Transport system, transport jig, and transport method

Abstract

To transport objects of various shapes.SOLUTION: A transport system 1 comprises: a transport jig 30 including an annular portion at least part of which is flexible, a non-flexible member provided on the annular portion, and a connector for connecting or opening part of the annular portion; and a transport device 10 including a suction device (electromagnet 13), support claws 12, and a control device 14 which, with part of the annular portion connected by the connector and the annular portion connected to a transported object (suitcase 2), attracts and pulls up the non-flexible member using the suction device (electromagnet 13), and, with the non-flexible member pulled up, passes the support claws 12 through the closed loop formed by the annular portion, and, with the annular portion supported by the support claws 12, transports the transported object (suitcase 2) using the support claws 12.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a transport system, a transport jig, and a transport method. [Background technology]

[0002] Conventionally, techniques for transporting an object such as luggage have been proposed. For example, Patent Document 1 discloses a technique for transporting an object while hoisting it with a hoisting cord. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 1-156204 Summary of the Invention [Problem to be solved by the invention]

[0004] The shapes of the objects to be transported are not necessarily the same among a plurality of objects, and may differ from one another. Therefore, it is desirable to be able to adapt to the shapes of the objects and transport objects of various shapes.

[0005] An object of the present disclosure is to provide a transport system, a transport jig, and a transport method capable of transporting objects of various shapes. [Means for solving the problem]

[0006] In order to solve the above problems, the conveying system disclosed herein comprises a conveying jig including a ring-shaped portion having at least partial flexibility, a non-flexible member provided on the ring-shaped portion, and a connector that connects or opens a portion of the ring-shaped portion, a suction device, support claws, and a conveying device including a control device that, with a portion of the ring-shaped portion connected by the connector and the ring-shaped portion connected to a conveyed object, sucks and pulls up the non-flexible member using the suction device, and with the non-flexible member pulled up, passes the support claws through the closed loop formed by the ring-shaped portion, and transports the conveyed object using the support claws while the ring-shaped portion is supported by the support claws.

[0007] The annular portion includes a first annular portion having at least partial flexibility, and a second annular portion connected to the first annular portion and having at least partial flexibility, the non-flexible member is provided on the first annular portion, the connector connects or opens a portion of the second annular portion, and the control device may, when a portion of the second annular portion is connected by the connector and the second annular portion is connected to the transported object, suck and pull up the non-flexible member with a suction device, and, when the non-flexible member is pulled up, pass a support claw through the closed loop formed by the first annular portion, and transport the transported object with the support claw supporting the first annular portion.

[0008] The non-flexible member may be a ferromagnetic material and the attraction device may be an electromagnet.

[0009] The conveying device may include a robot arm having a link portion to which a support claw and an electromagnet are attached, and a shaft extending in the axial direction of the link portion is provided inside or on the side of the link portion so as to be slidable in the axial direction, and the electromagnet may be connected to the shaft and arranged coaxially with the link portion.

[0010] The control device may identify the attitude of the non-flexible member and change the attitude of the support claws relative to the transport jig in accordance with the attitude of the non-flexible member.

[0011] The conveying system may include a camera, and the non-flexible member may be provided with a mark, and the control device may identify the posture of the non-flexible member based on an image captured by the camera and showing the mark.

[0012] In order to solve the above problems, the transportation jig disclosed herein comprises a ring-shaped portion that is at least partially flexible, a non-flexible member provided in the ring-shaped portion, and a connector that connects or opens a portion of the ring-shaped portion.

[0013] In order to solve the above problems, the conveying method disclosed herein includes connecting a portion of the annular portion to a conveying object by connecting the annular portion with a connector of a conveying jig, the connector including a ring-shaped portion having at least partial flexibility, a non-flexible member provided on the ring-shaped portion, and a connector that connects or opens a portion of the ring-shaped portion; with the portion of the annular portion connected by the connector and the ring-shaped portion connected to the conveyed object, a control device sucks and pulls up the non-flexible member with a suction device; with the non-flexible member pulled up, the control device passes a support claw through a closed loop formed by the ring-shaped portion; and with the ring-shaped portion supported by the support claw, the control device conveys the conveyed object using the support claw. Effect of the Invention

