Workpiece transport holder magazine

Abstract

To enable a plurality of workpiece transport holders for an autonomous traveling robot to be stored by stacking them, and to automatically carry out the plurality of stacked workpiece transport holders for an autonomous traveling robot. [Solution] By inserting the lowest ends of the four pillars of the upper work transport holder 10 into the openings at the top ends of the four pillars of the lower work transport holder, it becomes possible to stack multiple work transport holders, each with a pallet placed on it, for example, eight high. An autonomously moving robot AGV enters the work transport holder magazine 20 in the direction indicated by the solid arrow, lifts the eight high-stacked work transport holders at once, and transports them out of the work transport holder magazine in the direction indicated by the dashed arrow to a designated storage position.

Description

[Technical Field]

[0001] The present invention provides Wa This relates to a magazine for work transport holders. [Background technology]

[0002] In inventory systems or storage facilities, for example, as shown in Patent Documents 1 and 2, a self-propelled drive unit equipped with a lifting mechanism for lifting an inventory holder (described later) or a self-propelled transport vehicle equipped with a lifting table may be used to transport items to and from a shelving system. For example, as shown in Patent Document 1, an inventory system includes multiple mobile drive units, multiple inventory holders for storing inventory items, an unloading station, and a workspace. The inventory holders for storing inventory items are removably coupled to the mobile drive units and transported to the unloading station by the mobile drive units. Such inventory holders include a first surface on which inventory items can be stored and a second surface that can be coupled to the top of the mobile drive unit when the mobile drive unit transports the inventory holder below the first surface, and the support includes four columns. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5592497 [Patent Document 2] Patent No. 6733138 Summary of the Invention [Problem to be solved by the invention]

[0004] When multiple inventory holders are unused and left flat at the unloading station as shown in Patent Document 1, the free working space at the unloading station is reduced, which may result in ineffective use of the limited storage space. In such a case, in order to effectively use the limited storage space, it is conceivable that workers may stack the multiple unused inventory holders vertically in a predetermined location.

[0005] However, as mentioned above, when each inventory holder is a support structure including four metal posts, each inventory holder is heavy, and it is not easy for a worker to stack them vertically higher than his or her height.

[0007] Considering the above issues, The present invention provides a magazine for work transport holders, which can carry in work transport holders for an autonomously traveling robot and automatically stack (in layers) them for storage, and can also automatically carry out a plurality of stacked work transport holders for an autonomously traveling robot. eye The target. [Means for solving the problem]

[0008] In order to achieve the above objectives, The workpiece transport holder magazine according to the present invention comprises: The present invention provides a work transport holder for an autonomously traveling robot, comprising: a receiving portion that can be brought into contact with a mounting base of a lifting device for the autonomously traveling robot and can be mounted on or separated from the mounting base, the receiving portion being formed at a position higher than the height from the travel path to the top end of the mounting base at the initial position of the lifting device for the autonomously traveling robot; a pair of connecting members that are connected to the receiving portion; and at least four support columns that are connected to both ends of the pair of connecting members, each of which forms a work transport holder accommodating portion inside the receiving portion for accommodating or discharging a work transport holder for the autonomously traveling robot; and a plurality of support columns that are connected to the upper portions of the plurality of support columns, each of which forms a work transport holder accommodating portion inside the receiving portion for accommodating or discharging a work transport holder for the autonomously traveling robot. a frame made up of a pair of beam members attached to the workpiece transport holder accommodating section and a connecting beam member connecting one end of the pair of beam members; a positioning mechanism that aligns the center position of each workpiece transport holder for the autonomous mobile robot carried into the workpiece transport holder accommodating section with the center position of the workpiece transport holder accommodating section; and a stacking mechanism that temporarily raises the first workpiece transport holder for the autonomous mobile robot that has been aligned by the positioning mechanism and stacks the first workpiece transport holder for the autonomous mobile robot on a second workpiece transport holder for the autonomous mobile robot that has been carried into the workpiece transport holder accommodating section below. a pair of sliders each equipped with a work transport holder holding / release mechanism that lowers the pair of sliders as shown in FIG. 1; a motor that drives a transmission device that raises and lowers the pair of sliders; and a work transport holder accommodating section that is provided on a framework that forms the work transport holder accommodating section inside, and that temporarily aligns the first work transport holder for an autonomously traveling robot by a positioning mechanism based on detection outputs from a plurality of position sensors that detect the positions of the first work transport holder for an autonomously traveling robot, the second work transport holder for an autonomously traveling robot, and the work transport holder holding / release mechanism. and a control unit that causes the work transport holder holding / release mechanism and the pair of sliders to perform an operation of raising the work transport holder for the autonomous mobile robot and lowering the first work transport holder for the autonomous mobile robot so as to stack it on the second work transport holder for the autonomous mobile robot that has been carried in below the work transport holder accommodation section, and that causes the autonomous mobile robot equipped with the lifting device to carry out all at once the work transport holder for the first autonomous mobile robot that has been stacked on at least the second work transport holder for the autonomous mobile robot.A pallet of predetermined dimensions may be mountable on the upper surface of the placement section of each work transport holder for the autonomous mobile robot.One end of each support column of each workpiece transport holder for an autonomously traveling robot may have at least one slit extending in the axial direction of the support column. [Effects of the Invention]

