WO2026009573A1 - Work device and article conveyance system - Google Patents

Abstract

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

Description

Work equipment and article transport system

This disclosure relates to a work device and an item transport system.

Conventionally, the positioning of an article between an automated guided vehicle and a loading device such as a rack or processing device is performed on the automated guided vehicle.
A transport vehicle has been disclosed that has a pair of arms that can be extended and retracted and a pair of guide members located below them, and after pulling in an item by extending and retracting the arms, positions the item by clamping it between the pair of guide members (see, for example, Patent Document 1).

Japanese Patent Application Laid-Open No. 2017-197342

However, the transport vehicle in Patent Document 1 may stop at a position significantly different from the normal position, and if an item is transferred to the loading device while the stopping position is incorrect, there is a risk that the item may fall or tip over, resulting in a decrease in production efficiency.

This disclosure discloses technology to solve the above-mentioned problems, and aims to provide a work device and an item transport system that can transfer items with high positional accuracy without dropping them.

The working device disclosed herein is a working device for transferring and receiving items between transport vehicles, and is equipped with a positioning member that positions the item in the correct position at the item loading end, which has an opening width on the surface where the item is loaded that is the same as the range of positions that the item can take due to a shift in the stopping position of the transport vehicle.
The item transport system disclosed herein is an item transport system that transfers items between a transport vehicle and a work device, and the work device is equipped with a positioning member on the surface on which the item is loaded, so that when the item is transferred from the transport vehicle to the work device, even if there is a deviation in the stopping position of the transport vehicle, the item can be positioned in the correct position on the loading surface of the work device.

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

1 is a conceptual diagram of an article transport system using a working device according to a first embodiment. 1 is a plan view of the working device according to the first embodiment when an article is present on the transport vehicle. FIG. 1 is a plan view of the working device according to the first embodiment when an object is placed on the working device. FIG. 10 is an explanatory diagram of a retraction/push-out mechanism in a working device according to a second embodiment. FIG. FIG. 11 is an explanatory diagram of an anti-back mechanism on a transport vehicle in an article transport system according to a third embodiment. 10 is an explanatory diagram of a positioning member for a transport vehicle in an article transport system according to a fourth embodiment. FIG. 13 is an explanatory diagram of a position detection sensor in a working device according to a fifth embodiment. FIG. Fig. 8A is an explanatory diagram of a dog for position detection function in the article conveyance system according to embodiment 6. Fig. 8B is an explanatory diagram of a dog for position detection function in the article conveyance system according to embodiment 6. 10A and 10B are explanatory diagrams of an improved example 1 of the positioning member in the working device according to the first embodiment. 10A and 10B are explanatory diagrams of an improved example 2 of the positioning member in the working device according to embodiment 1. A positioning member in the working device according to the seventh embodiment will be described. A positioning member in the working device according to the seventh embodiment will be described. 13 is an explanatory diagram of a freely rotating part in an article movable area in a working device according to an eighth embodiment. FIG. 13 is an explanatory diagram of a freely rotating part in an article movable area in a working device according to an eighth embodiment. FIG.

Embodiment 1.
The first embodiment relates to a work device equipped with a positioning device and an article transport system.

The working device of embodiment 1 will be described below based on Figure 1, which is a conceptual diagram of an item transport system using the working device, Figure 2, which is a plan view of an item on a transport vehicle, Figure 3, which is a plan view of an item on the working device, Figure 9, which is an explanatory diagram of an improved example 1 of the positioning member, and Figures 10A and 10B, which are explanatory diagrams of an improved example 2 of the positioning member.
In each drawing, the same or corresponding parts are designated by the same reference numerals.

First, an article transport system will be described based on FIG. 1, which is a conceptual diagram of an article transport system using a transport vehicle 200 such as an unmanned transport vehicle using a working device 100.
For ease of explanation, a system made up of the work device 100 and the transport vehicle 200 that transfers the item 3 in the first embodiment will be referred to as an item transport system 1000.

1, in a factory production line, an item 3 is transported from a previous process while being loaded onto a transport vehicle 200 (indicated by arrow A), and the transport vehicle 200 stops near a work device 100 that is the loading target for the next process. The item 3 is then handed over from the transport vehicle 200 to the work device 100 (indicated by arrow B).
Furthermore, when the work device 100 completes a process and then transports the item 3 to the next process, the item 3 is handed over from the work device 100 to the stopped transport vehicle 200 (represented by arrow C), and then the transport vehicle 200 begins traveling toward the next process (represented by arrow D).
The transport vehicle 200 is a cart that carries an article and transports it to the next process, and may be an autonomously driven unmanned transport vehicle such as an AMR (Autonomous Mobile Robot), and the shape and type of the transport vehicle are not specified.

