Delivery mechanism

Abstract

To provide a delivery mechanism capable of efficiently delivering a cargo with a simple structure.SOLUTION: A delivery mechanism comprises an installation shelf 300 on which a cargo 500 is placed, and a moving vehicle having a moving vehicle side stage on which a cargo 400 is placed. The delivery mechanism delivers the cargo between the installation shelf and the moving vehicle when the moving vehicle passes through the installation shelf 300.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to a package delivery mechanism. [Background technology]

[0002] Patent Document 1 discloses a robot equipped with a storage device that stores items. This robot is equipped with an item grasping device that grasps items. The item grasping device grasps an item from an item storage device and places it in the storage device. The item grasping device also grasps an item from the storage device and places it in the item storage device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2020-508274 Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 has a problem in that it is not possible to efficiently transfer luggage. When transporting luggage using a mobile body such as a robot, it is desirable to efficiently transfer (load or unload) items (luggage). By easily transferring luggage, it is possible to increase the transport efficiency. [Means for solving the problem]

[0005] The transfer mechanism of this embodiment comprises a mounting shelf for placing cargo, and a movable body having a movable body side stage for placing the cargo, and the movable body passes through the mounting shelf to transfer the cargo between the mounting shelf and the movable body.

[0006] In the above-mentioned delivery mechanism, the setting shelf may include a first stage and a second stage that is at a different height from the first stage.

[0007] The delivery mechanism allows the moving body to pass through the installation shelf. 2 A first piece of luggage on the stage is delivered to the moving body side stage, and a second piece of luggage on the moving body side stage is delivered to the moving body side stage. 1 It may be handed over to the stage.

[0008] The above-mentioned transfer mechanism may be such that the installation shelf is provided with a first abutment portion that abuts against the mechanism on the movable body side as the movable body moves, and the movable body is provided with a second abutment portion that abuts against the mechanism on the installation shelf side as the movable body moves.

[0009] In the above-mentioned delivery mechanism, the second contact portion is 2 the first load on the stage is pushed in the direction of movement of the movable body, thereby transferring the first load to the movable body side stage; The first contact portion pushes the second object on the movable body side stage in the direction opposite to the forward movement direction, so that the second object is 1 It may be handed over to the stage.

[0010] The delivery mechanism may be arranged so that the second contact portion is located at a higher position than the second unit and at the same height as the first unit.

[0011] In the delivery mechanism, at least one of the first contact portion and the second contact portion may have a locking member that locks the luggage.

[0012] In the delivery mechanism, at least one of the first contact portion and the second contact portion may have an elastic body that absorbs energy when the first contact portion and the second contact portion contact each other.

[0013] In the delivery mechanism, at least one of the first contact portion and the second contact portion may have a string-like or band-like flexible body that absorbs energy when the first contact portion and the second contact portion contact each other.

[0014] In the delivery mechanism, at least one of the first contact portion and the second contact portion may have a hook for hanging on the luggage.

[0015] The delivery mechanism may be configured so that the movable body stage passes through a height between the first stage and the second stage.

[0016] The above-mentioned delivery mechanism is 2 The stage is 1 It is installed at a higher position than the stage, 2 The stage was set up 1 The abutment portion is provided at the height of the second load. Even if good.

[0017] In the above-mentioned transfer mechanism, at least one of the installation shelf and the movable body side stage may be equipped with a magnet that magnetically attracts cargo, and the magnetic attraction of the magnet may be switched on and off as the movable body passes through the installation shelf.

[0018] The delivery mechanism may further include a sensor that detects the passage of the moving object, and may perform the switching operation of the magnetic attraction based on the detection result of the sensor. [Effects of the Invention]

[0019] According to the present disclosure, it is possible to provide a delivery mechanism that can efficiently deliver and receive luggage. [Brief explanation of the drawings]

[0020] [Figure 1] 1 is a perspective view showing the overall configuration of a transport robot according to an embodiment of the present invention. [Figure 2] FIG. 10 is a perspective view showing the configuration of a transport robot transporting a wagon. [Figure 3] FIG. 10 is a top view illustrating a delivery mechanism. [Figure 4] FIG. 10 is a side view illustrating a delivery mechanism. [Figure 5]FIG. 10 is a schematic diagram for explaining a delivery operation. [Figure 6] FIG. 10 is a schematic diagram for explaining a delivery operation. [Figure 7] FIG. 10 is a schematic diagram for explaining a delivery operation. [Figure 8] FIG. 10 is a schematic diagram for explaining a delivery operation. [Figure 9] FIG. 10 is a schematic diagram for explaining a delivery operation. [Figure 10] FIG. 10 is a schematic diagram for explaining a delivery operation. [Figure 11] FIG. 10 is a side view showing a configuration in which a plurality of items are placed on a shelf board. [Figure 12] 10 is a flowchart showing a delivery operation according to the second embodiment. [Figure 13] FIG. 2 is a side view illustrating a configuration of an example of a sensor. [Figure 14] FIG. 2 is a side view illustrating a configuration of an example of a sensor. [Figure 15] FIG. 2 is a top view illustrating a configuration of an example of a sensor. [Figure 16] FIG. 10 is a schematic diagram for explaining the delivery operation of the second embodiment. [Figure 17] FIG. 10 is a schematic diagram for explaining the delivery operation of the second embodiment. [Figure 18] FIG. 10 is a schematic diagram for explaining the delivery operation of the second embodiment. [Figure 19] FIG. 10 is a schematic diagram for explaining the delivery operation of the second embodiment. [Figure 20] FIG. 11 is a schematic diagram for explaining the delivery operation of the third embodiment. [Figure 21] FIG. 11 is a schematic diagram for explaining the delivery operation of the third embodiment. [Figure 22] FIG. 11 is a schematic diagram for explaining the delivery operation of the third embodiment. [Figure 23] FIG. 11 is a schematic diagram for explaining the delivery operation of the third embodiment. [Figure 24] FIG. 10 is a schematic diagram for explaining the delivery operation of the fourth embodiment. [Figure 25]FIG. 10 is a schematic diagram for explaining the delivery operation of the fourth embodiment. [Figure 26] FIG. 10 is a schematic diagram for explaining the delivery operation of the fourth embodiment. [Figure 27] FIG. 10 is a schematic diagram for explaining the delivery operation of the fourth embodiment. [Figure 28] 10 is a schematic diagram for explaining the opening and closing operation of the wall portion 251. FIG. [Figure 29] FIG. 13 is a top view for explaining the configuration of the contact portion of the fifth embodiment. [Figure 30] FIG. 13 is a schematic diagram for explaining the delivery operation of the fifth embodiment. [Figure 31] FIG. 13 is a schematic diagram for explaining the delivery operation of the fifth embodiment. [Figure 32] FIG. 13 is a schematic diagram for explaining the delivery operation of the fifth embodiment. [Figure 33] FIG. 13 is a schematic diagram for explaining the delivery operation of the fifth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0021] The present invention will be described below through embodiments of the invention, but the invention according to the claims is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential means for solving the problems.