[0009] According to the workpiece transport holder magazine of the present invention, the control unit is provided on a framework that forms the workpiece transport holder accommodating portion therein,Based on detection outputs from a plurality of position sensors that detect the positions of the first autonomously mobile robot work transport holder, the second autonomously mobile robot work transport holder, and the work transport holder holding / release mechanism, the first autonomously mobile robot work transport holder that has been aligned by the positioning mechanism is first raised, and then the work transport holder holding / release mechanism and the pair of sliders are caused to perform an operation of lowering the first autonomously mobile robot work transport holder so that it is stacked on the second autonomously mobile robot work transport holder that has been brought in below the work transport holder storage section, and an autonomously mobile robot equipped with a lifting device is caused to perform an operation of removing at least the first autonomously mobile robot work transport holder stacked on the second autonomously mobile robot work transport holder all at once, so that work transport holders for autonomously mobile robots can be brought in and automatically stacked (tiered) for storage, and multiple stacked work transport holders for autonomously mobile robots can be automatically removed. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a top view showing a state in which a first embodiment of a work transport holder for an autonomously traveling robot according to the present invention is positioned and held in an example of a magazine for a work transport holder according to the present invention. [Figure 2] FIG. 1 is a plan view showing a state in which a first embodiment of a work transport holder for an autonomous mobile robot according to the present invention is positioned and held in a positioning mechanism in an example of a magazine for a work transport holder according to the present invention. [Figure 3] 1A and 1B are a top view and a front view, respectively, of a first embodiment of a workpiece transport holder for an autonomously traveling robot according to the present invention. [Figure 4] 4 is a perspective view showing a pallet mounted on the workpiece transport holder for the autonomously traveling robot shown in FIGS. 3(A) and 3(B). FIG. [Figure 5] 4 is a front view showing a state in which a plurality of workpiece transport holders for an autonomously traveling robot shown in FIGS. 3(A) and 3(B) are stacked one on top of the other. FIG. [Figure 6]1 is a top view of an example of a magazine for a workpiece transport holder according to the present invention; [Figure 7] FIG. 2 is a front view of an example of a magazine for a workpiece transport holder according to the present invention. [Figure 8] FIG. 8 is a left side view of an example of the workpiece transport holder magazine shown in FIG. 7. [Figure 9] FIG. 8 is a left side view of an example of the workpiece transport holder magazine shown in FIG. 7. [Figure 10] FIG. 8 is a front view of an example of the magazine for workpiece transport holders shown in FIG. 7, together with eight stacked workpiece transport holders for an autonomously traveling robot. [Figure 11] FIG. 8 is a side view of an example of the magazine for workpiece transport holders shown in FIG. 7, together with eight stacked workpiece transport holders for an autonomously traveling robot. [Figure 12] 10A and 10B are a top view and a front view, respectively, of a second embodiment of a workpiece transport holder for an autonomously traveling robot according to the present invention. [Figure 13] 13 is a front view showing a state in which a plurality of workpiece transport holders for an autonomously traveling robot shown in FIGS. 12(A) and 12(B) are stacked one on top of the other. FIG. [Figure 14] FIG. 8 is a front view of an example of a magazine for a workpiece transport holder shown in FIG. 7, together with a second embodiment of a workpiece transport holder for an autonomously traveling robot. [Figure 15] FIG. 15 is a right side view of an example of a magazine for a workpiece transport holder shown in FIG. 14, together with a second embodiment of a workpiece transport holder for an autonomously traveling robot. [Figure 16] FIG. 15 is a left side view of an example of a magazine for a workpiece transport holder shown in FIG. 14, together with a second embodiment of a workpiece transport holder for an autonomously traveling robot. [Figure 17] FIG. 2 is a block diagram showing the configuration of a control unit provided in an example of a magazine for workpiece transport holders. [Figure 18] 18 is a flowchart showing the operation of an example of a workpiece transport holder magazine controlled by the control unit shown in FIG. 17. [Figure 19]18 is a flowchart showing the operation of an example of a workpiece transport holder magazine controlled by the control unit shown in FIG. 17. [Figure 20] 10A and 10B are a plan view and a side view, respectively, showing another example of a work transport holder holding / releasing mechanism that is applied to an example of a magazine for a work transport holder according to the present invention. [Figure 21] 10A and 10B are diagrams each illustrating the operation of another example of a positioning mechanism section applied to an example of a magazine for a workpiece transport holder according to the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0011] FIG. 1 is a plan view showing the schematic configuration of an example of a magazine for a workpiece transport holder to which a first embodiment of a workpiece transport holder for an autonomously traveling robot according to the present invention is applied. In FIG. 1 , the workpiece transport holder magazine 20 is installed, for example, on the floor FL of an unloading station in an assembly plant. A positioning mechanism 30 (described later) positions and stores workpiece transport holders 10 for an autonomously traveling robot (hereinafter also referred to as workpiece transport holders 10) that are carried in by an autonomously traveling robot AGV (described later, see FIG. 10 ). The magazine also selectively transports a plurality of stored workpiece transport holders 10 using the autonomously traveling robot AGV. The autonomously traveling robot AGV (manufactured by TAKUMI Co., Ltd.) is capable of, for example, forward movement, backward movement, and spin turns. It has a lifter function for raising and lowering the workpiece transport holders 10 and performs position recognition using a GRID system that reads a two-dimensional code installed on the workpiece transport holders 10. The weight of the workpiece transport holders 10 that the autonomously traveling robot AGV can transport is, for example, 1,000 kg or less. The external dimensions of the autonomously traveling robot AGV are, for example, 1,132 (D) × 850 (W) × 290 (H) mm.

[0012] As shown in Figures 3(A) and (B), the work transport holder 10 is formed into an approximately square shape using, for example, square pipes (square steel pipes), and is configured to include, as its main elements, four pillars 16a, 16b, 16c, and 16d located at the corners of the square, a connecting member 12a that is perpendicular to the axes of pillars 16a and 16b and connects pillars 16a and 16b, a connecting member 12b that is perpendicular to the axes of pillars 16b and 16c and connects pillars 16b and 16c, a connecting member 12c that is perpendicular to the axes of pillars 16c and 16d and connects pillars 16c and 16d, and a connecting member 12d that is perpendicular to the axes of pillars 16d and 16a and connects pillars 16d and 16a.

[0013] Between connecting member 12b and connecting member 12d, connecting members 14a and 14b are connected so as to be parallel to connecting member 12a and connecting member 12c. Between connecting member 14a and connecting member 14b, connecting plate 14c, which is shorter than connecting member 14a, is connected so as to be parallel to connecting member 12b and connecting member 12d. As a result, a receiving portion that is placed on the receiving portion of the lifting mechanism of the autonomous traveling robot AGV described above is formed by connecting members 14a and 14b and connecting plate 14c.

