Conveyance system, unit to be gripped, object to be conveyed, and regulation method

Abstract

The present disclosure addresses the problem of reliably regulating the movement of an object to be conveyed on a movement surface when a gripping part is not gripping a part to be gripped.　A conveyance system (100) comprises an object to be conveyed (2) and a conveyance device (1). The object to be conveyed (2) has a part to be gripped (41). The conveyance device (1) has a gripping part (12) that grips the part to be gripped (41), and conveys the object to be conveyed (2) by moving on a movement surface (G1) together with the object to be conveyed (2) in a state in which the gripping part (12) grips the part to be gripped (41). The object to be conveyed (2) further includes a regulation part (42) and a displacement mechanism unit (43). The regulation part (42) is configured so as to be capable of regulating the movement of the object to be conveyed (2) on the movement surface (G1) by contacting the movement surface (G1). The displacement mechanism unit (43) displaces the regulation part (42) from a first position at which to contact the movement surface (G1) to a second position at which to be separated from the movement surface (G1) in conjunction with a gripping operation in which the gripping part (12) grips the part to be gripped (41).

Description

Transfer System, Gripped Unit, Transfer Target, and Regulation Method

[0001] The present disclosure relates to a transfer system, a gripped unit, a transfer target, and a regulation method, and more particularly, to a transfer system, a gripped unit, a transfer target, and a regulation method that perform gripping operations.

[0002] The gripping structure described in Patent Document 1 includes a gripped portion provided on a transfer target that travels on a moving surface, and a gripping portion provided on the main body of a transfer device that travels on the moving surface corresponding to the gripped portion and holding the gripped portion.

[0003] In a transfer system including a transfer target and a transfer device as described in Patent Document 1, there is a desire to reliably regulate the movement of the transfer target on the moving surface when the gripping portion does not hold (grip) the gripped portion.

[0004] International Publication No. 2021 / 235049

[0005] In view of the above reasons, the present disclosure aims to provide a transfer system, a gripped unit, a transfer target, and a regulation method that can reliably regulate the movement of the transfer target on the moving surface when the gripping portion does not grip the gripped portion.

[0006] A transfer system according to an aspect of the present disclosure includes a transfer target having a gripped portion, and a transfer device having a gripping portion that grips the gripped portion, and configured to transfer the transfer target by moving on a moving surface together with the transfer target in a state where the gripping portion grips the gripped portion. The transfer target further includes a regulation portion configured to be able to regulate the movement of the transfer target on the moving surface by contacting the moving surface, and a displacement mechanism portion configured to displace the regulation portion from a first position in contact with the moving surface to a second position away from the moving surface in conjunction with a gripping operation in which the gripping portion grips the gripped portion.

[0007] A gripping unit according to one aspect of the present disclosure is a gripping unit attached to the main body of an object to be transported by a transport device that moves on a moving surface. The gripping unit includes a gripping portion that is gripped by a gripping portion of the transport device, a restricting portion configured to restrict movement on the moving surface, and a displacement mechanism that, in conjunction with the gripping operation in which the gripping portion grips the gripping portion, displaces the restricting portion from a first position in contact with the moving surface to a second position away from the moving surface.

[0008] A transport object according to one aspect of the present disclosure further comprises: a portion to be gripped which is gripped by a gripping portion of a transport device that moves on a moving surface; a restricting portion configured to restrict movement on the moving surface by contacting the moving surface; and a displacement mechanism portion which, in conjunction with the gripping operation of the gripping portion in which it grips the portion to be gripped, displaces the restricting portion from a first position in contact with the moving surface to a second position away from the moving surface.

[0009] A restraining method according to one aspect of the present disclosure includes: a gripping step of gripping a portion to be gripped of an object to be transported; a transporting step of moving the object together with the object on a moving surface while gripping the portion to be gripped; and a displacement step of displacing a restraining portion, which is configured to restrict the movement of the object on the moving surface by contacting the moving surface, from a first position in contact with the moving surface to a second position away from the moving surface, in conjunction with the gripping step.

[0010] Figure 1 is a schematic block diagram of a transport system according to one embodiment of the present disclosure. Figure 2 is a schematic plan view of the transport system. Figure 3 is a schematic side view of the transport system. Figure 4 is a cross-sectional view illustrating the operation of the displacement mechanism in the transport system. Figure 5 is a cross-sectional view illustrating the operation of the displacement mechanism in the transport system. Figure 6 is a top view illustrating the gripping operation in the transport system. Figure 7 is a top view illustrating the gripping operation in the transport system. Figure 8 is a top view illustrating the gripping operation in the transport system. Figure 9 is a cross-sectional view illustrating the operation of the displacement mechanism in the transport system of Modification 1. Figure 10 is a cross-sectional view illustrating the operation of the displacement mechanism in the transport system of Modification 2. Figure 12 is a cross-sectional view illustrating the operation of the displacement mechanism in the transport system of Modification 3. Figure 13 is a cross-sectional view illustrating the operation of the displacement mechanism in the transport system of Modification 3. Figure 14 is a cross-sectional view illustrating the operation of the displacement mechanism in the same transport system. Figure 15 is a cross-sectional view illustrating the operation of the displacement mechanism in the transport system of modified example 4. Figure 16 is a cross-sectional view illustrating the operation of the displacement mechanism in the same transport system. Figure 17 is a cross-sectional view illustrating the operation of the displacement mechanism in the same transport system.

[0011] A transport system 100 according to an embodiment of this disclosure will be described in detail with reference to the drawings. Note that the figures referenced in the following description are schematic diagrams, and the ratios of the size and thickness of each component in each figure do not necessarily reflect the actual dimensional ratios. Furthermore, the embodiments and modifications described below are merely examples of this disclosure, and this disclosure is not limited to these embodiments and modifications. Even outside of these embodiments and modifications, various modifications are possible depending on the design, etc., as long as they do not depart from the technical idea of ​​this disclosure.

[0012] (1) Overview First, the overview of the transport system 100 of this embodiment will be described with reference to Figures 1 to 4.

[0013] As shown in Figures 1 and 2, the transport system 100 comprises a transport object 2 and a transport device 1.

[0014] As shown in Figures 2 and 4, the object to be transported 2 has a gripping portion 41.

[0015] The transport device 1 has a gripping part 12 that grips the part to be gripped 41, and transports the transport object 2 by moving along the moving surface G1 together with the transport object 2 while the gripping part 12 is gripping the part to be gripped 41.

[0016] As shown in Figure 4, the transport object 2 further includes a regulating section 42 and a displacement mechanism section 43.

[0017] The restricting unit 42 is configured to restrict the movement of the object to be transported 2 on the moving surface G1 by contacting the moving surface G1.

[0018] The displacement mechanism 43, in conjunction with the gripping operation in which the gripping portion 12 grips the gripped portion 41, displaces the restricting portion 42 from a first position in contact with the moving surface G1 to a second position away from the moving surface G1.

[0019] Here, the conveying device 1 is used for conveying operations in facilities such as factories, logistics centers (including distribution centers), offices, stores, schools, and hospitals. The conveying device 1 moves by traveling on a moving surface G1 with one or more wheels. The moving surface G1 is the surface on which the conveying device 1 moves. When the conveying device 1 moves inside a facility, the floor of the facility becomes the moving surface G1, and when the conveying device 1 moves outdoors, the ground becomes the moving surface G1.

[0020] With the above configuration, when the gripping part 12 is not gripping the part to be gripped 41, the movement of the transport object 2 on the moving surface G1 can be reliably restricted. Furthermore, when the gripping part 12 performs a gripping operation to grip the part to be gripped 41, the transport object 2 can be automatically made movable on the moving surface G1.

[0021] (2) Configuration The transport system 100 (101) according to this embodiment will be described in detail below with reference to the drawings.

[0022] In the following, for explanatory purposes, we define three mutually orthogonal directions: the X-axis, Y-axis, and Z-axis. In this embodiment, the X-axis is defined as the left-right direction, the Y-axis as the front-back direction, and the Z-axis as the up-down direction. The positive direction of the X-axis is defined as pointing to the right, the positive direction of the Y-axis as pointing forward, and the positive direction of the Z-axis as pointing upward. Note that these directions are not intended to limit the direction in which the transport device 1 is used. Also, the arrows indicating each direction in the drawings are for illustrative purposes only and do not represent actual dimensions.

[0023] (2.1) Overall configuration of the transport system As shown in Figure 1, the transport system 101 comprises a transport object 2, a transport device 1 for transporting the transport object 2, and a higher-level system 3 for controlling the transport operation of the transport object 2 by the transport device 1.

[0024] The transport device 1 and the higher-level system 3 are configured to communicate with each other. In this disclosure, "communication possible" means that information can be exchanged directly or indirectly via a network NT1 or relay device 5, etc., using an appropriate communication method such as wired communication or wireless communication. In this embodiment, the higher-level system 3 and the transport device 1 are bidirectional, and both transmission of information from the higher-level system 3 to the transport device 1 and transmission of information from the transport device 1 to the higher-level system 3 are possible. In Figure 1, there is one transport device 1, but there may be two or more transport devices 1. In other words, the higher-level system 3 may control the transport operations of each of the multiple transport devices 1. Furthermore, the transport device 1 can transport multiple types of transport objects 2. In other words, the higher-level system 3 may control the transport operations of multiple types of transport objects 2 by multiple transport devices 1.

[0025] (2.2) Conveying device As shown in Figure 2, the conveying device 1 includes a device body 10, at least one drive wheel 11 (for example, a pair in this embodiment), a plurality of gripping parts 12 (for example, a pair in this embodiment), and a first connector 13. The conveying device 1 also has a plurality of contact parts 14 (for example, a pair in this embodiment).

[0026] Furthermore, as shown in Figure 1, the transport device 1 includes a drive wheel unit 15, a gripping drive unit 16, a control unit 17, a power supply PS1, a communication unit 18, and a detection unit 19.

[0027] As shown in Figures 2 and 3, the main body of the device 10 is formed in the shape of a rectangular parallelepiped. In the following description, it is assumed that the conveying device 1 is positioned on the moving surface G1 with the longitudinal and transverse directions of the main body of the device 10 aligned with the X-axis direction (left-right direction) and the Y-axis direction (front-back direction), respectively, as shown in Figure 2.

[0028] The pair of drive wheels 11 are located at the bottom of the device body 10.

[0029] The pair of drive wheels 11 are arranged side by side in the left-right direction relative to the main body 10 of the device. In the following description, the drive wheel 11 located on the left side of the main body 10 may be referred to as the left drive wheel 11L, and the drive wheel 11 located on the right side of the main body 10 may be referred to as the right drive wheel 11R.

[0030] In this embodiment, the left drive wheel 11L and the right drive wheel 11R each also serve as steering wheels. The drive mechanism for driving the left drive wheel 11L and the steering mechanism for changing the direction of the left drive wheel 11L are integrated as a left drive wheel unit 15L (see Figure 1). Similarly, the drive mechanism for driving the right drive wheel 11R and the steering mechanism for changing the direction of the right drive wheel 11R are integrated as a right drive wheel unit 15R. In other words, the above-mentioned drive wheel unit 15 includes the left drive wheel unit 15L and the right drive wheel unit 15R.

