JP2023160283A - Article conveyance device - Google Patents

Abstract

To suppress contact between an article and an article placement part, in an article conveyance device capable of inserting and taking out the article to the article placement part loaded on an unmanned conveying vehicle.SOLUTION: An article conveyance device comprises: a gripping mechanism 50 for supporting an article X; a front-and-back movement mechanism 10 and a right-and-left movement mechanism 40 for moving the gripping mechanism 50 in a horizontal direction; a lifting/lowering mechanism 20 for lifting/lowering the gripping mechanism 50; a revolution mechanism 30 for revolving the gripping mechanism 50; a distance sensor 4 for detecting a position of an article storage basket 200 on which the article X is placed; and a control unit 6 for controlling the front-and-back movement mechanism 10 and the right-and-left movement mechanism 40, and the lifting/lowering mechanism 20 and the revolution mechanism 30 based on a detection result of the distance sensor 4.SELECTED DRAWING: Figure 1

Description

The present invention relates to an article conveying device.

For example, Patent Document 1 discloses an automatic guided vehicle that transports articles based on a predetermined program or the like. According to automatic guided vehicles, articles can be automatically transported within a warehouse or the like.

Japanese Patent Application Publication No. 2004-249895

Incidentally, there are cases in which an article placement section such as a pallet or a basket is loaded on the automatic guided vehicle as described above, and the article is transported by the automatic guided vehicle with the article placed on the article placement section. However, although automatic guided vehicles can run on the floor without requiring guides such as rails, it is difficult to increase the accuracy of the stopping position. For this reason, when an article transport device such as a crane is used to load or remove an article from the article placement portion, there is a possibility that the article conveyed by the article transfer device may come into contact with the article placement portion.

The present invention has been made in view of the above-mentioned problems, and is provided in an article conveyance device that can take articles into and out of an article placement section loaded on an automatic guided vehicle, and prevents contact between the article and the article placement section. The purpose is to make it possible to deter.

The present invention employs the following configuration as a means for solving the above problems.

A first aspect of the present invention is an article conveying device, which includes an article support section that supports an article, a horizontal movement mechanism that moves the article support section in a horizontal direction, and a lifting mechanism that raises and lowers the article support section. , a turning mechanism for rotating the article support section; a detection section for detecting the position of the article placement section on which the article is placed; and a control section that controls the turning mechanism.

A second aspect of the present invention, in the first aspect, includes a support frame that supports the article support section, the horizontal movement mechanism, the lifting mechanism, and the turning mechanism, and the support frame is configured to support the article mounting mechanism. The article supporting section is movably supported above a parking space for a conveyance vehicle that conveys the article.

In a third aspect of the present invention, in the second aspect, the detection section includes a plurality of the detection sections, and the detection sections are arranged so as to be able to detect the position of the article placement section from a plurality of directions in a plan view. Adopt the configuration.

A fourth aspect of the present invention is that in any one of the first to third aspects, the article placement section includes a container section having an opening that opens upward, and the detection section includes: A configuration is adopted in which the opening is arranged at the same height as the opening.

A fifth aspect of the present invention adopts a configuration in which the apparatus according to any one of the first to fourth aspects includes an imaging section that images the article and the article placement section from above.

According to the present invention, it is possible to detect the position of the article placement section and adjust the position of the article based on the detection result. Therefore, even if the accuracy of the stop position of the automatic guided vehicle is not high, articles can be taken in and out in accordance with the position of the article loading section loaded on the automatic guided vehicle. Therefore, according to the present invention, it is possible to prevent contact between the article and the article placement section in an article conveying device that can take articles into and out of the article placement section loaded on an automatic guided vehicle.

1 is a side view showing a schematic configuration of an article conveying device according to a first embodiment of the present invention. 1 is a front view showing a schematic configuration of an article conveying device according to a first embodiment of the present invention. It is a perspective view of an article storage basket. FIG. 2 is a schematic plan view of a support frame included in the article conveyance device according to the first embodiment of the present invention. FIG. 3 is a schematic diagram showing the positional relationship between an article storage basket and a distance sensor when the automatic guided vehicle stops at a parking space. FIG. 1 is a control block diagram showing a schematic configuration of an article conveying device according to a first embodiment of the present invention. FIG. 3 is a schematic diagram showing how an article gripped by a gripping mechanism moves in the article conveyance device according to the first embodiment of the present invention. It is a control block diagram showing a schematic structure of an article conveyance device in a 2nd embodiment of the present invention. FIG. 2 is a schematic diagram showing the positional relationship between an article storage basket and a camera when the automatic guided vehicle stops at a parking space.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an article conveying apparatus according to the present invention will be described below with reference to the drawings.