[0014] The external dimensions of the workpiece transport holder 10 are set to, for example, approximately 1322 × 1322 × 530 (mm). This allows a rectangular pallet 18 (approximately 1200 × 1200 × 150 (mm)) 18, as shown in FIG. 4, to be placed across the connecting members 12a, 12b, 12c, and 12d of the workpiece transport holder 10. The rectangular pallet 18 has, for example, an upper surface 18A on which an object to be transported is placed and a lower surface 18B opposite the upper surface 18A. Square holes 18a and 18b are formed on each side between the upper surface 18A and the lower surface 18B, through which the forks of a forklift are inserted and removed.

[0015] The uppermost ends of the four support columns 16a, 16b, 16c, and 16d of the workpiece transport holder 10 are rectangularly opened. The lowermost ends of the four support columns 16a, 16b, 16c, and 16d are tapered to have a rounded shape with a diameter of about 30 mm, which is smaller than the diameter of the rectangular opening at the uppermost end.

[0016] As a result, for example, as shown in FIG. 5, by inserting the lowermost ends of the four support columns 16a, 16b, 16c, and 16d of the upper work transport holder 10 into the openings at the uppermost ends of the four support columns 16a, 16b, 16c, and 16d of the lower work transport holder 10, the plurality of work transport holders 10a1, 10a2, 10a3, 10a4, and 10a5, each carrying a pallet 18, can be inserted into the openings at the uppermost ends of the four support columns 16a, 16b, 16c, and 16d of the lower work transport holder 10. 、 For example, 10a6, 10a7, and 10a8 can be stacked up to eight levels. The tapered bottom ends of the four pillars 16a, 16b, 16c, and 16d may each have at least one slit formed along the axis of the pillar, so that the bottom ends of the four pillars 16a, 16b, 16c, and 16d can be easily inserted into the openings at the top ends of the four pillars 16a, 16b, 16c, and 16d. Alternatively, the four support columns 16a, 16b, 16c, and 16d may be formed from solid rectangular members. In such a case, the lowermost ends of the four support columns may be formed to have a pointed convex cross-section, and the uppermost ends of the four support columns may have a funnel-shaped concave cross-section so that the pointed lowermost ends fit into them. Furthermore, when the four support columns 16a, 16b, 16c, and 16d are formed from solid rectangular members, the uppermost ends of the four support columns may have a pointed convex cross-section, and the lowermost ends of the four support columns may have a funnel-shaped concave cross-section so that the uppermost ends fit into them.

[0017] Figures 7 and 8 , and Figs. 10 and 11 As shown in A work transport holder accommodating section is formed inside, into which a plurality of work transport holders 10 are accommodated or discharged.The framework of the work holder magazine 20 is, for example, made up of support columns 22 and 24 erected on the left side of the floor surface FL of the unloading station at a predetermined interval in FIG. 7, a beam member 26 connected to the top of the support columns 22 and 24 and supporting bearings 54 and 52 that support a reducer 40 (described later) and a drive shaft 50 that is connected to the output shaft of the reducer 40 via a coupling, a diagonal member 28 connecting the support column 24 and the beam member 26, and the support columns 22 and 24 erected on the right side in FIG. 7 (see FIG. 15). It is composed of a beam member 26 (see Figure 15) connected to the top of the pillars 22 and 24 and supporting bearing portions 54 and 52 that support a reducer 42 described later and a drive shaft 50 that is connected to the output shaft of the reducer 42 via a coupling, a diagonal member 28 (see Figure 15) that connects the pillar 24 and the beam member 26, and a connecting beam member 25 that supports motors 44 on both shafts and transmission shafts 46 and 48 that are connected to each output shaft of the motor 44 via a coupling and connects the left and right beam members 26.

[0018] 6 and 8, arm units 30A and 30B of a positioning mechanism 30 that positions the workpiece transport holder 10 brought in by the autonomously traveling robot AGV are fixed in predetermined positions at the bottom of the left and right support columns 22 and 24, close to the floor surface FL of the unloading station. The positions of the arm units 30A and 30B along the axes of the support columns 22 and 24 are set, for example, to positions where the four support columns 16a, 16b, 16c, and 16d of the workpiece transport holder 10 lifted by the autonomously traveling robot AGV face each other, as shown in Fig. 2, or where the four support columns 16a, 16b, 16c, and 16d of the workpiece transport holder 10 lowered to the floor surface FL of the unloading station face each other, as shown in Fig. 10. The bent ends of the arm portions 30A and 30B facing each other are spaced apart by a predetermined distance, for example, the outer dimension of the workpiece transport holder 10 (approximately 1322 mm) or more.

[0019] 2 and 8, each of the bent ends of arm 30A is provided with an air cylinder 32 having a rod with a gripping portion 32P that is adapted to approach and engage with or be spaced from support 16a, and an air cylinder 34 having a rod with a gripping portion 34P that is adapted to approach and engage with or be spaced from support 16d. Each of the bent ends of arm 30B is provided with an air cylinder 38 having a rod with a gripping portion 38P that is adapted to approach and engage with or be spaced from support 16b, and an air cylinder 36 having a rod with a gripping portion 36P that is adapted to approach and engage with or be spaced from support 16c. Air cylinders 32, 34, 36, and 38 are controlled by an air cylinder drive control unit 97 (see FIG. 17), which will be described later. The positioning mechanism 30 is not limited to this example. For example, as shown in Figures 21(A) and (B), the positioning mechanism 30 may further include gripping members 310A and 310B that grip the support columns 16a and 16d of the workpiece transport holder 10 while adjusting the distance between the gripping portions 32P and 34P. In Figures 21(A) and (B), the same components as those in the example shown in Figure 2 are denoted by the same reference numerals, and redundant description thereof will be omitted. However, Figures 21(A) and (B) show the gripping members provided between the gripping portions 32P and 34P, and description of the gripping members that grip the support columns 16b and 16c of the workpiece transport holder 10 and are provided between the gripping portions 36P and 38P, which have the same configuration as the gripping members 310A and 310B, will be omitted. The base ends of the gripping members 310A and 310B are fixed to the gripping portion 32P and the gripping portion 34P, respectively. The distal end of the gripping member 310A is formed with a connecting end 310a that is thinner than the base end. The connecting end 310a is slidably fitted into a slit 310bs at the distal end of the gripping member 310B (described later) along the axial direction of the connecting member 12d of the workpiece transport holder 10. A guide pin 310bp penetrates the elongated hole 310as of the connecting end 310a, which is aligned with the axial direction of the connecting member 12d of the workpiece transport holder 10, perpendicular to the slit 310bs at the distal end of the gripping member 310B. This allows the distal ends of the gripping members 310A and 310B to be movably connected to each other. Therefore, even if the spacing dimension between the pillars 16a and 16d of the work transport holder 10 varies due to manufacturing errors and is slightly shorter than the specified spacing dimension, as shown in Figure 21 (B), the gripping members 310A and 310B can grip the pillars 16a and 16d of the work transport holder 10, making it possible to position the work transport holder 10.

