Article transferring mechanism and article managing system

Abstract

The purpose of the present invention is to provide an article transferring mechanism capable of efficiently transferring articles in a short time without requiring interlocking of operations of a hand part and a manipulator.　This article transferring mechanism comprises: a cassette 120 on which a plurality of articles are placed; an article gripping and moving part 130 which grips and moves an article; and an article selecting and moving part 140 that changes the relative positions of the cassette 120 and the article gripping and moving part 130 and selects a specific article from the plurality of articles 105 held by the cassette 120. The article selecting and moving part 140 changes the relative positions of the cassette 120 and the article gripping and moving moving part 130, and selects an article to serve as an article to be transferred. The article gripping and moving part 140 holds and moves the selected article.

Description

Item transfer mechanism and item management system

[0001] The present invention relates to an article transfer mechanism for transferring articles, and an article management system equipped with the article transfer mechanism.

[0002] Patent Document 1 describes an autonomous mobile robot that transports consumables such as multiple types of reagents between analysis units, storage rooms, waste containers, work tables, etc., and performs a series of tasks related to loading and unloading (see paragraph 0029). The autonomous mobile robot in Patent Document 1 includes a head having an image input device such as a camera that can recognize, for example, shape, character, brightness, or color, as its eyes, a drive unit for moving the autonomous mobile robot, a loading platform having space for temporary storage of items and for performing processing tasks, a rotation mechanism that rotates the head 360 degrees to view in all directions using the image input device, an extendable arm, a hand unit that grasps items and presses buttons, and a storage shelf that holds the items to be transported (see paragraph 0029).

[0003] WO2020 / 021837A1

[0004] The autonomous mobile robot of Patent Document 1 transfers items between multiple devices, a storage facility for storing various items, a storage shelf for storing transported items, and a waste container for discarding unwanted items by using a hand unit to grasp and transfer the items one by one. Furthermore, when transporting items, the items are transferred one by one to the platform of the autonomous mobile robot, temporarily stored on the storage shelf, and then transported. When handling multiple items, the hand unit attached to the tip of the arm (manipulator) must perform repeated movements when attempting to transfer items from a storage facility to a storage shelf, from the storage shelf to a device, or from the storage shelf to a waste container. As the number of reciprocating movements of the manipulator between the storage facility and the storage shelf, between the device and the storage shelf, or between the waste container and the storage shelf increases (as the number of items increases), the operation time increases. Furthermore, the manipulator's movements become more complex, which increases the time required for motion generation. Furthermore, since the hand unit only grips the object, a manipulator is required to carry out the operation of putting the object into and taking it out of a device, a storage facility, a storage shelf, or a waste container. The autonomous mobile robot (object transfer mechanism) of Patent Document 1 is composed of a hand unit that grips an object individually and a manipulator that transfers the object, and in order to transfer the object, it is necessary to link both the hand unit and the manipulator.

[0005] An object of the present invention is to provide an article transfer mechanism that can transfer an article efficiently in a short time without requiring the hand unit and the manipulator to be linked in operation.

[0006] In order to achieve the above object, one example of an article transfer mechanism of the present invention comprises: a cassette for placing multiple articles thereon; an article gripping and moving unit that grips and moves the articles; and an article selecting and moving unit that changes the relative position between the cassette and the article gripping and moving unit to select a specific article from the multiple articles held in the cassette, wherein the article selecting and moving unit changes the relative position between the cassette and the article gripping and moving unit to select an article to be transferred, and the article gripping and moving unit transfers the article by holding and moving the selected article. Also, an article management system comprises the article transfer mechanism, a positioning mechanism that positions the article transfer mechanism, a mobile body that moves autonomously while carrying the positioning mechanism, and an article storage cabinet that stores articles.

[0007] According to the present invention, it is possible to provide an article transfer mechanism that can transfer articles efficiently in a short time without requiring the interlocking of the operations of the hand unit and the manipulator. Problems, configurations, and effects other than those described above will become clear from the description of the following embodiments.

[0008] 1 is a perspective view illustrating a first article transfer mechanism according to the present invention. 2 is a side view illustrating a first article transfer mechanism according to the present invention. 3 is a top view illustrating a first article transfer mechanism according to the present invention. 4 is a perspective view illustrating a first cassette according to the present invention. 5 is a perspective view illustrating a latch operation of a first cassette according to the present invention. 6 is a perspective view illustrating the operation of a first transfer unit of a first article transfer mechanism according to the present invention. 7 is a top view illustrating the operation of the first transfer unit of a first article transfer mechanism according to the present invention. 8 is a cross-sectional view illustrating the operation of the first transfer unit of a first article transfer mechanism according to the present invention, showing a state before a suction pad adapter starts moving for transfer. 9 is a cross-sectional view illustrating the operation of the first transfer unit of a first article transfer mechanism according to the present invention, showing a state after the latch by a latch member has been released. 10 is a cross-sectional view illustrating the operation of the first transfer unit of a first article transfer mechanism according to the present invention, showing a state after transfer of an article from a first cassette has started. 11 is a view illustrating a first item management system according to the present invention. 12 is a view illustrating a first item storage cabinet according to the present invention. 13 is a view illustrating a series of operations of a first item management system according to the present invention. 14 is an operation flowchart of a first item management system according to the present invention. 15 is a perspective view illustrating a second article transfer mechanism according to the present invention. 16 is a perspective view illustrating a second cassette according to the present invention. FIG. 1 is a perspective view illustrating the operation of a second transfer unit of a second article transfer mechanism according to the present invention. FIG. 2 is a view illustrating a second article management system according to the present invention. FIG. 3 is a view illustrating a second article storage cabinet according to the present invention. FIG. 4 is a view illustrating a series of operations of a second article management system according to the present invention. FIG. 5 is a view illustrating device cooperation of an article management system according to the present invention.

[0009] To efficiently replace multiple items and reduce work time, an item transfer mechanism that can handle multiple items simultaneously is effective. To achieve this, it is desirable to have a cassette that can hold multiple items. However, there is a concern that a cassette that can hold multiple items will become larger as the number of items increases. To solve this problem, it is effective to make the cassette or item transfer mechanism detachable. In other words, by providing multiple cassettes or item transfer mechanisms and enabling automatic exchange as the number of items or types of items increases, an item management system can be provided that replaces the work of workers and reduces their workload. Furthermore, the item transfer mechanism has a compact configuration and can be operated with simple control, reducing the burden of introducing an item management system.

