Conveyance system, conveyance method for conveyance object, and robot

Abstract

This conveyance system (100) is provided with a robot (10) and a supply unit (40). The robot (10) includes: a robot arm (11) that performs work on a conveyance object (101); a carriage part (20) on which the conveyance object (101) is placed; and a moving part (21) that moves the carriage part (20). The supply unit (40) supplies the conveyance object (101) to the robot (10) on the basis of at least one of the operation by the robot arm (11) of the robot (10) and the movement of the carriage part (20).

Description

Conveyance system, object conveyance method, and robot

[0001] The present disclosure relates to a transport system, a method for transporting an object, and a robot.

[0002] Conventionally, workpiece transport systems including mobile robots have been disclosed. In the workpiece transport system disclosed in Japanese Patent Laid-Open Publication No. 5-55346, a mobile robot transports workpieces between devices. The mobile robot is equipped with a robot hand. The robot hand grasps the workpiece and moves it between a transfer table provided in the device and the mobile robot.

[0003] Japanese Patent Application Publication No. 5-55346

[0004] However, as in the above-mentioned Japanese Patent Laid-Open Publication No. 5-55346, when a robot itself moves a transported object using a robot arm having a robot hand that grips a workpiece, the robot arm needs to be configured to suit the shape or weight of the transported object. In such a case, it is considered that a robot arm configured to suit the transport of the transported object will have difficulty performing tasks other than gripping the transported object. Therefore, it is desired to be able to easily transport the transported object and perform tasks other than transporting the transported object.

[0005] This disclosure has been made to solve the above-mentioned problems, and one purpose of this disclosure is to provide a transport system, a method for transporting objects, and a robot that can easily transport objects and perform tasks other than transporting the objects.

[0006] A transport system according to a first aspect of this disclosure includes a robot including a robot arm that performs work on the transported object, a cart unit on which the transported object is placed, and a moving unit that moves the cart unit, and a supply unit that supplies the transported object to the robot based on at least one of operation by the robot arm of the robot and movement of the cart unit.

[0007] As described above, the conveying system according to the first aspect of this disclosure includes a supply unit that supplies transported objects to the robot based on at least one of the operation of the robot arm of the robot and the movement of the carriage unit. Because the transported objects are supplied to the robot by the supply unit, the robot arm can be configured to be suited to work on the transported objects rather than being configured to be suited to moving the transported objects. As a result, the robot can easily transport the transported objects and perform work other than transporting the transported objects.

[0008] A method for transporting transported objects according to a second aspect of this disclosure uses a robot including a robot arm that performs work on the transported objects, a cart unit on which the transported objects are placed, and a moving unit that moves the cart unit, and a supply unit that supplies the transported objects to the robot performs at least one of operation by the robot arm and movement of the cart unit, and the supply unit supplies the transported objects to the robot based on at least one of operation by the robot arm of the robot and movement of the cart unit.

[0009] In the method for transporting an object according to a second aspect of the present disclosure, as described above, the supply unit supplies the object to the robot based on at least one of the operation of the robot arm of the robot and the movement of the carriage unit. As a result, since the object is supplied to the robot by the supply unit, the robot arm can be configured to be suited to work on the object, rather than being configured to be suited to moving the object. As a result, a method for transporting an object can be provided that can easily transport the object and perform work other than transporting the object.

[0010] A robot according to a third aspect of this disclosure includes a robot arm that performs work on the transported object, a cart unit on which the transported object is placed, a moving unit that moves the cart unit, and a control unit that performs at least one of operating the robot arm and moving the cart unit with respect to a supply unit that supplies the transported object.

[0011] A robot according to a third aspect of this disclosure includes a control unit that controls at least one of the robot arm and the carriage unit to operate the supply unit that supplies the transported objects, as described above. Because the transported objects are supplied to the robot by the supply unit, the robot arm can be configured to be suited to work on the transported objects, rather than being configured to be suited to moving the transported objects. As a result, a robot can be provided that can easily transport the transported objects and perform work other than transporting the transported objects.

[0012] According to the present disclosure, it is possible to easily transport an object and perform tasks other than transporting the object.

[0013] FIG. 1 is a schematic diagram showing the configuration of a transport system according to an embodiment of the present disclosure; FIG. 2 is a front view for explaining the configuration of a robot in the transport system; FIG. 3 is a schematic diagram for explaining the configuration of a loading slope in the robot; FIG. 4 is a block diagram for explaining the control configuration of the robot; FIG. 5 is a schematic diagram for explaining the configuration of a supply unit and a receiving unit; FIG. 6 is a diagram for explaining the operation of a supply holding unit; FIG. 7 is a diagram for explaining the operation of a drive switch by a robot arm; and FIG. 8 is a flowchart for explaining the control processing of a method for transporting an object by a robot of the transport system. FIG. 9 is a schematic diagram showing the configuration of a supply unit in a modified example of an embodiment of the present disclosure.

[0014] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings.

[0015] 1 through 7, a transport system 100 according to one embodiment will be described.

[0016] (Transport System) As shown in FIG. 1 , the transport system 100 includes a robot 10, a supply unit 40, a receiving unit 50, and an object placement unit 60. In the transport system 100, the robot 10 performs a kitting operation in which objects 102 are placed in placement containers 101. In the kitting operation, multiple types of objects 102 are placed in an organized state in predetermined locations within the placement container 101. The supply unit 40 supplies the robot 101 in which the objects 102 are to be placed. The receiving unit 50 receives the placement container 101 from the robot 10. Specifically, in the transport system 100, the supply unit 40 supplies the robot 10 with an empty placement container 101 in which the objects 102 have not yet been placed. The robot 10 places each of the multiple types of objects 102 in a predetermined location within the placement container 101 according to a preset program. Multiple types of objects 102 are stored in an object placement unit 60 that is located at a position separated from the supply unit 40 and the receiving unit 50. In the object placement unit 60, multiple types of objects 102 are placed side by side in containers according to type. The robot 10 moves between a placement position 10a for placing the objects 102 in the placement container 101 and a transfer position 10b where the placement container 101 is transferred to and from the supply unit 40 and the receiving unit 50. Furthermore, the placement container 101 in which the objects 102 have been placed by the robot 10 is transported by the robot 10 and transferred to the receiving unit 50. The placement container 101 is an example of a transported object.

