CA3200190A1 - Article conveying robot system and article storage shelf - Google Patents

Abstract

It is an object of the present invention to provide an object conveying robot system capable of automatically performing a work of unloading an object placed on a shelf or a work of loading an object on the shelf. An object conveying robot system according to the present invention comprises a robot hand 100 and an object placing shelf 200. The robot hand includes a grasping portion 140, 143. The grasping portion grasps an object Bx. The object placing shelf is for placing the object. The robot hand can move linearly with respect to the object placing shelf. This robot hand is configured to move linearly to pull out the object from the object placing shelf, and to move linearly to store the object in the object placing shelf. The object placing shelf includes a shelf plate 220 and a guide wall Wv. The object is placed on the shelf plate. The guide wall guides the robot hand which is moving linearly.Selected figure: Fig. 11

Description

TITLE OF INVENTION
ARTICLE CONVEYING ROBOT SYSTEM AND ARTICLE STORAGE SHELF
TECHNICAL FIELD
[0001]
The present invention relates to an object conveying robot system and an object placing shelf.
BACKGROUND ART

[0002]
In recent years, "a system for automatically unlocking a bill storage container with a robot arm with a key and then automatically pulling out a bill from the bill storage container with a robot arm with a hand" has been proposed (see, for example, see Japanese Unexamined Patent Publication No. 2020-57431 and the like).
PRIOR ART DOCUMENTS
PATENT DOCUMENT

[0003]
Patent Document 1: Japanese Unexamined Patent Publication No. 2020-57431 SUMMARY OF THE INVENTION
PROLEM TO BE SOLVED BY THE INVENTION

[0004]
Incidentally, currently, a bill storage container is manually conveyed to an installation location of the system while it is placed on a movable shelf with wheels, and then manually placed at the entrance of a system. Since the bill storage container in the state in which the bill is stored usually weighs 3 to 4kg, the work of unloading the bill storage container from the movable shelf is relatively severe. Further, currently, the work of loading the empty bill storage container into the above-mentioned movable shelf again is also performed manually, and this work is also relatively severe. For this reason, recently, there has been a demand for automation of such a loading/unloading work by using a robot.

[0005]
It is an object of the present invention to provide an object conveying robot system capable of automatically performing at least one of a work of unloading an object such as a box body placed on a shelf and a work of loading an object such as a box body on the shelf.
MEANS FOR SOLVING THE PROBLEMS

[0006]
An object conveying robot system according to a first aspect of the present invention comprises a robot hand and an object placing shelf. Incidentally, the "system"
herein means a set of a device (a robot arm with a robot hand, and the like), a shelf (an object placing shelf and the like), and the like used for conveying an object. Further, the robot hand is attached to a conveying device such as a robot arm, and is made movable in a three-dimensional space by such the conveying device. The robot hand includes a grasping portion. The grasping portion grasps the object. The object placing shelf is for placing the object. Incidentally, this object is placed (accommodated) on the object placing shelf by a human hand or the robot hand, or is pulled out or pushed out by the robot hand in a state of being placed on the object placing shelf. The robot hand can move linearly with respect to the object placing shelf. As described above, this robot hand is configured to move linearly to pull out or push out the object from the object placing shelf, or is configured to move linearly to store the object in the object placing shelf. The object placing shelf includes a shelf plate and a guide wall. The object is placed on the shelf plate. The guide wall guides the robot hand which is moving linearly.

[0007]
For this reason, by using this object conveying robot system, it is possible to automatically and smoothly perform the work of unloading the object placed on the object placing shelf or the work of loading the object on the shelf.

[0008]
An object conveying robot system according to a second aspect of the present invention comprises a pushing out portion and an object placing shelf. Incidentally, the "system" herein means a set of a device (a robot arm with a pushing out portion, and the like), a shelf (an object placing shelf and the like), and the like used for conveying an object.
Further, the pushing out portion is attached to a conveying device such as a robot arm, and is made movable in a three-dimensional space by such the conveying device. The pushing out portion pushes out the object.
The object placing shelf is for placing the object. Incidentally, this object is placed (accommodated) on the object placing shelf by a human hand or the pushing out portion, or is pushed out by the pushing out portion in a state of being placed on the object placing shelf. The pushing out portion can move linearly with respect to the object placing shelf. As described above, this pushing out portion is configured to move linearly to push out the object from the object placing shelf, or is configured to move linearly to store the object in the object placing shelf. The object placing shelf includes a shelf plate and a guide wall. The object is placed on the shelf plate. The guide wall guides the pushing out portion which is moving linearly.

[0009]
For this reason, by using this object conveying robot system, it is possible to automatically and smoothly perform the work of unloading the object placed on the object placing shelf or the work of loading the object on the shelf.

[0010]
An object placing shelf according to a third aspect of the present invention is for placing an object to be conveyed by a conveying device. The conveying device comprises a robot hand including a grasping portion that can move linearly, and a moving mechanism that moves the robot hand. Further, this object placing shelf includes a shelf plate and guide walls. The plurality of guide walls extend upward from the upper surface of the shelf plate, or extend downward from the lower surface of the shelf plate. Further, these guide walls are disposed so as to be parallel to each other.

[0011]
For this reason, this object placing shelf allows the robot hand to smoothly load and unload the object.

[0012]
The object placing shelf according to a fourth aspect of the present invention is the object placing shelf according to the third aspect, and the object includes a protrusion extending in the width direction. Further, the guide walls are disposed at intervals that do not contact the protrusion.

[0013]
For this reason, this object placing shelf allows the robot hand to smoothly load and unload the object even if the object includes the protrusion.

BRIEF DESCRIPTION OF THE DRAWINGS

[0014]
Fig. 1 is a perspective view of a robot hand of a box body conveying robot system according to an embodiment of the present invention when viewed from the left obliquely above the front side.
Fig. 2 is a perspective view of the robot hand of the box body conveying robot system according to an embodiment of the present invention when viewed from the right obliquely above the rear side.
Fig. 3 is a perspective view of the robot hand of the box body conveying robot system according to an embodiment of the present invention when viewed from the right obliquely below the front side.
Fig. 4 is a left side view of the robot hand of the box body conveying robot system according to an embodiment of the present invention.
Fig. 5 is a front view of the robot hand of the box body conveying robot system according to an embodiment of the present invention.
Fig. 6 is an I-I cross-sectional view of Fig. 5.
Fig. 7 is a II-II cross-sectional view of Fig. 5.
Fig. 8 is a left side view of the robot hand of the box body conveying robot system according to an embodiment of the present invention in a state in which the articulated telescopic link mechanism is extended.
Fig. 9 is a left side view of the robot hand of the box body conveying robot system according to an embodiment of the present invention in a state in which the articulated telescopic link mechanism is fully extended.
Fig. 10 is a perspective view of the detachable spiral spring unit of the robot hand of the box body conveying robot system according to an embodiment of the present invention.
Fig. 11 is a front view of a movable shelf of the box body conveying robot system according to an embodiment of the present invention.
Fig. 12 is a right side view of the movable shelf of the box body conveying robot system according to an embodiment of the present invention.
Fig. 13 is an enlarged view of an enclosure portion X of Fig. 11.
Fig. 14 is an image diagram showing an overall configuration of a box body conveying robot system according to a modification (L).
Fig. 15 is a perspective view of a robot arm and an extruding portion of the box body conveying robot system according to a modification (L).
DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015]
<Configuration of the box body conveying robot system according to an embodiment of the present invention>
The box body conveying robot system according to an embodiment of the present invention is utilized to perform a work of unloading a box body Bx with a handle placed on a movable shelf 200, or a work of loading the box body Bx with the handle on the movable shelf 200. The box body conveying robot system mainly comprises a robot hand 100, a robot arm RA, a control device and a movable shelf 200. Hereinafter, these components will be described in detail.

