Work device and article conveyance system

Abstract

Provided is a work device (100) for delivering an article (3) to and from a conveyance vehicle (200), said work device (100) comprising, on a surface (101) on which the article (3) delivered from the conveyance vehicle (200) is placed, a positioning member (4) that has the same opening width as a range of possible positions of the article (3) due to deviation of a stop position of the conveyance vehicle (200) at an article input-side end section, and that is positioned at a normal position (5).

Description

Work equipment and article transport system

[0001] The present disclosure relates to a work device and an article transport system.

[0002] Conventionally, the positioning of an article between an automated guided vehicle and a loading device such as a rack or processing equipment is performed on the automated guided vehicle. A guided vehicle has been disclosed that has a pair of retractable arms and a pair of left and right guide members located below the arms, and after the arms retract to pull in an article, the article is positioned by being sandwiched between the pair of guide members (see, for example, Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2017-197342

[0004] However, the transport vehicle in Patent Document 1 may stop significantly off-center from its normal position, and if an item is transferred to the loading device while the stopping position is off-center, there is a risk that the item may fall or tip over, resulting in a decrease in production efficiency.

[0005] The present disclosure discloses technology for solving the above-mentioned problems, and aims to provide a work device and an item transport system that can transfer items with high positional accuracy without dropping the items.

[0006] The working device disclosed herein is a working device that transfers articles to and from a transport vehicle, and is provided with a positioning member on the surface on which the articles are loaded, the positioning member having an opening width at the article input side end equal to the range of positions that the articles can assume due to a deviation in the stopping position of the transport vehicle, and that positions the articles in a correct position.The article transport system disclosed herein is an article transport system that transfers articles between a transport vehicle and a working device, and the working device is provided with a positioning member on the surface on which the articles are loaded, and when the articles are transferred from the transport vehicle to the working device, the articles can be positioned in a correct position on the loading surface of the working device even if there is a deviation in the stopping position of the transport vehicle.

[0007] According to the working device of the present disclosure, a working device can be obtained that can transfer an article with high positional accuracy without dropping or tipping over. According to the article transport system of the present disclosure, an article can be transported with high positional accuracy without dropping the article.

[0008] FIG. 8A is a conceptual diagram of an article transport system using a working apparatus according to embodiment 1. FIG. 9 is a plan view of the working apparatus according to embodiment 1 when an article is placed on a transport vehicle. FIG. 10B is a plan view of the working apparatus according to embodiment 1 when an article is placed on the working apparatus. FIG. 11 is an explanatory diagram of a retraction / push-out mechanism in the working apparatus according to embodiment 2. FIG. 12 is an explanatory diagram of an anti-back mechanism on a transport vehicle in the article transport system according to embodiment 3. FIG. 13 is an explanatory diagram of a position detection sensor in the working apparatus according to embodiment 5. FIG. 8A is an explanatory diagram of a dog for position detection function in the article transport system according to embodiment 6. FIG. 8B is an explanatory diagram of a dog for position detection function in the article transport system according to embodiment 6. FIG. 14 is an explanatory diagram of an improved example 1 of a positioning member in the working apparatus according to embodiment 1. FIG. 15A is an explanatory diagram of an improved example 2 of a positioning member in the working apparatus according to embodiment 1. FIG. 16B is an explanatory diagram of an improved example 2 of a positioning member in the working apparatus according to embodiment 1. FIG. 17 is an explanatory diagram of a positioning member in the working apparatus according to embodiment 7. 13 is an explanatory diagram of a freely rotating part in an article movement area in the working device according to embodiment 8. FIG. 14 is an explanatory diagram of a freely rotating part in an article movement area in the working device according to embodiment 8. FIG.

[0009] First Embodiment The first embodiment relates to a work device equipped with a positioning device and an article transport system.

[0010] The working device according to the first embodiment will be described below with reference to Fig. 1, which is a conceptual diagram of an article transport system using the working device, Fig. 2, which is a plan view of a transport vehicle with an article thereon, Fig. 3, which is a plan view of the working device with an article thereon, Fig. 9, which is an explanatory diagram of an improved example 1 of the positioning member, and Figs. 10A and 10B, which are explanatory diagrams of an improved example 2 of the positioning member. Note that the same or corresponding parts in each drawing are designated by the same reference numerals.

[0011] First, the article transport system will be described based on Fig. 1, which is a conceptual diagram of an article transport system using a working device 100 and a transport vehicle 200 such as an unmanned transport vehicle. For ease of explanation, a system configured from the working device 100 and the transport vehicle 200 that delivers and receives the article 3 in the first embodiment will be referred to as article transport system 1000.

[0012] As shown in FIG. 1 , in a factory production line, an item 3 is transported from a previous process loaded onto a transport vehicle 200 (indicated by arrow A), and the transport vehicle 200 stops near a tasking device 100, which is the loading target for the next process. The item 3 is then handed over from the transport vehicle 200 to the tasking device 100 (indicated by arrow B). Furthermore, when the tasking device 100 completes a process and the item 3 is to be transported to the next process, the item 3 is handed over from the tasking device 100 to the stopped transport vehicle 200 (indicated by arrow C), and the transport vehicle 200 then starts traveling toward the next process (indicated by arrow D). Note that the transport vehicle 200 is a cart that carries an item and transports it to the next process, and may be an autonomous, unmanned guided vehicle such as an AMR (Autonomous Mobile Robot), and the shape and type of the transport vehicle are not specified.