[0031] The left drive wheel unit 15L controls the rotation and steering angle of the left drive wheel 11L. The left drive wheel unit 15L includes a first motor M1L, which is a drive motor that rotates the left drive wheel 11L in the circumferential direction, and a second motor M2L, which is a steering motor that changes the orientation (rolling direction) of the left drive wheel 11L.

[0032] In the left drive wheel unit 15L, upon receiving a control command from the control unit 17, the second motor M2L changes the direction of the left drive wheel 11L as instructed by the control command, and the first motor M1L rotates the left drive wheel 11L with the rotational torque or rotational speed instructed by the control command. Furthermore, the left drive wheel unit 15L stops the rotation of the first motor M1L when the rotational torque of the first motor M1L reaches a set value.

[0033] The right drive wheel unit 15R controls the rotation and steering angle of the right drive wheel 11R. The right drive wheel unit 15R includes a first motor M1R, which is a drive motor that rotates the right drive wheel 11R in the circumferential direction, and a second motor M2R, which is a steering motor that changes the direction (rolling direction) of the right drive wheel 11R.

[0034] In the right drive wheel unit 15R, upon receiving a control command from the control unit 17, the second motor M2R changes the direction of the right drive wheel 11R as instructed by the control command, and the first motor M1R rotates the right drive wheel 11R with the rotational torque or rotational speed instructed by the control command. Furthermore, the right drive wheel unit 15R stops the rotation of the first motor M1R when the rotational torque of the first motor M1R reaches a set value.

[0035] As shown in Figure 2, the pair of gripping parts 12 are provided on the front of the device body 10 so as to be aligned in the left-right direction. The pair of gripping parts 12 are provided so as to be displaceable along the left-right direction. Specifically, the pair of gripping parts 12 are provided so as to be displaceable along the left-right direction so as to widen or narrow the distance between them along the left-right direction. The pair of gripping parts 12 grip the pair of gripping parts 41 that the object to be transported 2 has. In the following description, the left gripping part 12 of the pair of gripping parts 12 may be referred to as the left gripping part 12L, and the right gripping part 12 may be referred to as the right gripping part 12R.

[0036] As shown in Figures 6 to 8, the gripping portion 12 has a base portion 121 provided on the front surface of the device body 10, and a gripping member 122 which is a plate-shaped member that protrudes forward from the base portion 121. The gripping member 122 has a recess 120 on its outer surface into which a cylindrical gripped member 411, which will be described later, fits. Here, "outer surface" refers to the left side when the gripping member 122 is the gripping member 122 of the left gripping portion 12L, and to the right side when the gripping member 122 is the gripping member 122 of the right gripping portion 12R.

[0037] The gripping drive unit 16 displaces each of the pair of gripping parts 12 along the left-right direction. The gripping drive unit 16 includes, for example, a lead screw arranged along the left-right direction, a servo motor that rotates the lead screw, and a reduction gear that transmits the rotation of the servo motor to the lead screw. The gripping drive unit 16 is provided, for example, inside the main body 10 of the device.

[0038] The pair of contact portions 14 are configured to be displaceable along the left-right direction in conjunction with the pair of gripping portions 12. Specifically, the pair of contact portions 14 are configured to be displaceable along the left-right direction so as to widen or narrow the distance between them along the left-right direction.

[0039] Each of the pair of contact portions 14, as shown in Figures 4 to 8, includes a cylindrical shaft portion 141 that protrudes forward from the base portion 121 of the gripping portion 12, and a roller member 142 that rotates around a rotation axis at the front end of the shaft portion 141. The rotation axis of the roller member 142 is also the central axis of the shaft portion 141 in the Y-axis direction. The outer diameter of the roller member 142 is larger than the outer diameter of the shaft portion 141.

[0040] In the following explanation, the left contact portion 14 of the pair of contact portions 14 may be referred to as the left contact portion 14L, and the right contact portion 14 may be referred to as the right contact portion 14R.

[0041] The left contact portion 14L is provided above the gripping member 122 of the left gripping portion 12L. The right contact portion 14R is provided above the gripping member 122 of the right gripping portion 12R.

[0042] The control unit 17 (see FIG. 1) mainly consists of a computer system having one or more processors and a memory. The functions of the control unit 17 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, may be provided through a telecommunication line such as the Internet, or may be provided by being recorded on a non-temporary recording medium such as a memory card.

[0043] As shown in FIG. 1, the control unit 17 has functions such as a movement control unit 171 and a gripping control unit 172. Note that these merely indicate the functions realized by the control unit 17 and do not necessarily indicate a physical configuration.

[0044] The movement control unit 171 controls the operations of the left drive wheel unit 15L and the right drive wheel unit 15R based on a control command received by the communication unit 18 described later from the upper system 3, and moves the apparatus main body 10 on the moving surface G1. More specifically, the movement control unit 171 controls the current flowing through the second motor M2L to change the direction of the left drive wheel 11L, and controls the current flowing through the second motor M2R to change the direction of the right drive wheel 11R. Also, the movement control unit 1 / 71 controls the current flowing through the first motor M1L to rotate the left drive wheel 11L, and controls the current flowing through the first motor M1R to rotate the right drive wheel 11R.

[0045] The gripping control unit 172 controls the gripping drive unit 16 based on a control command received by the communication unit 18 from the upper system 3, and displaces each of the pair of gripping parts 12 along the X-axis direction.

[0046] The detection unit 19 detects the behavior of the apparatus main body 10 and the surrounding situation of the apparatus main body 10. The "behavior" referred to in the present disclosure means operations and postures, etc. That is, the behavior of the apparatus main body 10 includes the operating state of the apparatus main body 10 indicating whether it is running / stopped, the moving distance and running time of the apparatus main body 10, the speed (and speed change) of the apparatus main body 10, the acceleration acting on the apparatus main body 10, and the posture of the apparatus main body 10, etc.

[0047] The detection unit 19 includes, for example, a sensor such as a LiDAR (Light Detection and Ranging) for detecting an object existing around the apparatus main body 10. The detection unit 19 detects the presence or absence of an object in the vicinity of the apparatus main body 10 and, if an object exists, its position, and outputs the detection result to the control unit 17. The control unit 17 can avoid a collision with the object based on the information of the object detected by the detection unit 19. Note that the detection unit 19 for detecting an object existing around the apparatus main body 10 is not limited to a LiDAR. This type of sensor may be a sensor that detects an object using at least one of sound waves, light, and radio waves.

[0048] The communication unit 18 is configured to be able to communicate with the upper system 3. In the present embodiment, the communication unit 18 communicates with any one of a plurality of relay devices 5 installed within a predetermined area where the transport device 1 moves by wireless communication using radio waves as a medium. Therefore, the communication unit 18 and the upper system 3 indirectly communicate with each other via at least the network NT1 and the relay device 5.

[0049] Each relay device 5 is a device (access point) that relays communication between the communication unit 18 and the upper system 3. The relay device 5 communicates with the upper system 3 via the network NT1. In the present embodiment, as an example, for communication between the relay device 5 and the communication unit 18, wireless communication conforming to standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power wireless (specific low-power wireless) that does not require a license is adopted. Further, the network NT1 is not limited to the Internet, and for example, a local communication network within a predetermined area where the transport device 1 moves or within the operating company of this predetermined area may be applied.

[0050] The power supply PS1 is, for example, a secondary battery. The power supply PS1 directly or indirectly supplies power to the left drive wheel unit 15L, the right drive wheel unit 15R, the control unit 17, the communication unit 18, the detection unit 19, and the like. Note that the power supply PS1 may be outside the transport device 1. That is, the transport device 1 may be supplied with power from an external power supply PS1.

[0051] The first connector 13 is a connector for supplying power to the transport object 2. In this embodiment, the functional unit 46 of the transport object 2, which will be described later, is operated by power supplied from the transport device 1 through the first connector 13.

[0052] The first connector 13 is attached to the front of the device body 10, as shown in Figures 6 to 8.

[0053] The first connector 13 includes a first connecting portion 131 and a pair of guide pins 133 provided on the left and right sides of the first connecting portion 131.

[0054] The first connection section 131 houses a first conductive section 8 (see Figure 1) which is electrically connected to the power supply PS1. The first connection section 131 is also provided with a plurality of connection pins 132 connected to the first conductive section 8.

[0055] The pair of guide pins 133 extend further forward than the multiple connecting pins 132.

[0056] The pair of guide pins 133 are inserted into a pair of insertion holes 442 provided in the second connector 44 when the first connector 13 is connected to the second connector 44, which will be described later, and define the position of the first connector 13 relative to the second connector 44.

[0057] (2.3) The transport object 2 is transported to the transport device 1 which moves on the moving surface G1.

[0058] As shown in Figures 2 and 3, the transport object 2 comprises a main body 20 and a gripping unit 4 attached to the main body 20.

[0059] The main body 20 is, for example, a rack for storing transported items.

[0060] As shown in Figure 2, the main body 20 is formed in the shape of a rectangular parallelepiped when viewed from the Z-axis direction. In the following description, it is assumed that the object to be transported 2 is positioned on the moving surface G1 with the short side and long side of the main body 20 aligned with the X-axis direction (left-right direction) and the Y-axis direction (front-back direction), respectively.

[0061] The main body 20 has a plurality of casters 201 (four in this embodiment). The four casters 201 are provided on the lower surface of the main body 20.

[0062] The gripping unit 4 is attached to the main body 20 of the object to be transported 2.

[0063] The gripping unit 4 includes a unit body 40, a pair of gripping parts 41, a pair of restricting parts 42, a pair of displacement mechanism parts 43, a second connector 44, and a mounting part 45. The gripping unit 4 also includes a functional part 46 (see Figure 1), such as a sensor for detecting surrounding obstacles.

[0064] As shown in Figures 2, 4, and 5, the unit body 40 comprises a pair of side plate portions 401 facing each other in the X-axis direction, an upper plate portion 402 connecting the upper ends of the pair of side plate portions 401, and a front plate portion 403 connecting the front ends of the pair of side plate portions 401.

[0065] The pair of gripping parts 41, the pair of restricting parts 42, the pair of displacement mechanism parts 43, and the second connector 44 are held in the unit body 40.

[0066] The pair of displacement mechanisms 43 are held by the pair of side plates 401 so as to face each other in the X-axis direction. In the following description, the left displacement mechanism 43 of the pair of displacement mechanisms 43 may be referred to as the left displacement mechanism 43L, and the right displacement mechanism 43 as the right displacement mechanism 43R.

[0067] Since the pair of displacement mechanisms 43 have a symmetrical structure, the left displacement mechanism 43L will be described below, and the right displacement mechanism 43R will not be described.

[0068] As shown in Figures 4 and 5, the left displacement mechanism 43L includes a contacted portion 431, a connecting shaft 432, a housing portion 433, a coil spring 434, and a spring receiving portion 435.

[0069] The contacted portion 431 has a base portion 4311 and a protruding portion 4312.

[0070] The base portion 4311 is formed in a rectangular shape with the X-axis direction as its longitudinal direction. One end of a rod-shaped connecting shaft 432 is connected to the left end of the base portion 4311, with its axial direction aligned with the Z-axis direction. In other words, the upper end of the connecting shaft 432 is connected to the left end of the base portion 4311.