[0022] Embodiment 1 FIG. 1 is a perspective view showing the overall configuration of a transfer robot 100 according to this embodiment. In the following explanation, an XYZ Cartesian coordinate system will be used as appropriate. The X direction is the front-to-rear direction of the transfer robot 100, the Y direction is the left-to-right direction, and the Z direction is the vertical up-down direction. More specifically, the +X direction is defined as the front direction of the transfer robot 100, and the -X direction is defined as the rear direction of the transfer robot 100. The +Y direction is the left direction of the transfer robot 100, and the +Z direction is the vertical up direction.

[0023] The transport robot 100 can move both forward and backward. That is, when the wheels are rotated forward, the transport robot 100 moves forward, and when the wheels are rotated backward, the transport robot 100 moves backward. By changing the rotation speed of the left and right wheels, the transport robot 100 can turn left and right.

[0024] The transport robot 100 includes a chassis 110, a stand 120, and an operation unit 130. The chassis 110 is equipped with wheels, axles, a battery, a control computer, a drive motor, etc. The chassis 110 holds wheels (not shown in FIG. 1) in a rotatable manner. Furthermore, the chassis 110 may be provided with various sensors such as a camera and a distance sensor. Here, the transport robot 100 will be described as an autonomous mobile robot. Of course, the transport robot 100 may also be a mobile robot that moves by operation of a user.

[0025] The chassis 110 houses an elevator mechanism 140 for loading and unloading luggage. The elevator mechanism 140 is arranged on the upper surface side of the chassis 110. The elevator mechanism 140 is an elevator stage that is provided so that it can be raised and lowered. The chassis 110 is provided with an elevator motor and a guide mechanism. The upper surface of the elevator mechanism 140 serves as a loading surface on which a wagon is placed. The elevator mechanism 140 has a lift mechanism that lifts the wagon. The space above the elevator mechanism 140 serves as a loading space for loading luggage.

[0026] The stand 120 is attached to the chassis 110. The stand 120 is a rod-shaped member extending upward from the chassis 110. Here, the stand 120 is formed in a cylindrical shape with the Z direction as its longitudinal direction. The longitudinal direction of the stand 120 is set parallel to the Z direction. The stand 120 is arranged outside the lifting mechanism 140. In other words, the stand 120 is arranged so as not to interfere with the lifting operation of the lifting mechanism 140. The stand 120 is arranged at one end side of the chassis 110 in the Y direction (left-right direction). The stand 120 is attached near the front left corner of the chassis 110. In the XY plane, the stand 120 is provided at the end of the chassis 110 on the +X side and the -Y side.

[0027] The stand 120 supports the operation unit 130. The operation unit 130 is attached near the upper end of the stand 120. This allows the operation unit 130 to be installed at a height that is easy for a user to operate. In other words, the stand 120 extends to a height that is easy for a user to operate while standing. The operation unit 130 extends from the stand 120 to the +Y side. In the left-right direction, the operation unit 130 is disposed in the center of the chassis 110.

[0028] The operation unit 130 has a touch panel monitor that accepts user operations. Of course, the operation unit 130 may also have a microphone for voice input. The monitor of the operation unit 130 faces away from the chassis 110. In other words, the display surface (operation surface) of the operation unit 130 is the surface on the +X side. The operation unit 130 may be provided detachably from the stand 120. In other words, the stand 120 may be equipped with a holder that holds a touch panel. The user can input the destination of the package, delivery information related to the package, and the like by operating the operation unit 130. Furthermore, the operation unit 130 can display to the user information related to the package, the package being delivered, and the package's destination, etc.

[0029] A user places a load (also referred to as an article or an object to be transported) in a wagon placed on the transport robot 100 and requests transportation. The transport robot 100 autonomously moves to a set destination and transports the load. In other words, the transport robot 100 executes a load transport task (hereinafter also simply referred to as a task). In the following description, the location where the load is loaded is referred to as the transport origin or loading location, and the location where the load is delivered is also referred to as the transport destination or destination.

[0030] For example, suppose that the transport robot 100 moves within a general hospital with multiple medical departments. The transport robot 100 transports supplies, consumables, medical equipment, etc. between the multiple medical departments. For example, the transport robot 100 delivers luggage from the nurse's station of one medical department to the nurse's station of another medical department. Alternatively, the transport robot 100 delivers luggage from a storage room for supplies and medical equipment to the nurse's station of a medical department. Furthermore, the transport robot 100 delivers medicine dispensed in a pharmacy department to the medical department or patient that plans to use the medicine.

[0031] Examples of cargo include consumables such as medicines and bandages, specimens, testing equipment, medical instruments, hospital food, stationery, and other supplies. Medical equipment includes blood pressure monitors, transfusion pumps, syringe pumps, foot pumps, nurse call buttons, bed exit sensors, foot pumps, low-pressure continuous inhalers, electrocardiogram monitors, drug infusion controllers, enteral nutrition pumps, ventilators, cuff pressure gauges, touch sensors, aspirators, nebulizers, pulse oximeters, blood pressure monitors, artificial resuscitators, sterilization devices, and ultrasound machines. Food such as hospital food and test meals may also be transported. Furthermore, the transport robot 100 may transport used equipment, used tableware, and other items. If the destination is on a different floor, the transport robot 100 may move using an elevator or other means.

[0032] Next, a configuration for mounting a shelf on the transport robot 100 will be described with reference to FIG. 2. As shown in FIG. 2, a shelf unit 200 is provided above the chassis 110. The shelf unit 200 is attached to the chassis 110. Therefore, the chassis 110 supports the shelf unit 200. The shelf unit 200 includes a shelf board 210, a frame 220, and a base plate 240. As will be described later, the transport robot 100 can transfer cargo between the installation shelf and the installation shelf by passing through the installation shelf. In other words, the transport robot 100 can receive cargo from the installation shelf by passing through the installation shelf. Alternatively, the transport robot 100 can transfer cargo from the shelf unit 200 to the installation shelf by passing through the installation shelf.

[0033] The shelf boards 210 are plate-like members provided along the XY plane. In FIG. 2, two shelf boards 210 are provided on the shelf section 200. The shelf boards 210 have luggage 400 placed on them. In other words, the shelf boards 210 support the luggage 400. The two shelf boards 210 are arranged at different heights. The luggage 400 is placed on each of the two shelf boards 210. In other words, the two shelf boards 210 are spaced apart in the Z direction by a distance equal to or greater than the height of the luggage 400. The shelf section 200 serves as a movable body stage on which the luggage is placed.

[0034] In FIG. 2, the shelf unit 200 has two shelf boards 210, but the number of shelf boards 210 is not particularly limited. The number of shelf boards 210 may be one, or three or more. The shelf boards 210 are disposed directly above the chassis 110. In other words, in the XY plane view, the shelf boards 210 overlap with the chassis 110. The shelf boards 210 are disposed above the lifting mechanism 140.

[0035] The base plate 240 is a plate-shaped member provided along the XY plane. The base plate 240 is attached to the upper surface of the lifting mechanism 140. The base plate 240 is disposed on the -X side of the stand 120. For example, the base plate 240 may be fixed to the chassis 110 using a fixing means such as a bolt.