[0014] According to the present disclosure, objects of various shapes can be transported. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a schematic diagram illustrating a transport system according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a schematic diagram showing a tip portion of a robot arm according to an embodiment of the present disclosure. [Diagram 3] FIG. 3 is a schematic diagram showing a tip portion of a robot arm in an example different from the example in FIG. [Figure 4] FIG. 4 is a schematic diagram illustrating a transportation jig according to an embodiment of the present disclosure. [Diagram 5]FIG. 5 is a schematic diagram showing an iron buckle according to an embodiment of the present disclosure. [Figure 6] FIG. 6 is a diagram for explaining the attachment step in the conveying method according to the embodiment of the present disclosure. [Figure 7] FIG. 7 is a diagram for explaining the suction step in the conveying method according to the embodiment of the present disclosure. [Figure 8] FIG. 8 is a diagram for explaining the suction step in the conveying method according to the embodiment of the present disclosure. [Figure 9] FIG. 9 is a diagram for explaining the suction step in the conveying method according to the embodiment of the present disclosure. [Figure 10] FIG. 10 is a diagram for explaining the suction step in the conveying method according to the embodiment of the present disclosure. [Figure 11] FIG. 11 is a diagram for explaining the supporting step in the conveying method according to the embodiment of the present disclosure. [Figure 12] FIG. 12 is a diagram for explaining the supporting step in the conveying method according to the embodiment of the present disclosure. [Figure 13] FIG. 13 is a schematic diagram showing a transportation jig according to a first modified example of the present disclosure. [Figure 14] FIG. 14 is a schematic diagram showing a transportation jig according to a second modified example of the present disclosure. [Figure 15] FIG. 15 is a schematic diagram showing a transportation jig according to a third modified example of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, an embodiment of the present disclosure will be described with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values ​​shown in the embodiments are merely examples for ease of understanding, and do not limit the present disclosure unless otherwise specified. In this specification and drawings, elements having substantially the same functions and configurations are given the same reference numerals to avoid repeated explanations, and elements not directly related to the present disclosure are not illustrated.

[0017] 1 is a schematic diagram showing a conveying system 1 according to this embodiment. The conveying system 1 is used in an airport, and is a system for conveying a suitcase 2, which is an object to be conveyed. For example, the conveying system 1 is used when moving the suitcase 2 into a container in order to load the suitcase 2 onto an airplane before the airplane departs. For example, the conveying system 1 is used when unloading the container in which the suitcase 2 is accommodated from the airplane after the airplane arrives, and removing the suitcase 2 from the container.

[0018] The shape of the suitcase 2 to be transported is not necessarily the same among a plurality of suitcases 2, but may be different. Therefore, it is desirable to be able to adapt to the shape of the suitcase 2 and transport suitcases 2 of various shapes. The transport system 1 is a system that has been devised so that it can transport suitcases 2 of various shapes, as described below.

[0019] In the following, an example will be described in which the transported object is a suitcase 2. However, the transported object to be transported by the transport system 1 may be something other than the suitcase 2.

[0020] 1, the conveying system 1 includes a conveying device 10, a camera 20, and a conveying jig 30. In the conveying system 1, the conveying device 10 conveys the suitcase 2 via the conveying jig 30, with the conveying jig 30 attached to the suitcase 2. The camera 20 is used auxiliary in the conveying of the suitcase 2 by the conveying device 10, as described below.

[0021] The transport device 10 includes a robot arm 11, a support claw 12, an electromagnet 13, and a control device 14. The robot arm 11 is merely one example of a device for moving the support claw 12 and the electromagnet 13, and is not limited to the example shown in FIG.

[0022] The robot arm 11 has a plurality of link portions 11a, 11b, 11c, and 11d, a plurality of joint portions 11e, 11f, and 11g, and a base portion 11h. The link portions 11a, 11b, 11c, and 11d are rod-shaped members. The link portion 11a extends in the vertical direction. The base end of the link portion 11a is attached to the upper surface of the base portion 11h. The base portion 11h is placed on the ground. The link portion 11a is provided so as to be rotatable about the central axis of the link portion 11a.

[0023] The tip of the link portion 11a is connected to the base end of the link portion 11b via the joint portion 11e. The joint portion 11e is provided so as to be rotatable around a horizontal axis. By the rotational movement of the joint portion 11e, the link portion 11b rotates around the rotation axis of the joint portion 11e.

[0024] The tip of link portion 11b is connected to the base end of link portion 11c via joint portion 11f. Joint portion 11f is provided so as to be rotatable around a horizontal axis. By the rotational movement of joint portion 11f, link portion 11c rotates around the rotation axis of joint portion 11f. Link portion 11c is provided so as to be rotatable around the central axis of link portion 11c.

[0025] The tip of the link portion 11c is connected to the base end of the link portion 11d via the joint portion 11g. The joint portion 11g is provided so as to be rotatable around an axis in the radial direction of the link portion 11c. By the rotational movement of the joint portion 11g, the link portion 11d rotates around the rotation axis of the joint portion 11g.

[0026] Link portion 11d is provided so as to be rotatable about the center line of link portion 11d. Support claw 12 and electromagnet 13 are attached to the tip of link portion 11d. Electromagnet 13 corresponds to an example of a suction device that attracts an object.

[0027] FIG. 2 is a schematic diagram showing the tip of the robot arm 11 according to this embodiment.

[0028] As shown in FIG. 2, two support claws 12 are attached to the tip of the link portion 11d. Each support claw 12 has, for example, a bent thin plate shape. The two support claws 12 are provided at a distance from each other in the radial direction of the link portion 11d. Each support claw 12 is provided rotatably about a rotation axis 15 along a direction perpendicular to the distance direction of the two support claws 12. The state of FIG. 2 corresponds to a state in which the support claws 12 are open. In this state, the tips of the support claws 12 are separated from each other. When the support claws 12 rotate from this state in a direction in which the tips of the support claws 12 approach each other, the support claws 12 are closed. In this state, a closed loop is formed by the two support claws 12, as described later.

