JP7028114B2 - Automated transport system and loading platform - Google Patents

Description

The present invention relates to a transfer system, and more particularly to an automatic transfer system in which a load is conveyed by an automatic transfer robot. The present invention also relates to a loading platform attached to an automated transfer robot for such an automated transfer system.

A loading platform is mounted on the automatic transfer robot, the load is loaded onto the loading platform from the first shelf at the starting point, and the loading platform is transported to the second shelf (load receiving shelf) at the target point by the automatic transfer robot. A system for unloading from the loading platform to the second shelf is known. Examples of the above-mentioned automatic transfer robot include Non-Patent Document 1 (“Mobile Robot LD Series (Registered Trademark)”, [online], March 14, 2017, OMRON Corporation, [Search on August 31, 2018], As disclosed on the Internet <URL https://www.fa.omron.co.jp/products/family/3664/>), when the target point is set by the user (user), from the starting point Those that start traveling and travel to the target point by choosing their own route while avoiding obstacles are preferably used.

Conventionally, in the above-mentioned system, the longitudinal directions of the planar shapes (rectangles) of the shelves forming the loading platform are arranged so as to intersect with each other in the forward or backward directions of the automatic transfer robot.

"Mobile Robot LD Series (Registered Trademark)", [online], March 14, 2017, OMRON Corporation, [Search on August 31, 2018], Internet <URL https://www.fa.omron. co.jp/products/family/3664/> ＞

By the way, in the automatic transfer system in which the load is transferred by the automatic transfer robot, the automatic transfer robot selects a route by itself and travels. Therefore, in order to widen the passable range of the automatic transfer robot, the required width of the transfer passage is required. It is required to narrow down and increase the choice of routes. However, in the above-mentioned system, the width of the transport passage of the automatic transport robot needs to be wider than the longitudinal dimension of the shelves forming the loading platform. Therefore, there is a problem that the required width of the transport passage cannot be narrowed.

Further, in the above-mentioned system, a stopper mechanism for restricting or deregulating the discharge of the load from the shelves forming the loading platform is provided on the front side of the loading platform. The stopper mechanism includes a rotating release lever that protrudes forward from the front surface of the loading platform. Therefore, the stopper mechanism needs to be released by bringing the release lever into contact with the release lever receiver on the load receiving port side of the second shelf and rotating the release lever on the side of the automatic transfer robot as it advances. There is. From this point as well, there is a problem that the required width of the transport passage cannot be narrowed.

Therefore, an object of the present invention is to provide an automatic transport system for transporting a load by an automatic transport robot, which can narrow the required width of the transport passage. Also, an object of the present invention is to provide a loading platform attached to an automated transfer robot for such an automated transfer system.

Therefore, the automated transfer system of this disclosure is
It is an automatic transport system that transports loads by moving the transport passage from the first shelf to the second shelf by an automatic transport robot.
A loading platform mounted on the automatic transfer robot is provided, and the longitudinal direction of the planar shape of the shelf forming the loading platform coincides with the front-rear direction of the automatic transfer robot. It matches the width direction and
It is equipped with a stopper mechanism provided on the front side of the loading platform that can take a regulated state for restricting the load from the shelves forming the loading platform to the front and a released state in which the regulation is lifted.
The stopper mechanism has an operating portion that protrudes forward from the front surface of the loading platform, and the operating portion abuts on a specific portion on the loading port side of the second shelf and is relatively rearward with respect to the loading platform. The stopper mechanism is characterized in that it switches from the restricted state to the released state by being pushed into.

In the present specification, the longitudinal direction of the planar shape of the shelf forming the loading platform "consists with the front-rear direction of the automatic transfer robot" means that the longitudinal direction of the planar shape is one with the direction in which the automatic transfer robot moves forward or backward. It means that you are doing it. As a result, the lateral direction (direction intersecting the longitudinal direction) of the planar shape of the shelf forming the loading platform coincides with the width direction of the transport passage.