[0036] The frame 220 is attached to the base plate 240. The base plate 240 supports the frame 220. The frame 220 is attached to the base plate 240 at the end position on the -Y side of the base plate 240. The frame 220 extends upward from the base plate 240. In other words, the frame 220 is disposed above the right end portion of the chassis 110. The frame 220 is disposed on the -X side of the stand 120.

[0037] The frame 220 supports the shelf board 210. The frame 220 is attached to the chassis 110 outside the lifting mechanism 140. The frame 220 extends upward outside the lifting mechanism 140. The shelf board 210 extends from the frame 220 on the +Y side. In other words, the shelf board 210 is provided so as to protrude from the frame 220 on the +Y side. In the XY plane, the shelf board 210 has approximately the same size as the chassis 110.

[0038] The shelf unit 200 transfers and receives the cargo 400 to and from the installation shelf. Installation shelves are provided in the facility where the transport robot 100 is used. Furthermore, the cargo placed on the installation shelf is transferred to the shelf unit 200. Furthermore, the cargo 400 placed on the shelf unit 200 is transferred to the installation shelf. The frame 220 has a frame for receiving and transferring cargo 400. 500 The abutment portion 230 is provided for receiving and delivering the luggage 500. For example, the abutment portion 230 is a rod-shaped member extending in the +Y direction. Alternatively, the abutment portion 230 may have a hook shape for engaging with the luggage 500. The abutment portion 230 will be described later.

[0039] The transport robot 100 passes through the installation shelf, whereby the cargo 400 is handed over. The cargo 400, 500 can be handed over between the shelf unit 200 and the installation shelf without using a transport actuator. In other words, there is no need to provide a robot arm for transferring cargo on the installation shelf or the transport robot. By installing the shelf unit 200, cargo can be loaded and unloaded easily and quickly.

[0040] The configuration of the transport robot 100 and the installation shelf will be described using Figures 3 and 4. Figure 3 is a top view that schematically shows the configuration of the installation shelf 300 and the transport robot 100. Figure 4 is a side cross-sectional view that schematically shows the configuration of the installation shelf 300 and the transport robot 100. Figures 3 and 4 show the configuration before the delivery of the package. That is, from the state shown in Figures 3 and 4, the transport robot 100 moves in the +X direction and approaches the installation shelf 300. Then, the transport robot 100 passes through the installation shelf 300, whereby the package is delivered.

[0041] The installed shelf 300 is a fixed shelf fixed to a warehouse, an aisle, or the like. A load 400 is placed on the installed shelf 300. The transport robot 100 is provided with a shelf unit 200. The shelf board 210 of the shelf unit 200 mounted on the transport robot 100 can also be called a moving stage.

[0042] As the transport robot 100 passes through the installation shelf 300, the cargo 500 is transferred from the installation shelf 300 to the shelf section 200, and the cargo 400 is transferred from the shelf section 200 to the installation shelf 300. In other words, as the transport robot 100 passes through the installation shelf 300, the cargoes 400, 500 are handed over between the installation shelf 300 and the shelf section 200. The transport robot 100 can transfer the cargo 400 and the cargo 500 almost simultaneously, so that the cargo can be efficiently transshipped. Note that, although the description will be given assuming that the cargoes 400, 500 are rectangular parallelepiped boxes, the shape of the cargoes 400, 500 is not particularly limited.

[0043] The installation shelf 300 includes a first shelf 310, a frame 330, and a second shelf 320. The first shelf 310 serves as a first stage onto which the cargo 400 is transferred. The second shelf 320 serves as a second stage onto which the cargo 500 is placed. Before the transfer, the first shelf 310 is an empty shelf on which no cargo 500 is placed. Then, when the transfer is complete, the cargo 500 is placed on the shelf 210, and the cargo 400 is placed on the first shelf 310. After the transfer is complete, the second shelf 320 becomes an empty shelf on which no cargo 500 is placed. The first shelf 310 and the second shelf 320 are assumed to be flat plates parallel to the XY plane, but may also have a chute structure inclined along the Y direction.

[0044] The first shelf 310 is formed in two tiers, upper and lower, like the shelf 210. The second shelf 320 is also formed in two tiers, upper and lower, like the shelf 210. Here, the luggage 400 on the upper shelf 210 is transferred to the upper first shelf 310. The luggage 500 on the upper second shelf 320 is transferred to the upper shelf 210. In the following explanation, the configuration of the same tier of the two shelf tiers will be explained. For example, only the upper shelf will be explained, and the explanation of the lower shelf will be omitted.

[0045] The first shelf 310 is disposed on the -X side of the second shelf 320. The first shelf 310, the second shelf 320, and the shelf 210 are at different heights. Specifically, the first shelf 310 is installed lower than the shelf 210, and the second shelf 320 is installed higher than the shelf 210. Note that even when the transport robot 100 moves, the heights of the first shelf 310, the second shelf 320, and the shelf 210 do not change.

[0046] As the transport robot 100 moves, the shelf 210 passes through the height between the first shelf 310 and the second shelf 320. Specifically, when the transport robot 100 passes, the load 400 on the shelf 210 is transferred to the first shelf 310. Therefore, the upper surface (loading surface) of the first shelf 310 is lower than the lower surface of the load 400. When the transport robot 100 passes, the load 500 on the second shelf 320 is transferred to the shelf 210. Therefore, the upper surface (loading surface) of the first shelf 310 is lower than the lower surface of the load 400.

[0047] As the transport robot 100 moves in the +X direction, first, the package 400 on the shelf 210 is transferred to the first shelf 310. This creates space on the shelf 210 for placing the package 500. The transfer of the package 400 from the shelf section 200 to the installation shelf 300 is completed. Furthermore, as the transport robot 100 moves in the +X direction, the package 500 on the second shelf 320 is transferred to the shelf 210. The transfer of the package 400 from the installation shelf 300 to the shelf section 200 is completed.

[0048] The installation shelf 300 has an abutment portion 321. The abutment portion 321 is disposed at a higher position than the shelf board 210. Specifically, the abutment portion 321 is provided at the height of the luggage 400. As will be described later, when the abutment portion 321 abuts against the luggage 400, the luggage 400 is pushed up onto the first shelf board 310. Here, the abutment portion 321 is provided at the height of the second shelf board 320. For example, the abutment portion 321 is provided at the end of the second shelf board 320 on the -X side. The abutment portion 321 is a rod-shaped member extending from the frame 330 in the -Y direction. Alternatively, the abutment portion 321 may have a hook shape for engaging with the luggage 400. Alternatively, the end surface of the second shelf board 320 may serve as the abutment portion 321.

[0049] The abutment portion 321 abuts against the load 400, thereby restricting movement of the load 400. In other words, the abutment portion 321 presses down on the load 400, preventing the load 400 from moving along with the movement of the transport robot 100. Therefore, the abutment portion 321 can push the load 400 out of the shelf 210 in the -X direction. The load 400 is transferred from the shelf 210 to the first shelf 310.

