Conveying system

Abstract

To easily perform docking between a robot device and a carrying device, and releasing thereof.SOLUTION: A carrying system is equipped with a cart on which a robot device is mounted, and a carrying device that carries the robot device and the cart. A gripping portion of the cart grips a gripped portion of the carrying device, thereby coupling the cart and the carrying device. The gripping portion of the cart releases gripping of the carrying device with respect to the gripped portion, thereby releasing the coupling of the cart and the carrying device.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a conveyance system.

Background Art

[0002] Patent Document 1 discloses a mobile manipulator in which an arm for gripping a workpiece and a mobile robot for moving on the floor are integrated.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a robot device for performing work and a conveyance device such as a mobile robot are integrated, the conveyance device cannot move until the robot device finishes the work, resulting in poor work efficiency. There is a demand for a technology that can separate the robot device and the conveyance device and easily perform docking and undocking between the robot device and the conveyance device.

[0005] The present invention has been made in view of the above circumstances, and an object thereof is to provide a technology that can easily perform docking and undocking between a robot device and a conveyance device.

Means for Solving the Problems

[0006] A transport system according to one aspect of the present invention is a transport system comprising a cart equipped with a robotic device and a transport device for transporting the robotic device and the cart, wherein the cart and the transport device are connected when the gripping portion of the cart grips the gripped portion of the transport device, and the connection between the cart and the transport device is released when the gripping portion of the cart releases its grip on the gripped portion of the transport device.

[0007] According to the conveying system, the cart and the conveying device are connected when the cart's gripping part grips the part of the conveying device to be gripped, thus facilitating docking between the robot device and the conveying device. Furthermore, according to the conveying system, the connection between the cart and the conveying device is released when the cart's gripping part releases its grip on the part of the conveying device to be gripped, thus facilitating undocking between the robot device and the conveying device.

[0008] In a transport system according to one aspect of the present invention, the cart has a rotation mechanism that allows the gripping portion of the cart to rotate around a horizontal axis while the gripping portion of the transport device grips the gripped portion of the transport device, and the transport device may have a movement mechanism that allows the gripped portion of the transport device to move perpendicular to the horizontal direction while the gripping portion of the cart grips the gripped portion of the transport device. When at least one of the cart and the transport device travels over an inclined or stepped portion of the road surface, the rotation of the gripping portion suppresses the application of load to the connection between the cart and the transport device. When at least one of the cart and the transport device travels over an inclined or stepped portion of the road surface, the movement of the gripped portion held by the gripping portion perpendicular to the horizontal direction suppresses the application of load to the connection between the cart and the transport device.

[0009] In a transport system according to one aspect of the present invention, the gripping portion of the cart is powered by air. It may also be used as a power source. The gripping part of the cart can be operated using air as a power source. In a transport system according to one aspect of the present invention, the gripping part of the cart may be powered by electricity. The gripping part of the cart can be operated using electricity as a power source.

[0010] In a transport system according to one aspect of the present invention, the cart has a frame to which the robot device is attached, wheels provided on the frame, and jacks provided on the frame for jacking up the frame, and after the connection between the cart and the transport device is released, the frame may be jacked up by the jacks to separate the wheels from the road surface, thereby fixing the cart to the road surface. Because the cart is fixed to the road surface, after the connection between the cart and the transport device is released, it is prevented that the robot device and the cart will move unintentionally.

[0011] In a transport system according to one aspect of the present invention, the cart and the transport device may be connected while the frame is lowered by the jack and the wheels are in contact with the road surface. With the cart and the transport device connected while the wheels are in contact with the road surface, the transport device starts moving, and as the transport device moves and the cart moves, the robot device and the cart are transported by the transport device. [Effects of the Invention]

[0012] According to the present invention, it is possible to easily dock and undock a robot device and a transport device. [Brief explanation of the drawing]

[0013] [Figure 1] Figure 1 shows the configuration of the transport system. [Figure 2] Figure 2 is an enlarged view of the cart coupling device and the coupled device of the conveying device. [Figure 3] Figure 3 is a block diagram showing the configuration of the cart. [Modes for carrying out the invention]

[0014] The following describes examples of applications and embodiments with reference to the figures. The examples of applications and embodiments shown below are one aspect of the present application and do not limit the scope of the rights of the present application.

