robot

Abstract

A robot (100) is provided with: a carrier (110) capable of self-walking; one or more robot arms (120A, 120B) mounted on the carrier and capable of attaching and detaching an end effector (130A, 1340B); a storage portion (160) mounted on the carrier and capable of storing the end effector removed from the one or more robot arms and the end effector to be attached to the one or more robot arms; and a shield (151) mounted on the carrier and covering the storage portion from above.

Description

[0001] Cross-references to related applications

[0002] This application claims priority and benefits from Japanese Patent Application No. 2020-215747, filed on December 24, 2020, which is incorporated herein by reference in its entirety as part of this application. Technical Field

[0003] This disclosure relates to robots. Background Technology

[0004] Previously, robots were used to replace human workers. For example, Japanese Patent Application Publication No. 11-188545 discloses a mobile robot that moves between multiple workplaces and performs tasks at each workplace. The mobile robot includes: a robot body with an arm, a trolley that carries the robot body, and a control unit that controls the robot body and the trolley. The mobile robot is configured such that the trolley has a tool holder for mounting various tools on the arm, and the tools are changed during the movement of the mobile robot.

[0005] In recent years, service robots, robots that provide services to people, have been designed. Such robots coexist in the same space as various types of people. For example, in the case of the mobile robot described in Japanese Patent Application Publication No. 11-188545, which is used as a service robot, the tool placement area and the tools within it can be visually identified and accessed by people around the mobile robot. The mechanical appearance of the tools may detract from their aesthetic appeal to those who visually identify them. Because people around the robot come into contact with the tools, problems may arise regarding the hygiene and functionality of the tools. Summary of the Invention

[0006] The purpose of this disclosure is to provide a robot capable of concealing a housed end effector.

[0007] One aspect of the robot disclosed herein includes: a self-propelled transport vehicle; one or more robotic arms mounted on the transport vehicle and capable of loading and unloading end effectors; a storage unit mounted on the transport vehicle, capable of storing the end effectors removed from the one or more robotic arms and the end effectors to be installed on the one or more robotic arms; and a shield mounted on the transport vehicle and covering the storage unit from above. Attached Figure Description

[0008] Figure 1 This is a diagram illustrating an example of the structure of the robot system involved in the implementation method.

[0009] Figure 2 This is a perspective view showing an example of the structure of the robot involved in the implementation method.

[0010] Figure 3 This is a side view showing an example of the structure of the robot involved in the implementation.

[0011] Figure 4 This is a top view showing an example of the structure of the workbench unit and the storage section in the open state according to the embodiment.

[0012] Figure 5 This is a side view illustrating an example of the state of a robot changing its end effector according to an embodiment.

[0013] Figure 6 This is a block diagram illustrating an example of the structure of the control device for a robot system according to an embodiment.

[0014] Figure 7 This is a flowchart illustrating an example of the actions of the robot system involved in the implementation method.

[0015] Figure 8 This is a side view showing a modified example of the storage section involved in the embodiment. Detailed Implementation

[0016] Hereinafter, exemplary embodiments of the present disclosure will be described with reference to the accompanying drawings. The embodiments described below represent examples of inclusion or specificity. Elements of the following embodiments not described in the independent claims representing the highest-level concept are described as arbitrary elements. The figures in the accompanying drawings are schematic and not necessarily strictly illustrative. In the figures, substantially identical elements are labeled with the same reference numerals, and sometimes repeated descriptions are omitted or simplified. In this specification and the claims, "apparatus" can refer not only to a single apparatus but also to a system composed of multiple apparatuses.

[0017] [Structure of a Robot System]

[0018] An example of the structure of the robot system 1 according to the exemplary implementation will be described. Figure 1 This is a diagram illustrating an example of the structure of the robot system 1 according to the embodiment. (See diagram for example.) Figure 1 As shown, the robot system 1 according to the embodiment includes one or more robots 100, one or more operating terminals 200, and a server 300. While not limited to any specific implementation, in this embodiment, the robot system 1 is configured to provide services to user P using robots 100 operated from a remote location. The robot system 1 can be used in various service industries such as nursing, medical care, cleaning, security, guidance, rescue, cooking, and merchandising.

[0019] Although not limited, in this embodiment, multiple robots 100 are configured in a service providing area AS where services are provided to user P. One or more operation terminals 200 are configured in each of the multiple operation areas AO located away from the service providing area AS.

[0020] Robot 100 is configured to connect to communication network N via wireless communication for data communication. Robot 100 can also connect to communication network N via wired communication, or a combination of wired and wireless communication. Operating terminal 200 is configured to connect to communication network N via wired communication, wireless communication, or a combination of wired and wireless communication for data communication. A robot 100 and an operating terminal 200 can be connected via communication network N for data communication. Any wired or wireless communication method can also be used.

[0021] Server 300 manages communications conducted via communication network N. Server 300 includes a computer device. Server 300 manages authentication, connection, and disconnection of communications between robot 100 and operating terminal 200. For example, server 300 stores identification information and security information of robot 100 and operating terminal 200 registered in robot system 1, and uses this information to authenticate the eligibility of operating terminal 200 to connect to robot system 1. Server 300 manages the transmission and reception of data between robot 100 and operating terminal 200, which may also be transmitted via server 300. Server 300 may also be configured to convert data sent from the sender into a data type usable by the destination. Server 300 may also be configured to store and accumulate information, instructions, and data transmitted and received between robot 100 and operating terminal 200 during the operation of robot 100.

[0022] The communication network N is not particularly limited, and may include, for example, a Local Area Network (LAN), a Wide Area Network (WAN), the Internet, or a combination of two or more thereof. The communication network N may be configured to use short-range wireless communication such as Bluetooth (registered trademark) and ZigBee (registered trademark), dedicated network lines, dedicated lines of telecommunications companies, a Public Switched Telephone Network (PSTN), a mobile communication network, the Internet, satellite communication, or a combination of two or more thereof. The mobile communication network may also use fourth-generation mobile communication systems and fifth-generation mobile communication systems. The communication network N may include one or more networks. In this embodiment, the communication network N is the Internet.

[0023] [Structure of the Operating Terminal]

[0024] An example of the structure of the operating terminal 200 involved in the implementation will be described. For example... Figure 1 As shown, the operation terminal 200 can accept input such as instructions, information, and data from the operator PO, and can output the received instructions, information, and data to other devices. The operation terminal 200 includes an operation input device 201, a terminal computer 202, a prompting device 203, and a communication device 204. The operation input device 201, terminal computer 202, prompting device 203, and communication device 204 can be integrated into a single device, or they can be separate devices connected to each other, or two or more of them can form a single device connected to other devices.