[0017] As shown in FIG. 2 , the robot 10 includes a robot arm 11, a gripping unit 12, and an imaging unit 13. The robot arm 11 is a vertically articulated robot arm having multiple joints. For example, the robot arm 11 is a six-axis vertically articulated arm. The robot arm 11 has a drive unit that drives each of the multiple joints. The drive source of the robot arm 11 includes, for example, a servo motor. The robot arm 11 has a gripping unit 12. The gripping unit 12 is an end effector disposed at the tip of the robot arm 11. The gripping unit 12 grips an object 102. The robot 10 of this embodiment performs an operation on a placement container 101 by the robot arm 11, in which the object 102 gripped by the gripping unit 12 is placed in the placement container 101. The imaging unit 13 includes an image sensor such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The imaging unit 13 is disposed at the tip of the robot arm 11, similar to the gripping unit 12. The robot 10 detects the position of the target object 102 based on the image captured by the imaging unit 13.

[0018] The robot 10 also includes a cart unit 20, a moving unit 21, a mounting slope 22, and a robot stopper unit 23. The placement container 101 is placed on the cart unit 20. The cart unit 20 is a box-shaped housing. The moving unit 21 that moves the cart unit 20 is arranged on the cart unit 20. The moving unit 21 has a plurality of wheels that rotate while supporting the cart unit 20, and a servo motor that drives the plurality of wheels. The robot arm 11 is also arranged on the upper surface of the cart unit 20. That is, the robot arm 11 moves integrally with the cart unit 20 by the moving unit 21. In this embodiment, the robot 10 also has a mounting slope 22 as a mounting surface on which the placement container 101 is placed on the cart unit 20. The mounting slope 22 is arranged alongside the robot arm 11 on the upper surface of the cart unit 20. The loading slope 22 includes a roller conveyor arranged at a predetermined inclination with respect to the loading surface of the robot 10, which is the floor surface. The loading slope 22 has two rail members arranged at an incline with respect to the horizontal plane and a plurality of roller members arranged along each of the two rail members. In the robot 10, no power is supplied to the roller conveyor. A pair of roller conveyors is arranged on the loading slope 22 so that the placed container 101 moves along the slope by gravity. Also, a robot stopper unit 23 is arranged on the loading slope 22. The robot stopper unit 23 holds the placed container 101 placed on the loading slope 22. The robot stopper unit 23 has an electric stopper 24 and an anti-back unit 25. The electric stopper 24 and anti-back unit 25 of the robot stopper unit 23 are arranged between the pair of roller conveyors on the loading slope 22.

[0019] As shown in FIG. 3 , when the robot 10 is positioned at the transfer position 10b, the loading ramp 22 is inclined downward from the supply unit 40 toward the receiving unit 50. The electric stopper 24 of the robot stopper unit 23 is positioned on the receiving unit 50 side, which is the lower side of the loading ramp 22. The electric stopper 24 extends in a direction perpendicular to the loading ramp 22 and includes a cylindrical holding member that moves in a direction perpendicular to the loading ramp 22, and a motor that drives the movement of the cylindrical holding member. The cylindrical holding member of the electric stopper 24 moves between a holding position on the front side of the loading ramp 22 and a release position on the back side of the loading ramp 22 in the direction perpendicular to the loading ramp 22. The anti-back portion 25 of the robot stopper unit 23 is positioned on the supply unit 40 side, which is the upper side of the loading ramp 22. The anti-back portion 25 has a triangular claw member. The claw members of the anti-back portion 25 rotate in a direction from above to below on the mounting slope 22, but do not rotate in a direction from below to above. By rotating, the anti-back portion 25 allows the placement container 101 to pass from above to below, but by not rotating in the opposite direction, it prevents the placement container 101 abutting against the electric stopper 24 from moving from below to above on the mounting slope 22. In addition, wall portions 26 are arranged on both sides of the mounting slope 22 in the direction crossing the slope. On the mounting slope 22, the wall portions 26 prevent the placement container 101 from moving in the direction crossing the slope.

[0020] As shown in FIG. 4 , the robot 10 includes a control unit 30, a position sensor 31, a container sensor 32, and a receiving unit sensor 33. The control unit 30 is a robot controller that controls the operation of each unit of the robot 10. The control unit 30 includes, for example, a computing device such as a central processing unit (CPU). The control unit 30 also includes memories such as a random access memory (RAM) and a read-only memory (ROM), and a storage device such as a hard disk. The control unit 30 executes control processing using the computing device based on programs and parameters stored in the storage device. Specifically, the control unit 30 controls the operation of the robot arm 11, the gripper 12, the moving unit 21, and the electric stopper 24 of the robot stopper unit 23. For example, the control unit 30 includes a main CPU that performs overall control of the robot 10 and a servo CPU that controls the power supplied to the servo motors of the robot arm 11 and the moving unit 21. The control unit 30 also acquires the captured image captured by the imaging unit 13. The control unit 30 also acquires detection signals from the position sensor 31, the container sensor 32, and the receiving unit sensor 33.

[0021] As shown in FIG. 5 , the control unit 30 of the robot 10 is disposed inside the carriage unit 20. The position sensor 31 is disposed on the underside of the carriage unit 20. The position sensor 31 includes a magnetic sensor that detects a magnetic tape disposed on the floor surface during movement of the robot 10. The container sensor 32 is disposed on the upper side of the carriage unit 20. The container sensor 32 detects the placement container 101 placed on the placement slope 22. The container sensor 32 includes, for example, a photoelectric sensor, a capacitance sensor, a contact sensor, or a mechanical switch. The receiving unit sensor 33 is disposed on the upper side of the carriage unit 20, below the placement slope 22. The receiving unit sensor 33 detects the rod-shaped member 52 of the receiving unit 50 (described later). The receiving unit sensor 33 includes, for example, a photoelectric sensor, a capacitance sensor, a contact sensor, or a mechanical switch. The position sensor 31, the container sensor 32, and the receiving unit sensor 33 each output a signal indicating the detection result to the control unit 30.

[0022] <Supply Unit and Receiving Unit> The supply unit 40 includes a supply slope 41 and a supply holding unit 42. The placement container 101 is placed on the supply slope 41. In this embodiment, the supply unit 40 supplies the placement container 101 to the robot 10 by sliding it from the supply slope 41. The supply slope 41, like the placement slope 22 of the robot 10, includes a roller conveyor inclined at a predetermined angle with respect to the floor. The supply slope 41 has two rail members inclined with respect to the horizontal plane and multiple roller members arranged along each of the two rail members. In the supply unit 40, no power is supplied to the roller conveyor. A pair of roller conveyors are arranged on the supply slope 41 so that the placed placement container 101 moves along the slope due to gravity. The supply slope 41 is inclined downward toward the transfer position 10b where the robot 10 is placed.