In the automatic transport system of the present disclosure, first, the loading platform is mounted on the automatic transport robot, for example, the rear surface of the loading platform is close to the loading port of the first shelf, and the loading platform of the first shelf is unloaded. Loads are loaded from the mouth onto the shelves that form the loading platform. At this time, the longitudinal direction of the loading platform faces the loading port of the first shelf, and the lateral direction of the loading platform faces left and right. Therefore, at the stage of loading the load on the loading platform, the width of the transport passage can be narrower than in the conventional case. Next, at the stage of transporting the loading platform to the second shelf by the automatic transport robot, the longitudinal direction of the planar shape of the shelf forming the loading platform coincides with the front-rear direction of the automatic transport robot. The lateral direction of the shape coincides with the width direction of the transport passage. Therefore, the width of the transport passage can be narrower than in the conventional case. The load loaded on the loading platform is restricted from leaving the loading platform forward by the stopper mechanism in the regulated state during transportation. Finally, at the stage of unloading the load from the loading platform to the second shelf, the front surface of the loading platform is approached directly to the loading port of the second shelf. Along with this, the operating portion of the stopper mechanism comes into contact with the specific portion on the load receiving port side of the second shelf and is pushed backward relative to the loading platform. As a result, the stopper mechanism switches from the restricted state to the released state. In this state, the load is loaded from the front surface of the loading platform to the second shelf through the loading port. At this time, the longitudinal direction of the loading platform faces the loading port of the second shelf, and the lateral direction of the loading platform faces left and right. Therefore, at the stage of loading the load on the second shelf, the width of the transport passage can be narrower than in the conventional case. As described above, in the automatic transport system of this disclosure, the required width of the transport passage can be narrowed.

The automatic transfer system of one embodiment is characterized in that the shelves forming the loading platform, the first shelves, and the second shelves are each provided with a plurality of stages on which loads can be placed.

In the automatic transport system of this embodiment, first, when loading a load on the shelves forming the loading platform, each stage of the loading platform is made to correspond to each stage of the first shelf, and from the first shelf. Loads can be loaded in parallel on the shelves forming the loading platform. Next, when the automatic transfer robot conveys the loading platform to the second shelf, the loads loaded on each stage can be conveyed at the same time. Finally, when unloading from the loading platform to the second shelf, each stage of the loading platform corresponds to each stage of the second shelf, and from the shelf forming the loading platform to the second shelf. It can be unloaded in parallel. As a result, the work efficiency can be improved and the transport amount can be increased.

The automatic transfer system of one embodiment is characterized in that the shelf of the loading platform is a roller shelf capable of sliding and moving the load in the front-rear direction.

In the automatic transfer system of this embodiment, the load can be made slidable by the roller shelf. Therefore, when loading the load from the first shelf to the shelf forming the load, the burden on the operator is reduced.

The automated transfer system of one embodiment is characterized in that the roller shelves are tilted in such a manner that the height decreases from the rear to the front of the loading platform.

In the automatic transfer system of this embodiment, when the load is loaded on the loading platform, the load slides along the inclination due to its own weight. Therefore, when loading the load from the first shelf to the shelf forming the loading platform, the burden on the operator is further reduced. Further, the load loaded on the shelves forming the loading platform is inclined in such a manner that the height decreases from the rear to the front of the loading platform during the transportation, and the stopper mechanism in the regulated state. By, it is held stably.

The automatic transfer system of one embodiment is characterized in that the second shelf is a roller shelf capable of sliding the load between the receiving port side and the opposite side of the receiving port side.

In the automatic transfer system of this embodiment, the load can be made slidable by the roller shelf. Therefore, when unloading the load from the loading platform, the burden on the operator is reduced.

The automatic transfer system of one embodiment is characterized in that the roller shelf forming the second shelf is inclined in such a manner that the height decreases from the load receiving port side toward the opposite side.

In the automatic transport system of this embodiment, when the load is unloaded from the loading platform, the load slides along the inclination due to its own weight. Therefore, the burden on the worker is further reduced.

