Automatic conveyance device

Abstract

To provide an automatic conveyance device capable of stably holding an object to be conveyed by a simple structure.SOLUTION: An automatic conveyance device according to the invention includes a holding part 28 which includes a slide surface 28a and holds an object to be conveyed 6 on the slide surface 28a so as to be slidable; a coupling part 21 which includes a suction part 23 which adsorbs to the center of a side face 6a of the object to be conveyed 6 and abutting parts 24a and 24b which abut the right and left sides of the side face 6a and couples to the side face 6a of the object to be conveyed 6; a drive motor 26 which slides the object to be conveyed 6 on the slide surface 28a while the coupling part 21 is coupled to the side face 6a of the object to be conveyed 6; and a travel part which drives the automatic conveyance device.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to an automatic transport device for transporting an object. [Background technology]

[0002] Conventionally, there is known an automatic conveying device that takes out an item to be conveyed (an object to be conveyed) from a storage shelf and conveys it to a predetermined position (such as a warehouse exit location) in a warehouse, etc. For example, there is known a technology in which an adsorption part provided on an arm of the automatic conveying device adsorbs to the underside of the object to hold and convey the object (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-022364 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional technology, the suction part must be accurately inserted under the bottom surface of the object to be transported, which requires high alignment precision, and this causes the problem of a complicated structure.

[0005] An object of the present disclosure is to provide an automatic transport device that is capable of stably holding an object to be transported with a simple structure. [Means for solving the problem]

[0006] An automatic conveying device according to one aspect of the present disclosure is a device for conveying an object to be conveyed to a predetermined location. The automatic conveying device includes a holding section that includes a slide surface and holds the object to be conveyed so as to be slidable on the slide surface, an adsorption section that adsorbs the object to a first position on a side surface of the object to be conveyed, and an abutment section that abuts the side surface at a second position, and is coupled to the side surface of the object to be conveyed, a slide drive section that slides the object to be conveyed on the slide surface while the abutment section is coupled to the side surface of the object to be conveyed, and a traveling section that travels the automatic conveying device. Effect of the Invention

[0007] According to the present disclosure, it is possible to provide an automatic transport device that is capable of stably holding an object to be transported with a simple structure. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a side view showing an overall configuration of an automatic conveying device according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a front view showing the overall configuration of the automatic conveying device according to the embodiment of the present disclosure. [Diagram 3] FIG. 3 is a diagram illustrating an automatic conveying device and a storage shelf according to an embodiment of the present disclosure. [Figure 4] FIG. 4 is a diagram illustrating an example of a picking method executed in the automatic conveying device according to the embodiment of the present disclosure. [Diagram 5] FIG. 5 is a top view showing a configuration of a transfer device according to an embodiment of the present disclosure. [Figure 6] FIG. 6 is a side view showing a configuration of a transfer device according to an embodiment of the present disclosure. [Figure 7] FIG. 7 is a diagram showing a picking method in the transfer device according to the embodiment of the present disclosure. [Figure 8] FIG. 8 is a diagram showing a picking method in the transfer device according to the embodiment of the present disclosure. [Figure 9]FIG. 9 is a diagram illustrating another embodiment of the automatic conveying device according to the embodiment of the present disclosure. [Figure 10] FIG. 10 is a diagram showing another embodiment of the automatic conveying device according to the embodiment of the present disclosure. [Figure 11] FIG. 11 is a diagram showing a configuration of a storage shelf according to an embodiment of the present disclosure. [Figure 12] FIG. 12 is a diagram showing another embodiment of the automatic conveying device according to the embodiment of the present disclosure. [Figure 13] FIG. 13 is a diagram showing another embodiment of the automatic conveying device according to the embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings to facilitate understanding of the present disclosure. Note that the following embodiments are examples of the present disclosure and do not limit the technical scope of the present disclosure.

[0010] [Automatic transport device 1] Fig. 1 is a side view showing the overall configuration of an automatic transport device 1 according to an embodiment of the present disclosure, and Fig. 2 is a front view showing the overall configuration of the automatic transport device 1. The automatic transport device 1 is, for example, an automatic guided vehicle capable of traveling unmanned, and is configured to include a traveling unit 3, a stock shelf 5 for storing objects 6 to be transported, and a transfer device 2 for putting the objects 6 into and taking them out of the stock shelf 5.

[0011] The stock shelf 5 is a storage shelf capable of storing objects to be transported by the automatic transport device 1. For example, the stock shelf 5 is placed on the top of the traveling section 3 and fixed thereto.