[0016]

1. Robot hand The robot hand 100 mainly includes an electric motor 110, a frame 120, a link mechanism 130, a suction head unit 140, a detachable spiral spring unit 150, a flexible tube 160, a sensor mounting plate 170, and a distance sensor 180, as shown in Figs.
1 to 9.
Hereinafter, these components will be described in detail.

[0017]
(1) Electric motor The electric motor 110 is a forward and reverse rotatable electric motor.
Then, the electric motor 110 is attached to the ball screw 115 so that its rotation axis coincides with the rotation axis of the ball screw 115. That is, this ball screw 115 can switch the sliding direction of the horizontal slider (described later) SH by switching the rotation direction of the electric motor 110. Incidentally, the load detection device (not shown) is connected to this electric motor 110 in this embodiment, the load of the electric motor 110 is detected by this load detection device.

[0018]
(2) Frame The frame 120, as shown in Figs. 1 to 9, mainly includes a top plate 121, a bottom plate 122, a back plate 123, a rear side plate 124 and a front side L-shaped plate 125.
Hereinafter, these components will be described in detail.

[0019]
The top plate 121 is a substantially rectangular plate member as shown in Fig.1 and the like, and covers the upper side of the robot hand 100. As shown in Figs. 1 to 4, on the lower side of the front portion of this top plate 121, the electric motor 110 is fixed so that the rotation axis extends toward the rear end. Further, as shown in Figs. 1 and 2, a metal fitting 128 for mounting the robot arm are mounted slightly rearward than the central position in the longitudinal direction of the top plate 121. Further, as shown in Fig. 3, Fig.
4, and the like, the ball screw 115 is disposed on the back side (lower surface side) of the top plate 121.

[0020]
The bottom plate 122 is a substantially rectangular plate member as shown in Fig. 3 and the like, and covers the lower side of the robot hand 100. Incidentally, the front side portion 122A of the bottom plate 122 (see Figs. 1 and 3) functions as a placing table of the object. Further, as shown in Fig. 3 and the like, a rectangular opening OP is formed substantially at the center of this bottom plate 122. This opening OP is sized so that the detachable spiral spring unit 150 can be mounted. Further, as shown in Fig. 3, support claws 122B are provided on both side edges of the opening OP of the bottom plate 122. This support claw 122B is for detachably supporting the shaft 153 of the detachable spiral spring unit 150.
Further, left and right pair of legs LG are respectively attached to the front end portion and the rear end portion of the back side surface of the bottom plate 122, and the sensor mounting plate 170 is attached to the back side surface of the slightly rear side of the opening OP of the bottom plate 122.

[0021]
The back plate 123 is a substantially rectangular plate member as shown in Figs. 1 and 4, and covers the back side of the robot hand 100. Further, rear vertical rail RVr and rear support protrusion portion 123A are formed on the front surface of this back plate 123. As shown in Figs. 6 and 7, a rear vertical slider SVr is attached to this rear vertical rail RVr so that the rear vertical slider SVr can slide in the vertical direction. The rear support protrusion portion 123A is a protrusion portion extending forward from the front surface of the back plate 123. As described later, a second node K2 is rotatably attached to this rear support protrusion portion 123A by a fourth link pin P4 at the base end portion.

[0022]
The rear side plate 124 functions as a prop for supporting the top plate 121 and the bottom plate 122, and as shown in Figs. 1 and 2, is provided on the rear side of the back plate 123 in pairs on the left and right.

[0023]
The front side L-shaped plate 125 is a plate member having a substantially L-shape in side view, and covers the side surface of the front end portion of the robot hand 100, as shown in Figs. 1 and 4 and the like. As shown in Fig. 1, Fig. 4, and the like, this front side L-shaped plate 125 is mainly formed of a vertical sidewall portion 125A and a horizontal sidewall portion 125B. Similarly to the rear side plate 124, the vertical sidewall portion 125A functions as a prop for supporting the top plate 121 and the bottom plate 122. On the other hand, as shown in Fig. 1 and the like, the horizontal sidewall portion 125B serves as a sidewall in the front side portion 122A of the base plate 122, and functions as a guide wall for guiding the suction head unit 140 forward. Specifically, the suction head unit 140 will be guided forward, while the guide roller 145 of the suction head unit 140 is in contact with the inner surface of the horizontal sidewall portion 125B and rolls. Further, as shown in Fig. 1 or the like, the front portion of the horizontal sidewall portion 125B is slightly open toward the width-wise outward.
This is to make it easier to receive the object which is pulled in by the suction head unit 140.

[0024]
(3) Link mechanism The link mechanism 130 is, for example, a telescopic lazy tong type link mechanism used for a magic hand or the like. In this embodiment, as shown in Figs. 6 to 9, the link mechanism 130 includes 14 nodes (links) K1 to K14, 21 link pins P1 to P23, a rear vertical slider SVr, and a horizontal slider SH. Hereinafter, these components will be described in detail.

[0025]
The nodes (links) K1 to K14 are plate bar-shaped members, and the link pins P1 to P23 are members that axially support the base end portion, the central portion, and the distal end portion of nodes K1 to K14 to form a link mechanism 130. Hereinafter, a structure composed of only the nodes (links) K1 to K14 and the link pins P1 to P23 may be referred to as a telescopic structure. Further, in this figure, the telescopic structure is denoted by the symbol KR

[0026]
Here, the first Node K1 is rotatably attached to the rear vertical slider SVr at the base end portion by the first link pin P1 (see Figs. 6 to 9 and the like). Further, this first node K1 is rotatably attached to the central portion of the second node K2 at the central portion by the second link pin P2, and is rotatably attached to the base end portion of the fourth node K4 at the distal end portion by the third link pin P3 (see Figs. 6 to 9, and the like). Incidentally, as shown in Figs. 7 to 9, a horizontal slider SH is connected to the third link pin P3.

[0027]
The second node K2 is rotatably attached to the rear support protrusion portion 123A
at the base end portion by the fourth link pin P4 (see Figs. 6 to 9 and the like). Further, the second node K2 is rotatably attached to the central portion of the first node K1 at the central portion by the second link pin P2, and is rotatably attached to the base end portion of the third node K3 at the distal end portion by the fifth link pin P5 (see Figs. 6 to 9 and the like).

