JP6674389B2 - 収納容器を移送するロボット - Google Patents
収納容器を移送するロボット Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0464—Storage devices mechanical with access from above
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0478—Storage devices mechanical for matrix-arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C11/00—Trolleys or crabs, e.g. operating above runways
- B66C11/12—Trolleys or crabs, e.g. operating above runways having hoisting gear adapted to special load-engaging elements and not otherwise provided for
Description
特に、本発明は収納システムから収納容器を持ち上げるのに適した遠隔操作される車両アセンブリに関する。車両アセンブリは収納システム内に収納される収納容器を受容するのに適した空洞を有する車両本体と、少なくとも間接的に車両本体に接続され、収納容器を上昇させて空洞内に入れるのに適した車両リフト装置と、変位機構と、変位機構に結合された駆動手段とを含む。変位機構は、第1の組の車両転動手段と第2の組の車両転動手段の1つ又は両方を、関連する車両転動手段が、使用中に下方の収納システムから離れて配置される変位状態と、関連する車両転動手段が、使用中に下方の収納システムと接触する非変位状態との間で変位させるために必要な力を少なくとも提供するように構成される、変位用モータを特に含む。駆動手段は更に、車両本体に接続され、使用中に収納システム内で第1の方向(X)に沿った車両の移動を可能にする第1の組の車両転動手段と、車両本体に接続され、使用中に収納システム内で、第1の方向(X)に垂直な第2の方向(Y)に沿った車両の移動を可能にする第2の組の車両転動手段を含む。X又はY方向に車両アセンブリを駆動するのに必要な力を提供するモータは1つ又は複数の専用モータ及び/又は変位用モータであってもよい。車両アセンブリは更に、変位用モータが空洞より上方の横方向平面に位置し、更に変位機構の残りの要素により第1の組の車両転動手段(10)又は第2の組の車両転動手段(11)に作用する垂直方向の圧力へ変換される力を生成するように構成されると特徴付けられる。以下、横方向平面は第1の方向(X)及び第2の方向(Y)により設定される平面に平行に配置される任意の平面として規定される。更に、垂直方向即ちZ方向は横方向平面に垂直な方向として規定される。空洞の画定は、専用のプレート及び/又は変位機構及び駆動手段を構成する周囲の要素により設定され得る。
他の実施形態では、相互接続するコードは上部回転ユニットを包囲するが下部回転ユニットの外側に配置される。後者の構成はその周りをコードが包囲する追加のホイールにより達成され得る。そのためコードと追加のホイールのアセンブリは例えば下部回転ユニットの各ホイールに隣接して配置される2つのより小さいホイールを使用することにより下部回転ユニットに安定した圧力を生成するように構成される必要があり、この場合コードはより大きなホイールと追加のホイールとの間で誘導される。この実施形態は、使用中に下部回転ユニットと下方の収納システムとのよりよい接触を確実にするので、より有利であると考えられる。
− 空洞の上部横方向平面の近く、又は空洞より上方に位置する変位用モータを操作することにより少なくとも1つのレバーアームを回転させるステップと、
− 回転するレバーアームにより、下方の任意の収納システムから離間して、車両転動手段に垂直方向に圧力をかけることにより第1の組の車両転動手段及び第2の組の車両転動手段のうちの一方を垂直に変位させるステップ
とを含むことを特徴とする。
以下の説明において、多数の具体的な詳細は特許請求された車両、システム及び方法の実施形態の徹底的な理解を提供するために導入される。しかし、当業者は、これらの実施形態が1つ又は複数の具体的な詳細無しでも、又は他の要素及びシステム等を有していても実行可能であると認識するであろう。他の例では、開示された実施形態の態様を曖昧にすることを避けるため公知の構造又は動作は図示されないか、又は詳細に説明されない。
更に他の構成では、レバーアーム23の回転は、支点26及びレバーアーム23の反対の端部又はその近くの両方に適切な変位用モータを配置することにより操作されてもよい。
