Conveying system

Abstract

Uneven friction between the transported item and the installation surface prevents the transported item from being pushed out and its bottom surface from sliding smoothly onto the installation surface, thus preventing the transported item from being smoothly installed on the installation surface. [Solution] The control device 70 of the transport system 1, with the side surface Pb of the transported product P placed on the platform 20 being held in place by the pad 52 using the suction device 50, tilts the platform 20 together with the arm 51 using the tilting mechanism 44 so that the leading edge 22 of the platform 20 faces the installation surface TB. With the platform 20 and arm 51 tilted, the arm linear motion mechanism 43 moves the arm 51 forward while the platform linear motion mechanism 42 moves the platform 20 backward.

Description

Technical Field

[0001] The present invention relates to a conveying system for conveying conveyed items.

Background Art

[0002] For example, as this type of technology, a robot hand (conveying system) for conveying conveyed items is disclosed. In this technology, the conveying system includes a suction portion that sucks on the side surface of the conveyed item and moves in a first direction, and a drive belt that moves a conveying surface on which the conveyed item is placed. By moving in the first direction, the suction portion places the sucked conveyed item on the conveying surface, and the suction portion is fixed to the drive belt so as to move together with the conveying surface.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in the conveying system of Patent Document 1, when installing the conveyed item that has reached the conveying destination, the conveyed item is pushed out by a suction portion that sucks the side surface of the conveyed item, and the conveyed item is discharged from the robot hand to the installation surface. However, due to the non-uniform frictional force between the conveyed item and the installation surface, it may not be possible to smoothly slide the bottom surface of the conveyed item onto the installation surface by pushing out the conveyed item and smoothly install the conveyed item on the installation surface.

[0005] The present invention has been made in view of such points, and an object thereof is to provide a conveying system that can smoothly install a conveyed item from a cart that has reached the conveying destination onto an installation surface.

Means for Solving the Problems

[0006] In view of the above problems, the present invention provides a transport system for transporting goods comprising: a trolley that travels autonomously to a transport destination point to transport goods; and a picking device attached to the trolley that dispenses the goods onto a mounting surface, wherein the picking device includes: a mounting table on which the goods to be transported are placed; a pad that adsorbs the sides of the goods to be transported by air suction; an arm integrally attached to the mounting table and supporting the pad at its tip; a tilting mechanism that tilts the mounting table together with the arm; a linear motion mechanism that moves the mounting table horizontally together with the arm, with the dispensing direction of the goods to be transported being the forward direction of the mounting table; and the direction of movement toward the tip edge of the mounting table being the The device comprises a drive device equipped with an arm linear motion mechanism that moves the arm linearly along the mounting surface of the aforementioned mounting base as the direction of forward movement of the arm, and a control device that controls the suction by the suction device and the movement of the arm and the aforementioned mounting base by the drive device, wherein the control device tilts the aforementioned mounting base together with the arm using the tilting mechanism so that the leading edge of the aforementioned mounting base faces the mounting surface when the side surface of the conveyed product placed on the aforementioned mounting base is suctioned to the pad by the suction device, and while the aforementioned mounting base and the arm are inclined, the arm linear motion mechanism moves the arm forward while the mounting base is moved backward using the base linear motion mechanism.

[0007] According to the present invention, at the destination transport point, with the side surface of the transported item placed on the platform being held in place by the pad, the platform is tilted by the tilting mechanism along with the arm so that the leading edge of the platform faces the installation surface. This prevents the transported item from sliding off the platform even if the platform surface is inclined. Furthermore, with the platform and arm inclined, the arm can be moved forward relative to the platform, and the platform can be moved backward relative to the installation surface. This allows the transported item to slide along the platform surface in the discharge direction, thereby installing it on the installation surface. In this way, with the transported item held in place by the pad, the platform between the transported item and the installation surface is pulled out. As a result, the transported item can be smoothly installed on the installation surface from the trolley that has reached the transport destination point without sliding the entire bottom surface of the transported item onto the installation surface in the discharge direction.

[0008] In a more preferred embodiment, the control device, with the side surface of the transported product placed on the aforementioned stand being adsorbed to the pad by the suction device, moves the arm by the arm linear motion mechanism so that the lower edge of the transported product protrudes from the front edge of the aforementioned stand, and tilts the arm and the aforementioned stand by the tilting mechanism until the lower edge of the transported product contacts the installation surface.

[0009] In this embodiment, the arm is moved so that the lower edge of the transported item protrudes from the leading edge of the mounting platform, and the tilting mechanism of the arm and mounting platform is performed until the lower edge of the transported item contacts the installation surface, thereby preventing the leading edge of the mounting platform from directly contacting the installation surface. As a result, when the transported item is placed on the installation surface while the mounting platform and arm are inclined, even if the mounting platform is moved backward relative to the installation surface, it is possible to avoid the leading edge of the mounting platform sliding while in contact with the installation surface, thereby preventing the leading edge of the mounting platform and the installation surface from being worn down.

[0010] In a more preferred embodiment, the lower surface of the stand described above has an inclined surface that slopes toward the tip edge.