The automatic transfer system of one embodiment is characterized in that guide portions are provided on both sides of the second shelf in the lateral direction so that the distance between the two shelves gradually decreases from the receiving port side to the opposite side. ..

In the present specification, the "horizontal both sides" of the second shelf means the sides corresponding to the left side and the right side when the front surface of the second shelf is viewed from the front.

In the automatic transfer system of this embodiment, even if the automatic transfer robot stops by shifting laterally to the load receiving port of the shelf to some extent, the load is guided onto the second shelf by the guide unit. can do.

The automatic transfer system of one embodiment is characterized in that the lateral dimension of the specific portion on the load receiving port side of the second shelf is larger than the lateral dimension of the actuating portion of the stopper mechanism.

In the automatic transfer system of this embodiment, the automatic transfer robot is stopped by shifting laterally to some extent (within the range of the lateral dimension of the specific portion) with respect to the load receiving port of the second shelf. Also, the actuating portion of the stopper mechanism can be actuated.

In another aspect, the carrier of this disclosure is
The loading platform for an automatic transport system that transports a load by moving a transport passage from a first shelf to a second shelf by the automatic transport robot with the loading platform mounted on the automatic transport robot.
Since the longitudinal direction of the planar shape of the shelf forming the loading platform coincides with the front-rear direction of the automatic transport robot, the lateral direction of the planar shape coincides with the width direction of the transport passage.
It is equipped with a stopper mechanism provided on the front side of the loading platform that can take a regulated state for restricting the load from the shelves forming the loading platform to the front and a released state in which the regulation is lifted.
The stopper mechanism has an operating portion that protrudes forward from the front surface of the loading platform, and the operating portion abuts on a specific portion on the loading port side of the second shelf and is relatively rearward with respect to the loading platform. The stopper mechanism is characterized in that it switches from the restricted state to the released state by being pushed into.

In the loading platform of this disclosure, the required width of the aisle can be narrowed.

As is clear from the above, according to the automatic transfer system of the present disclosure, it is an automatic transfer system in which a load is conveyed by an automatic transfer robot, and the required width of the transfer passage can be narrowed. Further, it is possible to provide a loading platform attached to an automatic transfer robot for such an automatic transfer system.

FIG. 1A is a side view of a mode in which an automatic transfer robot loads a load from a first shelf. FIG. 1B is a front view of the mode in which the automatic transfer robot conveys the loading platform to the second shelf. FIG. 1C is a side view of a mode in which an automatic transfer robot unloads a load from a loading platform to a second shelf. It is a perspective view which saw the 1st shelf diagonally from above. It is a perspective view which saw the said loading platform from diagonally above. FIG. 4A is a perspective view of the stopper mechanism provided on the front surface side of the loading platform as viewed from diagonally above. FIG. 4B is a front view of the stopper mechanism as viewed from the front. FIG. 5A is a perspective view of a dolly attached to the automatic transfer robot as viewed from diagonally above. FIG. 5B is a plan view of the bogie as viewed from above. FIG. 6A is a perspective view of the second shelf viewed from diagonally above. FIG. 6B is a front view of the second shelf as viewed from the receiving port side.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

(Outline configuration of automatic transfer system)
FIG. 1A shows a side view of the first shelf 20 and the automatic transfer robot 10 to which the loading platform 30 is attached. FIG. 1B shows a side view of the automatic transfer robot 10 during transfer to which the loading platform 30 is attached. FIG. 1C shows a side view of the automatic transfer robot 10 to which the loading platform 30 is attached and the second shelf 60. As shown in FIGS. 1 (A) to 1 (C), the automatic transfer system 100 is placed on a first shelf 20, an automatic transfer robot 10, and an automatic transfer robot 10 for taking out a load 5 having a substantially rectangular parallelepiped shape. It is provided with an attached loading platform 30 and a second shelf 60 to which the load 5 is transported.

