unmanned guided vehicle 10 from this projecting position.

[0059] For each arm 42, as Figure 4 As shown, a rack 44 is provided at the lower end of the arm 42. In addition, each support wall 41 is provided with a respective arm drive motor 45 (such as Figure 6 As shown in FIG. 4 , a respective pinion 46 is fixed to the output shaft of each arm drive motor 45. When each arm drive motor 45 is rotated back and forth, the respective pinion 46 rotates back and forth, and each rack 44 and each arm 42 are guided in the direction of movement by the slide rail 43 and are reciprocated. Figure 3 As shown, by the engagement of the first guide rail and the second guide rail of the slide rail 43 and the rotation control of the arm drive motor 45, the movement of the arm 42 toward the above-mentioned outward side in the moving direction is restricted to a position where the arm 42 is locked and supported by the support wall 41 and the slide rail 43 and is not released.

[0060] In addition, if Figure 2 as well as Figure 3 As shown, each arm 42 has a slit 42A formed in a side surface portion that is the inner side of the front end of the arm 42 (the side facing the other opposing arm 42), and is provided with a first claw portion 51 that protrudes through the slit 42A into the space between the arms 42. Furthermore, a slit 42B is formed in a side surface portion that is the inner side of the rear end (base end) of the arm 42 (the side facing the other opposing arm 42), and is provided with a second claw portion 52 that protrudes through the slit 42B into the space between the arms 42.

[0061] like Figure 5 (A) Figure 5As shown in FIG. 5B , each first claw 51 is supported by a rotation shaft 53 inside the hollow shell-shaped arm 42, and each second claw 52 is supported by a rotation shaft 54 inside the hollow shell-shaped arm 42. Each first claw 51 is driven by a claw drive motor 55 ( Figure 6 The second claw 52 is rotated back and forth to project from the slit 42A into the space between the arms 42 and to move from the space and retreat into the arms 42. Each second claw 52 is driven by a claw drive motor 56 ( Figure 6 As shown in FIG. 4 , the arm 42 is reciprocally rotated so as to project from the slit 42B into the space between the arms 42 and to move from the space and retreat into the arms 42.

[0062] A camera 71 composed of, for example, a CCD is provided on the working unit 23. When the unmanned guided vehicle 10 travels along the first travel line 15A parallel to the first conveyor 11A, the camera 71 ( Figure 6 ) direction is set so that the shooting camera 61 faces the space above the first conveyor 11A. In the present embodiment, the shooting camera 61 is arranged on the working section 23 at the center of the traveling direction of the unmanned guided vehicle 10 in the area clamped by the two support walls 41, and is on the base end side of each arm 42. The shooting camera 61 shoots a two-dimensional code (e.g., a QR code (registered trademark)) Q or a mark installed on the box CS transported on the first conveyor 11A. It should be noted that the shooting camera 61 may also be arranged on the base end side of each arm 42, and at a position on the outside of the support wall 41 on one side of the working section 23 in the traveling direction of the unmanned guided vehicle 10 (outside of the area clamped by the two support walls 41), or at an upper part of one support wall 41 and at a position on the side wall opposite to the other support wall 41. Furthermore, the imaging camera 61 may be disposed at any position other than the base end side of each arm 42 as long as it can image the two-dimensional code Q or mark attached to the box CS conveyed on the first conveyor 11A.

[0063] Figure 6 FIG. 1 is a block diagram showing a control system of the unmanned guided vehicle 10. Figure 6As shown, the unmanned transport vehicle 10 includes: each travel drive motor 33, which is used to rotate and drive each drive wheel 32 of the travel part 22; each arm drive motor 45, which is used to move each arm 42 of the working part 23 in the horizontal direction; each claw drive motor 55, which is used to cause each first claw 51 to protrude from the slit 42A on the inner side of the two ends of each arm 42 to the space between the arms 42, and to retreat into the arms 42; each claw drive motor 56, which is used to cause each second claw 52 to protrude from the slit 42B on the inner side of the two ends of each arm 42 to the space between the arms 42, and to retreat into the arms 42; a shooting camera 61, which is used to shoot the two-dimensional code Q on the box CS installed on the first conveyor 11A; a travel line sensor 62, which is used to detect the travel line 15; a communication unit 63; and a control unit 64.

[0064] The communication unit 63 is a communication interface including a communication module such as a LAN chip (not shown), is connected to the terminal device 65 via a wired or wireless LAN, and transmits and receives data with the terminal device 65. The terminal device 65 is, for example, a PC (personal computer) and is operated by a user.

[0065] The control unit 64 is composed of a processor, RAM (Random Access Memory), ROM (Read Only Memory), and dedicated hardware circuits. Examples of the processor include a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or an MPU (Micro Processing Unit). The control unit 64 comprehensively controls the automated guided vehicle 10 by operating the processor in accordance with a control program stored in the ROM.

[0066] For example, the control unit 64 performs the following operational control: based on the detection output of the travel line sensor 62, it detects the position of the travel line 15. Based on the detected position of the travel line 15, the control unit 64 controls the driving of the travel drive motor 33 of each drive wheel 32 to adjust the rotation speed of the drive wheel 32, thereby changing the travel direction of the unmanned guided vehicle 10. This causes the unmanned guided vehicle 10 to travel along the travel line 15 with the longitudinal direction of each arm 42 perpendicular to the travel line 15. Furthermore, the control unit 64 adjusts the travel speed V of the unmanned guided vehicle 10.

[0067] In addition, the control unit 64 drives and controls each arm driving motor 45 to reciprocate each arm 42, and drives and controls each claw driving motor 55, 56 to make each claw 51, 52 protrude from the respective slits 42A, 42B formed at both ends of each arm 42 or retract into the arm 42.

[0068] Furthermore, the control unit 64 acquires the image captured by the imaging camera 61 , analyzes the image, and recognizes the two-dimensional code Q included in the image.

[0069] The unmanned guided vehicle 10 having such a structure stops and waits at the standby position HP under the control of the control unit 64. When the first conveyor 11A starts conveying a box CS, the unmanned guided vehicle 10 drives each arm 42 while traveling along the first travel lane 15A parallel to the first conveyor 11A, thereby transferring the box CS conveyed by the first conveyor 11A to the unmanned guided vehicle 10. Furthermore, under the control of the control unit 64, the unmanned guided vehicle 10 travels along the first travel lane 15A, then the second travel lane 15B, and finally the third travel lane 15C, moves to the front of the lid opening and closing device 12, stops, transfers the box CS to the lid opening and closing device 12, or receives the box CS from the lid opening and closing device 12, travels along the third travel lane 15C, then the fourth travel lane 15D, and finally returns to the standby position HP.

[0070] Next, refer to Figure 7 The flowchart shown in the figure and the like describe in detail the control process for transferring the box CS conveyed by the conveyor 11A to the unmanned guided vehicle 10 as described above and for moving the box CS by the unmanned guided vehicle 10 .

[0071] like Figure 1 As shown, while the unmanned guided vehicle 10 is waiting at the standby position HP on the first travel line 15A, the box CS starts to be transported by the second conveyor 11B. The standby position HP is set at the end of the second conveyor 11B and is on the side of the position connected to the first conveyor 11A (the starting end of the first conveyor 11A). The box CS on the second conveyor 11B is transported with the QR code Q installed facing the standby position HP. It is transported to Figure 1 The box CS at the position indicated by the dotted line is then conveyed by the first conveyor 11A and the conveying direction is switched to Figure 1 The machine is transported in the direction of the arrow shown.