[0023] The supply holding unit 42 holds the placement container 101 placed on the supply slope 41. Specifically, the supply holding unit 42 has a holding member 43, a drive unit 44, a rotating member 45, a shaft unit 46, and a support member 47. The holding member 43 and the support member 47 of the supply holding unit 42 are arranged between two rail members. The holding member 43 is arranged on the transfer position 10b side, which is the lower side of the supply slope 41. The holding member 43 has a cylindrical shape, similar to the holding member of the electric stopper 24 of the robot stopper unit 23 of the robot 10, and extends and moves in a direction perpendicular to the supply slope 41. The drive unit 44 includes a motor that serves as a driving source for moving the holding member 43. The holding member 43 moves, driven by the drive unit 44, between a holding position on the front side of the supply slope 41 and a release position on the back side of the supply slope 41 in the direction perpendicular to the supply slope 41. The rotating member 45 is disposed on the back side of the supply slope 41 and is a rod-shaped member extending along the supply slope 41. The rotating member 45 rotates around a shaft 46 as a rotation axis. The shaft 46 rotates the rotating member 45 around a rotation axis in a direction crossing the slope of the supply slope 41. The support member 47 is disposed above the supply slope 41 relative to the holding member 43. The support member 47 is connected to the upper end of the rotating member 45 on the supply slope 41 and is a rod-shaped member extending along a direction perpendicular to the supply slope 41. In the supply unit 40, a plurality of placement containers 101 are placed in a row along the supply slope 41. When the holding member 43 is disposed in the holding position, the supply holding unit 42 uses the holding member 43 to block the sliding movement of the plurality of placement containers 101 along the supply slope 41.

[0024] As shown in FIG. 6 , the supply holding unit 42 supplies a plurality of placement containers 101 one by one to the robot 10 by operation of the drive unit 44. Specifically, the drive unit 44 moves the holding member 43 of the supply holding unit 42 to the release position, whereby the vertically lower end of the holding member 43 pushes the lower end of the rotating member 45, on the supply slope 41, downward in the vertical direction. When the end is pushed down by the holding member 43, the rotating member 45 rotates about the shaft 46 as the rotation axis, and the support member 47 connected to the upper end of the supply slope 41 moves upward toward the surface of the supply slope 41. As a result, the lowest of the plurality of placement containers 101 arranged side by side slides along the supply slope 41, and the second lowest is lifted by the support member 47. That is, in this embodiment, the drive unit 44 operates the holding member 43 and the support member 47 of the supply holding unit 42. As a result, the supply unit 40, while holding all of the plurality of placement containers 101, supplies only one placement container 101 to the robot 10. When the holding member 43 is returned to the holding position by driving the drive unit 44, the support member 47 moves to the back side of the supply slope 41, causing the remaining plurality of placement containers 101 to slide along the supply slope 41. Then, by coming into contact with the holding member 43, the movement of the placement container 101 stops.

[0025] As shown in FIG. 7 , the supply unit 40 includes a drive switch 48. In this embodiment, the supply unit 40 supplies the placement container 101 to the robot 10 based on operation by the robot arm 11 of the robot 10. The drive switch 48 is located in the supply unit 40 at a position on the transfer position 10b side where it can be operated by the robot 10. The drive switch 48 switches the operation of the drive unit 44 when operated by the robot 10. For example, the drive switch 48 includes a mechanical switch connected to a controller that controls the operation of the drive unit 44. Specifically, the robot 10 operates the robot arm 11 to operate the drive switch 48 via the gripper 12. The supply unit 40 places the placement container 101 on the mounting slope 22 of the cart unit 20 of the robot 10 when the drive unit 44 is driven by operation of the robot arm 11. The drive switch 48 is not connected to the control unit 30 of the robot 10 and does not output an electrical signal.

[0026] As shown in FIG. 5 , the receiving unit 50 has a receiving slope 51. In this embodiment, the robot 10 delivers the placement container 101 to the receiving unit 50 by sliding it from the loading slope 22. The placement container 101 delivered from the robot 10 is placed on the receiving slope 51. Like the loading slope 22 of the robot 10 and the supply slope 41 of the supply unit 40, the receiving slope 51 includes a roller conveyor inclined at a predetermined angle with respect to the floor surface. The receiving slope 51 has three rail members inclined with respect to the horizontal plane and a plurality of roller members arranged along each of the three rail members. Power is not supplied to the roller conveyor in the receiving unit 50 either. The three roller conveyors are arranged on the receiving slope 51 so that the placement container 101 delivered from the robot 10 moves along the slope due to gravity. The receiving slope 51 is inclined downward in a direction away from the transfer position 10b where the robot 10 is located.

[0027] In this embodiment, the transfer position 10b is located between the supply unit 40 and the receiving unit 50. That is, the transfer position 10b is a position where the robot 10 is supplied with the placement container 101 from the supply unit 40, and is a position where the robot 10 transfers the placement container 101 to the receiving unit 50. Therefore, in this embodiment, when the robot 10 has moved to the transfer position 10b, it transfers the placement container 101 placed on the cart unit 20 to the receiving unit 50, and receives a new placement container 101 from the supply unit 40. Note that when the robot 10 has moved to the transfer position 10b, the receiving slope 51 of the receiving unit 50 is located on one side of the loading slope 22, which is the loading surface of the cart unit 20 of the robot 10, and the supply slope 41 of the supply unit 40 is located on the other side of the loading slope 22. That is, the supply slope 41 of the supply unit 40, the placement slope 22 of the robot 10, and the receiving slope 51 of the receiving unit 50 all share a common slope with respect to the floor, and are arranged side by side in this order when the robot 10 has moved to the transfer position 10b. The supply slope 41, placement slope 22, and receiving slope 51 are arranged along a common plane. Furthermore, when the placement container 101 slides from the supply slope 41 to the placement slope 22 and when it slides from the placement slope 22 to the receiving slope 51, the placement container 101 moves along a common straight line.

[0028] The receiving unit 50 also has a rod-shaped member 52. The rod-shaped member 52 is disposed to the side of the receiving slope 51 in a direction crossing the slope, and is disposed so as to extend along the receiving slope 51. The rod-shaped member 52 serves as a guide for the placement container 101, which is handed over by the robot 10, to move along the receiving slope 51. In other words, the rod-shaped member 52 inhibits the placement container 101 from moving in a direction crossing the slope of the receiving slope 51. The end of the rod-shaped member 52 on the transfer position 10b side is disposed in a position where it can be detected by the receiving unit sensor 33 of the robot 10 when the robot 10 is disposed at the transfer position 10b. For example, in the robot 10, the receiving unit sensor 33 is disposed at a position equal in height to the end of the rod-shaped member 52.

