Working unit exchange system and working unit exchange station

Abstract

The present invention easily and quickly replaces a work unit for an automated guided vehicle.　A work unit replacement system (1, 1') includes an automated guided vehicle (5, 5') and a work unit replacement station (19, 19'). This work unit replacement station includes: a first work unit fixing portion (31); a second work unit fixing portion (32); a first support portion (21) that partially supports the first work unit fixing portion; a second support portion (22) that partially supports the second work unit fixing portion; and a supporting portion (10) that separately supports the first support portion and the second support portion in a vertically movable manner.

Description

[Technical Field]

[0001] The present invention relates to an operational unit exchange system and an operational unit exchange station, and more particularly to an operational unit exchange system and an operational unit exchange station for exchanging an operational unit installed on an automatic guided vehicle (AGV) with another operational unit. [Background technology]

[0002] Automated guided vehicles are currently used in factories to transport parts, and with the development of AI and machine learning, it is expected that they will also be used in industries other than manufacturing.

[0003] In other industries, such as hospitals, automated guided vehicles are highly desirable because they can solve the problem of labor shortages, have no hygiene issues, and can operate for long periods of time. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 09-036198 Summary of the Invention [Problem to be solved by the invention]

[0005] Typically, automated guided vehicles are integrated into a single operational unit, but in other industries, automated guided vehicles are required to perform multiple different tasks. For example, in hospitals, automated guided vehicles may be required to perform different tasks during the day and at night.

[0006] Furthermore, purchasers of automated guided vehicles are usually not allowed to change the functions of the vehicle. Therefore, if multiple tasks are required of an automated guided vehicle, multiple automated guided vehicles equipped with working units suitable for each task must be prepared. However, purchasing multiple expensive automated guided vehicles is difficult and requires space to store multiple automated guided vehicles.

[0007] Alternatively, the purchaser can ask the manufacturer to exchange the working unit suitable for one job for another working unit suitable for another job, which requires a complicated procedure and makes it difficult to quickly exchange the working unit for another working unit.

[0008] Therefore, there is a demand for an operational unit exchange system and an operational unit exchange station that can easily and quickly exchange operational units of an automated guided vehicle. [Means for solving the problem]

[0009] According to a first aspect of the present disclosure, there is provided a working unit exchange system comprising an automated guided vehicle and an operational unit exchange station, the working unit exchange station including a first working unit fixing portion to which a first working unit is fixed, a second working unit fixing portion to which a second working unit is fixed, a first support portion that partially supports the first working unit fixing portion, a second support portion that partially supports the second working unit fixing portion, and a support portion that supports the first support portion and the second support portion so that they can be raised and lowered separately, wherein a slit is formed in each of the first support portion and the second support portion, the width of the slit is narrower than the width of the first working unit fixing portion and the second working unit fixing portion, the width of the slit is wider than the width of the automated guided vehicle, and the lower surface position of the support portion is higher than the top of the automated guided vehicle. [Effects of the Invention]

[0010] In the first mode, with an automated guided vehicle below the support parts, one working unit fixing part is placed on the top of the automated guided vehicle while one support part is being lowered. Then, while one support part is being raised, one working unit fixing part engages with one support part and rises together. This operation makes it possible to easily and quickly replace the working unit of the automated guided vehicle.

[0011] The objects, features and advantages of the present invention will become more apparent from the following description of the embodiments taken in conjunction with the accompanying drawings. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a perspective view of a working unit replacement system according to a first embodiment. [Figure 2] 2 is a flowchart for explaining the operation of the operation unit exchange system shown in FIG. 1. [Figure 3] 10 is a flowchart illustrating an operation of replacing an operating unit. [Figure 4A] FIG. 4 is a first diagram for explaining the exchange operation of FIG. 3. [Figure 4B] FIG. 4 is a second diagram for explaining the exchange operation of FIG. 3. [Figure 4C] FIG. 4 is a third diagram for explaining the exchange operation of FIG. 3. [Figure 4D] FIG. 4 is a fourth diagram for explaining the replacement operation of FIG. 3. [Figure 4E] FIG. 5 is a fifth diagram for explaining the replacement operation of FIG. 3. [Figure 4F] FIG. 6 is a sixth diagram for explaining the exchange operation of FIG. 3. [Figure 5] FIG. 10 is a perspective view of a working unit replacement system according to a second embodiment. [Figure 6] 10 is a flowchart illustrating another operation of the operation unit exchange system. [Figure 7] 10 is a flowchart for explaining an exchange operation of an automatic guided vehicle. [Figure 8A] FIG. 8 is a first diagram for explaining the exchange operation of FIG. 7. [Figure 8B] FIG. 8 is a second diagram for explaining the replacement operation of FIG. 7. [Figure 8C] FIG. 8 is a third diagram for explaining the replacement operation of FIG. 7. [Figure 8D] FIG. 8 is a fourth diagram for explaining the replacement operation of FIG. 7. [Figure 8E] FIG. 8 is a fifth diagram for explaining the replacement operation of FIG. 7. [Figure 8F] FIG. 8 is a sixth diagram for explaining the replacement operation of FIG. 7. DETAILED DESCRIPTION OF THE INVENTION