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

Next, the case where the article 3 is handed over from the transport vehicle 200 to the working device 100 will be described with reference to Figures 2 and 3. In Figure 2, the ideal stopping position of the transport vehicle 200 is indicated by a dotted line 203. Also, the normal position at the working device 100 where the article 3 is handed over and positioned for work is indicated by a dotted line 5.
For ease of explanation, the xy coordinate system is set as shown in Fig. 2. The same applies to Fig. 3 and subsequent figures.

The item 3 is loaded onto the loading surface 201 of the transport vehicle 200, which is transported from the previous process to a location near the work device 100 and stops there. At this time, due to the nature of transport vehicles such as automated guided vehicles, the transport vehicle 200 may stop at a position significantly deviated from the ideal stopping position 203, as shown in Figure 2. The ideal stopping position of the transport vehicle 200 here refers to the stopping position of the transport vehicle 200 that allows the delivery of the item 3 to the correct position 5. In other words, if the transport vehicle 200 stops at the ideal stopping position 203, the delivery operation will not be hindered by the item 3 falling or interfering with an obstacle.

After the transport vehicle 200 stops, the item 3 begins to move toward the work device 100 along the rails 202 provided on the loading surface 201 (indicated by arrow B). The rails 202 are components for moving items, such as wheel conveyors, freebears, and roller conveyors. Methods for moving the item 3 include, but are not limited to, manual movement by a worker.

If the transport vehicle 200 is stopped at the ideal stopping position 203, the item 3 can continue moving even after it reaches the end of the loading surface 201 via the rails 202. In this case, the item 3 transfers onto the loading surface 101 of the working device 100 and moves toward the correct position 5 on the working device 100 via the rails 102 provided on the loading surface 101, just like the transport vehicle 200.
The rail 102 may be any type of conveyor, such as a wheel conveyor, a free bearing, or a roller conveyor, for moving an article, and the shape of the part and the position where it is installed are not specified.

On the loading surface 101 of the working device 100, the correct position 5 is the appropriate position for the item 3 on the working device 100 during the processing or inspection process. In other words, it is the position where the item 3 must ultimately reach after being delivered from the transport vehicle 200, as shown in Figure 3. Typically, in manufacturing equipment used in factories, the correct position for the item is often set near the center of the loading surface, but this is not always the case.

Here, we will compare this with the transport vehicle disclosed in Patent Document 1 as a comparative example. If the transport vehicle of the comparative example stops at a position other than the ideal stopping position, the items on the loading surface will also be transferred to the loading device in a position other than the correct position, which could cause the items to fall or tip over when being transferred to the loading surface of the loading device. Even if the items do not fall and are placed on the loading surface, they will move along the loading surface while maintaining the misalignment they had when they stopped, so they will remain misaligned from their correct position. In these cases, it is necessary to stop the production line and return the items, or to carry out a process to correct their position on the loading device. This results in problems that lead to increased manufacturing costs and reduced production efficiency.

To address the above problem, the working device 100 of this embodiment 1 can automatically position the item 3 in the correct position 5 after the transfer operation from the transport vehicle 200 is completed, as shown in Figure 3, using the positioning member 4 provided on the loading surface 101.
Specifically, the positioning members 4 are a pair of members provided on the loading surface 101 from the article input side to the regular position 5. At the end of the article input side of the loading surface 101, the positioning members 4 have an opening width that is the same as the range of positions that the articles 3 can assume due to a shift in the stopping position of the transport vehicle 200. The width of the positioning members 4 in the y-axis direction is formed to decrease from the end of the loading surface toward the regular position 5 to a size within the dimension of the regular position 5 in the y-axis direction.
With this structure, the positioning member 4 opens at the loading end of the loading surface 101 according to the position where the item 3 can be placed, so that the item 3 can be transferred from the loading surface 201 to the loading surface 101 and will not fall.