[0015] <Examples of application> Referring to Figures 1 and 2, one example of the application of the present invention will be described. Figure 1 is a diagram showing the configuration of a transport system 10. The transport system 10 comprises a robot device 1, a cart 2, and a transport device 3. The transport system 10 may comprise a plurality of robot devices 1, a plurality of carts 2, and a plurality of transport devices 3. The robot device 1 is, for example, an industrial robot such as a collaborative robot that works in cooperation with humans in a production site such as a factory. The robot device 1 is mounted on a drivable (movable) cart 2. As the cart 2 moves, the robot device 1 on the cart 2 moves. The transport device 3 is, for example, an autonomous mobile robot (AMR), but may also be an automated guided vehicle (AGV).

[0016] The robot device 1 in Figure 1 is a vertical articulated robot and has a base 101 and an arm 102 connected to the base 101. The robot device 1 is not limited to a vertical articulated robot, and may be a robot employing other types such as a horizontal articulated robot. An end effector (hand) 103 for gripping objects such as workpieces and tools is attached to the tip of the arm 102. Workpieces are, for example, final products, intermediate products, semi-finished products, parts, materials, etc. A camera 104 is also attached to the arm 102. Furthermore, the robot device 1 has a servo motor for operating the arm 102. The robot device 1 uses the camera 104 to photograph a landmark 401 provided on the processing machine 4 and the landmark 401 The robot device 1 calculates the position. Based on the position of landmark 401, the robot device 1 transfers workpieces, etc., to the processing machine 4, or receives workpieces, etc., from the processing machine 4. The robot device 1 also changes the tool in the processing machine 4, or receives the changed tool, based on the position of landmark 401.

[0017] The cart 2, which can travel on road surfaces, comprises a metal frame (chassis) 201, a plurality of casters 202, a plurality of jacks 203, and a plurality of coupling devices 204. The robot device 1 is attached to the frame 201. The frame 201 has a flat plate portion that is a support member for supporting the robot device 1, and a plurality of legs that protrude downward from the flat plate portion. The robot device 1 is positioned on the upper surface of the flat plate portion of the frame 201. Casters 202 are provided on the underside of each leg of the frame 201, and jacks 203 are provided on the sides of each leg of the frame 201. Coupling devices 204 are provided on the underside of the flat plate portion of the frame 201. In the example configuration of the cart 2 shown in Figure 1, the frame 201 is provided with the three casters 202 shown and one caster 202 that is not shown. A suspension may be provided on at least one of the four casters 202. In the example configuration of cart 2 shown in Figure 1, the frame 201 is provided with three jacks 203 shown in the figure, and one jack 203 that is not shown.

[0018] The caster 202 has a wheel (tire) and a main body provided with an axle. When the wheel of the caster 202 contacts the road surface and the wheel of the caster 202 rotates, the cart 2 travels on the road surface. The jack 203 can extend and contract the arm 210 protruding downward in the vertical direction (up and down direction). By the jack 203 extending the arm 210 downward, the arm 210 descends. When the arm 210 descends and further extends downward in a state where the arm 210 contacts the road surface, the frame 201 rises. Thus, the jack 203 jacks up (raises) the frame 201. When the frame 201 rises, the wheels of the caster 202 are separated from the road surface. By jacking up the frame 201 with the jack 203 and separating the wheels of the caster 202 from the road surface, the cart 2 is fixed to the road surface. In a state where the cart 2 is fixed to the road surface, the transfer of workpieces, tools, etc. is performed between the robot device 1 and the processing machine 4. Since the cart 2 is fixed to the road surface, it is avoided that the robot device 1 moves unintentionally when the robot device 1 is performing work.