[0071] The protruding portion 4312 projects to the right along the X-axis direction from the right end of the base portion 4311.

[0072] The protruding portion 4312 has an inclined surface 4313 that decreases in distance from the moving surface G1 as it approaches the base portion 4311 along the X-axis direction.

[0073] A restricting portion 42 is connected to the lower end of the connecting shaft 432. In other words, the restricting portion 42 is connected to the base portion 4311 via the connecting shaft 432. Also, the contacted portion 431 faces the restricting portion 42 in the Z-axis direction.

[0074] The restricting portion 42 is formed, for example, in a cylindrical shape using an elastic material (rubber, synthetic resin, etc.). In the following description, the restricting portion 42 connected to the connecting shaft 432 of the left displacement mechanism 43L may be referred to as the left restricting portion 42L, and the restricting portion 42 connected to the connecting shaft 432 of the right displacement mechanism 43R may be referred to as the right restricting portion 42R.

[0075] The housing section 433 is formed in the shape of a rectangular box with an opening on the left side. The housing section 433 houses a part of the connecting shaft 432, a coil spring 434, and a spring receiving section 435. The housing section 433 is fixed to the inside of the side plate section 401 of the unit body 40 by screws or the like. More specifically, the housing section 433 is fixed to the inside of the side plate section 401 such that the opening on the left side is covered by the side plate section 401. Through holes H1 and H2 are provided in the upper surface 4331 and lower surface 4332 of the housing section 433, respectively, at the same position when viewed from the Z-axis direction.

[0076] The connecting shaft 432 is inserted through the through holes H1 and H2. The upper end of the connecting shaft 432 protrudes upward from the through hole H1. The lower end of the connecting shaft 432 protrudes downward from the through hole H2. Here, the diameters of the through holes H1 and H2 are larger than the diameter of the connecting shaft 432. As a result, the connecting shaft 432, the contacted portion 431, and the restricting portion 42 are displaceable along the Z-axis direction. In other words, the Z-axis direction is the direction of displacement of the restricting portion 42.

[0077] A ring-shaped spring support portion 435 is fixed to the central part of the connecting shaft 432. The spring support portion 435 is fixed to the connecting shaft 432 with the connecting shaft 432 inserted through a through hole provided in the center of the spring support portion 435.

[0078] A coil spring 434 is inserted through the connecting shaft 432. The coil spring 434 is housed inside the housing portion 433 with its lower end in contact with the spring receiving portion 435 and its upper end in contact with the upper surface portion 4331.

[0079] Each of the pair of gripping portions 41 has a gripping member 411 and a fixing member 412, as shown in Figures 4 and 5.

[0080] The gripped member 411 is a cylindrical member that extends in the Z-axis direction. The gripped member 411 is gripped by the gripping member 122 when it fits into the recess 120 of the gripping member 122.

[0081] The fixing member 412 is formed in a substantially U-shape when viewed from the Y-axis direction and holds both ends of the gripped member 411 by sandwiching them.

[0082] As shown in Figure 2, the pair of gripping portions 41 are fixed to a pair of displacement mechanisms 43 (left displacement mechanism 43L and right displacement mechanism 43R) so as to be spaced apart and aligned in the left-right direction. In the following description, the left gripping portion 41 of the pair of gripping portions 41 may be referred to as the left gripping portion 41L, and the right gripping portion 41 as the right gripping portion 41R.

[0083] As shown in Figure 6, the fixing member 412 of the left gripping portion 41L is fixed to the outside of the right side portion 4333 of the housing portion 433 of the left displacement mechanism portion 43L. The fixing member 412 of the right gripping portion 41R is fixed to the outside of the left side portion 4334 of the housing portion 433 of the right displacement mechanism portion 43R.

[0084] The second connector 44 is the connector to which the first connector 13 is connected. In this embodiment, the functional unit 46 of the transport object 2 is operated by power supplied from the transport device 1 through the first connector 13 and the second connector 44.

[0085] The second connector 44 is attached to the front plate portion 403 of the unit body 40, as shown in Figures 6 to 8.

[0086] The second connector 44 has a second connecting portion 441 and a pair of insertion holes 442 provided on the left and right sides of the second connecting portion 441.

[0087] The second conductive part 9 (see Figure 1), which is electrically connected to the functional part 46, is housed inside the second connecting part 441. Furthermore, the surface of the second connecting part 441 is provided with multiple pin holes leading to the second conductive part 9. The multiple connecting pins 132 provided in the first connecting part 131 are inserted into the multiple pin holes provided in the second connecting part 441, thereby electrically connecting the first conductive part 8 and the second conductive part 9.

[0088] The mounting portion 45 attaches the unit body 40, which holds a pair of gripping portions 41, a pair of restricting portions 42, a pair of displacement mechanism portions 43, and a second connector 44, to the main body 20.

[0089] The mounting portion 45 is, for example, a hook-shaped component that detachably connects the front plate portion 403 of the unit body 40 to the main body 20. The connection between the gripped unit 4 and the main body 20 is performed, for example, by the user of the transport system 101. In other words, because the gripped unit 4 has a mounting portion 45, the user can connect the gripped unit 4 to a desired main body 20 from among several types of main bodies 20.

[0090] (2.4) Higher-level system The higher-level system 3 (see Figure 1) is a system for controlling the transport device 1 and is implemented, for example, by a server device. The higher-level system 3 indirectly controls the transport device 1 by issuing instructions to the transport device 1. Specifically, when the higher-level system 3 issues a transport instruction to the transport object 2 to the transport device 1, the transport device 1 receives the transport instruction and autonomously performs the transport operation to move the transport object 2 to the target position. The higher-level system 3 may be located inside or outside the facility where the transport device 1 performs the transport operation.

[0091] The higher-level system 3 comprises a control unit 31, a communication unit 32, and a storage unit 33.

[0092] The communication unit 32 communicates with the transport device 1 via the network NT1 and the relay device 5. A suitable communication method, such as wireless or wired communication, is used for communication between the communication unit 32 and the relay device 5.

[0093] The control unit 31 primarily consists of a computer system including, for example, memory and a processor. That is, the functions of the control unit 31 are realized when the processor executes a program recorded in the memory of the computer system. The program may be pre-recorded in memory, provided via a telecommunication line such as the Internet, or provided on a non-temporary recording medium such as a memory card.

[0094] The control unit 31 provides control instructions (transport instructions) to the transport device 1 via the communication unit 32 for transporting the transport object 2. The control unit 31 provides transport instructions to the transport device 1 to transport the transport object 2, which is located at a certain location within the moving surface G1, to a target position, thereby causing the transport device 1 to transport the transport object 2 to the target position. For example, the control unit 31 transmits transport instructions to the transport device 1, which include information about the type of transport object 2, information about the location where the transport object 2 is located, and information about the target position, thereby causing the transport device 1 to perform a gripping operation to grasp the transport object 2 and a transport operation to transport the grasped transport object 2 to the target position.

[0095] The storage unit 33 includes, for example, a rewritable non-volatile memory such as an EEPROM. The storage unit 33 stores, for example, the contents of transport instructions that have been created in advance by a user of the higher-level system 3.

[0096] (3) Example of operation of the transport system An example of operation of the transport system 101 will be explained with reference to Figures 4 to 8. In this example of operation, the operation in which the transport device 1 grasps the transport object 2 placed on the moving surface G1 will be explained.

[0097] In the initial state, the pair of gripping parts 41 of the object to be transported 2 are not gripped by the pair of gripping parts 12 of the transport device 1.

[0098] When the pair of gripped portions 41 are not gripped by the pair of gripping portions 12, as shown in Figure 4, the connecting shaft 432, the contacted portion 431, and the restricting portion 42 are biased downward by the elastic force of the coil spring 434 via the spring receiving portion 435. At this time, the restricting portion 42 is in contact with the moving surface G1. As a result, the restricting portion 42 restricts the movement of the transported object 2 on the moving surface G1. In other words, the pair of restricting portions 42 restrict the movement of the transported object 2 on the moving surface G1 by contacting the moving surface G1.

[0099] First, the control unit 31 of the higher-level system 3 gives a control instruction (transport instruction) to the transport device 1 via the communication unit 32 to transport the transport object 2.

[0100] When the movement control unit 171 of the transport device 1 receives a transport instruction from the higher-level system 3, it moves the device body 10 to a position (initial position) where the main body 20 of the transport object 2 and the device body 10 of the transport device 1 face each other along the Y-axis, as shown in Figure 6. In this example of operation, it is assumed that when the device body 10 is in the initial position, the longitudinal and transverse directions of the device body 10 are aligned with the X-axis and Y-axis directions, respectively, and the transverse and longitudinal directions of the main body 20 are aligned with the X-axis and Y-axis directions, respectively.

[0101] When the movement control unit 171 moves the device body 10 to its initial position, the gripping control unit 172 adjusts the distance between the pair of gripping parts 12 to a specified distance. The specified distance is determined by information (specification information) regarding the type of transported object 2 included in the transport instruction transmitted from the higher-level system 3. The specified distance is shorter than the distance between the pair of gripped parts 41.

[0102] The movement control unit 171 moves the device body 10 forward so that it approaches the object to be transported 2, after the gripping control unit 172 has adjusted the distance between the pair of gripping parts 12 to a specified distance.

[0103] Here, since the pair of guide pins 133 extend in front of the multiple connection pins 132, as the device body 10 moves closer to the object to be transported 2, the pair of guide pins 133 are inserted into the pair of insertion holes 442 of the second connector 44, respectively, before the multiple connection pins 132 are inserted into the multiple pin holes of the second connector 44. In other words, as the device body 10 moves closer to the object to be transported 2, the pair of guide pins 133 define the position of the first connector 13 relative to the second connector 44 before the multiple connection pins 132 are electrically connected to the second conductive part 9.

[0104] As the device body 10 moves further forward to approach the object to be transported 2, the multiple connection pins 132 of the first connector 13 are inserted into the multiple pin holes of the second connector 44, as shown in Figure 7. In other words, the first connector 13 is connected to the second connector 44.

[0105] At this time, the pair of gripping parts 12 are located between the pair of gripped parts 41.

[0106] In this state, as shown in Figure 4, the protruding portion 4312 of the left displacement mechanism 43L protrudes from the base portion 4311 of the left displacement mechanism 43L toward the left gripping portion 12L along the X-axis direction. When viewed from above, at least a part of the roller member 142 of the left contact portion 14L and at least a part of the protruding portion 4312 of the left displacement mechanism 43L overlap. When viewed from the rear, at least a part of the roller member 142 of the left contact portion 14L and the inclined surface 4313 of the left displacement mechanism 43L face each other in the Z-axis direction. At this time, at least a part of the roller member 142 is located above the lower end surface of the base portion 4311 of the left displacement mechanism 43L.

[0107] Furthermore, in this state, the protruding portion 4312 of the right displacement mechanism 43R protrudes from the base portion 4311 of the right displacement mechanism 43R toward the right gripping portion 12R along the X-axis direction. When viewed from above, at least a part of the roller member 142 of the right contact portion 14R and at least a part of the protruding portion 4312 of the right displacement mechanism 43R overlap. When viewed from the rear, at least a part of the roller member 142 of the right contact portion 14R and the inclined surface 4313 of the right displacement mechanism 43R face each other in the Z-axis direction. At this time, at least a part of the roller member 142 is located above the lower end surface of the base portion 4311 of the right displacement mechanism 43R.

