Conveying robot and conveying system

Abstract

A conveyance robot (1) is provided with: a body (2); a pair of wheels (52) arranged so as to be able to roll with respect to a pair of rails (111), respectively; a lifting mechanism (3) arranged to the body (2) and causing the body (2) and the pair of wheels (52) to be lifted with respect to the pair of rails (111) at the time of a lifting operation, respectively; a pair of wheel position adjustment mechanisms (4) arranged to the lifting mechanism (3) and causing the pair of wheels (52) to be adjusted between a traveling position overlapping the pair of rails (111) in the vertical direction and a lifting position located between the pair of rails (111), respectively; and a support mechanism (6) arranged to the body (2) and temporarily supporting the body (2) to the pair of rails (111) in such a manner that the pair of wheels (52) adjusted to the lifting position at the time of the lifting operation are able to be lifted between the rails (111A, 111B, 111C) by the lifting mechanism (3).

Description

Technical Field

[0001] This invention relates to a conveying robot and a conveying system. Background Technology

[0002] Japanese Patent Application Publication No. JP2018-517646A discloses an outbound system comprising: a structure having multiple horizontal guide rails arranged vertically; and a transport robot capable of moving along the horizontal guide rails. Within the structure, the transport robot can be raised and lowered to other horizontal guide rails via ramps or vertical guide rails arranged to intersect with the multiple horizontal guide rails. The ramps have chains that engage with sprockets and gears of the mobile robot for suspension. Summary of the Invention

[0003] However, in the outbound system described in Japanese Patent Application Publication JP2018-517646A, in order to enable the conveyor robot to move up and down, it is necessary to install special lifting mechanisms such as ramps and vertical guide rails on the structure. Therefore, the structure becomes complex.

[0004] Therefore, this invention addresses this problem and aims to provide a transport robot and transport system capable of lifting and lowering within a structure that does not have a dedicated lifting mechanism.

[0005] According to one aspect of the present invention, a transport robot is provided. This transport robot is situated in a structure having a lifting area having multiple pairs of guide rails arranged at intervals. During a traveling motion, it travels on a traveling guide rail among the multiple guide rails arranged at intervals. During a lifting motion, it lifts and lowers between the multiple guide rails arranged at intervals. The transport robot comprises: a main body; a pair of wheels configured to roll relative to each pair of guide rails; a lifting mechanism disposed on the main body, which, during a lifting motion, lifts and lowers the main body and the pair of wheels relative to the pair of guide rails; and a pair of wheel position adjustment mechanisms disposed on... The lifting mechanism adjusts the pair of wheels between a traveling position overlapping with the pair of guide rails in the vertical direction and a lifting position between the pair of guide rails; a traveling actuator is provided on the wheel position adjustment mechanism and moves the body by rolling the pair of wheels; a support mechanism is provided on the body and temporarily supports the body on the pair of guide rails in such a way that the pair of wheels adjusted to the lifting position during the lifting action can move up and down between the guide rails via the lifting mechanism; when the pair of wheels adjusted to the traveling position during the lifting action are placed on the pair of guide rails, the body moves up and down between the guide rails via the lifting mechanism.

[0006] According to another aspect of the present invention, a conveying system is provided, comprising: a structure having a lifting area having a plurality of pairs of guide rails arranged at intervals; a conveying robot that, during a traveling motion, travels on a traveling guide rail among the plurality of guide rails arranged at intervals, and during a lifting motion, lifts and lowers between the plurality of guide rails arranged at intervals, the conveying robot comprising: a body; a pair of wheels configured to roll relative to each pair of guide rails; a lifting mechanism disposed on the body and, during a lifting motion, lifts and lowers the body and the pair of wheels relative to the pair of guide rails respectively; and a pair of wheel position adjustment mechanism. A mechanism is provided on the lifting mechanism, which adjusts the pair of wheels between a traveling position overlapping with the pair of guide rails in the vertical direction and a lifting position between the pair of guide rails; a traveling actuator is provided on the wheel position adjustment mechanism, which moves the body by rolling the pair of wheels; a support mechanism is provided on the body, which temporarily supports the body on the pair of guide rails in such a way that the pair of wheels adjusted to the lifting position during the lifting action can move up and down between the guide rails via the lifting mechanism, and the body moves up and down between the guide rails via the lifting mechanism when the pair of wheels adjusted to the traveling position during the lifting action are placed on the pair of guide rails.

[0007] Based on the above method, a conveying robot and conveying system capable of lifting and lowering in a structure without a dedicated lifting mechanism can be provided. Attached Figure Description

[0008] Figure 1 This is a perspective view showing the conveying system involved in this embodiment.

[0009] Figure 2 A schematic structural diagram to represent the structure of the first modified example.

[0010] Figure 3 A 3D view of the delivery robot.

[0011] Figure 4 A three-dimensional diagram showing the movement of a transport robot along a guide rail during its travel motion.

[0012] Figure 5 A three-dimensional diagram showing the turning state of the transport robot during a turning motion.

[0013] Figure 6A This is a three-dimensional diagram illustrating how the transport robot changes from a moving state to a turning state when the main body rises relative to the wheels during a lifting motion.

[0014] Figure 6B This is a front view showing the situation where, during the lifting action, the main body rises relative to the wheels, causing the transport robot to change from a moving state to a turning state.

[0015] Figure 7A A perspective view showing the support state of the support unit placed on the middle guide rail as it moves from the retracted position to the support position during the lifting action.

[0016] Figure 7B This is a front view showing the support state of the support unit placed on the middle guide rail during the lifting and lowering operation, as the support unit moves from the retracted position to the support position.

[0017] Figure 8A This is a three-dimensional diagram showing the wheel retracted from the traveling position to the lifting position during the lifting action.

[0018] Figure 8B This is a front view showing the wheel retracted from the traveling position to the lifting position during the lifting action.

[0019] Figure 9 This is a three-dimensional diagram showing one of the wheel's rising states relative to the lower guide rail during the lifting action.

[0020] Figure 10 This is a three-dimensional diagram showing the second state of the wheel as it rises relative to the lower guide rail during the lifting action.

[0021] Figure 11A This is a three-dimensional diagram showing the wheel unfolded from the lifting position to the traveling position during the lifting action.

[0022] Figure 11B This is a front view showing the wheel unfolded from the lifting position to the traveling position during the lifting action.

[0023] Figure 12A This is a perspective view showing the support unit in a retracted state when it moves from the supporting position to the retracted position during the lifting and lowering operation.

[0024] Figure 12B This is a front view showing the support unit in its retracted state when it moves from the supporting position to the retracted position during the lifting and lowering operation.

[0025] Figure 13A This is a perspective view showing the situation where the body rises relative to the wheels during the lifting action, causing the transport robot to change from a suspended state to a moving state.

[0026] Figure 13BThis is a front view showing the situation where the robot body rises relative to the wheels during the lifting action, causing the transport robot to change from a suspended state to a moving state.

[0027] Figure 14 A perspective view of the first modified transport robot.

[0028] Figure 15 This is a perspective view showing the support section of the first modified example of the conveyor robot moving from the retracted position to the support position and being supported by the support section on the lower guide rail during the lifting action.

[0029] Figure 16 This is a perspective view showing the retracted state of the wheels of the first modified conveyor robot during the lifting and lowering motion, from the traveling position to the lifting and lowering position.

[0030] Figure 17 A perspective view showing the wheel of the first modified transport robot rising relative to the body of the first modified transport robot during the lifting action.

[0031] Figure 18A This is a perspective view showing the wheel deployment state of the first modified example of the transport robot during the lifting and lowering motion, from the lifting position to the traveling position.

[0032] Figure 18B This is a front view showing the wheel deployment state of the first modified example of the transport robot as it moves from the lifting position to the traveling position during the lifting action.

[0033] Figure 19A This is a perspective view showing the support section in a retracted state when the wheels of the first modified transport robot move from the support position to the retracted position during the lifting action.

[0034] Figure 19B This is a front view showing the support section of the first modified example of the conveyor robot in a retreated state, moving from the support position to the retreat position during the lifting and lowering motion.

[0035] Figure 20 A perspective view showing the body of the first modified transport robot rising relative to the wheels of the first modified transport robot during the lifting action.

[0036] Figure 21 A perspective view of the transport robot in the second variation.

[0037] Figure 22 This is a perspective view showing the rising state of the body of the transport robot in the second variation during the lifting action, as the body rises relative to the wheels through the extension of the linkage structure of the lifting mechanism.

[0038] Figure 23 This is a perspective view showing the lifting state of the transport robot in the second variation during the lifting action, where the main body is supported by the support unit and the wheels, which are stored in the lifting position from the traveling position, are rising relative to the main body.

[0039] Figure 24 This is a perspective view showing the wheel-rising state of the second modified example of the transport robot during the lifting action, where the wheel is extended from the lifting position to the traveling position, and the main body rises relative to the wheel through the contraction of the linkage structure of the lifting mechanism.

[0040] Figure 25 This is a perspective view of the transfer state of the conveying robot, which is a second variation, where the loading part is transferred from the conveying position to the receiving position by the transfer mechanism. Detailed Implementation

[0041] Hereinafter, this embodiment will be described with reference to the accompanying drawings. In this specification, the same symbols are used to denote the same elements throughout.

[0042] (Structure of the conveyor system)

[0043] First, refer to Figure 1 The following describes the conveying system 100 involved in this embodiment.

[0044] Figure 1 This is a perspective view showing the conveying system 100 according to this embodiment.

[0045] like Figure 1 As shown, the conveying system 100 according to this embodiment includes: a structure 10, which has a structure spaced apart by a predetermined interval H (refer to...). Figure 6B The lifting area 11 is arranged in a manner that includes multiple pairs of guide rails 111; the transport robot 1 is capable of moving on the guide rails 111, which serve as travel guide rails.

[0046] The conveyor system 100 is installed in restaurants such as sushi restaurants and connects the seating area and the kitchen via the structure 10. Specifically, the conveyor system 100 delivers food from the kitchen to the dining area by having a conveyor robot 1 carrying plates for dishes such as sushi travel along a guide rail 111 that can be visually observed by customers. Then, by having the conveyor robot 1 rise and fall in the lifting area 11 and, after carrying empty plates, travel along another guide rail 111 that cannot be visually observed by customers, empty plates are retrieved from the dining area to the kitchen.

[0047] In this way, since food delivery and tableware recycling are carried out using the conveyor system 100, the number of staff in the restaurant can be reduced, which helps to reduce labor costs. In addition, since the delivery of food delivery and tableware recycling are carried out by having the conveyor robot 1 move on a guide rail 111 that can be seen by the customer and another guide rail 111 that cannot be seen by the customer, the hygiene and aesthetics of the conveyor system can be improved compared with the device that carries out the delivery of food delivery and tableware recycling by having the conveyor robot move on the same guide rail.