[0019] The transfer device 3 receives an instruction (input) of the destination from a higher-level device such as a server and moves to the destination. The transfer device 3 travels on the road surface by the rotation of the wheels 301. The robot device 1 photographs the landmark 302 provided on the transfer device 3 with the camera 104 and calculates the position of the landmark 302. Based on the position of the landmark 302, the robot device 1 delivers workpieces, tools, etc. to the transfer device 3 or receives workpieces, tools, etc. from the transfer device 3. In a state where the cart 2 is fixed to the road surface, the transfer of workpieces, tools, etc. is performed between the robot device 1 and the transfer device 3. Since the cart 2 is fixed to the road surface, it is avoided that the robot device 1 moves unintentionally when the robot device 1 is performing work.

[0020] As shown in FIG. 1, a tray 303, a conveyance path 304, and a stopper 305 may be provided for the conveyance device 3. The tray 303 stores workpieces, tools, and the like. The conveyance path 304 is inclined. When the tray 303 is placed on the conveyance path 304, the tray 303 is automatically conveyed by its own weight. The stopper 305 retracts into the conveyance device 3 or protrudes outside the conveyance device 3. When the stopper 305 protrudes outside the conveyance device 3 and the stopper 305 contacts the tray 303, the state where the tray 303 is placed on the conveyance path 304 is maintained. When the stopper 305 retracts into the conveyance device 3, the tray 303 is detached from the conveyance path 304 and the tray 303 is conveyed to another location.

[0021] The conveyance device 3 is provided with a monitoring sensor for monitoring the periphery of the conveyance device 3, an acceleration sensor for detecting the running state and position of the conveyance device 3, and various other sensors. The monitoring sensor is a distance sensor such as LiDAR, and can acquire data (distance image) indicating the distance to an object existing within the measurement range of the monitoring sensor. For example, when it is detected by the monitoring sensor that a person has protruded into the passage, the conveyance device 3 performs running stop or detour running. Further, the conveyance device 3 calculates the position of the conveyance device 3 in the map based on the data acquired by the acceleration sensor and various sensors. For example, the conveyance device 3 may calculate the position of the conveyance device 3 in the map by estimating its own position by SLAM (Simultaneous Localization and Mapping) technology. When the conveyance device 3 receives an instruction from a higher-level device, it may move to a predetermined location by referring to the map.

[0022] When the robot device 1 and cart 2 are waiting at a predetermined location, the transport device 3 checks whether the robot device 1 and cart 2 are waiting in the vicinity of the predetermined location. For example, optical communication may be performed between the robot device 1 or cart 2 and the transport device 3 by providing a transmitter on the transport device 3 and a receiver on the robot device 1 or cart 2. When optical communication is established, the transport device 3 recognizes that the robot device 1 and cart 2 are waiting at the predetermined location. When the transport device 3 recognizes that the robot device 1 and cart 2 are waiting at the predetermined location, it starts docking between the robot device 1 and cart 2 and the transport device 3.

[0023] The transport device 3 determines the position of cart 2 using a monitoring sensor and moves below the frame 201 of cart 2. The robot device 1 may determine the relative position between cart 2 and transport device 3 by calculating the position of landmark 302 on transport device 3, and the robot device 1 may inform transport device 3 of the position of cart 2. Communication may occur between robot device 1 and transport device 3, and robot device 1 may notify transport device 3 of the position of cart 2. Alternatively, the position of cart 2 may be notified to transport device 3 via a higher-level device. Furthermore, robot device 1 may send a movement instruction to transport device 3 based on the relative position between cart 2 and transport device 3. Based on the movement instruction received from robot device 1, transport device 3 may move below the frame 201 of cart 2.