[0108] When the first connector 13 is connected to the second connector 44, as shown in Figure 8, the gripping control unit 172 widens the distance between the pair of gripping parts 12, causing the pair of gripped parts 41 to grip the pair of gripping parts 12. Specifically, the left gripping part 12L is displaced along the X-axis toward the left gripped part 41L, and the right gripping part 12R is displaced along the X-axis toward the right gripped part 41R, so that the pair of gripped members 411 fit into the recesses 120 of the pair of gripping parts 12, and the pair of gripping parts 12 grip the pair of gripped parts 41.

[0109] Here, during the gripping operation of the pair of gripped parts 41 by the pair of gripping parts 12, the left contact part 14L moves in conjunction with the left gripping part 12L to move closer to the left gripped part 41L along the X-axis direction. Then, as shown in Figure 5, the roller member 142 of the left contact part 14L comes into contact with the inclined surface 4313 of the left displacement mechanism part 43L. Here, since the roller member 142 rotates along the inclined surface 4313, the left contact part 14L can move smoothly.

[0110] As the roller member 142 of the left contact portion 14L is displaced to come closer to the left gripped portion 41L while in contact with the inclined surface 4313 of the left displacement mechanism portion 43L, an upward force is applied to the left displacement mechanism portion 43L from the roller member 142 of the left contact portion 14L. Here, as described above, the connecting shaft 432, the contacted portion 431, and the left restricting portion 42L of the left displacement mechanism portion 43L are displaceable along the Z-axis direction. Therefore, the connecting shaft 432, the contacted portion 431, and the left restricting portion 42L of the left displacement mechanism portion 43L are displaced upward against the elastic force of the coil spring 434. In this way, the left displacement mechanism portion 43L displaces the left restricting portion 42L connected to the base portion 4311 from a position in contact with the moving surface G1 (first position) to a position away from the moving surface G1 (second position) along the Z-axis direction. In other words, the left displacement mechanism 43L directly interlocks with the gripping action of the left gripping part 12L in which it grips the left object to be gripped 41L, and displaces the left restricting part 42L from a first position in contact with the moving surface G1 to a second position away from the moving surface. By configuring the left displacement mechanism 43L to be directly interlocked with the gripping action, the configuration of the object to be transported 2 can be simplified.

[0111] Furthermore, during the gripping operation of the pair of gripped parts 41 by the pair of gripping parts 12, the right contact part 14R moves in conjunction with the right gripping part 12R to move closer to the right gripped part 41R along the X-axis direction. Then, the roller member 142 of the right contact part 14R comes into contact with the inclined surface 4313 of the right displacement mechanism part 43R. As the roller member 142 of the right contact part 14R moves further closer to the right gripped part 41R while in contact with the inclined surface 4313 of the right displacement mechanism part 43R, an upward force is applied to the right displacement mechanism part 43R from the roller member 142 of the right contact part 14R. Here, as described above, the connecting shaft 432 of the right displacement mechanism part 43R, the contacted part 431, and the right regulating part 42R are displaceable along the Z-axis direction. Therefore, the connecting shaft 432, the contacted portion 431, and the right restricting portion 42R of the right displacement mechanism 43R are displaced upward against the elastic force of the coil spring 434. In this way, the right displacement mechanism 43R displaces the right restricting portion 42R, which is connected to the base portion 4311, from a first position to a second position along the Z-axis direction. In other words, the right displacement mechanism 43R is directly linked to the gripping operation in which the right gripping portion 12R grips the right gripped portion 41R, and displaces the right restricting portion 42R from a first position in contact with the moving surface G1 to a second position away from the moving surface. By configuring the right displacement mechanism 43R to be directly linked to the gripping operation, the configuration of the transported object 2 can be simplified.

[0112] In this way, as the left regulating section 42L and the right regulating section 42R are displaced from the first position to the second position, the object to be transported 2 becomes able to move on the moving surface G1.

[0113] When the pair of gripping parts 12 grip the pair of parts to be gripped 41, the movement control unit 171 moves the main body of the device 10 backward. In other words, the transport device 2 transports the transport object 2 by moving on the movement surface G1 while the pair of gripping parts 12 are gripping the pair of parts to be gripped 41.

[0114] (4) Modification The above embodiments are merely one of many embodiments of the present disclosure. The above embodiments can be modified in various ways depending on the design, etc., as long as the objectives of the present disclosure are achieved.

[0115] The following describes modifications of the above embodiment. In the modifications described below, components common to the above embodiment are denoted by the same reference numerals, and their descriptions are omitted.

[0116] (4.1) Modification 1 The conveying system 102, which is the conveying system 100 according to Modification 1, differs from the conveying system 101 of the above embodiment in that the conveying device 1 has a pair of contacted parts 431A instead of the pair of contact parts 14 of the conveying device 1 of the above embodiment, as shown in Figures 9 and 10. Furthermore, the conveying system 102 differs from the conveying system 101 of the above embodiment in that the gripped unit 4 has a pair of displacement mechanism parts 43A instead of the pair of displacement mechanism parts 43 of the gripped unit 4 of the above embodiment.

[0117] The pair of contacted portions 431A are configured to be displaceable along the left-right direction in conjunction with the pair of gripping portions 12. Specifically, the pair of contacted portions 431A are configured to be displaceable along the left-right direction so as to widen or narrow the distance between them along the left-right direction. Since the pair of contacted portions 431A have a symmetrical structure, the left contacted portion 431AL, which is the left contacted portion 431A, will be described below, and the description of the right contacted portion 431A will be omitted.

[0118] As shown in Figures 9 and 10, the left contact portion 431AL has a base portion 4311A and a protruding portion 4312A.

[0119] The base portion 4311A is formed in a rectangular shape with the X-axis direction as its longitudinal direction.

[0120] The protruding portion 4312A protrudes to the left from the left end of the base portion 4311A along the X-axis direction.

[0121] The protruding portion 4312A has an inclined surface 4313A whose distance from the moving surface G1 increases as it approaches the base portion 4311A along the X-axis direction.

[0122] The pair of displacement mechanisms 43A are held by the pair of side plates 401 so as to face each other in the X-axis direction. Since the pair of displacement mechanisms 43A have a symmetrical structure, the left displacement mechanism 43AL, which is the left displacement mechanism 43A, will be described below, and the description of the right displacement mechanism 43A will be omitted.

[0123] As shown in Figures 9 and 10, the left displacement mechanism 43AL includes a contact portion 14A, a connecting shaft 432, a housing portion 433, a coil spring 434, and a spring receiving portion 435.

[0124] The contact portion 14A includes a fixed portion 140A connected to the upper end of the connecting shaft 432, a cylindrical shaft portion 141A protruding rearward from the fixed portion 140A, and a roller member 142A at the rear end of the shaft portion 141A that rotates about a rotation axis. The rotation axis of the roller member 142A is also the central axis of the shaft portion 141A in the Y-axis direction. The outer diameter of the roller member 142A is larger than the outer diameter of the shaft portion 141A.

[0125] A restricting portion 42 is connected to the lower end of the connecting shaft 432. In other words, the restricting portion 42 is connected to the contact portion 14A via the connecting shaft 432. Furthermore, the contact portion 14A faces the restricting portion 42 in the Z-axis direction.

[0126] Next, an example of the operation of the transport system 102 will be explained with reference to Figures 9 and 10.

[0127] In the initial state, the pair of gripping parts 41 are not gripped by the pair of gripping parts 12.

[0128] When the pair of gripping portions 41 are not gripped by the pair of gripping portions 12, as shown in Figure 9, the connecting shaft 432, the contact portion 14A, and the restricting portion 42 are biased downward by the elastic force of the coil spring 434 via the spring receiving portion 435. At this time, the restricting portion 42 is in contact with the moving surface G1. As a result, the restricting portion 42 restricts the movement of the transported object 2 on the moving surface G1. In other words, the pair of restricting portions 42 restrict the movement of the transported object 2 on the moving surface G1 by contacting the moving surface G1.

[0129] First, the control unit 31 of the higher-level system 3 gives a control instruction (transport instruction) to the transport device 1 via the communication unit 32 to transport the transport object 2.

[0130] When the movement control unit 171 of the transport device 1 receives a transport instruction from the higher-level system 3, it moves the device body 10 to a position (initial position) where the main body 20 of the transport object 2 and the device body 10 of the transport device 1 face each other along the Y-axis. In this example of operation, it is assumed that when the device body 10 is in the initial position, the longitudinal and short directions of the device body 10 are aligned with the X-axis and Y-axis directions, respectively, and the short and longitudinal directions of the main body 20 are aligned with the X-axis and Y-axis directions, respectively.

[0131] When the movement control unit 171 moves the device body 10 to its initial position, the gripping control unit 172 adjusts the distance between the pair of gripping parts 12 to a specified distance.

[0132] The movement control unit 171 moves the device body 10 forward so that it approaches the object to be transported 2, after the gripping control unit 172 has adjusted the distance between the pair of gripping parts 12 to a specified distance.

[0133] As the device body 10 moves forward to approach the object to be transported 2, the multiple connection pins 132 of the first connector 13 are inserted into the multiple pin holes of the second connector 44. In other words, the first connector 13 is connected to the second connector 44.

[0134] At this time, the pair of gripping parts 12 are located between the pair of gripped parts 41.

[0135] In this state, as shown in Figure 9, the protruding portion 4312A of the left contact portion 431AL protrudes from the base portion 4311A of the left contact portion 431AL toward the left gripping portion 41L along the X-axis direction. When viewed from the rear, at least a part of the roller member 142A is located above the lower end surface of the protruding portion 4312A of the left contact portion 431AL.

[0136] When the first connector 13 is connected to the second connector 44, the gripping control unit 172 widens the distance between the pair of gripping parts 12, causing the pair of gripped parts 41 to grip the pair of gripping parts 12. Specifically, the left gripping part 12L is displaced along the X-axis toward the left gripped part 41L, and the right gripping part 12R is displaced along the X-axis toward the right gripped part 41R, so that the pair of gripped members 411 fit into the recesses 120 of the pair of gripping parts 12, and the pair of gripping parts 12 grip the pair of gripped parts 41.

[0137] Here, during the gripping operation of the pair of gripped parts 41 by the pair of gripping parts 12, the left contacted part 431AL moves toward the left gripped part 41L along the X-axis in conjunction with the left gripping part 12L. Then, as shown in Figure 10, the inclined surface 4313A of the left contacted part 431AL comes into contact with the roller member 142A of the left contact part 14A (left contact part 14AL). As the left contacted part 431AL moves toward the left gripped part 41L while its inclined surface 4313A comes into contact with the roller member 142A of the left contact part 14AL, an upward force is applied to the left displacement mechanism 43AL from the left contacted part 431AL. Here, the connecting shaft 432, the left contact part 14AL, and the regulating part 42 of the left displacement mechanism 43AL are displaceable along the Z-axis. Therefore, the connecting shaft 432 of the left displacement mechanism 43AL, the left contact portion 14AL, and the restricting portion 42 are displaced upward against the elastic force of the coil spring 434. In this way, the left displacement mechanism 43AL displaces the restricting portion 42 connected to the left contact portion 14AL from a position in contact with the moving surface G1 (first position) to a position away from the moving surface G1 (second position) along the Z-axis direction.