[0012] The travel unit 3 is configured to be capable of forward travel, backward travel, and turning travel. The travel unit 3 causes the automatic transport device 1 to travel along a travel route from a current position to a destination position (such as a storage shelf) based on a transport request received by, for example, a server (not shown). The automatic transport device 1 autonomously travels along a preset travel route based on the transport request, picks up the transport object 6 from the storage shelf, and transports it to the destination position (such as a warehouse location). The travel method of the automatic transport device 1 is not particularly limited, and can be a guided travel in which the automatic transport device travels while detecting a magnetic tape installed on the floor, or a guideless travel in which the automatic transport device travels along a travel route while estimating its own position.

[0013] A stock shelf 5 and a transfer device 2 that can move up and down are provided on the top of the travel section 3. Specifically, a lifting device 4 is provided on the top plate of the travel section 3, and the lifting device 4 can control the elevation of the transfer device 2 to move it to a predetermined height. Although not shown, the lifting device 4 includes a lifting rail, a lifting motor, and the like. When the lifting device 4 acquires a transfer request for the object 6 to be transferred, it moves (lifts) the transfer device 2 to the height of the storage shelf where the object 6 to be transferred is stored.

[0014] The transfer device 2 picks up the target object 6 to be transferred from a storage shelf where the object 6 is stored, and stocks (moves) it on the stock shelf 5. The stock shelf 5 is provided adjacent to the transfer device 2.

[0015] Here, an example of the procedure for moving the object 6 to be transported to the stock shelf 5 will be described. Fig. 3 shows a storage shelf 10 where the object 6 to be transported is stored. When the automatic transport device 1 acquires a transport request (picking command) for the object 6 to be transported, it automatically travels to the front of the storage shelf 10 where the object 6 to be transported is stored, following a preset travel route.

[0016] 4(a) to 4(d) are schematic diagrams showing the procedure of the transfer device 2 picking up the object 6 to be transferred from the storage shelf 10 and transferring it to the stock shelf 5, as viewed from above. First, when the automatic transport device 1 arrives and stops in front of the storage shelf 10, the transfer device 2 moves (lifts) to the position of the shelf where the target object 6 to be transferred is stored, according to the instruction of the lifting device 4. The lifting device 4 acquires the position information of the object 6 to be transferred based on the identification information of the object 6 included in the transfer request, and moves the transfer device 2 to the target position based on the position information. When the transfer device 2 arrives at the target position (height), it rotates in a predetermined direction (for example, clockwise) around the rotation axis 29 (see FIG. 6). For example, when the automatic transport device 1 stops next to the storage shelf 10, the transfer device 2 rotates by 90 degrees clockwise around the rotation axis 29, as shown in FIG. 4(a).

[0017] Next, the transfer device 2 moves the coupling part 21 in the direction toward the storage shelf 10 (to the left in FIG. 4) to couple the coupling part 21 to the side of the transport object 6. A specific coupling method will be described later. Once the coupling part 21 is coupled to the side of the transport object 6, the transfer device 2 moves the coupling part 21 in the direction opposite to the storage shelf 10 (to the right in FIG. 4) to slide the transport object 6 on the slide surface 28a of the transfer device 2 and place it on the slide surface 28a (see (b) of FIG. 4).

[0018] Next, the transfer device 2 rotates 90 degrees in a predetermined direction (counterclockwise) around the rotation axis 29 (see (b) and (c) of FIG. 4). Next, the transfer device 2 moves (lifts) to the target stock position (empty space) on the stock shelf 5 in accordance with the instruction of the lifting device 4. When the transfer device 2 arrives at the target position (height), it moves the coupling part 21 toward the stock shelf 5 (rearward in FIG. 4), thereby sliding the transport object 6 on the slide surface 28a and pushing it into the stock shelf 5 (see (d) of FIG. 4). In this way, the transfer device 2 picks up the transport object 6 from the storage shelf 10 and moves it to the stock shelf 5.

[0019] When picking up an object 6 to be transported that is stored on the stock shelf 5, the transfer device 2 executes the operations in the reverse order to the above-mentioned procedure.

[0020] [Transfer device 2] A specific configuration of the transfer device 2 that picks up the transport target object 6 will be described. Fig. 5 shows a top view of the transfer device 2, and Fig. 6 shows a side view of the transfer device 2.

[0021] The transfer device 2 includes a holding portion 28 (bottom plate), side walls 20a, 20b rising upward from the holding portion 28, a connecting portion 21, a drive motor 26, a vacuum pump 25, and a rotating shaft 29 that rotatably supports the transfer device 2 with respect to a base portion 41. The base portion 41 is a component of the lifting device 4, and is provided so as to be movable in the vertical direction by the lifting device 4.