Briefly, in the automatic transfer system 100, first, as shown in FIG. 1A, the automatic transfer robot 10 loads from the first shelf 20 in a state where the loading platform 30 is mounted on the loading platform 30. 5 is loaded (the load 5 before loading is indicated by the alternate long and short dash line). Next, as shown in FIG. 1 (B), the automatic transfer robot 10 transfers the loading platform 30 to the second shelf 60. Finally, as shown in FIG. 1C, the automated transfer robot 10 arrives at the second shelf 60. The actuating portion 41 of the loading platform 30 comes into contact with the receiving plate 69, which is a specific portion of the second shelf 60, and the stopper 45 of the loading platform 30 is released. The automatic transfer robot 10 unloads the load 5 from the loading platform 30 to the second shelf 60.

Next, the configuration of each part of the automatic transfer system 100 will be described in detail with reference to the drawings.

(Structure of the first shelf)
FIG. 2 shows a perspective view of the first shelf 20 as viewed from diagonally above. In this example, the first shelf 20 has a three-stage configuration, and includes a pair of left and right columns 21 and 21 when viewed from the unloading port O side (the direction of loading the load in each stage is indicated by an arrow D1). ing. A horizontal connecting member 22 for connecting the columns 21 and 21 in the left-right direction is provided between the pair of left and right columns 21 and 21. The first shelf 20 is provided with a pair of left and right columns 23, 23 having the same structure at positions separated from the pair of left and right columns 21 and 21 on the opposite side of the loading port O. Between the pair of left and right columns 23, 23, a horizontal connecting member 24 for connecting the columns 23, 23 in the left-right direction is provided. Between the pair of columns 21 and 21 and the pair of columns 23 and 23, there are front and rear horizontal connecting members 25 and 26 that connect the pair of columns 21 and 21 and the pair of columns 23 and 23 so as to correspond to each other in the front-rear direction. It is provided. In this example, a three-tiered shelf board 27 on which a load is placed is horizontally erected between the pair of columns 21 and 21 and the pair of columns 23 and 23, respectively. The shelf board 27 has a planar shape and is formed so that a substantially rectangular parallelepiped load can be placed on the shelf board 27. At the bottom of the three-tiered shelf board 27, a substantially rectangular parallelepiped base 28 is provided. The columns 21, 23, the horizontal connecting members 22, 24, and the front-rear horizontal connecting members 25, 26 are fastened to each other by a general-purpose L-shaped pipe joint 29 or an I-shaped pipe joint 29'. In this example, the height of the columns 21 and 23 was 2100 mm, the width of the first shelf 20 was 560 mm, and the length of the first shelf 20 in the longitudinal direction (front-back direction) was 600 mm.

(Composition of loading platform)
FIG. 3 shows a perspective view of the loading platform 30 as viewed from diagonally above. Like the first shelf 20, the loading platform 30 has a three-stage structure, and a pair of left and right columns 31 when viewed from the front opening F side (the direction of loading the load in each stage is indicated by an arrow D3) from which the load is taken out. , 31 are provided. A horizontal connecting member 32 for connecting the columns 31, 31 in the left-right direction is provided between the pair of left and right columns 31, 31. The loading platform 30 is provided with a pair of left and right columns 33, 33 having the same structure at positions separated from the pair of left and right columns 31, 31 on the rear side opening R side opposite to the front opening F. A horizontal connecting member 34 for connecting the columns 33, 33 in the left-right direction is provided between the pair of left and right columns 33, 33. Between the pair of columns 31, 31 and the pair of columns 33, 33, front-rear horizontal connecting members 35, 36 for connecting the pair of columns 31, 31 and the pair of columns 33, 33 corresponding to each other in the front-rear direction are provided. It is provided. In this example, the height of the loading platform 30 was 1600 mm, the width of the loading platform 30 was 560 mm, and the length of the loading platform 30 in the longitudinal direction was 750 mm.

As can be seen from FIG. 3, the roller shelf 37 of the loading platform 30 is provided with a three-stage roller shelf 37 between the horizontal connecting member 32 and the horizontal connecting member 34. The roller shelf 37 of each stage is divided into a pair of left and right portions 37L and 37R.