[0013] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings, in which corresponding components are designated by common reference numerals throughout the drawings. 1 is a perspective view of an operational unit exchanging system according to a first embodiment. As shown in FIG. 1, the operational unit exchanging system 1 mainly includes an automatic guided vehicle (AGV) 5 and an operational unit exchanging station 19 for exchanging operational units A1 and A2.

[0014] It is preferable that working unit A1 and working unit A2 are devices with different functions. In the embodiment shown in Fig. 1, working unit A1 is a collaborative robot that performs a predetermined task in collaboration with a human, and working unit A2 is an ultraviolet irradiation device that irradiates ultraviolet light for purposes such as sterilization.

[0015] The operational units A1 and A2 are not limited to those shown in the figures. For example, if the operational unit exchange system 1 is used in a hospital, the operational units A1 and A2 may be collection boxes for used clothing, such as white coats, unmanned vending machines selling drinks, sweets, and daily necessities, storage boxes for storing medicines, surgical tools, and the like, or displays with touch panels or buttons for performing specific reception tasks or for communicating with doctors, etc. Naturally, if the operational unit exchange system 1 is used in other locations, such as shopping centers, operational units A1 and A2 with other functions may be used.

[0016] The undersides of the working units A1 and A2 are fixed to the first working unit fixing portion 31 and the second working unit fixing portion 32, which are, for example, metal plates. Alternatively, if the dimensions described below are met, the undersides of the working units A1 and A2 may be used directly as the first working unit fixing portion 31 and the second working unit fixing portion 32. The top of the automated guided vehicle 5 is equipped with locking mechanisms (not shown) for the first working unit fixing portion 31 and the second working unit fixing portion 32, respectively. The locking mechanism fastens one of the first working unit fixing portion 31 and the second working unit fixing portion 32 to the automated guided vehicle 5. The locking mechanism may be, for example, a vacuum suction jig. Alternatively, if the first working unit fixing portion 31 and the second working unit fixing portion 32 are metal plates, the locking mechanism may be an electromagnet.

[0017] The automated guided vehicle 5 is a known vehicle controlled by an internal computer. The transport route of the automated guided vehicle 5 may be stored in advance in the computer's memory, or may be manually input / changed through a control panel 5a provided in the automated guided vehicle 5. Since the automated guided vehicle 5 is equipped with a collision prevention device, the computer of the automated guided vehicle 5 may determine the transport route through learning.

[0018] The working unit exchange station 19 includes a support part 10 that supports a first support part 21 and a second support part 22 so that they can be raised and lowered separately. The support part 10 is a frame-like shelf board with a plurality of legs 18. The height of the legs 18 is higher than the height of the automatic guided vehicle 5. In addition, the distance between two adjacent legs 18 is large enough for the automatic guided vehicle 5 to travel along. Therefore, the automatic guided vehicle 5 can travel freely below the support part 10 without colliding with the legs 18.

[0019] A first support portion 21 and a second support portion 22 are arranged side by side in a location corresponding to the top plate of the support portion 10. The first support portion 21 and the second support portion 22 can be engaged with a first working unit fixing portion 31 and a second working unit fixing portion 32, respectively.

[0020] 4A, the first support portion 21 and the second support portion 22 are connected to a first elevator 41 and a second elevator 42, respectively. The first elevator 41 and the second elevator 42 are well known, and therefore a description thereof will be omitted. In other words, the first support portion 21 and the second support portion 22 are supported by the support part 10 so as to be able to move up and down between a predetermined raised position and a predetermined lowered position. FIG. 1 shows the first support portion 21 and the second support portion 22 positioned at the predetermined raised position. The predetermined lowered position is a position between the predetermined raised position and the floor.

[0021] As can be seen from FIG. 1, slits 21a, 22a are formed in the first support portion 21 and the second support portion 22 on the front side of the support part 10. The width of each of the slits 21a, 22a in the juxtaposition direction of the first support portion 21 and the second support portion 22 is smaller than the width of the first working unit fixing portion 31 and the second working unit fixing portion 32. Therefore, as shown in FIG. 1, the first working unit fixing portion 31 and the second working unit fixing portion 32 can be placed on the first support portion 21 and the second support portion 22, respectively, without the first working unit fixing portion 31 and the second working unit fixing portion 32 falling out of the slits 21a, 22a. In other words, the first support portion 21 and the second support portion 22 partially support the first working unit fixing portion 31 and the second working unit fixing portion 32, respectively.