上部カバー72(着脱不可能又は着脱可能)及びX、Y方向の全ての側面をカバーする車両本体4を有する車両が、x方向及びy方向のそれぞれに沿って見た図10(a)及び図10(b)に示される。
2 収納容器
3 収納システム
4 車両本体/骨組
4u 車両本体の上半部
7 空洞
8 収納柱
9 車両リフト装置
9a 車両リフト装置モータ
9b リフトグリップ
9c ガイドピン
9d 第1のリフト装置バー
9e 第2のリフト装置バー
9f リフト装置滑車
9g リフト装置ベルト
10 第1の組の車両転動手段/駆動手段
10a 車両転動手段の第1の部分
10b 車両転動手段の第2の部分
11 第2の組の車両転動手段/駆動手段
13 支持レール
13a 第1のXレール
13b 第2のXレール
13c 第1のYレール
13d 第2のYレール
14 車両支持部
15 容器収納構造/容器収納グリッド
19 回路基板/管理システム/電池管理システム
20 X方向に車両を駆動する駆動モータ
21 Y方向に車両を駆動する駆動モータ
22 変位可能なバー
23 レバーアーム
25 変位用モータ
25a 変位用モータの回転子
26 第1の回転可能な装置/回転可能なボルト/支点
27 ロック手段/ロックアーム
28 第2の回転可能な装置/レバーアームホイール
30 上部回転ユニット/マスターホイール
31 下部回転ユニット/スレーブホイール
31a 水平方向に離間したホイール/第1のスレーブホイール
31b 水平方向に離間したホイール/第2のスレーブホイール
32 コード/ロープ/ベルト
33 スロット
34a 第1の変位プレート
34b 第2の変位プレート
35 ドライブシャフト、X方向
36 ドライブシャフト、Y方向
37 補助ホイール
50 容器リフト装置
60 搬送ステーション/ポート
72 上部カバー
73 包囲カバー
75 無線通信手段/コントロールパネル
Δz 変位長さ
Claims (17)
- 収納システム(3)から収納容器(2)を持ち上げるための遠隔操作される車両アセンブリ(1)であって、
前記収納容器(2)を前記収納システム(3)から受容するための、一組の専用プレートにより画定される空洞(7)を有する車両本体(4)と、
前記収納容器(2)を上昇させ前記空洞(7)内に入れるように前記車両本体(4)に接続される車両リフト装置(9、9a)と、
駆動手段と、
前記駆動手段に結合される変位機構(23〜28)と、を備えており、
前記駆動手段は、
前記車両本体(4)に接続され、使用中に前記収納システム(3)内での第1の方向(X)に沿った前記車両アセンブリ(1)の移動を可能にする第1の組の車両転動手段(10)と、
前記車両本体(4)に接続され、使用中に前記収納システム(3)内での前記第1の方向(X)に垂直な第2の方向(Y)に沿った前記車両アセンブリ(1)の移動を可能にする第2の組の車両転動手段(11)と、を備えており、
前記変位機構(23〜28)は、
前記第1の組の車両転動手段(10)及び前記第2の組の車両転動手段(11)のうちの少なくとも一方(10)を、前記車両転動手段(10、11)が、使用中に、下方の前記収納システム(3)から離間して配置される変位状態と、前記車両転動手段(10、11)が、使用中に、下方にある前記収納システム(3)に接触する非変位状態との間で変位させる力を提供するように構成された、変位用モータ(25)を備えており、
前記変位用モータ(25)が前記空洞(7)より上方の横方向平面に位置し、更に前記第1の組の車両転動手段(10)または前記第2の組の車両転動手段(11)に作用する垂直方向の圧力に変換される力を生成するように構成されることを特徴とする、車両アセンブリ(1)。 - 収納システム(3)から収納容器(2)を持ち上げるための遠隔操作される車両アセンブリ(1)であって、
前記収納容器(2)を前記収納システム(3)から受容するための空洞(7)を有する車両本体(4)と、
前記収納容器(2)を上昇させ前記空洞(7)内に入れるように前記車両本体(4)に接続される車両リフト装置(9、9a)と、
駆動手段と、
前記駆動手段に結合される変位機構(23〜28)と、を備えており、
前記駆動手段は、
前記車両本体(4)に接続され、使用中に前記収納システム(3)内での第1の方向(X)に沿った前記車両アセンブリ(1)の移動を可能にする第1の組の車両転動手段(10)と、
前記車両本体(4)に接続され、使用中に前記収納システム(3)内での前記第1の方向(X)に垂直な第2の方向(Y)に沿った前記車両アセンブリ(1)の移動を可能にする第2の組の車両転動手段(11)と、を備えており、
前記変位機構(23〜28)は、
前記第1の組の車両転動手段(10)及び前記第2の組の車両転動手段(11)のうちの少なくとも一方(10)を、前記車両転動手段(10、11)が、使用中に、下方の前記収納システム(3)から離間して配置される変位状態と、前記車両転動手段(10、11)が、使用中に、下方にある前記収納システム(3)に接触する非変位状態との間で変位させる力を提供するように構成された、変位用モータ(25)を備えており、