As shown in FIG. 3, the pair of portions 37L and 37R of the roller shelves 37 of each stage are erected so as to be inclined so that the height decreases from the rear to the front of the loading platform 30. Specifically, it is inclined about 5 degrees with respect to the horizontal plane from the rear opening R side (the direction in which the load of each stage is received is indicated by the arrow D2) toward the front opening F side (arrow D3). Further, when the load is loaded from the first shelf 20 to the loading platform 30, when the rear opening R of the loading platform 30 is correspondingly approached to the loading port O of the first shelf 20, each of the first shelves 20 The shelf board 27 of the stage and the roller shelf 37 of each stage of the loading platform 30 are adjacent to each other without any height difference. As a result, the operator simply pushes the rear part of the load on the first shelf 20, and the load on each stage moves onto the corresponding roller shelf 37 and slides along the inclination of the corresponding roller shelf 37 due to its own weight. .. Therefore, when loading the load from the first shelf 20 to the loading platform 30, the burden on the operator is reduced.

(Structure of stopper mechanism)
As shown in FIG. 3, on the front opening F side of the loading platform 30, stopper mechanisms 40 having the same structure are provided at one location on each stage, for a total of three locations. 4 (A) and 4 (B) show the configuration of one stopper mechanism 40. The stopper mechanism 40 includes an operating portion 41 projecting forward from the front surface of the loading platform 30, a wire 42 and a pulley 43 for transmitting a driving force, a stopper 45 for regulating the load from the loading platform 30, and a lower portion of the stopper 45. It is provided with a penetrating joint 46 that supports the shaft. The rear end of the actuating portion 41 and one end of the wire 42 are connected via a ring 47 fixed to the rear end of the actuating portion 41. The other end of the wire 42 and the upper portion of the stopper 45 are connected via a ring 48 fixed to the upper portion of the stopper 45. When the operating portion 41 comes into contact with the receiving plate 69 on the loading port I side of the second shelf 60, which will be described later, the operating portion 41 is pushed from the front to the rear relative to the loading platform 30. Along with this, one end of the wire 42 is pulled to the rear of the loading platform 30, and the pulley 43 rotates. The other end of the wire 42 is pulled down in the direction in which the stopper 45 is rotated. The stopper 45 rotates 90 degrees to the right about the shaft 44 and tilts in the horizontal direction while resisting the elastic force of the spring built in the shaft 44. As a result, the load can slide on the roller shelf 37 due to its own weight and come out forward from the front opening F of the loading platform 30 (released state).

On the other hand, when the operating portion 41 is not in contact with the receiving plate 69 of the second shelf 60, the stopper 45 rotates around the shaft 44 after the spring built in the shaft 44 returns to the natural state. It stands upright and regulates the load from leaving the loading platform 30 (regulated state). Along with this, the wire 42 and the pulley 43 return to the normal state, and the operating portion 41 projects forward from the front surface of the loading platform 30. As a result, the stopper mechanism 40 can take a regulated state in which the load is restricted from coming out from the roller shelf 37 and a released state in which the regulation is lifted.

5 (A) and 5 (B) show a dolly 50 attached below the above-mentioned loading platform 30. The carriage 50 includes a frame portion 51 attached to the automatic transfer robot 10 and a traveling portion 52 having four wheels. A pair of pin receiving plates 53, 53 are provided above the frame portion 51. Holes 54 and 54 are provided in the center of the pair of pin receiving plates 53 and 53, respectively. A pair of pins (not shown) provided on the upper part of the automatic transfer robot 10 are fitted into the pair of holes 54, 54 from below. As a result, as shown in FIGS. 1A and 1B, the loading platform 30 and the carriage 50 are integrally configured with the automatic transfer robot 10.

In this example, the mobile robot LD series (registered trademark) manufactured by OMRON Corporation is used as the automatic transfer robot 10. The automatic transfer robot 10 moves from the first shelf 20 to the second shelf 60 by choosing a route by itself while avoiding obstacles without dropping the load 5 loaded on the loading platform 30. Can be done. In this example, the width of the automatic transfer robot 10 = 499 mm, the length in the longitudinal direction of the automatic transfer robot 10 = 697 mm, and the minimum width of the transfer path in which the automatic transfer robot 10 travels (including the wheels of the carriage 50) = 620 mm. rice field.

