WO2017197621A1

WO2017197621A1 - Mobile platform, transfer system and operation method therefor

Info

Publication number: WO2017197621A1
Application number: PCT/CN2016/082620
Authority: WO
Inventors: Weijie YAN; Lun JIANG; Xiaolong MAO; Wenzhou YAN; Yanlai Wu; Diamond Daimeng DONG
Original assignee: Abb Schweiz Ag
Priority date: 2016-05-19
Filing date: 2016-05-19
Publication date: 2017-11-23

Abstract

It is therefore an objective of the invention to provide a mobile platform, a transfer system, and methods for operating the same. The mobile platform includes a carriage configured to be supported by its wheels on a ground surface; a robot mounted on the carriage; a plurality of first support members deployable and retractable for raising and lowering the carriage so that the wheels of the carriage are relieved from and placed on the ground surface; and at least one cantilever having a second support member arranged at one of its ends, being configured to rotatably engaged with the carriage by the other of its ends, where the second support member is deployable and retractable for engaging and disengaging the ground surface for balancing the carriage. By having the configuration of the mobile platform and the methods for operating the mobile platform, it makes it possible for the mobile platform to occupy a relatively small space when moving to a predetermined location, while with the help of the unfolded cantilevers, the mobile platform can remain stable without foot screws during work process.

Description

MOBILE PLATFORM, TRANSFER SYSTEM AND OPERATION METHOD THEREFOR

Technical Field

The invention relates to a mobile platform, and more particularly to a mobile platform with a robot mounted on its carriage.

Background Art

The 3C (computer, communication and consumer electronic) business has been a booming industry in recent years. With the growth of the 3C industry, quality assurance is also becoming a hot topic.

Conventionally, products are being tested by manual labor, which is both time consuming and allows room for mistakes. From a conveyor, work objects are picked up by personnel and then transported to each test cell for testing. When defect objects are detected, it is manually placed inside a dump. Labor costs are constantly rising. In addition to this, factories also need to control risk of injuries that may occur. Large amount of space is also required for the existing solutions, which is essential for workers to move around during the checking. All above reasons increases the operating costs of the factories.

Patent No. WO 2012061970 A1 teaches battery testing and sorting system e.g. for notebook, has controller that regulates manipulator and gripper to pick battery from testing section, and sort tested battery according to received signal. The battery testing and sorting system has a controller that regulates a manipulator and a gripper to pick a battery for testing and sorting from a battery holding section, and place the battery to contact a testing section. The testing section performs testing of the battery, and sends a signal indicating the electrical condition of the tested battery to the controller. The controller regulates the manipulator and gripper to pick the battery from the testing section, and sort the tested battery according to received signal.

However, the solution as disclosed by Patent No. WO 2012061970 A1 suffers from a disadvantage that rearrangement of the layout of the system is relatively difficult because the robot is mounted on the floor or the ceiling.

Brief Summary of the Invention

According to an aspect of present invention, it provides a mobile platform including: a carriage configured to be supported by its wheels on a ground surface； a robot mounted on the carriage； a plurality of first support members deployable and retractable for raising and lowering the carriage so that the wheels of the carriage are relieved from and placed on the ground surface； and at least one cantilever having a second support member arranged at one of its ends, being configured to rotatably engaged with the carriage by the other of its ends, where the second support member is deployable and retractable for engaging and disengaging the ground surface for balancing the carriage.

According to another aspect of present invention, it provides a method for operating the mobile platform including: wheeling the carriage of the mobile platform to a predetermined location with use of its wheels； lowering the first support members so as to relieve the wheels of the carriage from the ground surface； adjusting the first support members so as to place the carriage in a predetermined orientation； rotating the cantilever around the axis so that the second support member is placed out of the contour of the carriage； and lowering the second support members so as to engage the ground surface.

According to another aspect of present invention, it provides a method for operating the mobile platform including: raising the second support members so as to disengage the ground surface； rotating the cantilever around the axis so that the second support member is placed closer to the first support member； raising the first support members so as to rest the wheels of the carriage on the ground surface； and wheeling the mobile platform to a predetermined location.

By having the configuration of the mobile platform and the methods for operating the mobile platform, it makes it possible for the mobile platform to occupy a relatively small space when moving to a predetermined location, while with the help of the unfolded cantilevers, the mobile platform can remain stable without foot screws during work process. This proves to be more conducive in crowded environments or tight hallways.