[0048] Although the conveying system 100 is described in this embodiment as a conveying system installed in a restaurant, it is not limited thereto, and may also be installed, for example, in a logistics warehouse where logistics distribution is carried out.

[0049] (Structure of the structure)

[0050] Then, while referring to Figure 1 The structure 10, which constitutes part of the conveying system 100, will be described.

[0051] like Figure 1 As shown, the structure 10 has a lifting area 11 for the conveying robot 1 to rise and fall, and a turning area 12 for the conveying robot 1 to turn.

[0052] The lifting area 11 does not have a dedicated lifting mechanism such as ramps or vertical guide rails as in the prior art. Instead, it has multiple pairs (three pairs in this case) of guide rails 111 (upper section guide rail 111A, middle section guide rail 111B, and lower section guide rail 111C) arranged in the vertical direction, and multiple support frames (not shown) extending in the vertical direction to support the multiple pairs of guide rails 111. In this embodiment, all guide rails 111 are used as both travel guide rails and lifting guide rails.

[0053] Although in this embodiment, multiple pairs of guide rails 111 are provided in a manner that extends along the horizontal plane, this is not a limitation. They may also be provided, for example, in a manner that extends slightly inclined relative to the horizontal plane. In this case, transport between locations with elevation differences can be carried out by the transport system 100.

[0054] Furthermore, although in this embodiment multiple pairs of guide rails 111 are arranged in a straight line, they are not limited to this; for example, they may also be arranged in a curved line. In this case, transport between locations that are not in a straight line can be carried out by the transport system 100.

[0055] Each guide rail 111 has an L-shaped cross-section and each guide rail 111 has a mounting surface 112, which is capable of supporting the wheels 52 of the transport robot 1 (described later). Figure 3 The wheel 52 is provided in a manner that allows it to be placed on the mounting section 112; a wheel detachment prevention wall 113 is erected on the mounting section 112 and prevents the wheel 52 from falling off the mounting section 112.

[0056] The upper surface of the mounting surface 112 is formed as a flat surface. The upper surface (flat surface) of the mounting surface 112 has a smoothness that allows the wheels 52 of the transport robot 1 to roll. A wheel detachment prevention wall 113 is provided on the opposite side (outer side) of a pair of guide rails 111, opposite to the side (inner side) of the mounting portion 112. The wheel detachment prevention wall 113 restricts the position of the rolling wheel 52 by abutting against it, thereby preventing the wheel 52 from falling off the mounting portion 112.

[0057] The turning area 12 is a plate formed across a pair of guide rails 111. Furthermore, the transport robot 1 is able to turn freely within the turning area 12.

[0058] In this embodiment, multiple pairs of guide rails 111 are arranged in parallel with a predetermined interval H between them. However, the multiple pairs of guide rails 111 are not limited to this arrangement; for example, they may be arranged in parallel with different intervals in the vertical direction. In this case, it is sufficient to set the interval between the different guide rails 111 (i.e., the interval between the mounting surfaces of the mounting portions 112 in the guide rails 111) to a predetermined interval H or less. Furthermore, when the interval between the guide rails 111 exceeds the predetermined interval H, the transport robot 1 cannot move up and down between the guide rails 111. That is, if there is a portion where the interval between the guide rails 111 exceeds the predetermined interval H, that portion does not belong to the lifting area 11 of the structure 10. In other words, all portions where the interval between the guide rails 111 is a predetermined interval H or less belong to the lifting area 11. Details regarding the "predetermined interval H" will be described later.

[0059] (Structure of the first variation)

[0060] Then, while referring to Figure 2 The structure 10 involved in the first modified example will be described. Furthermore, in this first embodiment, details identical to those in the above-described embodiment will be omitted; the description will primarily focus on details different from those in the above-described embodiment.

[0061] Figure 2 A schematic structural diagram illustrating the structure 10 of the first modified example.

[0062] Although in the above embodiment, the structure 10 consists only of the lifting area 11 and the turning area 12, it is not limited to this, for example... Figure 2 As shown, it can also be composed of multiple (two in this case) lifting areas 11 and non-lifting areas 13 that connect the multiple lifting areas 11.

[0063] In this case, each lifting area 11 has an upper guide rail 111a, a middle guide rail 111b, and a lower guide rail 111c arranged in parallel with a predetermined interval H. The non-lifting area 13 is a transport path having an upper travel guide rail 131a and a lower travel guide rail 131b arranged in parallel with an interval exceeding the predetermined interval H.

[0064] The upper travel guide rail 131a connects multiple upper travel guide rails 111a, and the lower travel guide rail 131b connects multiple lower travel guide rails 111c. That is, the upper travel guide rails 111a are connected to both ends of the upper travel guide rail 131a, and the lower travel guide rails 111c are connected to both ends of the lower travel guide rail 131b.

[0065] As in the first variation, by appropriately providing a non-lifting area 13 as a conveying path in the structure 10, the number of unnecessary conveying guide rails can be reduced compared to a structure 10 that does not have a non-lifting area 13 but has a lifting area 11. As a result, the structure 10 can be simplified and made lighter.

[0066] (Structure of the conveyor robot)

[0067] Then, while referring to Figure 1 as well as Figure 3 Meanwhile, the conveying robot 1, which constitutes another part of the conveying system 100, will be described.

[0068] Figure 3 This is a perspective view of the conveyor robot 1. In the figure, the forward / backward direction (long side direction), left / right direction (width direction), and up / down direction (height direction) of the conveyor robot 1 are respectively defined as the direction along the X-axis, the direction along the Y-axis, and the direction along the Z-axis. Hereinafter, for ease of explanation, the forward / backward direction, left / right direction, and up / down direction of the conveyor robot 1 will be simply referred to as the forward / backward direction, the left / right direction, and the up / down direction.

[0069] like Figure 1 As shown, the conveying robot 1 according to this embodiment is a conveyor that travels on a pair of guide rails 111 during its traveling motion (hereinafter, also simply referred to as "traveling motion"), and rises and falls between a plurality of guide rails 111 arranged at predetermined intervals H in the lifting area 11 of the structure 10 during its lifting motion (hereinafter, also simply referred to as "lifting motion"). Figure 3As shown, the conveying robot 1 has a body 2, a pair of lifting mechanisms 3, a pair of wheel position adjustment mechanisms at the front and rear 4, a pair of traveling mechanisms 5, and a support mechanism 6.

[0070] The main body 2 is a rectangular base component extending in the front-to-back direction. A mounting surface 21 is provided on the main body 2 for holding the food container S (here, a plate) to be transported. Additionally, the main body 2 is equipped with a control unit (not shown) that controls the operation of various mechanisms, specifically the lifting mechanism 3, the wheel position adjustment mechanism 4, the traveling mechanism 5, and the support mechanism 6. The transport robot 1 can perform traveling actions on a pair of guide rails 111 and lifting actions between multiple guide rails 111 arranged at predetermined intervals H, controlled by the controller.

[0071] The main body 2 is formed such that its width in the left-right direction is smaller than the interval between a pair of guide rails 111. In this way, during the lifting and lowering operation, the main body 2 does not interfere with the pair of guide rails 111 and can pass between the pair of guide rails 111. Therefore, it can lift and lower between a plurality of guide rails 111 arranged at a predetermined interval H.

[0072] A pair of lifting mechanisms 3 are mechanisms that, during lifting operations, respectively raise and lower the main body 2 and the wheel 52 relative to a pair of guide rails 111. The pair of lifting mechanisms 3 are provided on the main body 2, specifically, at both ends of the main body 2 in the front-rear direction. Each lifting mechanism 3 includes a lifting actuator 31 and a swinging part 32.

[0073] Each lifting actuator 31 is a drive unit for oscillating each swinging part 32. One lifting actuator 31 and the other lifting actuator 31 are respectively fixed to one end (front end) of the body 2 in the front-rear direction and the other end (rear end) of the body 2 in the front-rear direction by means of threaded fastening. In addition, each lifting actuator 31 has a swing drive shaft (not shown) that extends in a left-right direction orthogonal to the front-rear direction and is configured to rotate in both clockwise and counterclockwise directions. Each swing drive shaft is configured such that both ends protrude from the left and right sides of each lifting actuator 31 in the left-right direction.

[0074] Each swinging part 32 is provided in each lifting actuator 31 in such a way that it can swing around the axis of each swinging drive shaft. Each swinging part 32 swings around the axis of each swinging drive shaft and throughout a predetermined range of angles (here, 180 degrees) by the drive of each lifting actuator 31.

[0075] Furthermore, each swinging part 32 includes: a pair of swing arms 321, the base ends of which are respectively connected to both ends of each swing drive shaft (and fixed to both ends of each swing drive shaft); and a connecting part 322 that connects the pair of swing arms 321. Thus, each swinging part 32 can rotate integrally with each swing drive shaft by being driven by each lifting actuator 31. In addition, each swinging part 32 swings up and down within a predetermined range (here, 180 degrees) around the axis of each swing drive shaft as the swing drive shaft rotates, driven by each lifting actuator 31.

[0076] A pair of swing arms 321 are arranged to clamp the lifting actuator 31 in the left-right direction. A connecting part 322 is provided at the top of the pair of swing arms 321, that is, the connecting part 322 connects the top of the pair of swing arms 321.

[0077] Each wheel position adjustment mechanism 4 is provided in each lifting mechanism 3, and adjusts a pair of wheels 52 between a traveling position overlapping with a pair of guide rails 111 in the vertical direction and a lifting position located between the pair of guide rails 111. In this way, the wheels 52 can move up and down between a plurality of guide rails 111 arranged at predetermined intervals H without interfering with the pair of guide rails 111 in the lifting position.

[0078] In this embodiment, each wheel position adjustment mechanism 4 is composed of a pair of steering actuators 41 that respectively steer the traveling mechanism 5 (specifically, a pair of wheels 52). Therefore, by using the pair of steering actuators 41 as wheel position adjustment mechanisms 4, the position of the wheels 52 can be easily adjusted without the need for a separate dedicated adjustment mechanism. As a result, the structure of the transport robot 1 can be simplified.

[0079] As described above, since a pair of steering actuators 41 respectively turn a pair of traveling mechanisms 5, the transport robot 1, under the control of the control unit, can not only perform traveling and lifting actions, but also perform steering actions to turn itself.

[0080] A pair of steering actuators 41 are fixed, for example, by threaded fastening to the two sides of the swing portion 32 of the lifting mechanism 3 in the left-right direction. Specifically, the pair of steering actuators 41 are fixed by threaded fastening to the side opposite to the pair of swing arms 321 of the swing portion 32. In this case, even if the pair of swing arms 321 are swung by the drive of the lifting actuators 31, the pair of steering actuators 41 rotate along with the swing of the pair of swing actuators 321, but the lifting actuators 31 are always clamped in the left-right direction.