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

This configuration of the operating device 100 allows the item 3 to be transferred reliably without dropping, and after transfer, the item 3 can be positioned in the correct position 5 on the operating device 100. This makes it possible to build a production line with higher production efficiency.
2 and 3, the positioning member 4 is an integral member with an inclined guide shape, but it may also be divided. In other words, it is sufficient to have a pair of members whose opening width in the y-axis direction at the end of the loading surface 101 on which the item 3 is inserted is at least equal to or greater than the range that can be taken when the item 3 is inserted, and a pair of members for positioning the item 3 in the y-axis direction at the regular position 5 when the x-axis position of the item 3 coincides with the x-axis position of the regular position 5.

Here, an example of an improvement to the positioning member 4 for improving the efficiency of moving the article 3 will be described.
First, an improved example 1 in which the positioning member 4 is divided into two in the x direction and the member material or the surface treatment is changed to improve the efficiency of moving the article 3 will be described with reference to FIG.
In FIG. 9, the positioning member is divided into two, with the article insertion side being the first positioning member 4a and the regular position 5 side being the second positioning member 4b.

The first positioning member 4a and the second positioning member 4b are made of different materials.
Since the first positioning member 4a is prone to interference with the article 3 on the article insertion side, it is desirable to use a steel material with a low friction coefficient such as SUS303, SS400, or FC200.
The second positioning member 4b is located on the normal position 5 side of the working device 100, and is therefore less likely to collide with the object 3 than the first positioning member 4a. Therefore, if the second positioning member 4b is made of an aluminum alloy material, specifically A5052 or the like, the manufacturing cost of the device can be reduced.
The coefficient of friction is approximately 0.19 for A5052, 0.14 for SUS303, 0.11 for SS400, and 0.13 for FC200.

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

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

Next, an improved example 2 in which the positioning member 4 is curved to improve the efficiency of moving the article 3 will be described with reference to FIGS. 10A and 10B.
10A and 10B, the positioning member having a curved shape is referred to as positioning member 4c, and Fig. 10B is an enlarged view of positioning member 4c.

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

The curved shape is preferably formed so that the angle θ, i.e., the angle between the tangent to the positioning member 4c and the item 3, is small (θ1>θ2>θ3) relative to the direction of travel (positioning direction) of the item 3 on the loading surface 101.
For example, in Figures 10A and 10B, if the curve is concave toward the item insertion side, the angle θ decreases as the item 3 moves forward, thereby reducing the friction force with the positioning member 4c and reducing the force required for transfer.

It is desirable that the positioning member 4c be configured to include two regions in the x direction: one where θ is constant or continuously decreasing on the item insertion side, and one where θ continuously decreases on the regular position 5 side.

The effects of the above-described improvement example 2 will be summarized.
The angle θ between the positioning member 4c and the article 3 becomes smaller as it approaches the normal position 5, that is, the frictional force becomes smaller, so there is no risk of the article 3 getting caught on the positioning member 4c, and it can be transferred smoothly and more efficiently without reducing the speed.

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

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

As explained above, the work device of embodiment 1 allows for the transfer of items with high positional accuracy without dropping or tipping over. Furthermore, the item transport system of embodiment 1 allows for the transfer of items with high positional accuracy without dropping or tipping over.

Embodiment 2.
The second embodiment relates to a working device provided with a retracting/pushing mechanism for transferring articles.

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

The difference from the first embodiment is the retraction/pushing mechanism provided in the working device.
The article transport system 2000 of the second embodiment is made up of a work device 100A for transferring an article 3 and a transport vehicle 200.

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

The retraction/push-out mechanism 6 is composed of an arm 6a and an arm tip 6b, and grasps the item 3 by extending and retracting the arm 6a and abutting or hooking the arm tip 6b against the item 3. Furthermore, while grasping the item 3, the mechanism retracts the item from the transport vehicle 200 into the working device 100A and loads the item 3 in the correct position 5. Alternatively, the arm 6a is pushed out from the working device 100A into the transport vehicle 200, and the item 3 is loaded onto the loading surface 201 of the stopped transport vehicle 200.

Here, we will compare this with the transport vehicle disclosed in Patent Document 1 as a comparative example. In the transport vehicle of the comparative example, all of the mechanical parts involved in the delivery and receipt of items are mounted on the transport vehicle, which restricts the shape and size of the items that can be loaded onto the transport vehicle. Furthermore, because the transport vehicle is equipped with clamp detection and contact detection functions, it will be over-specified when used on other production lines, which also poses the problem of low versatility.