[0138] Similarly, in the gripping operation of the pair of gripped parts 41 by the pair of gripping parts 12, the displacement mechanism 43A on the right side displaces the restricting part 42 connected to the contact part 14A from a first position to a second position along the Z-axis direction.

[0139] (4.2) Modification 2 The conveying system 103, which is the conveying system 100 according to Modification 2, differs from the conveying system 101 of the above embodiment in that the conveying device 1 has a pair of pressing parts 14B instead of the pair of contact parts 14 of the conveying device 1 of the above embodiment, as shown in Figures 11 and 12. Furthermore, the conveying system 103 differs from the conveying system 101 of the above embodiment in that the gripped unit 4 has a pair of displacement mechanism parts 43B instead of the pair of displacement mechanism parts 43 of the gripped unit 4 of the above embodiment.

[0140] The pair of pressing portions 14B are configured to be displaceable along the left-right direction in conjunction with the pair of gripping portions 12. Specifically, the pair of pressing portions 14B are configured to be displaceable along the left-right direction so as to widen or narrow the distance between them along the left-right direction. Since the pair of pressing portions 14B have a symmetrical structure, the left pressing portion 14BL, which is the left pressing portion 14B, will be described below, and the description of the right pressing portion 14B will be omitted.

[0141] The left pressing portion 14BL is, for example, a plate-shaped member with the X-axis direction as the thickness direction.

[0142] The pair of displacement mechanisms 43B are held by the pair of side plates 401 so as to face each other in the X-axis direction. Since the pair of displacement mechanisms 43B have a symmetrical structure, the left displacement mechanism 43BL, which is the left-side displacement mechanism 43B, will be described below, and the description of the right-side displacement mechanism 43B will be omitted.

[0143] As shown in Figures 11 and 12, the left displacement mechanism 43BL includes a pressed portion 431B, a connecting shaft 432, a housing portion 433, a coil spring 434, and a spring receiving portion 435.

[0144] The pressed portion 431B includes a fixed portion 4311B connected to the upper end of the connecting shaft 432, and a pressed piece 4312B protruding to the right from the fixed portion 4311B. The pressed piece 4312B is a plate-shaped member with the Z-axis direction as its thickness direction.

[0145] A restricting portion 42 is connected to the lower end of the connecting shaft 432. In other words, the restricting portion 42 is connected to the pressed portion 431B via the connecting shaft 432. Furthermore, the pressed portion 431B faces the restricting portion 42 in the Z-axis direction.

[0146] Furthermore, the displacement mechanism 43B further includes a lever portion 6 having a support portion 60 that is rotatably supported around a rotation axis, and a first arm portion 61 and a second arm portion 62 that project from the support portion 60 in two different directions, respectively. The support portion 60, the first arm portion 61, and the second arm portion 62 are plate-shaped members with the Y-axis direction as the thickness direction. The support portion 60, the first arm portion 61, and the second arm portion 62 are formed integrally, for example.

[0147] The support portion 60 is rotatably supported on the front plate portion 403 of the unit body 40.

[0148] The lever portion 6 further includes a first roller member 63 and a second roller member 64. The first roller member 63 is supported at the tip of the first arm portion 61 so as to be rotatable about an axis of rotation along the Y-axis. The second roller member 64 is supported at the tip of the second arm portion 62 so as to be rotatable about an axis of rotation along the Y-axis.

[0149] Next, an example of the operation of the transport system 103 will be explained with reference to Figures 11 and 12.

[0150] In the initial state, the pair of gripping parts 41 are not gripped by the pair of gripping parts 12.

[0151] When the pair of gripped portions 41 are not gripped by the pair of gripping portions 12, as shown in Figure 11, the connecting shaft 432, the pressed portion 431B, and the restricting portion 42 are biased downward by the elastic force of the coil spring 434 via the spring receiving portion 435. At this time, the restricting portion 42 is in contact with the moving surface G1. As a result, the restricting portion 42 restricts the movement of the transported object 2 on the moving surface G1. In other words, the pair of restricting portions 42 restrict the movement of the transported object 2 on the moving surface G1 by contacting the moving surface G1.

[0152] First, the control unit 31 of the higher-level system 3 gives a control instruction (transport instruction) to the transport device 1 via the communication unit 32 to transport the transport object 2.

[0153] When the movement control unit 171 of the transport device 1 receives a transport instruction from the higher-level system 3, it moves the device body 10 to a position (initial position) where the main body 20 of the transport object 2 and the device body 10 of the transport device 1 face each other along the Y-axis. In this example of operation, it is assumed that when the device body 10 is in the initial position, the longitudinal and short directions of the device body 10 are aligned with the X-axis and Y-axis directions, respectively, and the short and longitudinal directions of the main body 20 are aligned with the X-axis and Y-axis directions, respectively.

[0154] When the movement control unit 171 moves the device body 10 to its initial position, the gripping control unit 172 adjusts the distance between the pair of gripping parts 12 to a specified distance.

[0155] The movement control unit 171 moves the device body 10 forward so that it approaches the object to be transported 2, after the gripping control unit 172 has adjusted the distance between the pair of gripping parts 12 to a specified distance.

[0156] As the device body 10 moves forward to approach the object to be transported 2, the multiple connection pins 132 of the first connector 13 are inserted into the multiple pin holes of the second connector 44. In other words, the first connector 13 is connected to the second connector 44.

[0157] At this time, the pair of gripping parts 12 are positioned between the pair of gripped parts 41. Also, in this example of operation, the first roller member 63 is to the left of the pressing part 14B and faces the pressing part 14B. The second roller member 64 is below the pressed piece 4312B and faces the pressed piece 4312B.

[0158] When the first connector 13 is connected to the second connector 44, the gripping control unit 172 widens the distance between the pair of gripping parts 12, causing the pair of gripped parts 41 to grip the pair of gripping parts 12. Specifically, the left gripping part 12L is displaced along the X-axis toward the left gripped part 41L, and the right gripping part 12R is displaced along the X-axis toward the right gripped part 41R, so that the pair of gripped members 411 fit into the recesses 120 of the pair of gripping parts 12, and the pair of gripping parts 12 grip the pair of gripped parts 41.

[0159] Here, in the gripping operation of the pair of gripped parts 41 by the pair of gripping parts 12, the left pressing part 14BL moves in conjunction with the left gripping part 12L along the X-axis toward the left gripped part 41L. Then, as shown in Figure 12, the left pressing part 14BL comes into contact with the first roller member 63 supported at the tip of the first arm part 61.

[0160] The left pressing portion 14BL, in conjunction with the left gripping portion 12L, is further displaced along the X-axis toward the left gripped portion 41L, applying a first pressing force to the first roller member 63 to the left along the X-axis. As a result, the lever portion 6 rotates clockwise when viewed from the rear. Then, the second roller member 64, supported at the tip of the second arm portion 62, comes into contact with the pressed piece 4312B of the pressed portion 431B.

[0161] As the left pressing portion 14BL moves in conjunction with the left gripping portion 12L and displaces further along the X-axis toward the left gripped portion 41L, the lever portion 6 rotates further clockwise when viewed from the rear, and the second roller member 64 applies a second pressing force upward along the Z-axis to the pressed portion 431B.

[0162] Here, the connecting shaft 432, the pressed portion 431B, and the restricting portion 42 of the left displacement mechanism 43BL are displaceable along the Z-axis direction. Therefore, the connecting shaft 432, the pressed portion 431B, and the restricting portion 42 of the left displacement mechanism 43BL are displaced upward against the elastic force of the coil spring 434. In this way, the lever portion 6 of the left displacement mechanism 43BL converts the first pressing force into a second pressing force, thereby displacing the restricting portion 42 connected to the pressed portion 431B along the Z-axis direction from a position in contact with the moving surface G1 (first position) to a position away from the moving surface G1 (second position).

[0163] Similarly, in the gripping operation of the pair of gripped parts 41 by the pair of gripping parts 12, the displacement mechanism 43B on the right side displaces the restricting part 42 connected to the pressed part 431B from a first position to a second position along the Z-axis direction.

[0164] (4.3) Modification 3 The conveying system 104, which is the conveying system 100 according to Modification 3, differs from the conveying system 101 of the above embodiment in that the conveying device 1 has a pair of pressing parts 14C instead of the pair of contact parts 14 of the conveying device 1 of the above embodiment, as shown in Figures 13 and 14. Furthermore, the conveying system 104 differs from the conveying system 101 of the above embodiment in that the gripped unit 4 has a pair of displacement mechanism parts 43C instead of the pair of displacement mechanism parts 43 of the gripped unit 4 of the above embodiment.

[0165] The pair of pressing portions 14C are configured to be displaceable along the left-right direction in conjunction with the pair of gripping portions 12. Specifically, the pair of pressing portions 14C are configured to be displaceable along the left-right direction so as to widen or narrow the distance between them along the left-right direction. Since the pair of pressing portions 14C have a symmetrical structure, the left pressing portion 14CL, which is the left pressing portion 14C, will be described below, and the description of the right pressing portion 14C will be omitted.

[0166] The left pressing portion 14CL is, for example, a plate-shaped member with the X-axis direction as the thickness direction.

[0167] The pair of displacement mechanisms 43C are held by the pair of side plates 401 so as to face each other in the X-axis direction. Since the pair of displacement mechanisms 43C have a symmetrical structure, the left displacement mechanism 43CL, which is the left-side displacement mechanism 43C, will be described below, and the description of the right-side displacement mechanism 43C will be omitted.

[0168] As shown in Figures 13 and 14, the left displacement mechanism 43CL includes a pressed portion 431C, a connecting shaft 432, a housing portion 433, a coil spring 434, and a spring receiving portion 435.

[0169] The pressed portion 431C includes a fixed portion 4311C connected to the upper end of the connecting shaft 432, and a connecting piece 4312C protruding to the right from the fixed portion 4311C. The connecting piece 4312C is a plate-shaped member with the Y-axis direction as its thickness direction.

[0170] A restricting portion 42 is connected to the lower end of the connecting shaft 432. In other words, the restricting portion 42 is connected to the pressed portion 431C via the connecting shaft 432. Furthermore, the pressed portion 431C faces the restricting portion 42 in the Z-axis direction.

[0171] Furthermore, the displacement mechanism 43C further includes a link section 7 having a first arm section 71 with a first end 711 and a second end 712 at both ends, a second arm section 72 with a third end 721 and a fourth end 722 at both ends, a link fixing section 73, a first shaft section 74, a second shaft section 75, and a third shaft section 76.

[0172] The first arm portion 71 and the second arm portion 72 are, for example, rectangular plate-shaped members.

[0173] The first end 711 is fixed in position relative to the pressed portion 431C and the pressing portion 14C, and is supported so as to be rotatable about a rotation axis. More specifically, the first end 711 is provided with a first through hole, and the first shaft portion 74, which protrudes in the Y-axis direction from the link fixing portion 73 fixed to the housing portion 433, is inserted through the first through hole, thereby being supported so as to be rotatable about the first shaft portion 74 by the link fixing portion 73.