[0081] In this way, by fixing a pair of steering actuators 41 to the two sides of the swing arm 321 in the left and right directions, the size of the connecting portion 322 can be reduced compared to a device in which a pair of steering actuators 41 are fixed to the two sides of the connecting portion 322 that connects the top ends of the pair of swing arms 321. As a result, the swing portion 32 can be miniaturized, and therefore, the overall miniaturization of the transport robot 1 can be achieved.

[0082] Although in this embodiment a pair of steering actuators 41 are fixed to the sides of a pair of swing arms 321, this is not a limitation. For example, they could also be fixed to the left and right sides of the connecting portion 322. In this case, compared to a device where a pair of steering actuators 41 are fixed to the left and right sides of the swing arms 321, the distance from the steering actuators 41 to the swing drive shaft, which serves as the fulcrum, is greater. Therefore, even with a reduction in the driving force of the lifting actuators 31, the wheels 52 can still be raised and lowered. As a result, energy saving of the entire transport robot 1 can be achieved.

[0083] Additionally, each steering actuator 41 has a steering drive shaft (not shown) that extends along the extending direction of the swing arm 321 of the swing portion 32 (specifically, the direction extending from the base end to the top end of the swing arm 321) and is configured to rotate clockwise and counterclockwise. Each steering drive shaft protrudes from the same side as the side opposite to the connecting portion 322 of the lifting actuator 31, i.e., the side of each steering actuator 41. A travel actuator 51, described later, is connected (fixed) to the steering drive shaft.

[0084] Although in this embodiment, each wheel position adjustment mechanism 4 is composed of a pair of steering actuators 41, it is not limited to this. For example, it may also be composed of a sliding mechanism for making each wheel 52 slide in the left-right direction.

[0085] The traveling mechanism 5 is a mechanism for moving the conveyor robot 1. Each traveling mechanism 5 includes: a pair of traveling actuators 51 at the front and rear respectively; and a pair of wheels 52 that are driven by the pair of traveling actuators 51 to roll.

[0086] A pair of travel actuators 51 are drive units that cause a pair of wheels 52 to roll respectively. Each travel actuator 51 extends axially along the steering drive shaft of each steering actuator 41 and is disposed in each steering actuator 41 in a manner that allows it to rotate about the axis of each steering drive shaft. Each travel actuator 51 rotates integrally with each steering drive shaft by being driven by each steering actuator 41. Furthermore, each travel actuator 51, together with each wheel 52, steers about the axis of each steering drive shaft in conjunction with the rotation of each steering drive shaft generated by the drive of each steering actuator 41.

[0087] Furthermore, each travel actuator 51 has a rolling drive shaft (not shown) orthogonal to the steering drive shaft of each steering actuator 41 and configured to rotate in both clockwise and counterclockwise directions. Each rolling drive shaft is positioned on its top end side opposite to the base end side of each travel actuator 51, which is opposite to each steering actuator 41. Additionally, each wheel 52 is connected (fixed) to each rolling drive shaft. Thus, the wheel 52 can roll integrally with the rolling drive shaft via the drive of the travel actuator 51.

[0088] A support mechanism 6 is provided on the main body 2. The support mechanism 6 temporarily supports the main body 2 on a pair of guide rails such that a pair of wheels 52, which are adjusted to the lifting position during the lifting operation, can be lifted and lowered between each guide rail 111 via the lifting mechanism 3. In addition, the support mechanism 6 includes a pair of support actuators 61 and a pair of support parts 62.

[0089] A pair of support actuators 61 are driving units for moving a pair of support portions 62 between a support position and a retracted position, as described later. Specifically, the pair of support actuators 61 move between the support position and the retracted position by rotating the pair of support portions 62 respectively. The pair of support actuators 61 are fixed to the underside of the mounting surface 21 of the body 2, for example, by means of threaded fastening, located on both sides in the left-right direction. This avoids interference between the support actuators 61 and the vessel S.

[0090] Each support actuator 61 has a support drive shaft that extends vertically and is configured to rotate clockwise and counterclockwise. Each support drive shaft protrudes from the lower surface of each support actuator 61. Each support portion 62 is fixed to each support drive shaft. Thus, each support portion 62 rotates integrally with the support drive shaft about its axis by being driven by the support actuator 61.

[0091] Each support portion 62 is disposed on each support actuator 61 in such a way that it is rotatable about the support drive shaft of each support actuator 61. A pair of support portions 62 are configured such that, driven by a pair of support actuators 61, they can reach a support position overlapping with a pair of guide rails 111 in the vertical direction (see reference). Figure 7A as well as Figure 7B ) and the retraction position located between a pair of guide rails 111 (refer to Figure 6A as well as Figure 6B Move (rotate) between ).

[0092] Furthermore, the pair of support portions 62 are formed into a semi-circular shape when viewed from above. Additionally, when the pair of support portions 62 are rotated to the support position by the drive of the pair of support portion actuators 61, the straight portions of their semi-circular shapes are opposite each other, and the arc portions of their semi-circular shapes are mounted on the guide rail 111 (see reference). Figure 7A as well as Figure 7B On the other hand, when the pair of support portions 62 are rotated to the retracted position by the drive of the pair of support portion actuators 61, their semi-circular arc portions are opposite each other (see reference). Figure 6A as well as Figure 6B This avoids interference between one support part 62 and the other support part 62 when they rotate simultaneously between the support position and the retracted position. Furthermore, when the pair of support parts 62 are rotated to the retracted position by the drive of the pair of support part actuators 61, at least a portion of them is housed below the body 2.

[0093] Although in this embodiment the support mechanism 6 consists of a pair of support actuators 61 and a pair of support portions 62, it is not limited to this. For example, it may consist of a single support actuator and a single support portion. In this case, the single support actuator is disposed at the center in the left-right direction of the body 2, and the single support portion is disposed on the single support actuator in a manner that allows it to rotate about the axis of the support drive shaft extending in the up-down direction. This simplifies the structure of the support mechanism 6, and consequently, simplifies the structure of the transport robot 1.

[0094] In this first variation, similar to the present embodiment, a single support portion is configured to move (rotate) between a support position overlapping with a pair of guide rails 111 in the vertical direction and a retracted position located between the pair of guide rails 111, driven by a single support portion actuator. Furthermore, the single support portion is, for example, formed as a long plate. In addition, when rotated to the support position, both ends of the single support portion in the long side direction are mounted on the pair of guide rails 111. On the other hand, when rotated to the retracted position, the single support portion is housed below the main body 2.

[0095] In this embodiment, the pair of support actuators 61 are configured to move between a support position and a retracted position by rotating the pair of support portions 62 respectively. However, the pair of support actuators 61 are not limited to this; for example, they may also be configured to move between the support position and the retracted position by sliding the pair of support portions 62 in the left-right direction.

[0096] The following is a reference. Figures 4 to 13BThe various actions performed by the transport robot 1 according to this embodiment (i.e., traveling action, turning action and lifting action) will be explained.

[0097] (The movement of the delivery robot)

[0098] First, refer to Figure 4 The description then goes on to explain the movement actions performed by the transport robot 1.

[0099] Figure 4 This is a perspective view showing the movement of the transport robot 1 along guide rail 111 during its travel motion. Additionally, in... Figure 4 In this way, the multiple guide rails arranged on the front side of the multiple pairs of guide rails 111 are omitted so that the conveyor robot 1 can be easily visually confirmed.

[0100] like Figure 4 As shown, during its movement, the conveying robot 1 becomes a flattened state extending in the front-to-back direction and travels along the guide rail 111 (specifically, the lower guide rail 111C) of the structure 10. This ensures a larger loading area above the loading platform 21 for holding the food container S compared to a conveying robot 1 that is not flattened during movement. Consequently, when multiple conveying robots 1 travel on different upper and lower guide rails 111, interference between the food container S placed on the loading platform 21 of the conveying robot 1 traveling on the lower guide rail 111 and the conveying robot 1 traveling on the upper guide rail 111 is easily avoided.

[0101] In this configuration, the transport robot 1 controls the pair of lifting actuators 31 and the pair of steering actuators 41 with the pair of lifting actuators 31, the two pairs of steering actuators 41, and the two pairs of traveling actuators 51 located on the same horizontal plane. Additionally, in this configuration, the connecting portions 322 of the pair of swinging portions 32 face forward and backward, respectively.

[0102] Furthermore, the transport robot 1 performs forward or backward movement by controlling two pairs of traveling actuators 51 and causing two pairs of wheels 52 to roll on the guide rail 111. Additionally, during movement, the steering drive shaft of the steering actuator 41, which steers the traveling actuators 51, extends in the longitudinal direction. In this case, the traveling actuators 51 can only rotate around the axis of the steering drive shaft extending in the longitudinal direction via the drive of the steering actuator 41; therefore, during movement, the transport robot 1 cannot be steered by the drive of the steering actuator 41.

[0103] (The turning motion of the conveyor robot)

[0104] Then, while referring to Figure 5The explanation will cover the turning motion performed by the transport robot 1.

[0105] Figure 5 A three-dimensional view showing the turning state of the transport robot 1 during a turning action.

[0106] During the turning action, the conveying robot 1 is driven by a pair of lifting actuators 31 to stand up from the flat state during the traveling action, and changes the orientation of the traveling mechanism 5 in the turning area 12 of the structure 10 by the driving of the turning actuator 41, thereby turning.

[0107] When changing from a traveling motion to a steering motion, the transport robot 1 controls a pair of lifting actuators 31 by swinging a pair of swinging parts 32 downwards. Furthermore, the pair of swinging parts 32 swing downwards driven by the lifting actuators 31, thereby changing the two pairs of traveling actuators 51, which are mounted on the pair of swinging parts 32 via two pairs of steering actuators 41, from a horizontal state to an upright state. That is, the two pairs of traveling actuators 51 change in that the steering drive shaft of each steering actuator 41 extends in the vertical direction. In this way, the body 2 of the transport robot 1 is supported by the two pairs of steering actuators 41 and the two pairs of traveling actuators 51, and stands upright (rises) relative to the two pairs of wheels 52.

[0108] In addition, such as Figure 5 As shown, since the steering drive shaft of each steering actuator 41 extends in the vertical direction during the steering action, the orientation of each travel actuator 51 connected to each steering drive shaft and the wheel 52 set on each travel actuator 51 is changed by the drive of the steering actuator 41, so the transport robot 1 turns.

[0109] (The lifting and lowering motion of the conveyor robot)

[0110] Next, the lifting action performed by the robot 1 in the lifting area 11 of the structure 10 will be explained.

[0111] In addition, refer to Figure 6 to... Figure 13B The description will focus solely on the ascending motion of the lifting mechanism of the conveyor robot 1. The descending motion, being the complete reverse of the ascending motion, will not be described here.