[0028]
The third node K3 is rotatably attached to the distal end portion of the second node K2 at the base end portion by the fifth link pin P5, is rotatably attached to the central portion of the fourth node K4 at the central portion by the sixth link pin P6, and is rotatably attached to the base end portion of the sixth node K6 at the distal end portion by the seventh link pin P7 (see Figs. 6 to 9 and the like).

[0029]
The fourth node K4 is rotatably attached to the distal end portion of the first node K1 at the base end portion by the third link pin P3, is rotatably attached to the central portion of the third node K3 at the central portion by the sixth link pin P6, and is rotatably attached to the base end portion of the fifth node K5 at the distal end portion by the eighth link pin P8 (see Figs. 6 to 9 and the like).

[0030]
The fifth node K5 is rotatably attached to the distal end portion of the fourth node 4 K4 at the base end portion by the eighth link pin P8, is rotatably attached to the central portion of the sixth node K6 at the central portion by the ninth link pin P9, and is rotatably attached to the base end portion of the eighth node K8 at the distal end portion by the tenth link pin P10 (see Figs. 6-9 and the like).

[0031]
The sixth node K6 is rotatably attached to the distal end portion of the third node K3 at the base end portion by the seventh link pin P7, is rotatably attached to the central portion of the node K5 at the central portion by the ninth link pin P9, and is rotatably attached to the base end portion of the seventh node K7 at the distal end portion by the eleventh link pin Pll (see Figs. 6 to 9 and the like).

[0032]
The seventh node K7 is rotatably attached to the distal end portion of the sixth node K6 at the base end portion by the eleventh link pin P11, is rotatably attached to the central portion of the eighth node K8 at the central portion by the twelfth link pin P12, and is rotatably attached to the base end portion of the tenth node K10 at the distal end portion by the thirteenth link pin P13 (see Figs. 6 to 9 and the like).

[0033]
The eighth node K8 is rotatably attached to the distal end portion of the fifth node K5 at the base end portion by the tenth link pin P10, is rotatably attached to the central portion of the seventh node K7 at the central portion by the twelfth link pin P12, and is rotatably attached to the base end portion of the ninth node K9 at the distal end portion by the fourteenth link pin P14 (see Figs. 6-9 and the like).

[0034]
The ninth node K9 is rotatably attached to the distal end portion of the eighth node K8 at the base end portion by the fourteenth link pin P14, is rotatably attached to the central portion of the tenth node K10 at the central portion by the fifteenth link pin P15, and is rotatably attached to the base end portion of the twelfth node K12 at the distal end portion by the sixteenth link pin P16 (see Figs. 6-9 and the like).

[0035]
The tenth node K10 is rotatably attached to the distal end portion of the seventh node K7 at the base end by the thirteenth link pin P13, is rotatably attached to the central portion of the ninth node K9 at the central portion by the fifteenth link pin P15, and is rotatably attached to the base end portion of the eleventh node K1 1 at the distal end portion by the seventeenth link pin P17 (see Figs. 6 to 9 and the like).

[0036]
The eleventh node K1 1 is rotatably attached to the distal end portion of the tenth node K10 at the base end portion by the seventeenth link pin P17, is rotatably attached to the central portion of the twelfth node K12 at the central portion by the eighteenth link pin P18, and is rotatably attached to the base end portion of the fourteenth node K14 at the distal end portion by the nineteenth link pin P19 (see Figs. 6 to 9 and the like).

[0037]
The twelfth node K12 is rotatably attached to the distal end portion of the ninth node K9 at the base end portion by the sixteenth link pin P16, is rotatably attached to the central portion of the eleventh node K1 1 at the central portion by the eighteenth link pin P18, and is rotatably attached to the base end portion of the thirteenth node K13 at the distal end portion by the twentieth link pin P20 (see Figs. 6 to 9 and the like).

[0038]
The thirteenth node K13 is rotatably attached to the distal end portion of the twelfth node K12 at the base end portion by the twentieth link pin P20, and is rotatably attached to the central portion of the fourteenth node K14 at the central portion by the twenty-first link pin P21 (see Fig. 6, Fig. 7, and the like). Further, this thirteenth node K13 is rotatably attached to a front support protrusion portion 146 of the suction head unit 140 at the distal end portion by the twenty-second link pin P22 (see Figs. 6 to 9 and the like).

[0039]
The fourteenth node K14 is rotatably attached to the distal end portion of the eleventh node K1 1 at the base end portion by the nineteenth link pin P19, and is rotatably attached to the central portion of the thirteenth node K13 at the central portion by the twenty-first link pin P21 (see Fig. 6, Fig. 7, and the like). Further, this fourteenth node K14 is rotatably attached to a front vertical slider SVf of the suction head unit 140 at the distal end portion by the twenty-third link pin P23 (see Figs. 6 to 9 and the like).

[0040]
In the telescopic structure KP configured as described above, the 14 nodes K1 to K14 move along the virtual plane parallel to the virtual vertical plane Fp (see Fig. 5 ; this vertical plane Fp is a plane overlapping with the I-I cross section of Fig. 5).

[0041]
As described above, the rear vertical slider SV can slide the rear vertical rail RVr of the back plate 123 in the vertical direction (see Fig. 6, Fig. 7 and the like). Incidentally, this rear vertical slider SVr rises with the advancement of the horizontal slider SH, and falls with the retraction of the horizontal slider SH.

[0042]
The horizontal slider SH is engaged with the ball screw 115 as shown in Fig.
6, Fig. 7 and the like. The horizontal slider SH advances when the ball screw 115 is rotated forward, and retracts when the ball screw 115 is reversed. Further, this horizontal slider SH is connected to the third link pin P3 as shown in Figs. 7 to 9 and the like. That is, the telescopic structure KP is extended and contracted by the forward and backward movement of the horizontal slider SH.

[0043]
(4) Suction head unit The suction head unit 140, as shown in Figs. 1 and 5, mainly includes a front panel 141, a support plate 142, a suction pad unit 143, a wheel 144, a guide roller 145, a front vertical rail RVf, a front vertical slider SVf, and a front support protrusion portion 146.

Hereinafter, these components will be described in detail.

[0044]
As shown in Fig. 5, the front panel 141 is a plate member having an inverted convex shape in a front view, and mainly includes a main plate portion 141a and a lower protrusion portion 141b. As shown in Fig. 5, the main plate portion 141a is a plate portion having a substantially rectangular shape in a front view. As shown in Fig. 5, in the front view, three suction pads 143b are fixed to each of the left and right end portions of the lower portion of the main plate portion 141a. Incidentally, the distance of the left and right suction pads 143b is a distance sandwiching a handle TO without overlapping the handle TO when the handle TO of a box body Bx with a handle faces the longitudinal direction. Further, as shown in Fig. 2, Fig. 6, and Fig. 7, the front support protrusion portion 146 extends rearward from the upper portion of the back surface of this main plate portion 141a. Further, as shown in Figs. 8 and 9, the support plate 142 extends rearward from both end portions in the width direction of the back surface of this main plate portion 141a. Further, as shown in Figs. 6 and 7, the front vertical rail RVf is disposed along the vertical direction on the back surface of this main plate portion 141a. As shown in Fig. 5, the lower protrusion portion 141b is a substantially square plate portion in a front view, and extends downward from the center of the lower side of the main plate 141a. A
fastening block 154 of the detachable spiral spring unit 150 is screwed to this lower protrusion portion 14 lb. Incidentally, the screw used in this case is a detachable screw.