[0072] In the box CS is delivered to Figure 1At the time indicated by the dashed line in FIG, the automated guided vehicle 10, located at the standby position HP, uses its imaging camera 61 to capture an image of the QR code Q of the box CS. The imaging camera 61 of the automated guided vehicle 10, located at the standby position HP, is positioned so as to face the QR code Q on the side of the box CS. The QR code Q includes identification information indicating an ID unique to the box CS. In the automated guided vehicle 10, the control unit 74 analyzes the QR code Q captured by the imaging camera 61 and determines whether the ID indicated by the identification information is the same as the ID indicated by the identification information previously received from the terminal device 81 via the communication unit 73.

[0073] In the unmanned guided vehicle 10, when it is determined that the above conditions are the same, the control unit 74 causes the unmanned guided vehicle 10 to start moving Figure 1 It should be noted that at this point in time, it is assumed that the box CS starts to be transported by the first conveyor 11A without changing its posture and has passed the Figure 1 The position indicated by the dotted line is the standby position HP.

[0074] The control unit 64 detects the position of the travel line 15 based on the detection output of the travel line sensor 62. Based on the detected position of the travel line 15, the control unit 64 drives the travel drive motor 33 of each drive wheel 32, thereby positioning the automated guided vehicle 10 so that the extension direction of each arm 42 (the length direction of the arm 42) is perpendicular to the travel line 15, as shown in FIG8(A). The automated guided vehicle 10 is then positioned near the first conveyor 11A, traveling parallel to the first conveyor 11A along the first travel line 15A (S102). At this time, the control unit 64 sets the travel speed V of the automated guided vehicle 10 to a predetermined travel speed VA that is higher than the conveyance speed VC of the boxes CS passing through the first conveyor 11A (S102).

[0075] Furthermore, the control unit 64 controls the driving of one of the arm driving motors 45 so that the arm 42 located upstream in the conveyance direction of the box CS projects into the space above the conveyor 11A as shown in FIG. 8B ( S103 ).

[0076] At this time, the control unit 64 sets the travel speed V of the automated guided vehicle 10 to the travel speed VA higher than the conveying speed VC of the box CS passing through the first conveyor 11A. Figure 9 As shown, the arm 42 located upstream in the conveyance direction of the box CS and projecting into the space above the first conveyor 11A catches up with the box CS and comes into contact with it.

[0077] Furthermore, a predetermined mark (a hole formed on the side, a printed predetermined image, or the like, or a QR code Q) is provided on the side of the box CS facing the automated guided vehicle 10. Since the imaging camera 61 is positioned so as to be able to image the side of the box CS when the one arm 42 overtakes and contacts the box CS, the imaging camera 61 captures the mark when the one arm 42 overtakes and contacts the box CS.

[0078] The control unit 74 captures the image captured by the imaging camera 61 and analyzes it. When it recognizes the image indicating the aforementioned mark in the image (S104), it deems that the aforementioned arm 42 has caught up with and made contact with the box CS. It then controls the arm drive motor 45 for driving the other arm 42, causing the other arm 42, located downstream in the conveyance direction of the box CS, to protrude into the space above the first conveyor 11A, as shown in FIG10(A) (S105). Because the distance between the arms 42 is set slightly longer than the width of the box CS, corresponding to the width of the box CS, the box CS is sandwiched between the arms 42 by this protrusion of the other arm 42. Furthermore, each arm 42 protruding under the control of the control unit 64 has a length such that the front end of the arm 42 reaches a position that exceeds the rear end of the box CS in a direction perpendicular to the conveyance direction of the box CS. The control unit 64 causes each arm 42 to project until the front end of each arm 42 reaches a position beyond the rear end of the box CS (FIG. 10(A) and FIG. 10(B)). Figure 11 ).

[0079] Next, the control unit 64 drives and controls each claw driving motor 55 to move as shown in FIG. 10(B) and FIG. Figure 11 As shown, the first claw portion 51 on the inner side of the front end of each arm 42 is protruded (S106).

[0080] The QR code Q identified in S104 includes information indicating the weight of the contents contained in the box CS. This information may indicate the weight itself, or may indicate, for example, the weight of a single item and the number of items contained. The control unit 64 determines the weight of the items based on this information and adds the known weight of the box CS to the weight of the items to calculate the weight of the items (S107). It should be noted that the above information may also indicate the weight of the items themselves, which is obtained by adding the known weight of the box CS to the weight of the items. In this case, the control unit 64 directly obtains the weight of the items from this information.

[0081] At this point, the control unit 64 drives the travel drive motor 33 of each drive wheel 32 so that the automated guided vehicle 10 travels at the travel speed VA set in S102. After S107, the control unit 64 compares the weight of the item calculated in S107 with a preset threshold value. If it determines that the weight of the item is less than the threshold value, the control unit 64 maintains the travel speed V of the automated guided vehicle 10 at the travel speed VA.

[0082] Furthermore, if the weight of the articles exceeds the threshold, the control unit 64 reduces the travel speed V of the automated guided vehicle 10 to a predetermined travel speed VD, which is greater than the conveying speed VC of the box CS passing through the first conveyor 11A and lower than the previous travel speed VA set in S102 (S108). Thus, when the weight of the articles contained in the box CS exceeds the threshold and is relatively heavy, the travel speed V of the automated guided vehicle 10 is reduced while being maintained above the conveying speed VC of the box CS. Therefore, when the automated guided vehicle 10 travels while pushing the box CS with the protruding one arm 42, the load applied to each travel drive motor 33 can be reduced, and the load from the box CS applied to the one arm 42 can also be reduced, thereby enabling stable travel of the automated guided vehicle 10.

[0083] The control unit 64 then sets the rotation speed of each arm drive motor 45 based on the weight of the item calculated in S107 (S109). For example, the heavier the item, the slower the rotation speed of each arm drive motor 45. For example, a data table is stored in the ROM built into the control unit 64. This data table indicates the weight of each item and the corresponding rotation speed of each arm drive motor 45. The control unit 64 reads the rotation speed of each arm drive motor 45 corresponding to the weight of the item calculated in S107 from this data table and sets the read rotation speed as the rotation speed of each arm drive motor 45 corresponding to the weight of the item calculated in S107.

[0084] Then, the control section 64 drives and controls each arm driving motor 45 so that each arm driving motor 45 rotates at the rotation speed set in S108. Figure 12As shown, each arm 42 is retracted from the space above the first conveyor 11A and pulled from its protruding position into the area within the working section 23 of the AGV 10. As each arm 42 is pulled in, each first claw 51 hooks onto the end of the box CS, and each arm 42 pulls the box CS from the first conveyor 11A into the working section 23 of the AGV 10 (S110). Specifically, the pulling in of each arm 42 moves the box CS from its position on the first conveyor 11A to the working section 23 of the AGV 10. Consequently, the heavier the item, the slower the movement speed of each arm 42, and the slower the speed at which the box CS is transferred from the first conveyor 11A to the working section 23 of the AGV 10. Consequently, the load on each arm's drive motor 45 can be reduced when each arm 42 pulls the box CS into the working section 23 of the AGV 10. In addition, although the movement of the box CS from the position on the first conveyor 11A to the working section 23 of the unmanned guided vehicle 10 is performed while the transportation by the first conveyor 11A and the driving of the unmanned guided vehicle 10 continue, since the movement is performed at a low speed, the box CS can be stably and reliably moved from the position on the first conveyor 11A to the working section 23 of the unmanned guided vehicle 10.