[0022] The holding unit 28 has a sliding surface 28a. The holding unit 28 holds the transport target 6 so that it can slide back and forth on the sliding surface 28a. The sliding surface 28a may be composed of a plurality of roller members, or may be composed of a board member made of a material (such as resin) that can slide an article.

[0023] The side wall 20a is provided at the right end of the transfer device 2, and the side wall 20b is provided at the left end of the transfer device 2. A space is formed between the side walls 20a and 20b into which the transport object 6 can be put in and taken out. In addition, guide portions 20c and 20d that serve as guide members when the transport object 6 enters the space are provided at the rear ends of the side walls 20a and 20b, respectively. The side walls 20a and 20b are an example of a first side wall and a second side wall of the present disclosure.

[0024] The coupling part 21 is coupled to the side surface of the transport object 6. The coupling part 21 includes a main frame 22, an adsorption part 23, an abutment part 24, a vacuum pump 25, and a drive motor 26. The coupling part 21 is configured to be movable in the front-rear direction above the holding part 28 by the drive of the drive motor 26. For example, the coupling part 21 moves the coupling part 21 backward (see FIG. 5) in the transfer device 2 by driving a drive part (not shown) including a pulley, a wheel, a belt, etc. by the rotation drive of the drive motor 26 in the first direction, and moves the coupling part 21 forward (see FIG. 5) in the transfer device 2 by driving the drive part by the rotation drive of the drive motor 26 in the second direction. The drive motor 26 is an example of a slide drive part of the present disclosure.

[0025] The suction unit 23 is suctioned to a first position (for example, a central portion) of the side surface 6a (see FIG. 7) of the transport target 6. Specifically, the suction unit 23 includes a suction cup 23a and a shaft portion 23b, and is fixed to the main body frame 22. For example, the shaft portion 23b is provided so as to penetrate the side wall of the main body frame 22 and be movable in the front-rear direction. The suction cup 23a is provided at the tip of the shaft portion 23b, and has an expandable and contractible bellows structure. That is, the suction unit 23 is provided so that the suction cup 23a side protrudes from the main body frame 22. A space is formed inside each of the suction cup 23a and the shaft portion 23b, and the structure is such that the air in the internal space is sucked and discharged by the vacuum pump 25. As a result, for example, when the vacuum pump 25 is driven, the air in the suction cup 23a is sucked, and the suction cup 23a is sucked to the object (transport target 6).

[0026] The contact portion 24 is fixed to the main body frame 22. In this embodiment, the right contact portion 24a and the left contact portion 24b are illustrated, but the number of the contact portions 24 is not limited, and may be one or three or more. For example, the suction portion 23 is provided in the center of the main body frame 22, the contact portion 24a is provided on the right side of the main body frame 22, and the contact portion 24b is provided on the left side of the main body frame 22. The contact portions 24a and 24b are provided so that one end is fixed to the main body frame 22 and the other end protrudes from the main body frame 22. The lengths (protruding length) of the contact portions 24a and 24b are the same. Also, as shown in FIG. 5, when the suction portion 23 is not adsorbed to the transport target object 6, the protruding length of the suction portion 23 is longer than the protruding length of the contact portions 24a and 24b. That is, when the suction portion 23 is not suctioned to the transport object 6, the suction portion 23 protrudes rearward (see FIG. 5) beyond the contact portions 24a and 24b. A cushioning material (such as rubber) may be provided at the tips of the contact portions 24a and 24b to prevent the contact portions 24a and 24b from being scratched when they come into contact with the transport object 6.

[0027] A signal cable 20s is connected to the coupling part 21 via a connection part 27. The signal cable 20s is made of a flexible cable and is deformable in response to movement of the coupling part 21. The signal cable 20s is connected to the drive motor 26 and the vacuum pump 25 and transmits control signals to the drive motor 26 and the vacuum pump 25.

[0028] A rotation shaft 29 (see FIG. 6) provided on the bottom surface of the transfer device 2 is connected to a base part 41, and the base part 41 moves up and down according to instructions from the lifting device 4. The transfer device 2 moves up and down in accordance with the lifting and lowering operation of the base part 41, and also rotates horizontally on the base part 41 around the rotation shaft 29.

[0029] In this manner, in the transfer device 2, side walls 20a, 20b are provided on both ends of the slide surface 28a in a direction perpendicular to the slide movement direction, and the connecting portion 21 moves between the side walls 20a, 20b in the front-rear direction (the direction of the arrow in FIG. 5) while adsorbing the transport object 6. In addition, the drive motor 26 slides the transport object 6 on the slide surface 28a while the connecting portion 21 is coupled to the side surface of the transport object 6. In addition, the connecting portion 21 includes a main body frame 22 which is slid by the drive motor 26, and the adsorbing portion 23 and the abutting portion 24 are provided so as to protrude from the main body frame 22.