[0020] 2 and 8, a chain sprocket 60 is provided below the center of each arm portion 30A, 30B, around which the lower ends of each chain 56 are wound. Chain sprocket 60 is fixed to a rotary shaft 66, which is rotatably supported at both ends by bearings 62 and 64. The upper ends of each chain 56 are wound around a chain sprocket 58 fixed to drive shaft 50.

[0021] Sliders 70 and 74, which constitute part of the lifting mechanism of the workpiece transport holder 10, are connected to the middle portion of each chain 56 via a connecting portion 78. The sliders 70 and 74 are guided by linear guides 22LGA, 22LGB, 24LGA, and 24LGB fixed to the pillars 22 and 24, respectively, so as to be able to move up and down along the axes of the pillars 22 and 24.

[0022] 1, the slider 70 is equipped with a workpiece transport holder holding / release mechanism 72 having claw members 72N1 and 72N2 that engage with or are separated from the underside of the connecting member 12d of the workpiece transport holder 10. The claw members 72N1 and 72N2 are connected to the rods of the air cylinders 80 and 82, respectively, via link members. As a result, by operating the rods of the air cylinders 80 and 82, the claw members 72N1 and 72N2, which are arranged at a predetermined interval, are engaged with or separated from the underside of the connecting member 12d of the workpiece transport holder 10, as shown in FIG.

[0023] As shown in FIG. 1, the slider 74 is equipped with a workpiece transport holder holding / release mechanism 76 having a claw member 76N1 and a claw member 76N2 that engage with or are separated from the lower surface of the connecting member 12b of the workpiece transport holder 10. The claw members 76N1 and 76N2 are connected to the rods of the air cylinders 86 and 84, respectively, via link members. As a result, by operating the rods of the air cylinders 86 and 84, the claw members 76N1 and 76N2, which are arranged at a predetermined interval, are engaged with or separated from the lower surface of the connecting member 12b of the workpiece transport holder 10, as shown in FIG. 1. The air cylinders 80, 82, 84, and 86 are controlled by an air cylinder drive control unit 97 (see FIG. 17), which will be described later. The motor 44 is controlled by a drive motor circuit control unit 96 (see FIG. 17), which will be described later. As a result, the motor 44, the reducer 40 When the reducer 42 is activated, the chain sprockets 58 and 60 are rotated, causing the sliders 70 and 74 to move up and down. The above-described work transport holder holding / release mechanisms 72 and 76 are not limited to the above example, and may, for example, be configured to use an electric motor 300 and hook members 304N1 and 304N2 instead of the air cylinder and claw members, as shown in Figures 20(A) and (B). Note that in Figures 20(A) and (B), the same components as those in the example shown in Figure 1 are designated by the same reference numerals, and redundant explanations will be omitted. 20(A) and (B), only the work transport holder holding / releasing mechanism provided on the slider 74 is shown, and the work transport holder holding / releasing mechanism provided on the slider 70 is omitted from the illustration. The work transport holder holding / release mechanism is composed of hook-shaped hook members 304N1 and 304N2 provided at both ends of a rotation shaft 302 that is rotatably supported on the slider 74 and extends parallel to the connecting member 12b of the work transport holder 10, and an electric motor 300 that is supported on the slider 74 and whose rotation shaft 302 passes through the head portion. In such a configuration, when the electric motor 300 is activated, the hook-shaped tips of the hook members 304N1 and 304N2, which are rotated clockwise in Figure 20(B), engage with the corners of the connecting member 12b of the work transport holder 10 from below, thereby holding the work transport holder 10. On the other hand, the hook-shaped tips of the hook members 304N1 and 304N2, which are rotated counterclockwise in Figure 20(B), move away from the corners of the connecting member 12b of the work transport holder 10, thereby releasing the work transport holder 10.

[0024] As shown in FIG. 9, the work transport holder magazine 20 includes a position sensor PH1 that detects the position (initial position) at which the claw members 72N1 and 72N2 of the work transport holder holding / releasing mechanism 72 of the slider 70 and the claw members 76N1 and 76N2 of the work transport holder holding / releasing mechanism 76 of the slider 74 are inserted into the first stage work transport holder 10a1 when the slider 70 descends; a position sensor PH2 that detects the position at which the claw members 72N1 and 72N2, the claw members 76N1 and 76N2 are inserted into the second stage work transport holder 10a2 when the slider 70 descends; The magazine 20 is provided with a position sensor PH3 that detects the position where the first-tier work transport holder 10a1 or the second-tier work transport holder 10a2 reaches and is held when the first-tier work transport holder 10a1 or the second-tier work transport holder 10a2 is raised by the claw members 72N1 and 72N2, and the claw members 76N1 and 76N2 as the autonomously traveling robot AGV advances into the magazine 20 for work transport holders, a position sensor PH5 that detects the presence of the first-tier work transport holder 10a1, a position sensor PH6 that detects the presence of the second-tier work transport holder 10a2, and a position sensor PH7 that detects the presence of the eighth-tier work transport holder 10a8, at predetermined positions. The position sensor PH5 is set at a predetermined distance L1, for example, a height of about 371 mm, from the floor FL of the unloading station. Position sensor PH6 is set at a predetermined distance L2, for example, approximately 254 mm above position sensor PH5. Position sensor PH7 is set at a predetermined distance L3, for example, approximately 1584 mm above position sensor PH6. Position sensor PH1 is set at a predetermined distance L4, for example, approximately 494 mm above the floor surface FL of the unloading station. Position sensor PH2 is set at a predetermined distance L5, for example, approximately 234 mm above position sensor PH1. Position sensor PH3 is set at a predetermined distance L6, for example, approximately 45 mm above position sensor PH2.The position sensor PH4 is set at a position spaced a predetermined distance L7, for example, approximately 375 mm above the position of the position sensor PH3.