[0011] In this configuration, when the arm is moved so that the lower edge of the transported item protrudes from the leading edge of the platform, and the arm and platform are tilted, if the amount of protrusion (protrusion length) of the lower edge of the transported item is small, the leading edge, including the underside of the platform, may come into contact with the mounting surface. However, in this configuration, since the underside of the platform has an inclined surface that slopes toward the leading edge, this inclined surface makes it easier to avoid the platform coming into contact with the contact surface.

[0012] In a more preferred embodiment, after the tilting of the base and the arm, the control device moves the arm forward using the arm linear motion mechanism and moves the base backward using the base linear motion mechanism so that the horizontal velocity component of the arm's forward movement matches the horizontal velocity component of the base's backward movement.

[0013] In this embodiment, with the mounting platform and the arm in an inclined state, the horizontal velocity component of the arm's forward movement coincides with the horizontal velocity component of the mounting platform's backward movement. As a result, the lower edge of the conveyed object, which is adsorbed onto the pad, is held in the same position on the mounting surface. Consequently, as the mounting platform retreats, the inclination angle of the bottom surface of the conveyed object gradually decreases as it moves away from the mounting surface of the platform. This allows the conveyed object to be mounted on the surface so that it rotates around its lower edge as a pivot point.

[0014] In a more preferred embodiment, after the tilting of the base and the arm described above, the control device performs the suction of the pad onto the transported item by the suction device by the forward movement of the arm by the arm linear motion mechanism and the backward movement of the base described above by the base linear motion mechanism until the bottom surface of the transported item is separated from the mounting surface of the base described above.

[0015] In this embodiment, the suction device continues to attach the pads to the transported item until the bottom surface of the transported item leaves the mounting surface of the mounting table. This allows the movement of the transported item to be restrained to some extent by the pads, while stabilizing the posture of the transported item at the installation stage on the mounting surface. [Effects of the Invention]

[0016] According to the present invention, the conveyed item can be accurately placed on the installation surface from the cart that has reached the conveyance destination point.

Brief Description of the Drawings

[0017] [Figure 1] It is a schematic perspective view of a conveyance system according to an embodiment of the present invention. [Figure 2] It is a block diagram of the conveyance system shown in FIG. 1. [Figure 3] It is a block diagram of the control device shown in FIG. 2. [Figure 4] It is a control flow diagram of pulling in the conveyed item by the control device shown in FIG. 3. [Figure 5] (a) to (d) are diagrams for explaining the pulling-in operation of the conveyed item. [Figure 6] It is a control flow diagram of discharging the conveyed item by the control device shown in FIG. 3. [Figure 7] (a) to (d) are diagrams for explaining the discharging operation of the conveyed item. [Figure 8] (a) and (b) are diagrams for explaining the discharging operation of the conveyed item following FIG. 7(d). [Figure 9] (a) to (c) are explanatory diagrams for explaining the details of the discharging operation from FIG. 7(c) to FIG. 7(d).

Embodiments for Carrying Out the Invention

[0018] Hereinafter, the conveyance system 1 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 9.

[0019] 1. Regarding the conveyance system 1 The transport system 1 according to this embodiment is a system that, at the transport starting point, pulls in (takes in) the transported item P which is placed on a shelf C, pallet D, or the lower shelf surface TA for items (transported goods), transports the taken transported item P, and at the transport destination point, dispenses the transported item P and places it on a frame-shaped shelf C, pallet D, or the lower shelf surface TB for items (transported goods) (see Figures 5, 7, etc.).

[0020] In the following specification, the surface on which the transported item P is placed at the transport placement point is referred to as the placement surface TA, and the surface on which the transported item P is installed at the transport destination point is referred to as the installation surface TB. The placement surface TA and the installation surface TB are planes on which the bottom surface of the transported item P makes contact, and are not limited to continuous planes, but also include intermittent planes, such as the surface of a pallet.

[0021] Furthermore, the transported item P is a rectangular packaging box (for example, a cardboard box) containing parts such as machine parts, but the form of the transported item P is not particularly limited as long as the side Pb of the transported item P, which will be described later, can be adsorbed by the pad 52, which will be described later.

[0022] In this embodiment, as shown in Figure 1, the transport system 1 comprises at least a trolley 2 that autonomously travels a route from the transport starting point to the transport destination point of the transported goods P, and a picking device 3 attached to the trolley 2 that pulls in the transported goods P at the transport starting point and dispenses the transported goods P at the transport destination point.

[0023] 2. Regarding trolley 2 The trolley 2 is equipped with a picking device 3 and is a device that transports the transported goods P together with the picking device 3. As shown in Figure 1, for example, the trolley 2 can move not only in the two orthogonal directions LA and LB on the floor surface, but in all directions, and furthermore, it can rotate in the rotational direction T without substantially moving on the floor surface. Such a trolley 2 is a so-called self-supporting transport trolley, and its drive mechanism and other components have a general structure, so a detailed explanation will be omitted.

[0024] Although not shown in Figure 1, the transport system 1 is equipped with a control device 70 (see Figure 2). The control device 70 stores, for example, a map of the areas in the factory or warehouse where the trolley 2 can travel. For example, information such as the transport start point, transport destination point, and transport item information (size, placement, and installation location of the transport item P) is input via a wireless signal from an external management computer. The trolley 2 then sets the optimal travel route from the transport start point to the transport destination point and travels using automatic driving control. By controlling the rotation of the trolley 2, the orientation of the trolley 2 is also controlled to match the placement and installation location of the transport item P.