[0029] However, the number and shape of the support claws 12 are not limited to the example in Fig. 2. For example, the number of support claws 12 may be one, or may be three or more. For example, the shape of the support claws 12 may be different from the shape in Fig. 2.

[0030] As shown in FIG. 2, the electromagnet 13 is connected to the tip of the shaft 16. The shaft 16 is slidably provided inside the link portion 11d. The shaft 16 extends in the axial direction of the link portion 11d and is slidable in the axial direction. In the example of FIG. 2, the shaft 16 is arranged coaxially with the link portion 11d. The tip side of the shaft 16 protrudes outside the link portion 11d. The position of the electromagnet 13 changes when the shaft 16 moves. The electromagnet 13 is arranged coaxially with the shaft 16. Therefore, when the shaft 16 moves, the electromagnet 13 moves on the central axis of the shaft 16. As a result, the electromagnet 13 can be moved while maintaining the distance between the electromagnet 13 and each support claw 12 equal, so that the support of the transport jig 30 described later, which is performed using the support claws 12 and the electromagnet 13, can be stably realized.

[0031] FIG. 3 is a schematic diagram showing the tip of the robot arm 11 in an example different from the example of FIG. 2. In the example of FIG. 3, the shaft 16 is slidably provided on the side of the link portion 11d. The shaft 16 extends in the axial direction of the link portion 11d as in the example of FIG. 2 and is slidable in the axial direction. In the example of FIG. 3, the tip of the shaft 16 and the electromagnet 13 are connected via a connecting member 17. The connecting member 17 has, for example, a flat plate shape. The connecting member 17 extends on a plane perpendicular to the axial direction of the link portion 11d and extends from the outer side of the outer circumferential surface of the link portion 11d to near the central axis of the link portion 11d. The electromagnet 13 is arranged coaxially with the shaft 16 as in the example of FIG. 2. Therefore, when the shaft 16 moves, the electromagnet 13 moves on the central axis of the shaft 16. In the example of FIG. 3, unlike the example of FIG. 2, the shaft 16 is provided on the side of the link portion 11d, so that the workload of attaching the shaft 16 and the electromagnet 13 to the robot arm 11 can be reduced.

[0032] In the following, the example in Fig. 2 will be mainly described as an example, however, the tip of the robot arm 11 in the example described below may be changed to the example in Fig. 3.

[0033] Returning to Figure 1, the explanation will be continued below.

[0034] The control device 14 includes a central processing unit (CPU), a ROM in which programs and the like are stored, a RAM as a work area, and the like, and controls the entire conveyance device 10.

[0035] The control device 14 controls the operation of the robot arm 11. For example, the control device 14 controls each motor (not shown) of the robot arm 11 to control the rotational operation of the link portion 11a, the joint portion 11e, the joint portion 11f, the link portion 11c, the joint portion 11g, and the link portion 11d. This controls the position and posture of the support claw 12 and the position and posture of the electromagnet 13.

[0036] The control device 14 controls the operation of the support claws 12. For example, the control device 14 controls a motor (not shown) connected to the support claws 12, thereby controlling the rotational operation of the support claws 12.

[0037] The control device 14 controls the operation of the electromagnet 13. For example, the control device 14 controls a driving source (not shown) connected to the shaft 16 to move the shaft 16 and adjust the position of the electromagnet 13. For example, the control device 14 controls the state of current supply to the electromagnet 13 to control the magnetic force generated by the electromagnet 13.

[0038] The camera 20 captures an image of the entire space in which the suitcase 2 to be transported is placed. In particular, the camera 20 can capture an image of the transport jig 30 attached to the suitcase 2. The image obtained by the camera 20 is output to the control device 14. The control device 14 can obtain various information by performing image processing on the image obtained by the camera 20.

[0039] 4 is a schematic diagram showing a transport jig 30 according to this embodiment. As shown in FIG 4, the transport jig 30 includes two belts 31, a first belt 31a and a second belt 31b, a steel buckle 32, a non-steel buckle 33, and a connector 34.

[0040] The belt 31 is a band-shaped member having a certain width. The belt 31 corresponds to an example of a circular portion having at least partial flexibility. The first belt 31a is flexible and has an endless ring shape. The first belt 31a corresponds to an example of a first circular portion. The second belt 31b is flexible and has an endless ring shape. The second belt 31b corresponds to an example of a second circular portion. However, as described later, the circular portion may be formed not only by the belt 31 but also by the belt 31 and another member.

[0041] The iron buckle 32 is made of an iron material. The iron buckle 32 is a non-flexible member that does not have flexibility. The iron buckle 32 is a ferromagnetic body. The iron buckle 32 is provided on the first belt 31a.

[0042] Fig. 5 is a schematic diagram showing an iron buckle 32 according to this embodiment. As shown in Fig. 5, the iron buckle 32 has, for example, a rectangular flat plate shape. The iron buckle 32 is provided with slits 32a and 32b and six circular marks 32c.