[0025] The structure of the operating terminal 200 is not particularly limited. For example, the operating terminal 200 may be a known teaching device such as a personal computer, a smart device such as a smartphone and tablet computer, a personal information terminal, a game terminal, a teach pendant for teaching tasks to a robot, a known operating device for a robot, other operating devices, other terminal devices, devices using them, and devices that have improved upon them. The operating terminal 200 may be a dedicated device designed for the robot system 1, but it may also be a general-purpose device available on the general market. In this embodiment, the operating terminal 200 uses a known general-purpose device. This device may also be configured to implement the functions of the operating terminal 200 of this disclosure by installing dedicated software.

[0026] The operation input device 201 is configured to accept input from an operator PO and output signals representing the input instructions, information, and data to the terminal computer 202. The structure of the operation input device 201 is not particularly limited. For example, the operation input device 201 may include devices that provide input through operation by the operator PO, such as buttons, joysticks, dials, joysticks, mice, keys, touch panels, and motion capture devices. The operation input device 201 may also include a camera or other imaging device for capturing images of the operator PO, and a microphone or other audio input device for receiving audio input from the operator PO. The operation input device 201 may also be configured to output signals representing captured image data and input audio to the terminal computer 202.

[0027] The terminal computer 202 is configured to process instructions, information, and data received via the operation input device 201 and output them to other devices, as well as to receive and process instructions, information, and data from other devices.

[0028] The prompting device 203 includes a display capable of showing an image to the operator PO. The prompting device 203 displays an image of image data received from the terminal computer 202. The prompting device 203 may also include a sound output device such as a speaker capable of emitting sound to the operator PO. The prompting device 203 outputs sound data received from the terminal computer 202.

[0029] The communication device 204 has a communication interface capable of connecting to the communication network N. The communication device 204 is connected to the terminal computer 202, thereby connecting the terminal computer 202 and the communication network N in a manner capable of data communication. The communication device 204 may include, for example, communication devices such as modems, ONUs (Optical Network Units), routers, and mobile data communication devices. The communication device 204 may also include a computer device with computing functions.

[0030] [Robot Structure]

[0031] An example of the structure of the robot 100 involved in the implementation will be described. Figure 2 This is a perspective view showing an example of the structure of the robot 100 according to the embodiment. Figure 3 This is a side view showing an example of the structure of the robot 100 according to the embodiment.

[0032] like Figure 2 as well as Figure 3 As shown, the robot 100 includes a transport vehicle 110, one or more robot arms 120, one or more end effectors 130, a lifting device 140, a worktable unit 150, a storage compartment 160, a secondary battery module 171, a power circuit 172, a communication device 173, imaging devices 174, 175, and 176, a sound collection device 177, a display device 178, a sound output device 179, and a control device 180. While not limited, in this embodiment, the robot arm 120 is a robot arm capable of industrial use. The imaging devices 174, 175, and 176, the sound collection device 177, the display device 178, and the sound output device 179 are examples of communication devices. The number of each of the above-described components is not limited to the stated number and can be appropriately varied.

[0033] The transport vehicle 110 is configured to be self-propelled. Although not limited, in this embodiment, the transport vehicle 110 travels using its own wheels. The transport vehicle 110 includes a base 111, drive wheels 112a and 112b, auxiliary wheels 113a to 113d, and transport drive devices 114a and 114b.

[0034] The base 111 has a rectangular plate-like shape. For example, the base 111 may also have a thin plate-like or frame-like structure in the vertical direction. In this specification and claims, "upward direction" means the direction perpendicular to the support surface when the robot 100 is positioned on a horizontal support surface, i.e., the vertical upward direction; "downward direction" means the direction perpendicular to the support surface in the same case, i.e., the vertical downward direction. In this specification and claims, "vertical," "vertical," "horizontal," and "parallel" can respectively include cases of being completely vertical, completely vertical, completely horizontal, and completely parallel, and cases that are substantially vertical, vertical, horizontal, and parallel but are close to being completely vertical, completely vertical, completely horizontal, and completely parallel.

[0035] Drive wheels 112a and 112b are rotatably mounted on base 111, supporting base 111 from below. In this embodiment, drive wheels 112a and 112b are positioned relative to base 111 in a direction biased towards the forward direction of transport vehicle 110, i.e., direction D1A, but are not limited thereto; they may also be positioned at the center of base 111 or biased towards direction D1B. Drive wheels 112a and 112b are arranged side-by-side along base 111 in a direction D2A perpendicular to direction D1A. For example, direction D1A is along the long side of base 111, i.e., the length direction, and direction D1B is the opposite direction to direction D1A. Direction D2A is along the short side of base 111, i.e., the width direction, and direction D2B is the opposite direction to direction D2A.

[0036] Although not limited, in this embodiment, drive wheels 112a and 112b are arranged in a manner fixed relative to the base 111 with their respective rotation axes facing in the same direction. Drive wheels 112a and 112b are capable of rotating about rotation axes extending along directions D2A and D2B. Drive wheels 112a and 112b may also be arranged on the base 111 in a manner that allows them to move towards and away from the base 111. Drive wheels 112a and 112b may also be configured such that they are subjected to force by a force-applying member such as a spring in the direction away from the base 111. This allows drive wheels 112a and 112b to be stably grounded.

[0037] The transport drive devices 114a and 114b are respectively mounted on the base 111 and drive the drive wheels 112a and 112b to rotate. For example, the transport drive devices 114a and 114b each include an electric motor as a drive source and a reducer that transmits the rotational driving force of the electric motor to the drive wheels 112a and 112b. Although not limited, in this embodiment, the electric motors of the transport drive devices 114a and 114b are servo motors. The servo motors are controlled by the control device 180.

[0038] The transport drive units 114a and 114b can propel the transport vehicle 110 forward by rotating the drive wheels 112a and 112b in the same direction at the same speed, and can also propel the transport vehicle 110 backward by rotating the drive wheels 112a and 112b in opposite directions at the same speed. The transport drive units 114a and 114b can also rotate the transport vehicle 110 in various ways by rotating the drive wheels 112a and 112b in different directions or at different speeds.

[0039] Auxiliary wheels 113a to 113d are rotatably mounted on base 111, supporting base 111 from below. Auxiliary wheels 113a to 113d are disposed around drive wheels 112a and 112b, and in this embodiment, at the four corners of base 111. Auxiliary wheels 113a and 113b are positioned in a direction D1A closer to drive wheels 112a and 112b, and auxiliary wheels 113c and 113d are positioned in a direction DB closer to drive wheels 112a and 112b. Each of auxiliary wheels 113a to 113d has a rotation axis extending along base 111. Auxiliary wheels 113a to 113d have a structure that allows the orientation of their respective rotation axes to be freely changed along base 111. For example, auxiliary wheels 113a to 113d have a free-caster structure. The auxiliary wheels 113a to 113d and the drive wheels 112a and 112b are configured to simultaneously contact the flat support surface and together support the base 111. The auxiliary wheels 113a to 113d can change the orientation of their respective rotation axes according to the travel direction of the transport vehicle 110 and roll along that travel direction.