[0050] The shelf section 200 includes an abutment portion 230. The abutment portion 230 is positioned higher than the second shelf board 320 and the luggage 400. Specifically, the abutment portion 230 is provided at the height of the luggage 500. As will be described later, when the abutment portion 230 abuts against the luggage 500, the luggage 500 is pushed out onto the shelf board 210. The abutment portion 230 is positioned on the -X side of the luggage 400. Here, in the X direction, the abutment portion 230 is positioned near the end of the shelf board 210 on the -X side. The abutment portion 230 is attached to the frame 220. For example, the abutment portion 230 is a member extending from the frame in the +Y direction.

[0051] When the abutting portion 230 abuts against the load 500, the load 500 moves in the +X direction along with the movement of the transport robot 100. In other words, the abutting portion 230 can push the load 500 in the +X direction from above the second shelf plate 320. The load 400 is transferred from the second shelf plate 320 to the shelf plate 210.

[0052] The frame 330 and the like are arranged in positions where they do not interfere with the shelf section 200. Similarly, the stand 120, the frame 220 and the like are arranged in positions where they do not interfere with the installation shelf 300.

[0053] Next, the cargo delivery operation will be described in detail with reference to Figures 5 to 9. Figures 5 to 10 are side views for explaining each step of the delivery operation. Figures 5 to 10 show a simplified version of part of the configuration shown in Figures 1 to 4. For example, the transport robot 100, frame 220, frame 330, etc. are omitted from Figures 5 to 10.

[0054] 5 shows the configuration before the transfer of the cargo 400, 500. That is, the cargo 400 is placed on the shelf 210 of the shelf section 200, and the cargo 500 is placed on the second shelf 320 of the installation shelf 300. The shelf section 200 is located on the -X side of the installation shelf 300.

[0055] When the transport robot 100 moves from the configuration shown in FIG. 5 to the +X side, the configuration changes to that shown in FIG. 6. In FIG. 6, the shelf 210 is directly above the first shelf 310. In the X direction, the position of the shelf 210 is approximately the same as the position of the first shelf 310. The abutment portion 321 abuts against the package 400. In other words, the abutment portion 321 is in contact with the side surface of the package 400 on the +X side. Therefore, movement of the package 400 in the +X direction is restricted, and the package 400 no longer moves with the transport robot 100.

[0056] When the transport robot 100 moves from the configuration shown in FIG. 6 to the +X side, the configuration shown in FIG. 7 results. In FIG. 7, the second shelf 320 is directly above the shelf 210. In the X direction, the position of the shelf 210 is approximately the same as the position of the second shelf 320. Because the shelf 210 has passed directly above the first shelf 310, the shelf 210 is on the +X side of the first shelf 310. The abutting portion 321 pushes the package 400 off the shelf 210. The package 400 falls from the shelf 210 onto the first shelf 310. As the transport robot 100 moves, the package 400 is transferred from the shelf 210 onto the first shelf 310. Because the abutting portion 321 abuts against the package 400, the package 400 is prevented from falling off the shelf 210.

[0057] When the transport robot 100 moves from the configuration shown in Fig. 7 to the +X side, the configuration shown in Fig. 8 is obtained. In Fig. 8, the second shelf 320 is directly above the shelf 210. The abutment portion 230 abuts against the package 500. In other words, the -X side of the package 500 and the abutment portion 230 are in contact. This causes the package 500 to move in the +X direction as the transport robot 100 moves.

[0058] When the transport robot 100 moves from the configuration shown in Fig. 8 to the +X side, the configuration changes to that shown in Fig. 9. In Fig. 9, the shelf 210 passes directly below the second shelf 320, and therefore the shelf 210 is on the +X side of the second shelf 320. Because the abutting portion 230 is in contact with the package 500, the abutting portion 230 pushes the package 500 from the second shelf 320 in the +X direction. Then, as shown in Fig. 10, the package 500 falls onto the shelf 210. As the transport robot 100 moves, the package 500 is transferred from the second shelf 320 onto the shelf 210.

[0059] In this way, the transfer of the cargo 400 and the transfer of the cargo 500 are completed. When the transport robot 100 passes through the installation shelf 300, the cargo 400 on the shelf 210 can be transferred onto the first shelf 310, and the cargo 500 on the second shelf 320 can be transferred onto the shelf 210. In other words, the movement of the transport robot 100 allows the delivery of the cargo 400, 500 between the shelf section 200 and the installation shelf 300. An arm mechanism or the like for transferring the cargo is not required. Therefore, the cargo 400, 500 can be transferred with a simple configuration. This allows the delivery operation to be performed efficiently.

[0060] Before transfer, as shown in FIG. 5 , the abutment portion 230 is positioned on the -X side of the cargo 400. The abutment portion 321 is positioned on the -X side of the cargo 500. By doing so, the abutment portion 230 abuts the cargo 500 after the abutment portion 321 abuts the cargo 400. In other words, the abutment portion 230 abuts the cargo 500 after the cargo 400 is placed on the first shelf 310. After the cargo 400 is pushed onto the first shelf 310, the cargo 500 is pushed onto the shelf 210. Furthermore, the abutment portion 230 is located higher than the transported object and is installed at the same height as the cargo 500. This allows the delivery mechanism to transfer the cargo appropriately.

[0061] For example, the luggage 400 may be an empty container, and the luggage 500 may be a container containing used equipment or a specimen. When the transfer of the luggage 400 is complete, the empty container is placed on the installation shelf 300, and the container containing the equipment or the like is placed on the shelf section 200. The transport robot 100 transports the container containing the equipment or the like to the user or destination that requires it. Furthermore, when the user loads the equipment or the like into the empty container, the transport robot 100 performs the transfer again. This allows the equipment or the like to be transported efficiently.

[0062] Furthermore, the contact portions 230 and 321 may have an elastic or flexible body, which allows them to absorb energy during contact. For example, the contact portions 230 and 321 may be made of an elastic material such as rubber or resin. Furthermore, the contact portions 230 and 321 may have hooks for hanging luggage.

[0063] Furthermore, although the abutment portion 230 has been described as coming into contact with the luggage 500, the abutment portion 230 may come into contact with something other than the luggage 500. For example, the abutment portion 230 may come into contact with a mechanism on the installation shelf side to push out the luggage 500. In other words, the abutment portion 230 may push out the luggage 500 in a state where a mechanism on the installation shelf side is interposed between the abutment portion 230 and the luggage 500.

[0064] Similarly, the contact portion 321 may come into contact with something other than the load 400. For example, the contact portion 321 may come into contact with a mechanism on the transport robot 100 side to restrict the movement of the load 400. In other words, the contact portion 321 may push out the load 400 in a state where the mechanism on the transport robot 100 side is interposed between the contact portion 321 and the load 400.

[0065] Although the configuration has been described in which one item is placed on each of the shelf 210, the first shelf 310, and the second shelf 320, multiple items may be placed thereon. For example, as shown in FIG. 11, two items 400 may be placed on the shelf 210. Here, the two items 400 are arranged side by side in the X direction. Similarly, two items 500 may be placed on the second shelf 320. Here, the two items 500 are arranged side by side in the X direction. By doing so, the number of items that can be transferred simultaneously can be increased. Of course, the items 400, 500 may also be arranged side by side in the Y direction or the Z direction.