[0043] The slits 32a and 32b are elongated through holes. The slits 32a and 32b penetrate the iron buckle 32 in the thickness direction of the iron buckle 32. The slit 32a extends along the left side of the iron buckle 32 in FIG. 5. The slit 32b extends along the right side of the iron buckle 32 in FIG. 5. The slits 32a and 32b extend parallel to each other. The slits 32a and 32b are spaced apart from each other in a direction perpendicular to the extension direction of each slit. In the example of FIG. 5, the slits 32a and 32b are spaced apart from each other in the left-right direction. As shown in FIG. 4, the first belt 31a is inserted through the slits 32a and 32b of the iron buckle 32. Thereby, the first belt 31a and the iron buckle 32 are connected.

[0044] However, the configuration of the connection portion between the first belt 31a and the iron buckle 32 is not limited to the example in Fig. 4. For example, three or more slits may be provided in the iron buckle 32, and the first belt 31a may be inserted through the three or more slits.

[0045] The three marks 32c are arranged at intervals along the upper side of the iron buckle 32 in FIG. 5. The other three marks 32c are arranged at intervals along the lower side of the iron buckle 32 in FIG. 5. As described below, the control device 14 can identify the posture of the iron buckle 32 based on an image of the marks 32c obtained by the camera 20. The marks 32c are used as an index for identifying the extension direction of the first belt 31a in the vicinity of the iron buckle 32. For example, in FIG. 5, the extension direction of the first belt 31a in the vicinity of the iron buckle 32 is the left-right direction. This extension direction can be identified using the result of identifying the posture of the iron buckle 32.

[0046] However, the number, shape, and arrangement of the marks 32c provided on the iron buckle 32 are not limited to the example in FIG. 5. For example, the number of marks 32c may be other than six. For example, the shape of each mark 32c may be a shape other than a circle, such as a polygon. For example, multiple marks 32c may be arranged along the vertical direction in FIG. 5.

[0047] Returning to FIG. 4, the explanation will be continued below.

[0048] The non-ferrous buckle 33 is made of a non-ferrous material such as aluminum or resin. The non-ferrous buckle 33 is a non-flexible member that does not have flexibility. The non-ferrous buckle 33 is a non-magnetic material. The non-ferrous buckle 33 has, for example, a rectangular flat plate shape.

[0049] The non-ferrous buckle 33 is provided with slits 33a, 33b, 33c, and 33d. The slits 33a, 33b, 33c, and 33d are elongated through holes. The slits 33a, 33b, 33c, and 33d penetrate the non-ferrous buckle 33 in the thickness direction of the non-ferrous buckle 33. The slits 33a, 33b, 33c, and 33d extend parallel to each other. The slits 33a, 33b, 33c, and 33d are spaced apart from each other in a direction perpendicular to the extension direction of each slit. The slits 33a, 33b, 33c, and 33d are arranged in this order from one side to the other side of the non-ferrous buckle 33.

[0050] The first belt 31a is inserted through slits 33a and 33d of the non-ferrous buckle 33. This connects the first belt 31a and the non-ferrous buckle 33. The second belt 31b is inserted through slits 33b and 33c of the non-ferrous buckle 33. This connects the second belt 31b and the non-ferrous buckle 33. The first belt 31a and the second belt 31b are then connected via the non-ferrous buckle 33.

[0051] However, the configuration of the connection portion between each belt 31 and the non-ferrous buckle 33 is not limited to the example of FIG. 4. For example, each belt 31 may be inserted through three or more slits. For example, the first belt 31a may be inserted through the slits 33b and 33c, and the second belt 31b may be inserted through the slits 33a and 33d. However, as described later, when the iron buckle 32 is pulled up, the support claw 12 is passed through the closed loop formed by the first belt 31a. In this state, from the viewpoint of enlarging the closed loop formed by the first belt 31a, it is preferable that the first belt 31a is inserted through the two slits 33a and 33d that are the longest apart from each other among the slits 33a, 33b, 33c, and 33d.

[0052] A connector 34 is provided at an end of the second belt 31b. A part of the connector 34 is provided at one end of the second belt 31b. The other part of the connector 34 is provided at the other end of the second belt 31b. FIG. 4 shows a state in which the connector 34 is not connected and the end of the second belt 31b is opened by the connector 34. By connecting the connector 34, the ends of the second belt 31b can be linked.

[0053] A transportation method using the transportation system 1 according to this embodiment will be described below. The transportation method according to this embodiment includes an attachment step, a suction step, a support step, and a transportation step. The attachment step, suction step, support step, and transportation step are performed in this order. The attachment step is a step of attaching the transportation jig 30 to the suitcase 2. The suction step is a step of attracting and lifting the iron buckle 32 with the electromagnet 13. The support step is a step of supporting the transportation jig 30 with the support claws 12. The transportation step is a step of transporting the suitcase 2 with the support claws 12. Each step will be described in detail below with reference to Figs. 6 to 12.

[0054] 6 is a diagram for explaining the attachment step in the conveying method according to the present embodiment. In the attachment step, a worker connects the ends of the second belt 31b with the connector 34, and connects the second belt 31b to the suitcase 2. An example of a worker who performs the attachment step is a worker at an airport. However, the worker who performs the attachment step may also be the owner of the suitcase 2.