[0174] The second end 712 and the third end 721 are movably connected to the pressed portion 431C and the pressing portion 14C, and are rotatable relative to each other. More specifically, the second end 712 and the third end 721 are provided with a second through hole and a third through hole, respectively, and the second shaft portion 75, which extends in the Y-axis direction, is inserted through the second through hole and the third through hole, thereby being rotatably connected to each other.

[0175] Furthermore, the link portion 7 further includes a roller member 77 that is rotatable around the second shaft portion 75.

[0176] The fourth end 722 is rotatably supported in the pressed portion 431C around a rotation axis. More specifically, the fourth end 722 is provided with a fourth through hole, and the third shaft portion 76, which protrudes in the Y-axis direction from the connecting piece 4312C of the pressed portion 431C, is inserted through the fourth through hole, thereby rotatably supported in the pressed portion 431C around the third shaft portion 76.

[0177] Next, an example of the operation of the transport system 104 will be explained with reference to Figures 13 and 14.

[0178] In the initial state, the pair of gripping parts 41 are not gripped by the pair of gripping parts 12.

[0179] When the pair of gripped portions 41 are not gripped by the pair of gripping portions 12, as shown in Figure 13, the connecting shaft 432, the pressed portion 431C, and the restricting portion 42 are biased downward by the elastic force of the coil spring 434 via the spring receiving portion 435. At this time, the restricting portion 42 is in contact with the moving surface G1. As a result, the restricting portion 42 restricts the movement of the transported object 2 on the moving surface G1. In other words, the pair of restricting portions 42 restrict the movement of the transported object 2 on the moving surface G1 by contacting the moving surface G1.

[0180] First, the control unit 31 of the higher-level system 3 gives a control instruction (transport instruction) to the transport device 1 via the communication unit 32 to transport the transport object 2.

[0181] When the movement control unit 171 of the transport device 1 receives a transport instruction from the higher-level system 3, it moves the device body 10 to a position (initial position) where the main body 20 of the transport object 2 and the device body 10 of the transport device 1 face each other along the Y-axis. In this example of operation, it is assumed that when the device body 10 is in the initial position, the longitudinal and short directions of the device body 10 are aligned with the X-axis and Y-axis directions, respectively, and the short and longitudinal directions of the main body 20 are aligned with the X-axis and Y-axis directions, respectively.

[0182] When the movement control unit 171 moves the device body 10 to its initial position, the gripping control unit 172 adjusts the distance between the pair of gripping parts 12 to a specified distance.

[0183] The movement control unit 171 moves the device body 10 forward so that it approaches the object to be transported 2, after the gripping control unit 172 has adjusted the distance between the pair of gripping parts 12 to a specified distance.

[0184] As the device body 10 moves forward to approach the object to be transported 2, the multiple connection pins 132 of the first connector 13 are inserted into the multiple pin holes of the second connector 44. In other words, the first connector 13 is connected to the second connector 44.

[0185] At this time, the pair of gripping portions 12 are positioned between the pair of gripped portions 41. Also, at this time, the roller member 77 is located to the left of the pressing portion 14C and faces the pressing portion 14C.

[0186] When the first connector 13 is connected to the second connector 44, the gripping control unit 172 widens the distance between the pair of gripping parts 12, causing the pair of gripped parts 41 to grip the pair of gripping parts 12. Specifically, the left gripping part 12L is displaced along the X-axis toward the left gripped part 41L, and the right gripping part 12R is displaced along the X-axis toward the right gripped part 41R, so that the pair of gripped members 411 fit into the recesses 120 of the pair of gripping parts 12, and the pair of gripping parts 12 grip the pair of gripped parts 41.

[0187] Here, during the gripping operation of the pair of gripped parts 41 by the pair of gripping parts 12, the left pressing part 14CL moves in conjunction with the left gripping part 12L along the X-axis toward the left gripped part 41L. Then, as shown in Figure 14, the left pressing part 14CL comes into contact with the roller member 77.

[0188] The left pressing portion 14CL, in conjunction with the left gripping portion 12L, is further displaced along the X-axis toward the left gripped portion 41L, applying a first pressing force to the roller member 77, the second end 712, and the third end 721 in the leftward direction along the X-axis. As a result, the first arm portion 71 rotates counterclockwise when viewed from the rear, around the first shaft portion 74 inserted through the first end 711. At this time, the position of the second shaft portion 75 inserted through the second end 712 and the third end 721 along the Z-axis is displaced upward. Consequently, the second arm portion 72 rotates clockwise when viewed from the rear, around the second shaft portion 75, and a second pressing force is applied to the pressed portion 431C in the upward direction along the Z-axis via the fourth end 722. As a result, the connecting shaft 432, the pressed portion 431C, and the regulating portion 42 of the left displacement mechanism 43CL are displaced upward against the elastic force of the coil spring 434.

[0189] In this way, the link portion 7 of the left displacement mechanism 43CL converts the first pressing force into a second pressing force, thereby displacing the restricting portion 42 connected to the pressed portion 431C along the Z-axis direction from a position in contact with the moving surface G1 (first position) to a position away from the moving surface G1 (second position).

[0190] Similarly, in the gripping operation of the pair of gripped parts 41 by the pair of gripping parts 12, the displacement mechanism 43C on the right side displaces the restricting part 42 connected to the pressed part 431C from a first position to a second position along the Z-axis direction.

[0191] (4.4) Modification 4 The conveying system 105, which is the conveying system 100 according to Modification 4, differs from the conveying system 101 of the above embodiment in that the conveying device 1 does not have the pair of contact parts 14 of the conveying device 1 of the above embodiment, as shown in Figures 15 to 17. The conveying system 105 also differs from the conveying system 101 of the above embodiment in that the gripped unit 4 has a pair of displacement mechanism parts 43B, as described in Modification 2, instead of the pair of displacement mechanism parts 43 of the gripped unit 4 of the above embodiment. Furthermore, the conveying system 105 differs from the conveying system 101 of the above embodiment in that the gripped unit 4 has a pair of gripped parts 41D, instead of the pair of gripped parts 41.

[0192] Since the pair of gripping portions 41D have a symmetrical structure, the left gripping portion 41DL, which is the left gripping portion 41D, will be described below, and the description of the right gripping portion 41D will be omitted.

[0193] As shown in Figures 15 to 17, the gripped portion 41DL includes a movable portion 413D, a gripped member 411D, a fixed member 412D, and a pressing portion 414D.

[0194] The movable part 413D includes a movable plate portion 4131, a cylinder portion 4132, and a shaft portion 4133.

[0195] The movable plate portion 4131 is a plate-shaped member with the Y-axis direction as the thickness direction.

[0196] The cylinder portion 4132 is a cylindrical member extending in the X-axis direction. The cylinder portion 4132 is fixed to the rear surface of the movable plate portion 4131. A shaft portion 4133 is inserted through the center of the cylinder portion 4132. The shaft portion 4133 is a cylindrical member extending in the X-axis direction. The left end of the shaft portion 4133 is fixed to the left housing portion 433, and the right end of the shaft portion 4133 is fixed to the right housing portion 433. As a result, the movable plate portion 4131 is movable along the X-axis direction.

[0197] The gripped member 411D is a cylindrical member that extends in the Z-axis direction. When the gripped member 411D fits into the recess 120 of the gripping member 122, the left gripped portion 41DL is gripped by the gripping portion 12L.

[0198] The fixing member 412D is formed in a substantially U-shape when viewed from the X-axis direction and holds both ends of the gripped member 411 by sandwiching them. The fixing member 412D is fixed to the movable plate portion 4131. As a result, the gripped member 411D can move in the X-axis direction together with the movable plate portion 4131.

[0199] The pressing portion 414D is, for example, a plate-shaped member with the X-axis direction as its thickness direction. The pressing portion 414D is fixed to the movable plate portion 4131. As a result, the pressing portion 414D can move in the X-axis direction together with the movable plate portion 4131.

[0200] Next, an example of the operation of the transport system 105 will be explained with reference to Figures 15 to 17.

[0201] In the initial state, the pair of gripping parts 41D are not gripped by the pair of gripping parts 12.

[0202] When the pair of gripped portions 41D are not gripped by the pair of gripping portions 12, as shown in Figure 15, the connecting shaft 432, the pressed portion 431B, and the restricting portion 42 are biased downward by the elastic force of the coil spring 434 via the spring receiving portion 435. At this time, the restricting portion 42 is in contact with the moving surface G1. As a result, the restricting portion 42 restricts the movement of the transported object 2 on the moving surface G1. In other words, the pair of restricting portions 42 restrict the movement of the transported object 2 on the moving surface G1 by contacting the moving surface G1.

[0203] First, the control unit 31 of the higher-level system 3 gives a control instruction (transport instruction) to the transport device 1 via the communication unit 32 to transport the transport object 2.

[0204] When the movement control unit 171 of the transport device 1 receives a transport instruction from the higher-level system 3, it moves the device body 10 to a position (initial position) where the main body 20 of the transport object 2 and the device body 10 of the transport device 1 face each other along the Y-axis. In this example of operation, it is assumed that when the device body 10 is in the initial position, the longitudinal and short directions of the device body 10 are aligned with the X-axis and Y-axis directions, respectively, and the short and longitudinal directions of the main body 20 are aligned with the X-axis and Y-axis directions, respectively.

[0205] When the movement control unit 171 moves the device body 10 to its initial position, the gripping control unit 172 adjusts the distance between the pair of gripping parts 12 to a specified distance.

[0206] The movement control unit 171 moves the device body 10 forward so that it approaches the object to be transported 2, after the gripping control unit 172 has adjusted the distance between the pair of gripping parts 12 to a specified distance.

[0207] As the device body 10 moves forward to approach the object to be transported 2, the multiple connection pins 132 of the first connector 13 are inserted into the multiple pin holes of the second connector 44. In other words, the first connector 13 is connected to the second connector 44.

[0208] At this time, the pair of gripping portions 12 are positioned between the pair of gripped portions 41D. Also at this time, the first roller member 63 is to the left of the pressing portion 414D and faces the pressing portion 414D. The second roller member 64 is below the pressed piece 4312B and faces the pressed piece 4312B.

[0209] When the first connector 13 is connected to the second connector 44, the gripping control unit 172 widens the distance between the pair of gripping parts 12, causing the pair of gripped parts 41D to grip the pair of gripped parts 12. Specifically, the left gripping part 12L is displaced along the X-axis toward the left gripped part 41DL, and the right gripping part 12R is displaced along the X-axis toward the right gripped part 41D. Then, the gripped member 411D of the left gripped part 41DL fits into the recess 120 of the left gripping part 12L, and the gripped member 411D of the right gripped part 41D fits into the recess 120 of the right gripping part 12R. In this way, the pair of gripping parts 12 grip the pair of gripped parts 41D.

[0210] Here, as shown in Figure 16, with the gripped member 411D of the left gripped portion 41DL fitted into the recess 120 of the left gripping portion 12L, if the left gripping portion 12L is further displaced to the left, the left gripped portion 41DL will also be displaced to the left. In other words, the pressing portion 414D of the left gripped portion 41DL (hereinafter referred to as the left pressing portion 414DL) is displaced to the left along the X-axis direction. Then, as shown in Figure 17, the left pressing portion 414DL comes into contact with the first roller member 63 supported at the tip of the first arm portion 61.