[0013] First, the configurations of the working device 100 and the transport vehicle 200 according to the first embodiment will be described. The working device 100 has a pair of rails 102 and a pair of positioning members 4 on a loading surface 101. The transport vehicle 200 has a pair of rails 202 on a loading surface 201.

[0014] Next, the case of transferring the article 3 from the transport vehicle 200 to the working device 100 will be described with reference to Figures 2 and 3. In Figure 2, the ideal stopping position of the transport vehicle 200 is indicated by dotted line 203. Furthermore, the normal position in the working device 100 where the article 3 is transferred and placed for work is indicated by dotted line 5. To make the explanation easier to understand, the xy coordinate system is set as shown in Figure 2. The same applies to Figure 3 and subsequent figures.

[0015] The article 3 is loaded on the loading surface 201 of the transport vehicle 200, and is transported from the previous process near the working device 100, where it stops. At this time, due to the nature of transport vehicles such as automated guided vehicles, the transport vehicle 200 may stop at a position that is significantly deviated from the ideal stopping position 203, as shown in FIG. 2 . The ideal stopping position of the transport vehicle 200 here refers to the stopping position of the transport vehicle 200 that allows the transport vehicle 200 to transfer the article 3 to the correct position 5. In other words, if the transport vehicle 200 stops at the ideal stopping position 203, the transfer operation will not be hindered by the article 3 falling or interference with an obstacle.

[0016] After the transport vehicle 200 stops, the article 3 starts to move toward the working device 100 along rails 202 provided on the loading surface 201 (indicated by arrow B). The rails 202 are components for moving the article, such as a wheel conveyor, a free bearing, and a roller conveyor. The article 3 can be moved by a worker manually, but is not limited to this.

[0017] If the transport vehicle 200 is stopped at the ideal stopping position 203, the item 3 can continue moving even after it has reached the end of the loading surface 201 via the rails 202. In this case, the item 3 is transferred onto the loading surface 101 of the working device 100, and moves toward the correct position 5 on the working device 100 via the rails 102 provided on the loading surface 101, just like the transport vehicle 200. The rails 102 may be any type of device for moving items, such as a wheel conveyor, freebear, or roller conveyor, and do not specify the part shape or installation position.

[0018] On the loading surface 101 of the operating device 100, the regular position 5 is the appropriate position of the item 3 on the operating device 100 in the processing or inspection process. In other words, it is the position where the item 3 must ultimately arrive after being delivered from the transport vehicle 200 as shown in Figure 3. Typically, in manufacturing devices used in factories, the regular position of the item is often set near the center of the loading surface, but this is not limited to this.

[0019] Here, a comparison will be made with the transport vehicle disclosed in Patent Document 1 as a comparative example. When the transport vehicle of the comparative example stops at a position deviated from the ideal stopping position, the items on the loading surface also begin to be transferred to the loading device in a state deviated from their correct positions, which can cause the items to fall or tip over when being transferred to the loading surface of the loading device. Even if the items do not fall and are placed on the loading surface, they move along the loading surface while maintaining the misalignment at the time of stopping, so the misalignment from the correct position remains. In these cases, it is necessary to stop the production line and return the items or perform a process to correct their position on the loading device. This results in problems that lead to increased manufacturing costs and reduced production efficiency.

[0020] To address the above problem, the working device 100 of this embodiment 1 uses positioning members 4 provided on the loading surface 101 to automatically position the item 3 at the correct position 5 after the transfer operation from the transport vehicle 200 is completed, as shown in FIG. 3 . Specifically, the positioning members 4 are a pair of members provided on the loading surface 101 from the item input side to the correct position 5. At the item input side end of the loading surface 101, the positioning members 4 have an opening width equal to the range of positions that the item 3 can assume due to a shift in the stopping position of the transport vehicle 200. The width of the positioning members 4 in the y-axis direction is formed to decrease from the end of the loading surface toward the correct position 5 to a size within the dimension of the correct position 5 in the y-axis direction. With this structure, the positioning members 4 open at the input side end of the loading surface 101 according to the positions that the item 3 can assume, so that the item 3 can transfer from the loading surface 201 to the loading surface 101 without falling.

[0021] Furthermore, even if the position of the item 3 in the y-axis direction deviates from the correct position 5 when the item 3 starts to move from the end of the loading surface 101, the positioning member 4 is provided so that the position of the item 3 in the y-axis direction returns to the correct position 5 as the item 3 moves in the moving direction, i.e., the x-axis direction in Figure 2, and therefore when the position of the item 3 in the x-axis direction reaches the correct position 5, the position of the item 3 in the y-axis direction can also be made to coincide with the correct position 5. In this way, the position of the item 3 is determined by the delivery operation.

[0022] This configuration of the working device 100 allows for reliable delivery of the item 3 without dropping it, and after delivery, the item 3 can be positioned at the correct position 5 on the working device 100. This makes it possible to build a production line with higher production efficiency. Note that while the positioning member 4 is shown as a single, inclined, guide-shaped member in FIGS. 2 and 3 , it may also be divided into two. That is, it is sufficient to have at least a pair of members whose opening width in the y-axis direction at the end of the loading surface 101 on which the item 3 is inserted is equal to or greater than the range that can be assumed when the item 3 is inserted, and a pair of members for positioning the item 3 in the y-axis direction at the correct position 5 when the x-axis position of the item 3 coincides with the x-axis position of the correct position 5.