[0024] When cart 2 detects that the transport device 3 has entered below frame 201, docking between robot device 1 and cart 2 and transport device 3 begins. Transport device 3 may transmit a signal to cart 2 indicating that it has entered below frame 201 of cart 2. Cart 2 may detect that transport device 3 has entered below frame 201 by receiving a signal from transport device 3. Detection sensors such as proximity sensors may be provided on cart 2. Cart 2 may detect that transport device 3 has entered below frame 201 using the detection sensors. By connecting the coupling device 204 of cart 2 to the coupling device 306 of transport device 3, cart 2 and transport device 3 are connected, and docking between robot device 1 and cart 2 and transport device 3 takes place.

[0025] Figure 2 is an enlarged view of the coupling device 204 of the cart 2 and the coupled device 306 of the conveying device 3. Figure 2 shows one of the two coupling devices 204 provided on the cart 2, and also shows a part of the coupled device 306 provided on the conveying device 3. The coupled device 306 is provided on the upper surface of the conveying device 3. The coupling device 204 has a gripping part 241, a main body part 242 connected to the gripping part 241, a rotary unit 243 connected to the main body part 242, and a support part 244 connected to the rotary unit 243. The support part 244 of the coupling device 204 is attached to the lower surface of the flat plate part of the frame 201. The coupled device 306 is fixed to the upper surface of the conveying device 3 and has a column part 361 that stands vertically relative to the upper surface of the conveying device 3. The coupled device 306 also has a spring 362, a cylindrical part 363, and a spring 364 provided on the outer circumferential surface of the column part 361. The spring 362, the cylindrical portion 363, and the spring 364 are arranged sequentially from the bottom to the top of the column portion 361. In other words, the cylindrical portion 363 is positioned above the spring 362, and the spring 364 is positioned above the cylindrical portion 363.

[0026] The gripping section 241 has gripping tools 245 and 246. The gripping section 241 is configured to grip the cylindrical portion 363 of the connected device 306 by opening and closing the gripping tools 245 and 246. The cylindrical portion 363 is an example of the portion to be gripped. An axis is provided at the point where the gripping tools 245 and 246 are connected to the main body section 242. The gripping section 241 is opened and closed by moving the gripping tools 245 and 246 horizontally, starting from the axis connecting the main body section 242 and the gripping tools 245 and 246.

[0027] The connection between the coupling device 204 of cart 2 and the connected device 306 of conveying device 3 will now be described. With the gripping portion 241 of the coupling device 204 open, the cylindrical portion 363 of the connected device 306 is accommodated in the gripping portion 241 of the coupling device 204. That is, with the distance between the tip of the gripping tool 245 and the tip of the gripping tool 246 being greater than or equal to a predetermined distance, the cylindrical portion 363 of the connected device 306 is moved between the gripping tool 245 and the gripping tool 246. With the cylindrical portion 363 of the connected device 306 accommodated in the gripping portion 241 of the coupling device 204, the gripping portion 241 of the coupling device 204 is closed. That is, after moving the cylindrical portion 363 of the connected device 306 between the gripping tool 245 and the gripping tool 246, the tip of the gripping tool 245 and the tip of the gripping tool 246 are brought into contact or brought close together. As a result, the gripping portion 241 of the connecting device 204 grips the cylindrical portion 363 of the connected device 306, connecting the connecting device 204 and the connected device 306, and connecting the cart 2 and the conveying device 3. Note that when the cylindrical portion 363 of the connected device 306 is housed in the gripping portion 241 of the connecting device 204, there may be no gap between the gripping portion 241 and the cylindrical portion 363, or a gap may occur between the gripping portion 241 and the cylindrical portion 363.

[0028] After the cylindrical portion 363 is housed in the gripping section 241 with the distance between the tip of gripping tool 245 and the tip of gripping tool 246 being greater than or equal to a predetermined distance, the gripping section 241 is closed to grip the cylindrical portion 363. In this way, the cylindrical portion 363 is housed in the gripping section 241 with the gripping section 241 spread horizontally, making it easy to align the cart 2 and the conveying device 3 when connecting them. The predetermined distance is a value greater than the diameter of the cylindrical portion 363, and any value can be set. The greater the distance between the tip of gripping tool 245 and the tip of gripping tool 246, the easier it is to align the cart 2 and the conveying device 3 when connecting them.