[0085] Thereafter, the control portion 64 drives and controls each claw driving motor 55 so that each first claw portion 51 retreats and is stored in the arm 42 .

[0086] In this manner, while the unmanned guided vehicle 10 is traveling along the first travel lane 15A in parallel with the first conveyor 11A, the box CS conveyed by the first conveyor 11A is transferred from the first conveyor 11A to the unmanned guided vehicle 10 .

[0087] Furthermore, the control unit 64 detects the position of the driving line 15 based on the detection output of the driving line sensor 62, and drives and controls the driving motor 33 of each driving wheel 32 according to the detected position of the driving line 15, so that the unmanned guided vehicle 10 travels along the path of the first driving line 15A → the second driving line 15B → the third driving line 15C (S111).

[0088] When the unmanned transport vehicle 10 travels to a position where a plurality of cover opening and closing devices 12 are arranged side by side, the respective two-dimensional code Q2 attached to the position of each cover opening and closing device 12 opposite to the unmanned transport vehicle 10 is photographed by the photographing camera 61. The control unit 74 parses each photographed two-dimensional code Q2 to detect the location information of the cover opening and closing device 12 included in the two-dimensional code Q2. The control unit 74 receives the location information of the cover opening and closing device 12 previously associated with the above-mentioned ID via the communication unit 73. When the two-dimensional code Q2 including the location information that is consistent with the location information of the cover opening and closing device 12 associated with the above-mentioned ID is photographed, as shown in FIG. Figure 13 As shown in the example, the control unit 74 stops the AGV 10 at the position at that point in time, i.e., at the position of the lid opening and closing device 12 designated as the transfer destination of the box CS (S112). At this time, due to the direction change at each route change from the first travel lane 15A to the second travel lane 15B to the third travel lane 15C, the AGV 10 is in a posture with the tip end of the arm 42 provided with each first claw 51 facing the lid opening and closing device 12.

[0089] Here, the control unit 64 drives and controls each claw driving motor 56 so as to Figure 14 As shown, the second claw 52 inside the rear end of each arm 42 is protruded (S113). At this time, the second claw 52 inside the rear end of each arm 42 is located at the end side of the box CS on the side opposite to the cover opening and closing device 12.

[0090] Next, the control unit 64 drives and controls each arm drive motor 45 to Figure 15 As shown, each arm 42 is made to protrude toward the cover opening and closing device 12 (S114). The protrusion amount at this time is set so that the second claw portion 52 on the inner side of the rear end of each arm 42 can at least enter the upper position of the cover opening and closing device 12. The slide rail 43 adopts the following structure: the second guide rail is guided by the first guide rail in the direction of movement by utilizing the locking and support of the first guide rail, and also in the direction toward the outside of the cover opening and closing device 12 (the same as the direction of the use of the second guide rail). Figure 3 The first conveyor 11A is shown as moving in the opposite direction to the outside of the first conveyor 11A side.

[0091] By protruding each arm 42 toward the lid opening and closing device 12, each second claw 52 is hooked onto the box CS. The box CS is then pushed from above the working section 23 of the unmanned guided vehicle 10 into the lid opening and closing device 12 by each arm 42 and the second claw 52, thereby moving the box CS from above the working section 23 of the unmanned guided vehicle 10 to the lid opening and closing device 12. Thereafter, the control unit 64 drives and controls each claw drive motor 56 to retract and store each second claw 52 within the arm 42.

[0092] When the processing (described later) of the box CS in the cover opening and closing device 12 is completed, the control unit 64 drives and controls each arm driving motor 45 to cause each arm 42 to protrude toward the cover opening and closing device 12. At this time, the box CS located on the cover opening and closing device 12 side is sandwiched between the arms 42.

[0093] In this state, the control unit 64 drives and controls each claw drive motor 55 to protrude the first claw portion 51 on the inner side of the front end of each arm 42. Furthermore, the control unit 64 drives and controls each arm drive motor 45 to retract each arm 42 from the lid opening and closing device 12 and move it onto the working section 23. At this time, each first claw portion 51 is hooked on the box CS, and as each arm 42 moves onto the working section 23, the box CS moves from the lid opening and closing device 12 to the working section 23 of the unmanned guided vehicle 10.

[0094] The control unit 64 detects the position of the travel line 15 based on the detection output of the travel line sensor 62, and drives and controls the travel drive motor 33 of each drive wheel 32 according to the detected position of the travel line 15, so that the unmanned guided vehicle 10 travels along the path of the third travel line 15C → the fourth travel line 15D → the first travel line 15A. After the travel direction is changed 90 degrees between the fourth travel line 15D and the first travel line 15A, the travel drive motor 33 of each drive wheel 32 is stopped after a certain period of time, so that the unmanned guided vehicle 10 stops at the standby position HP (S115).

[0095] As described above, when the first conveyor 11A begins conveying a box CS, the automated guided vehicle 10 travels parallel to the first conveyor 11A along the first travel lane 15A. One arm 42 located upstream in the conveying direction extends. At this time, the automated guided vehicle 10's travel speed V is set to a travel speed VA that is higher than the conveying speed VC of the box CS. As one arm 42 moves to the position of the box CS, the other arm 42 located downstream in the conveying direction extends. The box CS is then sandwiched between the arms 42. In this state, the first claw 51 on the inner front end of each arm 42 extends, pulling each arm 42 back toward the automated guided vehicle 10. At this point, each first claw 51 hooks onto the box CS, and the box CS is pushed from the first conveyor 11A into the working section 23 of the automated guided vehicle 10 by the arms 42 and first claws 51, where it moves along the working section 23 of the automated guided vehicle 10. Thus, according to the present embodiment, the box CS conveyed by the first conveyor 11A can be transferred to the unmanned guided vehicle 10 while the unmanned guided vehicle 10 is traveling, thereby efficiently moving the box CS.

[0096] As the above-mentioned embodiment, an embodiment in which the unmanned guided vehicle 10 takes in the box CS transported on the conveyor device 11 and stores it in the cover opening and closing device 12 has been described, but it can also be added to this. Furthermore, the control unit 74 drives and controls the travel drive motor 33, the arm drive motor 45, and the claw drive motor 55 and the claw drive motor 56 to move the above-mentioned arm 42, the first claw 51, the second claw 52 and the shooting camera 61, so that the unmanned guided vehicle 10 performs the following actions: takes the box CS from the cover opening and closing device 12 onto the unmanned guided vehicle 10, transports the box CS to the position of the conveyor device 11, and transfers the box CS from the unmanned guided vehicle 10 to the conveyor device 11.

[0097] Next, the structure and operation of the cover opening and closing device 12 of this embodiment will be described.

[0098] Figure 16 This is a perspective view schematically showing the structure of the lid opening and closing device 12 of this embodiment. The lid opening and closing device 12 includes a mechanism for receiving a box CS from the automated guided vehicle 10, opening and closing the lid of the box CS, and taking out the contents from the interior of the box CS.

