US 11,738,944 B2
Conveyance system and conveyance method
Kunihiro Iwamoto, Toyota (JP); Yuta Itozawa, Nagoya (JP); Hirotaka Komura, Tokyo-to (JP); and Yutaro Takagi, Tokyo-to (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Sep. 28, 2021, as Appl. No. 17/487,129.
Claims priority of application No. 2020-168117 (JP), filed on Oct. 2, 2020.
Prior Publication US 2022/0106116 A1, Apr. 7, 2022
Int. Cl. B65G 1/04 (2006.01); B66F 9/20 (2006.01); B66F 9/06 (2006.01)
CPC B65G 1/0435 (2013.01) [B65G 1/0421 (2013.01); B66F 9/063 (2013.01); B66F 9/20 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A conveyance system configured to convey an object by using an autonomous mobile robot, wherein
the autonomous mobile robot comprises:
a placement part;
an arm configured to extend from and retract into the placement part in a horizontal direction, the arm comprising a gear;
a first ball screw disposed parallel to the horizontal direction, the first ball screw comprising a first nut gear, the first nut gear engaged with the gear of the arm; and
a control unit configured to control a movement of the arm,
the control unit moves a tip of the arm into a groove formed in a bottom surface of an object supported from underneath thereof, and then the control unit returns the tip of the arm hooked in the groove to the placement part, or
the control unit moves the tip of the arm hooked in a groove formed in a bottom surface of an object placed on the placement part toward a rack configured to support the object from underneath thereof.