[0055] In the attachment process, for example, first, the worker removes the connector 34 and releases the end of the second belt 31b. Next, the worker inserts the second belt 31b into the handle 2a of the suitcase 2 as shown in FIG. 6. Next, the worker connects the connector 34 and joins the end of the second belt 31b. Thus, the second belt 31b is connected to the suitcase 2.

[0056] However, the second belt 31b may be connected to a portion other than the handle 2a of the suitcase 2. For example, the second belt 31b may be connected to a band 3 wound around the suitcase 2.

[0057] 7 to 10 are diagrams for explaining the suction step in the conveying method according to this embodiment. The suction step is performed after the attachment step. The suction step is performed in a state where the ends of the second belt 31b are connected by the connector 34 and the second belt 31b is connected to the suitcase 2. In the suction step, the control device 14 attracts and pulls up the iron buckle 32 by the electromagnet 13. In the suction step, the state of the conveying system 1 transitions from the state in Figs. 7 and 8 to the state in Figs. 9 and 10.

[0058] 7 to 10, the suitcase 2 and the second belt 31b of the transport jig 30 are omitted. 7 and 9 are views of the transport jig 30 seen in the extension direction of the first belt 31a in the vicinity of the iron buckle 32 (for example, the left-right direction in FIG. 5). The extension direction of the first belt 31a in the vicinity of the iron buckle 32 means, for example, the extension direction of the portion of the first belt 31a between the slits 32a and 32b of the iron buckle 32. FIG. 8 is a view of the transport jig 30 in the state of FIG. 7 seen in a direction D1 perpendicular to the extension direction of the first belt 31a in the vicinity of the iron buckle 32. FIG. 10 is a view of the transport jig 30 in the state of FIG. 9 seen in a direction D2 perpendicular to the extension direction of the first belt 31a in the vicinity of the iron buckle 32.

[0059] In the suction process, for example, first, the control device 14 identifies the posture of the iron buckle 32. For example, the control device 14 identifies the posture of the iron buckle 32 based on an image captured by the camera 20 and showing the marks 32c. Specifically, the control device 14 extracts each mark 32c by applying image processing to the image, and can identify the posture of the iron buckle 32 based on the arrangement of the marks 32c.

[0060] Then, the control device 14 changes the attitude of the support claw 12 relative to the transport jig 30 according to the attitude of the iron buckle 32. For example, the control device 14 controls the robot arm 11 so that the direction of the rotation axis 15 of the support claw 12 approaches a direction parallel to the extension direction of the first belt 31a in the vicinity of the iron buckle 32. The control device 14 also controls the robot arm 11 so that the support claw 12 and the electromagnet 13 are located in the vicinity of the iron buckle 32. For example, the control device 14 controls the robot arm 11 so that the electromagnet 13 faces the iron buckle 32.

[0061] Next, as shown in FIG. 7, the control device 14 moves the shaft 16 in a direction approaching the iron buckle 32, and brings the electromagnet 13 closer to the iron buckle 32. In the attraction process, as shown in FIG. 7 and FIG. 9, the support claws 12 are in an open state. Therefore, the electromagnet 13 can pass between the two support claws 12. When the electromagnet 13 approaches the iron buckle 32, the control device 14 causes the electromagnet 13 to generate a magnetic force. This causes the iron buckle 32 to be attracted to the electromagnet 13. However, the control device 14 may also cause the electromagnet 13 to approach the iron buckle 32 while the electromagnet 13 is generating a magnetic force. When the iron buckle 32 is attracted to the electromagnet 13, an impact is applied to the electromagnet 13. In order to mitigate this impact, it is preferable to provide a buffer member such as a spring between the electromagnet 13 and the shaft 16.

[0062] As shown in FIG. 8, when the iron buckle 32 is attracted to the electromagnet 13, the area of ​​the closed loop formed by the first belt 31a is small. In this state, it is difficult to pass the support claw 12 through the closed loop formed by the first belt 31a. Therefore, after the iron buckle 32 is attracted by the electromagnet 13, the control device 14 moves the shaft 16 toward the inside of the link portion 11d as shown in FIG. 9, and moves the electromagnet 13 closer to the link portion 11d. As a result, the iron buckle 32 moves together with the electromagnet 13 in a direction toward the link portion 11d. Since the non-ferrous buckle 33 is a non-magnetic material, the magnetic force of the electromagnet 13 does not act on it, it does not move together with the electromagnet 13, and even if the electromagnet 13 is pulled up, it just hangs down due to its own weight. Therefore, the distance between the iron buckle 32 and the non-ferrous buckle 33 increases. This increases the area of ​​the closed loop formed by the first belt 31a, as shown in FIG.

[0063] 11 and 12 are diagrams for explaining the supporting step in the conveying method according to this embodiment. The supporting step is performed after the suction step. The supporting step is performed with the iron buckle 32 pulled up. In the supporting step, the control device 14 passes the supporting claws 12 through the closed loop formed by the first belt 31a, and supports the first belt 31a with the supporting claws 12. In the supporting step, the state of the conveying system 1 transitions from the state in FIG. 11 to the state in FIG. 12.

[0064] 11 and 12 omit illustration of the suitcase 2 and the second belt 31b of the transportation jig 30. Figures 11 and 12 are views of the transportation jig 30 seen in the extension direction of the first belt 31a in the vicinity of the iron buckle 32 (for example, the left-right direction in FIG. 5).