[0029] 8, a control process for a method of transporting an object by the robot 10 in the transport system 100 will be described. The control process for the method of transporting an object is executed by the control unit 30 of the robot 10.

[0030] First, in step S1, the drive switch 48 is operated by the robot arm 11. With the robot 10 positioned at the transfer position 10b, where the placement container 101 is to be supplied, the control unit 30 performs an operation to prompt the supply unit 40 to supply the placement container 101. Specifically, the control unit 30 controls the movement unit 21 to move the main body of the robot 10 to the transfer position 10b based on the detection result from the position sensor 31. The control unit 30 determines that the robot 10 has moved to the transfer position 10b by acquiring a detection result indicating that the position sensor 31 has detected the magnetic tape placed on the floor at the position where the robot 10 has moved to the transfer position 10b. Then, when the control unit 30 determines, based on the detection result from the position sensor 31, that the movement unit 21 has moved to the transfer position 10b, the control unit 30 operates the drive switch 48 by operating the robot arm 11. For example, the control unit 30 operates the robot arm 11 based on a control amount that has been taught and set in advance. With the robot placed at the transfer position 10b, the control unit 30 drives the drive unit 44 of the supply unit 40 by operating the drive switch 48. In addition, the control unit 30 moves the cylindrical holding member of the electric stopper 24 of the robot stopper unit 23 to the holding position in order to hold the supplied placement container 101.

[0031] Next, in step S2, the placement container 101 supplied from the supply unit 40 is placed on the placement slope 22, which is the placement surface of the cart unit 20. When the drive switch 48 is operated by the robot 10, the drive unit 44 of the supply unit 40 is driven and supplies an empty placement container 101, in which no object 102 has been placed, to the placement slope 22 of the robot 10. The control unit 30 determines, for example, based on the detection result from the container sensor 32, that the placement container 101 has been placed on the placement slope 22 of the cart unit 20. On the placement slope 22 of the robot 10, the placement container 101 supplied from the supply unit 40 slides from the top to the bottom of the placement slope 22. The placement container 101 supplied by the supply unit 40 is held in a stopped state on the placement slope 22 by abutting against the electric stopper 24, whose holding member is placed in the holding position.

[0032] Next, in step S3, the placement container 101 supplied by the supply unit 40 is loaded onto the cart unit 20, which is then moved to the placement position 10a by the movement unit 21. Based on the detection result from the position sensor 31, the control unit 30 controls the movement unit 21 to move the main body of the robot 10 from the transfer position 10b to the placement position 10a.

[0033] Next, in step S4, the object 102 is placed in the placement container 101 at the placement position 10a. Based on the detection result from the position sensor 31, the control unit 30 places the cart unit 20 of the robot 10 at the placement position 10a, and acquires a captured image of the container of the object placement unit 60, in which multiple objects 102 are stored, captured by the imaging unit 13. The movement of the robot arm 11 when capturing images by the imaging unit 13 is taught and set in advance. Then, the control unit 30 detects the position of the object 102 in the container of the object placement unit 60 based on the acquired captured image. For example, the control unit 30 detects the position of the object 102 in the container by performing image processing on the captured image to detect the area in the captured image where the object 102 is placed, thereby detecting the position of the object 102 in the container. The control unit 30 controls the operation of the robot arm 11 and the gripping unit 12 based on the detected position of the object 102, thereby gripping the object 102 contained in the object placement unit 60 and placing the object 102 in the placement container 101 placed on the cart unit 20. In the placement container 101, the position at which the object 102 is placed is set and stored in advance. Note that when multiple containers containing objects 102 are placed in the object placement unit 60, the movement unit 21 may move the cart unit 20 depending on the type of object 102.

[0034] Next, in step S5, the placement container 101 with the target object 102 placed therein is moved to the transfer position 10b by the movement unit 21. After the robot arm 11 places the target object 102 in the placement container 101 at the placement position 10a, the control unit 30 causes the movement unit 21 to move the main body of the robot 10 to the transfer position 10b based on the detection result from the position sensor 31, with the placement container 101 placed therein.

[0035] Next, in step S6, it is determined whether or not the rod-shaped member 52 of the receiving unit 50 has been detected by the receiving unit sensor 33. If it is determined that the rod-shaped member 52 has been detected, the process proceeds to step S8. If it is determined that the rod-shaped member 52 has not been detected, the process proceeds to step S7.

[0036] In step S7, it is determined that the rod-shaped member 52 has not been detected, and the moving unit 21 performs position adjustment. The control unit 30 moves to the transfer position 10b based on the detection result from the position sensor 31, and if the rod-shaped member 52 is not detected at the transfer position 10b, the moving unit 21 performs a position adjustment operation to fine-tune the position of the cart unit 20. In the position adjustment operation, the control unit 30 causes the moving unit 21 to move the cart unit 20 by a movement amount and direction that corresponds to a preset fine adjustment amount. After the position adjustment is performed, the process returns to step S6. Note that if the rod-shaped member 52 is not detected even after performing multiple position adjustments, the control unit 30 may determine that an abnormality has occurred and may notify the user of information indicating the occurrence of the abnormality by voice or display.

[0037] In step S8, since it is determined that the rod-shaped member 52 has been detected, it is determined that the positional relationship of the robot 10 with respect to the receiving unit 50 is normal, and the placement container 101 is handed over from the robot 10 to the receiving unit 50. When the control unit 30 releases its hold on the placement container 101 and hands it over to the receiving unit 50, it moves the cylindrical holding member of the electric stopper 24 of the robot stopper unit 23 to a release position that is on the back side of the placement slope 22 in a direction perpendicular to the placement slope 22. As a result, the placement container 101 with the target object 102 placed thereon is handed over by sliding from the placement slope 22 to the receiving slope 51 due to gravity.

[0038] Next, in step S9, it is determined whether or not the control process for the transport method of the transported object, which places the target object 102 in the placement container 101, has ended. If it is determined that the control process for the transport method of the transported object has ended, the control process ends. If it is determined that the control process for the transport method of the transported object has not ended, the process proceeds to step S10. For example, the control unit 30 determines whether or not the control process for the transport method of the transported object has ended based on whether a preset number of transport operations have been completed. Note that the control process for the transport method may also be ended based on whether or not an end signal has been acquired from the operation unit or an external control device.

[0039] In step S10, it is determined that the control process for the method of transporting the transported object has not ended, and the drive switch 48 is operated again by the robot arm 11 to receive a new placement container 101. In step S10, the cart unit 20 is already positioned at the transfer position 10b in order to deliver the placement container 101 to the receiving unit 50 in step S8. Therefore, if the control unit 30 determines in step S9 that the control process for the method of transporting the transported object has not ended after delivering the placement container 101 to the receiving unit 50 in step S8, it operates the drive switch 48 by operating the robot arm 11 without moving the moving unit 21. Then, the process returns to step S2, and with a new placement container 101 placed on the cart unit 20, the control process from step S2 onwards is executed again, and the target object 102 is placed in the new placement container 101.