[0010] [Embodiment 1] A first embodiment of the present invention will be described with reference to Figures 1 to 12. First, the basic configuration of a first article transfer mechanism 100 will be described with reference to Figures 1 to 3. Figure 1 is a perspective view illustrating a first article transfer mechanism 100 according to the present invention. The directions used in the description are as shown in Figure 1, with the tip of the arrow being the positive direction and the opposite direction being the negative direction.

[0011] The first article transfer mechanism 100 includes a first transfer unit (first transfer device) 110, a first cassette 120, and an attachment / detachment jig 111. The first transfer unit 110 includes a first article gripping and moving unit (first article gripping and moving device) 130 and a first article selecting and moving unit (first item selecting and moving device) 140. The first transfer unit 110 is connected to a first base 114. The attachment / detachment jig 111 is also connected to the first base 114. The first cassette 120 is connected to a second base 115 (see FIG. 2 ) via a first linear guide 122 and a first cassette base 121. The first cassette 120 can hold articles 105. In FIG. 1 , articles 105a, 105b, 105c, 105d, and 105e are placed in the first cassette 120 as the articles 105. The article 105 is a substantially rectangular parallelepiped and may be a reagent container, a specimen test tube, a system water bottle, a cleaning solution bottle, etc., used in an automatic analyzer, etc. However, the article 105 is not limited to these.

[0012] 2 is a side view illustrating the first article transfer mechanism 100 according to the present invention. The first article gripping and moving unit 130 includes a joint 131, a hollow shaft 132, a first actuator 133, an actuator bracket 134, a suction pad adapter 135, and a suction pad 136. The first actuator 133 linearly moves the joint 131, the hollow shaft 132, the suction pad adapter 135, and the suction pad 136 in the direction of arrow A (Y direction). The actuator bracket 134 is a member that attaches the first actuator 133 to the first base 114.

[0013] The suction pad adapter 135 has an air flow path 135a (see FIG. 8A) and supports the suction pad 136. One end of the hollow shaft 132 is connected to the suction pad adapter 135, and the hollow portion 132a (see FIG. 8A) of the hollow shaft 132 communicates with the air flow path 135a of the suction pad adapter 135. The other end of the hollow shaft 132 is provided with a joint 131. An air tube (not shown) is connected to the joint 131.

[0014] The suction pad 136 is connected to the air flow path and serves to suction-hold an article, constituting an "article gripping unit." Here, "holding" is a term that means grasping with one's hand, but in this specification and claims, "holding" is not limited to grasping with one's hand, and is used as a term that refers to the state or action of holding an article by means of suction, clamping, or the like. The same applies to the "holding" of the first article gripping and moving unit.

[0015] 3 is a top view illustrating the first article transfer mechanism 100 according to the present invention. The first article selection and movement unit 140 includes a second actuator 141, a transmission belt 142 that transmits the rotation of the second actuator 141, a third base 143, and a pulley 144 that is connected to the second actuator 141 and forms a pair of pulleys that transmit the moving force to the transmission belt 142.

[0016] The first item selection and movement unit 140 changes the relative position between the first cassette 120 and the item gripping and movement unit 130 to select a specific item from the multiple items held in the first cassette 120. In this embodiment, the item selection and movement unit 140 moves the cassette 120 to change the relative position between the cassette 120 and the item gripping and movement unit 130.

[0017] The pulley 144 shown in the figure is one of a pair of pulleys. The second actuator 141 and the pulley 144 are connected to a third base 143. The third base 143 is connected to the first base 114 in FIG. 1 . When the second actuator 141 rotates around the Z-axis as indicated by arrow B, the transmission belt 142 moves as indicated by arrow C. When the transmission belt 142 moves, a connecting jig 145 (see FIG. 7 ) that connects the transmission belt 142 and the first cassette 120 moves as indicated by arrow C.

[0018] The first cassette 120 will be described with reference to Figures 4 and 5. Figure 4 is a perspective view illustrating the first cassette 120 according to the present invention. The first cassette 120 has a first holding section 123 that holds articles. The first holding section 123 includes a slot 125 that is a space for holding the articles, a partition plate 124 that supports both sides of an article placed in the slot 125 to prevent the article from falling over, a latch member 126 that prevents the article from flying out in the Y+ direction, and a shaft 127 (see Figure 5) that fits into a through-hole provided in the latch member 126.

[0019] The partition plates 124 are, for example, 124a, 124b, 124c, and 124d. Slots 125a, 125b, 125c, 125d, and 125e are defined between these partition plates. Latch members 126a, 126b, 126c, 126d, and 126e are provided corresponding to these slots 125, preventing articles from jumping out in the Y+ direction. The rear (Y-direction) end of the first holding portion 123 has a wall extending in the Z+ direction, enabling the articles to be stably held in the slots 125 of the first cassette 120 so as not to jump out in the Y- direction.

[0020] The first cassette 120 may be fixed to the first cassette base 121 shown in FIG. 1 or may be detachably supported by a detachable member (not shown). When the first cassette 120 is detachably supported, items can be handled in cassette units, which is expected to reduce transfer time compared to handling individual items. Furthermore, if items need to be kept warm or cold, a warm / cold insulation device (item warming device) 120a (not shown) may be mounted on the first cassette 120. Furthermore, if temperature control is required, a temperature detector 120b may be provided on the first cassette 120. The warm / cold insulation device 120a and the temperature detector 120b may be provided on all slots 125 or on specific slots 125. In this case, the warm / cold insulation device 120a and the temperature detector 120b can be assembled to the first cassette 120. For example, the hot / cold insulation device 120a and the temperature detector 120b can be embedded in the partition plate 124 or the bottom surface (lower surface) of the first cassette 120. In this embodiment, the hot / cold insulation device 120a is embedded in the partition plate 124, and the temperature detector 120b is embedded in the bottom surface (lower surface). The hot / cold insulation device 120a may be, for example, a pipe for circulating a heat medium or an electric heating wire.