[0112] Figure 6A This is a perspective view showing the situation where, during the upward movement, the main body 2 rises relative to the wheel 52, causing the transport robot 1 to change from a moving state to a turning state. Figure 6B This is a front view showing the situation where, during the upward movement, the body 2 rises relative to the wheel 52, causing the transport robot 1 to change from a traveling state to a turning state. Figure 7AA perspective view showing the support state of the support unit 62, which is mounted on the middle guide rail 111B, as it moves from the retreat position to the support position during the upward movement. Figure 7B A front view showing the support state of the support unit 62, which is mounted on the middle guide rail 111B, when the support unit 62 moves from the retracted position to the support position during the upward movement. Figure 8A This is a perspective view showing the wheel 52 being stored in the lifting position from the traveling position during the lifting motion. Figure 8B This is a front view showing the wheel 52 being stored in the lifting position from the traveling position during the lifting action. Figure 9 This is a perspective view showing one of the wheel rising states of wheel 52 relative to the lower guide rail 111C during the rising action. Figure 10 This is a perspective view showing the second state of wheel 52 rising relative to the lower guide rail 111C during the rising motion. Figure 11A This is a perspective view showing the wheel 52 in its deployed state from the lifting position to the traveling position during the lifting action. Figure 11B This is a front view showing the wheel 52 in its deployed state, from the lifting position to the traveling position, during the lifting action. Figure 12A This is a perspective view showing the support unit 62 in a retreating state, moving from the support position to the retreating position during the upward movement. Figure 12B This is a front view showing the support unit 62 in a retreating state, moving from the support position to the retreating position during the upward movement. Figure 13A This is a perspective view showing the situation where the body 2 rises relative to the wheel 52 during the upward movement, causing the transport robot 1 to change from a suspended state to a moving state. Figure 13B This is a front view showing the situation where, during the lifting motion, the main body 2 rises relative to the wheels 52, causing the transport robot 1 to change from a suspended state to a traveling state. Additionally, in... Figure 6A , Figure 7A , Figure 8A , Figure 9 A, Figure 10 A, Figure 12A as well as Figure 13A In this way, the multiple guide rails arranged on the front side of the multiple pairs of guide rails 111A, 111B, 111C are omitted so that the conveyor robot 1 can be easily visually confirmed.

[0113] In this embodiment, as described above, in the lifting area 11 of the structure 10 that the transport robot 1 can lift, three pairs of guide rails 111 (upper guide rail 111A, middle guide rail 111B, and lower guide rail 111C) are arranged in parallel with a predetermined interval H between them.

[0114] First, in step S1 during the lifting action, the transport robot 1, mounted on the lower guide rail 111C in the lifting area 11, is raised from its flat state during the traveling action by a pair of lifting actuators 31. Specifically, when changing from the flat state during the traveling action to the steerable state during the lifting action, the transport robot 1 controls the pair of lifting actuators 31 by swinging the pair of swinging parts 32 downwards at a predetermined angle (here, 90 degrees).

[0115] Furthermore, a pair of swinging parts 32 are driven by the lifting actuator 31 to swing downwards at a predetermined angle, thereby changing the two pairs of traveling actuators 51 from a horizontal state to an upright state. Figure 6A , Figure 6B As shown, the main body 2 of the transport robot 1 is supported by two pairs of steering actuators 41 and two pairs of traveling actuators 51, and is erected (raised) relative to two pairs of wheels 52, accompanied by the swinging of a pair of swinging parts 32 driven by a pair of lifting actuators 31. In this way, the lifting mechanism 3 can raise the main body 2 and the two pairs of wheels 52 relative to a pair of guide rails 111 during the lifting action (specifically, when the two pairs of wheels 52 are placed on a pair of guide rails 111).

[0116] When the robot changes from a flat state during a walking motion to a steerable state during an ascending motion, the conveyor robot 1 can also control the two pairs of walking actuators 52 in such a way that the two pairs of wheels 52 are close to each other, thereby assisting the drive of a pair of lifting actuators 31.

[0117] In addition, when the flat state during the traveling motion changes to the steerable state during the rising motion, the body 2 of the conveying robot 1, a pair of lifting actuators 31, two pairs of steering actuators 41, a pair of support actuators 61, and a pair of support parts 62 pass between a pair of middle guide rails 111B and rise.

[0118] During the upward movement and in the directional state, the main body 2 of the conveying robot 1 and the pair of support parts 62 are positioned above the pair of middle guide rails 111B (see reference). Figure 6B In this way, a pair of support units 62 can be respectively mounted on a pair of intermediate guide rails 111B by driving a pair of support unit actuators 61.

[0119] Next, in step S2 during the lifting action, the transport robot 1 controls a pair of support actuators 61 by rotating a pair of support units 62 from a retracted position located between a pair of guide rails 111 to a support position that overlaps with the pair of guide rails 111 in the vertical direction.

[0120] In addition, such as Figure 7A as well as Figure 7BAs shown, a pair of support sections 62 are rotated from a retracted position to a supported position by a pair of support section actuators 61, and are respectively mounted on a pair of intermediate guide rails 111B. In this case, the transport robot 1 is supported by a pair of lower guide rails 111C and a pair of intermediate guide rails 111B in the lifting area 11 by a pair of support sections 62, in addition to the two pairs of wheels 52.

[0121] Next, in step S3 during the lifting action, the conveying robot 1 controls the two pairs of steering actuators 41 by rotating the two pairs of wheels 52 from a traveling position that overlaps with a pair of guide rails 111 in the vertical direction to a lifting position located between the pair of guide rails 111.

[0122] In addition, such as Figure 8A as well as Figure 8B As shown, the two pairs of wheels 52 are rotated from the traveling position to the lifting position by the drive of the two pairs of steering actuators 41. In this case, the transport robot 1 is not supported by the two pairs of wheels 52, but is temporarily supported on the middle guide rail 111B only by a pair of support parts 62. In this way, the two pairs of wheels 52 can be lifted and lowered between the guide rails 111, which are arranged in a manner with a predetermined interval H. In addition, when a pair of wheels 52 is rotated to the lifting position, the pair of wheels 52 are facing each other.

[0123] Next, in step S4 during the lifting action, the transport robot 1 controls a pair of lifting actuators 31 by swinging a pair of swinging parts 32 from below to above by twice the predetermined angle (here, 180 degrees).

[0124] In addition, such as Figure 9 as well as Figure 10 As shown, a pair of swinging parts 32, driven by a pair of lifting actuators 31, swing upwards from below by twice the predetermined angle together with two pairs of steering actuators 41 and two pairs of travel actuators 51. In this way, two pairs of wheels 52, mounted on the two pairs of travel actuators 51, pass between a pair of intermediate guide rails 111B in conjunction with the pair of swinging parts 32, and rise between the guide rails 111 in a position higher than the pair of upper guide rails 111A. Thus, the lifting mechanism 3 can raise the two pairs of wheels 52 and the body 2 relative to the pair of guide rails 111 during the lifting operation (specifically, when the body 2 is temporarily supported on the pair of guide rails 111 by the support mechanism 6).

[0125] Next, in step S5 during the lifting action, the conveying robot 1 controls the two pairs of steering actuators 41 by rotating the two pairs of wheels 52 from the lifting position to the traveling position.

[0126] In addition, such as Figure 11A as well as Figure 11BAs shown, the two pairs of wheels 52 are rotated from the lifting position to the traveling position by the drive of the two pairs of steering actuators 41, and are respectively mounted on a pair of upper guide rails 111A. In this case, the transport robot 1 is supported by the two pairs of wheels 52 and a pair of support parts 62 on a pair of upper guide rails 111A and a pair of middle guide rails 111B.

[0127] Next, in step S6 during the lifting action, the transport robot 1 controls a pair of support actuators 61 by rotating a pair of support parts 62 from the support position to the retraction position.

[0128] In addition, such as Figure 12A as well as Figure 12B As shown, a pair of support units 62 rotate from a supported position to a retracted position by a pair of support unit actuators 61. In this case, the transport robot 1 is not supported by the pair of support units 62, but is supported only by two pairs of wheels 52 on a pair of upper guide rails 111A.

[0129] Next, in step S7 during the lifting action, the transport robot 1 changes from the suspended state during the lifting action to the flat state during the traveling action by driving a pair of lifting actuators 31. Specifically, when changing from the suspended state during the lifting action to the flat state during the traveling action, the transport robot 1 controls a pair of lifting actuators 31 by swinging a pair of swinging parts 32 downwards at a predetermined angle.

[0130] In addition, such as Figure 13A as well as Figure 13B As shown, a pair of swinging parts 32 swing downwards at a predetermined angle by the drive of the lifting actuator 31, thereby changing the two pairs of steering actuators 41 and the two pairs of traveling actuators 51 from an upright state to a horizontal state.

[0131] When the suspended state during the lifting action changes to the flat state during the traveling action, the conveying robot 1 can also control the two pairs of traveling actuators 51 in a manner where the two pairs of wheels 52 are separated from each other, thereby assisting the drive of a pair of lifting actuators 31.

[0132] Furthermore, when the robot changes from its suspended state during the lifting motion to its flattened state during the traveling motion, the body 2 of the transport robot 1, a pair of lifting actuators 31, two pairs of steering actuators 41, a pair of support actuators 61, and a pair of support sections 62 pass between a pair of upper guide rails 111A and rise. In this way, the lifting motion of the transport robot 1 is completed.

[0133] Furthermore, the "predetermined interval H" between the guide rails 111 arranged in the vertical direction is the interval between the position of the lowest wheel 52 when the swinging part 32 swings to the lowest position (here, the swinging part 32 swings 90 degrees downward from the horizontal position) and the position of the highest wheel 52 when the swinging part 32 swings to the highest position (here, the swinging part 32 swings 90 degrees upward from the horizontal position).

[0134] That is, when the interval between the guide rails 111 arranged in the vertical direction is greater than the predetermined interval H, even if the two pairs of wheels 52 mounted on the pair of guide rails 111 arranged in the lower section are raised when the swinging part 32 swings from the lowermost position to the uppermost position, it is impossible to mount them on the pair of guide rails 111 arranged in the upper section that are adjacent to the pair of guide rails 111 arranged in the lower section.

[0135] As described above, although the lifting action of transporting robot 1 from a pair of lower guide rails 111C to a pair of upper guide rails 111A in the lifting area 11 of structure 10 has been described, it is not limited to this. For example, the lifting action of transporting robot 1 from a pair of lower guide rails 111C to a pair of middle guide rails 111B in the lifting area 11 of structure 10 can also be performed.

[0136] The effects produced by this embodiment will be explained below.