[0025] In this embodiment, the transport start point and the transport destination point may be different locations, but they may also coincide. For example, when transporting items P in the vertical direction of the same shelf C without driving the trolley 2, or when rotating the trolley 2 of the transport system 1 to place it on a shelf C in a different direction, the transport start point and the transport destination point coincide.

[0026] 3. Regarding picking device 3 The picking device 3 is mounted on a trolley 2 and includes at least a platform 20 on which the items to be transported P are placed, a suction device 50 that uses air suction to pick up the items to be transported P, and a drive device 40 that moves a part of the suction device 50 (a pad 52, described later). Although not shown in Figure 1, the picking device 3 is further equipped with an imaging device 8 that images the items to be transported P (see Figure 2).

[0027] 3-1. Regarding the mounting platform 20 The mounting table 20 is a flat plate-shaped member, and its leading edge has a tapered shape. The mounting table 20 has a flat mounting surface on which the conveyed product P is placed. The mounting table 20 is cantilevered by the drive unit 40 and is movable in the vertical direction (Z-axis direction). The mounting table 20 has a leading edge 22 on the leading side in the direction of discharge of the conveyed product P. Furthermore, the lower surface of the mounting table 20 has an inclined surface 23 that slopes toward the leading edge 22.

[0028] 3-2. About the adsorption device 50 The suction device 50 includes a pad 52 that adsorbs the surface (specifically, the side surface Pb) of the conveyed item P by air suction, and an arm 51 that is integrally attached to the mounting base 20 and supports the pad 52 with its tip surface 51f. The pad 52 has a bellows-like, expandable shape, and the tip surface with an opening is the suction surface. In this embodiment, the pad 52 is bellows-like, but the pad 52 is not limited to this form and may be, for example, sponge-like, as long as stable adsorption is possible with the pad 52. Furthermore, a force sensor 59 is provided on the base end side of the pad 52 to detect contact with the tip surface of the pad 52 (see, for example, Figure 2). Thus, the force sensor 59 is a sensor that detects the force (or contact pressure) when the pad 52 contacts the surface of the conveyed item P, and when the detected force (or pressure) exceeds a preset value, it can be determined that the pad 52 has come into contact with the conveyed item P. Furthermore, the force sensor 59 can determine when the transported object P, which is adsorbed onto the pad 52, has come into contact with the installation surface TB, which will be described later. The force sensor 59 can be a general-purpose sensor such as a piezoelectric element or a strain gauge.

[0029] The suction device 50 is a device that suctions the pad 52 onto the side Pb of the transported item P at the transport start point and the transport destination point (see, for example, Figures 5(c) and 7(b) described later). In this embodiment, the pad 52 is integrally attached to the mounting base 20 and the pad 52 is supported by its leading edge.

[0030] Specifically, in this embodiment, the pads 52 are arranged at intervals in multiple (for example, three) positions along the horizontal direction on the tip surface of the arm 51, and the pads 52 are positioned such that the suction direction of the pads 52 is horizontal (specifically, along the mounting surface 21 of the mounting table 20). The number of pads 52 is not limited as long as they can suction and hold the conveyed item P and move the conveyed item P.

[0031] The pad 52 is connected to the suction pump 54 via a pressure regulating valve 55 and an on-off valve 56. This allows the air drawn in by the suction pump 54 to selectively generate negative pressure inside the pad 52 when it comes into contact with the conveyed item P, by opening the on-off valve 56, thereby causing the pad 52 to adhere to the conveyed item P.

[0032] The pressure at this time is regulated by the pressure regulating valve 55, and the generated suction pressure (negative pressure) is detected by the pressure gauge 58. The pressure signal detected by the pressure gauge 58 is transmitted to the control device 70. A relief valve 57 is provided in the piping branched from the piping upstream of the suction pump 54 from the on-off valve 56, which connects the inside of the pad 52 to the atmosphere. When the suction of the pad 52 is released, the suction pump 54 is stopped and the relief valve 57 is opened by a control signal from the control device 70. As a result, air flows into the pad 52 through the relief valve 57, and the negative pressure inside the pad 52 is released to atmospheric pressure.

[0033] 3-2. Regarding the drive unit 40 The drive unit 40 moves the arm 51, the platform 20, and the transported item P (described later) along the X and Z axes, and also tilts the arm 51 and the platform 20, as will be described later. As shown in Figure 1, the X and Z axes are mutually orthogonal axes. The X axis is the axis along the direction in which the transported item P is pulled in and discharged relative to the trolley 2. The Z axis is the axis along the vertical direction, that is, the direction in which the transported item P is raised and lowered. The drive unit 40 will be described below with reference to Figures 1 and 2.

[0034] Specifically, the drive unit 40 includes a platform lifting mechanism 41 that raises and lowers the arm 51 in the vertical direction (i.e., the Z-axis direction) together with the platform 20, and a platform linear motion mechanism 42 that moves the platform 20 horizontally together with the arm 51, with the direction of discharge of the transported product P (i.e., the X-axis direction) being the forward direction of the platform 20. The direction in which the transported product P is pulled in is the backward direction of the platform 20. In the following description, the horizontal movement of the platform 20 by the platform linear motion mechanism 42 will be described as "(the platform 20) forward" or "(the platform 20) backward" according to that direction.