[0099] like Figure 16 As shown, the cover opening and closing device 12 is provided with a lifting frame 66 at the lower part of the device body 120, and a rotating unit 71 is provided at the upper part of the device body 120. The lifting frame 66 includes a plurality of rollers 67 and side wall portions 68 supporting the shaft of each roller 67. The lifting frame 66 is raised and lowered in the vertical direction by a lifting mechanism (not shown). The lifting mechanism supports the lifting frame 66 so that it can move freely in the vertical direction by each support extending in the vertical direction constituting the device body 120. The lifting mechanism is controlled by the control unit 98 ( Figure 18 ) is controlled by a ball screw (a known mechanism) and a motor provided on each support to move the lifting frame 66 up and down.

[0100] The ball screw includes a screw shaft that extends vertically from the bottom of the device body 120 of the cover opening and closing device 12 and is supported so as to be rotatable, and a nut that is fixed to the lifting frame 66 and threadedly engaged with the screw shaft. At the bottom of the device body 120, each lifting frame motor 92 ( Figure 18 The control unit 98 rotates the screw shafts in one direction via the lift motors 92, thereby raising the nuts and the lift 66. Furthermore, the control unit 98 rotates the screw shafts in a direction opposite to the one direction via the lift motors 92, thereby lowering the nuts and the lift 66.

[0101] As described above, the box CS is transferred from the unmanned transport vehicle 10 and moved to the lifting frame 66. During this transfer, each roller 67 is driven by the roller motor 91 ( Figure 18 ) is rotated by the rotational driving force of the lifting frame 66, and this rotation causes the box CS to move on the rollers 67 within the lifting frame 66. As the box CS moves on the rollers 67 due to the rotation of each roller 67, the box CS abuts against a stopper (not shown) provided at the end of the device body 120 in the direction of conveyance of the box CS (the end opposite to the unmanned guided vehicle 10). As a result, the box CS is positioned at the working position on the lifting frame 66, below the rotation unit 71.

[0102] The rotating unit 71 is a mechanism for opening and closing the lid of the box CS and removing the contents from the interior of the box CS. The rotating unit 71 has a three-stage structure, which includes, from the top, a lifting and rotating drive unit 74 at the first stage, an intermediate support body 73 at the second stage, and a ladder frame 72 at the third stage. The support shaft 75 of the lifting and rotating drive unit 74 is axially supported by the ceiling portion or beam 76 ( Figure 17 (C)), and supports the rotating unit 71 in a state of being suspended from the ceiling or the beam 76.

[0103] Figure 17 (A) is a perspective view showing the rotating unit 71, Figure 17 (B) is a top view showing the rotation unit 71, Figure 17 (C) is a side view showing the rotating unit 71. Figure 17 (A) Figure 17 (B) and Figure 17 As shown in (C), the ladder frame 72 is formed by two parallel frame parts 72A connected by two frame parts 72B that are orthogonal to each frame part 72A. A support plate 72C is fixed to the center of the length direction of each frame part 72B. A cover suction cup 77 is installed on the lower surface of each support plate 72C. In addition, a container suction cup 78 is installed at both ends of the length direction of each frame part 72A. The two cover suction cups 77 and the four container suction cups 78 are all air suction cups, which are connected to a hose H for sucking air to generate adsorption force through negative pressure. It should be noted that this does not mean that the structure of the suction cups used as the cover suction cup 77 and the container suction cup 78 is limited to this structure.

[0104] In addition, a guide post 79 is provided protruding from each frame member 72B of the ladder frame 72, and each guide post 79 passes through the intermediate support body 73. The intermediate support body 73 is a member that supports the ladder frame 72 and is composed of, for example, a flat plate-shaped member. Each guide post 79 is held in the movable intermediate support body 73 so as to be movable in the vertical direction within the intermediate support body 73. As a result, the ladder frame 72 moves in the direction of approaching and moving away from the intermediate support body 73 (the vertical direction). Although two guide posts 79 are shown here, four guide posts 79 may be provided, and the four guide posts 79 may be held so as to be movable in the vertical direction within the intermediate support body 73.

[0105] Each guide post 79 is guided by the intermediate support body 73 for vertical movement, descending along with the ladder frame 72 using its own weight. A stopper 79A is provided at the upper end of each guide post 79. The guide post 79 is supported by the intermediate support body 73 but passes through a hole formed in the intermediate support body 73 for the guide post 79 to pass through. The stopper 79A, which has a larger diameter than the hole, restricts the downward movement of the post 79 relative to the intermediate support body 73. When the post 79 moves downward relative to the intermediate support body 73, the stopper 79A abuts and locks against the intermediate support body 73, halting the descent of the ladder frame 72 relative to the intermediate support body 73. Specifically, when the cover suction cup 77 is not pressed from below, the stopper 79A is locked against the intermediate support body 73, and the ladder frame 72 is at its lowest position relative to the intermediate support body 73.

[0106] Furthermore, a guide post 81 extending upward is protruding from the intermediate support body 73. The guide post 81 extends through the lift and rotation drive unit 74 and is held by the lift and rotation drive unit 74 so that it can move vertically. This allows the intermediate support body 73 to move toward and away from the lift and rotation drive unit 74 (in the vertical direction). While a single guide post 81 is shown here, a configuration in which two guide posts 81 are provided and held so that they can move vertically relative to the lift and rotation drive unit 74 is also possible.

[0107] The intermediate support body 73 is raised and lowered by a ball screw (known mechanism). The ball screw includes a screw shaft 82 supported so as to be rotatable on the side of the lifting and rotating drive unit 74, and a nut 83 fixed to the intermediate support body 73 and threadedly engaged with the screw shaft 82. The lifting and rotating drive unit 74 is provided with an intermediate support body motor 94 ( Figure 18The intermediate support motor 94 is configured such that the screw shaft 82 is rotated in one direction, thereby raising the nut 83 and the intermediate support 73. Alternatively, the intermediate support motor 94 is configured such that the screw shaft 82 is rotated in a direction opposite to the one direction, thereby lowering the nut 83 and the intermediate support 73.

[0108] For example, in a state where the stopper 79A at the upper end of each guide support 79 abuts against the intermediate support body 73 and the descent of the ladder frame 72 is stopped, the ladder frame 72 is moved up and down together with the intermediate support body 73 .

[0109] Therefore, the intermediate support body 73 and the ladder frame 72 move together in directions approaching and separating from the lifting and rotating drive unit 74 to be raised and lowered.

[0110] The support shaft 75 of the lifting and rotating drive unit 74 is fixed to the ceiling or beam 76 of the device body 120 of the cover opening and closing device 12 as described above. In addition, the lifting and rotating drive unit 74 is supported so as to rotate freely around the support shaft 75 and rotates together with the support shaft 75. For example, the first spur gear is fixed so as to rotate concentrically with the support shaft 75, and the second spur gear is fixed so as to rotate concentrically with the rotating motor 95 ( Figure 18 The first spur gear is meshed with the second spur gear, and the second spur gear is rotated by the rotating motor 95, so that the lifting and rotating driving unit 74 rotates together with the first spur gear and the support shaft 75.

[0111] As described above, the lift rotation drive unit 74 is connected to the intermediate support body 73 via a ball screw comprising guide posts 81, a screw shaft 82, and a nut 83. Furthermore, the intermediate support body 73 is connected to the ladder frame 72 via guide posts 79. Therefore, when the lift rotation drive unit 74 rotates, the intermediate support body 73 and the ladder frame 72 also rotate. Consequently, the entire rotation unit 71 rotates about the support shaft 75.

