Overall device

Abstract

To suppress contact between an article and an article placement part, in an article conveyance device capable of inserting and taking out the article to the article placement part loaded on an unmanned conveying vehicle.SOLUTION: An article conveyance device comprises: a gripping mechanism 50 for supporting an article X; a front-and-back movement mechanism 10 and a right-and-left movement mechanism 40 for moving the gripping mechanism 50 in a horizontal direction; a lifting / lowering mechanism 20 for lifting / lowering the gripping mechanism 50; a revolution mechanism 30 for revolving the gripping mechanism 50; a distance sensor 4 for detecting a position of an article storage basket 200 on which the article X is placed; and a control unit 6 for controlling the front-and-back movement mechanism 10 and the right-and-left movement mechanism 40, and the lifting / lowering mechanism 20 and the revolution mechanism 30 based on a detection result of the distance sensor 4.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an article conveying device.

Background Art

[0002] For example, Patent Document 1 discloses an automated guided vehicle that conveys articles based on a predetermined program or the like. According to the automated guided vehicle, articles can be automatically conveyed in a warehouse or the like.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, there is a case where an article placement section such as a pallet or a cage is loaded on the above-described automated guided vehicle, and the article is conveyed by the automated guided vehicle with the article placed on the article placement section. However, although the automated guided vehicle can travel on the floor surface without requiring a guide such as a rail, it is difficult to improve the accuracy of the stop position. For this reason, when an article conveying device such as a crane is used to take in and out an article with respect to the article placement section, there is a possibility that the article conveyed by the article conveying device may contact the article placement section.

[0005] The present invention has been made in view of the above-described problems, and an object of the present invention is to suppress contact between an article and an article placement section in an article conveying device capable of taking in and out an article with respect to the article placement section loaded on an automated guided vehicle.

Means for Solving the Problems

[0006] As means for solving the above problems, the present invention employs the following configuration.

[0007] A first aspect of the present invention is an article conveying device comprising: an article support section for supporting an article; a horizontal movement mechanism for moving the article support section horizontally; a lifting mechanism for raising and lowering the article support section; a swivel mechanism for rotating the article support section; a detection section for detecting the position of an article placement section on which the article is placed; and a control unit that controls the horizontal movement mechanism, the lifting mechanism, and the swivel mechanism based on the detection result of the detection section.

[0008] A second aspect of the present invention is a configuration in which, in the first aspect described above, a support frame is provided to support the article support section, the horizontal movement mechanism, the lifting mechanism, and the swivel mechanism, wherein the support frame movably supports the article support section above the parking space of a transport vehicle that transports the article placement section.

[0009] A third aspect of the present invention adopts a configuration in which, in the second aspect described above, a plurality of detection units are provided, and the detection units are arranged so as to be able to detect the position of the article placement unit from multiple directions in a plan view.

[0010] A fourth aspect of the present invention is a configuration in which, in any of the first to third embodiments, the article placement section comprises a container section having an opening that is opened upward, and the detection section is positioned at the same height as the opening.

[0011] A fifth aspect of the present invention adopts a configuration in which, in any of the first to fourth aspects described above, an imaging unit is provided to image the article and the article mounting unit from above. [Effects of the Invention]

[0012] According to the present invention, it is possible to detect the position of the article placement section and adjust the position of the article based on the detection result. Therefore, even if the stopping accuracy of the automated guided vehicle (AGV) is not high, articles can be loaded and unloaded in accordance with the position of the article placement section loaded on the AGV. Accordingly, according to the present invention, in an article transport device that can load and unload articles into and out of an article placement section loaded on an AGV, it is possible to suppress contact between the article and the article placement section. [Brief explanation of the drawing]

[0013] [Figure 1] This is a side view showing the schematic configuration of an article conveying device according to the first embodiment of the present invention. [Figure 2] This is a front view showing the schematic configuration of an article conveying device according to the first embodiment of the present invention. [Figure 3] This is a perspective view of an item storage basket. [Figure 4] This is a schematic plan view of the support frame of the article conveying device according to the first embodiment of the present invention. [Figure 5] This is a schematic diagram showing the positional relationship between the item storage basket and the distance sensor when an automated guided vehicle (AGV) is parked in a designated parking space. [Figure 6] This is a control block diagram showing the schematic configuration of an article conveying device in the first embodiment of the present invention. [Figure 7] This is a schematic diagram showing how an article held by the gripping mechanism moves in the article transport device according to the first embodiment of the present invention. [Figure 8] This is a control block diagram showing the schematic configuration of an article conveying device in a second embodiment of the present invention. [Figure 9] This is a schematic diagram showing the positional relationship between the item storage basket and the camera when an automated guided vehicle (AGV) is parked in a designated parking space. [Modes for carrying out the invention]

[0014] Hereinafter, an embodiment of the article conveying device according to the present invention will be described with reference to the drawings.