[0040] Effect of this embodiment As described above, the transport system 100 includes a supply unit 40 that supplies the placement container 101 as a transported object to the robot 10 based on at least one of the operation by the robot arm 11 of the robot 10 and the movement of the cart unit 20. As a result, the placement container 101 is supplied to the robot 10 by the supply unit 40, and the robot arm 11 can be configured to be suited to work on the placement container 101, rather than being configured to be suited to moving the placement container 101. As a result, the transport of the placement container 101 as a transported object and work other than transporting the placement container 101 can be easily performed.

[0041] The supply unit 40 includes a drive unit 44 that is driven by operation of the robot arm 11, and performs an operation of placing a placement container 101 as a transported object on the carriage unit 20 of the robot 10 by driving the drive unit 44. As a result, the placement container 101 can be supplied from the supply unit 40 to the robot 10 by driving the drive unit 44 arranged in the supply unit 40, without applying power to the supply unit 40 from the robot arm 11. This prevents the configuration of the robot 10 from becoming complicated. Furthermore, because the drive unit 44 of the supply unit 40 is driven by operation of the robot arm 11, it is not necessary to provide a sensor for detecting the position or state of the robot 10, and it is not necessary to provide a control device that determines the position or state of the robot 10 in order to supply the placement container 101. The placement container 101 can be more easily supplied from the supply unit 40 to the robot 10 by operation of the robot arm 11. As a result, it is possible to prevent the configuration of the robot 10 from becoming complicated, and it is easier to transport the placement container 101 as a transported object and to perform tasks other than transporting the placement container 101.

[0042] A placement container 101 in which an object 102 is to be placed is placed on the cart unit 20. The robot arm 11 has a gripping unit 12 that grips the object 102. With the placement container 101 supplied by the supply unit 40 placed on the cart unit 20, the robot 10 moves by the movement unit 21 to a placement position 10a where the object 102 is to be placed in the placement container 101. As a result, even when the robot 10 performs an operation of placing the object 102 in the placement container 101 using the robot arm 11, the placement container 101 is supplied by the supply unit 40, so that the transport of the placement container 101 and the operation of placing the object 102 in the placement container 101 can be easily performed.

[0043] The transport system 100 includes a receiving unit 50 that receives a placement container 101 from the robot 10. After the robot 10 places the target object 102 in the placement container 101 at a placement position 10a using the robot arm 11, the robot 10 moves to a transfer position 10b using the movement unit 21 to transfer the placement container 101 to the receiving unit 50. As a result, even if the position where the target object 102 before being placed in the placement container 101 is placed and the position where the receiving unit 50 is placed are separated from each other, the placement container 101 in which the target object 102 has been placed by the robot arm 11 can be transferred to the receiving unit 50 by moving it to the transfer position 10b using the movement unit 21. Therefore, there is no need to provide a configuration separate from the robot 10 for transporting the placement container 101 from the position where the target object 102 before being placed in the placement container 101 is placed to the position where the receiving unit 50 is placed, thereby preventing the configuration of the transport system 100 from becoming complicated.

[0044] When the robot 10 has moved to the transfer position 10b, it transfers the placement container 101 placed on the cart unit 20 to the receiving unit 50, and receives a new placement container 101 from the supply unit 40. This allows the robot 10 to both transfer the placement container 101 to the receiving unit 50 and receive the new placement container 101 at the transfer position 10b without moving the robot 10, thereby preventing an increase in the time required for the robot 10 to place the target object 102 in the placement container 101.

[0045] When the robot 10 moves to a transfer position 10b that is located between the supply unit 40 and the receiving unit 50, it transfers the placement container 101 to the receiving unit 50 that is located on one side of the placement surface of the cart unit 20, and receives a new placement container 101 from the supply unit 40 that is located on the other side of the placement surface of the cart unit 20. As a result, the receiving unit 50 is located on one side of the placement surface on the robot 10 on which the placement container 101 is placed, and the supply unit 40 is located on the other side of the placement container 101, so that the transfer of the placement container 101 from the robot 10 to the receiving unit 50 and the supply of the placement container 101 from the supply unit 40 to the robot 10 can be carried out smoothly. This reduces the time required for the transfer of the placement container 101 from the robot 10 and the supply of the placement container 101 to the robot 10.

[0046] The supply unit 40 has a supply slope 41 on which the placement container 101 as a transported item is placed, and supplies the placement container 101 to the robot 10 by sliding it from the supply slope 41. This allows the placement container 101 to slide and move by gravity on the supply slope 41 of the supply unit 40, without providing power for moving the placement container 101 from the supply unit 40 to the robot 100. Therefore, the configuration of the supply unit 40 can be kept from becoming too complicated compared to when power for moving the placement container 101 is provided.

[0047] The supply unit 40 includes a supply holding unit 42 that holds the placement container 101 as a transported object placed on the supply slope 41. As a result, even when the placement container 101 is placed on the supply slope 41 provided in the supply unit 40, the placement container 101 can be prevented from slipping off the supply slope 41 by being held by the supply holding unit 42. Therefore, the placement container 101 can be appropriately supplied to the robot 10.

[0048] The supply unit 40 includes a drive unit 44 that operates the supply holding unit 42 by being driven by the operation of the robot arm 11, and a drive switch 48 that switches the operation of the drive unit 44. The robot 10 operates the drive switch 48 by operating the robot arm 11. As a result, by operating the drive switch 48 with the robot arm 11, the placement container 101 can be easily supplied as a transported object from the supply unit 40. Therefore, the placement container 101 can be easily supplied from the supply unit 40 to the robot 10 by the operation of the robot arm 11, without providing a sensor for detecting the position or state of the robot 10, and without providing a control device that determines the position or state of the robot 10 in order to supply the placement container 101. Therefore, the configuration of the transport system 100 can be prevented from becoming complicated due to the operation of supplying the placement container 101 from the supply unit 40 to the robot 10.

[0049] The robot 10 has a mounting slope 22 as a mounting surface on which the placement container 101 serving as a transported object is placed on the cart unit 20. The mounting slope 22 is arranged on an extension of the supply slope 41 of the supply unit 40 when the robot 10 has moved to a position where the placement container 101 is supplied from the supply unit 40. As a result, since the mounting slope 22 of the robot 10 is arranged on an extension of the supply slope 41 of the supply unit 40, the placement container 101 can be smoothly slid from the supply slope 41 to the mounting slope 22. Therefore, it is possible to prevent the position of the placement container 101 placed on the robot 10 from shifting, and the robot 10 can appropriately transport the placement container 101.