[0030] [Picking method] A specific example of a method for picking up the transport target 6 by the transfer device 2 will be described with reference to Fig. 7 and Fig. 8. Here, an example is shown in which the transfer device 2 picks up the transport target 6 and moves it onto the slide surface 28a of the holder 28.

[0031] First, when the transfer device 2 arrives at the position of the target object 6, the drive motor 26 is driven to move the coupling part 21 backward to the position of the object 6. When the coupling part 21 moves and the suction cup 23a of the suction part 23 comes into contact with the side surface 6a of the object 6, the vacuum pump 25 is driven. This causes the air in the suction cup 23a to be sucked in, so that the suction cup 23a is attached to the side surface 6a (see FIG. 7). The vacuum pump 25 is then driven further to further suck in the air in the suction cup 23a. This causes the suction cup 23a to shrink, and the object 6 to be transported moves forward as the suction cup 23a deforms, or the coupling part 21 moves backward, so that the abutment parts 24a, 24b come into contact with the side surface 6a of the object 6 to be transported (see FIG. 8).

[0032] In this manner, before the suction portion 23 is adsorbed to the transport object 6, the protruding length of the suction portion 23 from the main body frame 22 is longer than the contact portions 24a, 24b. Therefore, when the suction portion 23 is adsorbed to the transport object 6, the protruding length of the suction portion 23 becomes the same as the protruding length of the contact portions 24a, 24b, and the contact portions 24a, 24b come into contact with the side surface 6a of the transport object 6.

[0033] According to the above-described configuration, the suction operation by the vacuum pump 25 causes the transport target object 6 to be held at three points, namely, the suction portion 23 and the contact portions 24a and 24b.

[0034] After the suction part 23 is suctioned to the transport object 6, the transfer device 2 moves the coupling part 21 toward the inside of the holding part 28 (forward in FIG. 8) by driving the drive motor 26. As a result, the transport object 6 is pulled by the coupling part 21 and slides forward on the slide surface 28a.

[0035] While the connecting portion 21 is pulling the object 6 to be transported, only the suction force of the suction portion 23 may act on the object 6 to be transported. That is, when the connecting portion 21 is pulling the object 6 to be transported, the shaft portion 23b of the suction portion 23 may move slightly backward, so that the abutting portions 24a, 24b may move away from the side surface 6a of the object 6 to be transported. In this case, the object 6 to be transported is pulled by the suction portion 23 and slides while a gap is generated between the abutting portions 24a, 24b. If the object 6 to be transported loses its left-right balance during the sliding movement and is oriented obliquely, the abutting portions 24a, 24b will abut against the side surface 6a of the object 6 to be transported. This restricts the posture of the object 6 to be transported, so that the object 6 to be transported can be moved substantially straight.

[0036] In another embodiment, the forward / backward position of the suction portion 23 relative to the main frame 22 and the suction force of the vacuum pump 25 may be adjusted so that a suction force by the suction portion 23 and a pressing force by the abutment portions 24a, 24b act on the transported object 6 while the connecting portion 21 is pulling the transported object 6.

[0037] As described above, the connecting portion 21 is provided so as to be movable relative to the slide surface 28a in a first direction which is the protruding direction of the suction portion 23, and in a second direction opposite to the first direction. Moreover, the connecting portion 21 moves in the first direction which is the direction of the storage section (storage shelf 10 or stock shelf 5) in which the transport object 6 is stored, and the suction portion 23 is sucked to the transport object 6 in the storage section and the abutment portions 24a, 24b abut against the transport object 6, and then moves in the second direction together with the transport object 6 to place the transport object 6 on the slide surface 28a.

[0038] According to the above configuration, the transport target object 6 can be picked up by the suction part 23 and moved onto the slide surface 28a of the holder .

[0039] When the transport object 6 placed on the slide surface 28a is to be moved to the storage section, the connecting portion 21 performs an operation of pushing the transport object 6 backward.

[0040] For example, the connecting portion 21 moves rearward by driving the drive motor 26 in a state in which the suction portion 23 is suctioned to the side surface 6a of the object 6 to be conveyed.

[0041] In this way, the connecting portion 21 moves in a first direction (protruding direction) with the suction portion 23 adsorbing to the transport object 6 placed on the slide surface 28a and the abutment portions 24a, 24b abutting, thereby moving the transport object 6 to a predetermined storage portion (storage shelf 10 or stock shelf 5).