[0040] A lifting device 140 is mounted on a base 111, and one or more robotic arms 120 are mounted on the lifting device 140. The lifting device 140 lifts one or more robotic arms 120 relative to the base 111 in the upward direction D3A and the downward direction D3B. The upward direction D3A and the downward direction D3B are also perpendicular to the base 111.

[0041] The structure of the lifting device 140 is not particularly limited, as long as it can lift one or more robot arms 120. Although not limited, in this embodiment, the lifting device 140 has a structure that extends and retracts in directions D3A and D3B. For example, the lifting device 140 may also have a structure that includes a component that supports the robot arm 120 and rotates in the vertical direction, or a structure that allows the support component of the robot arm 120 to slide in the vertical direction on a support column, or other structures.

[0042] The telescopic lifting device 140 has a telescopic structure, such as a single-stage telescopic structure. The telescopic lifting device 140 can also have a known structure. For example, the lifting device 140 may include a lifting drive device 141, an outer cylinder 142, and an inner cylinder 143. The outer cylinder 142 is fixed to a base 111 and extends upward in a direction D3A from the base 111. The inner cylinder 143 is disposed inside the outer cylinder 142 and is movable relative to the outer cylinder 142 in directions D3A and D3B. The lifting drive device 141 enables the inner cylinder 143 to move in directions D3A and D3B. The lifting drive device 141 is driven by electricity as a power source, but it can also be configured to be driven by other power sources such as pneumatic or hydraulic pressure.

[0043] For example, the lifting drive device 141 may also include an electric actuator and a transmission mechanism that transmits the driving force of the electric actuator to the inner cylinder 143. In this embodiment, the electric actuator is a servo motor, but it may also be other actuators such as a linear actuator. The transmission mechanism may also be configured to convert the rotational driving force of the servo motor into a driving force that causes the inner cylinder 143 to move linearly. For example, the transmission mechanism may include a gear and rack structure, a roller or ball screw structure, or a meshing chain structure. The meshing chain structure may also be a structure in which a columnar body that pushes the inner cylinder 143 is formed by the meshing of two chains, and the height of the inner cylinder 143 is changed according to the meshing length of the two chains. The servo motor of the lifting drive device 141 is controlled by the control device 180.

[0044] Although not limited, in this embodiment, the lifting device 140 is positioned relative to the base 111 at a biased direction D1A. For example, the lifting device 140 is positioned upwards on the drive wheels 112a and 112b at a direction D3A. Consequently, most of the load from the lifting device 140 and the robot arm 120 is applied to the drive wheels 112a and 112b, increasing the friction between the drive wheels 112a and 112b and the support surface. That is, the rotational driving force of the drive wheels 112a and 112b can be effectively transmitted to the support surface.

[0045] Although not limited, in this embodiment, two robot arms 120A and 120B are disposed on the upper end of the inner cylinder 143 of the lifting device 140 via a base 120C. Robot arms 120A and 120B can rise and fall along directions D3A and D3B via the lifting device 140. Both robot arms 120A and 120B are capable of rotating horizontally about an axis S1 along direction D3A, along the base 111. Robot arms 120A and 120B have a coaxial dual-arm structure. In this embodiment, both robot arms 120A and 120B are capable of rotating 360° about the axis S1.

[0046] Robotic arm 120A includes links 121A to 124A and arm drive units M1A to M4A. Robotic arm 120B includes links 121B to 124B and arm drive units M1B to M4B. Arm drive units M1A to M4A and M1B to M4B are... Figure 4 As shown in the diagram, the arm drive units M1A to M4A and M1B to M4B are powered by electricity and include servo motors as electric motors. Each servo motor is controlled by the control unit 180.

[0047] Links 121A and 121B are connected to base 120C via rotary joints. Base 120C is mounted on the upper end of the inner cylinder 143 of the lifting device 140. Links 121A and 121B are rotatable about axis S1 and are offset in the direction of axis S1 to avoid mutual interference. Arm drive devices M1A and M1B can respectively drive the rotary joints of links 121A and 121B to rotate, thereby causing links 121A and 121B to rotate.

[0048] The base ends of connecting rods 122A and 122B are connected to the end portions of connecting rods 121A and 121B via rotary joints. Connecting rods 122A and 122B are each capable of rotating about an axis along direction D3A. Arm drive devices M2A and M2B can respectively drive the rotary joints of connecting rods 122A and 122B to rotate, thereby causing connecting rods 122A and 122B to rotate.

[0049] The base ends of links 123A and 123B are connected to the end portions of links 122A and 122B via rotary joints. Links 123A and 123B are each rotatable about an axis perpendicular to direction D3A. Links 123A and 123B each include three link components rotatably connected to each other. Links 123A and 123B are configured to rotate the three link components in conjunction with their rotation. When links 123A and 123B rotate, the angle between the three link components changes, thereby performing a telescoping action in the upward direction D3A or the downward direction D3B. Links 123A and 123B can change the height of their respective end portions. Arm drive devices M3A and M3B can respectively drive the rotary joints of links 123A and 123B to rotate, thereby causing links 123A and 123B to telescop.

[0050] The base ends of links 124A and 124B are rotatably connected to the end portions of links 123A and 123B, respectively. Links 124A and 124B each include a wrist portion capable of rotating about an axis along direction D3A. Arm drive devices M4A and M4B are capable of rotating the wrist portions of links 124A and 124B, respectively, by rotating the wrist portions. The wrist portions of links 124A and 124B each include a mechanical interface capable of connecting to the end effector 130.

[0051] The robot arms 120A and 120B described above have a horizontal multi-joint arm structure, but they can also have any structure. For example, robot arms 120A and 120B can also be other types of horizontal multi-joint, vertical multi-joint, polar coordinate, cylindrical coordinate, rectangular coordinate, or other types of robot arms. The number of robot arms 120 configured on the lifting device 140 can be one or more.

[0052] As end effectors 130, two end effectors 130A and 130B are detachably mounted on the links 124A and 124B of the robot arms 120A and 120B, respectively. End effectors 130A and 130B are sometimes referred to as robotic arms. End effectors 130A and 130B are configured to apply force to objects handled by the robot 100.

[0053] End effectors 130A and 130B each include a base 131, an end member 132, and a connecting portion 133. The base 131 is configured to connect to a mechanical interface with a link 124A or 124B and supports the base end of the columnar connecting portion 133 for rotation. The base 131 includes a first drive device 131a that rotates the connecting portion 133. The first drive device 131a... Figure 5 As shown in the diagram, the first drive unit 131a is powered by electricity and includes a servo motor as an electric motor. The servo motor is controlled by the control unit 180.

[0054] The end portion of the connecting part 133 includes a mechanical interface that allows for detachable connection with the end member 132. Therefore, the end member 132, which corresponds to the desired action of the end effectors 130A and 130B, can be mounted on the base 131.