(First embodiment)
FIG. 1 is a side view showing a schematic configuration of an article conveying device 1 of this embodiment. Moreover, FIG. 2 is a front view of the article conveyance device 1 of this embodiment. In the following description, the direction perpendicular to the plane of the paper in FIG. 1 will be referred to as the front-rear direction. Further, the direction perpendicular to the paper surface in FIG. 2 is referred to as the left-right direction.

The article conveyance device 1 of this embodiment conveys the article X. For example, the article transport device 1 of this embodiment transports the article X between an unillustrated carry-in/out section and an automatic guided vehicle 100 (transport vehicle).

The automatic guided vehicle 100 can automatically travel on the floor based on a pre-stored program or an instruction signal input from the outside. This automatic guided vehicle 100 can load an article storage basket 200 (article placement section) in which an article X can be placed. Note that the article placement section loaded on the automatic guided vehicle 100 is not limited to the article storage basket 200. It is also possible to load a pallet onto the automatic guided vehicle 100 as an article loading section. Furthermore, the guided vehicle on which the article placement section is placed is not limited to the automatic guided vehicle 100. For example, it may be a transport vehicle that is pushed and pulled by a worker such as a hand lifter.

FIG. 3 is a perspective view of the article storage basket 200. As shown in FIG. 3, the article storage basket 200 in this embodiment has a container section 201. As shown in FIG. The container portion 201 is a portion that accommodates the article X therein, and covers at least a portion of the article X from the front, back, left, right, and bottom. This container portion 201 is opened upward. That is, the container portion 201 has an opening 202 that opens upward. The article X is inserted into the container section 201 from above through the opening 202. Further, the article X accommodated in the container section 201 is taken out upward through the opening section 202 .

The article transport device 1 of this embodiment stores the article X in an article storage basket 200 loaded on the automatic guided vehicle 100. Alternatively, the article transport device 1 of this embodiment takes out the article X from the article storage basket 200 mounted on the automatic guided vehicle 100. The article conveyance device 1 of this embodiment includes a support frame 2, a rail 3, a distance sensor 4 (detection section), a movable unit 5, and a control section 6.

The support frame 2 is a strength member that supports the rail 3, the distance sensor 4, and the movable unit 5. As shown in FIG. 1, the support frame 2 includes a plurality of column parts 2a and a plurality of girder parts 2b. FIG. 4 is a schematic plan view of the support frame 2. As shown in this figure, the pillar portions 2a are arranged on the left and right sides of the parking space R so as to sandwich the parking space R of the automatic guided vehicle 100 therebetween. Furthermore, on each of the left and right sides of the parking space R, a plurality of pillar portions 2a are arranged in the front-rear direction. Note that the number and arrangement of the pillar portions 2a are merely examples and can be changed.

The girder portion 2b is provided in a straight line extending in the front-rear direction so as to connect the upper ends of the plurality of column portions 2a. In this embodiment, two girder parts 2b are provided. One girder portion 2b extends in the front-rear direction so as to connect the upper ends of the plurality of pillar portions 2a arranged on the left side of the parking space R. Moreover, the other girder part 2b extends in the front-rear direction so as to connect the upper ends of the plurality of pillar parts 2a arranged on the right side of the parking space R.

The support frame 2 movably supports the movable unit 5 via the rails 3. The movable unit 5 includes a back-and-forth moving mechanism 10, a lifting mechanism 20, a turning mechanism 30, a left-right moving mechanism 40, and a gripping mechanism 50, as will be described later. That is, the support frame 2 supports the longitudinal movement mechanism 10, the elevating mechanism 20, the turning mechanism 30, the left-right movement mechanism 40, and the gripping mechanism 50.