[0050] The robot 10 includes a robot stopper unit 23 that holds a placement container 101 as a transported object placed on the placement slope 22. As a result, even when placing the placement container 101 on the placement slope 22 of the robot 10, the placement container 101 can be held in an appropriate position in the robot 10 by holding the placement container 101 with the robot stopper unit 23. Therefore, work using the robot arm 11 on the placement container 101 placed on the placement slope 22 can be performed appropriately.

[0051] The transport system 100 includes a receiving unit 50 that receives a placement container 101 as a transported item from the robot 10. The robot 10 has a mounting slope 22 as a mounting surface on which the placement container 101 is placed in the cart unit 20, and delivers the placement container 101 to the receiving unit 50 by sliding it from the mounting slope 22. This allows the placement container 101 to slide and move from the mounting slope 22 by gravity, without providing the robot 10 with power for moving the placement container 101 relative to the receiving unit 50. Therefore, the configuration of the robot 10 can be kept from becoming too complicated compared to when power for moving the placement container 101 is provided.

[0052] The receiving unit 50 has a receiving slope 51 on which the placement container 101, which is a transported item handed over from the robot 10, is placed. The receiving slope 51 is arranged on an extension of the placement slope 22 of the robot 10 when the robot 10 has moved to the delivery position 10b for handing over the placement container 101 to the receiving unit 50. As a result, the receiving slope 51 of the receiving unit 50 is arranged on an extension of the placement slope 22 of the robot 10, so the placement container 101 can slide smoothly from the delivery slope 22 to the receiving slope 51. Therefore, when the placement container 101 is moved from the robot 10 to the receiving unit 50, the placement container 101 can be prevented from being affected by vibrations.

[0053] [Modifications] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present disclosure is defined by the claims, not by the description of the above-mentioned embodiments, and includes all modifications (modifications) within the meaning and scope of the claims.

[0054] For example, in the above embodiment, the robot arm 11 operates the drive switch 48, which is a mechanical switch, to operate the drive unit 44 of the supply unit 40 and supply the placement container 101 as the transported object to the robot 10. However, the present disclosure is not limited to this. In the present disclosure, a sensor that detects the robot arm may be disposed as the drive switch. For example, the drive switch may be a non-contact sensor such as a photoelectric sensor, a capacitance sensor, or a magnetic sensor, or a contact sensor such as a pressure-sensitive sensor. That is, the robot may be configured to supply the transported object from the supply unit by operating the robot arm so as to be detected by the sensor disposed as the drive switch. In other words, the robot may perform a predetermined operation to supply the transported object to the supply unit. The supply unit may not have a drive unit. For example, the robot arm may perform an operation to tilt the holding mechanism in which the transported object is placed in the supply unit. In these cases, the robot arm can be configured to be suitable for the transported object operation, making it easy to transport the transported object and perform tasks other than transporting the transported object. Furthermore, the transported objects may be supplied from the supply unit to the robot based on the detection of the carriage unit, rather than the robot arm. That is, the transported objects may be supplied from the supply unit to the robot based on the movement of the carriage unit by the moving unit. For example, a drive switch may be operated by a wheel or the like supporting the carriage unit when the carriage unit is moved, or the supply unit may be operated based on the detection of a part or the entire robot including the carriage unit and the robot arm by a sensor arranged as a drive switch when the carriage unit is moved by the moving unit. Furthermore, the operation by the robot arm may be performed by the robot arm itself, rather than by a gripper attached to the robot arm, or by an end effector other than a gripper attached to the robot arm.In addition, the supply unit may be operated immediately after at least one of the operation by the robot arm and the movement of the cart unit is detected, or the supply unit may be operated after a certain period of time has elapsed.

[0055] In the above embodiment, an example is shown in which the placement container 101, which is placed on the carriage 20 as a transported object, is moved by the moving unit 21 to the placement position 10a where the target object 102 is to be placed in the placement container 101, and then, after the target object 102 is placed in the placement container 101, the placement container 101 is moved by the moving unit 21 to the transfer position 10b. However, the present disclosure is not limited to this. In the present disclosure, the robot may move with a workpiece to be assembled or processed placed thereon as the transported object. In this case, the robot may move with the workpiece placed thereon to a receiving section to which the workpiece is to be transported, or to a work position where work is performed on the workpiece. Furthermore, the robot arm may perform work such as assembly or processing on the transported object, or may perform work to hold the transported object. Furthermore, the robot arm may perform work such as imaging, inspection, or measurement on the transported object. Furthermore, the robot arm may perform work on the transported object at a position where the transported object is received, a position where the transported object is handed over, or while the transported object is being transported. Furthermore, when a container is transported as the transported object, the container may be transported with an object placed therein, rather than an empty container.

[0056] In the above embodiment, an example has been shown in which, after moving to the transfer position 10b, the placement container 101 as the transported object is transferred to the receiving unit 50 and a new placement container 101 is received from the supplying unit 40, but the present disclosure is not limited to this. In the present disclosure, the position at which the transported object is received from the supplying unit and the position at which the transported object is transferred to the receiving unit may be different positions. In other words, the robot may be configured to be moved by a moving unit with the transported object placed thereon to a position at which the transported object is supplied from the supplying unit and the transported object is transferred to a receiving unit located at a position separated from the supplying unit.

[0057] In the above embodiment, an example is shown in which a placement container 101 as a transported object is transferred to the receiving slope 51 of the receiving unit 50, which is arranged on one side of the loading slope 22 of the robot 10, and a new placement container 101 is received from the supply slope 41 of the supply unit 40, which is arranged on the other side of the loading slope 22. However, the present disclosure is not limited to this. In the present disclosure, at least one of the surface on which the transported object is placed in the supply unit and the surface on which the transported object is placed in the receiving unit may not be arranged on an extension of the loading surface on which the transported object is placed in the robot. That is, the surface on which the transported object is placed in the supply unit may be inclined relative to the loading surface of the robot, or the surface on which the transported object is placed in the receiving unit may be inclined relative to the loading surface of the robot. Furthermore, the robot does not have to be arranged between the supply unit and the receiving unit at the transfer position. For example, the supply unit and the receiving unit may be arranged closer to a common side relative to the robot.