[0022] Furthermore, the width of each of the slits 21a, 22a in the juxtaposition direction of the first support portion 21 and the second support portion 22 is greater than the width of the top of the automatic guided vehicle 5. Therefore, when the first support portion 21 or the second support portion 22 is lowered by the first elevator 41 or the second elevator 42, the entire top of the automatic guided vehicle 5 comes into contact with the first working unit fixing portion 31 or the second working unit fixing portion 32.

[0023] Figure 2 is a flowchart for explaining the operation of the operational unit exchanging system shown in Figure 1. The contents of Figure 2 and the route of the automatic guided vehicle 5 are assumed to be stored in the memory of a computer provided in the automatic guided vehicle 5. Before step S1 in Figure 2 is started, the automatic guided vehicle 5 is assumed to be in an initial position corresponding to being below the first support portion 21.

[0024] First, in step S1, it is determined whether or not working unit A1 is attached to the top of the automatic guided vehicle 5 via the first working unit fixing portion 31, and if it is not attached, then in step S2 working unit A1 is attached to the top of the automatic guided vehicle 5. If it is determined that working unit A2 is attached to the top of the automatic guided vehicle 5, then working unit A2 is replaced with working unit A1 in step S2. The replacement / attachment of working units will be described later.

[0025] Next, in step S3, it is determined whether the current time is the first predetermined time. If the current time is the first predetermined time, the process proceeds to step S4, where the automated guided vehicle 5, with the working unit A1 attached, departs from the support part 10 and travels along a predetermined first path. For example, if the working unit A1 is a collaborative robot, the automated guided vehicle 5 travels to a predetermined location, where the collaborative robot is activated and performs a predetermined task in collaboration with a worker.

[0026] Next, in step S5, it is determined whether the current time is a second predetermined time after the first predetermined time. If the current time is the second predetermined time, the process proceeds to step S6, and the automated guided vehicle 5 returns to the working unit exchange station 19. Then, in step S7, the working unit A1 attached to the automated guided vehicle 5 is exchanged for another working unit A2, as described below.

[0027] Next, in step S8, it is determined whether the current time is a third predetermined time after the second predetermined time. If the current time is the third predetermined time, the process proceeds to step S9, where the automated guided vehicle 5, with the operational unit A2 attached, departs from the support unit 10 and travels along a predetermined second route. For example, if the operational unit A2 is an ultraviolet irradiation device, the automated guided vehicle 5 travels to another predetermined location, where the ultraviolet irradiation device is activated and ultraviolet light is irradiated along the second route. Alternatively, the ultraviolet irradiation device may be activated when the automated guided vehicle 5 departs from the support unit 10. The second route may also be the same as the first route.

[0028] Next, in step S10, it is determined whether the current time is a fourth predetermined time that is after the third predetermined time. If the current time is the fourth predetermined time, the process proceeds to step S11, and the automated guided vehicle 5 returns to the working unit exchange station 19. After that, the process returns to step S2, and the working unit A2 attached to the automated guided vehicle 5 is exchanged for the working unit A1 as described below.

[0029] In this way, in the present disclosure, the working unit to be attached to the automatic guided vehicle 5 is automatically exchanged periodically between working unit A1 and working unit A2. Therefore, for example, during the day, a collaborative robot (working unit A1) can be attached to the automatic guided vehicle 5 to perform a predetermined task together with the work vehicle, and at night when the work vehicle leaves, an ultraviolet irradiation device (working unit A2) can be attached to the automatic guided vehicle 5 to perform disinfection work.

[0030] Furthermore, the operational unit exchange station 19 may include a charging unit (not shown) in order to operate the automated guided vehicle 5 for a long period of time. The charging unit is automatically used when the automated guided vehicle 5 returns to the operational unit exchange station 19 to charge the battery (not shown) of the automated guided vehicle 5. Furthermore, the automated guided vehicle 5 may be configured to return to the operational unit exchange station 19 solely for the purpose of charging the battery.

[0031] Figure 3 is a flowchart for specifically explaining the operation of replacing the working unit shown in step S7 in Figure 2. Furthermore, Figures 4A to 4F are diagrams for explaining the replacement operation in Figure 3. Below, the replacement operation of replacing the working unit will be specifically explained with reference to Figures 3 to 4F.