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

In addition, in an article transport system in which articles 3 are handed over between the transport vehicle 200 and the working device 100A, the working device 100A is further equipped with a retracting/pushing mechanism 6 that transfers articles 3 between the transport vehicle 200 and the working device 100A, ensuring reliable transfer of articles 3.

As explained above, the working device of embodiment 2 can transfer items with high positional accuracy without dropping or tipping over the items. Furthermore, items can be transferred reliably.

Embodiment 3.
The third embodiment relates to an article transport system in which an article anti-back mechanism is provided on a transport vehicle.

The article transport system of the third embodiment will be described with reference to FIG. 5, which is an explanatory diagram of an anti-back mechanism on a transport vehicle, focusing on the differences from the first embodiment.
In the drawings of the third embodiment, parts that are the same as or equivalent to those in the first embodiment are given the same reference numerals.
In order to distinguish the third embodiment from the first embodiment, the third embodiment is referred to as an article transport system 3000 and a transport vehicle 200A. Also, the working device 100 is not shown in FIG.

The difference from the first embodiment is the anti-back mechanism provided on the transport vehicle.
The article transport system 3000 of the third embodiment is made up of a work device 100 (not shown) for transferring an article 3 and a transport vehicle 200A.

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

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

When transferring item 3 to working device 100 while transport vehicle 200A is stopped, or when transferring item 3 from working device 100 to transport vehicle 200A, a release operation is performed using an operation switch provided on working device 100, and the operation mechanism raises release pin 7b provided inside anti-back mechanism 7. When release pin 7b rises (indicated by arrow H), protrusion 7a on loading surface 201 descends into loading surface 201, removing obstacles to the movement of item 3 on loading surface 201 and enabling a series of transfer operations for item 3.

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

In addition, when transferring the item 3 from the working device 100 to the transport vehicle 200, in addition to the method of performing the release operation on the working device 100, it is also possible to partially omit the release operation process of the anti-back mechanism 7 by incorporating a spring inside the anti-back mechanism 7.
This can be achieved by configuring the protrusion 7a so that when the item 3 moves on the anti-back mechanism 7, the load caused by the weight of the item 3 acts from above, causing the convex portion of the protrusion 7a to automatically descend toward the loading surface 201.

This anti-back mechanism 7 can be implemented simply by providing an operating switch on the work device 100 and an operating mechanism for the anti-back mechanism 7 and release operation on the transport vehicle 200A, preventing falls and ensuring the stability of the item 3 during transport at low cost. Furthermore, providing the anti-back mechanism 7 can prevent the item 3 from falling even while the transport vehicle 200A is moving, making it possible to relax the upper limit on the travel speed of the transport vehicle 200A within the factory production line. This can contribute to improved production efficiency.

In addition, in embodiment 3, an anti-back mechanism is installed on the transport vehicle of embodiment 1, but the same effect can be achieved by installing an anti-back mechanism on the transport vehicle of embodiment 2.

As explained above, the item transport system of embodiment 3 allows for delivery of items with high positional accuracy without dropping or tipping over. Furthermore, items can be delivered while ensuring the stability of the items during transport.

Embodiment 4.
The fourth embodiment relates to an article transport system in which a transport vehicle is provided with a transport vehicle positioning member.

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

The difference from the first embodiment is the vehicle positioning member provided on the vehicle.
The article transport system 4000 of the fourth embodiment is made up of a working device 100 for transferring an article 3 and a transport vehicle 200B.

Figure 6 shows an article transport system according to embodiment 4. The working device 100 is equipped with the positioning member 4 described in embodiment 1. The transport vehicle 200B in this embodiment 4 is equipped on the loading surface 201 with a transport vehicle positioning member 204 that has the same shape as the positioning member 4 of the working device 100.

According to this configuration, even if the transport vehicle 200B stops at a position other than the ideal stopping position 203 when transferring the item 3 from the working device 100 to the transport vehicle 200B, the positioning member 204 for the transport vehicle exerts the same effect as the positioning member 4 of the working device 100.
That is, when the item 3 reaches the discharge end of the loading surface 101 of the working device 100, the y-axis direction position may not match the y-axis direction coordinate of the correct position 5, resulting in a deviation. However, the opening position of the transport vehicle positioning member 204 at the item input end of the loading surface 201 of the transport vehicle 200B is set so that this deviation can be absorbed. Therefore, even if there is a deviation in the stopping position of the transport vehicle 200B, the item 3 can be reliably transferred from the working device 100 to the transport vehicle 200B.
Therefore, it becomes possible to increase the likelihood of stopping accuracy of the transport vehicle 200B in production line design, and cheaper products can be manufactured.