[0015] (First Embodiment) FIG. 1 is a side view showing a schematic configuration of the article conveying device 1 of the present embodiment. FIG. 2 is a front view of the article conveying device 1 of the present embodiment. In the following description, the direction perpendicular to the plane of FIG. 1 is referred to as the front-rear direction. Also, the direction perpendicular to the plane of FIG. 2 is referred to as the left-right direction.

[0016] The article conveying device 1 of the present embodiment conveys an article X. For example, the article conveying device 1 of the present embodiment conveys the article X between an inlet / outlet (not shown) and an automated guided vehicle 100 (conveying vehicle).

[0017] The automated guided vehicle 100 can automatically travel on the floor surface based on a pre-stored program or an instruction signal input from the outside. This automated guided vehicle 100 can carry an article storage cage 200 (article placement part) on which the article X can be placed. Note that the article placement part loaded on the automated guided vehicle 100 is not limited to the article storage cage 200. It is also possible to load a pallet on the automated guided vehicle 100 as the article placement part. Also, the conveying vehicle on which the article placement part is placed is not limited to the automated guided vehicle 100. For example, it may be a conveying vehicle pushed and pulled by an operator such as a hand lifter.

[0018] FIG. 3 is a perspective view of the article storage cage 200. As shown in FIG. 3, in the present embodiment, the article storage cage 200 has a container part 201. The container part 201 is a part that houses the article X inside and covers at least a part of the article X from the front, rear, left, right, and below. This container part 201 is open upward. That is, the container part 201 has an opening 202 that is open upward. Through this opening 202, the article X is inserted into the inside of the container part 201 from above. Also, through the opening 202, the article X housed in the container part 201 is taken out upward.

[0019] The article transport device 1 of this embodiment places article X into an article storage basket 200 loaded on an automated guided vehicle 100. Alternatively, the article transport device 1 of this embodiment retrieves article X from an article storage basket 200 mounted on an automated guided vehicle 100. This article transport device 1 of this embodiment comprises a support frame 2, rails 3, a distance sensor 4 (detection unit), a movable unit 5, and a control unit 6.

[0020] The support frame 2 is a structural member that supports the rail 3, distance sensor 4, and movable unit 5. As shown in Figure 1, the support frame 2 comprises a plurality of column sections 2a and a plurality of girder sections 2b. Figure 4 is a schematic plan view of the support frame 2. As shown in this figure, the column sections 2a are arranged on the left and right sides of the parking space R for the automated guided vehicle 100, with the parking space R in between. In addition, a plurality of column sections 2a are arranged in the front-to-back direction on both the left and right sides of the parking space R. Note that the number and arrangement of the column sections 2a are examples and can be changed.

[0021] The girder section 2b is provided in a straight line, extending in the front-rear direction to connect the upper ends of multiple column sections 2a. In this embodiment, two girder sections 2b are provided. One girder section 2b extends in the front-rear direction to connect the upper ends of multiple column sections 2a located on the left side of the parking space R. The other girder section 2b extends in the front-rear direction to connect the upper ends of multiple column sections 2a located on the right side of the parking space R.

[0022] The support frame 2 supports the movable unit 5 via the rail 3 so that it can move. The movable unit 5 includes a forward / backward movement mechanism 10, a lifting mechanism 20, a swivel mechanism 30, a left / right movement mechanism 40, and a gripping mechanism 50, as will be described later. In other words, the support frame 2 supports the forward / backward movement mechanism 10, the lifting mechanism 20, the swivel mechanism 30, the left / right movement mechanism 40, and the gripping mechanism 50.

[0023] As shown in Figures 1 and 2, the gripping mechanism 50, supported by the support frame 2, is positioned above the parking space R of the automated guided vehicle 100. In other words, the support frame 2 provides movable support for the gripping mechanism 50 above the parking space R of the automated guided vehicle 100.