Preferably, the robot is configured to have its working range reachable to an object disposed outside of contour of the carriage. This is helpful for picking up an object from a location outside of the contour of the carriage, transferring it and placing it at another location outside of the contour of the carriage.

Preferably, the mobile platform further includes a panel arranged besides the robot, being configured to be rotatably engaged with the carriage, protect a user from the robot working range where it assumes a protection position in its rotation sphere and allow access of the robot by the user where it assumes an access position. This is helpful for keeping safety when the robot is operating. In case that the robot stops operation due to maintenance or fault, the panel opens assuming the access position. The user can reach the robot without the obstacle of the panel. Thus, it becomes more convenient for the user to reach the robot without moving the mobile platform out of the operation area partially encircled by the conveyor and the holding devices.

Preferably, the rotation angle of the panel substantially amounts to 90 degrees, the cantilever is configured to be rotated to two positions, one of which is closer the carriage than the other, and/or the one of the positions is arranged between the adjacent two first support members.

Preferably, the mobile platform further includes a guideway arranged between the robot and the carriage； wherein: the robot is configured to travel along the guideway so as to enlarge the working range of the robot.

Preferably, the mobile platform further includes a robot controller； wherein: the carriage includes a cabinet configured to accommodate the robot controller. This makes the mobile platform more compact.

According to another aspect of present invention, it provides a transfer system including: the mobile platform, a conveyor with its part disposed within the working range of the robot, and at least one holding device with its holding section disposed within the working range of the robot.

According to another aspect of present invention, it provides a method for operating the transfer system including: wheeling the carriage of the mobile platform to a location surrounded by the conveyor and the holding devices with use of its wheels； lowering the first support members so as to relieve the wheels of the carriage from the ground surface； adjusting the first support members so as to place the carriage in a predetermined orientation； rotating the cantilever around the axis so that the second support member is placed out of the contour of the carriage； and lowering the second support members so as to engage the ground surface.

According to another aspect of present invention, it provides a method for operating the transfer system including: raising the second support members so as to disengage the ground surface； rotating the cantilever around the axis so that the second support member is placed in an area defined by the first support members； raising the first support members so as to rest the wheels of the carriage on the ground surface； and wheeling the carriage of the mobile platform away from a location surrounded by the conveyor and the holding devices.

The mobile platform, thereby, can move to the destination in a folded manner. This makes it possible for the mobile platform to occupy a relatively small space when moving to a predetermined location, which proves to be more conducive in crowded environments or tight hallways. In a unfolded manner where the platform is placed surrounded by the conveyor and the holding devices, the cantilever is anchored at one of its ends to the second support member of the mobile platform. This makes it possible for preventing a tilt of the mobile platform which is caused by the inertia force applied by the robot in acceleration operation in various directions. With the help of the unfolded cantilevers, the mobile platform can remain stable without foot screws during work process.

Brief Description of the Drawings

The subject matter of the invention will be explained in more detail in the following text with reference to preferred exemplary embodiments which are illustrated in the drawings, in which:

Figure 1 shows a mobile platform according to an embodiment of present invention in a first state；

Figure 2 shows the mobile platform according to an embodiment of present invention in a second state；

Figure 3 shows a secontional view of the first support member according to an embodiment of present invention；

Figure 4 shows a sectional view of the second support member according to an embodiment of present invention；

Figure 5A shows a transfer system according to an embodiment of present invention in pre-operation state； and

Figure 5B shows a transfer system according to an embodiment of present invention in operation state.

The reference symbols used in the drawings, and their meanings, are listed in summary form in the list of reference symbols. In principle, identical parts are provided with the same reference symbols in the figures.

Preferred Embodiments of the Invention

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular circuits, circuit components, interfaces, techniques, etc. in order to provide a thorough understanding of the present invention. However, it will be apparent to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known methods and programming procedures, devices, and circuits are omitted so not to obscure the description of the present invention with unnecessary detail.

Figure 1 shows a mobile platform according to an embodiment of present invention in a first state. As shown in figure 1, the mobile platform 1 includes a carriage 10, a robot 11, a plurality of first support members 12, and at least one cantilever 13 with a second support member 14. In the first state, the cantilever 13 rests at a first location L1 closer to the carriage 10, and the cantilever 13 would no longer, or in any case, only to a slight degree, extend beyond the outer contour of the carriage 10. In the present embodiment, a portion of the cantilever 13 is placed between the carriage 10 and the ground surface S.