[0021] FIG. 5 is a perspective view illustrating the latching operation of the first cassette 120 according to the present invention. Latch members 126a, 126b, 126c, 126d, and 126e are supported by a shaft 127 so as to be rotatable about axis Ax1. Therefore, like latch member 126e, they can rotate around axis Ax1 in the direction of arrow D, moving items inside slot 125 in the Y+ direction and moving items outside slot 125 in the Y- direction. In FIG. 5, the partition plate 124 is fixed. However, the partition plate 124 may be supported so as to be movable in the X direction, as indicated by arrows E1, E2, E3, and E4. Furthermore, a biasing member (e.g., an elastic body such as a torsion spring or an actuator) (not shown) constantly protrudes latch member 126 from the bottom of slot 125, preventing items from protruding. However, a latch mechanism, as described in FIG. 8, can also be used to allow movement in both directions of arrow D.

[0022] The operation of the first transfer unit 110 of the first article transfer mechanism 100 will be described with reference to Figures 6 and 7. Figure 6 is a perspective view illustrating the operation of the first transfer unit 110 of the first article transfer mechanism 100 according to the present invention. Figure 7 is a top view illustrating the operation of the first transfer unit 110 of the first article transfer mechanism 100 according to the present invention.

[0023] The first cassette 120 can be moved in the direction of arrow F by the first item selection and movement unit 140. To transfer the item 105e, the first item selection and movement unit 140 moves the first cassette 120 so that the axis Ax2 and the item 105e are approximately collinear. The first item gripping and movement unit 130 moves the hollow shaft 132 in the Y+ direction, adsorbing the item 105e and moving it in the Y+ direction. The hollow shaft 132 of the first item gripping and movement unit 130 can also rotate around the axis Ax2, as shown by arrow M. By rotating the hollow shaft 132 of the first item gripping and movement unit 130 around the axis Ax2, the posture of the item can be changed when gripping and transferring it. The movement of the hollow shaft 132 in the Y direction and the rotation around the axis Ax2 are performed by a first actuator 133.

[0024] Continuing with the description of the operation of the first transfer section 110 of the first article transfer mechanism 100, with reference to Figures 8A, 8B, and 8C, the latch mechanism 150 includes a latch member pressing member 151, a pressing member base 152 that guides the latch member pressing member 151 in the Y+ direction, a magnetic catch 153 affixed to the Y- direction surface of the suction pad adapter 135, and a magnet 154 embedded and fixed in the latch member pressing member 151 so as to directly face the magnetic catch 153. In the state shown in Figures 6 and 7, the magnetic catch 153 and the magnet 154 are held in contact by magnetic force. In Figures 6 and 7, the first cassette 120 is moved to transfer article 105e, i.e., preparations are complete for discharging the article from the first cassette 120.

[0025] FIG. 8A is a cross-sectional view illustrating the operation of the first transfer unit 110 of the first article transfer mechanism 100 according to the present invention, showing the state before the suction pad adapter 135 begins moving for transfer. In FIG. 8A, the suction pad 136 is not in contact with the article 105e, and the article 105e is not being gripped by the suction pad 136. The first article gripping and moving unit 130 moves the suction pad adapter 135 in the Y+ direction from the state shown in FIG. 8A to suction the article 105e with the suction pad 136. This completes gripping of the article 105e by the suction pad 136. At the same time, the latch member pressing member 151, attracted to the magnetic catch 153 by the magnet 154, moves in the Y+ direction in conjunction with the suction pad adapter 135. At this time, the tip inclined portion 151a of the latch member pressing member 151 comes into contact with one end (Y-direction end) 126e1 of the latch member 126e.

[0026] 8B is a cross-sectional view illustrating the operation of the first transfer unit 110 of the first article transfer mechanism 100 according to the present invention, showing a state in which the latch by the latch member 126e is released. When the suction pad adapter 135 moves further in the Y+ direction from the state shown in FIG. 8A, the tip inclined portion 151a of the latch member pressing member 151 rotates the latch member 126e around the shaft 127. As a result, the tip (Y+ direction end) of the latch member 126e moves below the bottom surface 125f of the slot 125, as shown in FIG. 8B.

[0027] FIG. 8C is a cross-sectional view illustrating the operation of the first transfer section 110 of the first article transfer mechanism 100 according to the present invention, showing the state in which transfer of article 105e from the first cassette 120 has begun.

[0028] 8C , when the suction pad adapter 135 moves in the Y+ direction, the article 105e is transferred from the first cassette 120. At this time, one end 126e1 of the latch member 126e, which has rotated around the shaft 127, comes into contact with the bottom of the first cassette 120 and stops rotating. At the same time, the latch member pressing member 151, which has applied a force to rotate the latch member 126e, is stopped from moving in the Y+ direction by the one end 126e1 of the latch member 126e and moves away from the suction pad adapter 135 and stops. As a result, the latch member 126e is maintained in a rotated state, i.e., a state in which the article 105e can be transferred. When the article 105e is inserted into the first cassette 120, the first article gripping and moving unit 130 grips the article 105e and inserts it into a slot in the first cassette 120. In the state shown in FIG. 8B, the magnetic catch 153 of the suction pad adapter 135 comes into contact with the latch member pressing member 151 that has fixedly held the latch member 126e, and they are attracted by magnetic force.

[0029] 8A, the latch member pressing member 151 having the magnet 154 embedded therein moves while being magnetically attracted to the magnetic catch 153 attached to the suction pad adapter 135, and returns to the state shown in Figures 6 and 7. As described in Figure 5, the latch member 126e returns from the rotated state shown in Figure 5 to the state shown in Figure 4 by a biasing means (not shown).

[0030] The first article transfer mechanism 100 may suck and grip an article using the suction pad 136, or may use a gripper instead of the suction pad. Any means for gripping an article equivalent to the suction pad 136 can be substituted.

[0031] The first item management system 500 will now be described. Figure 9 is a diagram illustrating the first item management system 500 according to the present invention. Figure 9 illustrates a case in which the first item management system 500 handles two first item transfer mechanisms 100a and 100b. That is, the first item management system 500 includes a first item transfer mechanism 100a, a first item transfer mechanism 100b, a first positioning mechanism 501 to which the first item transfer mechanism 100a is detachably connected, and a first mobile body 502 that is equipped with the first positioning mechanism 501 and can move autonomously.