[0024] The rails 3 are laid on the upper surface of each girder section 2b and guide the movable unit 5 along the girder section 2b. These rails 3 are arranged parallel to each other and are provided in a straight line along the front-to-back direction.

[0025] The distance sensor 4 is a sensor that detects the position of the item storage basket 200. For example, a non-contact laser sensor can be used as the distance sensor 4. In this embodiment, four (or more) distance sensors 4 are provided. Each of these distance sensors 4 is fixed to the support frame 2. Note that the distance sensors 4 can also be supported by a member other than the support frame 2.

[0026] The item storage basket 200 is positioned at a predetermined location on the automated guided vehicle (AGV) 100. Therefore, when the AGV 100 loaded with the item storage basket 200 stops in the parking space R, the item storage basket 200 will be positioned within a certain range, although there will be some margin of error. Each distance sensor 4 is positioned horizontally displaced from the position where the item storage basket 200 is positioned when the AGV 100 stops in the parking space R. In other words, each distance sensor 4 is positioned so as not to interfere with the item storage basket 200.

[0027] Figure 5 is a schematic diagram showing the positional relationship between the item storage basket 200 and the distance sensor 4 when the automated guided vehicle 100 is parked in the parking space R. Figure 5(a) is a top view. Figure 5(b) is a side view seen from the left. Figure 5(c) is a front view seen from the front.

[0028] The four distance sensors 4 are positioned at the same height. In this embodiment, each of the four distance sensors 4 is positioned at the same height as the opening 202 of the item storage basket 200. Two of the four distance sensors 4 are located to the left of the position of the item storage basket 200. The other two of the four distance sensors 4 are positioned in front of the position of the item storage basket 200. In other words, in this embodiment, multiple distance sensors 4 are provided, and the distance sensors 4 are positioned so that the position of the item storage basket 200 can be detected from multiple directions in a plan view.

[0029] Each distance sensor 4 detects the distance to the item storage basket 200 and outputs a signal indicating the detection result. Each distance sensor 4 is also connected to the control unit 6. Therefore, the control unit 6 receives detection signals from each distance sensor 4 indicating the distance to the item storage basket 200.

[0030] As shown in Figures 1 and 2, the movable unit 5 is a unit that can move while holding the item X. The movable unit 5 is equipped with a forward / backward movement mechanism 10 (horizontal movement mechanism), a lifting mechanism 20, a swivel mechanism 30, a left / right movement mechanism 40 (horizontal movement mechanism), and a gripping mechanism 50 (item support part).

[0031] The forward / backward movement mechanism 10 comprises a base 11, running wheels 12, and a running drive unit 13. The base 11 supports the running wheels 12 and the running drive unit 13. The base 11 also directly or indirectly supports the lifting mechanism 20, the swivel mechanism 30, the left / right movement mechanism 40, and the gripping mechanism 50.

[0032] In this embodiment, four running wheels 12 are provided, which are rotatably mounted to the underside of the base 11. These four running wheels 12 are arranged such that two rotate on one rail 3 and the other two rotate on the other rail 3.

[0033] The drive unit 13 is connected to the drive wheels 12 and generates power to rotate the drive wheels 12. The drive unit 13 includes, for example, a motor that generates power and a reduction gear that reduces the rotational power output from the motor and transmits it to the drive wheels 12.

[0034] Such a forward and backward movement mechanism 10 can move in the forward and backward direction by rotating the running wheels 12 with power generated by the running drive unit 13. In other words, the forward and backward movement mechanism 10 moves the gripping mechanism 50 that it indirectly supports in the forward and backward direction (horizontal direction).

[0035] The lifting mechanism 20 comprises a lifting post 21, a cage 22, a guide roller 23, a side roller 24, a lifting drive unit 25, a lifting drum 26, a lifting pulley 27, and a lifting wire 28. As shown in Figure 1, the lifting post 21 is fixed to the base 11 of the front-to-back movement mechanism 10 and extends linearly in the vertical direction. The lifting posts 21 are provided on the left and right sides of the base 11. These lifting posts 21 are spaced apart in the left-to-right direction and their upper ends are connected. Note that the lifting posts 21 are omitted in Figure 2.