(Structure of the second shelf)
FIG. 6A shows a second shelf 60 viewed from diagonally above. FIG. 6B shows a view from the load receiving port I side of the second shelf 60. The second shelf 60 has a three-stage structure similar to that of the loading platform 30, and the columns 61, 61; 63, 63 and the horizontal connecting members 62, 64 of the second shelf 60 are the columns 31 of the loading platform 30, respectively. , 31; 33, 33, and the horizontal connecting members 32, 34.

The second shelf 60 is provided on each stage and includes a receiving plate 69 that abuts on the operating portion 41 of the loading platform 30 and a pair of left and right guides 68L and 68R that guide the load. 61; 63, 63 differs from the loading platform 30 in that they extend to the floor. As can be seen from FIGS. 6 (A) and 6 (B), the receiving plate 69 is on the receiving port I side (accepting the load of each stage) of the second shelf 60 so as to correspond to the operating portion 41 of the loading platform 30. (The direction of which is indicated by an arrow D4) is provided as a specific portion on the receiving port side at the lower left of each receiving port I. The actuating portion 41 of the stopper mechanism 40 provided on the loading platform 30 comes into contact with the receiving plate 69, enabling the load to be discharged from the loading platform 30.

The lateral dimension of the receiving plate 69 is larger than the lateral dimension of the operating portion 41 of the stopper mechanism 40. As a result, even if the automatic transfer robot 10 is displaced laterally to some extent (within the range of the lateral dimension of the receiving plate 69) with respect to the load receiving port I of the second shelf 60, the stopper mechanism 40 The actuating portion 41 can be actuated.

As can be seen from FIG. 6A, the guides 68L and 68R of each stage are arranged so that the distance between the guides 68L and 68R on each side of the second shelf 60 gradually becomes narrower from the load receiving port I side to the opposite side B on both sides in the lateral direction. It is provided. As a result, even if the automatic transfer robot 10 is stopped with a certain degree of deviation from the load receiving port I of the shelf, the load can be guided to the shelf. In this example, the ends of the guides 68L and 68R on the loading port I side are fastened to the columns 61 and 61 by T-shaped pipe joints 71 and 71, respectively. The ends of the opposite sides B of the guides 68L and 68R are fastened to the columns 63 and 63 by laterally oriented I-shaped pipe joints 72 and 72, respectively. The guides 68L and 68R are made of the same material as the horizontal connecting member, but are not limited thereto.

As shown in FIG. 6A, the roller shelves 67 at each stage of the second shelf 60 are divided into a pair of left and right portions 67L and 67R, similarly to the roller shelves 37 of the loading platform 30. The pair of portions 67L and 67R of the roller shelves 67 of each stage are erected so as to be inclined so that the height decreases from the load receiving port I side toward the opposite side B. Specifically, it is tilted about 5 degrees with respect to the horizontal plane from the load receiving port I side toward the opposite side B. Thereby, the load can be made slidable by the roller shelf 67. Further, when the load is unloaded from the loading platform 30 to the second shelf 60, when the front opening F of the loading platform 30 is correspondingly approached to the loading port I of the second shelf 20, each stage of the second shelf 20 The roller shelves 67 and the roller shelves 37 at each stage of the loading platform 30 are adjacent to each other without any height difference. As a result, when the load is unloaded from the loading platform 30, the load of each stage that has come out forward from the front opening F of the loading platform 30 due to the stopper mechanism 40 being released is tilted by the corresponding roller shelf 67 due to its own weight. Slide along the opposite side B. Therefore, unloading can be performed automatically, and the burden on the operator is further reduced.