[0066] Embodiment 2 In the second embodiment, the transfer mechanism includes an actuator for transferring the load. The actuator can be a magnet for magnetically attracting the load. The actuator switches the magnetic attraction on and off in response to the passage of the transport robot 100. Furthermore, the transfer mechanism may include a sensor for detecting the load. The actuator performs a switching operation based on the detection result of the sensor. First, a transfer method according to the second embodiment will be described with reference to FIG. 12. FIG. 12 is a flowchart showing the transfer operation.

[0067] First, a sensor senses a package (S11). Next, the sensor detects the passage of the package (S12). Then, the actuator performs a switching operation (S13). For example, the actuator has a magnet that magnetically attracts the package. Then, based on the detection result of the sensor, the actuator switches the magnetic attraction on and off. The magnet of the actuator magnetically attracts the package 400, 500, thereby transferring the package. Then, a sensor or the like confirms the transfer (S14). For example, a sensor of the transport robot 100 detects that the package 500 has been received.

[0068] 13 to 15 are schematic diagrams showing examples of sensors. In Fig. 13, a sensor 600 is attached to the first shelf 310. The sensor 600 is an optical sensor and includes a light-emitting unit and a light-receiving unit. The light-emitting unit includes a light source that emits light upward. The light-receiving unit includes a photodiode that detects light from above.

[0069] When there is no shelf board 210 directly above the sensor 600, the light from the light source is not reflected by the shelf board 210. When there is a shelf board 210 directly above the sensor 600, the light from the light source is reflected by the shelf board 210. In this case, the photodiode detects the light reflected by the shelf board 210. Therefore, the detection result of the light receiving unit changes depending on whether the shelf board 210 is directly above the sensor 600. The sensor 600 can detect that the shelf board 210 is directly above the sensor 600.

[0070] When the shelf board 210 is directly above the sensor 600, it detects the passage of the transport robot 100. Therefore, the sensor 600 turns on the passage switch. When the shelf board 210 is not directly above the sensor 600, it does not detect the passage of the transport robot 100. Therefore, the sensor 600 turns off the passage switch. Note that the mounting position of the sensor 600 is not limited to below the shelf board 210. For example, the sensor 600 may be mounted to the side or above the shelf board 210 or the package 400.

[0071] In FIG. 14, a sensor 620 is attached to the first shelf board 310. The sensor 620 is a mechanical switch. For example, the sensor 620 is wedge-shaped and has an elastic body such as a spring. When there is no shelf board 210 directly above the sensor 620, the sensor 620 is not in contact with the shelf board 210. When there is a shelf board 210 directly above the sensor 620, the sensor 620 comes into contact with the shelf board 210. Therefore, a biasing force is applied to the sensor 620 downward, causing the sensor 620 to deform. This makes it possible to detect that the shelf board 210 is directly above the sensor 620.

[0072] When the shelf board 210 is directly above the sensor 620, it detects the passage of the transport robot 100. Therefore, the sensor 620 turns on the passage switch. When the shelf board 210 is not directly above the sensor 620, it does not detect the passage of the transport robot 100. Therefore, the sensor 620 turns off the passage switch. Note that the attachment position of the sensor 620 is not limited to below the shelf board 210. For example, the sensor 620 may be attached to the side or above the shelf board 210 or the package 400.

[0073] In Fig. 15, the sensor 610 is an optical intrusion detection sensor. The sensor 610 includes a light-emitting unit 611 and a light-receiving unit 612. The sensor 610 is installed at a height at which the luggage 400 passes. For example, the sensor 610 is attached to the first shelf board 310 (not shown in Fig. 15).

[0074] The light-emitting unit 611 emits light such as infrared rays toward the light-receiving unit 612. When the luggage 400 reaches the position of the sensor 610, the light from the light-emitting unit 611 is blocked. In other words, if the luggage 400 is between the light-emitting unit 611 and the light-receiving unit 612, the light from the light-emitting unit 611 does not enter the light-receiving unit 612. If the luggage 400 is not between the light-emitting unit 611 and the light-receiving unit 612, the light from the light-emitting unit 611 enters the light-receiving unit 612. This allows the sensor 620 to detect the passage of the luggage 400. The sensor 610 can detect the passage of the luggage 400 based on the detection result of the light-receiving unit 612.

[0075] If there is a package 400 between the light-emitting unit 611 and the light-receiving unit 612, the sensor 610 detects the passage of the package 400. Therefore, the sensor 610 turns on the passage switch. If there is no package 400 between the light-emitting unit 611 and the light-receiving unit 612, the sensor 610 does not detect the passage of the transport robot 100. Therefore, the sensor 610 turns off the passage switch.

[0076] The sensor is not limited to the configuration shown in Figures 13 to 15. For example, a camera or a lidar provided on the transport robot 100 may be used as a passage sensor. A sensor provided around the installation shelf 300 may detect the passage of the transport robot 100.

[0077] The delivery operation by the delivery mechanism will be described with reference to Figures 16 to 19. Figures 16 to 19 are side views for explaining each step of the delivery operation. Figures 16 to 19 show a simplified version of part of the configuration shown in Figures 1 to 4. For example, the transport robot 100 is omitted. In Figures 16 to 19, sensor 600 is provided, but it is also possible to use sensor 610, sensor 620, or the like instead of sensor 600.

[0078] In this embodiment, the sensor 600 is provided on the first shelf board 310. Furthermore, the installation shelf 300 is provided with an actuator 370. Furthermore, the shelf section 200 is provided with an actuator 270. The actuators 270, 370 have magnets that magnetically attract the luggage 500. The magnets may be electromagnets or permanent magnets.

[0079] In the case of an electromagnet, the actuator 370 can control the current to turn on and off the magnetic attraction. In the case of a permanent magnet, a magnetic circuit arranged around the permanent magnet can be used as the actuator. The actuator can turn the magnetic attraction on and off by changing the angle or position of a yoke arranged around the permanent magnet. At least a portion of the luggage 400, 500 is made of a metallic material that can be magnetically attracted.

[0080] 16 shows the configuration before the transfer of the cargo 400, 500. That is, the cargo 400 is placed on the shelf board 210 of the shelf section 200, and the cargo 500 is placed on the second shelf board 320 of the installation shelf 300. The shelf section 200 is located on the -X side of the installation shelf 300.

[0081] As shown in FIG. 16, the actuator 270 is disposed above the shelf 210. The actuator 370 is disposed above the first shelf 310. The actuators 270, 370 are formed in the shape of flat plates parallel to the XY plane. Before transfer, the cargo 400 is disposed between the actuator 270 and the shelf 210. The cargo 400 is disposed below the actuator 270 with a space between them. The actuator 270 is disposed at a higher position than the cargo 500 and the actuator 370. The actuator 370 is disposed at a height between the cargo 400 and the actuator 270. The actuator 370 is disposed on the -X side of the shelf 210, the cargo 400, and the actuator 270. In the state shown in FIG. 16, the sensor 600 turns off the passage switch. Therefore, the magnetic attraction of the actuators 270, 370 is turned off.