[0036] The cage 22 is a lifting platform that moves up and down along the lifting post 21 via guide rollers 23 and side rollers 24. The guide rollers 23 are attached to the cage 22 and are in contact with the surface of the lifting post 21 opposite to the cage 22. The side rollers 24 are attached to the cage 22 and are in contact with the side surface of the lifting post 21 (a vertical surface perpendicular to the opposing surface). As these guide rollers 23 and side rollers 24 roll, the cage 22 moves up and down while being guided along the lifting post 21.

[0037] The lifting drive unit 25 is connected to the lifting drum 26 and generates power to rotate the lifting drum 26. The lifting drive unit 25 is located on the base 11 of the forward / backward movement mechanism 10. The lifting drive unit 25 includes, for example, a motor that generates power and a reduction gear that reduces the rotational power output from the motor and transmits it to the lifting drum 26. Note that the lifting drive unit 25 is omitted in Figure 2.

[0038] The lifting drums 26 are connected to the lifting drive unit 25, and the lifting wire 28 is wound around them. Two lifting drums 26 are provided. These lifting drums 26 are positioned on the base 11 of the front-to-back movement mechanism 10, spaced apart in the left-to-right direction, with the lifting drive unit 25 in between. These lifting drums 26 are rotated by the lifting drive unit 25 to feed out the lifting wire 28. Alternatively, these lifting drums 26 are rotated by the lifting drive unit 25 to wind up the lifting wire 28. Note that the lifting drums 26 are omitted in Figure 2.

[0039] The lifting pulleys 27 are positioned below each lifting drum 26 and are attached to the cage 22. A lifting wire 28 is routed around each lifting pulley 27. The lifting wire 28 connects the lifting drum 26 to the lifting pulley 27. A chain can be used instead of the lifting wire 28. Note that the lifting pulleys 27 and lifting wire 28 are omitted in Figure 2.

[0040] This lifting mechanism 20 can raise and lower the cage 22 by rotating the lifting drum 26 with power generated by the lifting drive unit 25. In other words, the lifting mechanism 20 raises and lowers the gripping mechanism 50 via the cage 22.

[0041] The swivel mechanism 30 comprises a swivel base 31, a swivel bearing 32, and a swivel drive unit 33. The swivel base 31 is located below the cage 22 and is connected to the cage 22 via the swivel bearing 32. This swivel base 31 supports the left-right movement mechanism 40 and the gripping mechanism 50.

[0042] The slewing bearing 32 is interposed between the cage 22 and the slewing base 31, and connects the slewing base 31 to the cage 22 in a slewing manner. For example, the outer ring of the slewing bearing 32 is fixed to the slewing base 31, and the inner ring is fixed to the cage 22. Here, slewing means rotation around a vertical axis L (see Figure 7) parallel to the vertical direction.

[0043] The slewing drive unit 33 is connected to the slewing bearing 32 and generates power to rotate the slewing base 31. The slewing drive unit 33 rotates, for example, the outer ring of the slewing bearing 32 to which the slewing base 31 is fixed, around the vertical axis L. The slewing drive unit 33 includes, for example, a motor that generates power and a reduction gear that reduces the rotational power output from the motor and transmits it to the slewing bearing 32.

[0044] This type of slewing mechanism 30 can rotate the slewing base 31 by rotating the outer ring of the slewing bearing 32 with power generated by the slewing drive unit 33. In other words, the slewing mechanism 30 can rotate the gripping mechanism 50 via the slewing base 31.

[0045] The left-right movement mechanism 40 comprises a shift guide 41 and a shift drive unit 42. The shift guide 41 is positioned between the swivel base 31 and the gripping mechanism 50 and supports the gripping mechanism 50 so that it can move in the left-right direction. For example, the shift guide 41 comprises a rail fixed to the lower surface of the swivel base 31 and a movement block that can move in the left-right direction along the rail.

[0046] The shift drive unit 42 is connected to the moving block of the gripping mechanism 50 or the shift guide 41 and generates power to move the gripping mechanism 50 in the left-right direction. The shift drive unit 42 includes, for example, a motor that generates power and a reduction gear that reduces the rotational power output from the motor and transmits it to the moving block of the gripping mechanism 50 or the shift guide 41.