[0025] In addition to such a configuration, for example, as shown in FIG. 17, the magazine 20 for work transport holders is provided with a drive motor circuit control section 96 that controls the motor 44 described above, and a control unit 94 that controls an air cylinder drive control section 97 that controls each air cylinder.

[0026] The control unit 94 is supplied with, for example, a group of detection output signals SG from the above-mentioned position sensors PH1, PH2, PH3, PH4, PH5, PH6, and PH7, and a group of operation control data DG from an AGV operation control device 98 that controls the operation of the autonomously traveling robot AGV through two-way communication via communication equipment within the assembly plant.

[0027] The control unit 94 stores programs for controlling the operation of the motor of the magazine 20 for the work transport holder and each air cylinder, and also has a memory section 94M that temporarily stores a group of operation control data DG from the AGV operation control device 98 and a group of detection output signals SG from each position sensor PH1, PH2, PH3, PH4, PH5, PH6, and PH7.

[0028] In such a configuration, when the autonomously traveling robot AGV holding the work transport holder 10 loads the work transport holder 10 into the work transport holder magazine 20, as shown in FIG. 18 , after the work transport holder magazine 20 starts operation, in step 200 the work transport holder magazine 20 goes on standby, and then in step 202 the autonomously traveling robot AGV supplies an operation control data group DG representing a request to load the work transport holder 10 into the work transport holder magazine 20 to the control unit 94 via the AGV operation control device 98. When the control unit 94 determines in the following step 204 that the position sensor PH7 is in the OFF state, and in the following step 206 that the position sensor PH5 is in the ON state, and in the following step 208 that the autonomously traveling robot AGV is waiting, in the following step 210, the control unit 94 operates the air cylinders 80, 82, 84, and 86 so that the claw members 72N1 and 72N2, and the claw members 76N1 and 76N2 engage with the undersides of the connecting members 12d and 12b of the work transport holder 10, respectively, and supplies a drive control signal group CA and a drive control signal CM to the air cylinder drive control unit 97 and the drive motor circuit control unit 96, respectively, to operate the motor 44 so as to raise the first stage work transport holder 10a1 in step 212. In the following step 214, when the control unit 94 determines that the position sensor PH4 is in the ON state, that is, when the first-stage work transport holder 10a1 has risen and reached a predetermined position, the control unit 94 stops supplying the drive control signal CM in step 216 in order to hold the first-stage work transport holder 10a1.In the following step 218, when the control unit 94 determines that the position sensor PH5 is in the OFF state, that is, that there is no work transport holder 10 on the first level, in the following step 220, the control unit 94 supplies to the autonomously traveling robot AGV via the AGV operation control device 98 an operation control data group DG indicating that the autonomously traveling robot AGV can enter the work transport holder magazine 20 and can load the work transport holder 10, and in the following step 222, the autonomously traveling robot AGV lifts the work transport holder 10 with the lifting mechanism based on the control signal from the AGV operation control device 98, enters the work transport holder magazine 20, and then lowers the work transport holder 10 with the lifting mechanism to complete installation in the work transport holder magazine 20, and proceeds to step 224. The autonomously traveling robot AGV transmits the operation control data group DG indicating the installation completion via the AGV operation control device 98 to the control unit 94. As a result, the autonomous traveling robot AGV moves backward and exits the magazine 20 for workpiece transport holders.

[0029] In step 224, the control unit 94 proceeds to step 225 based on the operation control data group DG from the AGV operation control device 98 indicating that the new work transport holder 10 has been completely installed in the work transport holder magazine 20, and the control unit 94 supplies a drive control signal group CA to the air cylinder drive control section 97 to operate the air cylinder 32, the air cylinder 34, the air cylinder 38, and the air cylinder 36 to position the second stage work transport holder 10 using the gripping section 32P, the gripping section 34P, the gripping section 36P, and the gripping section 38P. After the center position of the workpiece transport holder 10 has been positioned relative to the center position of the positioning mechanism, the process proceeds to step 226, where the control unit 94 supplies a drive control signal group CA to the air cylinder drive control section 97 to operate the air cylinders 32, 34, 38, and 36 to return the grippers 32P, 34P, 36P, and 38P to their initial states. In step 227, the control unit 94 supplies a drive control signal CM to the drive motor circuit control section 96 to lower the sliders 70 and 74. In the following step 228, when the control unit 94 determines that the position sensor PH2 is in the ON state, that is, when the claw members 72N1 and 72N2 and the claw members 76N1 and 76N2 have each reached their respective predetermined positions on the second tier, the control unit 94 proceeds to the following step 229, where it stops supplying the drive control signal CM to the drive motor circuit control unit 96, and in the following step 230, it supplies a drive control signal group CA to the air cylinder drive control unit 97 so that the claw members 72N1 and 72N2 and the claw members 76N1 and 76N2 are retracted. As a result, the second tier of work transport holders 10 are stacked on top of the new first tier of work transport holders 10.

[0030] In the following step 232, the control unit 94 supplies a drive control signal CM to the drive motor circuit control unit 96 to lower the sliders 70 and 74, and then proceeds to step 234. When the control unit 94 determines in step 234 that the position sensor PH1 is in the ON state, that is, when the claw members 72N1 and 72N2 and the claw members 76N1 and 76N2 have each reached a predetermined position on the first stage, it stops supplying the drive control signal CM to the drive motor circuit control unit 96 in the following step 236. As a result, the workpiece transport holder magazine 20 stops operating and enters a standby state.