In addition, in embodiment 4, a vehicle positioning member is provided for the vehicle in embodiment 1, but the same effect can be achieved by providing a vehicle positioning member for the vehicle in embodiments 2 and 3.

As explained above, the item transport system of embodiment 4 allows for highly accurate transfer of items without dropping or tipping over. Furthermore, even if there is a deviation in the stopping position of the transport vehicle, items can be more reliably transferred from the work device to the transport vehicle.

Embodiment 5.
The fifth embodiment relates to a working device equipped with a position detection sensor.

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

The difference from the first embodiment is the position detection sensor provided in the working device.
The article transport system 5000 of the fifth embodiment is made up of a work device 100B for transferring an article 3 and a transport vehicle 200.
Although only one positioning member 4 and one rail 102 are shown in FIG. 7, it is sufficient to provide the number of members (usually two) that are sufficient to perform the functions described in the first embodiment.

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

Specifically, as shown in FIG. 7, a position detection sensor 8 that detects the position of the transport vehicle 200 is attached to the housing of the working device 100B, and measures the current position of the transport vehicle 200 while it is running or stopped.
When the transport vehicle 200 is transported from the previous process and stops near the working device 100B, based on the position data of the transport vehicle 200 detected by the position detection sensor 8, the working device 100B determines whether or not to start the operation of transferring the item 3 to the transport vehicle 200.

With this configuration, for example, if it is detected that the transport vehicle 200 has stopped at a position other than the ideal stopping position 203, it is possible to set it so that a signal to start the transfer operation of the item 3 is not issued. This reduces the risk of the item 3 falling due to the transport vehicle 200 being misaligned, and the transfer operation can be carried out reliably, allowing for the construction of a production line with higher production efficiency.

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

In addition, in embodiment 5, a position detection sensor is provided for the work device of embodiment 1, but the same effect can be achieved by installing a position detection sensor for the work devices of embodiments 2 to 4.

As explained above, the working device of embodiment 5 can transfer items with high positional accuracy without dropping or tipping over. Furthermore, it can reduce the risk of items dropping due to deviations in the stopping position of the transport vehicle.

Embodiment 6.
The sixth embodiment relates to an article transport system in which a transport vehicle is provided with a dog for position detection function.

The article conveying system of the sixth embodiment will be described based on FIGS. 8A and 8B, which are explanatory diagrams of a dog for a position detection function, and with reference to FIG. 7 as well, focusing on the differences from the fifth embodiment.
In the drawings of the sixth embodiment, parts that are the same as or equivalent to those of the fifth embodiment are given the same reference numerals.
In order to distinguish the sixth embodiment from the fifth embodiment, the sixth embodiment is referred to as an article transport system 6000 and a transport vehicle 200C. In addition, the working device 100B is not shown in Figures 8A and 8B.

The difference from the fifth embodiment is the dog for position detection provided on the transport vehicle.
The article transport system 6000 of the sixth embodiment is made up of a working device 100B (not shown) for transferring an article 3 and a transport vehicle 200C.

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

If the ideal stopping position 203 of the transport vehicle 200C is set with a certain degree of likelihood so that the article 3 on the working device 100B will be in the correct position after a series of transfer operations, it is necessary to detect the current position of the transport vehicle 200C including that likelihood. For this reason, more reliable position detection is achieved by providing a physical detection target on the transport vehicle 200C.
When the transport vehicle 200C is positioned at the ideal stopping position 203, the dog 9 is within the detection range of the position detection sensor 8, i.e., within the dog detectable range 10, and is in a detectable state (see Figure 8A).
Conversely, when the transport vehicle 200C deviates from the ideal stop position 203, the dog 9 deviates from the dog detectable range 10 (see FIG. 8B).

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

Note that installing a position detection sensor on the work device described in embodiments 5 and 6 and installing a dog for position detection function on the transport vehicle can also be applied to the work device and transport vehicle described in embodiments 1 to 4.

As explained above, the item transport system of embodiment 6 allows for delivery of items with high positional accuracy without dropping the items. Furthermore, items can be delivered with improved positioning accuracy.

Embodiment 7.
The seventh embodiment relates to a working device equipped with a movable positioning member.

