Method of automatically conveying object and automatic object conveying system
A method of automatically conveying an object, using a suspending moving device and a robot having an arm configured to hold the object, the suspending moving device including a suspender and a moving mechanism configured to move the suspender, and the suspender including a coupler configured to be coupled to the object and a suspending member configured to suspend the coupler, is provided. The method includes a step for locating the coupler of the suspender at a given first position, a step for locating the object at a given second position, a step for causing the robot to hold the coupler located at the first position and coupling the held coupler to the object located at the second position, and a step for causing the suspending moving device to move, by the moving mechanism, the object coupled to the coupler together with the suspender.
1. An automatic object conveying system, comprising:
a robot having an arm configured to hold an object; and
a suspending moving device including a suspender and a moving mechanism configured to move the suspender, the suspender including a coupler to be coupled to the object and a suspending member configured to suspend the coupler, the coupler comprising:
a base part coupled to a tip-end part of the suspending member;
a suspension maintaining part attached to the base part and formed in a hook shape having an opening, the suspension maintaining part being configured to hook an interface attached to the object, the interface being configured to be couplable to the coupler;
a connection maintaining part attached to the base part and held by the arm of the robot;
a plurality of pressing parts configured to move between a retracted position and a deployed position that is relatively moved from the retracted position downwardly with respect to the base part, the plurality of pressing parts being provided at mutually different locations when seen in a vertical direction; and
a pressing part actuator configured to be controlled by the robot to move the plurality of pressing parts between the retracted position and the deployed position, wherein
the robot holds the coupler located at a given first position, and couples the held coupler to the object located at a given second position,
the robot is configured to couple the held coupler to the object located at the second position by holding the coupler located at the first position and coupling the held coupler to the interface attached to the object,
the suspending moving device is configured to move, by the moving mechanism, the object coupled to the coupler together with the suspender,
the interface includes a plurality of fitting parts configured to fit to the plurality of pressing parts located at the deployed position, respectively, and
the pressing part actuator locates the pressing parts at the deployed position to regulate a movement of the coupler hooked on the suspension maintaining part toward the opening of the suspension maintaining part.
2. The automatic object conveying system of claim 1 , wherein the interface is held between the pressing parts located at the deployed position and the suspension maintaining part.