[0035] Furthermore, the drive unit 40 includes an arm linear motion mechanism 43 that moves the arm 51 linearly along the mounting surface 21 of the mounting base 20, with the direction of movement toward the front edge 22 of the mounting base 20 being the forward direction of the arm 51, and a tilting mechanism 44 that tilts the mounting base 20 together with the arm 51. The direction in which the arm 51 moves away from the front edge 22 of the mounting base 20 is the backward direction of the arm 51. In the following description, the movement of the arm 51 along the mounting surface 21 of the mounting base 20 by the arm linear motion mechanism 43 will be described as "forward movement of the arm 51" or "backward movement of the arm 51" according to its direction.

[0036] The platform lifting mechanism 41 is a mechanism that raises and lowers the mounting platform 20 together with the arm 51 in the Z-axis direction by driving the platform lifting motor 41a. The platform lifting mechanism 41 is a linear guide mechanism and comprises a shaft 41b connected to the platform lifting motor 41a and having screw grooves formed on its circumferential surface, and a pair of guide rails 41c arranged parallel to the shaft 41b. The shaft 41b and the guide rails 41c extend in the Z-axis direction, and the shaft 41b rotates around the Z-axis. These components are mounted in a housing 48. The platform lifting mechanism 41 further comprises a carriage 41d, which is screwed onto the shaft 41b and moves along the guide rails 41c. A pad 52 is indirectly attached to the carriage 41d via a platform linear motion mechanism 42.

[0037] When raising or lowering the pad 52, a control signal from the control device 70 drives the platform lifting motor 41a, causing the shaft 41b to rotate around the Z-axis. This allows the carriage 41d, which is screwed onto the shaft 41b, to move together with the pad 52 in the vertical direction (Z-axis direction) along the guide rail 41c.

[0038] The platform linear motion mechanism 42 is a mechanism that moves the mounting platform 20 horizontally forward or backward along the X-axis direction together with the arm 51 by driving the platform linear motion motor 42a. The platform linear motion mechanism 42 is a linear guide mechanism similar to that of the platform lifting mechanism 41. The platform linear motion mechanism 42 includes a shaft 42b and a pair of guide rails 42c that extend along the X-axis direction within a casing 42f. The shaft 42b is connected to the platform linear motion motor 42a via a power transmission belt or the like. The platform linear motion mechanism 42 further includes a carriage 42d, which is screwed onto the shaft 42b and slidably connected to the pair of guide rails 42c. The casing 42f is fixed to the carriage 41d of the platform lifting mechanism 41.

[0039] When moving the mounting base 20 forward or backward along the X-axis with the arm 51, the control signal from the control device 70 drives the linear motor 42a, rotating the shaft 42b around the X-axis. This allows the carriage 42d, which is screwed onto the shaft 42b, to move horizontally (in the X-axis direction) along the guide rail 42c, together with the arm 51 and the mounting base 20.

[0040] The arm linear motion mechanism 43 is a mechanism that moves the arm 51 forward and backward relative to the mounting surface 21 of the mounting base 20 by driving the arm linear motion motor 43a. The arm linear motion mechanism 43 is a linear guide mechanism similar to the platform lifting mechanism 41. The arm linear motion mechanism 43 includes a shaft 43b and a pair of guide rails 43c that extend along the X-axis direction within a casing 43f. The shaft 43b is connected to the arm linear motion motor 43a via a power transmission belt or the like. The arm linear motion mechanism 43 further includes a carriage 43d, which is screwed onto the shaft 43b and slidably connected to the pair of guide rails 43c. The casing 42f is fixed at its base end face to the base end portion 26 of the mounting base 20. A support 47 that supports the mounting base 20 is fixed to the carriage 42d of the platform linear motion motor 42a.

[0041] When moving the arm 51 forward or backward relative to the mounting base 20, the control signal from the control device 70 drives the arm linear motor 43a, rotating the shaft 43b around the X-axis. This allows the carriage 43d, which is screwed onto the shaft 43b, to move horizontally (in the X-axis direction) along the guide rail 43c, together with the arm 51 fixed to it.

[0042] The tilting mechanism 44 is a mechanism that tilts the mounting base 20 together with the arm 51. In this embodiment, the base portion 26 of the mounting base 20 is rotatably attached to the support 47 via a base tilting motor 44a. By driving the base tilting motor 44a, the base portion 26 of the mounting base 20 can be rotated relative to the main body of the drive device 40, which includes the support 47. As a result, the control signal from the control device 70 drives the base tilting motor 44a, rotating the mounting base 20, on which the mounting surface 21 is formed along the horizontal direction, so that the mounting base 20 is tilted together with the arm 51 so that the front edge 22 of the mounting base 20 faces the installation surface TB.