[0045]
The support plate 142 is a plate member for supporting a pipe unit 143a of the suction pad unit 143 as shown in Figs. 8 and 9, and extends rearward from both end portions in the width direction of the back surface of the main plate portion 141a of the front panel 141, as described above. Further, a pair of wheels 144 are axially supported on the lower portion of the front side of this support plate 142.

[0046]
As shown in Fig. 1, Fig. 2, and the like, the suction pad unit 143 mainly includes a pipe unit 143a, a suction pad 143b, and an elastic connecting pipe 143c. The pipe unit 143a includes one main pipe MP and three branch pipes BR Incidentally, the main pipe MP
communicates with all three branch pipes BP. As shown in Figs. 7 and 8, the main pipe MP is joined to the flexible tube 160 on the base end side, and the elastic connecting pipe 143c is joined to each branch pipe BP. The suction pad 143b is joined to the distal end side of each elastic connecting pipe 143c. Incidentally, the elastic connecting pipe 143c is provided with an elastic portion such as a coil spring. The elastic portion biases the distal end portion of the elastic connecting pipe 143c forward. That is, the suction pad 143b is biased forward through the distal end portion of the elastic connecting pipe 143c. Therefore, when the suction pad 143b brings into contact with the object and a load is applied to the suction pad 143b, the distal end portion of the elastic connecting pipe 143c and the suction pad 143b slightly retreat against the elastic force of the elastic portion, and when the load is not applied, the suction pad 143b returns to the original position by the elastic force of the elastic portion.
The suction pad 143b is a telescopic member formed of a flexible material.

[0047]
The wheel 144, as described above, is axially supported on the lower portion of the front side of the support plate 142. That is, the rotation axis of this wheel 144 will follow a direction parallel to the width direction. This wheel 144 rolls over the top surface of the front side portion 122A of the bottom plate 122 of the frame 120, and rolls over a shelf plate 220 of the movable shelf 200 when it exceeds the front end portion of the front side portion 122A of the bottom plate 122 of the frame 120.

[0048]
The guide roller 145 is a columnar rotator having a vertical direction as a rotation axis, as described above, guides the suction head unit 140 forward while rolling in contact with the inner surface of the horizontal sidewall portion 125B of the front side L-shaped plate 125.
Further, the guide roller 145 guides the suction head unit 140 forward while rolling in contact with an inner surface of a guide plate Wv of the movable shelf 200.

[0049]
The front vertical rail RVf, as shown in Figs. 6 and 7 extends along the vertical direction on the back side surface of the front panel 141. A front vertical slider SVf is attached to this front vertical rail RVf so as to be freely slidable in the vertical direction (see Figs. 6 and 7).

[0050]
As described above, the front vertical slider SVf can slide the front vertical rail RVf in the vertical direction. Incidentally, this front vertical slider SVf rises with the advancement of the horizontal slider SH and falls with the retraction of the horizontal slider SH. Further, as described above, the fourteenth node K14 is rotatably attached to this front vertical slider SVf at the distal end portion by the twenty-third link pin P23.

[0051]
The front support protrusion portion 146 is a protrusion portion extending rearward from the back side surface of the front panel 141. As described above, the thirteenth node K13 is rotatably attached to this front support protrusion portion 146 at the distal end portion by the twenty-second link pin P22.

[0052]
(5) Detachable spiral spring unit The detachable spiral spring unit 150 mainly includes a spiral spring 151, a holder 152, a shaft 153 and a fastening block 154, as shown in Fig. 10. The spiral spring 151 exists from the past and is biased so as to be wound around the holder 152. That is, when the hand of the person is released after the spiral spring 151 is extended by the hand of a person, the spiral spring 151 is wound around the holder 152 by its biasing force. The holder 152 is a cylindrical holding member (bobbin) for holding one end of the spiral spring 151. The shaft 153 extends along the axial direction of the holder 152 toward both directions of the holder 152 as shown in Fig. 10. Incidentally, as described above, this shaft 153 is detachably supported by the support claw 122B shown in Fig. 3. The fastening block 154 is a member for fixing the other end of the spiral spring 151 to the lower protrusion portion 141b of the front panel 141 of the suction head unit 140. The fastening block 154, as described above, is screwed to the lower protrusion portion 141b of the front panel 141 of the suction head unit 140.

[0053]
(6) Flexible tube The flexible tube 160, as shown in Fig. 1, Fig. 2, and the like, is joined to the outlet side of the original pipe SP, and is joined to the base end side of the main pipe MP of the suction pad unit 143, as described above. Incidentally, as shown in Fig. 1, Fig.2, and the like, a piping port MS is joined to the inlet of the original pipe SP, and is provided at the rear end portion of the top plate 121 of the frame 120. Further, as shown in Figs. 8 and 9, this flexible tube 160 has a sufficient length to correspond to the maximum extension state of the link mechanism 130.

[0054]

(7) Sensor mount plate The sensor mounting plate 170, as described above, is attached to the back side surface of the slightly rear side of the opening OP of the bottom plate 122 of the frame 120, and holds the distance sensor 180 at both end sides thereof.

[0055]
(8) Distance sensor The distance sensor 180 is a sensor for detecting a distance from an object located on the front side, and is held on both end sides of the sensor mounting plate 170 as described above.

[0056]
2. Robot arm The robot arm RA is not particularly limited, but is, for example, an existing six-axis robot arm or the like (see Figs. 14 and 15).

[0057]
3. Control device The control device is communicatively connected to the robot hand 100 and the robot arm RA, respectively. The control device transmits a control signal to the robot hand 100 and the robot arm RA, and receives various signals from the robot hand 100 and the robot arm RA.
Incidentally, in particular, the control device is communicatively connected to the electric motor 110 of the robot hand 100 and a decompression pump, and controls the rotation direction of the electric motor 110, the start-stop of the decompression pump, and the like.

[0058]
4. Movable shelf The movable shelf 200 is for storing the box body Bx with the handle, and includes a bottom wall 210, a top wall 230, a prop 240, a partition wall 250, a shelf plate 220, a guide plate Wv and a wheel Tr, as shown in Figs. 11 to 13. Hereinafter, these components will be described in detail.

[0059]
The bottom wall 210 and the top wall 230, as shown in Figs. 11 and 12, are a rectangular plate member having the same dimensions. The box body Bx with the handle can be placed on the bottom wall 210.