[0042] Here, when the connecting portion 21 moves to the outside of the holding portion 28 (rearward in FIG. 8), the abutting portions 24a, 24b push the side surface 6a of the transport object 6. At this time, in order to prevent excessive force from acting on the suction portion 23 and the connection portion between the suction portion 23 and the main body frame 22 and causing damage, it is desirable to adjust so that no force is applied to the suction portion 23. Here, the suction portion 23 is provided so as to be movable in the axial direction of the suction portion 23 relative to the main body frame 22 when a pressing force is applied. Specifically, when the connecting portion 21 pushes the transport object 6 backward, the shaft portion 23b of the suction portion 23 is provided so as to be movable forward relative to the main body frame 22. Therefore, while the connecting portion 21 is pushing the transport object 6, the pressing force acting from the transport object 6 to the abutting portions 24a, 24b becomes large, but the pressing force acting from the transport object 6 to the suction portion 23 becomes small. In this way, by providing the suction portion 23 to be able to advance and retreat relative to the main body frame 22, damage to the suction portion 23 can be prevented.

[0043] In addition, the suction force applied to the adsorption portion 23 when the connecting portion 21 pushes the transport object 6 off of the slide surface 28a may be smaller than the suction force applied to the adsorption portion 23 when the connecting portion 21 pulls the transport object 6 onto the slide surface 28a.

[0044] When the transfer device 2 moves the object 6 to a target position, it drives the vacuum pump 25 to exhaust air from the suction part 23, thereby separating the object 6 from the suction part 23.

[0045] As described above, the automatic conveying device 1 is a device that conveys the object 6 to a predetermined location. The automatic conveying device 1 also includes a holding part 28 that includes a slide surface 28a and holds the object 6 to be conveyed so as to be slidable on the slide surface 28a, an adsorption part 23 that adsorbs to a first position (center part) of the side surface 6a of the object 6 to be conveyed, and abutting parts 24a, 24b that abut against second positions (both left and right sides) of the side surface 6a, and a coupling part 21 that couples to the side surface 6a of the object 6 to be conveyed, a drive motor 26 that slides the object 6 to be conveyed on the slide surface 28a while the coupling part 21 is coupled to the side surface 6a of the object 6 to be conveyed, and a traveling part 3 that causes the automatic conveying device 1 to travel.

[0046] According to the above configuration, the suction portion 23 and the contact portions 24a, 24b are coupled to the side surface 6a of the transport object 6, and the transport object 6 can be slid. Therefore, the automatic transport device 1 according to the present disclosure can stably hold the transport object 6 with a simpler structure than the conventional configuration.

[0047] [Other embodiments] The automatic transport device 1 may further include a configuration that enables smooth insertion and removal of the transport object 6. For example, Fig. 9 shows an example in which the transport object 6 is pulled out from the stock shelf 5 and placed on the slide surface 28a of the holder 28, and Fig. 10 shows an example in which the transport object 6 placed on the slide surface 28a is pushed into the stock shelf 5.

[0048] Specifically, the transfer device 2 is provided so as to be able to rise and fall on the automatic transfer device 1, and when a transfer target 6 stored in a storage section (here, a stock shelf 5) is to be transferred to the transfer device 2, the transfer device 2 is raised and lowered so that the slide surface 28a on which the transfer target 6 is placed in the holder 28 is lower (height h1 in FIG. 9) than the placement surface 5a on which the transfer target 6 is placed in the stock shelf 5, as shown in FIG. 9. This makes it possible to prevent the transfer target 6 from coming into contact with the transfer device 2 and being prevented from being moved when the transfer target 6 is pulled out from the stock shelf 5.

[0049] Furthermore, when the transport object 6 placed on the transfer device 2 is to be moved to the stock shelf 5, the transfer device 2 is raised and lowered so that the slide surface 28a on which the transport object 6 is placed in the holder 28 is higher than the placement surface 5a on which the transport object 6 is placed in the stock shelf 5 (height h2 in FIG. 10), as shown in FIG. 10. This makes it possible to prevent the transport object 6 from coming into contact with the stock shelf 5 and being hindered from moving when the transport object 6 is pushed out of the transfer device 2.

[0050] As another embodiment, the transfer device 2 may be raised so that the slide surface 28a and the mounting surface 5a are at the same height when the end of the side surface 6a of the transport object 6 moves onto the slide surface 28a in Fig. 9. Similarly, the transfer device 2 may be lowered so that the slide surface 28a and the mounting surface 5a are at the same height when the end of the transport object 6 (opposite side to the side surface 6a) moves onto the mounting surface 5a in Fig. 10. This makes it possible to eliminate the step between the slide surface 28a and the mounting surface 5a, allowing the transport object 6 to move more smoothly.

