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JP-2026074511-A - Conveying system

JP2026074511AJP 2026074511 AJP2026074511 AJP 2026074511AJP-2026074511-A

Abstract

[Problem] Due to the uneven frictional force between the transported item and the installation surface, it is not possible to push the transported item and smoothly slide its bottom surface onto the installation surface, thus preventing the transported item from being smoothly installed on the installation surface. [Solution] The control device 70 of the transport system 1, with the side surface Pb of the transported product P placed on the mounting table 20 being held in place by the pad 52 using the suction device 50, tilts the mounting table 20 together with the arm 51 using the tilting mechanism 44 so that the leading edge 22 of the mounting table 20 faces the installation surface TB. With the mounting table 20 and the arm 51 tilted, the arm linear motion mechanism 43 moves the arm 51 forward while the table linear motion mechanism 42 moves the mounting table 20 backward. [Selection Diagram] Figure 9

Inventors

  • 大瀧 泰生

Assignees

  • 株式会社ダイヘン

Dates

Publication Date
20260507
Application Date
20241021

Claims (5)

  1. A transport system for transporting goods, comprising: a trolley that travels autonomously to a transport destination to transport the goods; and a picking device attached to the trolley that dispenses the transported goods onto a mounting surface, The picking device is A platform on which the transported items are placed, A suction device comprising: a pad that adsorbs the side surface of the transported item by air suction; and an arm integrally attached to the aforementioned stand and supporting the pad at its tip; A drive device comprising: a tilting mechanism that tilts the aforementioned base together with the arm; a base linear motion mechanism that moves the aforementioned base horizontally together with the arm, with the direction of discharge of the conveyed product being the forward direction of the aforementioned base; and an arm linear motion mechanism that moves the aforementioned arm linearly along the mounting surface of the aforementioned base, with the direction of movement toward the front edge of the aforementioned base being the forward direction of the arm; The system includes a control device that controls the suction by the aforementioned suction device and the movement of the arm and the aforementioned mounting base by the aforementioned drive device. The control device, with the side surface of the conveyed item placed on the aforementioned stand being held in place by the suction device, is tilted by the tilting mechanism, together with the arm, so that the leading edge of the aforementioned stand faces the installation surface. A transport system characterized in that, with the mounting platform and the arm in an inclined state, the arm is moved forward by the arm linear motion mechanism while the mounting platform is moved backward by the platform linear motion mechanism.
  2. The control device, with the side surface of the transported product placed on the aforementioned stand being held in place by the suction device, moves the arm using the arm linear motion mechanism so that the lower edge of the transported product protrudes from the front edge of the aforementioned stand. The conveying system according to claim 1, characterized in that the tilting mechanism causes the arm and the aforementioned stand to tilt until the lower edge of the conveyed product contacts the installation surface.
  3. The conveying system according to claim 2, characterized in that the lower surface of the mounting platform has an inclined surface that slopes toward the leading edge.
  4. The control device, after the tilting of the base and the arm described above, The transport system according to claim 2, characterized in that the forward movement of the arm by the arm linear motion mechanism and the backward movement of the base by the base linear motion mechanism are performed such that the horizontal velocity component in the forward movement of the arm matches the horizontal velocity component in the backward movement of the base.
  5. The control device, after the tilting of the base and the arm described above, The transport system according to claim 1, characterized in that the suction device uses the suction pad to suction the transported item until the bottom surface of the transported item is separated from the mounting surface of the aforementioned mounting table by the forward movement of the arm by the arm linear motion mechanism and the backward movement of the aforementioned mounting table by the table linear motion mechanism.

Description

This invention relates to a conveying system for transporting goods. For example, one such technology disclosed is a robotic hand (transport system) for transporting objects. In this technology, the transport system comprises a suction part that attaches to the side of the object and moves in a first direction, and a drive belt that moves the transport surface on which the object is placed. The suction part moves in the first direction to place the attached object onto the transport surface, and the suction part is fixed to the drive belt so as to move together with the transport surface. Patent No. 7289916 This is a schematic perspective view of a transport system according to an embodiment of the present invention.Figure 1 is a block diagram of the transport system shown.Figure 2 is a block diagram of the control device shown.Figure 3 is a control flow diagram for the pulling in of transported items by the control device shown.(a) to (d) are diagrams illustrating the pulling operation of the transported items.Figure 3 is a control flow diagram for the dispensing of transported items by the control device shown.(a) to (d) are diagrams illustrating the dispensing operation of the transported goods.(a) and (b) are diagrams illustrating the dispensing operation of the transported goods, following Figure 7(d).Figures (a) to (c) are explanatory diagrams to illustrate the details of the dispensing operation from Figure 7(c) to Figure 7(d). The following describes a transport system 1 according to an embodiment of the present invention, with reference to Figures 1 to 9. 1. About the Conveying System 1 The conveying system 1 according to this embodiment is a system that, at the conveying start point, pulls in (takes in) the conveyed item P which is placed on the shelf C, pallet D, or the lower item (conveyed item) placement surface TA, transports the taken conveyed item P, and at the conveying destination point, dispenses the conveyed item P and places it on the frame-shaped shelf C, pallet D, or the lower item (conveyed item) placement surface TB (see Figures 5, 7, etc.). In the following specification, the surface on which the transported item P is placed at the transport placement point is referred to as the placement surface TA, and the surface on which the transported item P is installed at the transport destination point is referred to as the installation surface TB. The placement surface TA and the installation surface TB are planes on which the bottom surface of the transported item P makes contact, and are not limited to continuous planes, but also include intermittent planes, such as the surface of a pallet. Furthermore, while the transported item P is a rectangular packaging box (for example, a cardboard box) containing parts such as machine components, the shape of the transported item P is not particularly limited, as long as its side surface Pb can be adsorbed by the pad 52 described later. In this embodiment, as shown in Figure 1, the transport system 1 comprises at least a trolley 2 that autonomously travels a route from the transport start point to the transport destination point of the transported item P, and a picking device 3 attached to the trolley 2 that pulls in the transported item P at the transport start point and dispenses the transported item P at the transport destination point. 2. About the trolley 2 The trolley 2 is equipped with a picking device 3 and is a device that transports the transported items P together with the picking device 3. As shown in Figure 1, for example, the trolley 2 can move not only in the two orthogonal directions LA and LB on the floor surface, but in all directions, and furthermore, it can rotate in the rotational direction T without substantially moving on the floor surface. Such a trolley 2 is a so-called self-supporting transport trolley, and its drive mechanism and other components have a general structure, so a detailed explanation will be omitted. Although not shown in Figure 1, the transport system 1 includes a control device 70 (see Figure 2). The control device 70 stores, for example, a map of the areas where the trolley 2 can travel within a factory or warehouse. For example, wireless signals from an external management computer input information such as the transport start point, transport destination, and the transported item (size, placement, and installation location of the transported item P). The trolley 2 then sets the optimal travel route from the transport start point to the transport destination and travels using automatic driving control. By controlling the rotation of the trolley 2, the orientation of the trolley 2 is also controlled to match the placement and installation location of the transported item P. In this embodiment, the transport start point and the transport destination point may be different locations, but they may also coincide. For example, when transporting items P in the vertical direction of the same shelf C without dr