[0060]
As shown in Figs. 11 and 12, the prop 240 is for supporting the top wall 230, and extends from the four corners of the upper surface of the bottom wall 210 to the four corners of the lower surface of the top wall 230.

[0061]
As shown in Figs. 11 and 12, the partition wall 250 is a wall for dividing a space surrounded by the bottom wall 210, top wall 230 and the prop 240 into two in the width direction, and extends from the central portion in the width direction of the bottom wall 210 to the central portion in the width direction of the top wall 230.

[0062]
The shelf plate 220 is for placing the box body Bx with the handle. As shown in Figs.
11 and 12, the shelf plate 220 is a rectangular plate member having substantially the same depth dimension as the bottom wall 210 and the top wall 230 and having the width dimension of about half of the bottom wall 210 and top wall 230. As shown in Figs. 11 and 12, the shelf plate 220 divides two spaces surrounded by the bottom wall 210, the top wall 230, the prop 240 and the partition wall 250 into six in the height direction, respectively. In other words, as shown in Figs.

11 and 12, five shelf plates 220 are respectively disposed in two spaces surrounded by the bottom wall 210, the top wall 230, the prop 240 and the partition wall 250.

[0063]
The guide plate Wv is for guiding the suction head unit 140 of the robot hand 100 to the back and front of the movable shelf 200. As shown in Fig. 11, six guide plates Wv are respectively disposed in twelve spaces surrounded by the bottom wall 210, the top wall 230, the prop 240, the partition wall 250 and the shelf plate 220. Further, as shown in Figs. 11 to 13, the guide plate Wv is formed of a front guide plate Wvl and a rear guide plate Wv2. As shown in Figs. 11 to 13, the front guide plate Wvl is a substantially rectangular wall member extending upward along a vertical direction from the front portion of the upper surface of the bottom wall 210 and the shelf plate 220, and is disposed along the depth direction so that the adjacent front guide plate Wvl and the front guide plate Wvl are parallel to each other. As shown in Fig. 12, the rear guide plate Wv2 is a substantially rectangular wall member extending upward along the vertical direction from the rear portion of the upper surface of the bottom wall 210 and the shelf plate 220, and is disposed along the depth direction so that the adjacent rear guide plate Wv2 and the rear guide plate Wv2 are parallel to each other. Incidentally, as shown in Fig. 12, the front guide plate Wvl and the rear guide plate Wv2 are spaced apart from each other by a predetermined distance so that a gap Wv3 is formed between the front guide plate Wvl and the rear guide plate Wv2.

[0064]
Further, as shown in Figs. 11 and 13, the guide plate Wv is disposed at intervals that do not come into contact with a protrusion portion Pr (described later) formed on the box body Bx with the handle. That is, as shown in Figs. 11 and 13, the width dimension between the adjacent guide plate Wv and the guide plate Wv is designed to be larger than the width dimension of the box body Bx with the handle including the protrusion portion Pr.

[0065]
The wheel Tr is a conventionally present caster or the like, as shown in Figs.
11 and 12, is attached to the four corners of the lower surface of the bottom wall 210.
The movable shelf 200 is movable by the wheel Tr.

[0066]
Incidentally, as shown in Figs. 11 and 12, a front wall and a back wall are not provided on this movable shelf 200. Therefore, in this movable shelf 200, it is possible to place the box body Bx with the handle to the bottom wall 210 and the shelf plate 220 from the rear side as well as the front side.

[0067]
<Control example of the box body conveying robot system according to an embodiment of the present invention>
Here, a control example of the robot hand 100,the robot arm RA and the control device when the box body Bx with the handle is pulled out from the movable shelf 200, and the control example of the robot hand 100, the robot arm RA and the control device when the box body Bx with the handle is stored in the movable shelf 200 will be described.

[0068]
Before the above description of the control example, the box body Bx with the handle will be briefly described first. The box body Bx with the handle, as shown in Figs. 11 to 13, has a substantially rectangular parallelepiped shape, and is formed from a bottom wall, a top wall, a front wall, a back wall, a right side wall and a left side wall. The bottom wall and the top wall are rectangular plate members having the same dimensions. The front wall is a portion constituting the front surface of the box body Bx with the handle, and extends from the front end of the bottom wall to the front end of the top wall. Incidentally, as shown in Figs. 11 to 13, the handle TO is attached to the front wall. The back wall is a portion constituting the back surface of the box body Bx with the handle, and extends from the rear end of the bottom wall to the rear end of the top wall. The right side wall is a rectangular portion constituting the right side surface of the box body Bx with the handle, and extends from the right end of the bottom wall to the right end of the top wall. The left side wall is a rectangular portion constituting the left side surface of the box body Bx with the handle, and extends from the left end of the bottom wall to the left end of the top wall. Incidentally, as shown in Figs. 11 and 13, the protrusion portion Pr extending outward (width direction) from the right side wall and the left side wall is formed on the box body Bx with the handle. As shown in Figs. 11 to 13, the lower end of this protrusion portion Pr is positioned below the upper end of the guide plate Wv of the movable shelf 200 (in other words, at least a portion of the protrusion portion Pr in a side view is positioned so as to overlap the guide plate Wv.).

[0069]
(1) Control example of the robot hand, the robot arm, and the control device when the box body with the handle is pulled out from the movable shelf First, the user of the box body conveying robot system fixes the movable shelf 200 at a predetermined position and in a predetermined direction, and then operates the robot hand 100, the robot arm RA and the control device. When the robot hand 100, the robot arm RA and the control device begin to operate, while the robot hand 100 waiting at the initial position is lifted to a predetermined height direction position and is moved to the width direction position by the robot arm RA, the posture of the robot hand 100 is controlled so that the front surface of the robot hand 100 faces the front surface of the movable shelf 200 and the configuration plane (virtual vertical plane Fp) of the telescopic structure KP is parallel to the vertical direction. At this time, a pair of distance sensors 180 provided in the robot hand 100 face the adjacent guide plate Wv and the guide plate Wv (the adjacent front guide plate Wvl and the front guide plate Wvl, or the adjacent rear guide plate Wv2 and the rear guide plate Wv2). Next, the posture of the robot hand 100 is controlled by the robot arm RA so that the difference in the detection distance of the pair of distance sensors 180 is within the allowable range (ideally as the difference in the detection distance is 0) (at this time, the robot hand 100 substantially faces the adjacent guide plate Wv and the guide plate Wv). Next, the electric motor 110 of the robot hand 100 begins to operate and the link mechanism 130 extends. Then, when the suction head unit 140 reaches the movable shelf 200, while the guide roller 145 is in contact with the adjacent guide plate Wv and the guide plate Wv, the guide roller 145 guides the suction head unit 140 along the depth direction of the movable shelf 200 to the back of the movable shelf 200.
At this time, the wheel 144 rolls on the bottom wall 210 or shelf plate 220 of the movable shelf 200. Then, when the load of the electric motor 110 detected by the load detection device exceeds the threshold value, the electric motor 110 is temporarily stopped, the decompression pump is operated, and the box body Bx with the handle is sucked by the suction pad 143b. Thereafter, when the electric motor 110 is operated in the reverse and the link mechanism 130 is retracted, while the guide roller 145 is in contact with the adjacent guide plate Wv and the guide plate Wv, the guide roller 145 guides the suction head unit 140 along the depth direction of the movable shelf 200 to the front of the movable shelf 200. Finally, the robot hand 100 is returned to the initial state (contracted state). At this time, the box body Bx with the handle is placed on the front side portion 122A of the bottom plate 122 of the robot hand 100 (i.e., the box body Bx with the handle is pulled out from the movable shelf 200). In this state, the robot arm RA
moves the robot hand 100 to the conveying destination (for example, the start position of the belt conveyor, and the like). When the robot hand 100 reaches the conveying destination by the robot arm RA, the electric motor 110 of the robot hand 100 starts to operate, the link mechanism 130 is extended, and the box body Bx with the handle is pushed out to the conveying destination by the suction head unit 140.