[0058] In the above embodiment, the example was shown in which the placement slope 22 on which the placement container 101 as the transported object is placed in the robot 10, the supply slope 41 on which the placement container 101 is placed in the supply unit 40, and the receiving slope 51 on which the placement container 101 is placed in the receiving unit 50 all have a common slope, but the present disclosure is not limited to this. In the present disclosure, the slopes of the surfaces on which the transported object is placed may differ in the supply unit, the receiving unit, and the robot. Furthermore, the placement surface on which the transported object is placed may not be inclined in at least one of the supply unit, the receiving unit, and the robot.

[0059] In the above embodiment, the loading slope 22 of the robot 10, the supply slope 41 of the supply unit 40, and the receiving slope 51 of the receiving unit 50 each have an unpowered roller conveyor, but the present disclosure is not limited to this. In the present disclosure, at least one of the loading slope, the supply slope, and the receiving slope may not have a conveyor such as a roller conveyor, but may have a sliding slope that allows the transported object to slide. Furthermore, at least one of the loading slope, the supply slope, and the receiving slope may include a powered conveyor such as a belt conveyor.

[0060] In the above embodiment, the supply unit 40 includes a supply holder 42 that holds the placement container 101 as the transported object placed on the supply slope 41 of the supply unit 40, and the robot 10 operates the drive switch 48 to operate the supply holder 42 via the drive unit 44. However, the present disclosure is not limited to this. In the present disclosure, the supply unit does not necessarily include a supply holder that holds the transported object placed on the slope. For example, the supply holder may be configured to hold the transported object before it is placed on the slope. As in the supply unit 240 according to the modified example shown in FIG. 9, the supply holder 242 may be configured to hold multiple transported objects 201 before they are placed on the supply slope 241. In the modified example of FIG. 9, the supply holder 242 holds multiple transported objects 201 in a stacked state. The supply holder 242 also has a de-staggering mechanism. The de-staggering mechanism places only the bottommost transported object 201 on the supply slope 241 among the multiple transported objects 201 held in a stacked state. For example, the supply holding unit 242 includes a claw portion that holds the stacked transported objects 201 and a drive unit such as a motor. By driving the claw portion with the drive unit, the supply holding unit 242 switches from a state in which it holds all of the stacked transported objects 201 to a state in which it holds the second-lowest transported object 201, thereby sending the bottommost transported object 201 onto the supply slope 241. Also, in the modified supply holding unit 242 shown in FIG. 9 , multiple sets of stacked transported objects 201 are held. After sending all of the multiple transported objects 201 stacked on the first tier onto the supply slope 241, the supply holding unit 242 sequentially sends the multiple transported objects 201 stacked on the second tier onto the supply slope 241.

[0061] Furthermore, in the above embodiment, an example was shown in which the robot 10 includes a loading slope 22 on which the placement container 101 as a transported object is placed, and a robot stopper unit 23 that holds the placement container 101 placed on the loading slope 22, but the present disclosure is not limited to this. In the present disclosure, a robot stopper unit may not be provided. For example, the robot may be provided with a powered drive mechanism such as a belt conveyor, and the drive mechanism may be driven to send out the transported object from a state in which the transported object is placed. Furthermore, the robot may be configured to switch between a state in which the transported object is held and a state in which the transported object is sent out by operation of either the supply unit or the receiving unit.

[0062] In the above embodiment, the robot 10 is moved by the moving unit 21 by detecting a magnetic tape placed on the floor surface using the position sensor 31 including a magnetic sensor, but the present disclosure is not limited to this. In the present disclosure, the movement of the moving unit may be guided by optical detection instead of magnetic detection. The moving unit may also be moved by image recognition. Furthermore, the robot may be moved based on a control amount that is taught and set in advance without using a position sensor.

[0063] Furthermore, in the above embodiment, when the position sensor 31 detects that the robot 10 has moved to the transfer position 10b and the receiving unit sensor 33 detects the rod-shaped member 52 of the receiving unit 50, the robot 10 transfers the placement container 101 as the transported object to the receiving unit 50, and when the robot 10 has moved to the transfer position 10b, the robot arm 11 is driven using a pre-taught control amount to operate the drive switch 48 and supply a new placement container 101. However, the present disclosure is not limited to this. In the present disclosure, the receiving unit sensor may not be provided. That is, the transported object may be transferred to the receiving unit when it is detected that the robot 10 has been placed at the transfer position. Furthermore, the drive switch of the supply unit may be detected by a detection mechanism such as a sensor.

[0064] Furthermore, in the above embodiment, an example has been shown in which the robot arm 11 is disposed on the upper surface of the cart unit 20 in the robot 10, but the present disclosure is not limited to this. In the present disclosure, the robot arm may be disposed on the side surface of the cart unit. Furthermore, the cart unit and the robot arm may be disposed separately from the moving unit. For example, the cart unit on which the placement container is placed and the robot arm having a gripping unit may be disposed independently from each other from the moving unit.

[0065] In the above embodiment, the control unit 30 includes a main CPU that performs overall control of the robot 10 and a servo CPU that controls the power supplied to the servo motors of the robot arm 11 and the moving unit 21. The control unit 30 controls the operation of the robot arm 11, the gripping unit 12, the moving unit 21, and the electric stopper 24 of the robot stopper unit 23, and also controls the acquisition of captured images from the imaging unit 13 to detect the position of the target object 102. However, the present disclosure is not limited to this. In the present disclosure, the control unit may include a single computing device such as a CPU. Furthermore, the control unit that controls the operation of the robot arm and the control unit that controls one or more of the operation of the gripping unit, the operation of the moving unit, the operation of the robot stopper unit, and image processing of the captured images from the imaging unit may be configured as different hardware. That is, the operation of the robot arm, the operation of the gripping unit, the operation of the moving unit, the operation of the robot stopper unit, and image processing of the captured images from the imaging unit may be controlled by different controllers serving as different control units, or any of these may be controlled by a common control unit.

[0066] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0067] Aspects It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0068] (Aspect 1) A transport system comprising: a robot including a robot arm that performs work on a transported object, a carriage unit on which the transported object is placed, and a movement unit that moves the carriage unit; and a supply unit that supplies the transported object to the robot based on at least one of operation of the robot arm of the robot and movement of the carriage unit.

[0069] (Aspect 2) The conveying system according to aspect 1, wherein the supply unit includes a drive unit that is driven by operation of the robot arm, and performs an operation of placing the conveyed object on the carriage unit of the robot by driving the drive unit.

[0070] (Aspect 3) A conveying system according to Aspect 1 or Aspect 2, wherein the transported object including a placement container in which an object is placed is placed on the cart unit, the robot arm has a gripping unit that grips the object, and the robot, with the placement container supplied by the supply unit placed on the cart unit, moves by the moving unit to a placement position for placing the object in the placement container.