前記駆動手段および前記変位用モータ(25)のうち少なくとも一方は、直流モータを備え、
前記変位用モータ(25)が前記空洞(7)より上方の横方向平面に位置し、更に前記第1の組の車両転動手段(10)または前記第2の組の車両転動手段(11)に作用する垂直方向の圧力に変換される力を生成するように構成されることを特徴とする、車両アセンブリ(1)。 - 前記変位用モータ(25)から対応する前記車両転動手段(10、11)への力の伝達が、前記変位状態と前記非変位状態の機械的交替を可能にするように構成される少なくとも1つのレバーアーム(23)により実行されることを特徴とする、請求項1または2に記載の車両アセンブリ(1)。
- 前記車両転動手段(10、11)のうちの少なくとも一方は、
前記車両本体(4)における、互いに対向する側壁に配置された第1の部分(10a)及び第2の部分(10b)と、
前記空洞(7)より上方で前記第1の部分(10a)と前記第2の部分(10b)を強固に相互接続する垂直変位可能なバー(22)とを備えることを特徴とする、請求項1〜3のいずれか一項に記載の車両アセンブリ(1)。 - 前記変位機構(23〜28)は、
前記変位用モータ(25)の動作の間に前記垂直変位可能なバー(22)に当接するように構成された少なくとも1つのレバーアーム(23)を備えることを特徴とする、請求項4に記載の車両アセンブリ(1)。 - 前記少なくとも1つのレバーアーム(23)は、少なくとも部分的に前記垂直変位可能なバー(22)の下に配置されることを特徴とする、請求項5に記載の車両アセンブリ(1)。
- 前記変位機構(23〜28)は、
前記第1の組の車両転動手段(10)及び前記第2の組の車両転動手段(11)のうちの少なくとも一方(10)に接続された少なくとも1つのレバーアーム(23)を備え、
各レバーアーム(23)の2つの端部(23a、23b)は、前記変位用モータ(25)の動作の間に前記車両転動手段(10、11)への前記垂直方向の圧力が形成される前記レバーアーム(23)の衝撃領域(24)の横方向の各側に配置されることを特徴とする、請求項1から6の何れか1項に記載の車両アセンブリ(1)。 - 各レバーアーム(23)の第1の端部(23a)は前記車両本体(4)の上半部(4u)内に配置された第1の回転可能な装置(26)に接続され、
各レバーアーム(23)の第2の端部(23b)は前記変位用モータ(25)に接続され、前記第1の端部(23a)における前記レバーアーム(23)の支点を中心とした回転を可能にし、よって前記車両転動手段(10、11)の垂直変位を生じさせることを特徴とする、請求項7に記載の車両アセンブリ(1)。 - 前記変位機構(23〜28)は更に、
少なくとも1つのロック手段(27)を備え、
各ロック手段(27)は、
前記第2の端部(23b)又はその近くにおいて対応するレバーアーム(23)と、
前記車両本体(4)の前記上半部(4u)に位置する第2の回転可能装置(28)と、に回動可能に接続され、
前記ロック手段(27)及び前記第2の回転可能な装置は相互接続されて、前記レバーアーム(23)を、所定角度の回転の後で解放可能にブロックすることを可能にすることを特徴とする、請求項8に記載の車両アセンブリ(1)。 - 前記変位機構(23〜28)は、さらに、前記変位用モータ(25)の回転子(25a)に接続される少なくとも1つのレバーアームホイール(28)を備えることを特徴とする、請求項9に記載の車両アセンブリ(1)。
- 前記車両アセンブリは前記空洞(7)より上方の前記横方向平面に位置する少なくとも1つの駆動モータ(20、21)を更に備え、前記駆動モータ(20、21)は、下方の任意の収納システム(3)の横方向平面に沿って前記第1の組の車両転動手段(10)及び前記第2の組の車両転動手段(11)のうちの少なくとも一方を駆動するために配置されることを特徴とする、請求項1から10の何れか1項に記載の車両アセンブリ(1)。
- 前記車両転動手段(10、11)のうちの少なくとも一方は、
前記車両本体(4)における、互いに対向する側壁に配置された第1の部分(10a)及び第2の部分(10b)と、
前記空洞(7)より上方の横方向平面で前記第1の部分(10a)と前記第2の部分(10b)を強固に相互接続する垂直変位可能なバー(22)とを備え、
前記第1の部分(10a)及び前記第2の部分(10b)のうちの少なくとも一方は更に上部回転ユニット(30)と下部回転ユニット(31)を備え、前記上部回転ユニット(30)及び前記下部回転ユニット(31)は両ユニット(30、31)の同時回転を可能にするコード(32)により相互接続されることを特徴とする、請求項1から11の何れか1項に記載の車両アセンブリ(1)。 - 前記車両転動手段(10、11)のうちの少なくとも一方は、