[0032] 4A, in step S21, the first elevator 41 is started to lower the first support portion 21 from the raised position to a predetermined lowered position in advance. Next, in step S22, the automated guided vehicle 5 to which the working unit A1 is attached returns to the working unit exchange station 19 (corresponding to step S6 in FIG. 2).

[0033] As described above, the slit 21a is formed in the first support portion 21. Therefore, as can be seen from Fig. 4B, the automated guided vehicle 5 passes through the entrance of the slit 21a located on the front side of the working unit exchange station 19 and moves to the back side of the slit 21a. This causes the automated guided vehicle 5 to move to a position corresponding to the first support portion 21.

[0034] Next, in step S23, the lock between the first working unit fixing part 31 and the automatic guided vehicle 5 is released. Then, in step S24, the first support part 21 is raised from the lowered position to the raised position. As described above, the width of the slit 21a of the first support part 21 is smaller than the width of the first working unit fixing part 31 and is larger than the width of the top of the automatic guided vehicle 5. Therefore, if the first support part 21 engages with the first working unit fixing part 31 while being raised, the first working unit fixing part 31 will disengage from the automatic guided vehicle 5 and rise to the raised position together with the first support part 21 (see FIG. 4C).

[0035] Next, in step S25, the automated guided vehicle 5 moves from below the first support portion 21 to below the second support portion 22 (see FIG. 4D). It is preferable that the automated guided vehicle 5 simply moves in the direction in which the first support portion 21 and the second support portion 22 are juxtaposed. Alternatively, the automated guided vehicle 5 may temporarily exit the outside of the operational unit exchange station 19, and then enter from the outside to a position corresponding to the second support portion 22.

[0036] Next, in step S26, the second support portion 22 supporting the second work unit fixing portion 32 is lowered to a predetermined lowered position. As described above, the width of the slit 22a in the second support portion 22 is greater than the width of the automatic guided vehicle 5 and smaller than the width of the second work unit fixing portion 32. Therefore, if the top of the automatic guided vehicle 5 engages with the second work unit fixing portion 32 while the second support portion 22 is being lowered, the second work unit fixing portion 32 is pushed by the top of the automatic guided vehicle 5 and disengages from the second support portion 22. As a result, only the second support portion 22 is lowered to the lowered position (see FIG. 4E).

[0037] Finally, in step S27, the locking mechanism fastens the second working unit fixing portion 32 to the automatic guided vehicle 5. This enables the automatic guided vehicle 5 to travel along the second route (see FIG. 4F).

[0038] It will be understood that the replacement of the second working unit A2 with the first working unit A1 is generally similar. Also, the operation of attaching the first working unit in step S2 in Figure 2 generally corresponds to steps S25 to S27 in Figure 3.

[0039] In this way, in the present disclosure, the working units A1 and A2 can be replaced automatically. In other words, in the present disclosure, there is no need to request the manufacturer to replace the working units provided on the automated guided vehicle 5, and replacement can be performed easily and quickly. Furthermore, because there is no need to prepare multiple automated guided vehicles 5 equipped with separate working units, a low budget is sufficient and the need to secure space to store multiple automated guided vehicles 5 is also eliminated.

[0040] Fig. 5 is a perspective view of an operating unit changing system according to a second embodiment. The support section 10 of the operating unit changing station 19' shown in Fig. 5 supports three or more, for example, five, support parts 21-25 in a manner that allows them to move up and down. These support parts 21-25 support operating unit fixing parts 31-35, respectively.

[0041] 5, working unit A1, which serves as a collaborative robot, is fixed to working unit fixing portion 31, and working unit A2, which serves as an ultraviolet irradiation device, is fixed to second working unit fixing portion 32. Furthermore, another collaborative robot is fixed as working unit A5 to working unit fixing portion 35. Although not shown in the drawing, it is assumed that one of the working units described above is fixed to working unit fixing portions 33 and 34.

[0042] In this configuration, it is also possible to replace the working unit A1 attached to the automatic guided vehicle 5 with a working unit different from the working unit A2, for example, working unit A3. It will be understood that the replacement of working units is similar to that explained using FIG. 3. In FIG. 5, replacement between many types of working units is possible. As a result, it can be seen from FIG. 5 that the expandability of the working unit replacement system 1' can be increased.

[0043] Furthermore, another automatic guided vehicle 5' is shown in Figure 5. In this way, a plurality of automatic guided vehicles 5, 5' may use a common operating unit exchange station 19'. In this case, it is not necessary to prepare separate operating unit exchange stations 19' for the respective automatic guided vehicles 5, 5', and low cost is sufficient.