[0055] The end effector 132 is configured to perform actions to apply force to an object. For example, the end effector 132 has a structure corresponding to the intended use. The structure of the end effector 132 is not particularly limited, as long as it forms part of the end effectors 130A and 130B. For example, the end effector 132 can have various forms of manipulator structures, or it can have a portion of a manipulator structure such as a claw or fingers. Although not limited, in this embodiment, the end effector 132 includes a second drive device 132a, which generates a driving force for the action of the end effector 132. The second drive device 132a in... Figure 5 As shown in the image.

[0056] The second drive unit 132a includes an actuator. The structure of the actuator is not particularly limited. In this embodiment, an electric actuator powered by electricity is used. The actuator may also be configured to use other power sources such as pneumatic or hydraulic pressure. The structure of the electric actuator is not particularly limited. For example, the electric actuator may be an electric motor, a servo motor, a stepper motor, a linear actuator, a piezoelectric actuator, or a combination of two or more of these. Although not limited, in this embodiment, the electric actuator is a servo motor. With the end member 132 connected to the connecting portion 133, the second drive unit 132a is configured to transmit and receive signals with the robot 100 and receive power supply. The electric actuator is controlled by the control unit 180.

[0057] The connecting portion 133 includes a connecting device that locks the connection between the connecting portion 133 and the end member 132 and releases the connection by locking or releasing the connection. While not limited to this, the connecting device may, for example, be configured such that the end member 132 is locked by extending a pin outward from the connecting portion 133 to engage with it, and the end member 132 is released from the lock by retracting the pin inward from the connecting portion 133 to release the engagement with it.

[0058] The connecting part 133 includes an actuator for locking and unlocking a pin or similar component. The structure of the actuator is not particularly limited. In this embodiment, an electric actuator powered by electricity is used. The actuator may also be configured to use other power sources such as pneumatic or hydraulic pressure. The structure of the electric actuator is not particularly limited. For example, the electric actuator may be an electric motor, a servo motor, a stepper motor, a linear actuator, a piezoelectric actuator, or a combination of two or more of these. For example, a stepper motor may be used to drive the pin. The electric actuator is controlled by a control device 180. Thus, the robot 100 can load and unload the end effector 132 onto and off end effectors 130A and 130B respectively.

[0059] The robot 100 also includes a housing 170 on the base 111. The housing 170 is arranged adjacent to the lifting device 140 and robot arms 120A and 120B in direction D1B relative to the lifting device 140. While not limited, in this embodiment, the housing 170 is positioned relative to the base 111 at a location biased towards direction D1B, closer to the drive wheels 112a and 112b in direction D1B. Although the structure of the housing 170 is not particularly limited, it may, for example, have a box-shaped structure or a frame-shaped structure surrounded by walls. In this embodiment, the housing 170 has a cuboid shape.

[0060] The secondary battery module 171, power circuit 172, communication device 173, and control device 180 are disposed within the device housing 170 and can be positioned in a predetermined location by being mounted on the device housing 170. For example, the secondary battery module 171 may be disposed on the base 111, with the power circuit 172 disposed above the secondary battery module 171. The communication device 173 and control device 180 may also be disposed at any location within the device housing 170.

[0061] The secondary battery module 171 functions as the power source for the robot 100. The secondary battery module 171 contains one or more secondary batteries. A secondary battery is a battery capable of charging and discharging electricity. Examples of secondary batteries include lead-acid batteries, lithium-ion batteries, all-solid-state batteries, nickel-metal hydride batteries, and nickel-cadmium batteries.

[0062] The power supply circuit 172 is a circuit that controls the power supply and demand of the secondary battery module 171. The power supply circuit 172 is configured to perform power control according to the instructions of the control device 180, etc. For example, the power supply circuit 172 may also include devices such as converters, inverters, transformers, and amplifiers.

[0063] The power supply circuit 172 is configured to connect to an external power source such as a commercial power supply. The power supply circuit 172 receives power from the external power source and supplies this power to the secondary battery module 171 for energy storage. The power supply circuit 172 controls the power supplied to the secondary battery module 171.

[0064] The power supply circuit 172 supplies the power stored in the secondary battery module 171 to the power-consuming components within the robot 100. The power supply circuit 172 controls the power supplied to each component.

[0065] Communication device 173 is a device for wireless communication, configured to connect to a communication network N via wireless communication. The wireless communication used by communication device 173 is not particularly limited. For example, it may use mobile data communication, wireless LAN such as Wi-Fi, short-range wireless communication such as Bluetooth (registered trademark) and ZigBee (registered trademark), or a combination of two or more of these. Communication device 173 has equipment corresponding to the wireless communication used.

[0066] Figure 4 This is a top view showing an example of the structure of the workbench unit 150 and the storage section 160 in the open state according to the embodiment. Figures 2 to 4 As shown, the storage section 160 is disposed on the upper part of the device housing 170 in the direction D3A. The storage section 160 is capable of storing one or more end members 132 of the end effectors 130A and 130B. In this embodiment, the storage section 160 is capable of storing multiple end members 132 and has multiple storage bags 160a for storing each end member 132. The storage section 160 and each storage bag 160a are open upwards in the direction D3A. The robot arms 120A and 120B can remove the end members 132 from the base 131 and store them in the storage bags 160a by inserting the end members 132 of the end effectors 130A and 130B from above into the storage bags 160a of the storage section 160, thereby disengaging the connection portion 133. Robot arms 120A and 120B can respectively access the end member 132 stored in the storage bag 160a in the storage section 160 from above by causing the base 131 of the end effector 130A and 130B without the end member 132 installed to perform connection by the connection section 133, thereby installing the end member 132 on the base 131.

[0067] The structure of the storage section 160 is not particularly limited, as long as it can accommodate one or more end members 132. A storage section with a known structure can also be used as the storage section 160. The storage section 160 is preferably configured such that the end member 132 can be stored in the storage section 160 and removed from the storage section 160 by accessing it from above.

[0068] Although not limited, in this embodiment, such as Figure 5 As shown, the storage section 160 is configured on the robot arms 120A and 120B, which are moved to the lowest position by the lifting device 140, enabling the end effectors 130A and 130B to access the height position of the storage section 160. Figure 5This is a side view illustrating an example of the state in which the robot 100, according to the embodiment, is replacing the end effector 132. The lowest position is the height position of the robot arms 120A and 120B when the lifting device 140 is retracted to its maximum extent in the direction D3B, and it is also the lowest height position in the direction D3B that the lifting device 140 can bring the robot arms 120A and 120B. The robot arms 120A and 120B at the lowest position bring the end effectors 130A and 130B to the respective storage bags 160a of the storage section 160.