[0071] (Aspect 4) The transport system according to Aspect 3 further comprises a receiving unit that receives the placement container from the robot, and the robot places the object in the placement container using the robot arm at the placement position, and then moves the placement container to a transfer position for handing it over to the receiving unit using the moving unit.

[0072] (Aspect 5) The transport system according to Aspect 4, wherein the robot, when moved to the transfer position, transfers the placement container placed on the cart unit to the receiving unit and receives a new placement container from the supply unit.

[0073] (Aspect 6) A conveying system as described in Aspect 5, wherein the robot, when moved to the transfer position located between the supply unit and the receiving unit, transfers the placement container to the receiving unit, which is located on one side of the loading surface of the cart unit, and receives a new placement container from the supply unit, which is located on the other side of the loading surface of the cart unit.

[0074] (Aspect 7) The conveyance system according to any one of Aspects 1 to 6, wherein the supply unit has a supply slope on which the conveyed object is placed, and supplies the conveyed object to the robot by sliding it from the supply slope.

[0075] (Aspect 8) The conveying system according to aspect 7, wherein the supply section includes a supply holding section that holds the conveyed object placed on the supply slope.

[0076] (Aspect 9) The conveying system according to Aspect 8, wherein the supply unit includes a drive unit that operates the supply holding unit by being driven by operation of the robot arm, and a drive switch that switches the operation of the drive unit, and the robot operates the drive switch by operating the robot arm.

[0077] (Aspect 10) A conveying system according to any one of Aspects 7 to 9, wherein the robot has a loading slope as a loading surface on the carriage section on which the transported object is placed, and the loading slope is positioned on an extension of the supply slope of the supply section when the robot is moved to a position where the transported object is supplied from the supply section.

[0078] (Aspect 11) The transport system according to aspect 10, wherein the robot includes a robot stopper unit that holds the transported object placed on the inclined placement surface.

[0079] (Aspect 12) A conveying system according to any one of Aspects 1 to 11, further comprising a receiving unit that receives the transported object from the robot, wherein the robot has a loading slope as a loading surface on the cart unit on which the transported object is placed, and the transported object is handed over to the receiving unit by sliding it from the loading slope.

[0080] (Aspect 13) The conveying system according to Aspect 12, wherein the receiving section has a receiving slope on which the transported item handed over from the robot is placed, and the receiving slope is positioned on an extension of the placing slope of the robot when the robot has moved to a transfer position for handing over the transported item to the receiving section.

[0081] (Mode 14) A method for transporting transported objects, comprising: a robot including a robot arm that performs work on transported objects, a carriage unit on which the transported objects are placed, and a movement unit that moves the carriage unit; a supply unit that supplies the transported objects to the robot, which performs at least one of operation by the robot arm and movement of the carriage unit; and the supply unit supplies the transported objects to the robot based on at least one of operation by the robot arm of the robot and movement of the carriage unit.

[0082] (Aspect 15) A robot comprising: a robot arm that performs work on a transported object; a carriage unit on which the transported object is placed; a movement unit that moves the carriage unit; and a control unit that performs at least one of operation by the robot arm and movement of the carriage unit with respect to a supply unit that supplies the transported object.

Claims

1. A transport system comprising: a robot including a robot arm that performs work on a transported object, a cart unit on which the transported object is placed, and a movement unit that moves the cart unit; and a supply unit that supplies the transported object to the robot based on at least one of the operation of the robot arm of the robot and the movement of the cart unit.

2. A conveying system as described in claim 1, wherein the supply unit includes a drive unit that is driven by operation of the robot arm, and performs an operation of placing the transported object on the cart unit of the robot by driving the drive unit.

3. The transport system of claim 1, wherein the cart section carries the transported object including a placement container in which an object is to be placed, the robot arm has a gripping section for gripping the object, and the robot, with the placement container supplied by the supply section placed on the cart section, moves by the moving section to a placement position for placing the object in the placement container.

4. The transport system of claim 3, further comprising a receiving unit that receives the placement container from the robot, wherein the robot places the object in the placement container by the robot arm at the placement position, and then moves the placement container by the moving unit to a transfer position for handing it over to the receiving unit.

5. A transport system as described in claim 4, wherein the robot, when moved to the transfer position, transfers the placement container placed on the cart section to the receiving section and receives a new placement container from the supply section.

6. A conveying system as described in claim 5, wherein the robot, when moved to the transfer position located between the supply unit and the receiving unit, transfers the placement container to the receiving unit, which is located on one side of the loading surface of the cart unit, and receives a new placement container from the supply unit, which is located on the other side of the loading surface of the cart unit.

7. The conveying system according to claim 1, wherein the supply section has a supply slope on which the transported object is placed, and supplies the transported object to the robot by sliding it from the supply slope.

8. The conveying system according to claim 7, wherein the supply section includes a supply holding section that holds the transported object placed on the supply slope.

9. The conveying system described in claim 8, wherein the supply unit includes a drive unit that operates the supply holding unit by being driven by the operation of the robot arm, and a drive switch that switches the operation of the drive unit, and the robot operates the drive switch by operating the robot arm.

10. A conveying system as described in claim 7, wherein the robot has a loading slope as a loading surface on which the transported object is placed on the cart section, and the loading slope is positioned on an extension of the supply slope of the supply section when the robot is moved to a position where the transported object is supplied from the supply section.

11. The transport system according to claim 10, wherein the robot includes a robot stopper unit that holds the transported object placed on the inclined placement surface.

12. A conveying system as described in claim 1, further comprising a receiving section which receives the transported item from the robot, wherein the robot has a loading slope as a loading surface on the cart section on which the transported item is placed, and the transported item is handed over to the receiving section by sliding it from the loading slope.

13. A conveying system as described in claim 12, wherein the receiving section has a receiving slope on which the transported item handed over from the robot is placed, and the receiving slope is positioned on an extension of the placement slope of the robot when the robot is moved to a transfer position for transferring the transported item to the receiving section.

14. A method for transporting transported objects, comprising: a robot including a robot arm that performs work on the transported object, a cart section on which the transported object is placed, and a moving section that moves the cart section; a supply section that supplies the transported object to the robot, which performs at least one of operation by the robot arm and movement of the cart section, and the supply section supplies the transported object to the robot based on at least one of the operation by the robot arm of the robot and the movement of the cart section.

15. A robot comprising: a robot arm that performs work on a transported object; a cart unit on which the transported object is placed; a movement unit that moves the cart unit; and a control unit that performs at least one of operation using the robot arm and movement of the cart unit with respect to a supply unit that supplies the transported object.

Images