[0044] 5, three or more support portions 21-25 are arranged side by side in a row. However, in an embodiment not shown, these support portions may be arranged in multiple rows. Alternatively, multiple support portions may be arranged in a ring shape, and such cases are also within the scope of the present disclosure.

[0045] The operational unit exchange system 1 can also perform other operations different from those described above, such as switching a single operational unit A1 between multiple automated guided vehicles. Hereinafter, the automated guided vehicle 5 will be referred to as the first automated guided vehicle 5A, and the other automated guided vehicle 5' will be referred to as the second automated guided vehicle 5B. Figure 6 is a flowchart for explaining other operations of the operational unit exchange system. The contents of Figure 6 and the routes of the automated guided vehicles 5A and 5B are stored in the memory of a computer provided in the automated guided vehicles 5A and 5B. The first automated guided vehicle 5A and the second automated guided vehicle 5B are preferably of the same type as the automated guided vehicles 5 and 5A.

[0046] In step S31 of Figure 6, the working unit A1 attached to the first automated guided vehicle 5A is activated and travels along a predetermined route. At this time, it is assumed that the charge level of the rechargeable battery of the first automated guided vehicle 5A is equal to or greater than a first predetermined value. For example, if the working unit A1 is an ultraviolet irradiation device, the first automated guided vehicle 5A travels while irradiating ultraviolet light from the ultraviolet irradiation device.

[0047] Next, in step S32, the charge level of the rechargeable battery of the first automatic guided vehicle 5A is detected. If the charge level is equal to or less than a second predetermined value, it is determined that the charge level is insufficient, and the first automatic guided vehicle 5A is returned to the working unit exchange station 19 (steps S33, S34).

[0048] Then, in step S35, working unit A1 is removed from the first automatonized guided vehicle 5A. The removal of working unit A1 from the first automatonized guided vehicle 5A will be described later. Thereafter, the rechargeable battery of the first automatonized guided vehicle 5A is charged until the charge level of the rechargeable battery reaches or exceeds a first predetermined value (steps S37, S38). Note that the first predetermined value for the charge level is greater than the second predetermined value described above.

[0049] The working unit A1 removed from the first AGV 5A is attached to the second AGV 5B in step S43. The charge level of the rechargeable battery of the second AGV 5B is assumed to be equal to or greater than a first predetermined value at the time of step S43, and is therefore fully charged. Attaching the working unit A1 to the second AGV 5B will be described later.

[0050] Next, in step S44, the working unit A1, for example, an ultraviolet irradiation device, is activated, and the second automatic guided vehicle 5B travels along a predetermined route. The predetermined route of the second automatic guided vehicle 5B may be different from the predetermined route of the first automatic guided vehicle 5A.

[0051] Next, in step S45, the charge level of the rechargeable battery of the second automatic guided vehicle 5B is detected. If the charge level is equal to or less than a second predetermined value, it is determined that the charge level is insufficient, and the second automatic guided vehicle 5B is returned to the working unit exchange station 19 (steps S46, S47).

[0052] Then, in step S48, the working unit A1 is removed from the second AGV 5B. The working unit A1 removed from the second AGV 5B is attached to the first AGV 5A in step S38. At this point, the rechargeable battery of the first AGV 5A is assumed to be already charged to a first predetermined value or more. The removal and attachment of the working unit A1 will be described later. Thereafter, the rechargeable battery of the second AGV 5B is charged until its charge level reaches a first predetermined value or more (steps S41, S42).

[0053] FIG. 7 is a flowchart specifically illustrating the replacement operation of an automated guided vehicle. Furthermore, FIGS. 8A to 8F are diagrams for explaining the replacement operation of FIG. 7. Hereinafter, the replacement operation for replacing an automated guided vehicle will be specifically explained with reference to FIGS. 7 to 8F. In this example, a single working unit A1 and its associated components, such as the first working unit fixing portion 31 and the first support portion 21, are used, and the second support portion 22 is not used. For the sake of simplicity, the first elevator 41 and the second elevator 42 described above are not shown in FIGS. 8A to 8F. Furthermore, some of the events already explained with reference to FIG. 3 may not be explained again.

[0054] 8A, in step S51, the first elevator 41 is started to lower the first support portion 21 in advance from the raised position to a predetermined lowered position. Next, in step S52, the first automated guided vehicle 5A to which the working unit A1 is attached returns to the working unit exchange station 19 and moves below the first support portion 21 (corresponding to step S34 in FIG. 6).

[0055] 8B is waiting in advance at a position corresponding to the second support portion 22 of the working unit exchange station 19 or at another position. In this situation, it is preferable that the rechargeable battery of the second automatic guided vehicle 5B has been charged in advance to a first predetermined value or more by the charging unit 45. When the circle shown at the end of the dashed line extending from the charging unit 45 is black, it indicates that the corresponding automatic guided vehicle is being charged. When the circle is white, it indicates that charging is not being performed.