[0029] The jack 203 retracts the arm 210, causing the arm 210 to move away from the road surface. As the arm 210 retracts, the frame 201 lowers, and the wheels of the caster 202 make contact with the road surface. With the wheels of the caster 202 in contact with the road surface, the coupling device 204 of the cart 2 and the coupled device 306 of the transport device 3 are connected. In other words, the cart 2 and the transport device 3 are connected with the wheels of the caster 202 in contact with the road surface. After the cart 2 and the transport device 3 are connected, the transport device 3 begins to move. When the cart 2 and the transport device 3 are connected, as the transport device 3 moves, the coupled device 306 of the transport device 3 pushes or pulls the coupling device 204 of the cart 2. As a result, the cart 2 moves along with the transport device 3, and the robot device 1 and the cart 2 are transported by the transport device 3. For example, the transport device 3 moves to a predetermined location specified by instructions from a higher-level device, docking occurs between the robot device 1 on the cart 2 and the transport device 3, and the transport device 3 transports the robot device 1 and the cart 2.

[0030] Cart 2 is not placed on the transport device 3, and a portion of the cart 2's weight is borne by the transport device 3. Therefore, the transport device 3 can transport the robot device 1 and cart 2 by pushing or pulling cart 2. For example, when the robot device 1 is mounted on a transport vehicle. Compared to the case where robot device 1 is transported, the power consumption of transport device 3 can be reduced.

[0031] Next, we will explain how to disconnect the coupling device 204 of cart 2 from the connected device 306 of transport device 3. With the gripping portion 241 of coupling device 204 open, the cylindrical portion 363 of connected device 306 is released from the gripping portion 241 of coupling device 204. That is, with the distance between the tip of gripping tool 245 and the tip of gripping tool 246 being greater than or equal to a predetermined distance, the cylindrical portion 363 of connected device 306, which is located between gripping tool 245 and gripping tool 246, is moved away from the gripping portion 241 of coupling device 204. As a result, the gripping portion 241 of coupling device 204 releases its grip on the cylindrical portion 363 of connected device 306, and the coupling device 204 and connected device 306 are disconnected. In this way, the coupling between cart 2 and transport device 3 is released when the gripping portion 241 of coupling device 204 releases its grip on the cylindrical portion 363 of connected device 306. For example, after the transport device 3 has transported the robot device 1 and the cart 2 to the destination, the coupling device 204 of the cart 2 and the coupled device 306 of the transport device 3 are disconnected. After the cart 2 and the transport device 3 are disconnected, the transport device 3 detaches from below the cart 2 and moves to a predetermined location according to instructions from the higher-level device.

[0032] According to the transport system 10, with the gripping portion 241 of the coupling device 204 open, the cylindrical portion 363 of the device to be coupled 306 is accommodated in the gripping portion 241 of the coupling device 204, and then the gripping portion 241 of the coupling device 204 is closed. This connects the coupling device 204 of the cart 2 to the device to be coupled 306 of the transport device 3, and docking occurs between the robot device 1 on the cart 2 and the transport device 3. Alternatively, according to the transport system 10, with the cylindrical portion 363 of the device to be coupled 306 accommodated in the gripping portion 241 of the coupling device 204, the gripping portion 241 of the coupling device 204 is opened, and the cylindrical portion 363 of the device to be coupled 306 is detached from the gripping portion 241 of the coupling device 204. This releases the connection between the coupling device 204 of the cart 2 and the device to be coupled 306 of the transport device 3, separating the cart 2 and the transport device 3, and releasing the docking between the robot device 1 on the cart 2 and the transport device 3. Thus, the transport system 10 makes it possible to easily dock and undock the robot device 1 and the transport device 3 on the cart 2.