[0065] In the supporting step, for example, first, as shown in Fig. 11, the control device 14 rotates each of the support claws 12 from the state shown in Fig. 9 in a direction in which the tip of each of the support claws 12 approaches (see arrow A1 in Fig. 9). As a result, the support claws 12 are passed through the closed loop formed by the first belt 31a, and the support claws 12 are in a closed state. Specifically, the left support claw 12 in Fig. 11 is passed through the closed loop formed by the first belt 31a from the left side. The right support claw 12 in Fig. 11 is passed through the closed loop formed by the first belt 31a from the right side.

[0066] In the example of Fig. 11, the tip of each support claw 12 passes beyond the closed loop formed by the first belt 31a. Specifically, the tip of the left support claw 12 in Fig. 11 is located to the right of the first belt 31a. The tip of the right support claw 12 in Fig. 11 is located to the left of the first belt 31a. However, the tip of each support claw 12 does not have to pass beyond the closed loop formed by the first belt 31a.

[0067] Then, the control device 14 stops the generation of magnetic force by the electromagnet 13. This causes the iron buckle 32 to no longer be attracted by the electromagnet 13. Therefore, as shown in Fig. 12, the iron buckle 32 moves downward by its own weight and comes into contact with the support claw 12. Therefore, the first belt 31a is supported by the support claw 12.

[0068] The transporting step is performed after the supporting step. The transporting step is performed in a state in which the first belt 31a is supported by the supporting claws 12. In the transporting step, the control device 14 transports the suitcase 2 by the supporting claws 12.

[0069] In the transport process, for example, the control device 14 maintains the states of the support claws 12 and the electromagnets 13 in the state shown in Fig. 12. Specifically, the control device 14 maintains the support claws 12 in a closed state, and maintains a state in which the generation of magnetic force by the electromagnets 13 is stopped. This maintains a state in which the suitcase 2 is supported by the support claws 12 via the first belts 31a. Therefore, when the support claws 12 are moved, the suitcase 2 moves integrally with the support claws 12. Then, the control device 14 controls the robot arm 11 to move the support claws 12. This allows the suitcase 2 to be transported.

[0070] For example, the control device 14 moves the suitcase 2 to directly above a predetermined target position. Thereafter, the control device 14 controls the robot arm 11 so that the suitcase 2 lands. Then, when the control device 14 determines that the suitcase 2 has landed, it rotates each of the support claws 12 so that the support claws 12 are in an open state. For example, the control device 14 can determine whether the suitcase 2 has landed or not based on the detection result of a load cell (not shown) provided on the robot arm 11. When the support claws 12 are in an open state, the iron buckle 32 comes off the support claws 12 and moves downward due to its own weight. Therefore, the support of the first belt 31a by the support claws 12 is released.

[0071] In the above, an example has been described in which the non-flexible member attracted by the suction device is the iron buckle 32 which is a ferromagnetic body, and the suction device is the electromagnet 13. However, the non-flexible member provided on the belt 31 may be attracted by a force other than a magnetic force. For example, the non-flexible member provided on the belt 31 may be attracted by vacuum suction. In this case, the attracted non-flexible member may be a non-magnetic body.

[0072] In the above, an example has been described in which one transport jig 30 is used for one suitcase 2. However, the suitcase 2 may be transported with multiple transport jigs 30 attached to it. In this case, for example, one transport jig 30 may be supported by the support claws 12 of one robot arm 11, or multiple transport jigs 30 may be collectively supported by the support claws 12 of one robot arm 11.

[0073] In the above, an example has been described in which the position of the iron buckle 32 is identified based on an image captured by the camera 20 and showing the mark 32c. However, the method of identifying the position of the iron buckle 32 is not limited to the above example. For example, a portion with a characteristic shape such as a zigzag may be provided on the outer periphery of the iron buckle 32, and the control device 14 may extract the outer periphery of the iron buckle 32 by performing image processing on the image captured by the camera 20 and showing the iron buckle 32, and identify the position of the iron buckle 32 based on the position of the portion with the characteristic shape. In this case, the mark 32c may not be provided on the iron buckle 32.

[0074] The configuration of the transportation jig 30 has been described above with reference to Fig. 4. However, the configuration of the transportation jig 30 is not limited to the example in Fig. 4. Various modified examples of the transportation jig 30 will be described below with reference to Figs. 13 to 15.

[0075] Fig. 13 is a schematic diagram showing a transport jig 30A according to a first modified example. As shown in Fig. 13, the transport jig 30A is different from the transport jig 30 described above in that the first belt 31a is connected to the iron buckle 32 and the non-ferrous buckle 33 without being inserted therethrough, and the second belt 31b is connected to the non-ferrous buckle 33 without being inserted therethrough.

[0076] In the transport jig 30A, two first belts 31a are connected via an iron buckle 32 and a non-iron buckle 33. The ends of the first belt 31a on the left in FIG. 13 are connected to the slits 32a of the iron buckle 32 and the slits 33a of the non-iron buckle 33, respectively. The ends of the first belt 31a on the right in FIG. 13 are connected to the slits 32b of the iron buckle 32 and the slits 33d of the non-iron buckle 33, respectively. The second belt 31b is divided between the slits 33b and 33c of the non-iron buckle 33.

