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WO2026009573A1 - Dispositif de travail et système de transport d'articles - Google Patents

Dispositif de travail et système de transport d'articles

Info

Publication number
WO2026009573A1
WO2026009573A1 PCT/JP2025/017408 JP2025017408W WO2026009573A1 WO 2026009573 A1 WO2026009573 A1 WO 2026009573A1 JP 2025017408 W JP2025017408 W JP 2025017408W WO 2026009573 A1 WO2026009573 A1 WO 2026009573A1
Authority
WO
WIPO (PCT)
Prior art keywords
article
transport vehicle
positioning member
working device
item
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/JP2025/017408
Other languages
English (en)
Japanese (ja)
Inventor
友理子 大熊
俊明 岩崎
浩司 川村
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Publication of WO2026009573A1 publication Critical patent/WO2026009573A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Definitions

  • This disclosure relates to a work device and an item transport system.
  • 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.
  • a working device can be obtained that can transfer an article with high positional accuracy without dropping or tipping over the article.
  • articles can be transported with high positional accuracy and handed over without dropping the articles.
  • FIG. 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.
  • 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. 13 is an explanatory diagram of a freely rotating part in an article movable area in a working device according to an eighth embodiment.
  • Embodiment 1 relates to a work device equipped with a positioning device and an article transport system.
  • Figure 1 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
  • Figures 10A and 10B which are explanatory diagrams of an improved example 2 of the positioning member.
  • the same or corresponding parts are designated by the same reference numerals.
  • FIG. 1 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.
  • 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.
  • 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).
  • 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)
  • 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.
  • AMR Autonomous Mobile Robot
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the correct position for the item is often set near the center of the loading surface, but this is not always the case.
  • 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.
  • 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.
  • 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.
  • 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.
  • the positioning member 4 is an integral member with an inclined guide shape, but it may also be divided.
  • FIG. 9 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.
  • 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 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.
  • the positioning members are not limited to being made of different materials.
  • the coefficient of friction can be reduced by applying a surface treatment such as painting or plating.
  • a surface treatment such as painting or plating.
  • the efficiency of transferring the article 3 can be improved.
  • FIGS. 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 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 ⁇ , i.e., the angle between the tangent to the positioning member 4c and the item 3, is small ( ⁇ 1> ⁇ 2> ⁇ 3) relative to the direction of travel (positioning direction) of the item 3 on the loading surface 101.
  • the angle ⁇ i.e., the angle between the tangent to the positioning member 4c and the item 3
  • the angle ⁇ decreases as the item 3 moves forward, thereby reducing the friction force with the positioning member 4c and reducing the force required for transfer.
  • the positioning member 4c be configured to include two regions in the x direction: one where ⁇ is constant or continuously decreasing on the item insertion side, and one where ⁇ continuously decreases on the regular position 5 side.
  • the angle ⁇ 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.
  • 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.
  • 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.
  • a transfer with high positional accuracy can be performed, and a transfer with similarly high production efficiency can be achieved.

Landscapes

  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)

Abstract

L'invention concerne un dispositif de travail (100) prévu pour distribuer un article (3) vers et depuis un véhicule de transport (200), ledit dispositif de travail (100) comprenant, sur une surface (101) où est placé l'article (3) distribué depuis le véhicule de transport (200), un élément de positionnement (4) dont la largeur d'ouverture correspond à une plage de positions possibles de l'article (3) en raison de l'écart d'une position d'arrêt du véhicule de transport (200) au niveau d'une section d'extrémité côté entrée de l'article, ledit élément (4) étant positionné à une position normale (5).
PCT/JP2025/017408 2024-07-01 2025-05-13 Dispositif de travail et système de transport d'articles Pending WO2026009573A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2024105856 2024-07-01
JP2024-105856 2024-07-01

Publications (1)

Publication Number Publication Date
WO2026009573A1 true WO2026009573A1 (fr) 2026-01-08

Family

ID=98318329

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2025/017408 Pending WO2026009573A1 (fr) 2024-07-01 2025-05-13 Dispositif de travail et système de transport d'articles

Country Status (1)

Country Link
WO (1) WO2026009573A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0640281A (ja) * 1992-06-04 1994-02-15 Murata Mach Ltd 走行台車
JPH0764404B2 (ja) * 1993-03-19 1995-07-12 カワムラ精機株式会社 搬送装置における被搬送物の制動装置
JP2522322Y2 (ja) * 1991-06-17 1997-01-16 新明和工業株式会社 コンテナ移送装置におけるコンテナ積卸し案内装置
JP2000263382A (ja) * 1999-03-16 2000-09-26 Denso Corp 無人搬送車及び物品搬送システム
JP5840592B2 (ja) * 2012-10-31 2016-01-06 株式会社Ｐａｌｔａｃ ピッキング用台車

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2522322Y2 (ja) * 1991-06-17 1997-01-16 新明和工業株式会社 コンテナ移送装置におけるコンテナ積卸し案内装置
JPH0640281A (ja) * 1992-06-04 1994-02-15 Murata Mach Ltd 走行台車
JPH0764404B2 (ja) * 1993-03-19 1995-07-12 カワムラ精機株式会社 搬送装置における被搬送物の制動装置
JP2000263382A (ja) * 1999-03-16 2000-09-26 Denso Corp 無人搬送車及び物品搬送システム
JP5840592B2 (ja) * 2012-10-31 2016-01-06 株式会社Ｐａｌｔａｃ ピッキング用台車

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