The carriage 10 is configured to be supported by its wheels 100 on a ground surface S. In the present embodiment, the carriage 10 has a plurality of wheels 100 rotatably disposed thereon. All of the wheels 100 will rotate as result of a push force being applied on the carriage 10 so that the carriage 10 will move on the wheels 100. As an alternative, at least one of the wheels 100, preferably all of the wheels 100, are, or will be driven with one or more drives. The drives, not shown here, are preferably electric drives, in particular, regulated electric drives, and are connected to a control device, disposed, for example, in or on the carriage 10, which is configured to automatically move the carriage 10 by means of the appropriate control of the drives for the wheels 100. A shared control device for the drives of the wheels 100 and the robot 11 can also be provided. In order to facilitate the steering of the wheels 100 allowing the carriage 10 to follow a desired course to a predetermined location, the hub of the wheel 100 is rotatably engaged with the carriage 10. The wheel 100, thereby, can be adjusted in variable direction of its axle so as to follow the desired course. As an alternative, the wheel 100 may use omni-directional wheel.

In the present embodiment, the robot 11 comprises numerous, successively disposed links, connected by joints. In particular, the robot 11 has a base 110 rotatably supported about an axis running vertically in relation to the base 110. The robot 11 comprises a controller 111 for moving the robot arm. The controller 111 is connected to drives of the robot arm. The drives are electric drives in the case of the present embodiment example, in particular, regulated electric drives. The robot arm and the controller 111 are constructed, in particular, as standard industrial robots, supported on the carriage 10 via a positioning device 15, which can either be fixed on the carriage 10 or be moved automatically in relation to the carriage 10. For example, the positioning device 15 may be a guideway arranged between the robot 11 and the carriage 10, and the robot 11 is guided along the guideway through its base 110. The base 110 of the robot 11 may be connected with the guideway through ball screw slide unit, but other systems including rubber tired, steel wheels, air cushion and magnetic systems may also been used. The robot 11, thereby, is may travel along the guideway such that its working range can be enlarged. As shown in figure 1, the robot 11 may move on the guideway within the range between position P0 and position P1. Where the robot 11 assumes position P0, it is unable to reach the target position T because position T is out of its working range. Where the robot 11 moves to position P1, target position T is reachable because it gets closer to the target position T as a result of moving along the guideway. As an alternative, the robot 11 may be fixed on the carriage 10 with fasteners mechanically joining or affixing the two or more parts together, such as bolt. Thus, the robot 11 may have its working range reachable to an object disposed outside of contour of the carriage 10. This is helpful for picking up an object from a location outside of the contour of the carriage, transferring it and placing it at another location outside of the contour of the carriage.

The carriage 10 may have a cabinet 102 accommodating the robot controller 111. This makes the mobile platform 1 more compact.

A plurality of first support members 12 are deployable and retractable for raising and lowering the carriage 10 so that the wheels 100 of the carriage 10 are relieved from and rest on the ground surface S. And, the at least one cantilever 13 having a second support member 14 arranged at one of its ends 130, may be rotatably engaged with the carriage 10 by the other of its ends 131 around an axis in a first direction D1, where the second support member 14 is deployable and retractable for engaging and disengaging the ground surface S for balancing the carriage 10. In the present embodiment, the number of the first support member 12 is four, where two of them are not shown whose views are obstructed by the body of the carriage 10； and the number of the cantilevers 13 is four, where two of them are not shown whose views are obstructed by the body of the carriage 10.

In the first state of present embodiment, the first support members 12 and the second support members 14 are in the retracted state, and the antilever 13 only poses a slight degree extending beyond the outer contour of the carriage 10. In the configuration, the mobile system 1 exhibits an wheeled support carriage 10 on the ground surface S having the wheels 100 for wheeling the carriage 10. This makes it possible for the mobile platform to occupy a relatively small space when moving to a predetermined location. This proves to be more conducive in crowded environments or tight hallways.