[0031] In step 202, if the autonomously traveling robot AGV does not supply the operation control data group DG representing a request to load the work transport holder 10 into the work transport holder magazine 20 to the control unit 94 via the AGV operation control device 98, the process returns to step 200, and the work transport holder magazine 20 waits.

[0032] In step 204, if the position sensor PH7 is in the ON state, the process proceeds to the next step 238, where the autonomously traveling robot AGV waits. In the next step 240, if the workpiece transport holder magazine 20 supplies the operation control data group DG representing the transport request for the workpiece transport holder 10 to the autonomously traveling robot AGV via the AGV operation control device 98, in step 242, one workpiece transport holder 10 held by the autonomously traveling robot AGV is lowered and the workpiece transport holder 10 is placed in the standby position. Proceeding to step 44, the autonomously traveling robot AGV enters the magazine 20 for work transport holders in the direction indicated by the solid arrow shown in Figure 1, lifts the eight stacked work transport holders 10 at once, and removes them from the magazine 20 for work transport holders in the direction indicated by the dashed arrow shown in Figure 1 and transports them to a predetermined stock position.In the following step 246, the autonomously traveling robot AGV returns to the standby position where it lowered the work transport holders 10, and the autonomously traveling robot AGV lifts the work transport holders 10.

[0033] In step 240, if the workpiece transport holder magazine 20 does not supply the operation control data group DG representing a transport request for the workpiece transport holder 10 to the autonomous traveling robot AGV to the AGV operation control device 98, the process returns to step 238.

[0034] When the control unit 94 determines in step 206 that the position sensor PH5 is in the OFF state, that is, when there is no workpiece transport holder 10 in the first stage, in the subsequent step 252, the autonomously traveling robot AGV waits, and in step 254, the control unit 94 supplies a signal indicating that the autonomously traveling robot AGV can enter the workpiece transport holder magazine 20 to the AGV operation control device 98, and in the subsequent step 256, the autonomously traveling robot AGV enters the workpiece transport holder magazine 20 with the workpiece transport holder 10 raised, and after lowering the workpiece transport holder 10 to the floor surface FL of the unloading station, exits, and proceeds to step 258, where the autonomously traveling robot AGV supplies an operation control data group DG indicating installation completion to the control unit 94 via the AGV operation control device 98, and when the above-mentioned workpiece transport holder 10 is placed on the floor surface FL of the unloading station, Proceeding to step 260, the control unit 94 supplies a drive control signal group CA to the air cylinder drive control section 97 to operate the air cylinder 32, the air cylinder 34, the air cylinder 38, and the air cylinder 36 in order to position the workpiece transport holder 10 by the gripping sections 32P, 34P, 36P, and 38P. After the center position of the workpiece transport holder 10 has been positioned relative to the center position of the positioning mechanism, the process proceeds to the next step 262, where the control unit 94 supplies a drive control signal group CA to the air cylinder drive control section 97 to operate the air cylinder 32, the air cylinder 34, the air cylinder 38, and the air cylinder 36 in order to return the gripping sections 32P, 34P, 36P, and 38P to their initial states.

[0035] In step 254, if the autonomously traveling robot AGV cannot enter the magazine 20 for work transport holders, the control unit 94 returns to step 252, and in step 258, if the autonomously traveling robot AGV does not supply the operation control data group DG indicating completion of installation to the control unit 94 via the AGV operation control device 98, the control unit 94 returns to step 256.

[0036] Furthermore, when the autonomous traveling robot AGV holding the workpiece transport holder 10 carries out the workpiece transport holder 10 from the workpiece transport holder magazine 20, as shown in FIG. 19, after the workpiece transport holder magazine 20 starts operation, the workpiece transport holder magazine 20 waits in step 100, and then the process proceeds to step 102, where the autonomous traveling robot AGV controls the AGV operation control device 98 to send an operation control data group DG representing a request to carry out the workpiece transport holder 10 to the workpiece transport holder magazine 20. If the control unit 94 determines in the following step 104 that the position sensor PH5 is ON, if the control unit 94 determines in the following step 106 that the position sensor PH6 is ON, or if the control unit 94 determines in the following step 108 that the autonomously traveling robot AGV is waiting, then in the following step 110, it supplies a drive control signal CM to the drive motor circuit control unit 96 to raise the sliders 70 and 74, and proceeds to step 112. If the control unit 94 determines in step 112 that the position sensor PH3 is ON, that is, if it determines that the claw members 72N1 and 72N2, and the claw members 76N1 and 76N2 have each reached the second-stage workpiece transport holder 10 located at a predetermined position, then in the following step 114, it stops supplying the drive control signal CM to the drive motor circuit control unit 96, and proceeds to step 116.

[0037] In order to operate the air cylinders 32, 34, 38, and 36 so as to engage the claw members 72N1 and 72N2, the claw members 76N1 and 76N2 with the work transport holder 10, the control unit 94 supplies a group of drive control signals CA to the air cylinder drive control unit 97, and in the subsequent step 118, supplies a drive control signal CM to the drive motor circuit control unit 96 so as to raise the sliders 70 and 74, proceeding to step 120. When it is determined that the position sensor PH4 is in the ON state, that is, when it is determined that the work transport holder 10 has reached a predetermined holding position, in the subsequent step 122, the supply of the drive control signal CM to the drive motor circuit control unit 96 is stopped, and the process proceeds to step 124.When the control unit 94 determines in step 124 that the position sensor PH5 is in the ON state, that is, when there is a first-stage work transport holder 10, in the subsequent step 126, it supplies a signal indicating that transport is possible to the autonomously traveling robot AGV via the AGV operation control device 98, and proceeds to step 128, where the autonomously traveling robot AGV moves to a position below the first-stage work transport holder 10 in the work transport holder magazine 20, and then raises the first-stage work transport holder 10 by the lifting mechanism, and then the autonomously traveling robot AGV retreats and moves away from the work transport holder magazine 20 with the work transport holder 10 raised, and in step 130, when it determines that the autonomously traveling robot AGV has supplied the operation control data group DG indicating that transport of the work transport holder 10 has been completed to the control unit 94 via the AGV operation control device 98, in the subsequent step 132, it In order to lower the slider 70 and the slider 74 to a position where the claw member 76N2 engages with the first stage work transport holder 10, a drive control signal CM is supplied to the drive motor circuit control unit 96, and the process proceeds to step 134. When it is determined that the position sensor PH1 is in the ON state, that is, when it is determined that the slider 70 and the slider 74 have lowered to a position where the claw members 72N1 and 72N2, the claw members 76N1 and 76N2 engage with the first stage work transport holder 10, When the power is cut off, the process proceeds to step 136, where the supply of the drive control signal CM to the drive motor circuit control unit 96 is stopped, and in the following step 138, the control unit 94 supplies a drive control signal group CA to the air cylinder drive control unit 97 to operate the air cylinder 80, the air cylinder 82, the air cylinder 84, and the air cylinder 86 in order to return the claw members 72N1, 72N2, 76N1, and 76N2 to their initial states.