[0032] In Figure 9, the first article transfer mechanism 100a is shown in a state where it has no article loaded thereon, and is preparing to remove and transfer an article from the first article storage cabinet 400 shown in Figure 10. The first article transfer mechanism 100b is disposed in an article transfer mechanism stocker (not shown) provided on the first movable body 502. The first positioning mechanism 501 positions the first article transfer mechanism 100a, removes, for example, an empty article from the first article storage cabinet 400 (not shown), and transfers the article to the first cassette 120 (see Figure 1). Upon completing the transfer of the article, the first positioning mechanism 501 rotates and places it in an article transfer mechanism stocker (not shown), and detaches the first article transfer mechanism 100a.

[0033] Furthermore, the first positioning mechanism 501 couples with and rotates the first positioning mechanism 100b carrying the object. The first moving body 502 then moves the first item management system 500 to the first item storage 400 (not shown). The first positioning mechanism 501 then positions and transfers the object carried by the first item transfer mechanism 100b. The first positioning mechanism 501 has the function of rotating around axis Ax3. This allows the posture of the item transfer mechanisms 100a and 100b to be changed. Rotating the first positioning mechanism 501 around axis Ax3 makes it possible to rock the object. For example, if a liquid is sealed in the object, rocking the object can cause the liquid in the object to flow and mix.

[0034] The first positioning mechanism 501 used in the first item management system 500 may be a vertical articulated robot with multiple rotation axes, a horizontal articulated robot, or a Cartesian robot (e.g., with three axes and a θ axis). In this case, the positioning mechanism 501 has multiple rotation axes, or multiple linear axes and rotation axes.

[0035] The article transfer mechanism stocker provided on the first moving body 502 may have a function of keeping the articles held by the article transfer mechanisms 100a and 100b warm.

[0036] FIG. 10 is a diagram illustrating a first item storage warehouse 400 according to the present invention. FIG. 10 shows the first item storage warehouse 400, which receives, discharges, and stores items 105 using a first item management system 500. The first item storage warehouse 400 includes a first item storage slot 401. One or more first item storage slots 401 are provided, allowing for the receiving, discharging, and storage of multiple items 105. The first item storage slot 401 is also configured to allow the items 105 to be loaded and unloaded in the direction indicated by arrow A. The items 105 transferred to the first item storage warehouse 400 are relocated to a suitable position by an item handling means (not shown) within the first item storage warehouse 400.

[0037] The first item storage 400 may be, for example, a refrigerator. Alternatively, it may be a disposal box for disposing of items. Alternatively, it may be an automated device that performs a task using the stored items.

[0038] The first item storage warehouse 400 may take in, eject, and store the first cassette 120 (see FIG. 1) in addition to the items 105. In this case, when the first cassette 120 is transferred to another first item storage warehouse 400, the item may be transferred individually.

[0039] Furthermore, the first item storage warehouse 400 may take in, discharge, and store the first item transfer mechanisms 100a and 100b loaded with items. In this case, the first item storage warehouse 400 has an item transfer mechanism stocker (not shown) inside, and the first item transfer mechanisms 100a and 100b are automatically attached and detached by the first positioning mechanism 501 shown in FIG.

[0040] When storing the first cassette 120 and the first article transfer mechanisms 100a and 100b inside the first article storage warehouse 400, articles may be loaded in advance into the first cassette 120 by an article handling mechanism (not shown) provided inside the first article storage warehouse 400. In this case, since the transfer of the articles has been completed inside the first article storage warehouse 400, the operation of transferring the articles can be omitted. This is expected to reduce the work time.

[0041] 11 is a diagram illustrating a series of operations of the first item management system 500 according to the present invention. (A): The first item management system 500 moves to the first item storage cabinet 400 by the first moving body 502. The first positioning mechanism 501 positions the first item transfer mechanism 100 so that it is substantially directly opposite the first item storage slot 401.

[0042] (B): The first article transfer mechanism 100 operates the first article gripping and moving unit 130 (see FIG. 1) to suck and grip the article 105 .

[0043] (C), (D): The first item transfer mechanism 100 moves the item 105 that it has adsorbed and gripped in the direction of the first item storage slot 401 of the first item storage cabinet 400 .

[0044] (E): The first item transfer mechanism 100 completes inserting the item 105 into the first item storage slot 401 .

[0045] When the insertion of the item 105 into the first item storage slot 401 is completed, the first item transfer mechanism 100 returns the first item gripping and moving unit 130 to its initial position. If there are multiple items, the first item transfer mechanism 100 uses the first item selection and moving unit 140 (see FIG. 1) to select and suck and grip the next item. At approximately the same time, the first positioning mechanism 501 positions the first item transfer mechanism 100 so that it is approximately directly opposite another first item storage slot 401 in the first item storage cabinet 400. The item 105 is then transferred as described above.

[0046] When removing the item 105 from the first item storage cabinet 400 and transferring it to the first cassette 120 (see FIG. 1) of the first item transfer mechanism 100, the above-described operations are performed in reverse order. The difference is that the first item transfer mechanism 100 operates the first item gripping and moving unit 140 without suctioning the item 105, causing the suction pad 136 (see FIG. 2) to enter the first item storage slot 401 and suck the item 105. Furthermore, once the transfer to the first item transfer mechanism 100 is complete, the first item gripping and moving unit 130 releases the suction grip of the item 105, and the latch mechanism 150 (see FIG. 8A) operates to hold the item in the slot 125 (see FIG. 4) of the first cassette 120.