The gripping mechanism 50 supported by the support frame 2 is arranged above the parking space R of the automatic guided vehicle 100, as shown in FIGS. 1 and 2. That is, the support frame 2 movably supports the gripping mechanism 50 above the parking space R of the automatic guided vehicle 100.

The rail 3 is laid on the upper surface of each girder part 2b, and guides the movable unit 5 along the girder part 2b. These rails 3 are arranged parallel to each other and provided in a straight line along the front-rear direction.

The distance sensor 4 is a sensor that detects the position of the article storage basket 200. As the distance sensor 4, for example, a non-contact type laser sensor can be used. In this embodiment, four (plural) distance sensors 4 are provided. Each of these distance sensors 4 is fixed to the support frame 2. Note that the distance sensor 4 can also be supported by a member different from the support frame 2.

The article storage basket 200 is arranged at a predetermined position on the automatic guided vehicle 100. Therefore, when the automatic guided vehicle 100 loaded with the article storage basket 200 stops in the parking space R, the article storage basket 200 is positioned within a certain range, although there is an error. Each distance sensor 4 is disposed at a position horizontally displaced from the position where the article storage basket 200 is disposed when the automatic guided vehicle 100 stops in the parking space R. That is, each distance sensor 4 is arranged at a position where it does not interfere with the article storage basket 200.

FIG. 5 is a schematic diagram showing the positional relationship between the article storage basket 200 and the distance sensor 4 when the automatic guided vehicle 100 stops in the parking space R. FIG. 5(a) is a plan view. FIG. 5(b) is a side view seen from the left side. FIG. 5(c) is a front view seen from the front side.

The four distance sensors 4 are arranged at the same height. In this embodiment, each of the four distance sensors 4 is arranged at the same height as the opening 202 of the article storage basket 200. Further, two of the four distance sensors 4 are located on the left side with respect to the placement position of the article storage basket 200. Moreover, the other two of the four distance sensors 4 are arranged on the front side with respect to the arrangement position of the article storage basket 200. That is, in this embodiment, a plurality of distance sensors 4 are provided, and the distance sensors 4 are arranged so as to be able to detect the position of the article storage basket 200 from a plurality of directions in a plan view.

Each distance sensor 4 detects the distance to the article storage basket 200 and outputs a signal indicating the detection result. Further, each distance sensor 4 is connected to a control section 6. Therefore, a detection signal indicating the distance to the article storage basket 200 is inputted to the control unit 6 from each distance sensor 4 .

As shown in FIGS. 1 and 2, the movable unit 5 is a unit that can move while holding the article X. The movable unit 5 includes a back-and-forth movement mechanism 10 (horizontal movement mechanism), a lifting mechanism 20, a turning mechanism 30, a left-right movement mechanism 40 (horizontal movement mechanism), and a gripping mechanism 50 (article support section). .

The longitudinal movement mechanism 10 includes a base 11, running wheels 12, and a running drive section 13. The base 11 supports running wheels 12 and a running drive unit 13 . Further, the base 11 directly or indirectly supports the elevating mechanism 20, the turning mechanism 30, the left/right moving mechanism 40, and the gripping mechanism 50.

The running wheels 12 are rotatably attached to the lower surface of the base 11. In this embodiment, four running wheels 12 are provided. These four running wheels 12 are arranged so that two rotate on one rail 3 and the other two rotate on the other rail 3.

The traveling drive unit 13 is connected to the traveling wheels 12 and generates power for rotationally driving the traveling wheels 12. The traveling drive unit 13 includes, for example, a motor that generates power and a speed reducer that reduces the rotational power output from the motor and transmits it to the traveling wheels 12.

Such a longitudinal movement mechanism 10 can be moved in the longitudinal direction by rotationally driving the running wheels 12 using the power generated by the running drive unit 13. In other words, the back-and-forth moving mechanism 10 moves the gripping mechanism 50 that it indirectly supports in the back-and-forth direction (horizontal direction).

The elevating mechanism 20 includes an elevating post 21, a cage 22, a guide roller 23, a side roller 24, an elevating drive unit 25, an elevating drum 26, an elevating pulley 27, and an elevating wire 28. As shown in FIG. 1, the elevating post 21 is fixed to the base 11 of the back-and-forth moving mechanism 10, and extends linearly in the vertical direction. The elevating posts 21 are provided on the left side and the right side of the base 11, respectively. These lifting posts 21 are spaced apart from each other in the left-right direction, and their upper ends are connected to each other. In addition, in FIG. 2, the elevating post 21 is omitted.