[0069] The worktable unit 150 is positioned above the storage portion 160 in the direction D3A. While not limited to this embodiment, the worktable unit 150 includes a worktable 151, a support body 152, a worktable drive mechanism 153, and a worktable drive device 154. The support body 152 is mounted on the storage portion 160 or the equipment housing 170 and supports other components of the worktable unit 150. While not limited to this embodiment, the support body 152 has a structure of a cuboid frame surrounding the storage portion 160. The worktable 151 is an example of a shielding body, and the worktable drive device 154 is an example of a drive device.

[0070] The worktable 151 is supported on the support body 152 in a manner that allows it to move. The worktable 151 can move between a closed state, covering the storage section 160 from above, and an open state, opening the storage section 160 from above. Although not limited, in this embodiment, the worktable 151 has a rectangular plate shape. The posture of the worktable 151 in the closed state is such that the flat upper surface 151a of the worktable 151 is positioned along a plane perpendicular to the direction D3A, i.e., a horizontal direction. The posture of the worktable 151 in the open state is not particularly limited, as long as the robot arms 120A and 120B can enable the end effectors 130A and 130B to reach the storage section 160 from above. For example, in the closed state, the robot arms 120A and 120B can perform operations on the object on the upper surface 151a of the worktable 151, and the robot 100 can transport the object placed on the upper surface 151a.

[0071] For example, the worktable 151 can also rotate relative to the support 152, like a door. In this case, the worktable 151 can rotate around its edge or around a central position such as the center of the worktable 151. For example, the worktable 151 can also slide relative to the support 152, like a window. In this case, the worktable 151 can be configured to slide while maintaining a posture between a closed and open state, or it can be configured to slide while changing its posture. The worktable 151 can also be loaded and unloaded relative to the support 152.

[0072] The worktable 151 may include one plate-shaped component or two or more plate-shaped components. When the worktable 151 includes two or more plate-shaped components, in the closed state, the two or more plate-shaped components can form a flat upper surface 151a.

[0073] The worktable drive device 154 provides driving force to the worktable drive mechanism 153, thereby causing the worktable 151 to move in the closed and / or open state. The worktable drive device 154 includes an actuator that generates driving force. Although the structure of the actuator is not particularly limited, in this embodiment it is an electric actuator powered by electricity. The actuator may also be configured to use other power sources such as pneumatic or hydraulic pressure. The structure of the electric actuator is not particularly limited. For example, the electric actuator may be an electric motor, a servo motor, a stepper motor, a linear actuator, a piezoelectric actuator, or a combination of two or more of these. The electric actuator is controlled by the control device 180.

[0074] The worktable drive mechanism 153 is a mechanism that transmits the driving force of the worktable drive device 154 to the worktable 151, causing the worktable 151 to move between a closed state and an open state. For example, the worktable drive mechanism 153 may also include a mechanism that converts the rotational driving force of the electric actuator of the worktable drive device 154 into a linear driving force. The worktable drive mechanism 153 may also include a speed reducer that reduces the rotational speed of the rotational driving force of the electric actuator of the worktable drive device 154 and increases the rotational driving force for transmission.

[0075] For example, when the worktable 151 can rotate, the worktable drive mechanism 153 can also be configured to include a reducer to reduce the rotational driving force of the electric actuator and transmit it to the rotational shaft of the worktable 151. When the worktable 151 can slide, the worktable drive mechanism 153 can also be configured to convert the rotational driving force of the electric actuator into a linear driving force and transmit it to the worktable 151.

[0076] For example, the worktable drive mechanism 153 may also include a gear and rack structure, a roller, a ball screw structure, a belt drive mechanism, or an assembly of cables and reels. The worktable drive device 154 may also be configured to rotate and drive the pinion, roller, ball screw structure nut, belt pulley, or reel. For example, the pinion may be configured to cause linear movement of the rack provided on the worktable 151. The roller may be configured to cause linear movement of the worktable 151 in contact with the roller. The nut may be configured to cause linear movement of the screw shaft provided on the worktable 151. The pulley may be configured to cause linear movement of the worktable 151 by winding a belt connected to the worktable 151. The reel may be configured to cause linear movement of the worktable 151 by winding a cable connected to the worktable 151.

[0077] In this embodiment, the workbench 151 includes two rectangular plate-shaped components 151b and 151c, which have a double-door structure. The plate-shaped components 151b and 151c are arranged adjacent to each other in direction D2A. One edge of plate-shaped component 151b is hinged to the edge of support 152 in direction D2B, and one edge of plate-shaped component 151c is hinged to the edge of support 152 in direction D2A. A workbench drive mechanism 153 and a workbench drive device 154 are disposed on the respective hinges of plate-shaped components 151b and 151c, causing the hinge axis to rotate. Since the dimensions of plate-shaped components 151b and 151c are smaller than those of the workbench 151 formed from a single plate-shaped component, the space required for the rotation of plate-shaped components 151b and 151c can be reduced.

[0078] The display device 178 includes a display 178a capable of displaying images and a support 178b supporting the display 178a. The display 178a is capable of displaying images of image data sent from the control device 180. The control device 180 can also cause the display 178a to display images for communication with the user P facing the robot 100, images according to instructions received from the operation terminal 200, and images for providing various other information to the user P, etc.

[0079] The support body 178b is supported by the inner cylinder 143 of the lifting device 140 and moves up and down together with the inner cylinder 143. The support body 178b is positioned relative to the base 120C in direction D1B. The support body 178b has a columnar shape extending in direction D3A. The support body 178b supports the display 178a in a position above, in direction D3A, that is, above, the robot arms 120A and 120B. The display 178a is supported by the support body 178b with the screen of the display 178a facing in direction D1A.

[0080] Therefore, the display 178a can be raised and lowered together with the robot arms 120A and 120B via the lifting device 140. Furthermore, interference between the robot arms 120A and 120B and the display 178a and the support 178b can be suppressed. When a user P, located in direction D1A relative to the robot 100, observes the display 178a, the image on the display 178a can be prevented from being obstructed by the robot arms 120A and 120B. Therefore, smooth communication with the user P is possible.

[0081] The display device 178 may also include a universal joint 178c between the display 178a and the support 178b. The universal joint 178c can move to change the orientation of the display 178a. The universal joint 178c can be configured to be moved by a human hand or by an electrically driven device such as a motor. This drive device can also be controlled by the control device 180.

[0082] The sound collecting device 177 includes a microphone capable of acquiring sound from the surrounding environment and outputting sound signals. The sound collecting device 177 is configured to output sound signals to a control device 180, which is configured to convert the sound signals into sound data and send them to an operation terminal 200. While not limiting, in this embodiment, the sound collecting device 177 is positioned above the display 178a and oriented in the same direction as the screen of the display 178a. The sound collecting device 177 can be raised and lowered together with the robot arms 120A and 120B via the lifting device 140.