[0023] Here, we will explain an example of an improvement to the positioning member 4 to improve the movement efficiency of the article 3. First, we will explain improvement example 1, in which the positioning member 4 is divided into two in the x direction and the member material or surface treatment is changed to improve the movement efficiency of the article 3, based on Fig. 9. In Fig. 9, the positioning member is divided into two, with the article insertion side being the first positioning member 4a and the regular position 5 side being the second positioning member 4b.

[0024] The first positioning member 4a and the second positioning member 4b are made of different materials. Because the first positioning member 4a is prone to interference with the item 3 on the item insertion side, it is desirable to use a steel material with a low friction coefficient, such as SUS303, SS400, or FC200. Because the second positioning member 4b is located on the regular position 5 side of the working device 100, it is less likely to collide with the item 3 than the first positioning member 4a. For this reason, if the second positioning member 4b is made of an aluminum alloy material, specifically A5052, etc., the manufacturing costs of the device can be reduced. The friction coefficients of A5052, SUS303, SS400, and FC200 are approximately 0.19, 0.14, 0.11, and 0.13, respectively.

[0025] The effects of the above-described Improvement Example 1 can be summarized as follows. The steel material used for the first positioning member 4a has a smaller coefficient of friction than aluminum, and the frictional force generated is kept small even if the article 3 interferes with the first positioning member 4a during transfer of the article 3. Therefore, there is no risk of the article 3 getting caught on the positioning member, and the article can be transferred smoothly without slowing down.

[0026] Furthermore, as long as the purpose of changing the coefficient of friction can be achieved, the positioning members are not limited to being made of different materials. For example, even if the first positioning member 4a and the second positioning member 4b are made of the same material, the coefficient of friction can be reduced by applying a surface treatment such as painting or plating. Specifically, applying a surface treatment to the first positioning member 4a can improve the efficiency of transferring the article 3.

[0027] Next, an improved example 2 in which the positioning member 4 is curved to improve the movement efficiency of the article 3 will be described with reference to Figures 10A and 10B. In Figures 10A and 10B, the positioning member having a curved shape is referred to as positioning member 4c. Figure 10B is an enlarged view of positioning member 4c.

[0028] The specific shape of the positioning members 4c will now be described. The opening width of each pair of positioning members 4c at the end of the loading surface 101 on the item input side corresponds to the range of positions that the article 3 can assume due to the shift in the stopping position of the transport vehicle 200. The width in the y-axis direction is also formed to decrease from the end of the loading surface toward the regular position 5 to a size within the dimension in the y-axis direction of the regular position 5.

[0029] The curved shape is desirably formed so that the angle θ, i.e., the angle between the tangent to the positioning member 4c and the article 3, is small (θ1>θ2>θ3) with respect to the direction of travel (positioning direction) of the article 3 on the loading surface 101. For example, in Figures 10A and 10B, if the curve is recessed toward the article insertion side, the angle θ decreases as the article 3 travels, reducing the frictional force with the positioning member 4c and reducing the force required for transfer.

[0030] The positioning member 4c is preferably configured to include two regions in the x direction, where θ is constant or continuously decreases on the article insertion side, and θ is continuously decreases on the regular position 5 side.

[0031] The effects of the above-described improvement example 2 can be summarized as follows: The angle θ between the positioning member 4c and the article 3 becomes smaller as the article approaches the normal position 5, i.e., the frictional force becomes smaller, so there is no risk of the article 3 getting caught on the positioning member 4c, and the article can be transferred smoothly and efficiently without slowing down.

[0032] Next, consider the case where an item 3 is transferred from the operating device 100 to the transport vehicle 200. The item 3 begins to move toward the transport vehicle 200 along rails 102 provided on the loading surface 101 of the operating device 100. At this time, in the item transport system 1000 of the first embodiment, the item 3 is loaded in the correct position 5 by the positioning member 4 as shown in FIG. 3 when it begins to move from the loading surface 101 of the operating device 100 toward the loading surface 201 of the transport vehicle 200. Therefore, even when the item 3 moves in the x-axis direction and reaches the discharge end of the positioning member 4, deviation of the item 3 in the y-axis direction is suppressed. As a result, when the item 3 is transferred from the discharge end of the item 3 on the loading surface 101 to the loading surface 201, a transfer with high positional accuracy can be performed, and a transfer with similarly high production efficiency can be achieved.

[0033] In addition, in an item transport system in which items 3 are handed over between a transport vehicle 200 and a working device 100, the working device 100 is provided with a positioning member 4 on a loading surface 101 on which the items 3 are loaded, and when the items 3 are handed over from the transport vehicle 200 to the working device 100, even if there is a deviation in the stopping position of the transport vehicle 200, the items 3 can be positioned at the correct position 5 on the loading surface of the working device 100.

[0034] As described above, the working device of embodiment 1 can transfer an article with high positional accuracy without dropping or tipping over. Also, the article transport system of embodiment 1 can transfer an article with high positional accuracy without dropping or tipping over.

[0035] Second Embodiment The second embodiment relates to a working device provided with a retracting / pushing mechanism for transferring an article.

[0036] The working apparatus of the second embodiment will be described with reference to Fig. 4, which is an explanatory diagram of a retracting / pushing mechanism. In the drawings of the second embodiment, parts that are the same as or equivalent to those of the first embodiment are given the same reference numerals. In order to distinguish the second embodiment from the first embodiment, the second embodiment is referred to as an item transport system 2000 and a working apparatus 100A.

[0037] The difference from the first embodiment is the pull-in / push-out mechanism provided in the working device. The article transport system 2000 of the second embodiment is made up of a working device 100A that delivers the article 3 and a transport vehicle 200.