The cage 22 is a lifting platform that moves up and down along the lifting post 21 via guide rollers 23 and side rollers 24. The guide roller 23 is attached to the cage 22 and is in contact with the surface of the lifting post 21 that faces the cage 22. The side rollers 24 are attached to the cage 22, and are in contact with the side surface (vertical surface perpendicular to the opposing surface) of the lifting post 21. By rolling these guide rollers 23 and side rollers 24, the cage 22 is raised and lowered while being guided by the raising and lowering posts 21.

The elevating drive unit 25 is connected to the elevating drum 26 and generates power for rotationally driving the elevating drum 26. The elevating drive unit 25 is arranged on the base 11 of the back-and-forth moving mechanism 10. The elevating drive unit 25 includes, for example, a motor that generates power and a speed reducer that reduces the rotational power output from the motor and transmits the rotational power to the elevating drum 26. In addition, in FIG. 2, the elevating drive unit 25 is omitted.

The elevating drum 26 is connected to the elevating drive unit 25, and has an elevating wire 28 wound thereon. Two lifting drums 26 are provided. These elevating drums 26 are arranged on the base 11 of the back-and-forth moving mechanism 10 so as to be spaced apart from each other in the left-right direction, with the elevating drive unit 25 sandwiched between them. These elevating drums 26 are rotated by the elevating drive section 25 and send out elevating wires 28. Alternatively, these lifting drums 26 are rotated by the lifting drive section 25 and wind up the lifting wire 28. In addition, in FIG. 2, the elevating drum 26 is omitted.

The lifting pulley 27 is disposed below each lifting drum 26 and attached to the cage 22. A lifting wire 28 is wound around each lifting pulley 27 . The lifting wire 28 connects the lifting drum 26 and the lifting pulley 27. It is also possible to use a chain instead of the lifting wire 28. In addition, in FIG. 2, the lifting pulley 27 and the lifting wire 28 are omitted.

Such an elevating mechanism 20 is capable of elevating the cage 22 by rotating the elevating drum 26 using power generated by the elevating drive unit 25. That is, the elevating mechanism 20 moves the gripping mechanism 50 up and down via the cage 22.

The swing mechanism 30 includes a swing base 31, a swing bearing 32, and a swing drive section 33. The swing base 31 is disposed below the cage 22 and is connected to the cage 22 via a swing bearing 32. This turning base 31 supports a left-right moving mechanism 40 and a gripping mechanism 50.

The swing bearing 32 is interposed between the cage 22 and the swing base 31, and connects the swing base 31 to the cage 22 so as to be able to swing. The swing bearing 32 has, for example, an outer ring fixed to the swing base 31 and an inner ring fixed to the cage 22. Note that turning here means rotating around a vertical axis L (see FIG. 7) that is parallel to the vertical direction.

The swing drive unit 33 is connected to the swing bearing 32 and generates power for rotating the swing base 31. The swing drive unit 33 rotates, for example, an outer ring of a swing bearing 32 to which a swing base 31 is fixed, about a vertical axis L. The swing drive unit 33 includes, for example, a motor that generates power and a speed reducer that reduces the rotational power output from the motor and transmits it to the swing bearing 32.

Such a swing mechanism 30 can rotate the swing base 31 by rotating the outer ring of the swing bearing 32 using the power generated by the swing drive unit 33. That is, the turning mechanism 30 can turn the gripping mechanism 50 via the turning base 31.

The left-right moving mechanism 40 includes a shift guide 41 and a shift drive section 42. The shift guide 41 is disposed between the turning base 31 and the gripping mechanism 50, and supports the gripping mechanism 50 so as to be movable in the left-right direction. For example, the shift guide 41 includes a rail fixed to the lower surface of the swing base 31 and a moving block movable in the left-right direction along the rail.