[0043] 4. Regarding the control device 70 The control device 70 will be described below with reference to Figures 3 to 8. The control device 70 is a device that controls the movement of the pad 52 and the mounting platform 20 by the drive device 40, and in this embodiment, it also controls the automatic movement of the trolley 2. The control device 70 includes, as hardware, a memory device and a processing unit, although these are not shown in the figures. The memory device stores a travel map of the warehouse or factory where the trolley travels, operation programs for operating the drive device 40 and the suction device 50, etc. The processing unit calculates the travel route from the travel map and calculates decisions on whether to activate the operation programs, etc.

[0044] Specifically, as shown in Figure 3, the control device 70 includes, as software, a trolley travel control unit 71, a transported item detection unit 72, a platform lifting control unit 73, a platform movement control unit 74, an arm movement control unit 75, a platform tilting control unit 76, and a suction control unit 77, which will be explained along with the following control flow.

[0045] 4-1. Control flow for the retrieval of transported item P The pulling control by the control device 70 will be explained below with further reference to Figures 1 to 3, as well as Figures 4 and 5. As shown in Figure 4, in step S401, the trolley 2 of the transport system 1 is controlled to move the trolley 2 to the transport start point where the transported item P is placed (see Figure 5(a)). The transported item P is placed on a pallet D located on shelf C at the transport start position. Specifically, as shown in Figure 3, the trolley travel control unit 71 sets the transport route for the trolley 2 to the transport start point based on the transport start point and information on the transported item P (specifically, the size of the transported item P, the height H1 of the placement surface, etc.) input from the input device 7, and the position information of the trolley 2, and controls the drive device (not shown) of the trolley 2.

[0046] Next, in step S402, upon receiving a detection signal from the trolley travel control unit 71 indicating that the transport start point has been reached, the transport item detection unit 72 uses the imaging device 8 to detect the position of the transport item P at the transport start point.

[0047] Next, in step S403, as shown in Figure 5(a), the control device 70 raises and lowers the arm 51 and the mounting platform 20 according to the height of the placement surface TA of the transported item P. In this example, the placement surface TA is the top surface of the pallet D. Specifically, the platform lifting control unit 73 controls the platform lifting motor 41a of the platform lifting mechanism 41 so that the Z-axis position of the pad 52 is at the center height of the side surface Pb of the transported item P, in accordance with the detected height H1 of the placement surface TA of the transported item P. The platform lifting control unit 73 also controls the platform lifting motor 41a of the platform lifting mechanism 41 so that, when viewed from the X-axis direction, the platform lifting control unit 73 is in contact with the side surface Pb of the transported item P, and the height H2 of the mounting surface 21 of the mounting platform 20 is the same height as the height H1 of the placement surface TA of the transported item P. These motor controls are performed based on the detection signal of the encoder attached to the platform lifting motor 41a so that the mounting platform 20 is at the target position.

[0048] Next, in step S404, as shown in Figure 5(b), the arm movement control unit 75 controls the arm linear motor 43a of the arm linear mechanism 43 so that the pad 52 moves forward toward the side of the conveyed item P together with the arm 51. Next, the process proceeds to step S405, where the force sensor 59, as described above, determines whether the pad 52 has made contact with the conveyed item P. If the arm movement control unit 75 determines that the pad 52 has not made contact with the conveyed item P (No), it returns to step S404 and continues the movement (forward movement) of the arm 51 toward the conveyed item P. On the other hand, if the arm movement control unit 75 determines that the arm 51 has made contact with the side Pb of the conveyed item P (Yes), it stops driving the arm linear motor 43a and proceeds to step S406.

[0049] Next, in step S406, as shown in Figure 5(c), upon receiving a drive stop signal for the arm linear motor 43a from the arm movement control unit 75, the suction control unit 77 controls the on-off valve 56 to open and then starts the suction pump 54. As a result, negative pressure is generated inside the pad 52 while the pad 52 is in contact with the side surface Pb of the conveyed item P. The suction control unit 77 transmits control signals to the suction pump 54, on-off valve 56, and relief valve 57 shown in Figure 2, based on at least one signal from the platform lifting control unit 73, the platform movement control unit 74, or the detection signal from the pressure gauge 58, and controls their operation.

[0050] Next, in step S407, the suction control unit 77 determines whether the suction pressure (negative pressure) measured by the pressure gauge 58 has fallen below a predetermined pressure (predetermined value). If the suction control unit 77 determines that the suction pressure is not below the predetermined pressure (No), it returns to step S406 and continues suction by the suction pump 54. If it determines that the suction pressure has fallen below the predetermined pressure (Yes), it proceeds to step S408.

[0051] Next, in step S408, as shown in Figure 5(d), the arm movement control unit 75 controls the arm linear motor 43a of the arm linear mechanism 43 to pull the transported item P horizontally to the mounting table 20 while the pad 52 is attached to the side surface Pb of the transported item P. Specifically, the arm movement control unit 75, based on the detection signal of the encoder attached to the arm linear motor 43a, causes the pad 52 to retract (move) horizontally (in the X-axis direction) until at least the bottom surface of the transported item P contacts the mounting surface 21 of the mounting table 20. In this embodiment, with the side surface Pb of the transported item P placed on the mounting table 20 attached to the pad 52 by the suction device 50, the arm linear mechanism 43 moves the arm 51 so that the lower end edge Pc of the transported item P protrudes from the front edge 22 of the mounting table 20.