[0056] Next, in step S53, the lock between the first working unit fixing part 31 and the first automatic guided vehicle 5A is released. Then, in step S54, the first support part 21 is raised from the lowered position to the raised position (FIG. 8B). As a result, the first working unit fixing part 31 detaches from the first automatic guided vehicle 5A and rises to the raised position together with the first support part 21 (see FIG. 8C). As a result, the working unit A1 is removed from the first automatic guided vehicle 5A (steps S51 to S54 in FIG. 7 correspond to step S35 in FIG. 6).

[0057] Next, in step S55, the first automatic guided vehicle 5A retreats from below the first support portion 21, and the second automatic guided vehicle 5B moves below the first support portion 21. As shown in Fig. 8D, the first automatic guided vehicle 5A and the second automatic guided vehicle 5B may move so that their positions are interchanged.

[0058] Next, in step S56, the first support portion 21 supporting the first working unit fixing portion 31 is lowered to a predetermined lowered position. When the top of the second AGV 5B engages with the first working unit fixing portion 31 while the first supporting portion 21 is being lowered, the first working unit fixing portion 31 is pushed by the top of the second AGV 5B and disengages from the first supporting portion 21. As a result, only the first supporting portion 21 is lowered to the lowered position (see FIG. 8E).

[0059] Next, in steps S57 and S58, the first working unit fixing portion 31 and the second automatonized guided vehicle 5B are fastened together by the locking mechanism, and the working unit A1 is attached to the second automatonized guided vehicle 5B (steps S55 to S58 in FIG. 7 correspond to step S43 in FIG. 6). This enables the second automatonized guided vehicle 5B to travel along a predetermined route (see FIG. 8F). Note that the operation of removing the working unit A1 from the second automatonized guided vehicle 5B (corresponding to step S48 in FIG. 6) and the installation operation of attaching the working unit A1 to the first automatonized guided vehicle 5A (step S38 in FIG. 6) are the same as those described above, so explanations will be omitted.

[0060] In the present invention, the removal of the working unit A1 from one AGV, for example the first AGV 5A, and the installation of the working unit A1 on the other AGV, for example the second AGV 5B, are carried out continuously and automatically. As a result, the working unit A1 is handed over from one AGV that is not sufficiently charged to the other AGV that is fully charged, and the working unit A1 can continue to work continuously for its own operable time, for example 24 hours or more.

[0061] Normally, it takes several hours to charge the rechargeable battery of an automated guided vehicle. However, in the present invention, one automated guided vehicle can be charged after attaching the operational unit A1 to the other charged automated guided vehicle, so there is no need to have the operational unit A1 wait. In other words, the wait time for the operational unit A1 can be eliminated.

[0062] If the working unit A1 is an ultraviolet irradiation device, the working unit A1 is limited to use, for example, at night in an unmanned hospital. In such an environment, even if the charge of the automated guided vehicle 5A is insufficient, the working unit exchange system 1 can transfer the working unit A1 to another fully charged automated guided vehicle 5B, allowing the working unit A1 to operate continuously without waiting for charging. Therefore, this is particularly advantageous when the working unit A1 is an ultraviolet irradiation device. The same applies when the working unit A1 is a sterilization / disinfection unit, etc.

[0063] In this way, the present invention can automatically replace an operating unit with another operating unit, and can also automatically replace an automated guided vehicle with another automated guided vehicle. Therefore, using the operating unit exchange system 1, for example, it is possible to use an operating unit as a display to perform guidance work during the day in a hospital, and at night to attach an operating unit A1 as an ultraviolet irradiation device to another charged automated guided vehicle 5 to perform sterilization work. In other words, the operating unit exchange system 1 makes it possible to continuously perform the same work using a single operating unit over the operating hours of the automated guided vehicle 5, and also to perform different work using different operating units sequentially.