[0211] The left pressing portion 414DL is further displaced to the left along the X-axis direction, applying a first pressing force to the first roller member 63 in the leftward direction along the X-axis direction. As a result, the lever portion 6 rotates clockwise when viewed from the rear. Then, the second roller member 64, supported at the tip of the second arm portion 62, comes into contact with the pressed piece 4312B of the pressed portion 431B.

[0212] As the left pressing portion 414DL is further displaced to the left along the X-axis, the lever portion 6 rotates further clockwise when viewed from the rear, and the second roller member 64 applies a second upward pressing force to the pressed portion 431B along the Z-axis.

[0213] Here, the connecting shaft 432, the pressed portion 431B, and the restricting portion 42 of the left displacement mechanism 43BL are displaceable along the Z-axis direction. Therefore, the connecting shaft 432, the pressed portion 431B, and the restricting portion 42 of the left displacement mechanism 43BL are displaced upward against the elastic force of the coil spring 434. In this modified example, the left displacement mechanism 43BL, in conjunction with the displacement of the left gripped portion 41DL due to the gripping operation of the left gripped portion 12L, displaces the restricting portion 42 connected to the pressed portion 431B from a position in contact with the moving surface G1 (first position) to a position away from the moving surface G1 (second position) along the Z-axis direction.

[0214] Similarly, the displacement mechanism 43B on the right side displaces the regulating portion 42 connected to the pressed portion 431B from a first position to a second position along the Z-axis direction.

[0215] This eliminates the need to provide a mechanism for operating a pair of displacement mechanisms 43B in addition to the pair of gripping parts 12 in the conveying device 1, thereby simplifying the configuration of the conveying device 1.

[0216] Furthermore, the transport system 105 may have a pair of displacement mechanisms 43C, as described in Modification 3, instead of the pair of displacement mechanisms 43B. In this case, the pressing portion 414D applies a first pressing force to the roller member 77, the second end 712 and the third end 721 (see Figures 13 and 14) in the leftward direction along the X-axis.

[0217] (4.5) Other Modifications The above embodiments are only one of many embodiments of the present disclosure. The above embodiments can be modified in various ways depending on the design, etc., as long as the objectives of the present disclosure are achieved. In addition, functions similar to those of the transport system 100 according to the above embodiments may be embodied in a regulating method, a (computer) program, or a non-temporary recording medium on which a computer program is recorded.

[0218] A regulating method according to one embodiment includes a gripping step, a transporting step, and a displacement step. In the gripping step, the gripped portion 41 of the transport object 2 is gripped. In the transporting step, while the gripped portion 41 is gripped, the transport object 2 is moved together with the transport object G1 on the moving surface G1. In the displacement step, the regulating portion 42, which is configured to restrict the movement of the transport object 2 on the moving surface G1 by contacting the moving surface G1, is displaced in conjunction with the gripping step from a first position in contact with the moving surface G1 to a second position away from the moving surface G1.

[0219] The functions implemented by the control unit 17 (movement control unit 171 and gripping control unit 172) may be implemented by a computer system (server, etc.) located outside the transport device 1.

[0220] The transport system 100 in this disclosure includes a computer system. The computer system mainly consists of a processor and memory as hardware. The functions of the transport system 100 in this disclosure are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided on a non-temporary recording medium such as a memory card, optical disk, or hard disk drive that can be read by the computer system. The processor of the computer system consists of one or more electronic circuits including semiconductor integrated circuits (ICs) or large-scale integrated circuits (LSIs). The integrated circuits such as ICs and LSIs referred to here are named differently depending on the degree of integration, and include integrated circuits called system LSIs, VLSIs (Very Large Scale Integrations), or ULSIs (Ultra Large Scale Integrations). Furthermore, FPGAs (Field-Programmable Gate Arrays) that are programmed after the manufacture of the LSI, or logic devices that allow for the reconfiguration of junction relationships or circuit compartments within the LSI, can also be used as processors. Multiple electronic circuits may be integrated onto a single chip or distributed across multiple chips. Multiple chips may be integrated onto a single device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller also consists of one or more electronic circuits, including semiconductor integrated circuits or large-scale integrated circuits.

[0221] (5) Summary As described above, the transport system (100) of the first embodiment comprises a transport object (2) and a transport device (1). The transport object (2) has a gripping portion (41). The transport device (1) has a gripping portion (12) that grips the gripping portion (41), and transports the transport object (2) by moving together with the transport object (2) on the moving surface (G1) while the gripping portion (12) is gripping the gripping portion (41). The transport object (2) further comprises a restricting portion (42) and a displacement mechanism portion (43). The restricting portion (42) is configured to restrict the movement of the transport object (2) on the moving surface (G1) by contacting the moving surface (G1). The displacement mechanism (43) moves the restricting portion (42) from a first position in contact with the moving surface (G1) to a second position away from the moving surface (G1) in conjunction with the gripping operation of the gripping portion (12) in which the gripped portion (41) is gripped.

[0222] According to this embodiment, when the gripping part (12) is not gripping the part to be gripped (41), the movement of the object to be transported (2) on the moving surface (G1) can be reliably restricted. Furthermore, when the gripping operation in which the gripping part (12) grips the part to be gripped (41), the object to be transported (2) can be automatically made movable on the moving surface (G1).

[0223] In the second embodiment of the transport system (100), in the first embodiment, the displacement mechanism (43) directly moves in conjunction with the gripping operation to displace the restricting portion (42) from a first position to a second position.

[0224] According to this embodiment, the configuration of the object to be transported (2) can be simplified by configuring the displacement mechanism (43) to be directly linked to the gripping operation.

[0225] In the third embodiment of the transport system (100), in the first embodiment, the displacement mechanism (43) moves the restricting part (42) from a first position to a second position in conjunction with the displacement of the gripped part (41) accompanying the gripping operation.

[0226] According to this embodiment, the configuration of the conveying device (1) can be simplified.

[0227] In the fourth embodiment of the transport system (100), in any of the first to third embodiments, the displacement mechanism (43) has a contacted portion (431) that faces the restricting portion (42) in a first direction which is the displacement direction of the restricting portion (42). The contacted portion (431) has a base portion (4311) to which the restricting portion (42) is connected, and a projection portion (4312) that protrudes from the base portion (4311) toward the gripping portion (12) along a second direction intersecting the first direction. The projection portion (4312) has an inclined surface (4313) whose distance from the moving surface (G1) decreases as it approaches the base portion (4311) along the second direction. The transport device (1) further has a contact portion (14) that, in the gripping operation, displaces toward the gripped portion (41) along the second direction in conjunction with the gripping portion (12). When the contact portion (14) is displaced so as to approach the gripped portion (41) while in contact with the inclined surface (4313), the displacement mechanism (43) displaces the restricting portion (42) connected to the base portion (4311) from a first position to a second position along the first direction.

[0228] According to this embodiment, when the gripping part (12) is not gripping the part to be gripped (41), the movement of the object to be transported (2) on the moving surface (G1) can be reliably restricted. Furthermore, when the gripping operation in which the gripping part (12) grips the part to be gripped (41), the object to be transported (2) can be automatically made movable on the moving surface (G1).

[0229] In the fifth embodiment of the transport system (100), in any of the first to third embodiments, the displacement mechanism (43A) has a contact portion (14A) that faces the restricting portion (42) in a first direction which is the displacement direction of the restricting portion (42). The restricting portion (42) is connected to the contact portion (14A). The transport device (1) further has a contacted portion (431A) that, in the gripping operation, displaces toward the gripped portion (41) along a second direction intersecting the first direction in conjunction with the gripping portion (12). The contacted portion (431A) has a base portion (4311A) and a protruding portion (4312A) that protrudes from the base portion (4311A) toward the gripped portion (41) along the second direction. The protruding portion (4312A) has an inclined surface (4313A) whose distance from the moving surface (G1) increases as it approaches the base portion (4311A) along the second direction. The displacement mechanism (43A) displaces the regulating portion (42) connected to the contact portion (14A) from a first position to a second position along the first direction when the contacted portion (431A) is displaced so as to approach the gripped portion (41) while bringing the inclined surface (4313A) into contact with the contact portion (14A).

[0230] According to this embodiment, when the gripping part (12) is not gripping the part to be gripped (41), the movement of the object to be transported (2) on the moving surface (G1) can be reliably restricted. Furthermore, when the gripping operation in which the gripping part (12) grips the part to be gripped (41), the object to be transported (2) can be automatically made movable on the moving surface (G1).

[0231] In the sixth embodiment of the transport system (100), in the fourth or fifth embodiment, the contact portion (14, 14A) includes roller members (142, 142A) that rotate around a rotation axis.

[0232] According to this embodiment, the contact portions (14, 14A) can be displaced smoothly.

[0233] In the seventh embodiment of the transport system (100), in any of the first to third embodiments, the displacement mechanism (43B) has a pressed portion (431B) that faces the regulating portion (42) in a first direction which is the displacement direction of the regulating portion (42) and to which the regulating portion (42) is connected. The transport device (1) further has a pressing portion (14B) that, in the gripping operation, displaces toward the gripped portion (41) along a second direction intersecting the first direction in conjunction with the gripping portion (12). The displacement mechanism (43B) further has a lever portion (6) having a support portion (60) that is rotatably supported about a rotation axis, and a first arm portion (61) and a second arm portion (62) that project from the support portion (60) in two different directions, respectively. The lever portion (6) converts the first pressing force applied to the tip of the first arm portion (61) in the second direction when the pressing portion (14B) moves toward the gripped portion (41) in the second direction in conjunction with the gripping portion (12) into a second pressing force applied to the gripped portion (431B) from the tip of the second arm portion (62) in the first direction, thereby displacing the restricting portion (42) connected to the gripped portion (431B) from the first position to the second position in the first direction.

[0234] According to this embodiment, when the gripping part (12) is not gripping the part to be gripped (41), the movement of the object to be transported (2) on the moving surface (G1) can be reliably restricted. Furthermore, when the gripping operation in which the gripping part (12) grips the part to be gripped (41), the object to be transported (2) can be automatically made movable on the moving surface (G1).

[0235] In the eighth embodiment of the transport system (100), in any of the first to third embodiments, the displacement mechanism (43C) has a pressed portion (431C) that faces the regulating portion (42) in a first direction which is the displacement direction of the regulating portion (42) and to which the regulating portion (42) is connected. The transport device (1) further has a pressing portion (14C) that, in the gripping operation, displaces toward the gripped portion (41) along a second direction intersecting the first direction in conjunction with the gripping portion (12). The displacement mechanism (43C) further has a link portion (7) having a first arm portion (71) having a first end (711) and a second end (712) which are both ends, and a second arm portion (72) having a third end (721) and a fourth end (722) which are both ends. The first end (711) is fixed in position relative to the pressed portion (431C) and the pressing portion (14C), and is supported so as to be rotatable about a rotation axis. The second end (712) and the third end (721) are connected to the pressed portion (431C) and the pressing portion (14C) so as to be movable and rotatable relative to each other. The fourth end (722) is supported so as to be rotatable about a rotation axis at the pressed portion (431C). The link portion (7) converts the first pressing force in the second direction applied to the second end (712) and the third end (721) when the pressing portion (14C) is displaced toward the gripped portion (41) in the second direction in conjunction with the gripping portion (12) into a second pressing force in the first direction applied to the pressed portion (431C) via the fourth end (722), thereby displacing the restricting portion (42) connected to the pressed portion (431C) from the first position to the second position in the first direction.