[0052] Finally, proceeding to step S409, the suction control unit 77 stops the suction pump 54 and then opens the relief valve 57. This releases the suction pressure of the pad 52 to atmospheric pressure (pressure release), and the suction of the pad 52 to the side Pb of the conveyed object P is released.

[0053] Through this series of steps, at the starting point of transport, the pad 52 is moved horizontally (in the X-axis direction) using the arm linear motion mechanism 43, thereby bringing the pad 52 into contact with the side surface Pb of the transported item P. Next, the pad 52 is attached to the side surface Pb of the transported item P by the suction of air using the suction device 50. Subsequently, the pad 52, with the side surface Pb of the transported item P attached, is moved horizontally (in the X-axis direction) using the arm linear motion mechanism 43 to pull it towards the mounting table 20. This allows the transported item P to be quickly placed on the mounting table 20 while sliding its bottom surface from the placement surface TA of the shelf C to the mounting surface 21 of the mounting table 20.

[0054] 4-2. Regarding the dispensing control flow of transported item P The dispensing control by the control device 70 will be explained below with further reference to Figures 6 to 9, along with Figures 1 to 3. First, as shown in Figure 6, in step S601, the trolley 2 of the transport system 1 is controlled to move the transport system 1 on which the transported item P is placed to the transport destination point. Specifically, as shown in Figure 3, the trolley travel control unit 71 sets the transport route of the trolley 2 from the transport start point to the transport destination point based on the transport start point, transport destination point, and information on the transported item P (specifically, the size of the transported item P, the height of the installation surface, etc.) input from the input device 7, and controls the drive device (not shown) of the trolley 2.

[0055] Next, in step S602, upon receiving a detection signal from the trolley travel control unit 71 indicating that the transport destination point has been reached, the control device 70 raises and lowers the arm 51 and the mounting platform 20 according to the height of the transported item P and the height of the mounting surface TB, as shown in Figure 7(a). Specifically, the platform lifting control unit 73 controls the platform lifting motor 41a of the platform lifting mechanism 41 so that the height of the mounting surface 21 of the platform 20 is higher than the height of the mounting surface TB. These motor controls are performed based on detection signals from encoders attached to each platform lifting motor 41a so that the platform 20 reaches the target height in the Z-axis. The height of the mounting surface 21 of the platform 20 is such that, as shown in Figure 7(c) later, when the platform 20 is tilted, the side surface Pb of the transported item P placed on the platform 20 can remain attached to the pad 52, and the lower edge Pc of the transported item P can contact the mounting surface TB. Such height settings can be calculated based on factors such as the frictional force between the transported item P and the platform 20 when the platform 20 is tilted, the suction force of the transported item P, and the amount by which the lower edge Pc of the transported item P protrudes from the front edge 22 of the platform 20. These settings can be determined by conducting experiments beforehand.

[0056] Next, in step S603, the suction control unit 77 controls the on / off valve 56 to open, and then starts the suction pump 54. As a result, negative pressure is generated inside the pad 52 while the pad 52 is in contact with the side surface Pb of the conveyed item P.

[0057] Next, in step S604, the suction control unit 77 determines whether the suction pressure (negative pressure) measured by the pressure gauge 58 has fallen below a predetermined pressure. If the suction control unit 77 determines that the suction pressure is not below the predetermined pressure (No), it returns to step S603 and continues suction by the suction pump 54. If it determines that the suction pressure has fallen below the predetermined pressure (Yes), it proceeds to step S605.

[0058] Next, in step S605, as shown in Figure 7(b), the platform movement control unit 74 controls the platform linear motion motor 42a of the platform linear motion mechanism 42 so that the platform 20 moves forward until it is positioned above the installation surface TB while the pad 52 is attached to the side surface Pb of the transported item P. At this time, as shown in Figure 7(c), which will be described later, the platform movement control unit 74 moves the platform 20 forward until the lower edge Pc of the transported item P is in a position where it can contact the installation surface 21 while the platform 20 is tilted.

[0059] In step S606, as shown in Figure 7(c), with the side surface Pb of the transported product P placed on the mounting table 20 being held in place by the suction device 50 and the pad 52, the tilting mechanism 44 tilts the mounting table 20 together with the arm 51 so that the leading edge 22 of the mounting table 20 faces the installation surface TB. Specifically, the table tilting control unit 76 controls the table tilting motor 44a of the tilting mechanism 44 so that the leading edge 22 of the mounting table 20 faces the installation surface TB.

[0060] Next, the process proceeds to step S607, where the tilting mechanism 44 tilts the arm 51 and the mounting base 20 to determine whether the lower edge Pc of the transported item P has come into contact with the mounting surface TB. Specifically, the force sensor 59 can determine whether the lower edge Pc of the transported item P, which is held in contact with the pad 52, has come into contact with the mounting surface TB. If it is determined that the transported item P has not come into contact with the mounting surface TB (No), the process returns to step S606, and the tilting mechanism 44 continues to tilt the arm 51 and the mounting base 20. This allows the tilting mechanism 44 to continue tilting the arm 51 and the mounting base 20 until the lower edge Pc of the transported item P comes into contact with the mounting surface TB (see Figure 7(c)). If it is determined that the transported item P has come into contact with the mounting surface TB (Yes), the process proceeds to step S608.