[0038] The working device 100A according to the second embodiment is equipped with a retracting / pushing mechanism 6 for transferring the article 3. Specifically, the working device 100A is equipped with a positioning member 4 for positioning the article 3 in the correct position 5 on the loading surface 101, rails 102 for moving the article 3, and the retracting / pushing mechanism 6 for transferring the article 3 to and from the transport vehicle 200. Note that although only one positioning member 4 and one rail 102 are shown in Fig. 4, it is sufficient to provide the number of positioning members 4 and rails 102 (usually two) required to perform the functions described in the first embodiment.

[0039] The retracting / pushing mechanism 6 is composed of an arm 6a and an arm tip 6b, and grasps the article 3 by extending and retracting the arm 6a and abutting or hooking the arm tip 6b against the article 3. Also, while grasping the article 3, the mechanism retracts the article from the transport vehicle 200 to the working device 100A and loads the article 3 in the correct position 5. Alternatively, the arm 6a is pushed out from the working device 100A to the transport vehicle 200, and the article 3 is loaded onto the loading surface 201 of the stopped transport vehicle 200.

[0040] Here, a comparison will be made with the transport vehicle disclosed in Patent Document 1 as a comparative example. In the transport vehicle of the comparative example, all of the mechanical components involved in the delivery of articles are mounted on the transport vehicle, which restricts the shape and size of articles that can be loaded onto the transport vehicle. Furthermore, because the transport vehicle is equipped with a clamp detection function and a contact detection function, it becomes over-specified when used on other production lines, which also presents a problem of low versatility.

[0041] However, in the item transport system 2000 of the second embodiment, the working device 100A is equipped with a positioning member 4 that positions the item 3 and a retracting / pushing mechanism 6 that delivers the item 3, so the transport vehicle 200 only needs to have the minimum transport function. This expands the range of applications for the transport vehicle 200 in production line design. Furthermore, because there is no need to provide a retracting / pushing mechanism on the loading surface 201 of the transport vehicle 200, the range of applicable items to be transported can be expanded to include items of a size and shape that conform to the outer shape of the loading surface 201.

[0042] In addition, in an item transport system in which items 3 are transferred between the transport vehicle 200 and the working device 100A, the working device 100A is further equipped with a retraction / push mechanism 6 that transfers items 3 between the transport vehicle 200 and the working device 100A, thereby ensuring reliable transfer of items 3.

[0043] As described above, the working device of the second embodiment can transfer an article with high positional accuracy without dropping or tipping over the article. Furthermore, the article can be transferred reliably.

[0044] Third Embodiment The third embodiment relates to an article transport system in which an article anti-back mechanism is provided on a transport vehicle.

[0045] An article transport system according to the third embodiment will be described, focusing on the differences from the first embodiment, based on Fig. 5, which is an explanatory diagram of an anti-back mechanism on a transport vehicle. In the drawings of the third embodiment, parts that are the same as or equivalent to those in the first embodiment are given the same reference numerals. Note that in the third embodiment, to distinguish it from the first embodiment, the article transport system is referred to as a 3000 article transport system and a 200A transport vehicle. Furthermore, the working device 100 is not shown in Fig. 5.

[0046] The difference from embodiment 1 is the anti-back mechanism provided on the transport vehicle. The article transport system 3000 of embodiment 3 is made up of a work device 100 (not shown) that delivers and receives the article 3, and a transport vehicle 200A.

[0047] During the transport of the item 3, the factory floor and the transport vehicle 200A itself may tilt. While the transport vehicle 200A is moving or stopped, gravity caused by this tilt may cause the item 3 to move toward the item input end of the loading surface 201 of the transport vehicle 200A. If such an unexpected movement of the item 3 occurs, the item 3 may fall from the transport vehicle 200A, causing a significant impact on the production line.

[0048] To address this problem, an anti-back mechanism 7 is provided at the end of the loading surface 201 of the transport vehicle 200A on the side where the item 3 is inserted. This anti-back mechanism 7 is designed so that a protrusion 7a normally protrudes above the loading surface 201. Therefore, even if an unexpected movement of the item 3 occurs while the transport vehicle 200A is traveling with the item 3 loaded on it during transport from the previous process or to the next process, the protrusion 7a will act as an obstacle and the item 3 will not fall. An operation switch is provided on the working device 100 and an operation mechanism is provided on the transport vehicle 200A, and when a release operation is performed using the operation switch on the working device 100, the operation mechanism of the transport vehicle 200A receives a wireless signal and releases the anti-back mechanism 7.

[0049] When the transport vehicle 200A is stopped and an article 3 is to be handed over to the working device 100, or when the working device 100 is to hand over the article 3 to the transport vehicle 200A, a release operation is performed using an operation switch provided on the working device 100, and the operation mechanism raises the release pin 7b provided inside the anti-back mechanism 7. When the release pin 7b rises (indicated by arrow H), the protrusion 7a on the loading surface 201 descends into the loading surface 201, removing the obstacle to the movement of the article 3 on the loading surface 201 and enabling a series of transfer operations of the article 3.

[0050] In the anti-back mechanism 7, the protrusion 7a is configured like a seesaw, and is always in a protruding state from the loading surface 201 due to the repulsive force of a spring provided on the loading surface 201 side, but the end of the anti-back mechanism 7 opposite the protrusion 7a is always maintained in a concave state downward from the loading surface 201. However, when the release operation is performed using the operation switch of the working device 100, the release pin 7b rises to remove the protruding portion from the loading surface 201 so that the protrusion 7a does not obstruct the movement of the article 3, and the protrusion 7a moves downward so that it is flush with the loading surface 201, allowing the article 3 to pass over the anti-back mechanism 7.