前記車両本体(4)における、互いに対向する側壁に配置され、第1の変位プレート(34a)及び第2の変位プレート(34b)に、それぞれ、強固に接続された第1の部分(10a)及び第2の部分(10b)と、
前記空洞(7)より上方の横方向平面で前記第1の変位プレート(34a)及び前記第2の変位プレート(34b)を強固に接続する垂直変位可能なバー(22)と、を備えることを特徴とする、請求項1から12の何れか1項に記載の車両アセンブリ(1)。 - 容器(2)の収納のための収納システム(3)であって、
請求項1から13の何れか1項に記載の遠隔操作される車両アセンブリ(1)と、
互いに垂直な複数の交差する支持レール(13)を備える車両支持部(14)と、
前記車両支持部(14)を支持する容器収納構造(15)であって、複数の収納柱(8、8a、8b)を備える、容器収納構造(15)と、を備え、
前記収納柱(8、8a、8b)の各々は収納容器(2)の垂直な重なりを収容するように配置されることを特徴とする、収納システム(3)。 - 前記遠隔操作される車両アセンブリ(1)の横方向断面積は最大で前記容器収納構造(15)内の前記収納柱(8)の横方向断面積を占め、前記収納柱(8)の横方向断面積は、各方向における、1つの支持レール(13)から最も近い平行な支持レール(13)までの距離により制限される横方向面積に対応し、前記距離は各レール(13)の中心線から計測されることを特徴とする、請求項14に記載の収納システム(3)。
- 遠隔操作式車両アセンブリ(1)が収納システム(3)上で操作される時、前記遠隔操作式車両アセンブリ(1)の方向を変化させる方法であって、前記車両アセンブリ(1)は、
前記収納システム(3)から収納容器(2)を受容するための、一組の専用プレートにより画定される空洞(7)を有する車両本体(4)と、
前記収納容器(2)を上昇させて前記空洞(7)内に入れるように前記車両本体(4)に接続される車両リフト装置(9、9a)と、
変位用モータ(25)を備える変位機構(23、24、25、26)と、
駆動手段と、を備えており、
前記駆動手段が、
前記車両本体(4)に接続され、使用中に前記収納システム(3)内で第1の方向(X)に沿って前記車両アセンブリ(1)の移動を可能にする第1の組の車両転動手段(10)と、
前記車両本体(4)に接続され、使用中に前記収納システム(3)内で、前記第1の方向(X)に垂直な第2の方向(Y)に沿って前記車両アセンブリ(1)の移動を可能にする第2の組の車両転動手段(11)と、を備える、
方法において、
前記空洞(7)の上部横方向平面の近く、又は前記空洞(7)より上方に位置する前記変位用モータ(25)を操作することにより少なくとも1つのレバーアーム(23)を回転させるステップと、
回転する前記レバーアーム(23)により、下方の任意の収納システム(3)から離間するように前記車両転動手段(10、11)に垂直方向に圧力をかけることにより前記第1の組の車両転動手段(10)及び前記第2の組の車両転動手段(11)のうちの一方を垂直に変位させるステップと、を特徴とする、方法。 - 遠隔操作式車両アセンブリ(1)が収納システム(3)上で操作される時、前記遠隔操作式車両アセンブリ(1)の方向を変化させる方法であって、前記車両アセンブリ(1)は、
前記収納システム(3)から収納容器(2)を受容するための空洞(7)を有する車両本体(4)と、
前記収納容器(2)を上昇させて前記空洞(7)内に入れるように前記車両本体(4)に接続される車両リフト装置(9、9a)と、
変位用モータ(25)を備える変位機構(23、24、25、26)と、
駆動手段と、を備えており、
前記駆動手段と前記変位用モータ(25)のうち少なくとも一方が直流モータであり、
前記駆動手段が、
前記車両本体(4)に接続され、使用中に前記収納システム(3)内で第1の方向(X)に沿って前記車両アセンブリ(1)の移動を可能にする第1の組の車両転動手段(10)と、
前記車両本体(4)に接続され、使用中に前記収納システム(3)内で、前記第1の方向(X)に垂直な第2の方向(Y)に沿って前記車両アセンブリ(1)の移動を可能にする第2の組の車両転動手段(11)と、を備える、
方法において、
前記空洞(7)の上部横方向平面の近く、又は前記空洞(7)より上方に位置する前記変位用モータ(25)を操作することにより少なくとも1つのレバーアーム(23)を回転させるステップと、
回転する前記レバーアーム(23)により、下方の任意の収納システム(3)から離間するように前記車両転動手段(10、11)に垂直方向に圧力をかけることにより前記第1の組の車両転動手段(10)及び前記第2の組の車両転動手段(11)のうちの一方を垂直に変位させるステップと、を特徴とする、方法。
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