[0112] The rotation center of the support shaft 75 coincides with the virtual vertical line B, and the rotating unit 71 rotates around the virtual vertical line B. The virtual vertical line B passes through the center of the box CS moved to the working position on the rollers 67 of the lifting frame 66 in the width direction and the length direction.

[0113] In the lifting and rotating driving unit 74, as shown in FIG. Figure 17As shown in FIG. 1A , two frame members 84 are provided parallel to each frame member 72A of the ladder frame 72 and extend from the lift and rotation drive unit 74. Each frame member 84 is positioned offset from the center of the support shaft 75 of the lift and rotation drive unit 74. A rod 85 is provided downwardly extending from the front end of each frame member 84, on the side opposite the lift and rotation drive unit 74. A contact roller 86 is provided at the lower end of each rod 85.

[0114] In addition, if Figure 16 As shown, guide rails 87 are provided on each of the inner walls of the device body 120 of the cover opening and closing device 12, which are opposite to each other, and extend in the conveying direction of the box CS. Each guide rail 87 is arranged at a position lower than the rotating unit 71, and moves horizontally to a position below the rotating unit 71 to move the movable rack 88 ( Figure 30 ) is guided to move freely in the horizontal direction.

[0115] For example, a plurality of drive wheels (not shown) are provided on each guide rail 87. The plurality of drive wheels are arranged side by side in the moving direction of the moving frame 88 and contact the end of the moving frame 88 in a direction perpendicular to the moving direction. The peripheral surface of each drive wheel rotates along the moving direction of the moving frame 88. The above-mentioned end of the moving frame 88 is placed on the peripheral surface. Each drive wheel is driven by the moving frame motor 96 ( Figure 18 ) is driven to rotate in one direction, and the movable frame 88 is transported through the circumference of the driving wheel, thereby moving through each driving wheel, and the movable frame 88 enters the lower position of the rotating unit 71. Each driving wheel is driven to rotate in a direction opposite to one direction by the movable frame motor 96, so that the movable frame 88 exits from the lower position of the rotating unit 71.

[0116] The movable frame 88 is provided on the device body 120 of the cover opening and closing device 12 and is configured to be movable between a position on each guide rail 87 and an outer position on the side of the device body 120 of the cover opening and closing device 12, protruding further outward from the device body 120. When the movable frame 88 is moved to the outer position, one end of the movable frame 88 is fixedly engaged with the device body 120, and the unfixed portion of the movable frame 88 protrudes further outward from the device body 120.

[0117] Figure 18 1 is a block diagram showing a control system of the cover opening and closing device 12 of this embodiment. Figure 18As shown, the cover opening and closing device 12 includes: a roller motor 91, which is used to supply a rotational driving force for rotating the rollers 67 of the lifting frame 66; each lifting frame motor 92 of the lifting mechanism, which is used to supply a driving force for lifting the lifting frame 66; an air pump 93A, which is used to suck air from the hose H of each cover suction cup 77; an air pump 93B, which is used to suck air from the hose H of each container suction cup 78; an intermediate support body motor 94 of the lifting and rotating drive part 74, which is used to lift and lower the intermediate support body 73; a rotating motor 95 of the lifting and rotating drive part 74, which is used to rotate the rotating unit 71 around the support shaft 75; a moving frame motor 96, which is used to supply a driving force for moving the moving frame 88; a communication part 97; and a control part 98.

[0118] The communication unit 97 is a communication interface including a communication module such as a LAN chip (not shown), is connected to the terminal device 65 via a wired or wireless LAN, and transmits and receives data with the terminal device 65 .

[0119] The control unit 98 is composed of a processor, RAM (Random Access Memory), ROM (Read Only Memory), and dedicated hardware circuits. Examples of the processor include a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or an MPU (Micro Processing Unit). The control unit 98 comprehensively controls the various mechanisms of the lid opening and closing device 12 by operating the processor in accordance with a control program stored in the ROM.

[0120] The control unit 98 drives and controls the roller motor 91 to rotate the rollers 67 of the lifting frame 66, and drives and controls the lifting frame motors 92 to raise and lower the lifting frame 66. Furthermore, the control unit 98 drives and controls the air pumps 93A and 93B to open and close the suction of the lid suction cups 77 and the container suction cups 78. Furthermore, the control unit 98 drives and controls the intermediate support motor 94 to raise and lower the intermediate support 73, drives and controls the rotation motor 95 to rotate the rotation unit 71 and the support shaft 75 together, and drives and controls the moving frame motor 96 to move the moving frame 88.

[0121] Figure 19 (A) is a perspective view showing a box CS, Figure 19 (B) is a top view showing the box CS. Figure 19 (A) Figure 19As shown in (B), the box CS includes a hollow main body 121 in the shape of a rectangular parallelepiped with an opening, and two cover bodies 122. The opening is rectangular when the box CS is viewed from above. The cover bodies 122 are respectively provided at the edges of two sides opposite to each other among the four sides of the main body 121 forming the opening, so as to open and close the opening. That is, the cover body 122 is axially supported on the two sides 121A forming the opening of the main body 121 so as to be opened and closed freely. The cover body 122 includes: a wide portion 122A whose width is extended to the end portion on the side opposite to the side axially supported on the side 121A; and a narrow portion 122B whose width is set to be narrower than the width of the wide portion 122A.

[0122] One of the cover edge portions of each cover 122 is rotatably supported on the edge portion of the main body 121. The width dimension of the wide portion 122A in a direction perpendicular to the direction in which the one of the cover edge portions extends is set to a predetermined large dimension. The wide portion 122A is set to a predetermined small dimension that is smaller than the large dimension.

[0123] when Figure 19 When each cover body 122 shown in (A) is in a state of closing the above-mentioned opening, the wide portion 122A of the cover body 122 on one side contacts the narrow portion 122B of the cover body 122 on the other side, and the narrow portion 122B of the cover body 122 on one side contacts the wide portion 122A of the cover body 122 on the other side, so as to cover the opening of the main body 121.

[0124] Figure 20 (A) shows a state where each cover 122 of the box CS is halfway opened, Figure 20 (B) is a perspective view showing a state in which each cover 122 of the box CS is opened. Figure 20 (A) Figure 20 As shown in (B), when each cover body 122 is halfway opened and in the state where each cover body 122 is opened, the wide portion 122A of each cover body protrudes upward, and the narrow portion 122B of each cover body is recessed downward, that is, the amount of upward protrusion is less than that of the wide portion 122A.

[0125] In the lid opening and closing device 12 configured as described above, when a box CS is moved from the automated guided vehicle 10 onto the rollers 67 of the lifting frame 66, the rollers 67 rotate, causing the box CS to move to the aforementioned working position below the rotating unit 71 and be positioned. In this state, the lifting frame 66 is raised and lowered, the lids 122 are sucked by the lid suction cups 77 of the rotating unit 71, and the rotating unit 71 rotates, all in a predetermined sequence, thereby opening the lids 122. Subsequently, the lifting frame 66 is raised and lowered, the contents of the box CS are sucked by the contents suction cups 78 of the rotating unit 71, and the movable frame 88 moves in and out, all in a predetermined sequence, allowing the contents of the box CS to be removed. Furthermore, the lifting frame 66 is raised and lowered, the rotating unit 71 rotates, and all in a predetermined sequence, thereby closing the lids 122. Thereafter, the box CS is transferred from the rollers 67 of the lifting frame 66 to the automated guided vehicle 10.