[0137] The conveying robot 1 involved in this embodiment is a conveying robot 1 that, in a structure 10 having a lifting area 11 having multiple pairs of guide rails 111 arranged at predetermined intervals H, travels on multiple guide rails 111 arranged at predetermined intervals H during movement, and lifts and lowers between the multiple guide rails 111 arranged at predetermined intervals H during lifting and lowering. The conveying robot 1 includes: a body 2; a pair of wheels 52 configured to roll relative to each pair of guide rails; a lifting mechanism 3 provided on the body 2, which lifts and lowers the body 2 and the pair of wheels 52 relative to the pair of guide rails 111 during lifting and lowering; and a pair of wheel position adjustment mechanisms. The mechanism 4 is provided on the lifting mechanism 3, and adjusts a pair of wheels 52 between a traveling position overlapping with a pair of guide rails 111 in the vertical direction and a lifting position between the pair of guide rails 111; the traveling actuator 51 is provided on the wheel position adjustment mechanism 4, and moves the body 2 by rolling the pair of wheels 52; the support mechanism 6 is provided on the body 2, and temporarily supports the body 2 on the pair of guide rails 111 in such a way that the pair of wheels 52 adjusted to the lifting position during the lifting action can move up and down between the guide rails 111 via the lifting mechanism 3; when the pair of wheels 52 adjusted to the traveling position during the lifting action are placed on the pair of guide rails 111, the body 2 moves up and down between the guide rails 111 via the lifting mechanism 3.

[0138] The conveying system 100 according to this embodiment includes: a structure 10 having a lifting area 11 with multiple pairs of guide rails 111 arranged at predetermined intervals H; a conveying robot 1 that, in the structure 10, travels on the multiple guide rails 111 arranged at predetermined intervals H during a traveling motion, and lifts and lowers between the multiple guide rails 111 arranged at predetermined intervals H during a lifting motion. The conveying robot 1 includes: a body 2; a pair of wheels 52 configured to roll relative to the pair of guide rails respectively; a lifting mechanism 3 disposed on the body 2, which lifts and lowers the body 2 and the pair of wheels 52 relative to the pair of guide rails 111 respectively during a lifting motion; and a pair of wheel position adjustment mechanisms. The mechanism 4 is provided on the lifting mechanism 3, and adjusts a pair of wheels 52 between a traveling position overlapping with a pair of guide rails 111 in the vertical direction and a lifting position between the pair of guide rails 111; the traveling actuator 51 is provided on the wheel position adjustment mechanism 4, and moves the body 2 by rolling the pair of wheels 52; the support mechanism 6 is provided on the body 2, and temporarily supports the body 2 on the pair of guide rails 111 in such a way that the pair of wheels 52 adjusted to the lifting position during the lifting action can move up and down between the guide rails 111 via the lifting mechanism 3; when the pair of wheels 52 adjusted to the traveling position during the lifting action are placed on the pair of guide rails 111, the body 2 moves up and down between the guide rails 111 via the lifting mechanism 3.

[0139] According to the above structure, when the main body 2 is temporarily supported on a pair of guide rails 111 by the support mechanism 6 during the lifting action, the pair of wheels 52 adjusted to the lifting position move up and down between the guide rails 111 by the lifting mechanism 3. When the pair of wheels 52 adjusted to the traveling position are placed on a pair of guide rails 111 during the lifting action, the main body 2 moves up and down between the guide rails by the lifting mechanism 3. Therefore, the transport robot 1 can move up and down between the guide rails 111 arranged vertically in any location in the lifting area 11 of the structure 10, which does not have a dedicated lifting mechanism. In addition, since no dedicated lifting mechanism as in the prior art is provided in the lifting area 11, the structure of the structure 10 can be simplified.

[0140] In addition, in this embodiment, the lifting mechanism 3 includes: a lifting actuator 31, which is provided at one end and the other end of the main body 2 in the front-rear direction, and has a swing drive shaft extending in the left-right direction orthogonal to the front-rear direction; a swing part 32, which is provided on the lifting actuator 31 in such a way that it can swing around the axis of the swing drive shaft. When the main body 2 is temporarily supported on a pair of guide rails 111 by the support mechanism 6 during the lifting operation, a pair of wheels 52 adjusted to the lifting position move up and down between the guide rails 111 in a manner that is linked with the swing part 32 which swings by the drive of the lifting actuator 31.

[0141] According to this structure, the lifting mechanism 3 can be easily constructed using the lifting actuator 31 and the swing portion 32 provided on the lifting actuator 31. In addition, since the pair of wheels 52 adjusted to the lifting position move up and down between the guide rails 111 in a manner linked with the swing portion 32 that swings through the lifting actuator 31, the lifting of the pair of wheels 52 implemented by the lifting mechanism 3 can be easily realized.

[0142] In addition, in this embodiment, when a pair of wheels 52 are respectively placed on a pair of guide rails 111 during the lifting operation, the main body 2 moves up and down between each guide rail 111 along with the swing of the swinging part 32 driven by the lifting actuator 31.

[0143] According to this structure, when a pair of wheels 52 are respectively placed on a pair of guide rails 111 during the lifting operation, the main body 2 moves up and down between the guide rails 111 along with the swing of the swing part 32 driven by the lifting actuator 31. Therefore, the lifting of the main body 2 implemented by the lifting mechanism 3 can be easily realized.

[0144] In addition, in this embodiment, the wheel position adjustment mechanism 4 is composed of a pair of steering actuators 41 that are provided on the left and right sides of the swing part 32 and respectively turn a pair of wheels 52.

[0145] According to this structure, the wheel position adjustment mechanism 4 can be easily implemented using a pair of steering actuators 41. Furthermore, by using the pair of steering actuators 41 as the wheel position adjustment mechanism 4, the position of the wheel 52 can be easily adjusted without the need for a separate dedicated adjustment mechanism. As a result, the structure of the transport robot 1 can be simplified.

[0146] In addition, in this embodiment, the travel actuator 51 is disposed on a pair of steering actuators 41 in such a way that it is rotatable about the axis of the steering drive shaft of the steering actuator 41.

[0147] According to this structure, the transport robot 1 can turn because the orientation of the traveling actuator 51 can be easily changed by driving the steering actuator 41.

[0148] In addition, in this embodiment, the support mechanism 6 includes: a support portion 62, which is configured to move between a support position overlapping with a pair of guide rails 111 in the vertical direction and a retracted position located between the pair of guide rails 111; and a support portion actuator 61, which moves the support portion 62 between the support position and the retracted position.

[0149] According to this structure, the support mechanism 6 can be easily constructed by means of the support part 62 and the support part actuator 61 that moves the support part 62.

[0150] In addition, in this embodiment, a mounting surface 21 for holding the food container S is provided on the main body 2, and the support actuator 61 is provided below the mounting surface 21.

[0151] According to this structure, by placing the support actuator 61 below the mounting surface 21, interference between the support actuator 61 and the vessel S can be avoided.

[0152] (Structure of the transport robot in the first variation)

[0153] Then, while referring to Figure 14 The structure of the transport robot 1 in the first modified example will be described. Furthermore, in this first embodiment, details that are the same as in the above-described embodiment will be omitted, and the description will mainly focus on the differences from the above-described embodiment.

[0154] Figure 14 A perspective view of the first modified transport robot 1.

[0155] Although in the above embodiment, the steering drive shaft of each steering actuator 41 is arranged to extend along the extending direction of the swing arm 321 of the swing portion 32, it is not limited to this, for example, as Figure 14 As shown, it can also be configured to extend in a direction orthogonal to the extension direction of the swing arm 321.

[0156] In this configuration, the steering drive shafts of each steering actuator 41 are arranged to extend vertically during the traveling motion. This allows the transport robot 1 to switch from traveling to steering without causing the swing portion 32 of the lifting mechanism 3 to swing. This simplifies the overall movements of the transport robot 1.

[0157] Furthermore, in the above embodiment, the support mechanism 6 comprises a pair of support actuators 61 and a pair of support portions 62. The pair of support actuators 61 have support drive shafts extending in a vertical direction, and the pair of support portions 62 are disposed on the pair of support actuators 61 in a manner rotatable about the axis of the support drive shafts extending in the vertical direction. However, the support mechanism 6 is not limited to this; for example, as... Figure 14 As shown, it can also be achieved by a pair of support actuators 61A (see reference). Figure 15 It consists of a pair of support parts 62A, wherein the pair of support part actuators 61A are provided on the left and right sides of the body 2 and have a rotary drive shaft extending in the front-back direction, and the pair of support parts 62A are provided on the pair of support part actuators 61 in such a way that they can rotate around the rotary drive shaft.

[0158] In this case, each support portion 62A can be set as a rectangle extending in the front-back direction instead of being semicircular when viewed from above. Therefore, when the main body 2 is temporarily supported on a pair of guide rails 111 by a pair of support portions 62A, the contact area between the pair of support portions 62A and the pair of guide rails 111 can be increased compared to the above embodiment, thus improving the stability of the support.

[0159] (The traveling and turning movements of the transport robot in the first variation)

[0160] The traveling and turning actions performed by the transport robot 1 in the first variation are largely the same as those in the above embodiment, therefore, their description is omitted.

[0161] (The lifting motion of the transport robot in the first variation)

[0162] Next, the lifting action performed by the transport robot 1 of the first modified example in the lifting area 11 of the structure 10 will be described.

[0163] While referring to Figures 15 to 20 The description will focus solely on the ascending motion of the lifting action performed by the transport robot 1 in the first variation. The descending motion, being the complete opposite of the ascending motion, will not be described further.

[0164] Figure 15 This is a perspective view showing the support section 62A of the first modified transport robot 1 moving from the retracted position to the support position and being placed on the lower guide rail during the lifting action. Figure 16 This is a perspective view showing the storage state of the wheel 52 of the first modified transport robot 1, which is stored in the lifting position from the traveling position during the lifting action. Figure 17A perspective view showing the wheel 52 of the first modified transport robot 1 rising relative to the body 2 of the first modified transport robot 1 during the lifting action. Figure 18A This is a perspective view showing the wheel 52 of the first modified transport robot 1 in the wheel-deployment state from the lifting position to the traveling position during the lifting action. Figure 18B This is a front view showing the wheel 52 of the first modified transport robot 1 in the wheel-deployed state as it extends from the lifting position to the traveling position during the lifting action. Figure 19A This is a perspective view showing the support part 62A of the first modified conveyor robot 1 in a retreating state, moving from the support position to the retreating position during the lifting and lowering operation. Figure 19B This is a front view showing the support section 62A of the first modified conveyor robot 1 in the support section retreating state, which moves from the support position to the retreating position during the lifting and lowering operation. Figure 20 A perspective view showing the body 2 of the first modified transport robot 1 rising relative to the wheel 52 of the first modified transport robot 1 during the lifting action.