[0033] <Embodiment> Figure 3 is a block diagram showing the configuration of cart 2. Cart 2 comprises a control unit (controller) 21, an air supply unit 22, and a battery 23. The control unit 21 controls the driving and operation of the air supply unit 22, the jack 203, and the coupling device 204. The air supply unit 22 supplies air to the jack 203 and the coupling device 204. The battery 23 supplies power to the control unit 21, the air supply unit 22, the jack 203, and the coupling device 204. The air supply unit 22 has an air compressor 24 and an air tank 25. The air compressor 24 compresses the air supplied to the jack 203 and the coupling device 204. The air tank 25 stores the air compressed by the air compressor 24 and equalizes the air pressure.

[0034] The control unit 21 is a computer having a processor and storage media such as memory. The processor includes CPUs (Central Processing Units) and MPUs (Micro Processing Units). The memory includes flash memory, RAM (Random Access Memory), and ROM (Read Only Memory). The control unit 21 provides functions that match a predetermined purpose by controlling peripheral devices through the execution of programs stored in memory, etc. The control unit 21 may also include DSPs (Digital Signal Processors), ASICs (Application Specific Integrated Circuits), FPGAs (Field-Programmable Gate Arrays), numerical arithmetic processors, etc. Furthermore, the control unit 21 may be a SoC (System on a Chip) configured by integrating the processor's arithmetic units and storage media such as memory onto a single chip.

[0035] The jack 203 and the connecting device 204 operate using air (air pressure) supplied from the air supply unit 22 as a power source. The jack 203 is an air-operated jack and raises and lowers the arm 210 using air supplied from the air supply unit 22 as a power source. The jack 203 has a brake-equipped cylinder (locking cylinder). After jacking up the frame 201, the air supply to the jack 203 can be stopped to reduce air consumption.

[0036] The coupling device 204 uses air supplied from the air supply unit 22 as a power source to open and close the gripping portion 241. The coupling device 204 has a cylinder with a brake. After the gripping portion 241 is opened or closed, the supply of air to the coupling device 204 can be stopped to reduce air consumption. While the robot device 1 and cart 2 are being transported by the transport device 3, no air is supplied from the air supply unit 22 to the coupling device 204. If no air is supplied from the air supply unit 22 to the coupling device 204, the opening and closing operation of the gripping portion 241 will not be performed. For example, even if the power supply to the coupling device 204 is cut off while the robot device 1 and cart 2 are being transported by the transport device 3, the gripping portion 241 of the coupling device 204 will maintain its grip on the cylindrical portion 363 of the device to be coupled 306. Therefore, the connection between the coupling device 204 and the coupled device 306 is not released, and the connection between the cart 2 and the transport device 3 is not released. Consequently, during transport of the robot device 1 and cart 2, the robot device 1 and cart 2 are prevented from detaching from the transport device 3.

[0037] Referring to Figure 2, the rotary unit 243 of the coupling device 204 will be described. The rotary unit 243 is a rotation mechanism that allows the gripping portion 241 and the main body portion 242 to rotate. The rotary unit 243 allows the gripping portion 241 and the main body portion 242 to rotate around a horizontal axis while the gripping portion 241 is gripping the cylindrical portion 363 of the coupling device 306. The rotation angle of the gripping portion 241 and the main body portion 242 in the R1 direction is, for example, 20 degrees, but is not limited to this angle. The rotation angle of the gripping portion 241 and the main body portion 242 in the R2 direction is, for example, 20 degrees, but is not limited to this angle.

[0038] When cart 2 travels over inclined or stepped sections of the road surface, cart 2 may tilt diagonally relative to the conveying device 3. Similarly, when conveying device 3 travels over inclined or stepped sections of the road surface, conveying device 3 may tilt diagonally relative to cart 2. When at least one of cart 2 and conveying device 3 travels over inclined or stepped sections of the road surface, the gripping portion 241 and the main body portion 242 rotate, thereby suppressing the application of load to the connection between the coupling device 204 and the connected device 306. When the connection between the coupling device 204 and the connected device 306 is released while the gripping portion 241 and the main body portion 242 are rotated in the R1 or R2 direction, the gripping portion 241 returns to its initial position. The initial position of the gripping portion 241 is the position where the opening and closing direction of the gripping portion 241 is horizontal.