[0051] As another embodiment of the present disclosure, the automatic transport device 1 may control the movement amount of the coupling portion 21 according to the size of the transport object 6. FIG. 11 shows an example of the transport object 6 stored in the storage shelf 10. For example, the storage shelf 10 may store a plurality of types of transport objects 6A to 6E having different sizes. "10a" shown in FIG. 11 indicates a placement area in which the transport object 6 can be placed. As shown in FIG. 11, the transport object 6 may be arranged in the front-rear direction of the storage shelf 10. For example, the transport objects 6A and 6B are placed in the placement area 10a in the front-rear direction, and the transport objects 6C, 6D, and 6E are placed in the placement area 10a in the front-rear direction. Between the transport objects 6A and 6B and the transport objects 6C, 6D, and 6E, there is a space S1 in which the transport object 6 can be placed.

[0052] For example, when storing the transport object 6F in the storage shelf 10 in accordance with a transport request, the transfer device 2 determines the movement amount (push amount) of the coupling part 21 according to the size (front-rear length) of the transport object 6F. For example, the transfer device 2 determines the movement amount of the coupling part 21 required to store the transport object 6F in the storage shelf 10 based on the information (size, storage position, etc.) of the transport object 6F included in the transport request. Note that a database (not shown) may associate each storage position of the storage shelf 10 with information of the transport object 6 stored therein (identification information, size, item name, etc.). Information of each transport object 6 may also be registered in the database.

[0053] For example, when the transport object 6F is stored on the rear side of the space S1 of the placement area 10a (see FIG. 12), the transfer device 2 calculates the movement amount to the rear of the space S1. Specifically, the transfer device 2 calculates the movement amount (push amount) of the coupling part 21 based on the depth (length in the front-to-rear direction) of the placement area 10a and the length (length in the front-to-rear direction) of the transport object 6F. The transfer device 2 moves the coupling part 21 based on the calculated movement amount, and places the transport object 6F in the space on the rear side of the placement area 10a.

[0054] FIG. 13 shows an example in which the transport object 6F is stored on the rear side of the space S1, and the transport object 6G is further stored on the front side of the space S1. In this case, the transfer device 2 determines the movement amount (push amount) of the joint part 21 required to store the transport object 6G in the space S1 based on the size of the transport object 6G and the size of the transport object 6F already stored in the same space S1. Specifically, the transfer device 2 calculates the placement possible distance L1 of the front side of the transport object 6F in the space S1 based on the depth (length in the front-rear direction) of the placement area 10a and the length (length in the front-rear direction) of the transport object 6F, and calculates the movement amount (push amount) of the joint part 21 based on the placement possible distance L1 and the length of the transport object 6G. The transfer device 2 moves the joint part 21 based on the calculated movement amount to place the transport object 6F on the placement area 10a. If the placement distance L1 is shorter than the length of the transport object 6G, the transfer device 2 determines that the transport object 6G cannot be stored in the space S1, and searches for another space capable of storing the transport object 6G.

[0055] In another embodiment, the transfer device 2 may include a camera or a sensor, acquire the storage status of the transport object 6 in the placement area 10a by the camera or the sensor, and determine whether or not the transport object 6 can be stored based on the storage status. For example, in the case where a tag is provided on the side of the transport object 6F already stored in the storage shelf 10, when the camera or the sensor reads the tag, the transfer device 2 may acquire information (size, storage position, etc.) of the transport object 6F, and determine whether or not the transport object 6G can be stored based on the acquired information.

[0056] Furthermore, when picking (pulling out) the transport object 6 stored in the storage shelf 10, the transfer device 2 determines the movement amount of the coupling part 21 based on the storage position of the transport object 6 placed in the placement area 10a and the size of the transport object 6. The transfer device 2 moves the coupling part 21 by the movement amount to adsorb the transport object 6. As another embodiment, the transfer device 2 may move the coupling part 21 until the adsorption part 23 comes into contact with the side of the transport object 6.

[0057] The automatic conveying device 1 according to the present embodiment includes a stock shelf 5, but in another embodiment, the automatic conveying device 1 may not include a stock shelf 5. In this case, the automatic conveying device 1 automatically travels to a target position while holding the object 6 to be conveyed on the holding unit 28. The automatic conveying device 1 may not include a lifting device 4. In this case, in the automatic conveying device 1, the transfer device 2 is fixed at a predetermined height, and moves the joint unit 21 to take in and out the object 6 to be conveyed. In addition, the automatic conveying device 1 may not include a function of rotating the transfer device 2 around the rotation axis 29. In this case, in the automatic conveying device 1, the transfer device 2 takes in and out the object 6 to be conveyed in a specific direction.