[0070]
(2) Control example of the robot hand, the robot arm, and the control device when the box body Bx with the handle is stored in the movable shelf 200 First, the user of the box body conveying robot system fixes the movable shelf 200 at a predetermined position and in a predetermined direction, and then operates the robot hand 100, the robot arm RA and the control device. When the robot hand 100, the robot arm RA and the control device begin to operate, the robot hand 100 waiting at the initial position is moved by the robot arm RA to the box body receiving destination (for example, the end position of the belt conveyor, and the like) where the body box Bx with the handle is placed. More particularly, the robot hand 100 is moved by the robot arm RA such that "the front surface of the robot hand 100 faces the front wall of the box body Bx with the handle placed on the box body receiving destination" and "when the box body Bx with the handle is placed on the front side portion 122A
of the bottom plate 122 of the robot hand 100, the front side portion 122A of the bottom plate 122 of the robot hand 100 and the bottom wall of the box body Bx with the handle are contacted".
When the robot hand 100 reaches the box body receiving destination by the robot arm RA, the electric motor 110 of the robot hand 100 begins to operate, and the link mechanism 130 extends.
Then, when the suction head unit 140 reaches to the front wall of the box body Bx with the handle, the electric motor 110 is temporarily stopped, the decompression pump is operated, and the box body Bx with the handle is sucked by the suction pad 143b. Thereafter, the electric motor 110 is operated in the reverse, and the link mechanism 130 is retracted to return to initial state (contracted state). At this time, the box body Bx with the handle is placed on the front side portion 122A of the bottom plate 122 of the robot hand 100. In this state, the robot arm RA moves the robot hand 100 to the movable shelf 200. Then, while the robot hand 100 is lifted to a predetermined height direction position and is moved to the width direction position by the robot arm RA, the posture of the robot hand 100 is controlled so that the front surface of the robot hand 100 faces the front surface of the movable shelf 200 and the configuration plane (virtual vertical plane Fp) of the telescopic structure KP is parallel to the vertical direction. At this time, a pair of distance sensors 180 provided in the robot hand 100 face the adjacent guide plate Wv and the guide plate Wv (the adjacent front guide plate Wvl and the front guide plate Wvl, or the adjacent rear guide plate Wv2 and the rear guide plate Wv2). Next, the posture of the robot hand 100 is controlled by the robot arm RA so that the difference in the detection distance of the pair of distance sensors 180 is within the allowable range (ideally as the difference in the detection distance is 0) (at this time, the robot hand 100 substantially faces the adjacent guide plate Wv and the guide plate Wv). Next, the electric motor 110 of the robot hand 100 begins to operate and the link mechanism 130 extends. Then, when the suction head unit 140 and the box body Bx with the handle reach the movable shelf 200, while the guide roller 145 is in contact with the adjacent guide plate Wv and the guide plate Wv, the guide roller 145 guides the suction head unit 140 and the box body Bx with the handle along the depth direction of the movable shelf 200 to the back of the movable shelf 200. At this time, the wheel 144 rolls on the bottom wall 210 or shelf plate 220 of the movable shelf 200. Then, when the load of the electric motor 110 detected by the load detection device exceeds the threshold value, the electric motor 110 is temporarily stopped, the decompression pump is stopped and the box body Bx with the handle is released from the suction pad 143b. As a result, the box body Bx with the handle can be stored in the movable shelf 200. Thereafter, when the electric motor 110 is operated in the reverse and the link mechanism 130 is retracted, while the guide roller 145 is in contact with the adjacent guide plate Wv and the guide plate Wv, the guide roller 145 guides the suction head unit 140 along the depth direction of the movable shelf 200 to the front of the movable shelf 200.
Finally, the robot hand 100 is returned to the initial state (contracted state), and is moved to the initial position by the robot arm RA.

[0071]
Incidentally, all of the above operations of the robot arm RA and the robot hand 100 are realized by the control device which is communicatively connected to the robot arm RA and the robot hand 100.

[0072]
<Features of the box body conveying robot system according to the present embodiment>
(1) In the box body conveying robot system according to the present embodiment, the movable shelf 200 includes the bottom wall 210 and the shelf plate 220 for placing the box body Bx with the handle, and the guide plate Wv for guiding the suction head unit 140 of the robot hand 100 to the back and front of the movable shelf 200. The guide plate Wv extends upward along the vertical direction from the upper surface of the bottom wall 210 and the shelf plate 220, and is disposed along the depth direction so that the adjacent guide plate Wv and the guide plate Wv are parallel to each other. Further, after the robot hand 100 sucks the box body Bx with the handle placed on the movable shelf 200 by the suction pad 143b, the electric motor 110 is operated in the reverse and the link mechanism 130 is retracted. Then, while the guide roller 145 is in contact with the adjacent guide plate Wv and the guide plate Wv, the suction head unit 140 is guided along the depth direction of the movable shelf 200 to the front of the movable shelf 200, and the box body Bx with the handle can be pulled out from the movable shelf 200.
Alternatively, in a state where the box body Bx with the handle is placed on the front side portion 122A of the bottom plate 122 of the robot hand 100, the robot hand 100 operates the electric motor 110 to extend the link mechanism 130. Then, while the guide roller 145 is in contact with the adjacent guide plate Wv and the guide plate Wv, the suction head unit 140 and the box body Bx with the handle are guided along the depth direction of the movable shelf 200 to the back of the movable shelf 200, and the box body Bx with the handle can be released from the suction pad 143b and can be stored in the movable shelf 200. For this reason, by using this box body conveying robot system, the work of unloading the box body Bx with the handle placed on the movable shelf 200 or the work of loading the box body Bx with the handle on the movable shelf 200 can be performed automatically and smoothly.

[0073]
Further, in the box body conveying robot system according to the present embodiment, the guide plate Wv of the movable shelf 200 is disposed at intervals that do not come into contact with the protrusion portion Pr of the box body Bx with the handle. For this reason, by using this box body conveying robot system, the robot hand 100 can smoothly load and unload the box body Bx with the handle even if the protrusion portion Pr is formed on the box body Bx with the handle.