Figure 2 shows the mobile platform according to an embodiment of present invention in a second state. In the second state of the embodiment, the first support members 12 are in the deploying state, and the wheels 100 of the carriage 10, thereby, are relieved from the ground surface S at least for the most part, or entirely, of the net weight of the mobile platform 1. The cantilevers 13 are unfoloded by rotation around one of its ends 131. In the second state, the cantilevers 13 wholly, or in any case, to a substantial degree, extend beyond the outer contour of the mobile platform 1, for example at location L2. The second support members 14 are in the deploying state engaging the ground surface S.

When the robot is moving, there will be acceleration. As a result, the inertia force will be generated. For illustration of the present invention assuming that the horizontal component of the inertia force F remains the same while the robot 11 is doing the same action whether the cantilevers 13 are folded or not. And it will be in the plane of symmetry at the height of H. For an inertial system, F is proportional to the acceleration. M is the turning moment of the system: M ＝ F x H. G is the gravity of the system. When the inertia force F is toward right, the supporting point are A (without the supporting cantilevers) and B (with the supporting cantilevers) . It can be concluded that when F x H> G x (EA or EB) , the whole system will be turn over. So the longer the supporting cantilever extends beyond the contour of the carriage, the bigger acceleration the robot can reach and the more stable the station will be when the robot is at the same acceleration to against turning over. Therefore, with the help of the unfolded cantilevers, the mobile platform 1 can remain stable without foot screws during work process.

Figure 3 shows a secontional view of the first support member according to an embodiment of present invention. As shown in Figure 3, the carriage 10 includes a first female threaded fastener 101. The first support member 12 includes a first pad 120 and a first male threaded fastener 121 protruding from the first pad 120, being configured to mate with the first female threaded fastener 101. The first support member 12 is configured to lift the carriage 10 in such a manner that the four wheels 100 in the embodiment of figure 1 example, are relieved, at least for the most part, or entirely, of the net weight of the mobile platform 1. In the present embodiment of figure 1, the four first support members 12 exhibit four supporting postions. For this, four dedicated first support members 12 are assigned to the four wheels 100. The first support member 12 is mounted on the carraige 10 with the first male threaded fastener 121, such as a bolt, threads into the first female threaded fastener 101, such as a nut, of the carraige 10. An elevation adjustment can be obtained by means of inserting and/or retracting the first male threaded fastener 121 through the the first female threaded fastener 101. The first pad 120 extended from the first male threaded fastener 121, thereby, is raised and/or lowered so as to rest the wheels 10 on the ground surface S and/or relive them from the ground surface S. In the present embodiment, the first male threaded fastener 101 is configured to secure the mating at two portions of its thread, and the first pad 120 of the first support member 12 engages the ground surface S relieving the wheels 100 of the carriage 10 from the ground surface S where the mating is secured at one of the two portions A, and the first pad 120 of the first support member 12 disengages the ground surface S where the mating is secured at the other of the two portions B.

Figure 4 shows a sectional view of the second support member according to an embodiment of present invention. As shown in Figure 4, the cantilever 13 includes a second female threaded fastener 130. The second support member 14 includes a second pad 140 and a second male threaded fastener 141 protruding from the second pad 140, being configured to mate with the second female threaded fastener 130. In the present embodiment, the second male threaded fastener 130 is configured to secure the mating at two portions of its thread C, D. The second pad 140 of the second support member 14 engages the ground surface S where the mating is secured at one of the two portions C. The second pad 140 of the second support member 14 disengages the ground surface S where the mating is secured at the other of the two portions D. The second support member 14 is mounted on one ends of the cantilever 13 with the second male threaded fastener 141, such as a bolt, threads into the second female threaded fastener 130. In such a manner, the elevation of the four second pads 140 is adjustable with respect to the ground surface S, by means of inserting and/or retracting the second male threaded fastener 141 through the second female threaded fastener 130. In particular considering the second state assumed by the mobile platform 1, this makes it possible to deploy the four second pads 140 to engage the ground surface S after the wheels 100 are relieved by the deployment of the first support members 12. The cantilever 13 is arranged extending beyond the contour of the carriage 10 and the four second pads 140 have been adjusted resting on the ground surface S, thus the cantilever 13 is anchored at one of its ends to the second support member 14. This makes it possible for preventing a tilt of the mobile platform 1 which is caused by the inertia force applied by the robot 11 in acceleration operation in various directions. With the help of the unfolded cantilevers, the mobile platform 1 can remain stable without foot screws during work process.