The shift drive unit 42 is connected to the moving block of the gripping mechanism 50 or the shift guide 41, and generates power for moving the gripping mechanism 50 in the left-right direction. The shift drive unit 42 includes, for example, a motor that generates power and a speed reducer that reduces the rotational power output from the motor and transmits the rotational power to the gripping mechanism 50 or the moving block of the shift guide 41.

Such a left-right moving mechanism 40 can move the gripping mechanism 50 or the moving block of the shift guide 41 in the left-right direction using power generated by the shift drive section 42. In other words, the left-right moving mechanism 40 moves the gripping mechanism 50 in the horizontal direction.

The gripping mechanism 50 is connected to the shift guide 41 and supports the article X. This gripping mechanism 50 includes an arm 51 that supports the article X, and a main body 52 provided with the arm 51 and connected to the shift guide 41. Such a gripping mechanism 50 can grip the article X. Further, the gripping mechanism 50 can release the gripped article.

The control unit 6 controls the entire article conveyance device 1 based on a pre-stored program or instructions from the outside. FIG. 6 is a control block diagram showing a schematic configuration of the article conveyance device 1. As shown in FIG. As shown in this figure, the control section 6 is connected to the distance sensor 4, the longitudinal movement mechanism 10, the elevating mechanism 20, the turning mechanism 30, the left-right movement mechanism 40, and the gripping mechanism 50.

The control unit 6 calculates the position of the article storage basket 200 based on the signal input from the distance sensor 4. The signals input from the distance sensors 4 include information indicating the distance from each distance sensor 4 to the article storage basket 200. The control unit 6 calculates the position of the article storage basket 200 based on, for example, this distance information and shape data of the article storage basket 200 stored in advance. That is, the control unit 6 calculates the overall position of the article storage basket 200 based on the position information of the article storage basket 200 detected by each distance sensor 4 .

Furthermore, the control unit 6 controls the forward/backward moving mechanism 10, the turning mechanism 30, and the left/right moving mechanism 40 based on the calculated position of the article storage basket 200. For example, the control unit 6 calculates the control amount of each of the forward and backward moving mechanism 10, the turning mechanism 30, and the left and right moving mechanism 40 so that the gripping mechanism 50 is disposed directly above the article storage basket 200. The control unit 6 controls the longitudinal movement mechanism 10, the turning mechanism 30, and the horizontal movement mechanism 40 based on the calculated control amount.

Note that the control unit 6 does not calculate the entire position of the article storage basket 200, but uses the position information of the article storage basket 200 detected by each distance sensor 4 to determine whether the forward/backward moving mechanism 10, the turning mechanism 30, and the left/right Each control amount for the moving mechanism 40 may be calculated.

FIG. 7 is a schematic diagram showing how the article X gripped by the gripping mechanism 50 moves by controlling the forward and backward movement mechanism 10, the turning mechanism 30, and the left and right movement mechanism 40 by the control unit 6. It is a diagram.

When the traveling drive section 13 of the longitudinal movement mechanism 10 is driven under the control of the control section 6, the movable unit 5 is moved in the longitudinal direction. When the movable unit 5 is moved in the front-rear direction in this manner, the article X is horizontally moved in the front-rear direction shown in FIG.

Further, when the turning drive section 33 of the turning mechanism 30 is driven under the control of the control section 6, the gripping mechanism 50 is rotated about the vertical axis L. When the gripping mechanism 50 is thus rotated about the vertical axis L, the article X is rotated along the circumferential direction about the vertical axis L shown in FIG.

Furthermore, when the shift drive section 42 of the left-right moving mechanism 40 is driven under the control of the control section 6, the gripping mechanism 50 is moved in the left-right direction. When the gripping mechanism 50 is moved in the left-right direction in this manner, the article X is horizontally moved in the left-right direction shown in FIG.

When the gripping mechanism 50 is placed directly above the article storage basket 200, the control unit 6 lowers the gripping mechanism 50 by driving the lifting drive unit 25 of the lifting mechanism 20. When storing the article X in the article storage basket 200, the control unit 6 lowers the gripping mechanism 50 to store the article X held by the gripping mechanism 50 in the article storage basket 200. When the article X is stored in the article storage basket 200, the control unit 6 causes the gripping mechanism 50 to release the article X. Subsequently, the control unit 6 raises the gripping mechanism 50 by driving the lifting drive unit 25 of the lifting mechanism 20.