[0074]
<Modifications>
(A) In the box body conveying robot system according to the above embodiment, the robot hand 100 is connected to the robot arm RA, but the robot hand 100 may be connected to a frame type moving mechanism. Further, the robot hand may be attached so that the configuration plane of the telescopic structure KP (virtual vertical plane Fp) is always parallel to the vertical direction.

[0075]
(B) In the robot hand 100 of the box body conveying robot system according to the above embodiment, the electric motor 110 is employed as the drive source and the mechanism consisting of the ball screw 115 and the horizontal slider SH is employed as the mechanism for realizing extension and contraction of the telescopic structure KP. However, (i) an air cylinder, a hydraulic cylinder, or the like may be employed as the drive source and the telescopic mechanism, (ii) an electric motor may be employed as the drive source, and a rack-and-pinion mechanism may be employed as the mechanism for realizing extension and contraction of the telescopic structure KP, (iii) an electric motor may be employed as the drive source, and a zip chain actuator (registered trademark) manufactured by Tsubakimoto Chain Corporation may be employed as the mechanism for realizing extension and contraction of the telescopic structure KP, and (iv) an electric motor may be employed as the drive source, and a ROLLBEAM
manufactured by SERAPID Corporation may be employed as the mechanism for realizing extension and contraction of the telescopic structure KP.

[0076]
(C) In the robot hand 100 of the box body conveying robot system according to the above embodiment, the detachable spiral spring unit 150 is provided for the purpose of returning the fully extended telescopic structure KP to the initial contracted state.
However, as another means for achieving this purpose, (i) a coil spring may be employed, or (ii) a mechanism including an electric motor, a wire, a clutch, and the like may be employed.
In such a case, the wire is unwound when the telescopic structure KP is extended, the wire is wound by an electric motor when the telescopic structure KP is contracted.

[0077]
(D) In the robot hand 100 of the box body conveying robot system according to the above embodiment, the suction pad unit 143 is employed as the grasping means of the object, but a hand unit with fingers such as a two-finger hand or a five-finger hand, a chuck unit, or the like may be employed instead.

[0078]
(E) In the robot hand 100 of the box body conveying robot system according to the above embodiment, the electric motor 110, the front support protrusion portion 146 and the rear support protrusion portion 123A has been disposed on the upper side. However, the electric motor 110, the front support protrusion portion 146 and the rear support protrusion portion 123A may be disposed on the lower side (e.g., the lower side of the bottom plate 122, and the like). In such a case, the initial positions (positions when in the contracted state) of the front vertical slider SVf and the rear vertical slider SVr are the upper end positions of the front vertical rail RVf and the rear vertical rail RVr. The front vertical slider SVf and the rear vertical slider SVr fall as the horizontal slider SH advances, and rise as the horizontal slider SH
retreats.

[0079]
(F) In the movable shelf 200 of the box body conveying robot system according to the above embodiment, the partition wall 250 divides the space surrounded by the bottom wall 210, the top wall 230 and the prop 240 into two in the width direction. However, the partition wall 250 may not be provided. In such a case, the space surrounded by the bottom wall 210, the top wall 230 and the prop 240 is not divided in the width direction. Alternatively, two or more partition walls 250 may be provided. In such a case, the space surrounded by the bottom wall 210, the top wall 230 and the prop 240 is divided into three or more in the width direction.

[0080]
(G) In the movable shelf 200 of the box body conveying robot system according to the above embodiment, five shelf plates 220 are respectively disposed in two spaces surrounded by the bottom wall 210, the top wall 230, the prop 240 and the partition wall 250.
However, the number of shelf plates 220 disposed in these spaces may be appropriately adjusted according to the height of the box body Bx with the handle.

[0081]
(H) In the movable shelf 200 of the box body conveying robot system according to the above embodiment, the guide plate Wv extends upward along the vertical direction from the upper surface of the bottom wall 210 and the shelf plate 220. However, the guide plate Wv may extend downward along the vertical direction from the lower surface of the top wall 230 and the shelf plate 220. In such a case, it is preferable that the upper end of the protrusion portion Pr of the box body Bx with the handle is positioned above the lower end of this guide plate Wv.

[0082]
(I) In the movable shelf 200 of the box body conveying robot system according to the above embodiment, the guide plate Wv is formed of the front guide plate Wvl and the rear guide plate Wv2, and the front guide plate Wvl and the rear guide plate Wv2 are spaced apart from each other by a predetermined distance so that the gap Wv3 is formed between the front guide plate Wvl and the rear guide plate Wv2. However, the gap Wv3 may not be formed between the front guide plate Wvl and the rear guide plate Wv2. That is, the front guide plate Wvl and the rear guide plate Wv2 may be connected to each other.

[0083]
CD
In the box body Bx with the handle placed on the movable shelf 200 of the box body conveying robot system according to the above embodiment, the protrusion portion Pr extending outward from the right side wall and the left side wall is formed. However, the protrusion portion Pr may extend outward from either one of the right side wall and the left side wall.

[0084]
(K) In the movable shelf 200 of the box body conveying robot system according to the above embodiment, six guide plates Wv are respectively disposed in twelve spaces surrounded by the bottom wall 210, the top wall 230, the prop 240,the partition wall 250 and the shelf plate 220.
However, the number of guide plates Wv disposed in these spaces may be appropriately adjusted according to the width (including the protrusion portion Pr) of the box body Bx with the handle.

[0085]
(L) In the box body conveying robot system according to the above embodiment, the box body Bx with the handle placed on the bottom wall 210 or the shelf plate 220 of the movable shelf 200 is sucked by the suction pad 143b of the robot hand 100 and, pulled out from the movable shelf 200. However, the box body Bx with the handle may be pushed out of the movable shelf 200 by a pushing out portion 400. Hereinafter, with reference to Figs.
14 and 15, a control example of the pushing out portion 400, the robot arm RA and the control device when the box body Bx with the handle is pushed out to the rear side of the movable shelf 200, will be described.