[0039] Referring to Figure 2, the coupled device 306 will be described. In the coupled device 306, the cylindrical portion 363 is held in the central part of the column portion 361 by springs 362 and 364. The cylindrical portion 363 is permitted to move perpendicular to the upper surface of the conveying device 3. That is, when an external force is applied to the cylindrical portion 363, the cylindrical portion 363 moves perpendicular to the upper surface of the conveying device 3. When at least one of the cart 2 and the conveying device 3 travels over an inclined or stepped portion of the road surface, the cylindrical portion 363, which is gripped by the gripping portion 241, moves perpendicular to the upper surface of the conveying device 3, thereby suppressing the application of load to the coupling portion between the coupling device 204 and the coupled device 306. Thus, the coupled device 306 has a movement mechanism that allows the cylindrical portion 363 to move perpendicular to the horizontal direction while the gripping portion 241 of the coupling device 204 is gripping the cylindrical portion 363. When the cylindrical portion 363 has moved perpendicular to the upper surface of the conveying device 3, and the connection between the connecting device 204 and the connected device 306 is released, the cylindrical portion 363 returns to the central part of the column portion 361.

[0040] After the cart 2 is disconnected from the transport device 3, the frame 201 is jacked up by the jack 203, lifting the wheels of the casters 202 off the ground and fixing the cart 2 to the ground. Therefore, after the cart 2 is disconnected from the transport device 3, it is prevented that the robot device 1 and cart 2 will move unintentionally. For example, during operation of the robot device 1 after the cart 2 is disconnected from the transport device 3, it is possible to prevent the robot device 1 and cart 2 from moving unintentionally. According to the transport system 10, since the cart 2 is fixed to the ground by jacking up the frame 201, the degree of freedom in the location where docking and undocking between the robot device 1 and the transport device 3 on the cart 2 can be performed is increased.

[0041] After the docking between the robot device 1 and the transport device 3 on cart 2 is undone, the transport device 3 can move independently. Therefore, while the robot device 1 is performing its work, the transport device 3 can move to any location. Since the transport device 3 does not need to wait for the robot device 1 to finish its work, the productivity and utilization rate of the factory can be improved.

[0042] The control unit 21 may control the multiple jacks 203 so that the extension and retraction degrees of each arm 210 of the multiple jacks 203 are the same. Alternatively, the control unit 21 may independently control the extension and retraction degrees of each arm 210 of the multiple jacks 203. For example, when docking and undocking the robot device 1 and the transport device 3 on the cart 2 on a flat road surface, the control unit 21 controls the multiple jacks 203 so that the extension and retraction degrees of each arm 210 of the multiple jacks 203 are the same. For example, when docking and undocking the robot device 1 and the transport device 3 on the cart 2 on a road surface with inclined or stepped sections, the control unit 21 controls the extension and retraction degrees of each arm 210 of the multiple jacks 203 independently. This makes it possible to dock and undocking the robot device 1 and the transport device 3 on the cart 2 on a road surface with inclined or stepped sections.

[0043] In the above configuration example, the gripping portion 241 of the coupling device 204 operates using air as a power source, but this embodiment is not limited to the above configuration example. The coupling device 204 may be configured so that the gripping portion 241 of the coupling device 204 operates using electricity as a power source. For example, the opening and closing operation of the gripping portion 241 of the coupling device 204 may be performed by a solenoid electric lock. A solenoid electric lock that unlocks when energized may be used. As a result, the opening and closing operation of the gripping portion 241 of the coupling device 204 is performed while the coupling device 204 is energized. For example, even if the power supply to the coupling device 204 is cut off while the robot device 1 and cart 2 are being transported by the transport device 3, the gripping portion 241 of the coupling device 204 will maintain its grip on the cylindrical portion 363 of the device to be coupled 306. Therefore, the coupling between the coupling device 204 and the device to be coupled 306 is not released, and the coupling between the cart 2 and the transport device 3 is not released. Therefore, during transport of the robot device 1 and cart 2, it is prevented from detaching from the transport device 3. In addition, the gripping portion 241 of the coupling device 204 may be operated hydraulically.