[0083] The sound output device 179 includes a speaker capable of converting sound signals into sound waves and emitting them as sound. The sound output device 179 can output sound corresponding to the sound signals sent from the control device 180. The control device 180 can also cause the sound output device 179 to output sound for communication with the user P facing the robot 100, sound according to instructions received from the operation terminal 200, and sound for providing various other information to the user P. While not limiting, in this embodiment, the sound output device 179 is positioned below the display 178a and oriented in the same direction as the screen of the display 178a. The sound output device 179 can be raised and lowered together with the robot arms 120A and 120B via the lifting device 140. Therefore, smooth communication with the user P is possible.

[0084] The imaging devices 174, 175, and 176 are each configured to include a camera that captures digital images and transmits the captured image data to the control device 180. The control device 180 may also be configured to process the image data captured by the imaging devices 174, 175, and 176 into data that can be transmitted over a network and transmit it to the operation terminal 200 via the communication network N.

[0085] The imaging device 174 is disposed at the end portion of one or both of the robot arms 120A and 120B. While not limited to this embodiment, in this case, the imaging device 174 is disposed at the connection portion 133 of the end effector 130A of the robot arm 120A and is oriented toward the end member 132. The imaging device 174 is capable of capturing images of the object to which the robot arm 120A and the end effector 130A exert their influence. This allows the operator PO to smoothly operate the robot 100.

[0086] The camera device 175 is configured to rise and fall together with the robot arms 120A and 120B via the lifting device 140. While not limiting, in this embodiment, the camera device 175 is positioned above the display 178a and oriented in the same direction as the screen of the display 178a. The camera device 175 can capture images of the user P, the service provider, facing the robot 100. Therefore, the operator PO can perform operations on the robot 100 corresponding to the user P.

[0087] The camera device 176 is fixed to the transport vehicle 110 and configured facing the forward direction of the transport vehicle 110, i.e., direction D1A. Although not limited, in this embodiment, the camera device 176 is configured on the base 111. The camera device 176 can capture the state in front of the transport vehicle 110 as the transport vehicle 110 moves forward. As a result, the operator PO can smoothly operate the robot 100.

[0088] The control device 180 is configured as an integral part of the control robot 100. Figure 6 This is a block diagram illustrating an example of the structure of the control device 180 of the robot system 1 according to the embodiment. For example... Figure 6 As shown, the control device 180 is connected to the terminal computer 202 of the operating terminal 200 via the communication device 173, the communication network N, and the communication device 204 in a manner capable of data communication. The control device 180 controls the actions of each component of the robot 100 according to instructions received from the terminal computer 202. The control device 180 controls the actions of each component of the robot 100 according to a stored control program. Therefore, the robot 100 can be operated by an operator PO located at a remote location away from the robot 100, and can provide services in place of a service provider.

[0089] Examples of the constituent elements of the controlled object of the control device 180 include the transport drive devices 114a and 114b, the lifting drive device 141, the worktable drive device 154, the arm drive devices M1A to M4A of the robot arm 120A, the arm drive devices M1B to M4B of the robot arm 120B, the first drive device 131a and the second drive device 132a of each of the end effectors 130A and 130B, the connecting device of the connecting part 133, the imaging devices 174 to 176, the sound collection device 177, the display device 178, and the sound output device 179, etc., but none of the above are necessary.

[0090] The control device 180 may also be configured to output a current command value to the power supply circuit 172, such as when controlling the power supplied to each component, so that the power supply circuit 172 supplies power from the secondary battery module 171 to that component. The control device 180 may also be configured to perform servo control on the servo motors. The control device 180 may also be configured to acquire the detection results of the rotation sensors equipped on each servo motor, acquire the current supply value from the power supply circuit 172 to the servo motor, and use the detection results of the rotation sensors and the current supply value as feedback information to determine the command value of the current supplied to the servo motor. The current supply value may be the command value of the current supplied from the power supply circuit 172 to the servo motor, or it may be the detection result of a current sensor that can be installed on the servo motor.

[0091] The control device 180 may also be configured to cause each component of the robot 100 to perform one or more actions, including actions in manual operation, actions in automatic operation, and combinations of manual and automatic operation.

[0092] In manual operation, the control device 180 can also be configured to cause the constituent elements to operate sequentially according to the operation content input to the operation terminal 200 and sent to the control device 180.

[0093] In automatic operation, the control device 180 can also be configured to enable the constituent elements to automatically, i.e. autonomously, perform a series of task actions corresponding to the instructions input to the operation terminal 200 and sent to the control device 180.

[0094] In a combination of manual and automatic operation, the control device 180 may also be configured to cause the constituent elements to appropriately perform actions according to the operation content and instructions received from the operation terminal 200, as well as to automatically perform a series of tasks. For example, the control device 180 may also be configured to cause the constituent elements to perform actions according to the operation content when it receives operation content for correcting actions from the operation terminal 200 during automatic operation.

[0095] The control device 180 includes a computer device. For example, the control device 180 may also be configured as an electronic circuit board, an electronic control unit, a microcomputer, or other electronic devices. The computer device may also include a processor such as a CPU (Central Processing Unit), non-volatile semiconductor memory such as ROM, and volatile semiconductor memory such as RAM (Random Access Memory). For example, a program for the CPU to perform operations is pre-stored in ROM. The CPU reads the program from ROM and expands the program in RAM. The CPU executes the encoded commands in the program expanded in RAM.

[0096] The functions of the control device 180 can be implemented by a computer system consisting of a CPU, ROM, and RAM, or by dedicated hardware circuits such as electronic circuits or integrated circuits, or by a combination of the aforementioned computer system and hardware circuits. The control device 180 can be configured to execute each process through centralized control based on a single device, or it can be configured to execute each process through distributed control based on the cooperation of multiple devices.

[0097] While not limited to a single type, processors can include CPUs, MPUs (Micro Processing Units), GPUs (Graphics Processing Units), microprocessors, processor cores, multiprocessors, ASICs (Application-Specific Integrated Circuits), FPGAs (Field Programmable Gate Arrays), etc., and implement various processes through logic circuits or dedicated circuits formed on IC (Integrated Circuit) chips, LSIs (Large Scale Integrations), etc. Multiple processes can be implemented through one or more integrated circuits, or through a single integrated circuit.

[0098] [The actions of the robot system]

[0099] Reference Figure 7 An example of the operation of the robot system 1 involved in the implementation will be described. Figure 7 This is a flowchart illustrating an example of the operation of the robot system 1 according to the embodiment. In this example, it is assumed that the robot 100 is manually operated via the operation terminal 200, and the following description will be provided.

[0100] First, the operator PO in the operation area AO inputs the request to provide the service and the service they wish to provide into the operation terminal 200. The operation terminal 200 then sends the request to the server 300 (step S101). The server 300 searches for a robot 100 capable of providing the desired service and connects the control device 180 of the searched robot 100 to the operation terminal 200 via the communication network N (step S102).