[0047] This left-right movement mechanism 40 can move the moving block of the gripping mechanism 50 or the shift guide 41 in the left-right direction using power generated by the shift drive unit 42. In other words, the left-right movement mechanism 40 moves the gripping mechanism 50 in the horizontal direction.

[0048] The gripping mechanism 50 is connected to the shift guide 41 and supports the article X. The gripping mechanism 50 comprises an arm 51 that supports the article X and a main body 52 to which the arm 51 is provided and which is connected to the shift guide 41. Such a gripping mechanism 50 can grip the article X. The gripping mechanism 50 can also release the gripped article.

[0049] The control unit 6 controls the entire item transport device 1 based on pre-stored programs and external instructions. Figure 6 is a control block diagram showing the schematic configuration of the item transport device 1. As shown in this figure, the control unit 6 is connected to the distance sensor 4, the forward / backward movement mechanism 10, the lifting mechanism 20, the swivel mechanism 30, the left / right movement mechanism 40, and the gripping mechanism 50.

[0050] The control unit 6 calculates the position of the item storage basket 200 based on the signals input from the distance sensors 4. The signals input from the distance sensors 4 include information indicating the distance from each distance sensor 4 to the item storage basket 200. For example, the control unit 6 calculates the position of the item storage basket 200 based on this distance information and the shape data of the item storage basket 200 that is stored in advance. In other words, the control unit 6 calculates the overall position of the item storage basket 200 based on the position information of the item storage basket 200 detected by each distance sensor 4.

[0051] Furthermore, the control unit 6 controls the forward / backward movement mechanism 10, the swivel mechanism 30, and the left / right movement mechanism 40 based on the calculated position of the item storage basket 200. For example, the control unit 6 calculates the control amount for each of the forward / backward movement mechanism 10, the swivel mechanism 30, and the left / right movement mechanism 40 so that the gripping mechanism 50 is positioned directly above the item storage basket 200. The control unit 6 controls the forward / backward movement mechanism 10, the swivel mechanism 30, and the left / right movement mechanism 40 based on the calculated control amounts.

[0052] The control unit 6 may calculate the control amounts for the forward / backward movement mechanism 10, the rotation mechanism 30, and the left / right movement mechanism 40 from the position information of the item storage basket 200 detected by each of the distance sensors 4, without calculating the overall position of the item storage basket 200.

[0053] Figure 7 is a schematic diagram showing how an item X gripped by the gripping mechanism 50 moves when the control unit 6 controls the forward / backward movement mechanism 10, the rotation mechanism 30, and the left / right movement mechanism 40.

[0054] When the drive unit 13 of the forward / backward movement mechanism 10 is driven under the control of the control unit 6, the movable unit 5 is moved in the forward / backward direction. When the movable unit 5 is moved in the forward / backward direction in this way, the article X is moved horizontally in the forward / backward direction as shown in Figure 7.

[0055] Furthermore, when the pivot drive unit 33 of the pivot mechanism 30 is driven under the control of the control unit 6, the gripping mechanism 50 rotates around the vertical axis L. When the gripping mechanism 50 rotates around the vertical axis L in this way, the article X rotates along the circumferential direction around the vertical axis L as shown in Figure 7.

[0056] Furthermore, when the shift drive unit 42 of the left-right movement mechanism 40 is driven under the control of the control unit 6, the gripping mechanism 50 is moved in the left-right direction. When the gripping mechanism 50 is moved in the left-right direction in this way, the item X is moved horizontally in the left-right direction as shown in Figure 7.

[0057] When the gripping mechanism 50 is positioned directly above the item storage basket 200, the control unit 6 drives the lifting drive unit 25 of the lifting mechanism 20 to lower the gripping mechanism 50. When an item X is to be placed in the item storage basket 200, the control unit 6 lowers the gripping mechanism 50 to place the item X that the gripping mechanism 50 is holding into the item storage basket 200. Once the item X is placed in the item storage basket 200, the control unit 6 causes the gripping mechanism 50 to release the item X. Subsequently, the control unit 6 drives the lifting drive unit 25 of the lifting mechanism 20 to raise the gripping mechanism 50.

[0058] On the other hand, when removing item X from the item storage basket 200, the control unit 6 lowers the gripping mechanism 50 to the gripping position of item X. Once the gripping mechanism 50 has been lowered to the gripping position, the control unit 6 causes the gripping mechanism 50 to grip item X. Subsequently, the control unit 6 drives the lifting drive unit 25 of the lifting mechanism 20 to raise the gripping mechanism 50 and remove item X from the item storage basket 200.