[0126] Next, refer to Figure 21 The control process for opening and closing each lid 122 of the box CS by the lid opening and closing device 12 as described above is described in detail with reference to the flowchart of FIG.

[0127] When the box CS is transferred from the unmanned guided vehicle 10 onto the rollers 67 of the lift 66, for example, a position detection sensor (such as an optical sensor) provided in the lid opening and closing device 12 detects the box CS being conveyed onto the rollers 67. When the control unit 98 receives a detection signal from the position detection sensor, the control unit 98 starts the operation of the lid opening and closing device 12. Alternatively, when the box CS is transferred from the unmanned guided vehicle 10 onto the rollers 67 of the lift 66, the user operates the terminal device 65 to send a start instruction to the lid opening and closing device 12 to start the operation of the lid opening and closing device 12, and the control unit 98 starts the operation of the lid opening and closing device 12 in accordance with the start instruction.

[0128] In the lid opening and closing device 12, when the communication unit 97 receives the detection signal or start instruction, the control unit 98 drives and controls the roller motor 91 in accordance with the detection signal or start instruction to rotate the rollers 67, thereby moving the box CS to the aforementioned working position and positioning it (S201). It should be noted that the lid opening and closing device 12 may also not include the roller motor 91, and each roller 67 may rotate solely through friction with the box CS, and the box CS may be transported to the aforementioned working position by the movement of the arms 42 of the unmanned guided vehicle 10.

[0129] Therefore, if Figure 22 (A) Figure 22As shown in (B), the rotation unit 71 is positioned above the box CS, with the center of the box CS located on an extension of the support shaft 75 of the rotation unit 71. Furthermore, the lid suction cups 77 of the ladder frame 72 are positioned above the wide portion 122A of each lid 122 of the box CS. The contact rollers 86 of the lifting and rotating drive unit 74 are positioned above the box CS, near the boundary between the wide portion 122A of one lid 122 and the narrow portion 122B of the other lid 122, and further, near the boundary between the wide portion 122A of the other lid 122 and the narrow portion 122B of one lid 122.

[0130] The control unit 98 drives and controls each elevating frame motor 92 of the elevating frame 66 to move the elevating frame 66 upward. Figure 23 As shown in (A), the lids 122 of the box CS come into contact with the suction cups 77 of the lids of the ladder frame 72, and the ladder frame 72 is slightly pushed up by the lids 122 of the box CS. Figure 23 As shown in (B), the ladder frame 72 rises and approaches the intermediate support 73. Figure 22 (A) As is apparent, the wide portion 122A of each lid 122 of the box CS is in contact with each lid suction cup 77 .

[0131] The control unit 98 calculates the lifting distance based on the distance from the rollers 67 of the lifting frame 66 before lifting to the cover suction cups 77 of the ladder frame 72 and the height of the lids 122 of the box CS. This lifting distance is the sum of the distance of the lifting frame 66 until the lids 122 of the box CS come into contact with the cover suction cups 77 of the ladder frame 72, and the distance (a predetermined value) that the lids 122 push up the cover suction cups 77. The control unit 98 rotates the lifting frame motor 92 of the lifting frame 66, raising the lifting frame 66 by the aforementioned lifting distance, thereby bringing the wide portions 122A of the lids 122 of the box CS into contact with the cover suction cups 77 of the ladder frame 72 (S202).

[0132] At the timing when the wide portion 122A of each cover 122 of the box CS contacts the cover suction cup 77 of the ladder frame 72 (the timing when the lifting frame 66 rises the above-mentioned rising distance), the control unit 98 drives and controls the air pump 93A so that the cover suction cup 77 attracts each cover 122. Then, the control unit 98 drives and controls the lifting frame motor 92 of the lifting frame 66 so that the lifting frame 66 descends a predetermined distance (S203). Figure 24 (A) Figure 24 As shown in (B), the wide portion 122A of each cover 122 of the box CS is lifted by the suction cups 77 of each cover of the ladder frame 72, and each cover 122 of the box CS becomes a half-open state. Figure 25 (A) Figure 25As shown in (B), the wide portion 122A and narrow portion 122B of each cover 122 are in the semi-open position described above, without interfering with the contact roller 86 at the lower end of each lever 85 of the lift and rotation drive unit 74. Specifically, the mounting position and mounting posture of the two frame members 84 relative to the lift and rotation drive unit 74, the mounting position of the lever 85 relative to the frame member 84, and the length of the lever 85 (the position of the contact roller 86 from the frame member 84) are configured so that when each cover 122 is in the semi-open position, the contact roller 86 at the lower end of each lever 85 is located below the uppermost end of the wide portion 122A of each cover 122 in the semi-open position and inward of the wide portion 122A.

[0133] Furthermore, the control unit 98 drives the rotary motor 95 of the lifting and rotating drive unit 74 to Figure 25 As shown in (A), when the rotating unit 71 is viewed from above, the rotating unit 71 starts to rotate in the counterclockwise direction indicated by the arrow around the support shaft 75. Figure 26 、 Figure 27 (A) Figure 27 As shown in (B), the rotating unit 71 is stopped at the 90° rotation position (S204). At this point, the contact rollers 86 at the lower ends of the levers 85 of the lifting and rotating drive unit 74 contact the inner side of the upper end of the wide portion 122A of each cover 122, pressing the wide portion 122A from the inside. As a result, each cover 122 of the box CS is fully opened.

[0134] After each cover 122 of the box CS is opened, the control unit 98 stops the operation of the air pump 93A. As a result, the cover suction cups 77 no longer suck the covers 122. Next, the control unit 98 drives the lifting frame motor 92 of the lifting frame 66 to further lower the lifting frame 66, and drives the rotation motor 95 of the lifting and rotating drive unit 74 to move the rotation unit 71 along the vertical direction. Figure 25 Rotate clockwise, such as Figure 28 As shown, the rotation returns to the original position before the counterclockwise rotation (S205).

[0135] From this state, the control unit 98 drives and controls the elevating frame 66 to move the elevating frame 66 upward until the elevating frame 66 is moved upward. Figure 29 As shown, the suction cups 78 of the ladder frame 72 are moved until they come into contact with the contents (e.g., a pallet) M in the box CS. Next, the control unit 98 drives and controls the air pump 93B so that each suction cup 78 absorbs the contents M. The control unit 98 then drives and controls each lift motor 92 of the lift 66 so that the lift 66 descends until the contents M are in contact with the pallet M. Figure 30As shown, the contents M sucked by the respective contents suction cups 78 reach an upper position outside the box CS.

[0136] Furthermore, the control unit 98 drives and controls the movable frame motor 96 so that the movable frame 88 moves from the above-mentioned outer position to the lower position of the rotation unit 71, and drives and controls the air pump 93B to release the adsorption of the contents M by the respective container suction cups 78. As a result, the contents M are separated from the respective container suction cups 78 and placed on the movable frame 88. The control unit 98 drives and controls the movable frame motor 96 so that the movable frame 88 and the contents M are withdrawn from the lower side of the rotation unit 71, and the movable frame 88 is moved to the above-mentioned outer position so that the movable frame 88 protrudes further outward than the device body 120 of the cover opening and closing device 12 (S206). The protrusion amount of the movable frame 88 is set so that when the movable frame 88 moves to the above-mentioned outer position, the contents M placed on the movable frame 88 moves further outward than the cover opening and closing device 12.