[0047] FIG. 12 is an operational flowchart of the first item management system 500 according to the present invention. Here, the components will be described without numbering. The item management system 500 begins operation upon receiving an instruction from the item collection and delivery management unit 700 shown in FIG. 19 (301). The instruction from the item collection and delivery management unit 700 is to transfer a specified item from a specified item storage warehouse to another item storage warehouse. When the item management system 500 receives the instruction, the item management system 500 moves to the specified item storage warehouse 400 using the mobile unit 502 (302). Next, the mobile unit 502 performs a positioning operation at a specified position near the item storage warehouse 400 (303). If the positioning operation by the mobile unit 502 is not completed, the positioning operation is performed again (304 NO). If the positioning operation is completed, the process proceeds to the next step (304 YES). Next, item transfer begins (305). The operation during item transfer is as described in FIG. 11. The item transfer includes (1) transferring items from the item transfer mechanism 100 to the item storage 400, and (2) transferring items from the item storage 400 to the item transfer mechanism 100. Next, it is confirmed that the items have been transferred as instructed (306). If there are items remaining to be transferred to the item transfer mechanism 100, the item transfer is deemed incomplete and the item transfer continues (306 NO). Once the item transfer is complete, the process moves to the next step (306 YES). Next, it is confirmed that the work is complete (307). When transferring items to multiple item storages 400, the moving body 502 moves to the next item storage 400 because it needs to move to that next item storage 400 (307 NO). When all instructed item transfers are complete, the operation is completed (307 YES) (308). If an abnormality occurs during this series of operations, an alarm sound or light indicating the abnormality is activated to notify the operator, and the item management system 500 is temporarily stopped. After the abnormality is resolved, the item transfer resumes. As an example of a means for detecting anomalies, RFID technology may be applied. That is, an IC tag with product information written on it is attached to the product, and a communication device that can wirelessly read and rewrite the information on the IC tag using radio waves or the like is provided, so that it is possible to confirm whether the target product has been transferred properly.By using this technology, if the item management system 500 is moving or the item transfer mechanism 100 accidentally drops an item while transferring an item, an abnormality can be detected and the worker can be notified, which is expected to prevent incorrect work and allow work to be resumed smoothly.

[0048] [Embodiment 2] A second embodiment of the present invention will be described with reference to Figures 13 to 19. Figure 13 is a perspective view illustrating a second article transfer mechanism 200 according to the present invention. The second article transfer mechanism 200 includes a second transfer unit (second transfer device) 210, a second cassette 220, and an attachment / detachment jig 111 that enables the second article transfer mechanism 200 to be attached to and detached from the second positioning mechanism 511 (see Figure 16). Furthermore, the second transfer unit 210 includes a second article gripping and moving unit (second article gripping and moving device) 230 and a second article selecting and moving unit (first item selecting and moving device) 240. The attachment / detachment jig 111 and the second item selecting and moving unit 240 are connected via a fourth base 214 and a fifth base 215 that is connected to the fourth base.

[0049] The attachment / detachment jig 111 has been described in Example 1, so a description thereof will be omitted. The second cassette 220 has a second item holding section 223. The second item holding section 223 holds the items 205 (205a, 205b, 205c, 205d, 205e) to be transferred by the second item gripping and moving section 230. The second cassette 220 will be described in detail with reference to FIG. 14.

[0050] The second item gripping and moving section 230 comprises a joint 231 to which an air tube is connected, a hollow shaft 232 to which the joint 231 is connected, a third actuator 233 that moves the hollow shaft 232 in the direction of arrow G, a sixth base 234 to which the third actuator 233 is fixed at one end and whose other end is fixed to a second linear guide 222 fixed to the fifth base 215, and which moves in the direction of arrow H, and a suction pad (item gripping section) 236 fixed to a suction pad adapter 235.

[0051] The suction pad adapter 235 is fixed to the end of the hollow shaft 232 opposite to the end connected to the joint 231. The suction pad 236 communicates with air flow paths provided in the joint 231, hollow shaft 232, and suction pad adapter 235, and sucks and grips the article 205.

[0052] The second item selection and movement section 240 comprises a fourth actuator 241 that moves the second item holding and movement section 230, a pulley 245 connected to the fourth actuator 241, a pulley 244 that is arranged opposite the pulley 245 in the direction of arrow K, a transmission belt 242 that connects the pulley 244 and the pulley 245 to transmit the power of the fourth actuator 241, and a seventh base 243 that fixes the fourth actuator 241 and a shaft (not shown) that supports the pulley 244.

[0053] The second item selecting and moving section 240 can move the second item gripping and moving section 230 in the direction of arrow K by rotating the fourth actuator 241 in the direction of arrow J.

[0054] The first item selection and movement unit 140 changes the relative position between the first cassette 120 and the item gripping and movement unit 130 to select a specific item from the multiple items held in the first cassette 120. In this embodiment, the item selection and movement unit 240 moves the item gripping and movement unit 230 to change the relative position between the cassette 220 and the item gripping and movement unit 230.

[0055] The hollow shaft 232 of the second article gripping and moving section 230 can be rotated around the Z-axis by the third actuator 233, as indicated by the arrow N. By rotating the hollow shaft 232 around the Z-axis, it is possible to change the posture of the article 205 when gripping and transferring the article 205.

[0056] Being able to change the orientation of the item 205 makes it possible to transfer the item 205 according to the state of the destination. Furthermore, being able to change the orientation of the item 205 makes it possible to rock the item 205. As an example, if the item 205 contains a liquid, rocking the item 205 can cause the liquid inside the item to flow and mix. The item 205 is approximately rectangular and may be a reagent container, a specimen test tube, a system water bottle, or a cleaning solution bottle used in an automatic analyzer, etc. However, the item 205 is not limited to these.

[0057] 14 is a perspective view illustrating a second cassette 220 according to the present invention. The second cassette 220 has slots 225 (225a, 225b) capable of stably holding articles 205 (205c, 205d, 205e). The slots 225 have partition plates 224 (224a, 224b) for stably holding the articles. The partition plates 224 are usually fixed. However, the partition plates 224 may be supported so as to be movable in the direction indicated by arrow L. In this case, it is possible to hold (mix) articles 205 having different lengths in the Y direction.

[0058] The second cassette 220 may be fixed to the fifth base 215, or may be removably supported by a detachable portion (not shown). When the second cassette 220 is removably supported, the articles can be handled in cassette units, which is expected to reduce the transfer time compared to handling individual articles.

[0059] Furthermore, if it is necessary to keep items warm or cold, a warm / cold insulation device (item warming device) not shown may be mounted in the second cassette 220 or each slot 225. Furthermore, if temperature control is required, a temperature detector may be provided in the second cassette 220 or each slot 225. In this case, the warm / cold insulation device and the temperature detector can be assembled in the cassette 220, which can be realized, for example, by embedding a heater and a temperature detector in the cassette 220.