[0077] In the transportation method using the transportation jig 30A, a part of the annular portion including the second belt 31b and the non-ferrous buckle 33 is connected by the connector 34, and the annular portion is connected to the suitcase 2. Then, the support claw 12 is passed through the closed loop formed by the annular portion including the two first belts 31a, the iron buckle 32, and the non-ferrous buckle 33, and the annular portion is supported by the support claw 12.

[0078] Fig. 14 is a schematic diagram showing a transportation jig 30B according to a second modified example. As shown in Fig. 14, the transportation jig 30B differs from the transportation jig 30 described above in that the non-ferrous buckle 33 is omitted.

[0079] In the conveying jig 30B, the first belt 31a and the second belt 31b are directly connected to each other. Specifically, the second belt 31b is connected to the first portion 31a1 and the second portion 31a2 of the first belt 31a. The second belt 31b is separated between the first portion 31a1 and the second portion 31a2 of the first belt 31a.

[0080] In the conveying method using the conveying jig 30B, the second belt 31b and a part of the annular portion including the portion of the first belt 31a between the first portion 31a1 and the second portion 31a2 are connected by the connector 34, and the annular portion is connected to the suitcase 2. Then, the support claws 12 are passed through the closed loop formed by the first belt 31a, and the first belt 31a is supported by the support claws 12.

[0081] As described above, the non-ferrous buckle 33 does not have to be provided. However, from the viewpoint of making the closed loop formed by the first belt 31a have a stable shape, it is preferable to provide the non-ferrous buckle 33. When the non-ferrous buckle 33 is provided, the upper and lower sides of the rectangular closed loop formed by the first belt 31a are stably formed by the iron buckle 32 and the non-ferrous buckle 33, respectively. This allows the closed loop formed by the first belt 31a to be stably rectangular, making it easier to ensure the size of the closed loop.

[0082] Fig. 15 is a schematic diagram showing a transport jig 30C according to a third modified example. As shown in Fig. 15, the transport jig 30C differs from the transport jig 30 described above in that the second belt 31b and the non-ferrous buckle 33 are omitted.

[0083] In the conveying jig 30C, the first belt 31a has a ring shape with ends. A connector 34 is provided at an end of the first belt 31a. A part of the connector 34 is provided at one end of the first belt 31a. The other part of the connector 34 is provided at the other end of the first belt 31a. FIG. 15 shows a state in which the connector 34 is not connected and the end of the first belt 31a is opened by the connector 34. By connecting the connector 34, the ends of the first belt 31a can be connected.

[0084] In the transport method using the transport jig 30C, the ends of the first belt 31a are connected by the connector 34, and the first belt 31a is connected to the suitcase 2. Then, the support claws 12 are passed through the closed loop formed by the first belt 31a, and the first belt 31a is supported by the support claws 12.

[0085] As described above, the conveying system 1 according to the present embodiment includes the conveying jig 30 and the conveying device 10. The conveying jig 30 includes a ring-shaped part (in the above example, the belt 31) having at least partial flexibility, a non-flexible member (in the above example, the iron buckle 32) provided on the ring-shaped part, and a connector 34 for connecting or opening a part of the ring-shaped part. The conveying device 10 includes a suction device (in the above example, the electromagnet 13), the support claws 12, and a control device 14. The control device 14 sucks and pulls up the non-flexible member with the suction device in a state in which a part of the ring-shaped part is connected by the connector 34 and the ring-shaped part is connected to the conveyed object (in the above example, the suitcase 2), and in a state in which the non-flexible member is pulled up, passes the support claws 12 through the closed loop formed by the ring-shaped part, and conveys the conveyed object with the support claws 12 in a state in which the ring-shaped part is supported by the support claws 12.

[0086] As a conveying method other than the conveying method according to the present embodiment, for example, there is a method in which the outer surface of the conveyed object is sucked by vacuum suction and the conveyed object is conveyed in that state. In this method, depending on the shape of the conveyed object, it may be difficult to suck the conveyed object and to convey the conveyed object. On the other hand, according to the conveying system 1 according to the present embodiment, the conveyed object can be supported and conveyed via the conveying jig 30 attached to the conveyed object using the connector 34. The attachment of the conveying jig 30 to the conveyed object using the connector 34 can be performed regardless of the shape of the conveyed object. Therefore, conveyed objects of various shapes can be conveyed.

[0087] In particular, in the conveying system 1 according to the present embodiment, the annular portion includes a first annular portion (in the above example, the first belt 31a) having at least partial flexibility, and a second annular portion (in the above example, the second belt 31b) connected to the first annular portion and having at least partial flexibility. The non-flexible member is provided on the first annular portion. The connector 34 connects or opens a part of the second annular portion. The control device 14, in a state in which a part of the second annular portion is connected by the connector 34 and the second annular portion is connected to the conveyed object, sucks and pulls up the non-flexible member by the suction device, and in a state in which the non-flexible member is pulled up, passes the support claws 12 through the closed loop formed by the first annular portion, and conveys the conveyed object by the support claws 12 in a state in which the first annular portion is supported by the support claws 12. Thereby, the function of forming a closed loop supported by the support claws 12 and the function of attaching the conveying jig 30 to the conveyed object can be shared between the first annular portion and the second annular portion. Therefore, the shape of the closed loop supported by the supporting claws 12 can be stabilized, and the work of attaching the transport jig 30 to the transported object can be facilitated.