[0064] Aspects of the Disclosure According to a first aspect, there is provided a working unit exchange system (1) comprising an automated guided vehicle (5, 5'), a first working unit (A1) and a second working unit (A2), and a working unit exchange station (19, 19') for removing the first working unit attached to the automated guided vehicle and attaching the second working unit to the automated guided vehicle. According to the second aspect, in the first aspect, the working unit exchange station includes a first working unit fixing portion (31) to which a first working unit (A1) is fixed, a second working unit fixing portion (32) to which a second working unit (A2) is fixed, a first support portion (21) that partially supports the first working unit fixing portion, a second support portion (22) that partially supports the second working unit fixing portion, and a support portion (10) that supports the first support portion and the second support portion so that they can be raised and lowered separately, and slits (21a, 22a) are formed in the first support portion and the second support portion, respectively, and the width of the slits is narrower than the width of the first working unit fixing portion and the second working unit fixing portion, and the width of the slits is wider than the width of the automatic guided vehicle, and the lower surface position of the support portion is higher than the top of the automatic guided vehicle. According to the third aspect, in the second aspect, when the first support part supporting the first working unit fixing part is in a predetermined raised position, the automated guided vehicle is moved to a position within the support part corresponding to the first support part, and the first support part is lowered to a predetermined lowered position, thereby attaching the first working unit fixing part to the automated guided vehicle. According to the fourth aspect, in the second or third aspect, when the first support part is lowered to a predetermined lowered position, the automated guided vehicle to which the first working unit fixing part is attached is moved into the slit of the first support part, and the first support part is raised to a predetermined raised position, and the first working unit fixing part is removed from the automated guided vehicle. According to the fifth aspect, in the fourth aspect, the transport vehicle from which the first work unit fixing portion has been removed is moved to a position within the support portion corresponding to the second support portion, and the second support portion is lowered to a predetermined lowered position, and the second work unit fixing portion is attached to the unmanned transport vehicle. According to the sixth aspect, in any of the first to fifth aspects, at a first predetermined time, the unmanned guided vehicle to which the first work unit fixing portion is attached returns to the work unit exchange station, and the work unit exchange station removes the first work unit fixing portion from the unmanned guided vehicle and attaches the second work unit fixing portion to the unmanned guided vehicle, and at a second predetermined time that is later than the first predetermined time, the unmanned guided vehicle to which the second work unit fixing portion is attached starts to move. According to a seventh aspect, there is provided a working unit exchange station (19, 19') including a first working unit fixing portion (31) to which a first working unit (A1) is to be fixed, a second working unit fixing portion (32) to which a second working unit (A2) is to be fixed, a first support portion (21) that partially supports the first working unit fixing portion, a second support portion (22) that partially supports the second working unit fixing portion, and a support portion (10) that supports the first support portion and the second support portion so that they can be raised and lowered separately, wherein slits (21a, 22a) are formed in the first support portion and the second support portion, respectively, and the width of the slits is narrower than the width of the first working unit fixing portion and the second working unit fixing portion, and the width of the slits is wider than the width of an automated guided vehicle to which one of the first working unit fixing portion and the second working unit fixing portion is to be attached, and the lower surface position of the support portion is higher than the top of the automated guided vehicle. According to an eighth aspect, there is provided an operational unit exchange system (1) comprising a first automatic guided vehicle (5A) and a second automatic guided vehicle (5B), an operational unit (A1), and an operational unit exchange station (19, 19') for removing the operational unit attached to the first automatic guided vehicle and attaching it to the second automatic guided vehicle. According to the ninth aspect, in the eighth aspect, the working unit exchange station includes a working unit fixing portion (31) to which the working unit is fixed, a support portion (21) that partially supports the working unit fixing portion, and a support portion (10) that supports the support portion so that it can be raised and lowered, and a slit (21a) is formed in the support portion, the width of the slit being narrower than the width of the working unit fixing portion, the width of the slit being wider than the widths of the first and second unmanned guided vehicles, and the lower surface position of the support portion being higher than the tops of the first and second unmanned guided vehicles. According to the tenth aspect, in the ninth aspect, with the support portion lowered to a predetermined lowered position, the first unmanned guided vehicle to which the working unit fixing portion is attached is moved into the slit of the support portion, the support portion is raised to a predetermined raised position, the working unit fixing portion is removed from the first unmanned guided vehicle, the first unmanned guided vehicle is caused to exit from the slit of the support portion, and the second unmanned guided vehicle is moved into the slit of the support portion, the support portion is lowered to a predetermined lowered position, and the working unit fixing portion is attached to the second unmanned guided vehicle. According to the 11th aspect, in the 10th aspect, the charge amount of the second unmanned guided vehicle is higher than a first predetermined value, and the charge amount of the first unmanned guided vehicle is lower than a second predetermined value which is lower than the first predetermined value.