[0061] In steps S608 and S609, the state is changed from the state in Figure 7(c) to the state in Figure 7(d). The changes in state during these transitions will be described later with reference to Figures 9(a) to (c). First, in step S608, with the mounting base 20 and arm 51 inclined, the arm 51 is moved forward by the arm linear motion mechanism 43, while the mounting base 20 is moved backward by the base linear motion mechanism 42. Specifically, the arm 51 is moved forward by the arm linear motion mechanism 43 and the mounting base 20 is moved backward by the base linear motion mechanism 42 so that the horizontal velocity component of the arm 51's forward movement and the horizontal velocity component of the mounting base 20's backward movement (in this embodiment, the backward movement speed of the mounting base) are matched.

[0062] More specifically, the arm movement control unit 75 controls the arm linear motor 43a of the arm linear motion mechanism 43 so that the arm 51 moves forward relative to the mounting base 20. Simultaneously, the base movement control unit 74 controls the base linear motor 42a of the base linear motion mechanism 42 so that the mounting base 20 moves backward together with the arm 51. In this process, the arm movement control unit 75 and the base movement control unit 74 control the rotational speeds of the arm linear motor 43a and the base linear motor 42a so that the horizontal velocity component of the arm 51's forward movement matches the horizontal velocity component of the mounting base 20's backward movement.

[0063] Next, the process proceeds to step S607, where the arm movement control unit 75 determines whether the transported item P has detached from the mounting surface 21 of the mounting base 20. Specifically, the force sensor 59 determines whether the transported item P has detached from the mounting surface 21 of the mounting base 20 because the force due to the weight of the transported item P decreases when the bottom surface of the transported item P, which is adsorbed onto the pad 52, comes into contact with the mounting surface TB. If it is determined that the transported item P has not detached from the mounting surface 21 of the mounting base 20 (No), the process returns to step S606 and continues the operation of step 606. This allows the tilting mechanism 44 to tilt the arm 51 and the mounting base 20 until the lower edge Pc of the transported item P comes into contact with the mounting surface TB. If it is determined that the transported item P has come into contact with the mounting surface TB (Yes), the process proceeds to the state shown in Figure 7(d) and proceeds to step S608.

[0064] Next, in step S608, the suction control unit 77 stops the suction pump 54 and then opens the relief valve 57. As a result, the suction pressure of the pad 52 is released to atmospheric pressure (pressure is released), and the suction of the pad 52 to the bottom surface Pd of the transported item P is released. In this way, the suction of the pad 52 to the transported item P by the suction device 50 is continued until the bottom surface Pd of the transported item P is separated from the mounting surface 21 of the mounting table 20. This allows the movement of the transported item P to be somewhat restrained by the pad 52, while stabilizing the posture of the transported item P at the installation stage on the mounting surface TB.

[0065] In step S609, as shown in Figure 8(a), the platform movement control unit 74 controls the platform linear motion motor 42a of the platform linear motion mechanism 42 so that the platform 20 retracts until the leading edge 22 of the platform 20 is positioned above the trolley 2 while the platform 20 is tilted. Furthermore, the arm movement control unit 75 controls the arm linear motion motor 43a of the arm linear motion mechanism 43 so that the arm 51 retracts. Finally, the platform movement control unit 74 controls the platform linear motion motor 42a of the platform linear motion mechanism 42 so that the platform 20 retracts until the leading edge 22 of the platform 20 is positioned above the trolley 2 while the platform 20 is tilted. Furthermore, the arm movement control unit 75 controls the arm linear motion motor 43a of the arm linear motion mechanism 43 so that the arm 51 retracts. Finally, as shown in Figure 8(b), in step S612, the table tilt control unit 76 controls the table tilt motor 44a so that the mounting surface 21 of the mounting table 20 becomes horizontal, that is, to return the mounting table 20 to its original position.

[0066] Through this series of steps, according to this embodiment, as shown in Figure 7(c) above, at the transport destination point, with the side surface Pb of the transported product P placed on the loading platform 20 being held in place by the pad 52, the tilting mechanism 44 tilts the loading platform 20 together with the arm 51 so that the leading edge 22 of the loading platform 20 faces the installation surface TB. As a result, even if the loading surface 21 of the loading platform 20 is inclined, the suction of the pad 52 prevents the transported product P from sliding off the loading surface 21. Furthermore, with the loading platform 20 and the arm 51 inclined, the arm 51 can be advanced relative to the loading platform 20, and the loading platform 20 can be moved backward relative to the installation surface TB, so that the transported product P can be slid along the loading surface 21 of the loading platform 20 in the discharge direction and placed on the installation surface TB (see Figure 7(d)).

[0067] In this way, as shown in Figures 9(a) to 9(c), the transported item P is held in place by the pad 52, and the mounting base 20 located between the transported item P and the mounting surface TB is pulled out. In particular, in this embodiment, by making the pad 52 a bellows, even if the transported item P rotates so that its side surface Pb stands upright, the pad 52 elastically deforms, and the pad 52 can maintain its grip on the side surface Pb of the transported item P. This prevents the transported item P from sliding on the mounting surface 21 of the mounting base 20 due to its own weight.