[0082] When the transport robot 100 moves from the configuration shown in FIG. 16 to the +X side, the configuration shown in FIG. 17 is obtained. In FIG. 17, the shelf 210 and the actuator 270 are directly above the first shelf 310. In the X direction, the positions of the shelf 210 and the actuator 370 are approximately the same as the positions of the first shelf 310 and the actuator 370. Because the shelf 210 is directly above the sensor 600, the sensor 600 turns on the passage switch. The actuator 370 switches on magnetic adsorption. Therefore, the actuator 370 magnetically adsorbs the package 400. In other words, the package 400 is floating above the shelf 210. As a result, the package 400 does not move with the transport robot 100.

[0083] When the transport robot 100 moves from the configuration shown in Figure 17 to the +X side, the configuration changes to that shown in Figure 18. In Figure 18, the shelf 210 is directly above the second shelf 320. In the X direction, the positions of the shelf 210, the second shelf 320, and the actuator 270 are aligned. Because the shelf 210 has passed directly above the first shelf 310, the shelf 210 is on the +X side of the first shelf 310. Here, the shelf 210 is not located directly above the sensor 600. Therefore, the sensor 600 turns off the passage sensor.

[0084] When the passage sensor switches from on to off, actuator 270 turns on magnetic attraction, and actuator 370 turns off magnetic attraction. Because actuator 370 turns off magnetic attraction of luggage 400, luggage 400 falls onto first shelf board 310. Also, because actuator 270 turns on magnetic attraction, luggage 500 is magnetically attracted. The luggage 500 is now floating above the second shelf board 320.

[0085] When the transport robot 100 moves from the configuration shown in FIG. 18 to the +X side, the configuration shown in FIG. 19 results. In FIG. 19, the shelf 210 is located on the +X side of the second shelf 320. In FIG. 19, the magnetic attraction of the actuator 270 has been turned off, and the package 500 has fallen onto the shelf 210. As a result, the package 500 is transferred to the shelf section 200. After the second shelf 320 passes over the shelf 210, the actuator 270 turns off the magnetic attraction. For example, the actuator 270 turns off after a certain time has elapsed since the passage sensor switched from on to off. As a result, the package 500 is placed on the shelf 210.

[0086] In this way, the actuators 270 and 370 control the on / off of magnetic attraction according to the detection result of the sensor 600. In other words, the actuators 270 and 370 control the timing of switching magnetic attraction according to the timing when the sensor 600 detects passage on. For example, the actuators 270 and 370 use a timer or the like to perform the on / off switching operation of magnetic attraction. The on / off of magnetic attraction can be switched after a predetermined period has elapsed since the timing when the sensor 600 detects passage on. In this way, the delivery mechanism can deliver the luggage 400 and the luggage 500. Furthermore, in the second embodiment, the abutment portion 230 and the abutment portion 321 are not necessary.

[0087] Embodiment 3 In the third embodiment, the actuator functions as a shelf (stage) that supports the loads 400 and 500. That is, the actuator is formed in a flat plate shape and is installed below the loads 400 and 500. The loads 400 and 500 are placed on the actuator.

[0088] The delivery operation by the delivery mechanism will be described with reference to Figures 20 to 23. Figures 20 to 23 are side views for explaining each step of the delivery operation. Figures 20 to 23 show a simplified version of part of the configuration shown in Figures 1 to 4. For example, the transport robot 100 is omitted.

[0089] As shown in FIG. 20 , the installation shelf 300 is provided with an actuator 371. The actuator 371 is provided at the position of the first shelf 310 in the first embodiment. A load 500 is placed on the actuator 371. The shelf section 200 is provided with an actuator 271. The actuator 271 is provided at the position of the shelf 210 in the first embodiment. A load 400 is placed on the actuator 271. The actuator 271 is arranged at a higher position than the actuator 371. The actuator 271 is arranged at a lower position than the second shelf 320. Therefore, the actuator 271 passes between the second shelf 320 and the actuator 371.

[0090] Actuator 371 and actuator 271 incorporate a magnetic circuit or an electromagnet. The upper surfaces of actuator 271 and actuator 371 may be subjected to low-friction treatment to reduce frictional force. Alternatively, actuator 271 and actuator 371 may have rollers or the like to reduce frictional force. This allows luggage 400 to move while sliding on actuator 271. Similarly, luggage 500 can move while sliding on actuator 371.

[0091] Fig. 20 shows the configuration before the transfer of the cargo 400, 500. That is, the cargo 400 is placed on the actuator 271 of the shelf section 200, and the cargo 500 is placed on the second shelf board 320 of the installation shelf 300. The shelf section 200 is located on the -X side of the installation shelf 300. In the state shown in Fig. 20, the sensor 600 has turned off the passage switch. Therefore, the magnetic attraction of the actuators 271 and 371 is turned off.

[0092] When the transport robot 100 moves from the configuration shown in FIG. 20 to the +X side, the configuration shown in FIG. 21 is obtained. In FIG. 21, the actuator 271 is directly above the actuator 371. In the X direction, the position of the actuator 271 is approximately the same as the position of the actuator 371. Because the actuator 271 is directly above the sensor 600, the sensor 600 turns on the passage switch. The actuator 271 switches on magnetic adsorption. Therefore, the actuator 371 magnetically adsorbs the cargo 400. Note that here, the actuator 271 has magnetic adsorption turned off.

[0093] The actuator 371 magnetically attracts the luggage 400. Therefore, the luggage 400 moves while sliding on the actuator 371. Therefore, even if the actuator 271 moves in the +X direction, the luggage 400 does not move in the +X direction. Due to the magnetic attraction of the actuator 371, the luggage 400 does not move together with the transport robot 100.

[0094] When the transport robot 100 moves from the configuration shown in FIG. 21 to the +X side, the configuration changes to that shown in FIG. 22. In FIG. 22, the actuator 271 is located directly below the second shelf 320. In the X direction, the position of the actuator 271 coincides with the position of the second shelf 320. Because the actuator 271 has passed directly below the actuator 371, the actuator 271 is located on the +X side of the actuator 371. Here, the actuator 271 is not located directly above the sensor 600. Therefore, the sensor 600 turns off the passage sensor.

[0095] When the passage sensor switches from on to off, the actuator 371 turns off the magnetic attraction. Here, the package 400 is transferred onto the first shelf 310. Furthermore, when the passage sensor switches from on to off, the magnetic attraction of the actuator 271 turns on. Therefore, the actuator 271 magnetically attracts the package 400.

[0096] The cargo 500 moves while sliding on the second shelf 320. Therefore, the cargo 500 moves together with the transport robot 100. When the actuator 271 passes under the actuator 371, the cargo 500 is transferred onto the actuator 271 as shown in FIG.

[0097] For example, after a certain time has elapsed since the passage sensor was switched from on to off, the actuator 271 turns off the magnetic attraction. After the cargo 500 is placed on the actuator 271, the actuator 271 turns off the magnetic attraction. As a result, the cargo 500 is transferred to the shelf section 200.