[0059] In this embodiment of the article transport device 1, when the automated guided vehicle 100 stops in the parking space R, the distance sensors 4 detect the position of the article storage basket 200. Subsequently, based on the position of the article storage basket 200, the control unit 6 calculates the control amount for the forward / backward movement mechanism 10, the rotation mechanism 30, and the left / right movement mechanism 40. Subsequently, based on the calculated control amounts, the gripping mechanism 50 is moved directly above the article storage basket 200. When an article X is to be placed in the article storage basket 200, the gripping mechanism 50 is lowered by the lifting mechanism 20 and the article X is placed in the article storage basket 200. When an article X is to be removed from the article storage basket 200, the gripping mechanism 50 is lowered by the lifting mechanism 20, the gripping mechanism 50 grasps the article X, and then the gripping mechanism 50 is raised to remove the article X.

[0060] The article transport device 1 of this embodiment, as described above, comprises a gripping mechanism 50, a forward / backward movement mechanism 10, a left / right movement mechanism 40, a lifting mechanism 20, a distance sensor 4, and a control unit 6. The gripping mechanism 50 supports the article X. The forward / backward movement mechanism 10 and the left / right movement mechanism 40 move the gripping mechanism 50 horizontally. The lifting mechanism 20 raises and lowers the gripping mechanism 50. The swivel mechanism 30 swivels the gripping mechanism 50. The distance sensor 4 detects the position of the article storage basket 200 on which the article X is placed. The control unit 6 controls the forward / backward movement mechanism 10, the left / right movement mechanism 40, the lifting mechanism 20, and the swivel mechanism 30 based on the detection result of the distance sensor 4.

[0061] According to the article transport device 1 of this embodiment, it is possible to detect the position of the article storage basket 200 and adjust the position of the article X based on the detection result. Therefore, even if the stopping position accuracy of the automated guided vehicle 100 is not high, the article X can be loaded and unloaded in accordance with the position of the article storage basket 200 loaded on the automated guided vehicle 100. Accordingly, according to the article transport device 1 of this embodiment, in an article transport device 1 that can load and unload article X into and out of article storage basket 200 loaded on the automated guided vehicle 100, it is possible to suppress contact between article X and article storage basket 200.

[0062] Furthermore, the article transport device 1 of this embodiment includes a support frame 2. The support frame 2 supports the gripping mechanism 50, the forward / backward movement mechanism 10, the left / right movement mechanism 40, the lifting mechanism 20, and the swivel mechanism 30. The support frame 2 also movably supports the gripping mechanism 50 above the parking space R of the automated guided vehicle 100 that transports the article storage basket 200.

[0063] According to this embodiment of the article transport device 1, the gripping mechanism 50 can be moved horizontally above the automated guided vehicle 100. Therefore, articles X can be easily placed on an article placement section equipped with a container section 201, such as an article storage basket 200. Furthermore, articles X can be easily removed from an article placement section equipped with a container section 201, such as an article storage basket 200.

[0064] Furthermore, the article transport device 1 of this embodiment is equipped with multiple distance sensors 4. The distance sensors 4 are also arranged so that the position of the article storage basket 200 can be detected from multiple directions in a plan view.

[0065] According to this embodiment of the article transport device 1, it becomes possible to more accurately detect the horizontal position of the article storage basket 200.

[0066] Furthermore, in the article transport device 1 of this embodiment, the article storage basket 200 includes a container section 201 having an opening 202 that opens upward. In addition, the distance sensor 4 is positioned at the same height as the opening 202.

[0067] When moving an item X up or down, the area most likely to come into contact with the item storage basket 200 is the area around the opening 202. Therefore, by positioning the distance sensor 4 at the same height as the opening 202, the position of the area around the opening 202 can be detected more accurately. Thus, the item transport device 1 of this embodiment can more reliably prevent contact between the item X and the item storage basket 200.

[0068] (Second Embodiment) Next, a second embodiment of the present invention will be described with reference to Figures 8 and 9. In this description, parts that are the same as those of the first embodiment will be omitted or simplified.