[0060] Furthermore, if an item needs to be kept warm or cold, a warm / cold insulation device (item warming device) 220a may be installed in the second cassette 220. Furthermore, if temperature control is required, a temperature detector 220b may be installed in the second cassette 220. The warm / cold insulation device 220a and the temperature detector 220b may be installed in all slots 225 or in specific slots 225. In this case, the warm / cold insulation device 220a and the temperature detector 220b can be assembled to the second cassette 220. For example, the warm / cold insulation device 220a and the temperature detector 220b can be embedded in the partition plate 224 or the bottom (lower surface) of the second cassette 220. In this embodiment, an example in which the warm / cold insulation device 120a and the temperature detector 120b are embedded in the bottom (lower surface) is shown. The warm / cold insulation device 220a may be, for example, a pipe for circulating a heat medium or an electric heating wire embedded in the bottom (lower surface).

[0061] FIG. 15 is a perspective view illustrating the operation of the second transfer unit 210 of the second article transfer mechanism 200 according to the present invention. The upper left diagram of FIG. 15 shows the initial position of the second article transfer mechanism 200. Five articles are loaded into the second cassette 220. The second article gripping and moving unit 230 is moved in the Y- direction by the second item selecting and moving unit 240. The second article transfer mechanism 200 is positioned near a slot in the second article storage cabinet to which the articles are to be transferred by the second positioning mechanism 511 of the article management system 510, which will be described in FIG. 16. FIG. 15 uses the transfer of an article located at the end of the Y+ direction as an example. When an article transfer instruction is received in the upper left diagram of FIG. 15, the second item selecting and moving unit 240 begins moving in the Y+ direction indicated by the arrow H to adsorb and grasp the articles.

[0062] The upper middle diagram of Figure 15 shows the state in which the second item gripping and moving section 230 has been moved by the second item selecting and moving section 240 to approximately directly above the item to be transferred. From this state, the hollow shaft 232 is moved in the Z- direction indicated by arrow G, causing the second item gripping and moving section 230 to suction and grip the item, as shown in the upper right diagram of Figure 15. Next, while still gripping the item, the hollow shaft 232 is moved in the Z+ direction indicated by arrow G, thereby removing the item from the slot 225 of the second cassette 220, as shown in the lower left diagram of Figure 15. Next, the second item selecting and moving section 240 is moved in the Y+ direction indicated by arrow H, thereby moving the item outside the second cassette 220, as shown in the lower middle diagram of Figure 15. Next, by further moving the hollow shaft 232 in the Z- direction indicated by arrow G, the item is moved in the Z- direction, as shown in the lower right diagram of Figure 15, and transferred to an item storage slot 601 (see Figure 17) of the second item storage cabinet 600. When transferring an article from the second article storage cabinet 600 to the second article transfer mechanism 200, the above-described procedure is reversed to transfer the article to the second cassette 220. The second article transfer mechanism 200 may use the suction pad 236 to suction-hold the article, or may use a gripper instead of the suction pad. The suction pad 236 can be replaced with any other means for holding an article that is equivalent to the suction pad 236.

[0063] Figure 16 is a diagram illustrating a second item management system 510 according to the present invention. Figure 16 illustrates a case in which the second item management system 510 handles two second item transfer mechanisms 200a and 200b. That is, the second item management system 510 includes a second item transfer mechanism 200a, a second item transfer mechanism 200b, a second positioning mechanism 511 to which the second item transfer mechanism 200a is detachably connected, and a second mobile body 512 that is equipped with the second positioning mechanism 511 and can move autonomously.

[0064] In Figure 16, the second article transfer mechanism 200a is shown in a state where it has no article loaded thereon, and is preparing to remove and transfer an article from the second article storage cabinet 600 shown in Figure 17. The second article transfer mechanism 200b is disposed in an article transfer mechanism stocker (not shown) provided on the second movable body 512. The second positioning mechanism 511 positions the second article transfer mechanism 200a, removes, for example, an empty article from the second article storage cabinet 600 (not shown), and transfers the article to the second cassette 220 (see Figure 13). Upon completing the transfer of the article, the second positioning mechanism 511 rotates and places it in an article transfer mechanism stocker (not shown), and disconnects the second article transfer mechanism 200a.

[0065] Furthermore, the second positioning mechanism 511 couples with and rotates the second positioning mechanism 200b carrying the object. The second moving body 512 then moves the second item management system 510 to the second item storage 600 (not shown). The second positioning mechanism 511 then positions and transfers the object carried by the second item transfer mechanism 200b. The second positioning mechanism 511 has the function of rotating around the axis Ax4. This allows the posture of the item transfer mechanisms 200a and 200b to be changed. Rotating the second positioning mechanism 511 around the axis Ax4 makes it possible to rock the object. For example, if the object contains a liquid, rocking the object can cause the liquid in the object to flow and mix.

[0066] The second positioning mechanism 511 used in the second item management system 510 may be a vertical articulated robot with multiple rotation axes, a horizontal articulated robot, or a Cartesian robot (e.g., with three axes and a θ axis). In this case, the positioning mechanism 511 has multiple rotation axes, or multiple linear axes and rotation axes.

[0067] The article transfer mechanism stocker provided on the second moving body 512 may have a function of keeping the articles held by the article transfer mechanisms 200a and 200b warm.

[0068] 17 is a diagram illustrating a second item storage cabinet 600 according to the present invention. The second item storage cabinet 600 includes a second item storage slot 601. One or more second item storage slots 601 are provided, and are capable of taking in, discharging, and storing a plurality of items 205. The second item storage slot 601 is configured to allow items 205 to be taken in and out in the direction indicated by arrow G. The items 205 transferred to the second item storage cabinet 600 are relocated to a suitable position by an item handling means (not shown) within the second item storage cabinet 400.

[0069] Arrow H indicates the movement direction of second item transfer mechanisms 200a, 200b. While moving in the direction of arrow H, second item transfer mechanisms 200a, 200b transfer item 205 to second item storage slot 601. Second item storage 600 may be, for example, a refrigerator. As another example, it may be a disposal box for disposing of items. As another example, it may be an automated device that performs work using stored items.