[0236] According to this embodiment, when the gripping part (12) is not gripping the part to be gripped (41), the movement of the object to be transported (2) on the moving surface (G1) can be reliably restricted. Furthermore, when the gripping operation in which the gripping part (12) grips the part to be gripped (41), the object to be transported (2) can be automatically made movable on the moving surface (G1).

[0237] In the ninth embodiment of the conveying system (100), in any of the first to eighth embodiments, the conveying device (1) has a pair of gripping parts (12) including a gripping part (12). The conveyed object (2) has a pair of gripping parts (41) including a gripped part (41), a pair of restricting parts (42) including a restricting part (42), and a pair of displacement mechanism parts (43) including a displacement mechanism part (43).

[0238] According to this embodiment, when the gripping portion (12) is not gripping the portion to be gripped (41), the movement of the object to be transported (2) on the moving surface (G1) can be more reliably restricted.

[0239] The gripping unit (4) of the tenth embodiment is attached to the main body (20) of an object to be transported (2) that is transported by a transport device (1) that moves on a moving surface (G1). The gripping unit (4) has a gripping part (41) that is gripped by a gripping part (12) of the transport device (1), a restricting part (42) configured to restrict movement on the moving surface (G1), and a displacement mechanism (43) that displaces the restricting part (42) from a first position in contact with the moving surface (G1) to a second position away from the moving surface (G1) in conjunction with the gripping operation in which the gripping part (12) grips the gripping part (41).

[0240] According to this embodiment, when the gripping part (12) is not gripping the part to be gripped (41), the movement of the object to be transported (2) on the moving surface (G1) can be reliably restricted. Furthermore, when the gripping operation in which the gripping part (12) grips the part to be gripped (41), the object to be transported (2) can be automatically made movable on the moving surface (G1).

[0241] The gripping unit (4) of the eleventh embodiment further has, in the tenth embodiment, a mounting portion (45) for attaching the gripping portion (41), the restricting portion (42), and the displacement mechanism portion (43) to the main body (20).

[0242] According to this embodiment, a desired body (20) can be selected from among multiple types of body (20) and the gripping unit (4).

[0243] The transport object (2) of the twelfth embodiment further comprises: a part to be gripped (41) that is gripped by a gripping part (12) of a transport device (1) that moves on a moving surface (G1); a restricting part (42) configured to restrict movement on the moving surface (G1) by contacting the moving surface (G1); and a displacement mechanism (43) that, in conjunction with the gripping operation of the gripping part (12) to grip the part to be gripped (41), displaces the restricting part (42) from a first position in contact with the moving surface (G1) to a second position away from the moving surface (G1).

[0244] According to this embodiment, when the gripping part (12) is not gripping the part to be gripped (41), the movement of the object to be transported (2) on the moving surface (G1) can be reliably restricted. Furthermore, when the gripping operation in which the gripping part (12) grips the part to be gripped (41), the object to be transported (2) can be automatically made movable on the moving surface (G1).

[0245] The 13th embodiment of the restricting method includes a gripping step of gripping a gripping portion (41) of the object to be transported (2), a transporting step of moving the object to be transported (2) together with the gripping portion (41) on the moving surface (G1), and a displacement step of displacing a restricting portion (42), which is configured to restrict the movement of the object to be transported (2) on the moving surface (G1) by contacting the moving surface (G1), from a first position in contact with the moving surface (G1) to a second position away from the moving surface (G1), in conjunction with the gripping step.

[0246] According to this embodiment, when the gripping part (12) is not gripping the part to be gripped (41), the movement of the object to be transported (2) on the moving surface (G1) can be reliably restricted. Furthermore, when the gripping operation in which the gripping part (12) grips the part to be gripped (41), the object to be transported (2) can be automatically made movable on the moving surface (G1).

[0247] Furthermore, the second to ninth embodiments are not essential components of the transport system (100) and can be omitted as appropriate.

[0248] 1 Conveying device 12 Gripping part 100 Conveying system G1 Moving surface 14 Contact part 2 Conveying object 20 Main body 4 Gripping unit 41 Gripping part 42 Restricting part 43 Displacement mechanism part 431 Contacted part 4311 Base part 4312 Protruding part 45 Mounting part 431A Contacted part 4311A Base part 4312A Protruding part 4313A Inclined surface 43A Displacement mechanism part 14A Contact part 142A Roller member 14B Pressing part 43B Displacement mechanism part 431B Pressed part 6 Lever part 60 Support part 61 First arm part 62 Second arm part 14C Pressing part 43C Displacement mechanism part 431C Pressed part 7 Link part 71 First arm 711 First end 712 Second end 72 Second arm 721 Third end 722 Fourth end

Claims

1. A transport system comprising: an object to be transported having a portion to be gripped; and a transport device having a gripping portion for gripping the portion to be gripped, wherein the transport device transports the object by moving together with the transport object on a moving surface while the gripping portion is gripping the portion to be gripped, the transport object further comprising: a restricting portion configured to restrict the movement of the transport object on the moving surface by contacting the moving surface; and a displacement mechanism portion that, in conjunction with the gripping operation of the gripping portion in which it grips the portion to be gripped, displaces the restricting portion from a first position in contact with the moving surface to a second position away from the moving surface.

2. The transport system according to claim 1, wherein the displacement mechanism is directly linked to the gripping operation and displaces the restricting portion from the first position to the second position.

3. The transport system according to claim 1, wherein the displacement mechanism displaces the restricting portion from the first position to the second position in conjunction with the displacement of the gripped portion accompanying the gripping operation.

4. The transport system according to any one of claims 1 to 3, wherein the displacement mechanism has a contacted portion that faces the restricting portion in a first direction which is the displacement direction of the restricting portion, the contacted portion has a base to which the restricting portion is connected, and a protruding portion that protrudes toward the gripping portion toward the gripping portion toward the gripping portion toward the gripping portion toward the gripping portion toward the gripping portion toward the gripping portion toward the gripping portion, the transport device further has a contact portion that displaces toward the gripping portion toward the gripping portion toward the gripping portion toward the gripping portion toward the gripping portion toward the gripping portion, and the displacement mechanism displaces the restricting portion connected to the base from a first position toward a second position toward the first position toward the first position toward the first position toward the first position.

5. The transport device further has a contact portion that faces the restricting portion in a first direction which is the displacement direction of the restricting portion, the restricting portion is connected to the contact portion, the transport device further has a contacted portion that, in the gripping operation, moves toward the gripped portion in conjunction with the gripping portion along a second direction which intersects the first direction, the contacted portion has a base portion, and a protruding portion that protrudes from the base portion toward the gripped portion along the second direction, the protruding portion has an inclined surface whose distance from the moving surface increases as it approaches the base portion along the second direction, and the transport device further has a contacted portion that moves toward the gripped portion in a second direction which intersects the first direction in conjunction with the gripping portion, the transport device further has a contacted portion that moves toward the gripped portion in a second direction, the contacted portion has a base portion, and a protruding portion that protrudes from the base portion toward the gripped portion along the second direction, the protruding portion has an inclined surface whose distance from the moving surface increases as it approaches the base portion along the second direction, the transport device according to any one of claims 1 to 3.

6. The conveying system according to claim 4 or 5, wherein the contact portion includes a roller member that rotates around a rotation axis.

7. The transport system according to any one of claims 1 to 3, wherein the displacement mechanism has a pressed portion that faces the restricting portion in a first direction which is the displacement direction of the restricting portion and to which the restricting portion is connected, the transport device further has a pressing portion that, in the gripping operation, moves in conjunction with the gripping portion and moves toward the gripped portion along a second direction which intersects the first direction, the transport device further has a lever portion having a support portion that is rotatably supported about a rotation axis and a first arm portion and a second arm portion that protrude from the support portion in two different directions, the lever portion moves the restricting portion connected to the pressed portion from a first position to a second position along the first direction by converting a first pressing force along the second direction that is applied to the tip of the first arm portion when the pressing portion moves in conjunction with the gripping portion toward the gripped portion along the second direction into a second pressing force along the first direction that is applied from the tip of the second arm portion to the pressed portion, the transport system according to any one of claims 1 to 3.

8. The displacement mechanism has a pressed portion that faces the restricting portion in a first direction which is the displacement direction of the restricting portion, and to which the restricting portion is connected; the conveying device further has a pressing portion that, in the gripping operation, moves toward the gripped portion along a second direction intersecting the first direction in conjunction with the gripping portion; the displacement mechanism further has a link portion having a first arm portion having a first end and a second end which are both ends, and a second arm portion having a third end and a fourth end which are both ends; the first end is fixed in position with respect to the pressed portion and the pressing portion, and is rotatably supported about a rotation axis; the second end and the third end are movable with respect to the pressed portion and the pressing portion, and are rotatably connected to each other; the fourth end is rotatably supported about a rotation axis in the pressed portion. The conveying system according to any one of claims 1 to 3, wherein the link portion converts the first pressing force applied to the second end and the third end in the second direction when the pressing portion is displaced toward the gripped portion in the second direction in conjunction with the gripping portion into a second pressing force applied to the gripped portion in the first direction via the fourth end, thereby displacing the restricting portion connected to the gripped portion from a first position to a second position in the first direction.

9. The conveying device has a pair of gripping parts including the gripping part, and the conveyed object has a pair of gripping parts including the gripped part, a pair of restricting parts including the restricting part, and a pair of displacement mechanisms including the displacement mechanism, according to any one of claims 1 to 8.

10. A gripping unit attached to the main body of an object to be transported by a transport device that moves on a moving surface, comprising: a gripping portion to be gripped by a gripping portion of the transport device; a restricting portion configured to restrict movement on the moving surface; and a displacement mechanism portion that, in conjunction with the gripping operation of the gripping portion to grip the gripping portion, displaces the restricting portion from a first position in contact with the moving surface to a second position away from the moving surface.

11. The gripping unit according to claim 10, further comprising a mounting portion for attaching the gripping portion, the restricting portion, and the displacement mechanism portion to the main body.

12. A transport object further comprising: a part to be gripped which is gripped by a gripping part of a transport device that moves on a moving surface; a restricting part configured to restrict movement on the moving surface by contacting the moving surface; and a displacement mechanism that, in conjunction with the gripping operation of the gripping part in which the gripping part grips the part to be gripped, displaces the restricting part from a first position in contact with the moving surface to a second position away from the moving surface.

13. A restricting method comprising: a gripping step of gripping a portion to be gripped of an object to be transported; a transporting step of moving the object together with the object on a moving surface while gripping the portion to be gripped; and a displacement step of displacing a restricting portion, which is configured to restrict the movement of the object on the moving surface by contacting the moving surface, from a first position in contact with the moving surface to a second position away from the moving surface, in conjunction with the gripping step.

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