[0038] Also, in step 102, if the autonomously traveling robot AGV does not receive an operation control data group DG representing a request to remove the work transport holder 10 from the magazine 20 for the work transport holder via the AGV operation control device 98, the control unit 94 returns to step 100.

[0039] In step 104, if the control unit 94 determines that the position sensor PH5 is in the OFF state, that is, if there is no first-stage workpiece transport holder 10, the autonomously traveling robot AGV waits in step 142, and the process proceeds to step 144. The control unit 94 supplies a signal representing a request to carry in the workpiece transport holder 10 to the autonomously traveling robot AGV via the AGV operation control device 98, so that the autonomously traveling robot AGV carries in the first-stage workpiece transport holder 10. In step 146, the autonomously traveling robot AGV moves to a predetermined stock position for the workpiece transport holder 10. 8-tiered The workpiece transport holder 10 is moved in a state in which it is lifted by the lifting mechanism, and the process proceeds to step 148. The autonomous traveling robot AGV 8-tiered After the workpiece transport holder 10 is moved from a predetermined stock position into the workpiece transport holder magazine 20, 8-tiered The workpiece transport holder 10 is lowered by the lifting mechanism. Inside the workpiece transport holder magazine 20 In step 150, the work transport holder magazine 20 is placed in a standby state away from the work transport holder magazine 20. In step 144, if the control unit 94 does not supply a signal representing a request to load the work transport holder 10 to the autonomous traveling robot AGV via the AGV operation control device 98, the process returns to step 142.

[0040] Furthermore, in step 106, if the control unit 94 determines that the position sensor PH6 is in the OFF state, that is, if there is no second-stage work transport holder 10, then in the following step 156, the autonomously traveling robot AGV waits, and the process proceeds to step 157, where a signal representing a request to remove the work transport holder 10 is supplied to the autonomously traveling robot AGV via the AGV operation control device 98, then the process proceeds to step 158, where the autonomously traveling robot AGV moves into the work transport holder magazine 20, and the autonomously traveling robot AGV raises the work transport holder 10 by means of the lifting mechanism and exits, and in the following step 160, the autonomously traveling robot AGV supplies an operation control data group DG representing that the autonomously traveling robot AGV has raised the work transport holder 10 by means of the lifting mechanism and exited to the control unit 94 via the AGV operation control device 98, and then the process proceeds to step 162, where the work transport holder magazine 20 waits.

[0041] Furthermore, in step 124, when the control unit 94 determines that the position sensor PH5 is in the OFF state, that is, when there is no first-stage work transport holder 10, and when it determines in step 126 that a signal representing a request to remove the work transport holder 10 is not supplied to the autonomously traveling robot AGV via the AGV operation control device 98, the control unit 94 determines in the following step 152 that an abnormality has occurred.

[0042] Figure 14 is a plan view showing the schematic configuration of an example of a magazine for a work transport holder to which the second embodiment of the work transport holder for an autonomously traveling robot according to the present invention (see Figures 12(A) and (B) and Figure 13) is applied.

[0043] In the example shown in FIGS. 14 to 16, the same components as those in the examples shown in FIGS. 1 and 7 to 9 are denoted by the same reference numerals, and redundant description thereof will be omitted.

[0044] As shown in FIGS. 12A and 12B, the workpiece transport holder 90 is, for example, an aluminum rectangular pillar formed in a substantially square shape, and includes a support pillar 96ap having four support pillar support brackets 96a located at the corners of the square, a support pillar 96bp having support pillar support brackets 96b, a support pillar 96cp ​​having support pillar support brackets 96c, and a support pillar 96dp having support pillar support brackets 96d and 96ap, which are perpendicular to the axes of the support pillars 96ap and 96bp, and a support pillar support bracket 96a and a support pillar support bracket 96b. The main elements of the connecting member 92a are: a connecting member 92b that connects the pillar support bracket 96b to the pillar support bracket 96c, a connecting member 92c that is perpendicular to the axes of the pillars 96cp ​​and 96dp and connects the pillar support bracket 96d to the pillar support bracket 96c, and a connecting member 92d that is perpendicular to the axes of the pillars 96dp and 96ap and connects the pillar support bracket 96d to the pillar support bracket 96a.

[0045] Between the connecting members 92a and 92c, connecting members 94a and 94b are connected, spaced apart from each other, so as to be parallel to the connecting members 92b and 92d. The external dimensions of the workpiece transport holder 90 are set to, for example, approximately 1302 × 1302 × 416 (mm). As a result, as shown in FIG. 4, a rectangular pallet 18 (approximately 1200 × 1200 × 150 (mm)) can be placed across the connecting members 92a, 92b, 92c, and 92d of the workpiece transport holder 10. The rectangular pallet 18 has, for example, an upper surface 18A on which an object to be transported is placed and a lower surface 18B opposite the upper surface 18A. Square holes 18a and 18b are formed on each side between the upper surface 18A and the lower surface 18B, through which the forks of a forklift can be inserted and removed. The four support columns 96ap, 96bp, 96cp, and 96dp of the workpiece transport holder 90 each have a flat surface perpendicular to the axis of the support column.