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

The difference from the first embodiment is that the positioning member is movable.
The article transport system 7000 of the seventh embodiment is made up of a work device 100C for transferring an article 3 and a transport vehicle 200.

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

The working device 100C of embodiment 7 is also capable of dealing with changes in stopping position deviation that occur when an AGV (Automatic Guided Vehicle), which can be used on a production line that handles a variety of types of items, is introduced as the transport vehicle 200. AGVs include, for example, laser detection types and magnetic tape guidance types.

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

Alternatively, screw holes may be drilled in advance in the loading surface 101, and the movable positioning member 4e may be screwed into the screw holes. However, if the positioning member is shaped to bend at any point in the x-axis direction of the loading surface as shown in Figure 11, the installation position of the positioning member 4e can be adjusted by providing a connecting part 4d such as a hinge at the bending point. When adjusting the position, the positioning member 4e can be screwed into a screw hole drilled in advance in the loading surface 101 for adjustment.
11, the positioning member on the normal position 5 side is designated as 4b since it corresponds to the second positioning member 4b in FIG. 9 of embodiment 1. The movable range of the positioning member 4e is designated as 4e1, 4e2, and 4e3.

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

Here, the features and effects of the working device 100C of the seventh embodiment will be summarized.
There are cases where the opening width needs to be changed depending on the product, model, and process to be manufactured, but since the positioning member is movable and can be adjusted to meet the requirements, it can flexibly accommodate small-lot production of a wide variety of products. The reason for this will be explained in detail.
(1) The misalignment tolerance of AGVs (automated guided vehicles) can be increased, so that items can be transferred even with inexpensive AGVs with low stopping accuracy. In other words, the cost reduction effect of the guided vehicle exceeds the cost of installing positioning members, thereby reducing production costs.
(2) The angle θ between the article and the positioning member can be adjusted to an optimum value. This angle θ contributes to the accuracy of positioning when transferring the article.

The relationship between the angle θ and the frictional force will be described with reference to FIG. 10B of the first embodiment.
If the force pushing the article is F, the angle between the tangent to the positioning member and the article is θ, and the friction coefficient of the positioning member is μ, the force in the direction in which the article moves along the positioning member is F cos θ, and the friction force is F μ sin θ.
If F cos θ > F μ sin θ, the article moves in the direction of the normal position 5 .
If F cos θ<F μ sin θ, the article stops.
Here, when θ1>θ2>θ3, Fcosθ1<Fcosθ2<Fcosθ3, and Fμsinθ1>Fμsinθ2>Fμsinθ3.
In this way, it is possible to uniquely determine an appropriate value for the angle θ. That is, although the upper limit of the angle θ differs depending on the material of the positioning member, this can also be adjusted by making the opening width of the positioning member variable.

As explained above, the work device of embodiment 7 can transfer goods with high positional accuracy without dropping or tipping over. Furthermore, it can also be applied to inexpensive AGVs.

Embodiment 8.
The eighth embodiment relates to a working device in which a freely rotating part is provided in the article moving area.

The working device of the eighth embodiment will be described with reference to FIGS. 13 and 14, which are explanatory diagrams of freely rotating parts in the object moving area.
In the drawings of the eighth embodiment, parts that are the same as or equivalent to those in the first embodiment are given the same reference numerals.
In the eighth embodiment, in order to distinguish it from the first embodiment, it is referred to as an item transport system 8000 and a working apparatus 100D.

The difference from the first embodiment is that a free-rotating part is provided in the object moving area of the working device.
The article transport system 8000 of the eighth embodiment is made up of a working device 100D for transferring an article 3 and a transport vehicle 200B.

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

When transferring the article 3 from the transport vehicle 200B to the working device 100D, the article 3 can rotate by providing a freely rotating part 103 on the loading surface 101. Therefore, even if the article 3 advances in the x-axis direction while the stopping position of the transport vehicle 200B is shifted in the y-axis direction and interferes with the positioning member 4, the orientation of the article 3 tends to follow the direction in which it is being positioned.
Conversely, if a linear motion promoting component such as a wheel conveyor is provided instead of the free rotation component 103, the rotation of the article 3 is restricted, and if the article 3 is pinched between the positioning member 4 and the transport vehicle positioning member 204 during transfer as shown in Figure 13, the article 3 will be unable to move any further in the x-axis direction. In other words, there is a risk that the article 3 will not be able to be positioned.
However, if a freely rotating part 103, specifically a part such as a freebear, is used, the article 3 rotates as shown in Figure 14, and its progress in the x-axis direction is not impeded. This allows the article 3 to be transferred smoothly, improving transfer efficiency and productivity.