[0086]
Incidentally, before describing the above control example, the difference between the box body conveying robot system 2 according to this modification and the box body conveying robot system according to the above embodiment will be described. (i)In the box body conveying robot system 2, as shown in Fig. 14, a box body receiving plate 270 is disposed on the rear side of the shelf plate 220 of the movable shelf 200 (or the front side of the shelf plate 220 of the movable shelf 200 when the box body Bx with the handle is pushed out to the front side of the movable shelf 200). This box body receiving plate 270 is for receiving the box body Bx with the handle pushed out from the movable shelf 200, and is attached to the movable shelf 200 or placed on a lift (not shown) or the like. (ii)Then, in the box body conveying robot system 2, as shown in Figs. 14 and 15, the pushing out portion 400 rather than the robot hand 100 is connected to the distal end of the robot arm RA. The pushing out portion 400, as shown in Fig. 15, mainly includes a main body wall 410, a front vertical wall 420, a rear vertical wall 430, a cylinder mechanism 440, a box body contact portion 450, a connecting portion 460 and a distance sensor (not shown). As shown in Fig. 15, the main body wall 410 is a substantially rectangular plate member. As shown in Fig. 15, the front vertical wall 420 is a substantially trapezoidal plate member and extends from the front end of the main body wall 410 so as to be perpendicular to the main body wall 410. As shown in Fig. 15, the rear vertical wall 430 is a substantially trapezoidal plate member and extends in the same direction as the front vertical wall 420 from the rear end of the main body wall 410 so as to be perpendicular to the main body wall 410.
Incidentally, a rod insertion hole (not shown) is formed in the rear vertical wall 430. The cylinder mechanism 440 is for moving the box body contact portion 450 along the depth direction of the movable shelf 200 (for example, an air cylinder mechanism, a hydraulic cylinder mechanism and the like), and extends along the longitudinal direction of the main body wall 410 as shown in Fig.
15. The cylinder mechanism 440, as shown in Fig. 15, mainly includes a rod cover portion 441 and a rod (not shown). The rod cover portion 441 is for accommodating the rod.
Further, as shown in Fig. 15, the rod cover portion 441 is disposed between the front vertical wall 420 and the rear vertical wall 430, one end portion of the rod cover portion 441 is attached to the front vertical wall 420, the other end portion of the rod cover portion 441 is attached to the rear vertical wall 430. The rod is accommodated in the rod cover portion 441 through the rod insertion hole of the rear vertical wall 430. Within the extent that at least a portion of the rod is accommodated in the rod cover portion 441, the rod is movable along the longitudinal direction of the rod cover portion 441 (i.e., along the depth direction of the movable shelf 200).
Incidentally, this cylinder mechanism 440 is communicatively connected to the control device, and the movement or the like of the rod is controlled by the control device. The box body contact portion 450 is for pushing out the box body Bx with the handle from the movable shelf 200. As shown in Fig. 15, the box body contact portion 450 has a substantially cylindrical shape, and is attached to the end portion of the rod of the cylinder mechanism 440. That is, when the rod moves along the depth direction of the movable shelf 200, so that the box body contact portion 450 also moves along the depth direction of the movable shelf 200. As shown in Fig. 15, the connecting portion 460 is a portion for connecting the pushing out portion 400 to the robot arm RA, and is, for example, a flange or the like. The distance sensor (not shown) is a sensor for detecting the distance between the object positioned on the front side, and is, for example, held on both end sides of the main body wall 410. Incidentally, it is preferable that the guide roller 145 of the robot hand 100 according to the above embodiment is attached to at least one of the main body wall 410 and the box body contract portion 450 of this pushing out portion 400.

[0087]
First, as shown in Fig. 14, the user of the box body conveying robot system fixes the movable shelf 200 at a predetermined position and in a predetermined direction, and then operates the box body conveying robot system. When the box body conveying robot system begins to operate, while the pushing out portion 400 waiting at the initial position is lifted to a predetermined height direction position and is moved to the width direction position of the movable shelf 200 by the robot arm RA, the posture of the pushing out portion 400 is controlled so that the box body contract portion 450 of the pushing out portion 400 faces the front surface of the movable shelf 200. Incidentally, the robot arm RA is movable along the width direction of the movable shelf 200 by the belt conveyor Co (see Fig. 14), and is possible to pivot the pushing out unit 400 around the axis (see Fig. 15). When the posture of the pushing out portion 400 is controlled, the distance sensor of the pushing our portion 400 faces the adjacent front guide plate Wvl and the front guide plate Wvl of the movable shelf 200 (the adjacent rear guide plate Wv2 and the rear guide plate Wv2 of the movable shelf 200 when the box body Bx with the handle is pushed out to the front side of the movable shelf 200). Next, the posture of the pushing our portion 400 is controlled by the robot arm RA so that the difference in the detection distance of the distance sensor is within the allowable range (ideally as the difference in the detection distance is 0) (at this time, the pushing our portion 400 substantially faces the adjacent guide plate Wv and the guide plate Wv). Next, the cylinder mechanism 440 of the pushing our portion 400 begins to operate, and the rod and the box body contact portion 450 reach to the movable shelf 200 and move to the back of the movable shelf 200 along the depth direction of the movable shelf 200. As a result, after the box body contract portion 450 comes into contact with the box body Bx with the handle placed on the bottom wall 210 or the shelf plate 220 of the movable shelf 200, it is possible to push out the box body Bx with the handle to the rear side of the movable shelf 200. Then, the box body receiving plate 270 receives the box body Bx with the handle pushed out from the movable shelf 200. Thereafter, the cylinder mechanism 440 of the pushing out portion 400 begins to operate, the rod and the box body contact portion 450 move to the front of the movable shelf 200 along the depth direction of the movable shelf 200. Finally, the pushing out portion 400 is returned to the initial state (see Fig. 15).

[0088]
Incidentally, in the box body conveying robot system 2 according to this modification, the box body contact portion 450 had a substantially cylindrical shape.
However, the shape of the box body contact portion 450 is not limited to a substantially cylindrical shape.

[0089]
The above-mentioned modifications (A) to (L) may be applied alone or in combination.
REFERENCE SIGNS LIST

[0090]
100 robot hand 140 suction head unit (grasping portion) 143 suction pad unit (grasping portion) 200 movable shelf (box body placing shelf) 220 shelf plate 400 pushing out portion Bx box body with handle (box body) Pr protrusion portion (protrusion) Wv guide plate (guide wall)

Claims (4)

20

1. An object conveying robot system comprising:
a robot hand including a grasping portion for grasping an object; and an object placing shelf for placing the object which is grasped by the robot hand, wherein the robot hand can move linearly with respect to the object placing shelf, and is configured to move linearly to pull out or push out the object from the object placing shelf or is configured to move linearly to store the object in the object placing shelf, and the object placing shelf includes a shelf plate for placing the object and a guide wall for guiding the robot hand which is moving linearly.

2. An object conveying robot system comprising:
a pushing out portion that pushes out an object; and an object placing shelf for placing the object which is pushed out by the pushing out portion, wherein the pushing out portion can move linearly with respect to the object placing shelf, and is configured to move linearly to push out the object from the object placing shelf or is configured to move linearly to store the object in the object placing shelf, and the object placing shelf includes a shelf plate for placing the object and a guide wall for guiding the pushing out portion which is moving linearly.

3. An object placing shelf for placing an object to be conveyed by a conveying device comprising a robot hand including a grasping portion that can move linearly and a moving mechanism that moves the robot hand comprising:
a shelf plate; and a plurality of guide walls extending upward from an upper surface of the shelf plate or extending downward from a lower surface of the shelf plate, and disposed so as to be parallel to each other.

4. The object placing shelf according to claim 3, wherein the object includes a protrusion extending in the width direction, and the guide walls are disposed at intervals that do not contact the protrusion.