On the other hand, when taking out the article X from the article storage basket 200, the control unit 6 lowers the gripping mechanism 50 to the article X gripping position. When the gripping mechanism 50 is lowered to the gripping position, the control unit 6 causes the gripping mechanism 50 to grip the article X. Subsequently, the control unit 6 drives the lifting drive unit 25 of the lifting mechanism 20 to raise the gripping mechanism 50 and take out the article X from the article storage basket 200.

In the article transport device 1 of this embodiment, when the automatic guided vehicle 100 stops at the parking space R, each distance sensor 4 detects the position of the article storage basket 200. Next, based on the position of the article storage basket 200, the control unit 6 calculates the control amount of each of the back and forth moving mechanism 10, the turning mechanism 30, and the left and right moving mechanism 40. Subsequently, the gripping mechanism 50 is moved directly above the article storage basket 200 based on the calculated control amount. After that, when storing the article X in the article storage basket 200, the gripping mechanism 50 is lowered by the elevating mechanism 20, and the article X is stored in the article storage basket 200. In addition, when taking out the article Take it out.

The article conveyance device 1 of this embodiment as described above includes a gripping mechanism 50, a back-and-forth movement mechanism 10, a left-right movement mechanism 40, a lifting mechanism 20, a distance sensor 4, and a control section 6. The gripping mechanism 50 supports the article X. The back and forth movement mechanism 10 and the left and right movement mechanism 40 move the gripping mechanism 50 in the horizontal direction. The lifting mechanism 20 raises and lowers the gripping mechanism 50. The turning mechanism 30 turns the gripping mechanism 50. Distance sensor 4 detects the position of article storage basket 200 in which article X is placed. The control unit 6 controls the longitudinal movement mechanism 10, the horizontal movement mechanism 40, the elevating mechanism 20, and the turning mechanism 30 based on the detection result of the distance sensor 4.

According to the article conveyance device 1 of this embodiment, it is possible to detect the position of the article storage basket 200 and adjust the position of the article X based on the detection result. Therefore, even if the accuracy of the stop position of the automatic guided vehicle 100 is not high, the article X can be taken in and taken out in accordance with the position of the article storage basket 200 loaded on the automatic guided vehicle 100. Therefore, according to the article conveyance device 1 of the present embodiment, in the article conveyance device 1 that can take the article X into and out of the article storage basket 200 loaded on the automatic guided vehicle 100, the article It becomes possible to prevent contact.

Further, the article conveyance device 1 of this embodiment includes a support frame 2. The support frame 2 supports a gripping mechanism 50, a back-and-forth moving mechanism 10, a left-right moving mechanism 40, an elevating mechanism 20, and a turning mechanism 30. Further, the support frame 2 movably supports the gripping mechanism 50 above the parking space R of the automatic guided vehicle 100 that transports the article storage basket 200.

According to the article transport device 1 of this embodiment, the gripping mechanism 50 can be horizontally moved above the automatic guided vehicle 100. Therefore, the article X can be easily placed on an article placement section including the container section 201, such as the article storage basket 200. Furthermore, the article X can be easily taken out from the article placement section including the container section 201, such as the article storage basket 200.

Further, the article conveyance device 1 of this embodiment includes a plurality of distance sensors 4. Further, a distance sensor 4 is arranged so as to be able to detect the position of the article storage basket 200 from multiple directions in a plan view.

According to the article conveyance device 1 of this embodiment, the position of the article storage basket 200 in the horizontal direction can be detected more accurately.

Furthermore, in the article conveyance device 1 of this embodiment, the article storage basket 200 includes a container section 201 having an opening 202 that opens upward. Further, the distance sensor 4 is arranged at the same height as the opening 202.

When the article X is moved up and down, the region where the article X and the article storage basket 200 are most likely to come into contact is the region around the opening 202 . Therefore, by disposing the distance sensor 4 at the same height as the opening 202, the position of the area around the opening 202 can be detected more accurately. Therefore, according to the article conveyance device 1 of this embodiment, it is possible to more reliably prevent the article X from coming into contact with the article storage basket 200.