[0165] Although in the above embodiment, in the lifting area 11 of the structure 10 to which the transport robot 1 can be lifted and lowered, three pairs of guide rails 111 are arranged at predetermined intervals H, the arrangement is not limited to this. For example, it may also be arranged as follows: Figures 15 to 20 As shown, two pairs (upper guide rail 111D, lower guide rail 111E) are arranged. In this case, the middle guide rail 111B of the above embodiment is not provided in the lifting area 11. That is, the conveying robot 1 can be raised from the lower guide rail 111E to the upper guide rail 111D without using the middle guide rail 111B. Furthermore, in Figure 15 , Figure 16 , Figure 17 , Figure 18A , Figure 19A as well as Figure 20 In this way, the multiple guide rails arranged on the front side of the multiple pairs of guide rails 111D and 111E are omitted so that the conveyor robot 1 can be easily visually confirmed.

[0166] Next, in step S1A during the lifting action, the transport robot 1 controls a pair of support actuators 61A by rotating a pair of support portions 62A from a retracted position located between a pair of guide rails 111 to a support position that overlaps with the pair of guide rails 111 in the vertical direction.

[0167] In addition, such as Figure 15 As shown, a pair of support sections 62A are driven by a pair of support section actuators 61 as follows: Figure 15As indicated by arrow R, the robot rotates from the retracted position to the support position and is placed on a pair of lower guide rails 111E. In this case, the transport robot 1 is supported by a pair of lower guide rails 111E in the lifting area 11 via a pair of support parts 62A, in addition to the two pairs of wheels 52.

[0168] Next, in step S2A during the lifting action, the conveying robot 1 controls the two pairs of steering actuators 41 by rotating the two pairs of wheels 52 from a traveling position that overlaps with a pair of guide rails 111 in the vertical direction to a lifting position located between the pair of guide rails 111.

[0169] In addition, such as Figure 16 As shown, the two pairs of wheels 52 are rotated from the traveling position to the lifting position by the drive of the two pairs of steering actuators 41. In this case, the transport robot 1 is not supported by the two pairs of wheels 52, but is temporarily supported on the lower guide rail 111E only by a pair of support parts 62A. In this way, the two pairs of wheels 52 can be lifted and lowered between the guide rails 111. In addition, when one pair of wheels 52 is rotated to the lifting position, the pair of wheels 52 are facing each other.

[0170] Next, in step S3A during the lifting action, the transport robot 1 controls a pair of lifting actuators 31 by swinging a pair of swinging parts 32 from below to above by twice the predetermined angle (here, 180 degrees).

[0171] In addition, such as Figure 17 As shown, a pair of swinging parts 32, driven by a pair of lifting actuators 31, swing upwards from below by twice the predetermined angle together with two pairs of steering actuators 41 and two pairs of travel actuators 51. In this way, the two pairs of wheels 52, mounted on the two pairs of travel actuators 51, move in conjunction with the pair of swinging parts 32, rising between the guide rails 111 in a manner positioned higher than the pair of upper guide rails 111D. Thus, the lifting mechanism 3 can raise the two pairs of wheels 52 and the body 2 relative to the pair of guide rails 111 during the lifting operation (specifically, when the body 2 is temporarily supported on the pair of guide rails 111 by the support mechanism 6).

[0172] Next, in step S4A during the lifting action, the conveying robot 1 controls the two pairs of steering actuators 41 by rotating the two pairs of wheels 52 from the lifting position to the traveling position.

[0173] In addition, such as Figure 18A as well as Figure 18BAs shown, the two pairs of wheels 52 are rotated from the lifting position to the traveling position by the drive of the two pairs of steering actuators 41, and are respectively mounted on a pair of upper guide rails 111D. In this case, the transport robot 1 is supported by the two pairs of wheels 52 and a pair of support parts 62 on a pair of upper guide rails 111D and a pair of lower guide rails 111E.

[0174] Next, in step S5A during the lifting action, the conveying robot 1 controls a pair of support actuators 61A by rotating a pair of support parts 62A from the support position to the retraction position.

[0175] In addition, such as Figure 19A as well as Figure 19B As shown, a pair of support units 62A rotate from a supported position to a retracted position by a pair of support unit actuators 61A. In this case, the transport robot 1 is not supported by the pair of support units 62A, but is supported only by two pairs of wheels 52 on a pair of upper guide rails 111D.

[0176] Next, in step S6A during the lifting action, the transport robot 1 changes from the suspended state during the lifting action to the traveling state (or turning state) by driving a pair of lifting actuators 31. Specifically, when changing from the suspended state during the lifting action to the traveling state (or turning state), the transport robot 1 controls the pair of lifting actuators 31 by swinging the pair of swinging parts 32 downward by twice the predetermined angle (here, 180 degrees).

[0177] In addition, such as Figure 20 As shown, a pair of swinging parts 32 swing downwards by twice the predetermined angle (here, 180 degrees) driven by the lifting actuators 31, thereby changing from the suspended state during the upward movement to the traveling state. The body 2 of the transport robot 1, a pair of lifting actuators 31, two pairs of steering actuators 41, two pairs of traveling actuators 51, a pair of support actuators 61A, and a pair of support parts 62A pass between a pair of upper guide rails 111D and rise. In this way, the upward movement of the transport robot 1 is completed.

[0178] Since the lifting action in this first variation does not include step S1 as included in the lifting action of the above embodiment, the steps of the lifting action can be simplified, thereby simplifying the steps of the lifting action.

[0179] (Structure of the transport robot in the second variation)

[0180] Then, while referring to Figure 21The structure of the transport robot 1 in the second variation will be described. Furthermore, in this second embodiment, details identical to those in the first variation will be omitted, and the description will primarily focus on the differences from the first embodiment.

[0181] Figure 21 This is a perspective view of the transport robot 1 in the second modified example. Additionally, in Figure 21 In this way, the multiple guide rails arranged on the front side of the multiple pairs of guide rails 111A, 111B, 111C are omitted so that the conveyor robot 1 can be easily visually confirmed.

[0182] Although in the first variation described above, the body 2 is composed of a rectangular base component extending in the front-to-back direction, it is not limited to this. For example, it may also be composed of a base component that appears cross-shaped when viewed from above (see reference). Figure 25 This configuration allows for a lighter body 2 compared to a rectangular base component.

[0183] Furthermore, in the first embodiment described above, each lifting mechanism 3 is composed of a lifting actuator 31 and a swinging part 32. The lifting actuator 31 has a swinging drive shaft extending along a left-right direction orthogonal to the front-back direction, and the swinging part 32 is disposed on the lifting actuator 31 in a manner that allows it to swing about the axis of the swinging drive shaft. However, the lifting mechanism 3 is not limited to this; for example, as... Figure 21 As shown, it can also be composed of a pair of lifting actuators 31A and a longitudinal connecting rod structure 33 as a linkage structure. The pair of lifting actuators 31A are disposed at one end or the other end in the front-rear direction of the body 2 and have a swing drive shaft extending in the front-rear direction. The longitudinal connecting rod structure 33 is disposed on the pair of lifting actuators 31A in a manner that allows it to swing about the axis of the lifting drive shaft. In this case, the pair of lifting actuators 31A are the driving parts for swinging the longitudinal connecting rod structure 33.

[0184] The longitudinal link structure 33 is formed in the shape of a scaler (see reference). Figures 21 to 25 Additionally, the longitudinal link structure 33 includes: a pair of elongated upper links 331, one end of which is hinged to the swing drive shaft of a pair of lifting actuators 31A; a pair of elongated lower links 332, one end of which is hinged to the other end of the pair of upper links 331; and an elongated horizontal portion 333, the center of which is hinged to the other end of the pair of lower links 332, and extends along the left-right direction (horizontal direction).

[0185] like Figure 21As shown, a pair of steering actuators 41 serving as wheel position adjustment mechanisms 4 are provided at both ends (specifically, the left and right ends) of the horizontal portion 333. Similar to the above embodiment and the first variation, each travel actuator 51 of the travel mechanism 5 is provided on each steering actuator 41 in such a way that it can rotate about the axis of the steering drive shaft of the steering actuator 41.

[0186] The scaling-meter-shaped longitudinal linkage structure 33 extends and retracts in the vertical direction via the lifting actuator 31A. Specifically, the longitudinal linkage structure 33 is configured such that the upper linkage 331 rotates integrally with each swing drive shaft via the lifting actuator 31A, and the lower linkage 332, in conjunction with the rotation of the upper linkage 331, causes the horizontal portion 333 to rise and fall between each guide rail 111 (see reference). Figures 21 to 24 In this way, the steering actuator 41, which is provided in the horizontal section 333, and the travel actuator 51, which is provided in the steering actuator 41, can move up and down between the guide rails 111. As a result, the wheel 52, which is provided in the travel actuator 51, can move up and down between the guide rails 111.

[0187] The upper link 331 is positioned between the lower link 332 and the lifting actuator 31A along the front-to-back direction, and the lower link 332 is positioned between the horizontal portion 333 and the upper link 331 along the front-to-back direction. Therefore, even if each upper link 331 swings due to the drive of each lifting actuator 31A, each lower link 332 does not interfere with each lifting actuator 31A. As a result, each upper link 331 swings about the axis of each swing drive shaft and throughout a predetermined range of angles (here, 180 degrees) by the drive of each lifting actuator 31A.

[0188] Although in the first variation described above, the transport robot 1 has a body 2 with a mounting surface 21, it is not limited to this. For example, as Figure 21 As shown, in addition to the main body 2, it may also include a mounting section 7 and a transfer mechanism 8. The transfer mechanism 8 is disposed on the main body 2 and transfers the mounting section 7 between a conveying position located between a pair of guide rails 111 and a receiving position located on the outer side compared to the pair of guide rails 111 (see reference). Figure 25 In this case, no mounting surface 21 is provided on the main body 2. Additionally, "receiving position" refers to the position for receiving the food container S (see reference...). Figure 1 The position of ).

[0189] The mounting portion 7 is formed as a rectangular plate when viewed from above. Like the mounting surface 21, the mounting portion 7 is a component for mounting the food container S.

[0190] The transfer mechanism 8 includes: a pair of transfer actuators 81 disposed at the center of the body 2, each having a transfer rotation axis extending in the vertical direction; and a horizontal linkage structure 82 in the shape of a scaler, which is disposed on the pair of transfer actuators 81 in a manner that allows it to swing about the axis of the transfer drive shaft. Furthermore, the structure of the horizontal linkage structure 82 is the same as that of the longitudinal linkage structure 33, therefore, its description is omitted.

[0191] The horizontal linkage structure 82 extends and retracts in the left-right (horizontal) direction by being driven by the transfer actuator 81. This allows the mounting portion 7, connected to the horizontal linkage structure 82, to be moved to receiving positions located on the left and right sides compared to the pair of guide rails 111. As a result, a variety of receiving positions can be achieved.

[0192] Although in this modified example the transfer mechanism 8 is composed of a pair of transfer actuators 81 and a horizontal linkage structure 82, it is not limited to this. For example, it may also be composed of a single transfer actuator 81 and a swing arm with one end hinged to the transfer drive shaft of the transfer actuator 81 and the other end fixed to the mounting part 7.