[0051] When transferring the article 3 from the working device 100 to the transport vehicle 200, in addition to the method of performing the release operation on the working device 100, it is also possible to partially omit the release operation step for the anti-back mechanism 7 by incorporating a spring inside the anti-back mechanism 7. This can be achieved by configuring the anti-back mechanism 7 so that when the article 3 moves on it, the load caused by the weight of the article 3 is applied from above, causing the convex part of the protrusion 7a to automatically descend towards the loading surface 201.

[0052] This anti-back mechanism 7 can be realized simply by providing an operation switch on the working device 100 and an operation mechanism for the anti-back mechanism 7 and release operation on the transport vehicle 200A, thereby preventing the article 3 from falling and ensuring the stability of the article 3 during transport at low cost. Furthermore, by providing the anti-back mechanism 7, the article 3 can be prevented from falling even while the transport vehicle 200A is moving, making it possible to relax the upper limit of the travel speed of the transport vehicle 200A within the factory production line, thereby contributing to improved production efficiency.

[0053] In the third embodiment, an anti-back mechanism is provided on the transport vehicle of the first embodiment, but the same effect can be obtained by providing an anti-back mechanism on the transport vehicle of the second embodiment.

[0054] As described above, the article transport system of the third embodiment can transfer articles with high positional accuracy without dropping or tipping over the articles. Furthermore, the articles can be transferred while ensuring the stability of the articles during transport.

[0055] Fourth Embodiment The fourth embodiment relates to an article transport system in which a transport vehicle is provided with a transport vehicle positioning member.

[0056] An article transport system according to the fourth embodiment will be described, focusing on the differences from the first embodiment, based on Fig. 6, which is an explanatory diagram of a vehicle positioning member. In the drawings of the fourth embodiment, parts that are the same as or equivalent to those of the first embodiment are given the same reference numerals. In the fourth embodiment, to distinguish it from the first embodiment, the system is referred to as an article transport system 4000 and a transport vehicle 200B.

[0057] The difference from embodiment 1 is the vehicle positioning member provided on the vehicle. An article transport system 4000 of embodiment 4 is made up of a working device 100 that delivers an article 3 and a transport vehicle 200B.

[0058] 6 shows an article transport system according to embodiment 4. Working device 100 is equipped with positioning member 4 as described in embodiment 1. A transport vehicle 200B in this embodiment 4 is equipped on a loading surface 201 with a transport vehicle positioning member 204 having the same shape as positioning member 4 of working device 100.

[0059] With this configuration, even if the transport vehicle 200B stops at a position deviated from the ideal stopping position 203 when transferring the item 3 from the working device 100 to the transport vehicle 200B, the transport vehicle positioning member 204 has the same effect as the positioning member 4 of the working device 100. That is, when the item 3 reaches the discharge end of the loading surface 101 of the working device 100, the y-axis position may not match the y-axis coordinate of the correct position 5, resulting in a deviation. However, the opening position of the transport vehicle positioning member 204 at the item input end of the loading surface 201 of the transport vehicle 200B is set so as to absorb this deviation. Therefore, even if the stopping position of the transport vehicle 200B is deviated, the item 3 can be reliably transferred from the working device 100 to the transport vehicle 200B. This makes it possible to increase the likelihood of the transport vehicle 200B's stopping accuracy in production line design, enabling the production of more inexpensive products.

[0060] In addition, in embodiment 4, a positioning member for the transport vehicle is provided for the transport vehicle of embodiment 1, but the same effect can be obtained by providing a positioning member for the transport vehicle for embodiments 2 and 3.

[0061] As described above, the article transport system of the fourth embodiment can transfer articles with high positional accuracy without dropping or tipping over. Furthermore, even if the stopping position of the transport vehicle is shifted, the article can be transferred from the work device to the transport vehicle more reliably.

[0062] Fifth Embodiment The fifth embodiment relates to a working device equipped with a position detection sensor.

[0063] The working apparatus of embodiment 5 will be described with reference to FIG. 7, which is an explanatory diagram of a position detection sensor, focusing on the differences from embodiment 1. In the drawings of embodiment 5, parts that are the same as or equivalent to those of embodiment 1 are given the same reference numerals. In embodiment 5, to distinguish it from embodiment 1, it is referred to as an item transport system 5000 and a working apparatus 100B.

[0064] The difference from embodiment 1 is the position detection sensor provided in the working device. The item transport system 5000 of embodiment 5 is composed of a working device 100B that delivers and receives an item 3, and a transport vehicle 200. Note that although only one positioning member 4 and one rail 102 are shown in Figure 7, it is sufficient to provide the number (usually two) that is sufficient to perform the functions described in embodiment 1.

[0065] The working device 100B in Figure 7 is equipped with a position detection sensor 8 that detects whether the transport vehicle 200 transporting the item 3 has stopped at an ideal stopping position where the item 3 can be reliably handed over, i.e., a normal stopping position.

[0066] 7, a position detection sensor 8 that detects the position of the transport vehicle 200 is attached to the housing of the operating device 100B and measures the current position of the running or stopped transport vehicle 200. When the transport vehicle 200 is transported from the previous process and stops near the operating device 100B, the operating device 100B determines whether or not to start the operation of handing over the article 3 to the transport vehicle 200 based on the position data of the transport vehicle 200 detected by the position detection sensor 8.