[0058] In the above-described embodiment, the transfer device 2 has an adsorption portion 23 in the center of the main frame 22, and abutment portions 24a, 24b on the left and right sides of the adsorption portion 23. However, in another embodiment, the transfer device 2 may have one (or more) abutment portions 24 in the center of the main frame 22, and an adsorption portion 23 on each of the left and right sides of the abutment portion 24.

[0059] [Disclosure Note] The following will provide an outline of the disclosure extracted from the above-described embodiment. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined in any desired manner.

[0060] <Appendix 1> An automatic conveying device that conveys an object to a predetermined location, a holding section including a slide surface and configured to hold the object to be transported so as to be slidable on the slide surface; a coupling portion that includes an adsorption portion that adsorbs to a first position of a side surface of the transport object and an abutment portion that abuts to a second position of the side surface and is coupled to the side surface of the transport object; a slide driving unit that slides the object on the slide surface while the coupling unit is coupled to the side surface of the object; A traveling unit that causes the automatic transport device to travel; An automatic conveying device comprising:

[0061] <Appendix 2> The coupling unit further includes a main body frame that is slidably moved by the slide drive unit, The suction portion and the abutment portion are provided to protrude from the main body frame. 2. The automatic transport device according to claim 1.

[0062] <Appendix 3> a protruding length of the suction portion from the main body frame is longer than a protruding length of the abutment portion before the suction portion is attracted to the transport object; When the suction portion is attached to the object to be transported, a protruding length of the suction portion becomes equal to a protruding length of the abutment portion, so that the abutment portion abuts against the side surface of the object to be transported. 3. The automatic transport device according to claim 2.

[0063] <Appendix 4> The suction portion is provided so as to be movable in an axial direction of the suction portion relative to the main body frame when a pressing force is applied. 4. The automatic conveying device according to claim 2 or 3.

[0064] <Appendix 5> The abutment portion includes a first abutment portion and a second abutment portion, the suction portion is suctioned to a central portion of the side surface of the transport object, the first contact portion is in contact with a left side of the central portion of the side surface, and the second contact portion is in contact with a right side of the central portion of the side surface. 5. The automatic conveying device according to any one of claims 1 to 4.

[0065] <Appendix 6> the coupling portion is provided to be movable with respect to the slide surface in a first direction that is a protruding direction of the adsorption portion and in a second direction opposite to the first direction, the coupling unit moves in the first direction toward a storage unit in which the transport object is stored, the adsorption unit adsorbs the transport object in the storage unit, and the abutment unit abuts against the transport object, and then moves in the second direction together with the transport object to place the transport object on the slide surface. 6. The automatic conveying device according to any one of claims 1 to 5.

[0066] <Appendix 7> the coupling portion is provided to be movable with respect to the slide surface in a first direction that is a protruding direction of the adsorption portion and in a second direction opposite to the first direction, the coupling unit moves in the first direction while the adsorption unit is adsorbed to the transport object placed on the slide surface and the abutment unit is in contact with the transport object, thereby moving the transport object to a predetermined storage unit. 7. The automatic conveying device according to any one of claims 1 to 6.

[0067] <Appendix 8> A first side wall and a second side wall are provided at both ends in a direction perpendicular to the sliding direction of the slide surface, the coupling portion moves between the first side wall and the second side wall while adsorbing the transport object. 8. The automatic conveying device according to any one of claims 1 to 7.

[0068] <Appendix 9> a transfer device including the holding unit and the coupling unit is provided to be capable of ascending and descending on the automatic transport device, When the transport object stored in the storage section is moved to the transfer device, the transfer device is raised and lowered so that the slide surface on which the transport object in the holding section is placed is lower than the placement surface on which the transport object in the storage section is placed; When the transport object placed on the transfer device is moved to the storage section, the transfer device is raised and lowered so that the slide surface on which the transport object is placed in the holding section is higher than a placement surface on which the transport object is placed in the storage section. 9. The automatic conveying device according to any one of claims 1 to 8.

[0069] <Appendix 10> The storage unit is a stock shelf provided in the automatic transport device and is provided adjacent to the transfer device. 10. The automatic transport device according to claim 9.

[0070] <Appendix 11> determining a movement amount of the coupling part based on a length of the object in the first direction; 8. The automatic transport device according to claim 7.