[0044] In the above configuration example, the control unit 21 of the cart 2 controls the air supply unit 22, the jack 203, and the coupling device 204, but this embodiment is not limited to the above configuration example. The robot controller of the robot device 1 may control the air supply unit 22, the jack 203, and the coupling device 204. The robot controller of the robot device 1 is a computer having a processor and a storage medium such as memory.

[0045] If the robot device 1 operates using air as a power source, air may be supplied to the robot device 1 from the air supply unit 22. By supplying air from the air supply unit 22 to the robot device 1, jack 203 and coupling device 204, the robot device 1 and jack 204 can be powered from a single supply source. Air can be supplied using the 3 and connecting device 204. The jack 203 is not limited to an air-operated jack, but may also be an electric jack driven by electricity or a hydraulic jack driven by hydraulics.

[0046] <Other> The above embodiments are merely illustrative examples illustrating the configuration of the present invention. The present invention is not limited to the above-described specific forms, and various modifications are possible within the scope of its technical concept.

[0047] Each of the processes described above can be considered as a method performed by a computer. Furthermore, programs for causing a computer to perform each of the processes described above may be provided to the computer via a network or from a computer-readable storage medium that holds data non-temporarily.

[0048] <Note 1> A transport system (10) comprising a cart (2) on which a robot device (1) is mounted, and a transport device (3) for transporting the robot device (1) and the cart (2), The gripping portion (241) of the cart (2) grips the gripped portion (363) of the conveying device (3), thereby connecting the cart (2) and the conveying device (3). When the gripping portion (241) of the cart (2) releases its grip on the gripped portion (363) of the transport device (3), the connection between the cart (2) and the transport device (3) is released. Conveying system (10). [Explanation of Symbols]

[0049] 1: Robot device 2: Cart 3: Conveying device 4: Processing machine 21: Control Unit 22: Air supply unit 23: Battery 24: Air compressor 25: Air Tank 201: Frame 202: Caster 203: Jack 204: Connecting device 241: Grip part 242: Main body 243: Rotary Unit 244: Support part 306: Connected device 361: Pillar part 362, 364: Spring 363: Cylindrical section

Claims

1. A transport system comprising a cart equipped with a robotic device, and a transport device for transporting the robotic device and the cart, The gripping portion of the cart grips the gripped portion of the conveying device, thereby connecting the cart and the conveying device. When the gripping portion of the cart releases its grip on the gripped portion of the conveying device, the connection between the cart and the conveying device is released. The cart has a rotation mechanism that allows the gripping portion of the cart to rotate around a horizontal axis while the gripping portion of the cart is gripping the portion to be gripped of the conveying device. The conveying device has a moving mechanism that allows the gripping portion of the cart to move in a direction perpendicular to the horizontal direction while the gripping portion of the conveying device is gripping the gripped portion of the conveying device. Conveyor system.

2. The gripping part of the cart is powered by air, The transport system according to claim 1.

3. The gripping part of the cart is powered by electricity. The transport system according to claim 1.

4. The cart comprises a frame to which the robotic device is attached, wheels provided on the frame, and jacks provided on the frame for jacking up the frame. After the connection between the cart and the transport device is released, the frame is jacked up using the jacks to separate the wheels from the road surface, thereby fixing the cart to the road surface. A transport system according to any one of claims 1 to 3.

5. The cart and the transport device are connected while the frame is lowered by the jack and the wheels are in contact with the road surface. The transport system according to claim 4.

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