[0067] According to this configuration, for example, when it is detected that the transport vehicle 200 has stopped at a position that is different from the ideal stopping position 203, it is possible to set it so that a signal to start the transfer operation of the article 3 is not sent. This reduces the risk of the article 3 falling due to a deviation in the stopping position of the transport vehicle 200, and the transfer operation can be performed reliably, thereby enabling the construction of a production line with higher production efficiency.

[0068] 7 shows the position detection sensor 8 being attached to the housing of the operating device 100B, but this is not a limitation. It may be attached to the bottom or interior of the operating device 100B, or to the floor where the transport vehicle 200 passes. It may also be attached to the ceiling of the room in which the operating device 100B is placed, as long as it can detect the position in the area where the transport vehicle 200 travels. The type of position detection sensor that can be used may include a photoelectric sensor, a displacement sensor, an image sensor, or the like.

[0069] In the fifth embodiment, a position detection sensor is provided for the working device of the first embodiment, but the same effect can be obtained by providing a position detection sensor for the working devices of the second to fourth embodiments.

[0070] As described above, the working device of the fifth embodiment can transfer an article with high positional accuracy without dropping or tipping over the article. Furthermore, it can reduce the risk of the article dropping due to a deviation in the stopping position of the transport vehicle.

[0071] Sixth Embodiment The sixth embodiment relates to an article transport system in which a transport vehicle is provided with a dog for position detection function.

[0072] An article transport system according to a sixth embodiment will be described based on Figs. 8A and 8B, which are explanatory diagrams of a dog for a position detection function, and also with reference to Fig. 7, focusing on the differences from the fifth embodiment. In the drawings of the sixth embodiment, parts that are the same as or equivalent to those of the fifth embodiment are given the same reference numerals. Note that in the sixth embodiment, to distinguish it from the fifth embodiment, the system is referred to as an article transport system 6000 and a transport vehicle 200C. Furthermore, in Figs. 8A and 8B, the working device 100B is omitted.

[0073] The difference from embodiment 5 is a dog for position detection provided on the transport vehicle. The article transport system 6000 of embodiment 6 is made up of a working device 100B (not shown) that delivers and receives the article 3, and a transport vehicle 200C.

[0074] In the fifth embodiment, a position detection sensor 8 for measuring the current position of the transport vehicle 200 is installed on the working device 100B. In the sixth embodiment, a dog 9 for position detection function is installed on the transport vehicle 200C in comparison with the position detection sensor 8 installed on the working device 100B. FIGS. 8A and 8B show top views of the transport vehicle 200C. FIG. 8A is an explanatory diagram of a case where the dog 9 can be detected. FIG. 8B is an explanatory diagram of a case where the dog 9 cannot be detected. In FIGS. 8A and 8B, the dotted line 10 indicates the dog detectable range. In FIGS. 8A and 8B, the transport vehicle 200C is stopped for the transfer of the article 3 to the working device 100B. When the transfer direction is the left-right direction in the figure (indicated by arrows B and C), the dog 9 is attached so as to protrude from the article input side of the transport vehicle 200C. The shape of the dog 9 is suitable for detecting the position of the transport vehicle 200C by the position detection sensor 8 provided on the working device 100B, that is, it is shaped to match the ideal stopping position 203 of the transport vehicle 200C.

[0075] If the ideal stop position 203 of the transport vehicle 200C is set with a certain degree of likelihood so that the article 3 on the working device 100B will be in its correct position after a series of transfer operations, it is necessary to detect the current position of the transport vehicle 200C, taking that likelihood into account. Therefore, providing a physical detection target on the transport vehicle 200C enables more reliable position detection. When the transport vehicle 200C is located at the ideal stop position 203, the dog 9 is within the detection range of the position detection sensor 8, i.e., within the dog detectable range 10, and can be detected (see FIG. 8A). Conversely, when the transport vehicle 200C is outside the ideal stop position 203, the dog 9 is outside the dog detectable range 10 (see FIG. 8B).

[0076] This configuration makes it possible to accurately measure the stopping position data of the transport vehicle 200C loaded with the item 3, thereby improving the positioning accuracy of the item 3 during the delivery operation.

[0077] In addition, installing a position detection sensor on the work device described in embodiments 5 and 6 and installing a dog for position detection function on the transport vehicle can also be applied to the work devices and transport vehicles of embodiments 1 to 4.

[0078] As described above, the article transport system of the sixth embodiment can transfer articles with high positional accuracy without dropping the articles. Furthermore, the articles can be transferred with improved positioning accuracy.

[0079] Seventh Embodiment The seventh embodiment relates to a working device equipped with a movable positioning member.

[0080] The working apparatus of the seventh embodiment will be described with reference to Figs. 11 and 12, which are explanatory diagrams of a positioning member. In the drawings of the seventh embodiment, parts that are the same as or equivalent to those of the first embodiment are given the same reference numerals. In order to distinguish the seventh embodiment from the first embodiment, the working apparatus is referred to as an item transport system 7000 and a working apparatus 100C.

[0081] The difference from embodiment 1 is that the positioning member is made movable. An article transport system 7000 of embodiment 7 is made up of a work device 100C that delivers an article 3 and a transport vehicle 200.

[0082] A working apparatus 100C according to the seventh embodiment is provided with a pair of rails 102 and a pair of positioning members 4e (4f) on a loading surface 101. A transport vehicle 200 is provided with a pair of rails 202 on a loading surface 201.