[0137] When the contents M placed on the movable rack 88 are moved to a position further outward than the cover opening and closing device 12 by the movement of the movable rack 88 to the above-mentioned outer position, the contents M are mechanically or manually recovered at this position. For example, when the contents M are composed of a pallet and articles placed on the pallet, the articles are recovered from the pallet at the above-mentioned position by a robot mechanism. At this time, the empty pallet, from which all articles have been recovered, falls down by the action of the movable rack 88 by being detached from the support of the movable rack 88 and is stored in the storage box for storing the pallet. That is, a plurality of empty pallets are recovered into the storage box.

[0138] When there are a plurality of contents M in the box CS, the control unit 98 repeats S206 . The control unit 98 takes out the contents M one by one, and ends S206 when all the contents M in the box CS are taken out.

[0139] At this time, the rotating unit 71 becomes Figure 25 Here, the control unit 98 drives the rotary motor 95 of the lifting and rotating drive unit 74 to rotate the rotating unit 71 in the clockwise direction from this posture, as shown in FIG. Figure 31 As shown in (A), the contact rollers 86 at the lower ends of the rods 85 of the lifting and rotating drive unit 74 are moved to the outside of the lids 122 of the box CS (S208).

[0140] Next, the control unit 98 drives the lifting frame motors 92 of the lifting frame 66 to move the lifting frame 66 upward. Figure 31As shown in (B), each cover 122 of the box CS enters the inner side of the contact roller 86 at the lower end of each rod 85 of the lifting and rotating drive unit 74, and the contact roller 86 moves to a position outside each cover 122 of the box CS (S208).

[0141] Then, when the rotating unit 71 is in Figure 31 In the state shown in (B), the control unit 98 drives the rotary motor 95 of the lifting and rotating drive unit 74 to move the rotary unit 71 along the Figure 31 (B) further rotates clockwise to return to the same Figure 25 In the process of the rotation unit 71 returning to the posture, as shown in FIG. Figure 32 As shown in (B), the contact rollers 86 at the lower ends of the levers 85 of the lifting and rotating drive unit 74 press the upper ends of the wide portions 122A of the lids 122 from the outside. As a result, each lid 122 begins to fall in the closing direction.

[0142] Here, a protrusion mechanism is provided on the side of the device body 120 of the cover opening and closing device 12 (the side on the side opposite to the unmanned guided vehicle 10, and the side wall of the device body 120 portion that is provided in a position that does not interfere with the movement of the moving frame 88). The protrusion mechanism includes: a storage portion provided on the side wall; a rod-shaped protrusion 300, which, starting from a state of being stored in the storage portion, protrudes from the storage portion and reaches a position above the opening portion of the main body 121 of the box CS; and an actuator (not shown) for causing the protrusion to perform the above-mentioned protruding action. The control unit 98 controls the action of the actuator. That is, the protrusion 300 performs the above-mentioned protruding action through an actuator such as a solenoid controlled by the control unit 98. When the cover 122 is pressed from the outside by the contact member 86 , the control unit 98 controls the actuator to move so that the protrusion 300 protrudes above the opening of the main body 121 ( S210 ), for example, at a timing after S209 .

[0143] When each cover 122 begins to fall in the closing direction, as shown in FIG. Figure 33As shown, a portion of each cover body 122 is stopped by the protrusion 300 protruding as described above, so that the movement of each cover body 122 in the closing direction is temporarily stopped. That is, the protrusion 300 is set at a position for a portion of each cover 122 to be stopped. At this time, for example, after a predetermined time has passed from the processing time point of S210 (the predetermined time required for the wide portion 122A of each cover body 122 to reach the protrusion 300 from the processing time point of S210), the control unit 98 controls the operation of the actuator so that the protrusion 300 moves to a position accommodated in the above-mentioned accommodation portion (S211). As a result, the wide portion 122A of each cover body 122 falls down due to its own weight and becomes Figure 19 As shown, the opening of the main body 121 of the box CS is covered to close the opening.

[0144] Then, the control unit 98 drives and controls the elevating frame motors 92 of the elevating frame 66 to move the elevating frame 66 up and down, and moves the elevating frame 66 to a position where the height of the uppermost portion of the peripheral surface of the plurality of rollers 67 is approximately the same as the height of the working unit 23 of the automated guided vehicle 10 ( S212 ).

[0145] Next, the control unit 98 drives and controls the roller motor 91 for rotating the rollers 67 of the lifting frame 66 so that the rollers 67 rotate in the opposite direction to that in S201 , thereby moving the box CS toward the unmanned guided vehicle 10 ( S213 ).

[0146] In the unmanned guided vehicle 10, the control unit 64 controls the movement of the box CS from above the lid opening and closing device 12 toward the unmanned guided vehicle 10 (S214). Specifically, in the unmanned guided vehicle 10, the control unit 64 drives each arm drive motor 45 to extend each arm 42 toward the lid opening and closing device 12. This creates a state where the box CS, located on the lifting frame 66, is positioned between each arm 42. The control unit 64 drives each claw drive motor 56 to extend the first claw 51 on the inner front end of each arm 42. In this state, the control unit 64 drives each arm drive motor 45 to retract each arm 42 from the lid opening and closing device 12 toward the working unit 23. At this point, each first claw 51 is hooked onto the box CS, and the box CS, along with each arm 42, moves from above the lid opening and closing device 12 toward the working unit 23 of the unmanned guided vehicle 10. Thereafter, the control unit 64 causes the unmanned guided vehicle 10 to travel in a predetermined direction.

[0147] In this manner, in the lid opening and closing device 12 of this embodiment, the box CS is transferred from the unmanned guided vehicle 10 onto the rollers 67 of the lifting frame 66. The lifting frame 66 is then raised and lowered, the lids 122 are sucked by the lid suction cups 77 of the ladder frame 72, and the rotary unit 71 is rotated in a predetermined sequence, thereby opening the lids 122. Subsequently, the lifting frame 66 is raised and lowered, the contents within the box CS are sucked by the contents suction cups 78 of the ladder frame 72, and the movable frame 88 is moved in and out in a predetermined sequence, thereby removing the contents. Furthermore, the lifting frame 66 is raised and lowered, the rotary unit 71 is rotated in a predetermined sequence, and thereby closing the lids 122. Therefore, the lid opening and closing device 12 includes the aforementioned mechanisms, making it possible to open and close the lids 122 of the box CS with a simple structure, without the need for an arm robot or the like.

[0148] It should be noted that in the above embodiment, the lifting frame 66 is raised and lowered so that the box CS on each roller 67 of the lifting frame 66 approaches and moves away from the rotating unit 71, but the following structure can also be adopted: the rotating unit 71 is raised and lowered so that the box CS approaches and moves away from the rotating unit 71.

[0149] It should be noted that the use of Figures 1 to 33 The configurations and processes of the above-described embodiment and modified examples are merely examples of the present invention, and the present invention is not limited to these configurations and processes.

Claims

1. A cover opening and closing device, characterized in that: The device includes a rotating unit, which is arranged above the position where the accommodating shell is placed and moves closer to or farther from the accommodating shell. and rotates around a virtual vertical line passing through the housing. The rotating unit comprises: a cover suction cup, which approaches the accommodating shell together with the rotating unit and is adsorbed on the cover of the accommodating shell, and moves together with the rotating unit in a direction away from the accommodating shell to lift and open the cover; and The abutment component is arranged at a position on the rotating unit on the inner side of the cover body lifted by the cover suction cup. When the cover suction cup is detached from the cover body, the abutment component rotates together with the rotating unit and contacts the inner side of the cover body, pressing the cover body from the inner side along the direction in which the cover body opens.