[0065] Although the embodiments of the present invention have been described above, it will be understood by those skilled in the art that various modifications and changes can be made without departing from the scope of the claims set forth below. [Explanation of symbols]

[0066] 1,1' Working unit exchange system 5, 5', 5A, 5B Automated Guided Vehicle 5a Control panel 10 Support part 18 Legs 19, 19' Working Unit Exchange Station 21 First support part 21a Slit 22 Second support part 22a Slit 23~25 Support part 31 First working unit fixing part 32 Second working unit fixing part 32~35 Working unit fixing part 41 First elevator 42 No. 2 elevator 45 Charging Unit A1~A5 work units

Claims

1. An automated guided vehicle, a first working unit and a second working unit; an operational unit exchange station for removing the first operational unit attached to the automatic guided vehicle and attaching the second operational unit to the automatic guided vehicle; The working unit exchange station includes: a first working unit fixing portion to which the first working unit is fixed; a second working unit fixing portion to which the second working unit is fixed; a first support portion that partially supports the first working unit fixing portion; a second support portion that partially supports the second working unit fixing portion; a support portion that supports the first support portion and the second support portion so that they can be raised and lowered separately, the first support portion and the second support portion are adjacent to each other; a slit is formed in each of the first support portion and the second support portion; the width of the slit is narrower than the width of the first working unit fixing portion and the second working unit fixing portion, The width of the slit is wider than the width of the automatic guided vehicle, A working unit exchange system, wherein the lower surface of the support portion is positioned higher than the top of the automatic guided vehicle.

2. moving the automated guided vehicle to a position within the support section corresponding to the first support section, while the first support section supporting the first working unit fixing section is in a predetermined raised position; 2. The working unit exchange system according to claim 1, wherein the first supporting portion is lowered to a predetermined lowered position, and the first working unit fixing portion is attached to the automatic guided vehicle.

3. With the first support portion lowered to a predetermined lowered position, the automated guided vehicle to which the first working unit fixing portion is attached is moved into the slit of the first support portion; 3. The working unit changing system according to claim 1, wherein the first support portion is raised to a predetermined raised position, and the first working unit fixing portion is removed from the automatic guided vehicle.

4. moving the automated guided vehicle from which the first working unit fixing portion has been removed to a position corresponding to the second support portion within the support portion; 4. The working unit exchanging system according to claim 3, wherein the second support portion is lowered to a predetermined lowered position, and the second working unit fixing portion is attached to the automatic guided vehicle.

5. At a first predetermined time, the automated guided vehicle to which the first working unit fixing portion is attached returns to the working unit exchange station; the working unit exchange station removes the first working unit fixing portion from the automatic guided vehicle and attaches the second working unit fixing portion to the automatic guided vehicle; The working unit exchange system according to any one of claims 1 to 4, wherein the unmanned guided vehicle to which the second working unit fixing portion is attached starts moving at a second predetermined time that is later than the first predetermined time.

6. a first working unit fixing portion to which the first working unit is to be fixed; a second working unit fixing portion to which the second working unit is to be fixed; a first support portion that partially supports the first working unit fixing portion; a second support portion that partially supports the second working unit fixing portion; the first support portion and the second support portion are adjacent to each other; a support portion that supports the first support portion and the second support portion so that they can be raised and lowered separately, a slit is formed in each of the first support portion and the second support portion; the width of the slit is narrower than the width of the first working unit fixing portion and the second working unit fixing portion, the width of the slit is wider than the width of an automatic guided vehicle to which one of the first working unit fixing portion and the second working unit fixing portion is to be attached, In the working unit exchange station, the lower surface of the support is positioned higher than the top of the automatic guided vehicle.

7. a first automated guided vehicle and a second automated guided vehicle; A work unit; an operation unit exchange station for removing the operation unit attached to the first automatic guided vehicle and attaching it to the second automatic guided vehicle; The working unit exchange station includes: a working unit fixing portion to which the working unit is fixed; a support portion that partially supports the working unit fixing portion; a support portion that supports the support portion so that the support portion can be raised and lowered, A slit is formed in the support portion, The width of the slit is narrower than the width of the working unit fixing portion, the width of the slit is wider than the widths of the first and second automatic guided vehicles, A working unit exchange system, wherein a lower surface of the support portion is positioned higher than the tops of the first and second automatic guided vehicles.

8. With the support portion lowered to a predetermined lowered position, the first automatic guided vehicle to which the working unit fixing portion is attached is moved into the slit of the support portion; raising the support portion to a predetermined raised position and removing the working unit fixing portion from the first automatic guided vehicle; causing the first automated guided vehicle to exit from inside the slit of the support portion, and moving the second automated guided vehicle into inside the slit of the support portion; 8. The working unit exchanging system according to claim 7, wherein the working unit fixing portion is attached to the second automatic guided vehicle by lowering the support portion to a predetermined lowered position.

9. the charge amount of the second automated guided vehicle is higher than a first predetermined value; 9. The operational unit exchange system according to claim 8, wherein the charge amount of the first automatic guided vehicle is set to be lower than a second predetermined value which is lower than the first predetermined value.

Images