Figure 5A shows a transfer system according to an embodiment of present invention in pre-operation state. As shown in figure 5A, the transfer system 5 includes the mobile platform 1 according to the embodiment of present invention, a conveyor 50 and at least one holding device 51. In the present embodiment, the number of the holding device 51 is two, and the two holding devices 51 are arranged opposite to each other. The conveyor 50 and the two holding devices 51 define an operation area OA for the mobile platform 1 to stay. The conveyor 50 has its part 500 disposed within the working range of the robot 11 of the mobile platform 1 to stay in the operation area OA, and the holding device 51 has holding section 510 disposed within the working range of the robot 11, as well. In order to move the mobile platform 1 to a predetermined location, such as the operation area OA, the mobile platform 1 may be operated as: raising the second support members 14 of the mobile platform 1 so as to disengage the ground surface, rotating the cantilever 13 of the mobile platform 1 around the axis so that the second support member 14 is placed closer to the first support member 12, raising the first support members 12 of the mobile platform 1 so as to rest the wheels 100 of the carriage 10 on the ground surface S, and wheeling the carriage 10 of the mobile platform 1 to the predetermined location. The mobile platform 1, thereby, moves to the destination in a folded manner. This makes it possible for the mobile platform to occupy a relatively small space when moving to a predetermined location. This proves to be more conducive in crowded environments or tight hallways.

Figure 5B shows a transfer system according to an embodiment of present invention in operation state. The configuration of figure 5B is a result from the wheeling the platform 1 to the operation area OA. In order to increase the stability of the mobile platform 1 during the operation of the robot 11, the mobile platform 1 may be operated as: lowering the first support members 12 of the mobile platform 1 so as to relieve the wheels 100 of the carriage 10 from the ground surface S, adjusting the first support members 12 of the mobile platform 1 so as to place the carriage 10 in a predetermined orientation, for example as desired by the user, rotating the cantilever 13 around the axis so that the second support members 14 are placed out of the contour of the carriage 10, and lowering the second support members 14 so as to engage the ground surface S. The cantilever 13 is arranged extending beyond the contour of the carriage 10 and the four second pads 140 have been adjusted resting on the ground surface S, thus the cantilever 13 is anchored at one of its ends to the second support member 14. This makes it possible for preventing a tilt of the mobile platform 1 which is caused by the inertia force applied by the robot 11 in acceleration operation in various directions. With the help of the unfolded cantilevers, the mobile platform 1 can remain stable without foot screws during work process.

As shown in figures 1, 2, 5A and 5B, the mobile platform 1 may further includes a panel 16 arranged besides the robot 11. The panel 16 is configured to be rotatably engaged with the carriage 10. Preferably, the rotation angle of the panel 16 substantially amounts to 90 degrees. The panel 16 may protect a user from the robot working range where it assumes a protection position PP in its rotation sphere and allow access of the robot 11 by the user where it assumes an access position AP. In particular considering figures 5B, the mobile platform 1 is surrounded by the conveyor 50 and the holding devices 51, while leaving entrance to the robot 11 of the platform 1 from the panel 16. When the panel 16 closes assuming the protection position PP, it obstructs the path via which the user can reach the robot 11 in the transfer system 5. This is helpful for keeping safety when the robot is operating. In case that the robot 11 stops operation due to maintenance or fault, the panel 16 opens assuming the access position AP. The user can reach the robot 11 without the obstacle of the panel 16. This makes it more convenient for the user to reach the robot without moving the mobile platform 1 out of the operation area OA partially encircled by the conveyor 50 and the holding devices 51.

In the operation state, because the working range of the robot 11 overs the conveyor 50 and the holding sections 510 of the holding devices, the robot 11 of the platform 1 may be controlled to pick up the object from the conveyor 50 and place it on the appropriate holding section 510 of the holding device 51. For example, the robot 11 may pick up an object on the conveyor 50 and test the object to judge if it is of good quality. Based on the test result, the object may be placed in one of the holding sections 510 or the other.

Though the present invention has been described on the basis of some preferred embodiments, those skilled in the art should appreciate that those embodiments should by no way limit the scope of the present invention. Without departing from the spirit and concept of the present invention, any variations and modifications to the embodiments should be within the apprehension of those with ordinary knowledge and skills in the art, and therefore fall in the scope of the present invention which is defined by the accompanied claims.