2. The cover opening and closing device according to claim 1, wherein: It includes a lifting frame, which is used to place the accommodating shell and make it rise and fall. The cover opening and closing device moves the lifting frame up and down so that the rotating unit moves closer to or farther from the accommodating case.

3. The cover opening and closing device according to claim 1, wherein: When the cover suction cup is detached from the cover body and the cover body of the accommodating shell is opened, the abutment component is moved together with the rotating unit in a direction away from the cover body, and then the abutment component is rotated together with the rotating unit so that the abutment component is located on the outside of the cover body, and the abutment component is rotated together with the rotating unit to press the cover body from the outside thereof through the abutment component.

4. The cover opening and closing device according to claim 1, wherein: On the device body of the cover opening and closing device, a protrusion mechanism is provided on the side of the device body. The protrusion mechanism includes: a rod-shaped protrusion that protrudes from the side and reaches a position above the opening portion of the accommodating shell placed at the position; and an actuator for causing the protrusion to protrude. Furthermore, the cover opening and closing device further includes a control unit for controlling the action of the actuator. The control unit is further configured to drive the actuator so that the protrusion protrudes to a position above the opening portion of the accommodating case when the cover is pressed from the outside of the cover by the abutting member.

5. The cover opening and closing device according to claim 1, wherein: The cover of the accommodating shell includes: a hollow main body formed of a rectangular parallelepiped with an opening; and a pair of cover bodies, the pair of cover bodies are respectively arranged at the edges of two sides facing each other among the four sides of the main body forming the opening to open and close the opening, and the opening is formed of a rectangular shape when viewed from above. In each of the covers, One of the edges of the cover is rotatably supported on the edge of the main body. Each cover body includes: a wide portion, the width dimension of the wide portion in a direction perpendicular to the direction in which one of the cover body edges extends is set to a predetermined large dimension; and a narrow portion, the width dimension of the narrow portion in a direction perpendicular to the direction in which one of the cover body edges extends is set to a predetermined small dimension smaller than the large dimension, When the opening is closed, the wide portion of one cover body contacts the narrow portion of the other cover body. When the cover suction cup is adsorbed onto the cover body, the cover suction cup is adsorbed onto the outer side of the wide portion of the cover body.

6. The cover opening and closing device according to claim 5, wherein: The abutting member is used to: When the cover is pressed from the inside, it contacts the inside of the wide portion of the cover. When the cover is pressed from the outside, it comes into contact with the outside of the wide portion of the cover.

7. The cover opening and closing device according to claim 1, wherein: The rotating unit comprising a suction cup for containing objects, the suction cup for containing objects being used to absorb the contents in the containing shell, When the cover suction cup is separated from the cover body and the cover body is opened, it moves into the accommodating shell so that the content suction cup is adsorbed onto the content located in the accommodating shell. When the content suction cup adsorbs the content, it moves from the inside of the accommodating shell to the outside of the accommodating shell.

8. The cover opening and closing device according to claim 7, wherein: The movable frame is movable horizontally so as to be able to move in and out freely between the rotating unit and the opened cover of the accommodating shell. After the contents are moved away from the bottom of the storage shell by the suction cup, and the contents are taken out, the movable rack is moved to between the rotating unit and the opened cover of the storage shell, and after the adsorption of the contents by the suction cup is released, the movable rack is moved to the outside from between the rotating unit and the opened cover of the storage shell.

9. An unmanned transport vehicle system, characterized in that: include: The cover opening and closing device according to any one of claims 1 to 8; Conveyors, used to load and transport items; as well as Unmanned transport vehicles, The unmanned transport vehicle comprises: A travel drive unit, configured to rotate the drive wheels of the unmanned guided vehicle to enable the unmanned guided vehicle to travel; a pair of arms, the pair of arms being provided at respective positions on the unmanned guided vehicle on a downstream side and an upstream side of a direction in which the articles are conveyed by the conveyor when the unmanned guided vehicle travels along the conveyor, the pair of arms extending in a direction perpendicular to the conveying direction of the articles and opposing each other at positions spaced apart in the direction in which the articles are conveyed by the conveyor, the distance being equivalent to the width of the articles, the pair of arms reciprocating in the perpendicular direction so as to protrude outward from the unmanned guided vehicle and be pulled into the unmanned guided vehicle from the protruding positions; an arm driving unit for causing the pair of arms to reciprocate in the orthogonal directions; Each first claw portion is provided on the front end side of the pair of arms, protrudes from the arm portion on the front end side toward the space between the pair of arms, and retracts into the interior of the arm portion; a first claw driving unit configured to cause each of the first claws to perform the protruding and retracting actions; and The control unit is used to control the travel drive unit, the arm drive unit and the first claw drive unit to make the unmanned guided vehicle travel along the conveyor at a travel speed higher than the conveying speed of the articles, and to make the arm provided on the upstream side protrude from the unmanned guided vehicle to above the conveyor; when the arm provided on the upstream side moves in the conveying direction to the position of the articles conveyed by the conveyor, the arm provided on the downstream side protrudes from the unmanned guided vehicle to above the conveyor; when the article is present between the pair of arms, the first claws are protruded from the front end sides of the pair of arms to the space between the pair of arms; and then, the pair of arms are pulled into the unmanned guided vehicle from above the conveyor. The control unit is also used to control the travel drive unit, the arm drive unit and the first claw drive unit to move the unmanned transport vehicle to the cover opening and closing device, so that each claw protrudes from the rear end side of the pair of arms to the space between the pair of arms, and the pair of arms are pushed out from the unmanned transport vehicle to the cover opening and closing device side.

10. A container housing whose cover is opened and closed by a cover opening and closing device, wherein: The accommodating shell includes: A hollow main body consisting of a rectangular parallelepiped with an opening is formed; as well as A pair of covers, each of which is provided at edges of two opposing sides of the four sides of the main body forming the opening, to open and close the opening, wherein the opening is rectangular in a plan view. In the pair of covers, One of the edges of the cover is rotatably supported on the edge of the main body. The pair of covers include: a wide portion, the width dimension of the wide portion in a direction perpendicular to the direction in which one of the cover edge portions extends is set to a predetermined large dimension; and a narrow portion, the width dimension of the narrow portion in a direction perpendicular to the direction in which one of the cover edge portions extends is set to a predetermined small dimension smaller than the large dimension, The cover opening and closing device includes a rotating unit, which is arranged above the position where the accommodating shell is placed, approaches or moves away from the accommodating shell, and rotates around a virtual vertical line passing through the accommodating shell. The rotating unit comprises: a cover suction cup, which approaches the accommodating shell together with the rotating unit and is adsorbed on the pair of covers of the accommodating shell, and moves together with the rotating unit in a direction away from the accommodating shell to lift and open the pair of covers; and The abutment member is provided at a position on the rotating unit on the inner side of the pair of cover bodies lifted by the cover suction cup, and when the cover suction cup is detached from the pair of cover bodies, the abutment member rotates together with the rotating unit and contacts the inner side of the pair of cover bodies, pressing the pair of cover bodies from the inner side thereof in the direction in which the pair of cover bodies are opened, When the cover suction cup is sucked onto the cover of the storage case, the cover suction cup is sucked onto the outer sides of the wide portions of the pair of cover.

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