[0088] In particular, in the conveying system 1 according to this embodiment, the non-flexible member is a ferromagnetic material (in the above example, the iron buckle 32). The suction device is an electromagnet 13. This allows the non-flexible member to be pulled up using magnetic force. This allows the non-flexible member to be pulled up appropriately. Furthermore, compared to the case where suction is performed by vacuum suction, for example, the device can be made smaller and the cost can be reduced. When the non-flexible member is a ferromagnetic material, the material of the non-flexible member may be other than iron.

[0089] In particular, in the conveying system 1 according to this embodiment, the control device 14 identifies the attitude of the non-flexible member and changes the attitude of the support claws 12 relative to the conveying jig 30 according to the attitude of the non-flexible member. This makes it possible to suppress interference of the support claws 12 with the annular portion when the support claws 12 are passed through the closed loop formed by the annular portion.

[0090] In particular, the conveying system 1 according to this embodiment includes a camera 20. A mark 32c is provided on the non-flexible member. The control device 14 identifies the posture of the non-flexible member based on an image captured by the camera 20 and showing the mark 32c. This makes it possible to identify the posture of the non-flexible member with high accuracy. Therefore, when the support claws 12 are passed through the closed loop formed by the annular portion, interference of the support claws 12 with the annular portion can be more effectively suppressed.

[0091] Although the embodiments of the present disclosure have been described above with reference to the accompanying drawings, it goes without saying that the present disclosure is not limited to such embodiments. It is clear that a person skilled in the art can think of various modified or altered examples within the scope of the claims, and it is understood that these also naturally belong to the technical scope of the present disclosure. [Explanation of symbols]

[0092] 1. Transport system 2 Suitcase (carried item) 10. Conveyor 11 Robot Arm 11d Link section 12 Support claw 13 Electromagnet (suction device) 14 Control device 16 Shaft 20 Camera 30 Transport fixture 30A Transport Jig 30B Transport jig 30C Transport fixture 31 Belt (loop part) 31a First belt (first annular portion) 31b Second belt (second circular portion) 32 Iron buckle (non-flexible member, ferromagnetic material) 32c Mark 34 Connector

Claims

1. an at least partially flexible annular portion; A non-flexible member provided on the annular portion; A connector that connects or disconnects a portion of the annular portion; A transport jig including the A suction device; A support claw; a suction device that sucks and lifts the non-flexible member while a part of the annular portion is connected to the object to be transported by the connector; With the non-flexible member pulled up, the support claw is passed through a closed loop formed by the annular portion; a control device that transports the transported object by the support claws in a state in which the annular portion is supported by the support claws; A conveying device including: Equipped with Conveying system.

2. The annular portion is a first annular portion having at least a partial flexibility; a second annular portion connected to the first annular portion and having at least a partial flexibility; Including, The non-flexible member is provided on the first annular portion, The connector connects or disconnects a portion of the second annular portion, The control device includes: a suction device that sucks and pulls up the non-flexible member while a part of the second annular portion is connected to the object to be transferred by the connector; With the non-flexible member pulled up, the support claw is passed through a closed loop formed by the first annular portion; The object is transported by the support claws while the first annular portion is supported by the support claws. The transport system according to claim 1 .

3. the non-flexible member is a ferromagnetic material, The suction device is an electromagnet. The transport system according to claim 1 .

4. the transport device includes a robot arm having a link portion to which the support claw and the electromagnet are attached; A shaft extending in an axial direction of the link portion is provided inside or on a side of the link portion so as to be slidable in the axial direction, The electromagnet is connected to the shaft and is disposed coaxially with the link portion. The transport system according to claim 3 .

5. the control device identifies a posture of the non-flexible member and changes a posture of the support claws relative to the transport jig in accordance with the posture of the non-flexible member. The transport system according to claim 1 .

6. the transport system includes a camera; The non-flexible member is provided with a mark, the control device specifies the posture of the non-flexible member based on an image captured by the camera and showing the mark; The transport system according to claim 5 .

7. an at least partially flexible annular portion; A non-flexible member provided on the annular portion; A connector that connects or disconnects a portion of the annular portion; Equipped with Transportation jig.

8. a conveying jig including an annular portion having at least partial flexibility, a non-flexible member provided on the annular portion, and a connector for connecting or opening a portion of the annular portion, connecting a portion of the annular portion with the connector, thereby connecting the annular portion to the conveyed object; a control device that sucks and pulls up the non-flexible member using a suction device in a state in which a part of the annular portion is connected by the connector and the annular portion is connected to a transported object; With the non-flexible member pulled up, the control device passes a support claw through a closed loop formed by the annular portion; The control device transports the transported object by the support claws while the annular portion is supported by the support claws; Including, Transportation method.

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