(Operation of automatic transfer system)
As shown in FIG. 1A, the automatic transfer system 100 has a state in which the rear port R of each stage of the loading platform 30 is brought close to the unloading port O of each stage of the first shelf 20 in a corresponding manner. Loads are loaded in parallel from the unloading port O of each stage of the shelf 20 of 1 to the corresponding roller shelf 37 of the loading platform 30. At this time, the longitudinal direction of the loading platform 30 faces the loading port O of the first shelf 20, and the lateral direction of the loading platform 30 faces left and right. Therefore, at the stage of loading the load on the loading platform 30, the width W of the transport passage (see FIG. 1B) can be narrower than in the conventional case.

As can be seen from FIG. 1 (B), in the automatic transport system 100, at the stage of transporting the loading platform 30 to the second shelf 60 by the automatic transport robot 10, the load loaded in each stage can be simultaneously transported. can. During this transfer, the longitudinal direction of the planar shape of the roller shelf 37 of the loading platform 30 coincides with the front-rear direction of the automatic transfer robot 10. As a result, the lateral direction of the planar shape coincides with the width direction of the transport passage. Therefore, the required width W of the transport passage through which the automatic transport robot 10 travels can be narrowed. Further, the load of each stage loaded on the loading platform 30 is restricted from leaving the loading platform 30 forward by the stopper mechanism 40 in the regulated state during transportation. In particular, in this example, the load loaded on the loading platform 30 has a roller shelf 37 that is inclined so that the height decreases from the rear to the front of the loading platform 30 during the transportation, and the stopper mechanism 40 in a regulated state. By, it is held stably.

As can be seen from FIG. 1C, in the automatic transport system 100, at the stage of unloading the load 5 from the loading platform 30 to the second shelf 60, the front opening F of each stage of the loading platform 30 is each stage of the second shelf 60. It is approached facing the cargo receiving port I of. Along with this, the operating portion 41 of the stopper mechanism 40 of each stage comes into contact with the receiving plate 69 on the loading port side of the second shelf 60 and is pushed backward relative to the loading platform 30. As a result, the stopper mechanism 40 of each stage switches from the regulated state to the released state. As a result, the load is loaded in parallel from the front opening F of each stage of the loading platform 30 to the corresponding roller shelf 67 of the second shelf 60. At this time, the longitudinal direction of the loading platform 30 faces the loading port of the second shelf 60, and the lateral direction of the loading platform 30 faces left and right. Therefore, at the stage of loading the load on the second shelf 60, the width W of the transport passage can be narrower than in the conventional case.

In the loading platform 30 and the second shelf 60, when the loading 5 is unloaded from the loading platform 30 to the second shelf 60, the roller shelf 37 of the loading platform 30 and the roller shelf 67 of the second shelf 60 are adjacent to each other without any height difference. Therefore, the load 5 slides along the inclination of the roller shelf 37 due to its own weight and exits forward from the front opening F of the loading platform 30, and then the load receiving port is along the inclination of the roller shelf 67 of the second shelf 60. Slide from the I side to the opposite side B. As a result, when the load 5 is unloaded from the loading platform 30 to the second shelf 60, the load 5 can be automatically unloaded to the second shelf 60. Therefore, the burden on the worker is further reduced.

In this example, the automatic transfer system 100 has a three-stage configuration in which the loading platform 30, the first shelf 20, and the second shelf 60 can each carry a load. Therefore, the work efficiency can be improved and the transport amount can be increased. However, the loading platform 30, the first shelf 20, and the second shelf 60 are not limited to the three-stage configuration, and may have a one-stage configuration, a two-stage configuration, or a configuration of four or more stages.

As described above, according to the automatic transfer system 100, the automatic transfer system 100 transports the load by the automatic transfer robot 10, and the required width of the transfer passage can be narrowed. Further, it is possible to provide a loading platform 30 attached to the automatic transfer robot 10 for such an automatic transfer system 100.

In the above example, the load is automatically unloaded from the loading platform 30 to the second shelf 20, but the present invention is not limited to this. For example, instead of the roller shelf 37 of the loading platform 30 and the roller shelf 63 of the second shelf 60, ordinary shelves (similar to the shelf board 27 of the first shelf 20) are provided respectively, and the operator manually loads the load. May be lowered to the second shelf 60.