[0070] The second item storage 600 may take in, discharge, and store the second cassette 220 in addition to the items 205. In this case, when transferring the entire second cassette 220 to another second item storage 600, the items may be transferred individually.

[0071] Furthermore, the second item storage 600 may take in, discharge, and store the second item transfer mechanisms 200a and 200b loaded with items. In this case, the second item storage 600 has an item transfer mechanism stocker (not shown) inside, and the second item transfer mechanisms 200a and 200b are automatically attached and detached by the second positioning mechanism 511 shown in FIG.

[0072] When storing the second cassette 220 and the second article transfer mechanisms 200a and 200b in the second article storage warehouse 600, articles may be loaded in advance into the second cassette 220 by an article handling mechanism (not shown) provided in the first article storage warehouse 600. In this case, since the article transfer has already been completed in the second article storage warehouse 600, the article transfer operation can be omitted. This is expected to reduce the work time.

[0073] Figure 18 is a diagram illustrating a series of operations of the second item management system 510 according to the present invention. (A): An example of the initial position of the second item management system 510 during transfer is shown. In this example, item 205 is being transferred to the far right of the second item storage slot 601. Therefore, the second positioning mechanism 511 of the second item management system 510 positions the second item transfer mechanism 200 so as to provide space at the far left where item transfer operation can be performed. The second item management system 510 and the second item storage cabinet 600 have been described in Figures 16 and 17, respectively, so a description thereof will be omitted here.

[0074] (B): The second item transfer mechanism 200 moves the second item gripping and moving section 230 to approximately directly above the item 205 to be transferred.

[0075] (C): The second item transfer mechanism 200 adsorbs and grips the item 205 using the second item gripping and moving section 230 .

[0076] (D): The second article transfer mechanism 200 removes the article 205 from the second cassette 220 .

[0077] (E): The second item transfer mechanism 200 moves the item 205 removed from the second cassette 220 to approximately directly above the target second item storage slot 601 using the second item selection and movement unit 240.

[0078] (F): The second item transfer mechanism 200 transfers the item 205 to the second item storage slot 601 using the second item gripping and moving section 230.

[0079] Once the transfer of the item to the second item storage slot 601 is complete, the second item transfer mechanism 200 returns the second item gripping and moving unit 230 to its initial position. When there are multiple items as shown in Figure 18, the second item transfer mechanism 200 selects and sucks and grips the next item using the second item selection and moving unit 240 and the second item gripping and moving unit 230. At approximately the same time, the second positioning mechanism 511 positions the second item transfer mechanism 200 at a position where it can transfer the item to another second item storage slot 601 in the second item storage cabinet 600. Then, the item 205 is transferred as described above.

[0080] When removing the item 205 from the second item storage cabinet 600 and transferring it to the second cassette 220 of the second item transfer mechanism 200, the above-described operations are performed in reverse order. The difference is that the second item transfer mechanism 200 operates the second item gripping and moving unit 230 without adsorbing the item 205, causing the suction pad 236 to enter the second item storage slot 601 and adsorb the item 205. Furthermore, once the transfer to the second item transfer mechanism 200 is complete, the second item gripping and moving unit 230 releases the suction grip of the item 205. Furthermore, the above operations perform the item transfer operation as shown in the flowchart described in Example 1 with reference to FIG. 12.

[0081] Figure 19 is a diagram illustrating device cooperation between the item management systems 500 and 510 according to the present invention. As an example illustrating device cooperation between the item management systems, Figure 19 shows a situation in which a first item storage warehouse 400, a second item storage warehouse 600, a first item management system 500, a second item management system 510, and an item collection and delivery management unit 700 cooperate with each other.

[0082] The item collection and delivery management unit 700 has information about items stored in the first item storage warehouse 400 and the second item storage warehouse 600. The item information is information necessary for item management, such as the type of item, manufacturing date, and usage history. The item information is managed by applying the RFID technology described in Figure 12, by attaching an IC tag containing item information to the item and reading and writing the information through communication using a separately provided communication device.

[0083] Furthermore, in order to perform the series of operations of each item management system shown in FIG. 11 of the first embodiment and FIG. 18 of the second embodiment, the item collection and delivery management unit 700 monitors the storage status of items by communicating with the item management system and the item storage warehouse. If an item is in short supply, the item collection and delivery system 700 issues an item management system command to retrieve the item from the appropriate item storage warehouse. Upon receiving the command, the item management system stores the item in the specified item storage warehouse. As explained above, the item management systems 500 and 510 collect and deliver items based on item information.

[0084] The above-described embodiment of the present invention has the following features: (1) The article transfer mechanism 100, 200 includes a cassette 120, 220 on which a plurality of articles 105, 205 are placed, an article gripping and moving unit 130, 230 that grips and moves the articles 105, 205, and an article selecting and moving unit 140, 240 that changes the relative position between the cassette 120, 220 and the article gripping and moving unit 130, 230 to select a specific article from the plurality of articles 105, 205 held in the cassette 120, 220, wherein the article selecting and moving unit 140, 240 changes the relative position between the cassette 120, 220 and the article gripping and moving unit 130, 230 to select the article 105, 205 to be transferred, and the article gripping and moving unit 130, 230 transfers the selected article 105, 205 by holding and moving it.

[0085] (2) The article selecting and moving unit 140 moves the cassette 120 to change the relative position between the cassette 120 and the article gripping and moving unit 130 .

[0086] (3) The article selection and movement unit 240 moves the article gripping and movement unit 230 to change the relative position between the cassette 220 and the article gripping and movement unit 230 .

[0087] (4) The cassettes 120, 220 include a plurality of slots 125, 225 for holding articles and partition plates 124, 224 that define the plurality of slots 125, 225. The partition plates 124, 224 are movably supported so that the slot size can be changed.

[0088] (5) The item gripping and moving section 130 includes an item gripping section 136 that grips an item and moves in the direction of transferring the item, and the cassette 120 includes a plurality of slots 125 that hold the items, a latch member 126 that is arranged in the path for loading and unloading the items and prevents the items from falling out of the slot 125, and a shaft 127 that rotatably supports the latch member 126, and the latch member 126 is configured to rotate in conjunction with the movement of the item gripping section 136.