[0101] When the operator PO receives a connection completion notification from the server 300, it starts the various components of the robot 100 by inputting into the operation terminal 200 (step S103).

[0102] Operator PO operates the operation terminal 200 to perform communication with user P in the service provision area AS using communication devices such as shooting devices 174, 175 and 176, sound collection device 177, display device 178, and sound output device 179 (step S104).

[0103] For example, operator PO determines whether the end effectors 130A and 130B of robot 100 are suitable for performing the service requested by user P. If they are not suitable, operator PO inputs an instruction to replace one or both of the end effectors 130A and 130B, i.e., the unsuitable end effector's end member 132, to operation terminal 200. Although not limited, the following description assumes that both end effectors 130A and 130B are unsuitable. In this case, operator PO inputs an instruction to the operation terminal 200 specifying the two end members 132 to be replaced from the end effector end members 132 stored in the storage section 160. Operation terminal 200 sends the end member 132 replacement instruction and the information of the end member 132 to be replaced to control device 180.

[0104] If the control device 180 receives a replacement instruction from the end member 132 (yes in step S105), it proceeds to step S106; if it does not receive such an instruction (no in step S105), it proceeds to step S114.

[0105] In step S106, the control device 180 executes an automatic replacement procedure for the end effector 132 of the end effectors 130A and 130B. For example, when replacing the end effector 132 of one of the end effectors 130A and 130B, the control device 180 executes an automatic replacement procedure for the end effector 132 of the end effector to be replaced.

[0106] The control device 180 causes the lifting drive device 141 to retract the lifting device 140, thereby moving the robot arms 120A and 120B to their lowest positions (step S107). This stabilizes the center of gravity of the robot 100. Next, the control device 180 rotates the robot arms 120A and 120B toward the worktable 151 (step S108). Then, the control device 180 causes the worktable drive device 154 to move the worktable 151 from the closed state to the open state (step S109).

[0107] Next, as Figure 5 As shown, the control device 180, for example, causes the robot arms 120A and 120B to replace the end members 132 of the end effectors 130A and 130B with the end members 132 of the storage unit 160 (step S110). For example, the control device 180 causes the robot arm 120A to insert the end member 132 of the end effector 130A into the empty storage bag 160a of the storage unit 160, thereby unlocking the connection part 133. Furthermore, the control device 180 causes the robot arm 120A to connect the connection part 133 of the end effector 130A to the target end member 132 in the storage unit 160, thereby locking the connection part 133. Similarly, the control device 180 replaces the end member 132 of the end effector 130B.

[0108] Next, the control device 180 rotates the robot arms 120A and 120B, causing the end effectors 130A and 130B to move toward the object (step S111). Furthermore, the control device 180 causes the worktable drive device 154 to move the worktable 151 from the open state to the closed state (step S112). Thus, the worktable 151 can be used.

[0109] Next, the control device 180 ends the automatic replacement program and executes the manual operation program (step S113).

[0110] Next, the operator PO inputs an operation into the operation terminal 200 in order to enable the robot 100 to perform actions for providing services. The control device 180 then causes the robot 100 to move according to the operation received from the operation terminal 200 (step S114). That is, the control device 180 causes the robot 100 to manually operate and perform actions for providing services.

[0111] Next, when operator PO finishes providing services, it inputs a termination command to operator terminal 200, which then sends the command to server 300. Upon receiving the termination command (yes in step S115), server 300 disconnects operator terminal 200 from robot 100, ending the series of processes. If server 300 does not receive a termination command (no in step S115), control device 180 returns to step S104 and repeats the subsequent processes.

[0112] In the above example, the control device 180 is configured to cause the robot 100 to automatically perform a series of processes from S107 to S112, but it is not limited thereto. For example, the control device 180 may be configured to cause the robot 100 to perform one or more processes from S107 to S112 according to instructions received from the operation terminal 200, or it may be configured to cause the robot 100 to manually perform one or more processes.

[0113] The automatic replacement procedure may also omit one or more steps S107 to S112. For example, one or both of steps S111 and S112 may be omitted from the automatic replacement procedure.

[0114] The control device 180 may also be configured to cause the robot 100 to perform the processing action of step S114 in automatic operation or a combination of automatic and manual operation. For example, in automatic operation, the control device 180 may also be configured to cause the robot 100 to perform a series of actions to perform the task according to the instructions of the task received from the operation terminal 200.

[0115] (Other implementation methods)

[0116] The embodiments of this disclosure have been described above, but this disclosure is not limited to the embodiments described above. That is, various modifications and improvements can be made within the scope of this disclosure. For example, various modifications to the embodiments and combinations of constituent elements from different embodiments are also included within the scope of this disclosure.

[0117] For example, in one embodiment, the worktable unit 150 is configured to include a worktable drive device 154 for moving the worktable 151, but it is not limited to this. For example, the worktable unit 150 may also not include the worktable drive mechanism 153 and the worktable drive device 154. In this case, the worktable 151 may be moved by one or both of the robot arms 120A and 120B using the end effectors 130A and 130B. The control device 180 may be configured to automatically operate the robot arms 120A and 120B and the end effectors 130A and 130B to perform the actions of the worktable 151, or it may be configured to perform them manually.

[0118] In the embodiments, the end member 132 configured as end effectors 130A and 130B is replaceable, and the storage portion 160 is capable of storing the end member 132, but is not limited thereto. For example, the end effectors 130A and 130B may each be entirely replaceable, and the storage portion 160 may be capable of storing the end effectors 130A and 130B. In this specification and claims, "end effector can be installed and removed" may include "the end effector as a whole can be installed and removed" and "a part of the end effector can be installed and removed." Furthermore, "installing and removing the end effector" may include "installing and removing the end effector as a whole" and "installing and removing a part of the end effector." "Storing the end effector" may include "storing the end effector as a whole" and "storing a part of the end effector."

[0119] In this embodiment, the storage unit 160 is configured to allow for the storage and removal of the end members 132 of the end effectors 130A and 130B via top access, but is not limited thereto. For example, the storage unit 160 may also be configured to allow for the storage and removal of the end members 132 of the end effectors 130A and 130B via side access. The storage unit 160 may also be configured to allow for the storage and removal of the end effectors 130A and 130B via side access.

[0120] For example, such as Figure 8 As shown, the storage section 160 can also be configured to store any one or both of the end effectors 130A and 130B and the end member 132 on the outside of the storage section 160. Figure 8This is a side view showing a modified example of the storage portion 160 according to the embodiment. The storage portion 160 may also have a fastener 160b on its outer side. The fastener 160b may also be used to fasten any one of the end effectors 130A and 130B and the end member 132. In this modified example, the fastener 160b is fixed to the storage portion 160, but it may also be fixed to the device housing 170 and the support body 152, etc. For example, the fastener 160b may also be configured to hook or suspend any one or both of the end effectors 130A and 130B and the end member 132, for example, it may have a hook-shaped structure.