[0098] In this way, actuators 271 and 371 control the on / off of magnetic attraction according to the detection result of sensor 600. In other words, the actuators control the timing of switching magnetic attraction according to the timing when sensor 600 detects passage on. For example, actuator 271 or actuator 371 may use a timer or the like to switch magnetic attraction on / off. For example, magnetic attraction may be switched on / off after a predetermined period has elapsed since sensor 600 detected passage on. In this way, the delivery mechanism can deliver luggage 400 and luggage 500. Furthermore, in embodiment 3, contact portions 230 and 321 are not necessary.

[0099] Embodiment 4 The transfer operation by the transfer mechanism in the fourth embodiment will be described. Figs. 24 to 27 are side views for explaining each step of the transfer operation. Figs. 24 to 27 show a simplified version of part of the configuration shown in Figs. 1 to 4. For example, the transport robot 100 is omitted. Furthermore, in this embodiment, actuators and sensors are not required.

[0100] In this embodiment, as shown in Fig. 24, shelf section 200 includes upper plate 250 and wall section 251. In shelf section 200, upper plate 250 and wall section 251 are provided instead of abutment section 230 of embodiment 1. Installation shelf 300 includes upper plate 350 and wall section 351. In installation shelf 300, upper plate 350 and wall section 351 are provided instead of abutment section 321 of embodiment 1.

[0101] The upper plate 350 is disposed on the first shelf board 310. The upper plate 350 is a flat plate parallel to the XY plane. The upper plate 350 is positioned higher than the luggage 400. A wall portion 351 is provided on the lower surface of the upper plate 350. The wall portion 351 protrudes downward from the upper plate 350. The wall portion 351 may have a protrusion or hook for hanging and holding the luggage 400. The wall portion 351 may have an elastic body such as a spring. This allows the wall portion 351 to securely hold the luggage 400.

[0102] The upper plate 250 is placed on the shelf board 210. The upper plate 250 is a flat plate parallel to the XY plane. The upper plate 250 is positioned higher than the cargo 500. Before transfer, the cargo 400 is located between the upper plate 250 and the shelf board 210.

[0103] A wall portion 251 is provided on the lower surface of the upper plate 250. The wall portion 251 protrudes downward from the upper plate 250. The wall portion 251 is attached to both ends of the upper plate 250 in the X direction. The wall portion 251 is formed in a wedge shape so as to lock onto the luggage 500. The wall portion 251 may have a protrusion or hook for hanging on and holding the luggage 400. The wall portion 251 may have an elastic body such as a spring. This allows the wall portion 251 to securely hold the luggage 400.

[0104] The two wall portions 251 open and close in conjunction with each other to hold the luggage 500. For example, when the luggage 500 is directly below the wall portion 251, the wall portion 251 is pushed upward by the luggage 500. This causes the two wall portions 251 to be in an open state. On the other hand, when the luggage 500 is not directly below the wall portion 251, the wall portion 251 is not pushed upward by the luggage 500. Therefore, the wall portion 251 is in a closed state. In other words, the two wall portions 251 act in conjunction with each other as a switch mechanism.

[0105] The operation of the wall portion 251 will be described with reference to FIG. 28. FIG. 28 is a diagram for explaining the opening and closing operation of the wall portion 251. As the transport robot 100 moves, the wall portion 251 performs the opening and closing operation in the order of ST1, ST2, ST3, and ST4. As in ST1, the wall portion 251 is in a closed state before it comes into contact with the cargo 500. Note that ST1 corresponds to the configuration shown in FIG. 24.

[0106] When the transport robot 100 moves from the state of ST1, the state becomes as shown in ST2. In ST2, the luggage 500 is located directly below the wall 251 on the +X side. When the luggage 500 is located directly below the wall 251, the wall 251 comes into contact with the luggage 500. Therefore, the wall 251 is pushed upward by the luggage 500, and the two walls 251 are in an open state. For example, if the wall 251 has an elastic body such as a spring, the elastic body is biased and deformed. In the open state, the wall 251 may be crushed and deformed. Note that ST2 corresponds to the timing between FIG. 25 and the front of FIG. 26.

[0107] When the transport robot 100 moves, the state becomes as shown in ST3. In ST3, the cargo 500 is between the two wall portions 251. In this case, the two wall portions 251 are not pushed upward by the cargo 500, so the two wall portions 251 close. This allows the two wall portions 251 to lock the cargo 500. In other words, the cargo 500 is held in a sandwiched state between the two wall portions 251. ST3 corresponds to the configuration shown in FIG. 26.

[0108] When the transport robot 100 moves further, the state becomes as shown in ST4. In ST4, the package 500 is moving from above the second shelf board 320. Even in this state, the pair of wall portions 251 engage with the package 500 from both sides. Therefore, the wall portions 251 can securely hold the package 500.

[0109] Returning to the explanation of Figure 24, Figure 24 shows the configuration before the transfer of the cargo 400, 500. That is, the cargo 400 is placed on the shelf board 210 of the shelf section 200, and the cargo 500 is placed on the second shelf board 320 of the installation shelf 300. The shelf section 200 is located on the -X side of the installation shelf 300.

[0110] When the transport robot 100 moves from the configuration shown in Fig. 24 to the +X side, the configuration shown in Fig. 25 results. In Fig. 25, the upper plate 350 is positioned directly above the shelf 210 and the load 400. In the X direction, the position of the upper plate 350 is approximately the same as the position of the shelf 210. The wall 351 abuts against and holds the load 400, thereby restricting movement of the load 400. The wall 351 may be shaped like a hook that catches and holds the load 400.

[0111] When the transport robot 100 moves from the configuration shown in FIG. 25 to the +X side, the configuration shown in FIG. 26 results. In FIG. 26, the upper plate 250 is positioned above the cargo 500 and shelf 210. In the X direction, the position of the upper plate 250 is approximately the same as the position of the second shelf 320. The wall portions 251 abut against and hold the cargo 500. Because the pair of wall portions 251 are in a closed state, the cargo 500 is hooked and held. As a result, the cargo 500 is transferred to the shelf portion 200. The cargo 500 moves together with the transport robot 100.

[0112] When the transport robot 100 moves from the configuration shown in Fig. 26 to the +X side, the configuration becomes as shown in Fig. 27. In Fig. 27, the shelf 210 is positioned on the +X side of the second shelf 320. In Fig. 27, the cargo 500 has been transferred to the shelf section 200. The cargo 500 is floating above the shelf 210.

[0113] In this way, the transfer of the cargo 400 and the cargo 500 is completed. That is, the cargo 400 is transferred from the shelf section 200 to the installation shelf 300, and the cargo 500 is transferred from the installation shelf 300 to the shelf section 200. In the embodiment, sensors and actuators are not required.