[0193] (The movement of the transport robot in the second variation)

[0194] The traveling motion performed by the transport robot 1 in the second variation is largely the same as that in the above embodiment, therefore, its description is omitted.

[0195] (Lifting and lowering motion of the transport robot in the second variation)

[0196] Next, the lifting action performed by the transport robot 1 of the second variant in the lifting area 11 of the structure 10 will be described.

[0197] While referring to Figures 21 to 24 The description will focus solely on the ascending motion of the lifting action performed by the transport robot 1 in the second variation. The descending motion, being the complete reverse of the ascending motion, will not be described here.

[0198] Figure 22 This is a perspective view showing the body 2 of the second modified transport robot 1 rising relative to the wheel 52 during the lifting action, through the extension of the longitudinal linkage structure 33 of the lifting mechanism 3. Figure 23 This is a perspective view showing the lifting state of the body 2 of the second modified conveyor robot 1, which is supported by the support part 62A during the lifting action, and the wheel 52, which is stored in the lifting position from the traveling position, is raised relative to the body 2. Figure 24This is a perspective view showing the lifting state of the transport robot 1 in the second modified example during the lifting action, where the wheels 52 are extended from the lifting position to the traveling position, and the main body 2 rises relative to the wheels 52 via the retraction of the longitudinal linkage structure 33 of the lifting mechanism 3. Additionally, in Figures 22 to 24 In this way, the multiple guide rails arranged on the front side of the multiple pairs of guide rails 111A, 111B, 111C are omitted so that the conveyor robot 1 can be easily visually confirmed.

[0199] First, in step S1B during the lifting action, the transport robot 1, mounted on the lower guide rail 111C in the lifting area 11, is lifted from its flat state during the traveling action by the lifting actuator 31. Specifically, when it is lifted from its flat state during the traveling action ( Figure 21 The state shown changes to the rising state of the body during the rising motion. Figure 22 In the state shown, the conveying robot 1 controls a pair of lifting actuators 31A by swinging a pair of upper links 331 of the longitudinal link structure 33 from the horizontal state downwards by a predetermined angle (here, 90 degrees).

[0200] In addition, such as Figure 21 As shown, in the flat state during the movement, the longitudinal link structure 33 of the transport robot 1 is folded. That is, the longitudinal link structure 33 is configured such that, in the flat state during the movement, the upper link 331, the lower link 332, and the horizontal part 333 overlap when viewed from the front (and when viewed from the rear).

[0201] Furthermore, when a pair of wheels 52 are respectively mounted on a pair of lower guide rails 111C, when a pair of upper connecting rods 331 swing downward from a horizontal position driven by a lifting actuator 31A, the longitudinal connecting rod structure 33 extends as a whole in the vertical direction (expand / reference). Figure 22 As a result, the body 2 of the conveying robot 1 passes through and rises between the middle guide rails 111B.

[0202] In addition, when the body changes from the flat state during the traveling motion to the rising state during the rising motion, in addition to the body 2, the two pairs of lifting actuators 31A, the pair of support actuators 61A, the pair of support parts 62A, the loading part 7, and the transfer mechanism 8 of the transport robot 1 also pass through and rise between the pair of middle guide rails 111B.

[0203] Next, in step S2B during the lifting action, the transport robot 1 controls a pair of support actuators 61A by rotating a pair of support units 62A from a retracted position located between a pair of guide rails 111 to a support position that overlaps with the pair of guide rails 111 in the vertical direction.

[0204] In addition, such as Figure 23As shown, a pair of support sections 62A are rotated from a retracted position to a supported position by a pair of support section actuators 61A, and are respectively mounted on a pair of intermediate guide rails 111B. In this case, the transport robot 1 is supported by a pair of lower guide rails 111C and a pair of intermediate guide rails 111B in the lifting area 11 by a pair of support sections 62A, in addition to the two pairs of wheels 52.

[0205] Next, in step S3B during the lifting action, the conveying robot 1 controls the two pairs of steering actuators 41 by rotating the two pairs of wheels 52 from a traveling position that overlaps with a pair of guide rails 111 in the vertical direction to a lifting position located between the pair of guide rails 111.

[0206] Furthermore, the two pairs of wheels 52 are rotated from the traveling position to the lifting position by the drive of the two pairs of steering actuators 41. In this case, the transport robot 1 is not supported by the two pairs of wheels 52, but is temporarily supported by only a pair of support parts 62A on the middle guide rail 111B. In this way, the two pairs of wheels 52 can be lifted and lowered between the guide rails 111, which are arranged in a plurality of manner at predetermined intervals H.

[0207] Next, in step S4B during the lifting action, the transport robot 1 controls a pair of lifting actuators 31A by swinging a pair of upper links 331 of each longitudinal link structure 33 from below to above by twice the predetermined angle (here, 180 degrees).

[0208] Furthermore, each pair of upper links 331 of the longitudinal linkage structure 33, driven by a pair of lifting actuators 31A, swings upward from below by twice the predetermined angle together with a pair of steering actuators 41 and a pair of travel actuators 51. At this time, the horizontal portion 333 rises in such a manner that it changes from an extended state (expanded state) to a retracted state (folded state) and then from a retracted state (folded state) to an extended state (expanded state). As a result, a pair of wheels 52, mounted on the pair of travel actuators 51, pass between a pair of intermediate guide rails 111B in a telescopic linkage with the longitudinal linkage structure 33, and rise between the guide rails 111 in a manner positioned higher than the pair of upper guide rails 111A. Thus, the lifting mechanism 3 can raise the pair of wheels 52 and the body 2 relative to the pair of guide rails 111 during the lifting operation (specifically, when the body 2 is temporarily supported on the pair of guide rails 111 by the support mechanism 6).

[0209] Next, in step S5B during the lifting action, the conveying robot 1 controls the two pairs of steering actuators 41 by rotating the two pairs of wheels 52 from the lifting position to the traveling position.

[0210] In addition, such as Figure 23As shown, the two pairs of wheels 52 are rotated from the lifting position to the traveling position by the drive of the two pairs of steering actuators 41, and are respectively mounted on a pair of upper guide rails 111A. In this case, the transport robot 1 is supported by the two pairs of wheels 52 and a pair of support parts 62A on a pair of upper guide rails 111A and a pair of middle guide rails 111B.

[0211] Next, in step S6B during the lifting action, the transport robot 1 controls a pair of support actuators 61 by rotating a pair of support parts 62A from the support position to the retraction position.

[0212] Furthermore, a pair of support sections 62A rotate from the supported position to the retracted position by a pair of support section actuators 61A. In this case, the transport robot 1 is not supported by the pair of support sections 62A, but is supported only by two pairs of wheels 52 on a pair of upper guide rails 111A.

[0213] Next, in step S7B during the lifting action, the transport robot 1 changes from the suspended state during the lifting action to the flat state during the traveling action by the lifting actuator 31A. Specifically, when changing from the suspended state during the lifting action to the flat state during the traveling action, the transport robot 1 controls the lifting actuator 31A by swinging the upper link 331 of the longitudinal link structure 33 downward by a predetermined angle.

[0214] In addition, such as Figure 24 As shown, the upper link 331 of the longitudinal link structure 33 is swung downwards at a predetermined angle by the drive of the lifting actuator 31A, thereby causing the longitudinal link structure 33 to retract (fold). As a result, the conveyor robot 1 changes from its suspended state in the raised state... Figure 23 The state shown changes to the flattened state during movement. Figure 24 (The state shown).

[0215] Furthermore, when the robot changes from its suspended state during the lifting motion to its flattened state during the traveling motion, the body 2, two pairs of lifting actuators 31A, two pairs of steering actuators 41, one pair of support actuators 61, and one pair of support sections 62 of the transport robot 1 pass between a pair of upper guide rails 111A and rise. In this way, the lifting motion of the transport robot 1 is completed.

[0216] Furthermore, the "predetermined interval H" between the guide rails 111 arranged in the vertical direction is the interval between the position of the lowest wheel 52 when the upper link 331 of the longitudinal link structure 33 swings to the lowest position (here, the upper link 331 swings 90 degrees downward from the horizontal position) and the position of the highest wheel 52 when the upper link 331 swings to the highest position (here, the upper link 331 swings 90 degrees upward from the horizontal position).

[0217] That is, when the interval between the guide rails 111 arranged in the vertical direction is greater than the predetermined interval H, even if the two pairs of wheels 52 mounted on the pair of guide rails 111 arranged in the lower section are raised when the upper connecting rod 331 swings from the lowest position to the highest position, they cannot be mounted on the pair of guide rails 111 arranged in the upper section in a manner adjacent to the pair of guide rails 111 arranged in the lower section.

[0218] As described above, although the lifting action of the transport robot 1 in the second modified example of the lifting area 11 of the structure 10, which rises from a pair of lower guide rails 111C to a pair of upper guide rails 111A via a pair of middle guide rails 111B, has been described, it is not limited to this. For example, the lifting action of the transport robot 1 rising from a pair of lower guide rails 111C to a pair of middle guide rails 111B in the lifting area 11 of the structure 10 can also be performed.

[0219] (Transfer operation of the loading section of the transport robot in the second variation)

[0220] Then, while referring to Figure 25 The following describes the loading unit transfer operation (hereinafter referred to as the loading unit transfer operation) performed by the transport robot 1 in the second variation.

[0221] Figure 25 This is a perspective view of the second variation of the conveying robot 1, showing the loading section 7 being moved from the conveying position to the receiving position via the transfer mechanism 8. Additionally, in... Figure 25 In this way, the multiple guide rails arranged on the front side of the multiple pairs of guide rails 111A, 111B, 111C are omitted so that the conveyor robot 1 can be easily visually confirmed.

[0222] like Figure 25 As shown, during the transfer operation of the mounting section, the horizontal linkage structure 82 extends (unfolds) in the left direction (horizontal direction) by the drive of the transfer actuator 81, thereby transferring the mounting section 7 connected to the horizontal linkage structure 82 to a receiving position on the left side compared to the pair of guide rails 111.

[0223] Next, the effects produced by this second variation will be explained.

[0224] In this second variation, the lifting mechanism 3 includes: a lifting actuator 31A, which is disposed at both ends of the body 2 in the front-rear direction and has a swing drive shaft extending in the front-rear direction; a longitudinal linkage structure 33, which is disposed on the lifting actuator 31A in a manner that allows it to swing about the axis of the swing drive shaft. When the body 2 is temporarily supported on a pair of guide rails 111 by the support mechanism 6 during the lifting action, a pair of wheels 52, which are adjusted to the lifting position, move up and down between the guide rails 111 in a manner that is linked with the longitudinal linkage structure 33, which is extended and retracted by the drive of the lifting actuator 31A.