[0083] The working apparatus 100C of the seventh embodiment is also capable of dealing with changes in stopping position deviation that occur when an AGV (Automatic Guided Vehicle) that can be used in a production line that handles various types of articles is introduced as the transport vehicle 200. Note that AGVs include, for example, laser detection types and magnetic tape guidance types.

[0084] In the seventh embodiment, two configurations will be described: one in which the positioning member on the article insertion side is movable, and one in which the entire positioning member is movable. First, the configuration in which the positioning member on the article insertion side is movable will be described with reference to FIG.

[0085] Alternatively, threaded holes may be drilled in advance in the loading surface 101, and the movable positioning member 4e may be screwed into the holes. However, if the positioning member is shaped to bend at any point in the x-axis direction of the loading surface as shown in FIG. 11, the installation position of the positioning member 4e can be adjusted by providing a connecting part 4d, such as a hinge, at the bending point. To adjust the position, the positioning member 4e can be screwed into a threaded hole drilled in advance in the loading surface 101 for adjustment. In FIG. 11, the positioning member on the normal position 5 side is designated 4b, since it corresponds to the second positioning member 4b in FIG. 9 of the first embodiment. The movable range of the positioning member 4e is indicated by 4e1, 4e2, and 4e3.

[0086] Next, a configuration in which the entire positioning member is movable will be described with reference to FIG. 12. In FIG. 12, the bending point of the movable positioning member 4f is located on the opposite side of the normal position 5 from the item insertion side (the positive x-direction), and a connecting part 4g such as a hinge is provided at the bending point. With this configuration, the installation position of the positioning member 4f can be adjusted as a whole. To adjust the position, the positioning member 4f can be fixed with a screw into a screw hole that has been drilled in advance for adjustment on the placement surface. The movable range of the positioning member 4f is indicated by 4f1 and 4f2.

[0087] Here, the features and effects of the working apparatus 100C of the seventh embodiment are summarized. The required opening width may need to be changed depending on the product, model, and process to be manufactured. However, since the positioning member is movable and can be adapted to meet the requirements, it can flexibly accommodate high-mix, low-volume production. The reasons for this are explained in detail below. (1) The deviation tolerance of the AGV (automated guided vehicle) can be increased, so that an AGV with low stopping accuracy can be used to transfer an article. In other words, the cost reduction effect of the transport vehicle exceeds the cost of installing the positioning member, thereby reducing production costs. (2) The angle θ between the article and the positioning member can be adjusted to an optimal value. This angle θ contributes to the positioning accuracy when transferring an article.

[0088] The relationship between angle θ and frictional force will be described with reference to FIG. 10B of the first embodiment. If the pushing force on the article is F, the angle between the tangent to the positioning member and the article is θ, and the friction coefficient of the positioning member is μ, the force in the direction in which the article moves along the positioning member is F cos θ, and the frictional force is F μ sin θ. If F cos θ > F μ sin θ, the article moves toward the normal position 5. If F cos θ < F μ sin θ, the article stops. Here, if θ1 > θ2 > θ3, then F cos θ1 < F cos θ2 < F cos θ3, and F μ sin θ1 > F μ sin θ2 > F μ sin θ3. In this way, the appropriate value of angle θ can be uniquely determined. In other words, the upper limit of angle θ varies depending on the material of the positioning member, but this can be adjusted by adjusting the opening width of the positioning member.

[0089] As described above, the working device of the seventh embodiment can transfer an article with high positional accuracy without dropping or tipping over the article. Furthermore, the working device can be applied to inexpensive AGVs.

[0090] Eighth Embodiment The eighth embodiment relates to a working device in which a freely rotating part is provided in the article moving area.

[0091] The working apparatus of embodiment 8 will be described with reference to Figures 13 and 14, which are explanatory diagrams of freely rotating parts in the article movement area. In the drawings of embodiment 8, parts that are the same as or equivalent to those of embodiment 1 are given the same reference numerals. In embodiment 8, to distinguish it from embodiment 1, it is referred to as an article transport system 8000 and a working apparatus 100D.

[0092] The difference from embodiment 1 is that a freely rotating part is provided in the article movement area of ​​the working device. An article transport system 8000 of embodiment 8 is made up of a working device 100D that delivers an article 3 and a transport vehicle 200B.

[0093] A working device 100D according to the eighth embodiment includes a pair of rails 102, a pair of positioning members 4, and a plurality of freely rotating parts 103 on a loading surface 101. A transport vehicle 200B includes a pair of rails 202 and a transport vehicle positioning member 204 on a loading surface 201.

[0094] When transferring an item 3 from the transport vehicle 200B to the working device 100D, the free-rotating component 103 on the loading surface 101 allows the item 3 to rotate. Therefore, even if the transport vehicle 200B stops in the y-axis direction and the item 3 moves in the x-axis direction and interferes with the positioning member 4, the orientation of the item 3 is likely to follow the direction of positioning. Conversely, if a linear motion promoting component such as a wheel conveyor is provided instead of the free-rotating component 103, the rotation of the item 3 is restricted. If the item 3 is pinched between the positioning member 4 and the transport vehicle positioning member 204 during transfer as shown in FIG. 13, it will be unable to move further in the x-axis direction. In other words, there is a risk that the item 3 will not be able to be positioned. However, if the free-rotating component 103, specifically a component such as a freebear, is used, the item 3 will rotate as shown in FIG. 14, and its movement in the x-axis direction will not be hindered. This allows for smooth transfer of the item 3, improving transfer efficiency and productivity.