Claims

A mobile platform, including:

a carriage configured to be supported by its wheels on a ground surface；

a robot mounted on the carriage；

a plurality of first support members deployable and retractable for raising and lowering the carriage so that the wheels of the carriage are relieved from and placed on the ground surface； and

at least one cantilever having a second support member arranged at one of its ends, being configured to rotatably engaged with the carriage by the other of its ends, where the second support member is deployable and retractable for engaging and disengaging the ground surface for balancing the carriage.
The mobile platform according to claim 1, wherein:

the robot is configured to have its working range reachable to an object disposed outside of contour of the carriage.
The mobile platform according to any of the preceding claims, further including:

a panel arranged besides the robot, being configured to be rotatably engaged with the carriage, protect a user from the robot working range where it assumes a protection position in its rotation sphere and allow access of the robot by the user where it assumes an access position.
The mobile platform according to claim 3, wherein:

the rotation angle of the panel substantially amounts to 90 degrees.
The mobile platform according to any of the preceding claims, wherein:

the cantilever is configured to be rotated to two positions, one of which is closer the carriage than the other.
The mobile platform according to claim 5, wherein:

the one of the positions is arranged between the adjacent two first support members.
The mobile platform according to any of the preceding claims, wherein:

the carriage includes a first female threaded fastener； and

the first support member includes:

a first pad； and

a first male threaded fastener protruding from the first pad, being configured to mate with the first female threaded fastener.
The mobile platform according to any of the preceding claims, wherein:

the cantilever includes a second female threaded fastener；

the second support member includes:

a second pad； and

a second male threaded fastener protruding from the second pad, being configured to mate with the second female threaded fastener.
The mobile platform according to claim 7, wherein:

the first male threaded fastener is configured to secure the mating at two portions of its thread；

the first pad of the first support member engages the ground surface relieving the wheels of the carriage from the ground surface where the mating is secured at one of the two portions； and

the first pad of the first support member disengages the ground surface where the mating is secured at the other of the two portions.
The mobile platform according to claim 8, wherein:

the second male threaded fastener is configured to secure the mating at two portions of its thread；

the second pad of the second support member engages the ground surface where the mating is secured at one of the two portions； and

the second pad of the second support member disengages the ground surface where the mating is secured at the other of the two portions.
The mobile platform according to any of the preceding claims, further includes:

a guideway arranged between the robot and the carriage；

wherein:

the robot is configured to travel along the guideway so as to enlarge the working range of the robot.
The mobile platform according to any of the preceding claims, further including:

a robot controller；

wherein:

the carriage includes a cabinet configured to accommodate the robot controller.
Atransfer system, including:

the mobile platform according to any of the claims 2 to 12；

a conveyor with its part disposed within the working range of the robot； and

at least one holding device with its holding section disposed within the working range of the robot.
A method for operating the mobile platform according to any of claims 1 to 12, including:

wheeling the carriage of the mobile platform to a predetermined location with use of its wheels；

lowering the first support members so as to relieve the wheels of the carriage from the ground surface；

adjusting the first support members so as to place the carriage in a predetermined orientation；

rotating the cantilever around the axis so that the second support member is placed out of the contour of the carriage； and

lowering the second support members so as to engage the ground surface.
A method for operating the mobile platform according to any of claims 1 to 12, including:

raising the second support members so as to disengage the ground surface；

rotating the cantilever around the axis so that the second support member is placed closer to the first support member；

raising the first support members so as to rest the wheels of the carriage on the ground surface； and

wheeling the mobile platform to a predetermined location.
A method for operating the transfer system according to claim 13, including:

wheeling the carriage of the mobile platform to a location surrounded by the conveyor and the holding devices with use of its wheels；

lowering the first support members so as to relieve the wheels of the carriage from the ground surface；

adjusting the first support members so as to place the carriage in a predetermined orientation；

rotating the cantilever around the axis so that the second support member is placed out of the contour of the carriage； and

lowering the second support members so as to engage the ground surface.
The method according to claim 16, further including:

controlling the robot to pick up the object from the conveyor and place it on the holding section of the holding device.
A method for operating the transfer system according to claim 13, including:

raising the second support members so as to disengage the ground surface；

rotating the cantilever around the axis so that the second support member is placed in an area defined by the first support members；

raising the first support members so as to rest the wheels of the carriage on the ground surface； and

wheeling the carriage of the mobile platform away from a location surrounded by the conveyor and the holding devices.