[0069] Figure 8 is a control block diagram showing the schematic configuration of the article transport device 1A of this embodiment. As shown in this figure, the article transport device 1A of this embodiment is equipped with a camera 7 (imaging unit). The camera 7 is connected to the control unit 6 and outputs imaging data to the control unit 6.

[0070] Figure 9 is a schematic diagram showing the positional relationship between camera 7 and the item storage basket 200. As shown in this figure, camera 7 is positioned above the item storage basket 200. More specifically, camera 7 is positioned so that it can capture images of the item storage basket 200 mounted on the automated guided vehicle 100 from above in the parking space R. For example, camera 7 can be installed on the gripping mechanism 50 or the swivel mechanism 30. Note that multiple cameras 7 may be installed.

[0071] Such a camera 7, for example, captures images of the item X and the item storage basket 200 while the item X is being raised or lowered. The control unit 6 corrects the horizontal position of the item X based on the image data from the camera 7. With this embodiment of the item transport device 1A, the positions of the item X and the item storage basket 200 can be determined while the item X is being raised or lowered. Therefore, it is possible to more reliably prevent the item X and the item storage basket 200 from coming into contact.

[0072] As described above, the article transport device 1A of this embodiment is equipped with a camera 7 that images the article X and the article storage basket 200 from above. Therefore, the positions of the article X and the article storage basket 200 can be determined while the article X is moving up and down.

[0073] Furthermore, as shown in Figure 8, the item transport device 1A of this embodiment is equipped with a distance sensor 4 and a camera 7. Therefore, for example, the initial position of the item storage basket 200 can be detected by the distance sensor 4, and the position of the item X and the item storage basket 200 during the upward and downward movement of the item X can be detected by the camera 7. However, if the initial position of the item storage basket 200 can be detected by the camera 7, the distance sensor 4 can be omitted.

[0074] Preferred embodiments of the present invention have been described above with reference to the attached drawings, but it goes without saying that the present invention is not limited to the above embodiments. The shapes and combinations of the various components shown in the above embodiments are examples, and can be modified in various ways based on design requirements, etc., without departing from the spirit of the present invention.

[0075] For example, in the above embodiment, a configuration was described in which multiple distance sensors 4 are arranged at the same height as the opening 202 of the item storage basket 200. However, the present invention is not limited thereto. It is also possible to set the heights of the multiple distance sensors 4 to different heights. [Explanation of symbols]

[0076] 1...Item transport device, 1A...Item transport device, 2...Support frame, 2a...Column section, 2b...Girder section, 3...Rail, 4...Distance sensor (detection unit), 5...Movable unit, 6...Control unit, 7...Camera (imaging unit), 10...Forward / backward movement mechanism (horizontal movement mechanism), 20...Lifting mechanism, 30...Swivel mechanism, 40...Left / right movement mechanism (horizontal movement mechanism), 50...Gripping mechanism (item support section), 100...Automated guided vehicle (transport vehicle), 200...Item storage basket (item placement section), 201...Container section, 202...Opening, L...Vertical axis, R...Stopping space, X...Item

Claims

1. comprising an article transport device, an automated guided vehicle, and an article placement section, The article conveying device is, An article support section that supports an article, A horizontal movement mechanism for moving the article support portion in the horizontal direction, A lifting mechanism for raising and lowering the article support section, A pivoting mechanism for rotating the article support portion, A detection unit for detecting the position of the article placement section on which the article is placed, Based on the detection results of the detection unit, a control unit controls the horizontal movement mechanism, the lifting mechanism, and the swivel mechanism. Equipped with, The detection unit detects the position of the article placement unit, which is placed separately on the automated guided vehicle. A complete device characterized by the following features.

2. The system comprises a support frame that supports the article support section, the horizontal movement mechanism, the lifting mechanism, and the swivel mechanism, The support frame provides movable support for the article support section above the parking space of the automated guided vehicle. The overall apparatus according to claim 1, characterized by the features described above.

3. The system comprises multiple detection units, The detection unit is positioned so as to be able to detect the position of the article placement area from multiple directions in a plan view. The overall apparatus according to feature 2.

4. The article placement section comprises a container section having an opening that faces upward, The detection unit is positioned at the same height as the opening. The overall apparatus according to any one of claims 1 to 3.

5. The overall apparatus according to any one of claims 1 to 3, characterized in that it comprises an imaging unit for imaging the article and the article placement unit from above.

Images