[0095] 13 illustrates the relationship between the allowable displacement range (E) of the opening of working device 100D, which is the receiving side, and the allowable displacement range (F) of the opening of transport vehicle positioning member 204 of transport vehicle 200B. If the allowable displacement range (F) of the opening of transport vehicle positioning member 204 is designed and configured to be relatively equal to or smaller than the allowable displacement range (E) of the opening of working device 100D, loading surface 201 of transport vehicle 200B will be smaller in the y direction than loading surface 101 of working device 100D, resulting in a more compact design. This expands the travelable range of the transport vehicle on the production line and allows the transport vehicle to maneuver more easily, improving production efficiency throughout the line.

[0096] As described above, the working device of the eighth embodiment can transfer articles with high positional accuracy without dropping or tipping over the articles. Furthermore, the production efficiency of the entire line can be improved.

[0097] Although various exemplary embodiments and examples are described in this disclosure, the various features, aspects, and functions described in one or more embodiments are not limited to the application of a particular embodiment, but may be applied to the embodiments alone or in various combinations. Therefore, countless variations not illustrated are anticipated within the scope of the technology disclosed in this specification. For example, this includes cases where at least one component is modified, added, or omitted, or where at least one component is extracted and combined with components of another embodiment.

[0098] 100, 100A, 100B, 100C, 100D Working device, 101 Loading surface, 102 Rail, 103 Freely rotating part, 200, 200A, 200B, 200C Transport vehicle, 201 Loading surface, 202 Rail, 203 Ideal stopping position, 204 Positioning member for transport vehicle, 3 Article, 4, 4c, 4e, 4f Positioning member, 4a First positioning member, 4b Second positioning member, 4d, 4g Jointed part, 5 Regular position, 6 Retraction / push mechanism, 6a Arm, 6b Arm tip, 7 Anti-back mechanism, 7a Protrusion, 7b Release pin, 8 Position detection sensor, 9 Dog, 10 Dog detectable range, 1000, 2000, 3000, 4000, 5000, 6000, 7000, 8000 Goods transport system.

Claims

1. A working device for transferring goods between transport vehicles, the device having an opening width at the end of the goods loading side on the surface for loading the goods that is the same as the range of possible positions for the goods due to deviations in the stopping position of the transport vehicle, and equipped with a positioning member for positioning the goods in the correct position.

2. The working device according to claim 1, wherein the positioning member comprises a first positioning member on the article insertion side and a second positioning member on the normal position side.

3. A working device as described in claim 2, wherein the first positioning member and the second positioning member are formed from materials with different friction coefficients, and the friction coefficient of the first positioning member is smaller than the friction coefficient of the second positioning member.

4. The working device according to claim 2, wherein the first positioning member is surface-treated.

5. The working device according to claim 1, wherein the positioning member has a curved shape recessed toward the item insertion side, and when the angle between the tangent to the positioning member at the point where the positioning member contacts the item and the side parallel to the direction in which the item is transferred is θ, θ is constant or decreases continuously on the item insertion side and decreases continuously on the normal position side.

6. The working device according to claim 1, wherein the positioning member is configured so that the angle of part or the entirety of the article insertion side can be adjusted.

7. A working device according to any one of claims 1 to 6, wherein a freely rotating part is provided on the surface on the article loading side where the article is loaded.

8. The working device according to claim 7, wherein the allowable range of displacement of the opening of the working device is equal to or greater than the allowable range of displacement of the opening of the vehicle positioning member of the transport vehicle.

9. A working device according to any one of claims 1 to 8, further comprising a retracting / pushing mechanism for transferring the article to and from the transport vehicle.

10. A working device according to any one of claims 1 to 9, further comprising a position detection sensor for detecting whether the transport vehicle is stopped at a regular position.

11. An article transport system for transferring articles between a transport vehicle and a working device, wherein the working device is provided with a positioning member on the surface on which the article is loaded, and when transferring the article from the transport vehicle to the working device, even if there is a deviation in the stopping position of the transport vehicle, the article can be positioned in the correct position on the loading surface of the working device.

12. An article transport system according to claim 11, wherein the working device further comprises a retracting / pushing mechanism for transferring the article between the transport vehicle and the working device, thereby enabling the transfer of the article.

13. An article transport system as described in claim 11, wherein the transport vehicle is further equipped with an anti-back mechanism that prevents the article from falling, and the article is handed over while ensuring the stability of the article during transport.

14. An article transport system as described in claim 12, wherein the transport vehicle is further equipped with an anti-back mechanism that prevents the article from falling, and the article is handed over while ensuring the stability of the article during transport.

15. An article transport system as described in any one of claims 11 to 14, further comprising a positioning member for the article on the transport vehicle, and when the article is handed over from the working device to the transport vehicle, the article can be handed over from the working device to the transport vehicle even if there is a deviation in the stopping position of the transport vehicle.

16. An article transport system as claimed in any one of claims 11 to 14, further comprising a position detection sensor on the working device that detects the position of the transport vehicle, and a dog on the transport vehicle that is to be detected by the position detection sensor, thereby transferring the article with improved positioning accuracy.

17. An article transport system as described in claim 15, further comprising a position detection sensor on the working device that detects the position of the transport vehicle, and a dog on the transport vehicle that is the object to be detected by the position detection sensor, so that the article is handed over with improved positioning accuracy.

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