In the above example, the mobile robot LD series (registered trademark) manufactured by OMRON Corporation was used as the automatic transfer robot 10, but the robot is not limited to this. The automatic transfer system of the present invention can be suitably used even with other transfer robots.

The above embodiment is an example, and various modifications can be made without departing from the scope of the present invention. The plurality of embodiments described above can be established independently, but combinations of the embodiments are also possible. Further, although various features in different embodiments can be established independently, it is also possible to combine features in different embodiments.

10 Automatic transfer robot 20 First shelf 27 Shelf board 30 Loading platform 37 Roller shelf 40 Stopper mechanism 41 Acting part 45 Stopper 60 Second shelf 67 Roller shelf 69 Receiving plate 68L, 68R Guide 100 Automatic transfer system

Claims (7)

It is an automatic transport system that transports loads by moving the transport passage from the first shelf to the second shelf by an automatic transport robot.
A loading platform mounted on the automatic transfer robot is provided, and the longitudinal direction of the planar shape of the shelf forming the loading platform coincides with the front-rear direction of the automatic transfer robot. It matches the width direction and
The shelf of the loading platform is a roller shelf capable of sliding the load in the front-rear direction, and the roller shelf is inclined in such a manner that the height decreases from the rear to the front of the loading platform.
It is equipped with a stopper mechanism provided on the front side of the loading platform that can take a regulated state for restricting the load from the shelves forming the loading platform to the front and a released state in which the regulation is lifted.
The stopper mechanism has an operating portion that protrudes forward from the front surface of the loading platform, and the operating portion abuts on a specific portion on the loading port side of the second shelf and is relatively rearward with respect to the loading platform. An automatic transfer system characterized in that the stopper mechanism is switched from the restricted state to the released state by being pushed into. In the automatic transfer system according to claim 1,
The automatic transport system is characterized in that the shelves forming the loading platform, the first shelves, and the second shelves are each provided with a plurality of stages on which loads can be placed. In the automated transport system according to claim 1 or 2 .
The second shelf is an automatic transport system characterized by being a roller shelf capable of sliding and moving the load between the load receiving port side and the opposite side of the load receiving port side. In the automatic transfer system according to claim 3 ,
The roller shelf forming the second shelf is an automatic transfer system characterized in that the roller shelf is inclined in such a manner that the height decreases from the load receiving port side toward the opposite side. In the automated transport system according to claim 3 or 4 .
An automatic transfer system characterized in that guide portions are provided on both sides of the second shelf in the lateral direction so that the distance between the two shelves gradually becomes narrower from the load receiving port side to the opposite side. In the automatic transfer system according to any one of claims 1 to 5 .
An automatic transfer system characterized in that the lateral dimension of the specific portion on the load receiving port side of the second shelf is larger than the lateral dimension of the operating portion of the stopper mechanism. The loading platform for an automatic transport system that transports a load by moving a transport passage from a first shelf to a second shelf by the automatic transport robot with the loading platform mounted on the automatic transport robot.
Since the longitudinal direction of the planar shape of the shelf forming the loading platform coincides with the front-rear direction of the automatic transport robot, the lateral direction of the planar shape coincides with the width direction of the transport passage.
The shelf of the loading platform is a roller shelf capable of sliding the load in the front-rear direction, and the roller shelf is inclined in such a manner that the height decreases from the rear to the front of the loading platform.
It is equipped with a stopper mechanism provided on the front side of the loading platform that can take a regulated state for restricting the load from the shelves forming the loading platform to the front and a released state in which the regulation is lifted.
The stopper mechanism has an operating portion that protrudes forward from the front surface of the loading platform, and the operating portion abuts on a specific portion on the loading port side of the second shelf and is relatively rearward with respect to the loading platform. The loading platform is characterized in that the stopper mechanism is switched from the restricted state to the released state by being pushed into.

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