[0114] Fifth embodiment In the fifth embodiment, a shock absorbing member is provided to absorb shock when the contact portion contacts the load. A contact portion 700 having a shock absorbing member will be described with reference to FIG. 28. Although the contact portion 700 will be described as contacting the load 400, a similar configuration can also be adopted for the load 500. In other words, the contact portion 700 can be replaced with at least one of the contact portion 230 and the contact portion 321 of the first embodiment.

[0115] The abutment portion 700 includes an attachment portion 701, an attachment portion 702, and a flexible body 703. The flexible body 703 is a string-like or band-like member and serves as an impact absorbing member that absorbs impact. One end of the flexible body 703 is attached to the attachment portion 701, and the other end is attached to the attachment portion 702. The attachment portion 701 is disposed on the +Y side of the luggage 400, and the attachment portion 702 is disposed on the +Y side of the luggage 400. At least one of the attachment portion 701 and the attachment portion 702 includes a reel around which the flexible body 703 is wound. Before abutment, the flexible body 703 is disposed in a straight line from the attachment portion 701 to the attachment portion 702.

[0116] When the luggage 400 comes into contact with the flexible body 703, the flexible body 703 is deformed. This absorbs the impact at the time of contact. For example, the flexible body 703 wound around the attachment portion 701 is unwound and stretched. This makes it possible to mitigate the impact that the luggage 400 receives.

[0117] The delivery operation of the delivery mechanism using the abutment portion 700 will be described with reference to Figures 30 to 33. The shelf portion 200 is provided with the abutment portion 700b. The installation shelf 300 is provided with the abutment portion 700a. The abutment portion 700b of the shelf portion 200 is provided at the same height as the luggage 400. The abutment portion 700a of the installation shelf 300 is provided at the same height as the luggage 500. The abutment portion 700a of the installation shelf 300 is provided at the same height as the luggage 400. The abutment portion 700a of the installation shelf 300 is provided at a higher position than the luggage 500. The abutment portions 700a and 700b have the same configuration as the abutment portion 700 in Figure 29.

[0118] 30 shows the configuration before the transfer of the cargo 400, 500. That is, the cargo 400 is placed on the shelf board 210 of the shelf section 200, and the cargo 500 is placed on the second shelf board 320 of the installation shelf 300. The shelf section 200 is located on the -X side of the installation shelf 300.

[0119] When the transport robot 100 moves from the configuration shown in Fig. 30 to the +X side, the configuration shown in Fig. 31 is obtained. In Fig. 31, the load 400 abuts against the abutment portion 700b. This restricts the movement of the load 400. Furthermore, the abutment portion 700b absorbs the impact at the time of abutment. Therefore, the impact on the load 400 can be alleviated.

[0120] When the transport robot 100 moves from the configuration shown in Fig. 31 to the +X side, the configuration shown in Fig. 32 is obtained. In Fig. 32, the load 500 abuts against the abutment portion 700a. As a result, the load 500 moves in the +X direction as the transport robot 100 moves. Furthermore, the abutment portion 700a absorbs the impact at the time of abutment. Therefore, the impact on the load 500 can be alleviated.

[0121] When the transport robot 100 moves from the configuration shown in Fig. 32 to the +X side, the configuration becomes as shown in Fig. 33. In Fig. 32, the cargo 500 is placed on the second shelf board 320. In Fig. 33, the cargo 500 has been transferred to the shelf section 200. In this manner, the transfer of the cargo 400 and the cargo 500 is completed. That is, the cargo 400 is transferred from the shelf section 200 to the installation shelf 300, and the cargo 500 is transferred from the installation shelf 300 to the shelf section 200. In this embodiment, the sensor 600 and the actuator are not required.

[0122] It should be noted that any suitable combination of the first to fifth embodiments can be used. In addition, although the transport robot 100 has been described as a moving body that moves the luggage 400, the moving body may be a cart that is moved by being pushed by a person.

[0123] The present invention is not limited to the above-described embodiment, and can be modified as appropriate within the scope of the invention. [Explanation of symbols]

[0124] 100 Transport Robot 110 chassis 111 Wheels 120 Stand 130 Operation section 140 Lifting mechanism 200 Shelf 210 Shelf 220 frames 230 Contact part 240 base plate 250 upper plate 251 Wall 270 Actuator 271 Actuator 300 installation shelves 310 First shelf 320 Second shelf 321 Contact part 330 frames 370 Actuator 371 Actuator 400 luggage 500 luggage 600 sensors 610 Sensors 611 Light-emitting part 612 Light receiving part 620 Sensors 700 Contact part 701 Mounting part 702 Mounting part 703 Flexible Body

Claims

1. A shelf for placing luggage, a movable body having a movable body side stage on which the load is placed, The installation shelf includes a first stage and a second stage having a different height from the first stage, The moving body passes through the installation shelf to transfer the cargo between the installation shelf and the moving body, A transfer mechanism in which, when the movable body passes through the installation shelf, a first item on the second stage is transferred to the movable body side stage, and a second item on the movable body side stage is transferred to the first stage.

2. a first contact portion that contacts a mechanism on the moving body side as the moving body moves is provided on the installation shelf; The transfer mechanism according to claim 1 , wherein the movable body is provided with a second contact portion that contacts the mechanism on the installation shelf side as the movable body moves.

3. the second contact portion pushes the first load on the second stage in the moving direction of the moving body, thereby transferring the first load to the moving body side stage; 3. The transfer mechanism according to claim 2, wherein the second load is transferred to the first stage by the first contact portion pushing out the second load on the movable body side stage in a direction opposite to the direction of movement.

4. 4. The delivery mechanism according to claim 2, wherein the second contact portion is located at a position higher than the second unit and at the same height as the first unit.

5. 4. The delivery mechanism according to claim 2, wherein at least one of the first contact portion and the second contact portion has a locking member that locks the luggage.

6. 4. The delivery mechanism according to claim 2, wherein at least one of the first contact portion and the second contact portion has an elastic body that absorbs energy generated when the first contact portion and the second contact portion contact each other.

7. 4. The delivery mechanism according to claim 2, wherein at least one of the first contact portion and the second contact portion has a string-like or band-like flexible body that absorbs energy during contact.

8. 4. The delivery mechanism according to claim 2, wherein at least one of the first contact portion and the second contact portion has a hook for catching the luggage.

9. 4. The transfer mechanism according to claim 2, wherein the movable stage passes through a height between the first stage and the second stage.

10. The second stage is installed at a higher position than the first stage, 10. The transfer mechanism according to claim 9, wherein the first contact portion provided on the second stage is provided at a height of the second package.

11. A shelf for placing luggage; a movable body having a movable body side stage on which the load is placed, The moving body passes through the installation shelf to transfer the cargo between the installation shelf and the moving body, At least one of the installation shelf and the movable body side stage Equipped with a magnet that magnetically attracts luggage, A transfer mechanism that switches the magnetic attraction of the magnet on and off when the moving object passes through the installation shelf.

12. A transfer mechanism as described in Claim 11, wherein the installation shelf has a first stage and a second stage of a different height from the first stage.

13. Further provided is a sensor that detects the passage of the moving object, 13. The transfer mechanism according to claim 11, wherein the magnetic attraction is switched based on the detection result of the sensor.

Images