(Second embodiment)
Next, a second embodiment of the present invention will be described with reference to FIGS. 8 and 9. In the description of this embodiment, the description of the same parts as in the first embodiment will be omitted or simplified.

FIG. 8 is a control block diagram showing a schematic configuration of the article conveying device 1A of this embodiment. As shown in this figure, the article conveyance device 1A of this embodiment includes a camera 7 (imaging section). The camera 7 is connected to the control section 6 and outputs imaging data to the control section 6.

FIG. 9 is a schematic diagram showing the positional relationship between the camera 7 and the article storage basket 200. As shown in this figure, the camera 7 is arranged above the article storage basket 200. More specifically, the camera 7 is arranged in the parking space R so that it can image the article storage basket 200 mounted on the automatic guided vehicle 100 from above. For example, the camera 7 can be provided on the gripping mechanism 50 or the turning mechanism 30. Note that a plurality of cameras 7 may be provided.

Such a camera 7 images the article storage basket 200 and the article X while the article X is being raised or lowered, for example. The control unit 6 corrects the horizontal position of the article X based on the imaging data of the camera 7. According to the article conveying device 1A of this embodiment, the positions of the article X and the article storage basket 200 can be grasped while the article X is being moved up and down. Therefore, contact between the article X and the article storage basket 200 can be more reliably prevented.

In this way, the article transport device 1A of this embodiment includes the camera 7 that images the article X and the article storage basket 200 from above. Therefore, the position of the article X and the article storage basket 200 can be grasped while the article X is being raised or lowered.

Further, the article conveyance device 1A of this embodiment includes a distance sensor 4 and a camera 7, as shown in FIG. Therefore, for example, the initial position of the article storage basket 200 can be detected by the distance sensor 4, and the position of the article X and the article storage basket 200 while the article X is being raised or lowered can be detected by the camera 7. However, if the camera 7 can detect the initial position of the article storage basket 200, the distance sensor 4 may be omitted.

Although preferred embodiments of the present invention have been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to the above embodiments. The various shapes and combinations of the constituent members shown in the embodiments described above are merely examples, and can be variously changed based on design requirements and the like without departing from the spirit of the present invention.

For example, in the above embodiment, a configuration in which a plurality of distance sensors 4 are arranged at the same height as the opening 202 of the article storage basket 200 has been described. However, the present invention is not limited thereto. It is also possible to set the heights of the plurality of distance sensors 4 to be different from each other.

DESCRIPTION OF SYMBOLS 1... Article conveyance device, 1A... Article conveyance device, 2... Support frame, 2a... Column part, 2b... Girder part, 3... Rail, 4... Distance sensor (detection part), 5... Movable unit, 6...Control unit, 7...Camera (imaging unit), 10...Back and forth movement mechanism (horizontal movement mechanism), 20...Elevating mechanism, 30...Turning mechanism, 40...Right and left movement mechanism (horizontal movement mechanism) movement mechanism), 50...gripping mechanism (article support section) 100...automatic guided vehicle (transport vehicle), 200... article storage basket (article placement section), 201... container section, 202... opening, L... Vertical axis, R... Parking space, X... Goods

Claims (5)

an article support part that supports the article;
a horizontal movement mechanism that moves the article support section in a horizontal direction;
a lifting mechanism that lifts and lowers the article support section;
a turning mechanism that turns the article support part;
a detection unit that detects the position of the article placement unit on which the article is placed;
An article conveyance device comprising: a control section that controls the horizontal movement mechanism, the lifting mechanism, and the turning mechanism based on a detection result of the detection section. comprising a support frame that supports the article support section, the horizontal movement mechanism, the elevation mechanism, and the rotation mechanism;
The article conveyance device according to claim 1, wherein the support frame movably supports the article support section above a parking space for a conveyance vehicle that conveys the article placement section. comprising a plurality of the detection units,
The article conveyance device according to claim 2, wherein the detection section is arranged so as to be able to detect the position of the article placement section from a plurality of directions in a plan view. The article placement section includes a container section having an opening that opens upward;
The article conveyance device according to any one of claims 1 to 3, wherein the detection section is arranged at the same height as the opening. The article conveyance device according to any one of claims 1 to 3, further comprising an imaging section that photographs the article and the article placement section from above.

Images