[0225] According to this structure, the lifting mechanism 3 can be easily constructed using the lifting actuator 31A and the longitudinal connecting rod structure 33 provided in the lifting actuator 31A. Furthermore, since the pair of wheels 52 adjusted to the lifting position move up and down between the guide rails 111 in a manner linked to the longitudinal connecting rod structure 33 which extends and retracts via the lifting actuator 31A, the lifting of the pair of wheels 52 implemented by the lifting mechanism 3 can be easily achieved.

[0226] Furthermore, since the lifting actuator 31A is configured such that its swing drive shaft extends along the longitudinal direction, although the longitudinal linkage structure 33 extends and retracts along the vertical direction as a whole during the lifting action, a portion of the conveying robot 1 does not protrude in the longitudinal direction. Therefore, compared to the conveying robot 1 of the above embodiment, miniaturization in the longitudinal direction of the conveying robot 1 can be achieved.

[0227] In addition, in this second variation, when a pair of wheels 52 are respectively placed on a pair of guide rails 111 during the lifting action, the main body 2 moves up and down between the guide rails 111 along with the extension and retraction of the longitudinal linkage structure 33 driven by the lifting actuator 31A.

[0228] According to this structure, when a pair of wheels 52 are respectively placed on a pair of guide rails 111 during the lifting action, the main body 2 moves up and down between the guide rails 111 along with the extension and retraction of the swing part 33 driven by the lifting actuator 31A. Therefore, the lifting of the main body 2 implemented by the lifting mechanism 3 can be easily realized.

[0229] In addition, in this second variation, the conveying robot 1 also includes: a mounting section 7; and a transfer mechanism 8, which is provided on the body 2 and moves the mounting section 7 between a conveying position located between a pair of guide rails 111 and a receiving position located on the outer side of the pair of guide rails 111.

[0230] According to this structure, without the need to specially set a turning area on the structure 10, the loading part 7 can be moved to the receiving position by the transfer mechanism 8 until the conveying robot 1 is on the guide rail 111, so it is easy to receive the conveyed object.

[0231] While the above description of this embodiment and its variations is provided, these embodiments and variations are merely examples of application of the present invention and are not intended to limit the technical scope of the present invention to the specific structures described above.

[0232] This application claims priority based on Japanese Patent Application 2020-168619 filed with the Japan Patent Office on October 5, 2020, the entire contents of which are incorporated herein by reference.

Claims

1. A conveying robot, wherein, In a structure having a lifting area with multiple pairs of guide rails arranged at intervals, during the traveling action, the structure travels on the traveling guide rail among the multiple guide rails arranged at intervals, and during the lifting action, the structure lifts and lowers between the multiple guide rails arranged at intervals. The transport robot has the following features: ontology; A pair of wheels, which are configured to roll relative to the pair of said guide rails respectively; A lifting mechanism is provided on the main body, and during the lifting action, the main body and the pair of wheels are raised and lowered relative to the pair of guide rails respectively; A pair of wheel position adjustment mechanisms are provided on the lifting mechanism, and the pair of wheels are adjusted between a traveling position that overlaps with the pair of guide rails in the vertical direction and a lifting position that is located between the pair of guide rails. A travel actuator is disposed in the wheel position adjustment mechanism and causes the body to travel by causing a pair of wheels to roll. A support mechanism is provided on the main body, and the main body is temporarily supported on a pair of guide rails in such a way that a pair of wheels, which are adjusted to a lifting position during the lifting action, can move up and down between the guide rails via the lifting mechanism. When the pair of wheels, adjusted to their traveling position during the lifting action, are mounted on the pair of guide rails, the main body moves up and down between the guide rails via the lifting mechanism. The lifting mechanism has the following features: A lifting actuator is disposed at one end and the other end of the body in the front-rear direction, and has a swing drive shaft extending in the left-right direction orthogonal to the front-rear direction. A swinging part is disposed in the lifting actuator in a manner that allows it to swing about the axis of the swinging drive shaft. When the body is temporarily supported on a pair of guide rails by the support mechanism during the lifting action, the pair of wheels, which are adjusted to the lifting position, move up and down between the guide rails in a manner that is linked to the swinging part that swings by the drive of the lifting actuator.

2. The conveying robot as described in claim 1, wherein, When the pair of wheels are respectively placed on the pair of guide rails during the lifting action, the main body moves up and down between the guide rails along with the swinging part driven by the lifting actuator.

3. The conveying robot as described in claim 1 or 2, wherein, The wheel position adjustment mechanism consists of a pair of steering actuators located on the left and right sides of the swing part, which respectively turn a pair of wheels.

4. The conveying robot as described in claim 3, wherein, The travel actuator is disposed on a pair of steering actuators in such a way that it is rotatable about the axis of the steering drive shaft of the steering actuator.

5. The conveying robot as described in claim 1 or 2, wherein, The supporting organization has: The support section is configured to move between a support position overlapping the pair of guide rails in the vertical direction and a retracted position located between the pair of guide rails. A support actuator that moves the support between a support position and a retracted position.

6. The conveying robot as described in claim 5, wherein, The main body is provided with a mounting surface for mounting the conveyed object. The support actuator is disposed below the mounting surface.

7. The conveying robot as described in claim 5, wherein, The support actuator has a rotary drive shaft disposed on the left and right sides of the body and extending in the front-back direction. The support portion is disposed on the support portion actuator in such a way that it is rotatable about the axis of the rotary drive shaft.

8. A conveying robot, wherein, In a structure having a lifting area with multiple pairs of guide rails arranged at intervals, during the traveling action, the structure travels on the traveling guide rail among the multiple guide rails arranged at intervals, and during the lifting action, the structure lifts and lowers between the multiple guide rails arranged at intervals. The transport robot has the following features: ontology; A pair of wheels, which are configured to roll relative to the pair of said guide rails respectively; A lifting mechanism is provided on the main body, and during the lifting action, the main body and the pair of wheels are raised and lowered relative to the pair of guide rails respectively; A pair of wheel position adjustment mechanisms are provided on the lifting mechanism, and the pair of wheels are adjusted between a traveling position that overlaps with the pair of guide rails in the vertical direction and a lifting position that is located between the pair of guide rails. A travel actuator is disposed in the wheel position adjustment mechanism and causes the body to travel by causing a pair of wheels to roll. A support mechanism is provided on the main body, and the main body is temporarily supported on a pair of guide rails in such a way that a pair of wheels, which are adjusted to a lifting position during the lifting action, can move up and down between the guide rails via the lifting mechanism. When the pair of wheels, adjusted to their traveling position during the lifting action, are mounted on the pair of guide rails, the main body moves up and down between the guide rails via the lifting mechanism. The lifting mechanism has the following features: A lifting actuator is disposed at one end and the other end of the body in the front-rear direction, and has a swing drive shaft extending in the front-rear direction. A linkage structure is provided in the lifting actuator in a manner that allows it to swing about the axis of the swing drive shaft. When the body is temporarily supported by the support mechanism on a pair of guide rails during the lifting action, the pair of wheels, which are adjusted to the lifting position, move up and down between the guide rails in a manner linked to the linkage structure that is extended and retracted by the lifting actuator.

9. The conveying robot as described in claim 8, wherein, When the pair of wheels are respectively placed on the pair of guide rails during the lifting action, the body moves up and down between the guide rails as the linkage structure driven by the lifting actuator extends and retracts.

10. The conveying robot as described in claim 8 or 9, wherein, It also has: Placement section; A transfer mechanism is provided on the body and transfers the mounting portion between a transport position located between a pair of guide rails and a receiving position located on the outer side compared to the pair of guide rails.

11. A conveying system, wherein, have: The structure has a lifting area with multiple pairs of guide rails arranged at intervals; The transport robot, within the aforementioned structure, travels on a plurality of guide rails arranged at intervals during its movement, and rises and falls between the various guide rails arranged at intervals during its lifting and lowering movements. The transport robot has the following features: ontology; A pair of wheels, which are configured to roll relative to the pair of said guide rails respectively; A lifting mechanism is provided on the main body, and during the lifting action, the main body and the pair of wheels are raised and lowered relative to the pair of guide rails respectively; A pair of wheel position adjustment mechanisms are provided on the lifting mechanism, and the pair of wheels are adjusted between a traveling position that overlaps with the pair of guide rails in the vertical direction and a lifting position that is located between the pair of guide rails. A travel actuator is disposed in the wheel position adjustment mechanism and causes the body to travel by causing a pair of wheels to roll. A support mechanism is provided on the main body, and the main body is temporarily supported on a pair of guide rails in such a way that a pair of wheels, which are adjusted to a lifting position during the lifting action, can move up and down between the guide rails via the lifting mechanism. When the pair of wheels, adjusted to their traveling position during the lifting action, are mounted on the pair of guide rails, the main body moves up and down between the guide rails via the lifting mechanism. The lifting mechanism has the following features: A lifting actuator is disposed at one end and the other end of the body in the front-rear direction, and has a swing drive shaft extending in the left-right direction orthogonal to the front-rear direction. A swinging part is disposed in the lifting actuator in a manner that allows it to swing about the axis of the swinging drive shaft. When the body is temporarily supported on a pair of guide rails by the support mechanism during the lifting action, the pair of wheels, which are adjusted to the lifting position, move up and down between the guide rails in a manner that is linked to the swinging part that swings by the drive of the lifting actuator.

12. A conveying system, wherein, have: The structure has a lifting area with multiple pairs of guide rails arranged at intervals; The transport robot, within the aforementioned structure, travels on a plurality of guide rails arranged at intervals during its movement, and rises and falls between the various guide rails arranged at intervals during its lifting and lowering movements. The transport robot has the following features: ontology; A pair of wheels, which are configured to roll relative to the pair of said guide rails respectively; A lifting mechanism is provided on the main body, and during the lifting action, the main body and the pair of wheels are raised and lowered relative to the pair of guide rails respectively; A pair of wheel position adjustment mechanisms are provided on the lifting mechanism, and the pair of wheels are adjusted between a traveling position that overlaps with the pair of guide rails in the vertical direction and a lifting position that is located between the pair of guide rails. A travel actuator is disposed in the wheel position adjustment mechanism and causes the body to travel by causing a pair of wheels to roll. A support mechanism is provided on the main body, and the main body is temporarily supported on a pair of guide rails in such a way that a pair of wheels, which are adjusted to a lifting position during the lifting action, can move up and down between the guide rails via the lifting mechanism. When the pair of wheels, adjusted to their traveling position during the lifting action, are mounted on the pair of guide rails, the main body moves up and down between the guide rails via the lifting mechanism. The lifting mechanism has the following features: A lifting actuator is disposed at one end and the other end of the body in the front-rear direction, and has a swing drive shaft extending in the front-rear direction. A linkage structure is provided in the lifting actuator in a manner that allows it to swing about the axis of the swing drive shaft. When the body is temporarily supported by the support mechanism on a pair of guide rails during the lifting action, the pair of wheels, which are adjusted to the lifting position, move up and down between the guide rails in a manner linked to the linkage structure that is extended and retracted by the lifting actuator.

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