[0046] As a result, for example, as shown in Figure 13, the lowest ends of the four pillars 96a, 96b, 96c, and 96d on the upper work transport holder 90 are engaged with the L-shaped portions (position control portions) of the four pillar support brackets 96a to 96d on the lower work transport holder 90, making it possible to stack, for example, eight layers of multiple work transport holders 90a1, 90a2, 90a3, 90a4, 90a5, 90a6, 90a7, and 90a8, each with a pallet 18 placed on it.

[0047] Even in such a configuration, as shown in FIG. 17, the magazine 20 for work transport holders is provided with a drive motor circuit control unit 96 that controls the motor 44 described above, and a control unit 94 that controls an air cylinder drive control unit 97 that controls each air cylinder.

[0048] The control unit 94 is supplied with, for example, a group of detection output signals SG from the above-mentioned position sensors PH1, PH2, PH3, PH4, PH5, PH6, and PH7, and a group of operation control data DG from an AGV operation control device 98 that controls the operation of the autonomously traveling robot AGV through two-way communication via communication equipment within the assembly plant.

[0049] The control unit 94 stores programs for controlling the operation of the motor of the magazine 20 for the work transport holder and each air cylinder, and also has a memory section 94M that temporarily stores a group of operation control data DG from the AGV operation control device 98 and a group of detection output signals SG from each position sensor PH1, PH2, PH3, PH4, PH5, PH6, and PH7.

[0050] In such a configuration, when the autonomously traveling robot AGV holding the work transport holder 90 loads the work transport holder 90 into the work transport holder magazine 20, the control unit 94 performs the same control as that described above with reference to Fig. 18. Furthermore, when the autonomously traveling robot AGV holding the work transport holder 90 loads the work transport holder 90 out of the work transport holder magazine 20, the control unit 94 performs the same control as that described above with reference to Fig. 19, as shown in Fig. 19.

[0051] In the above-described example of the magazine 20 for work transport holders, eight stacked work transport holders 10 and 90 are carried out at one time by the autonomously traveling robot AGV, but this is not limited to this example, and for example, two to seven stacked work transport holders 10 and 90 may be carried out at one time by the autonomously traveling robot AGV. In this case, the autonomously traveling robot AGV may be configured to enter the magazine 20 for work transport holders from the direction opposite to the direction indicated by the solid arrow in Figure 1 and pass through the magazine 20 for work transport holders. Furthermore, although a motor, a reducer, a chain, a sprocket, and the like are used to raise and lower the sliders 70 and 74, the present invention is not limited to such examples, and for example, a motor, a reducer, a ball screw, and the like may be used. Furthermore, instead of the air cylinder, for example, a hydraulic cylinder or an electric motor may be used. In such cases, instead of the air cylinder drive control unit, the hydraulic cylinder or the electric motor may be controlled by a hydraulic cylinder drive control unit or an electric motor drive control unit, respectively. [Explanation of symbols]

[0052] 10, 90 Work transfer holder 12a, 12b, 12c, 12d connecting members 14a, 14b connecting members 14c connection plate 16a, 16b, 16c, 16d posts 18 palettes 20 Workpiece transport holder magazine 22, 24 posts 30 Positioning mechanism 32, 34, 36, 38, 80, 82, 84, 86 Air cylinders 44 Motor 70, 74 slider 72, 76 Work transfer holder holding / releasing mechanism 94 Control Unit 94M storage section 96 Drive motor circuit control unit 96a, 96b, 96c, 96d Pillar support brackets 98 AGV operation control device 97 Air cylinder drive control unit AGV Autonomous Mobile Robot

Claims

1. A mounting portion that can be abutted against the mounting base of a lifting device for an autonomous mobile robot and can be mounted or separated, the mounting portion being formed at a position higher than the height from the travel path to the top end of the mounting base in the initial position of the lifting device for said autonomous mobile robot, a pair of connecting members connected to said mounting portion, and a skeleton consisting of a plurality of pillars that form a work transport holder storage portion inside for storing or discharging a plurality of work transport holders for the autonomous mobile robot, each of which has at least four pillars connected to both ends of the pair of connecting members, a pair of beam members each connected to the top of the plurality of pillars, and a connecting beam member that connects one end of the pair of beam members; a positioning mechanism that aligns the center position of each of the autonomously traveling robot workpiece transport holders that has been carried into the workpiece transport holder accommodation section with the center position of the workpiece transport holder accommodation section; a pair of sliders each having a work transport holder holding / release mechanism that temporarily raises the first autonomously traveling robot work transport holder that has been aligned by the positioning mechanism, and then lowers the first autonomously traveling robot work transport holder so that it is stacked on the second autonomously traveling robot work transport holder that has been carried in below the work transport holder accommodation section; and a motor that drives a transmission device that raises and lowers the pair of sliders; a control unit provided on the framework forming the work transport holder accommodation portion inside, the control unit causing the work transport holder holding / release mechanism and the pair of sliders to temporarily raise the first autonomously traveling robot work transport holder aligned by the positioning mechanism based on detection outputs from a plurality of position sensors that detect the positions of the first autonomously traveling robot work transport holder, the second autonomously traveling robot work transport holder, and the work transport holder holding / release mechanism, and to lower the first autonomously traveling robot work transport holder so as to stack it on the second autonomously traveling robot work transport holder that has been carried in below the work transport holder accommodation portion, and also causing an autonomously traveling robot equipped with the lifting device to carry out at least the first autonomously traveling robot work transport holder stacked on the second autonomously traveling robot work transport holder at once; A work transport holder magazine comprising:

2. A magazine for a work transport holder as described in Claim 1, characterized in that a pallet of a predetermined dimension can be mounted on the upper surface of the mounting portion of each work transport holder for an autonomously traveling robot.

3. A magazine for a work transport holder as described in Claim 1, characterized in that one end of each support pillar of the work transport holder for each autonomous mobile robot has at least one slit extending in the axial direction of the support pillar.

Images