Also, in Figure 13, we will explain the relationship between the allowable deviation range (referred to as E) of the opening of the working device 100D, which is the side to be transferred, and the allowable deviation range (referred to as F) of the opening of the transport vehicle positioning member 204 of the transport vehicle 200B.
If the allowable deviation range (F) of the opening of the positioning member 204 for the transport vehicle is designed and configured to be relatively smaller than the allowable deviation range (E) of the opening of the working device 100D, the loading surface 201 of the transport vehicle 200B will be smaller in the y direction than the loading surface 101 of the working device 100D, making it more compact.
This expands the travelable range of the transport vehicle on the production line and makes it more maneuverable, thereby improving production efficiency on the entire line.

As explained above, the work device of embodiment 8 can transfer items with high positional accuracy without dropping or tipping over. Furthermore, it can improve production efficiency across the entire line.

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

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

Claims (17)

A work device that delivers and receives items to and from a transport vehicle,
A working device having a positioning member at the item loading end on the surface where the items are loaded, the positioning member having an opening width equal to the range of positions that the items can take due to shifts in the stopping position of the transport vehicle, and positioning the items in the correct position. The work device described in claim 1, wherein the positioning member is composed of a first positioning member on the item insertion side and a second positioning member on the normal position side. The working device described in claim 2, wherein the first positioning member and the second positioning member are formed from materials with different friction coefficients, and the friction coefficient of the first positioning member is smaller than the friction coefficient of the second positioning member. The working device described in claim 2, wherein the first positioning member is surface treated. The positioning member has a curved shape recessed toward the article insertion side,
2. The working device according to claim 1, wherein when the angle between the tangent of the positioning member at the point of contact between the positioning member and the item and the side parallel to the direction of delivery of the item is defined as θ, θ is constant or continuously decreases on the item insertion side and continuously decreases on the normal position side. The work device described in claim 1, wherein the positioning member is configured so that the angle of part or the entire item insertion side can be adjusted. A work device as described in any one of claims 1 to 6, in which a freely rotating part is provided on the surface on the item loading side where the items are loaded. The working device according to claim 7, wherein the allowable displacement range of the opening of the working device is equal to or greater than the allowable displacement range of the opening of the transport vehicle positioning member of the transport vehicle. The working device described in any one of claims 1 to 8 further comprises a retraction/push-out mechanism for transferring the article to and from the transport vehicle. A work device according to any one of claims 1 to 9, comprising a position detection sensor that detects whether the transport vehicle is stopped in the correct position. An article transport system for delivering articles between a transport vehicle and a work device,
the working device includes a positioning member on a surface on which the article is loaded;
An article transport system that, when transferring an article from the transport vehicle to the work device, can position the article in the correct position on the loading surface of the work device even if there is a deviation in the stopping position of the transport vehicle. Furthermore, the working device includes a pull-in/push-out mechanism for transferring the article to and from the transport vehicle,
The article transport system according to claim 11, wherein the article can be delivered. Furthermore, the transport vehicle is equipped with an anti-back mechanism that prevents the article from falling,
The article transport system according to claim 11, wherein the article is transferred while ensuring stability of the article during transport. Furthermore, the transport vehicle is equipped with an anti-back mechanism that prevents the article from falling,
The article transport system according to claim 12, wherein the article is transferred while ensuring stability of the article during transport. The transport vehicle further includes a transport vehicle positioning member for the article,
An article transport system as described in any one of claims 11 to 14, wherein when the article is handed over from the working device to the transport vehicle, the article can be handed over from the working device to the transport vehicle even if there is a deviation in the stopping position of the transport vehicle. Furthermore, the working device is provided with a position detection sensor that detects the position of the transport vehicle, and the transport vehicle is provided with a dog that is an object to be detected by the position detection sensor,
The article transport system according to any one of claims 11 to 14, wherein the article is transferred with improved positioning accuracy. Furthermore, the working device is provided with a position detection sensor that detects the position of the transport vehicle, and the transport vehicle is provided with a dog that is an object to be detected by the position detection sensor,
The article transport system according to claim 15, wherein the article is transferred with improved positioning accuracy.