[0068] As a result, the transported item P can be smoothly placed on the installation surface TB from the trolley 2 upon reaching the transport destination, without the entire bottom surface Pd of the transported item P being dragged along the installation surface TB in the direction of discharge.

[0069] Furthermore, in this embodiment, as shown in Figure 9(a), the arm 51 is moved so that the lower edge Pc of the transported item P protrudes from the front edge 22 of the mounting table 20, and the tilting mechanism 44 tilts the arm 51 and the mounting table 20 until the lower edge Pc of the transported item P contacts the installation surface. This allows the front edge 22 of the mounting table 20 to be separated from the installation surface TB by a distance S, preventing the front edge 22 of the mounting table 20 from directly contacting the installation surface TB. As a result, when the transported item P is placed on the installation surface TB in the order shown in Figures 9(a) to 9(c) with the mounting table 20 and arm 51 tilted, even if the mounting table 20 is moved backward relative to the installation surface TB, it is possible to avoid the front edge 22 of the mounting table 20 sliding while in contact with the installation surface TB. This prevents the front edge 22 of the mounting table 20 and the installation surface TB from being worn down. Since the lower surface of the mounting base 20 has an inclined surface 23 that slopes toward the front edge 22, this inclined surface 23 makes it easier to avoid the mounting base 20 coming into contact with the installation surface TB.

[0070] Furthermore, with the mounting base 20 and the arm 51 in an inclined state, the horizontal velocity component of the arm 51's forward movement coincides with the horizontal velocity component of the mounting base 20's backward movement. Therefore, the lower edge Pc of the transported item P, which is adsorbed onto the pad 52, is held in the same position on the mounting surface 21 of the mounting base 20. As a result, as the mounting base 20 moves backward, the inclination angle of the bottom surface Pd of the transported item P gradually decreases as it moves away from the mounting surface 21 of the mounting base 20. This allows the transported item P to be rotated and placed on the mounting surface TB, using its lower edge Pc as a pivot point.

[0071] Although embodiments of the present invention have been described in detail above, the present invention is not limited to the embodiments described above, and various design modifications can be made without departing from the spirit of the invention as described in the claims. [Explanation of Symbols]

[0072] 1: Conveying system, 2: Trolley, 3: Picking device, 20: Platform, 21: Platform surface, 22: Front edge, 40: Drive device, 41: Platform lifting mechanism, 42: Platform linear motion mechanism, 43: Arm linear motion mechanism, 44: Tilting mechanism, 50: Suction device, 52: Pad, P: Conveyed item, Pb: Side, Pc: Bottom edge, TB: Installation surface

Claims

1. A transport system for transporting goods, comprising: a trolley that travels autonomously to a transport destination to which the goods are transported; and a picking device attached to the trolley that dispenses the goods onto a surface, The picking device is A platform on which the transported items are placed, A suction device comprising: a pad that adsorbs the side surface of the transported item by air suction; and an arm integrally attached to the aforementioned stand and supporting the pad at its tip; A drive device comprising: a tilting mechanism that tilts the aforementioned base together with the arm; a base linear motion mechanism that moves the aforementioned base horizontally together with the arm, with the direction of discharge of the conveyed product being the forward direction of the aforementioned base; and an arm linear motion mechanism that moves the aforementioned arm linearly along the mounting surface of the aforementioned base, with the direction of movement toward the front edge of the aforementioned base being the forward direction of the arm; The system includes a control device that controls the suction by the aforementioned suction device and the movement of the arm and the aforementioned mounting base by the aforementioned drive device. The control device, with the side surface of the conveyed item placed on the aforementioned stand being held in place by the suction device, is tilted by the tilting mechanism, together with the arm, so that the leading edge of the aforementioned stand faces the installation surface. A transport system characterized in that, with the mounting platform and the arm in an inclined state, the arm is moved forward by the arm linear motion mechanism while the mounting platform is moved backward by the platform linear motion mechanism.

2. The control device, with the side surface of the transported product placed on the aforementioned stand being held in place by the suction device, moves the arm using the linear arm mechanism so that the lower edge of the transported product protrudes from the front edge of the aforementioned stand. The conveying system according to claim 1, characterized in that the tilting mechanism causes the arm and the aforementioned stand to tilt until the lower edge of the conveyed product contacts the installation surface.

3. The conveying system according to claim 2, characterized in that the lower surface of the mounting platform has an inclined surface that slopes toward the leading edge.

4. The control device, after the tilting of the base and the arm described above, The transport system according to claim 2, characterized in that the forward movement of the arm by the arm linear motion mechanism and the backward movement of the base by the base linear motion mechanism are performed such that the horizontal velocity component in the forward movement of the arm matches the horizontal velocity component in the backward movement of the base.

5. The control device, after the tilting of the base and the arm described above, The transport system according to claim 1, characterized in that the suction device uses the suction pad to suction the transported item until the bottom surface of the transported item is separated from the mounting surface of the aforementioned mounting table by the forward movement of the arm by the arm linear motion mechanism and the backward movement of the aforementioned mounting table by the table linear motion mechanism.

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