[0089] (6) The cassettes 120 and 220 are equipped with article warming devices 120a and 220a.

[0090] (7) The cassettes 120 and 220 are provided with temperature detectors 120b and 220b in the plurality of slots 125 and 225, respectively.

[0091] (8) The article gripping and moving unit 130, 230 includes: a suction pad 136, 236 that sucks and grips an article; a suction pad adapter 135, 235 that supports the suction pad 136, 236 and has an air flow path; a hollow shaft 132, 232 that is connected to the air flow path 135a of the suction pad adapter 135, 235 and has a joint 131, 231 at the other end; and an actuator 133, 233 that moves the hollow shaft 132, 232 in the axial direction of the hollow shaft and rotates it around the axis of the hollow shaft.

[0092] (9) When the article has been released from the cassette 120, 220 and is being held only by the suction pads 136, 236, the article gripping and moving unit 130, 230 rotates the hollow shaft 132, 232 about its axis to change the position of the article.

[0093] (10) The item management system includes positioning mechanisms 501, 511 that position item transfer mechanisms 100, 200, autonomously movable mobile bodies 502, 512 that are equipped with the positioning mechanisms 501, 511, and item storage cabinets 400, 600 that store items, and transfers multiple items between multiple item storage cabinets.

[0094] (11) The positioning mechanisms 501 and 511 have multiple rotation axes.

[0095] (12) The positioning mechanisms 501 and 511 have multiple linear axes and rotation axes.

[0096] (13) The item management system includes an item collection and delivery management unit 700, and transfers multiple items between multiple item storage units 400, 600 based on work instructions sent from the item collection and delivery management unit 700.

[0097] According to the above-described embodiment of the present invention, the burden on the worker can be reduced by using an article transfer mechanism that can efficiently replace multiple articles. Furthermore, the work time can be reduced by using an article transfer mechanism that can load multiple articles and sequentially load and unload the articles. Furthermore, since the articles can be loaded and unloaded in a short time, the impact of the surrounding environment on the articles can be reduced. Furthermore, since multiple articles can be handled with a compact configuration and simple control, the time required for the worker to teach the article management system (the time required for the worker to instruct the article management system on a series of operations in advance) can be reduced.

[0098] The present invention is not limited to the above-described embodiments, but includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and are not necessarily limited to those including all of the configurations. Furthermore, it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment, or to add the configuration of another embodiment to the configuration of one embodiment. Furthermore, it is possible to add, delete, or replace part of the configuration of each embodiment with other configurations.

[0099] 100, 200... Article transfer mechanism, 105, 205... Article, 120, 220... Cassette, 120a, 220a... Article warming device, 120b, 220b... Temperature detector, 124, 224... Partition plate, 125, 225... Slot, 126... Latch member, 127... Shaft for rotatably supporting latch member 126, 130, 230... Article gripping and moving section, 131, 231... Joint, 1 32, 232...hollow shaft, 133, 233...actuator, 135, 235...suction pad adapter, 135a...air flow path, 136, 236...item gripping section (suction pad), 140, 240...item selection and movement section, 400, 600...item storage cabinet, 500, 510...item management system, 501, 511...positioning mechanism, 502, 512...moving body, 700...item collection and delivery management section.

Claims

1. An item transfer mechanism comprising: a cassette for placing a plurality of items; an item gripping and moving unit for gripping and moving the items; and an item selection and moving unit for selecting a specific item from the plurality of items held in the cassette by changing the relative position between the cassette and the item gripping and moving unit, wherein the item selection and moving unit selects an item to be transferred by changing the relative position between the cassette and the item gripping and moving unit, and the item transfer mechanism transfers the items by holding and moving the selected item.

2. An article transfer mechanism as described in claim 1, wherein the article selection and movement section moves the cassette to change the relative position between the cassette and the article gripping and movement section.

3. An article transfer mechanism as described in claim 1, wherein the article selection and movement section moves the article gripping and movement section to change the relative position between the cassette and the article gripping and movement section.

4. An article transfer mechanism as described in claim 2 or 3, wherein the cassette comprises a plurality of slots for holding articles and a partition plate which defines the plurality of slots, and the partition plate is movably supported so as to enable the slot size to be changed.

5. An article transfer mechanism as described in claim 2, wherein the article gripping and moving section comprises an article gripping section which grips an article and moves in the direction of transferring the article, the cassette comprises: a plurality of slots for holding articles; a latch member which is disposed in the path for inserting and removing the articles and prevents the articles from falling out of the slots; and a shaft which rotatably supports the latch member, and the latch member is configured to rotate in conjunction with the movement of the article gripping section.

6. An article transfer mechanism as claimed in claim 2 or 3, wherein the cassette is provided with an article warming device.

7. An article transfer mechanism according to claim 2 or 3, wherein the cassette is provided with temperature detectors in a plurality of slots.

8. An article transfer mechanism as claimed in claim 2 or 3, wherein the article gripping and moving section comprises: a suction pad for suction-gripping an article; a suction pad adapter supporting the suction pad and having an air flow path; a hollow shaft connected to the air flow path of the suction pad adapter and having a joint at the other end; and an actuator for moving the hollow shaft in the axial direction of the hollow shaft and for rotating the hollow shaft around the axis of the hollow shaft.

9. An article transfer mechanism as described in claim 8, wherein the article gripping and moving section rotates the hollow shaft around its axis to change the position of the article when the article has been removed from the cassette and is held only by the suction pad.

10. An item management system comprising: an item transfer mechanism as described in claim 1; a positioning mechanism for positioning the item transfer mechanism; a mobile body capable of autonomously moving and equipped with the positioning mechanism; and an item storage facility for storing items, wherein the system transfers multiple items between multiple item storage facilities.

11. An item management system according to claim 10, wherein the positioning mechanism has multiple rotation axes.

12. An article management system according to claim 10, wherein the positioning mechanism has a plurality of linear axes and rotation axes.

13. An item management system according to claim 10, further comprising an item collection and delivery management unit, which transfers a plurality of items between a plurality of item storage facilities in accordance with work instructions issued from the item collection and delivery management unit.

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