[0071] <Appendix 12> When another object to be transported is stored in the storage unit in a depth direction of a storage destination of the object to be transported, a movement amount of the coupling unit is determined based on a length of the object to be transported in the first direction and a length of the other object to be transported in the first direction. 8. The automatic transport device according to claim 7. [Explanation of symbols]

[0072] 1: Automatic transport device 2:Transfer device 3: Running part 4: Lifting device 5: Stock shelf 5a: Placement surface 6: Object to be transported 6a: Side 10: Storage shelf 20a: Side wall 20b: Side wall 20c: Guide section 20d: Guide section 20s: Signal cable 21:Joining part 22: Main frame 23: Adsorption part 23a :Sucker 23b:Shaft part 24a: Contact part 24b: Contact part 25: Vacuum pump 26: Drive motor 27: Connection 28: Holding part 28a: Slide surface 29: Rotation axis 41: Base section

Claims

1. An automatic conveying device that conveys an object to a predetermined location, a holding section including a slide surface and configured to hold the object to be transported so as to be slidable on the slide surface; a coupling portion that includes an adsorption portion that adsorbs to a first position of a side surface of the transport object and an abutment portion that abuts to a second position of the side surface and is coupled to the side surface of the transport object; a slide driving unit that slides the object on the slide surface while the coupling unit is coupled to the side surface of the object; A traveling unit that causes the automatic transport device to travel; An automatic conveying device comprising:

2. The coupling unit further includes a main body frame that is slidably moved by the slide drive unit, The suction portion and the abutment portion are provided to protrude from the main body frame.

2. The automatic transport device according to claim 1.

3. a protruding length of the suction portion from the main body frame is longer than a protruding length of the abutment portion before the suction portion is attracted to the transport object; When the suction portion is attached to the object to be transported, a protruding length of the suction portion becomes equal to a protruding length of the abutment portion, so that the abutment portion abuts against the side surface of the object to be transported. The automatic transport device according to claim 2.

4. The suction portion is provided so as to be movable in an axial direction of the suction portion relative to the main body frame when a pressing force is applied. The automatic transport device according to claim 2.

5. The abutment portion includes a first abutment portion and a second abutment portion, the suction portion is suctioned to a central portion of the side surface of the object to be transported, the first contact portion is in contact with a left side of the central portion of the side surface, and the second contact portion is in contact with a right side of the central portion of the side surface.

2. The automatic transport device according to claim 1.

6. the coupling portion is provided to be movable with respect to the slide surface in a first direction that is a protruding direction of the adsorption portion and in a second direction opposite to the first direction, the coupling unit moves in the first direction toward a storage unit in which the transport object is stored, the adsorption unit adsorbs the transport object in the storage unit, and the abutment unit abuts against the transport object, and then moves in the second direction together with the transport object to place the transport object on the slide surface.

2. The automatic transport device according to claim 1.

7. the coupling portion is provided to be movable with respect to the slide surface in a first direction that is a protruding direction of the adsorption portion and in a second direction opposite to the first direction, the coupling unit moves in the first direction with the suction unit adsorbing the transport object placed on the slide surface and the abutment unit abutting the transport object, thereby moving the transport object to a predetermined storage unit.

2. The automatic transport device according to claim 1.

8. a first side wall and a second side wall provided at both ends in a direction perpendicular to a sliding direction of the slide surface; the coupling portion moves between the first side wall and the second side wall while adsorbing the transport object.

2. The automatic transport device according to claim 1.

9. a transfer device including the holding unit and the coupling unit is provided to be capable of ascending and descending on the automatic transport device, When the transport object stored in the storage section is moved to the transfer device, the transfer device is raised and lowered so that the slide surface on which the transport object in the holding section is placed is lower than the placement surface on which the transport object in the storage section is placed; When the transport object placed on the transfer device is moved to the storage section, the transfer device is raised and lowered so that the slide surface on which the transport object is placed in the holding section is higher than a placement surface on which the transport object is placed in the storage section. The automatic transport device according to any one of claims 1 to 8.

10. The storage unit is a stock shelf provided in the automatic transport device and is provided adjacent to the transfer device. The automatic transport device according to claim 9.

11. determining a movement amount of the coupling portion based on a length of the object in the first direction; The automatic transport device according to claim 7.

12. When another object to be transported is stored in the storage unit in a depth direction of a storage destination of the object to be transported, a movement amount of the coupling unit is determined based on a length of the object to be transported in the first direction and a length of the other object to be transported in the first direction. The automatic transport device according to claim 7.

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