[0121] In this case, the worktable 151 may also be sized to cover the storage section 160 from above and the end effectors 130A and 130B and the end member 132 fastened to the outside of the storage section 160 by fasteners 160b. Thus, even if the end effectors 130A and 130B and the end member 132 are sized to fit into the storage bag 160a of the storage section 160, they can still be stored in the storage section 160 and concealed by the worktable 151.

[0122] In this embodiment, a plate-shaped workbench 151 is exemplified as the shielding body for the storage section 160, but the structure of the shielding body is not limited to this. Preferably, the shielding body can cover and shield the storage section 160 and the end effectors 130A and 130B and end member 132 housed within the storage section 160 from above and from the outside. For example, the shielding body can be constructed from a rigid component like the workbench 151, or it can be constructed from a flexible component. For example, the shielding body can be constructed from a rigid component like a gate, but it can also be configured to deform, such as by bending, to perform opening and closing actions. For example, the shielding body can also be configured to bend to perform opening and closing actions. For example, the shielding body can also be formed from a flexible sheet material.

[0123] In this implementation, robot 100 is used as a robot for providing services to people, but it can also be used for other purposes. For example, robot 100 can also be configured for operations in factories and warehouses.

[0124] Examples of various embodiments of the present disclosure are listed below. One embodiment of the robot disclosed includes: a self-propelled transport vehicle; one or more robot arms mounted on the transport vehicle and capable of loading and unloading end effectors; a storage unit mounted on the transport vehicle, capable of storing the end effectors removed from the one or more robot arms and the end effectors mounted on the one or more robot arms; and a shielding body mounted on the transport vehicle and covering the storage unit from above.

[0125] Based on the above configuration, when providing services, the robot can select an end effector suitable for the service being provided from the end effectors housed in the storage compartment and install it onto the robot arm. The shielding structure, by covering the storage compartment from above, prevents visual and physical access to the storage compartment and the end effectors housed thereby from the person receiving the service and those around the robot. This reduces potential aesthetic losses due to the mechanical appearance of the end effectors, as well as hygiene and functional problems that may arise from contact with people.

[0126] The shelter can also be configured such that one or more robotic arms can perform operations on it. Thus, the robot can use the shelter to perform service delivery tasks and transport the service items placed on the shelter. Furthermore, since the storage unit is located below the shelter, the robot's lateral dimensions can be miniaturized. Therefore, the robot can be miniaturized while carrying equipment for providing services to people.

[0127] In one embodiment of the robot disclosed herein, the storage section may be able to store and remove the end effector from above, and the shield may be able to switch between a closed state that covers the storage section from above and an open state that opens the storage section from above.

[0128] Based on the above configuration, the robotic arm can access the end effector in the storage compartment from above. When attaching or detaching the end effector from the robotic arm, the required lateral working range of the robotic arm can be reduced. Since the shield can move in a manner that allows the storage compartment to be in a closed or open state, there is no need for loading and unloading for these different states. Therefore, no space is needed to store the removed shield.

[0129] In one embodiment of the robot disclosed herein, the shield can also be moved to either or both of the closed and open states by using the end effector via one or more robotic arms. According to this embodiment, no device is required to move the shield.

[0130] The robot according to one embodiment of this disclosure may also include a drive mechanism that moves the shield to either or both of the closed and open states. According to this embodiment, the robot can move the shield independently of the robot arm and the type of end effector. For example, the shield can move even if the end effector is not configured to move the shield.

[0131] The robot disclosed in one embodiment may also include a lifting device mounted on the aforementioned transport vehicle, which raises or lowers one or more robotic arms. According to this embodiment, even if the robotic arm is small, it can be raised or lowered by the lifting device, allowing the end effector to access the shield and storage compartment. The robot can raise or lower the lifting device according to the physique of the user being served, thereby positioning the robotic arm at a height suitable for the user and without causing them discomfort.

[0132] In one embodiment of the robot disclosed herein, the storage unit may be positioned at a height accessible to one or more robot arms when moved to the lowest position by the lifting device. According to this embodiment, the height of the storage unit can be kept low. By positioning the robot arm at the lowest position, the robot arm can perform the loading and unloading of the end effector within the storage unit while maintaining stability due to a lowered center of gravity.

[0133] The robot disclosed in one embodiment may also include a secondary battery as a power source, which is mounted on the transport vehicle and arranged adjacent to the lifting device and one or more robot arms, with the storage unit positioned above the secondary battery. According to this embodiment, the secondary battery, storage unit, and shielding body are arranged side-by-side in the vertical direction. Therefore, the lateral dimensions of this assembly of secondary battery, storage unit, and shielding body can be reduced.

[0134] The functions of the elements disclosed in this specification may be performed using circuitry or processing circuitry that includes a general-purpose processor, a special-purpose processor, an integrated circuit, an ASIC, conventional circuitry, and / or combinations thereof configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it contains transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the listed functions, or hardware programmed to perform the listed functions. The hardware may be the hardware disclosed in this specification, or other known hardware programmed or configured to perform the listed functions. In the case of a processor where the hardware is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software used in the structure of the hardware and / or the processor.

[0135] The numbers such as sequence number and quantity used above are illustrative only for the purpose of specifically illustrating the technology of this disclosure, and this disclosure is not limited to the illustrative numbers. The connecting relationships between the constituent elements are illustrative only for the purpose of specifically illustrating the technology of this disclosure, and the connecting relationships that realize the function of this disclosure are not limited thereto.

[0136] The scope of this disclosure is defined by the appended claims rather than by the description, so that this disclosure can be practiced in various ways without departing from its essential spirit. Therefore, the illustrative embodiments and variations are exemplary and not limiting. All modifications within the scope of the claims, or equivalents thereof, are included in the claims.

Claims

1. A robot, characterized in that, The robot has the following features: A self-propelled transport vehicle; One or more robotic arms are mounted on the transport vehicle and the end effectors are load-unloadable; A storage unit, mounted on the transport vehicle, is capable of storing the end effectors removed from the one or more robotic arms and the end effectors to be installed on the one or more robotic arms; and A shield, mounted on the transport vehicle, covers the storage section from above. The storage section allows for the storage and removal of the end effector from above. The shielding body is capable of operating between a closed state, where it covers the storage section from above, and an open state, where it opens the storage section from above. The shielding body is moved to either or both of the closed and open states by one or more robotic arms using the end effector.

2. The robot according to claim 1, characterized in that, It also includes a drive device that causes the shield to move toward either or both of the closed and open states.

3. The robot according to claim 1 or 2, characterized in that, It also includes a lifting device mounted on the transport vehicle, which enables the lifting of one or more robotic arms.

4. The robot according to claim 3, characterized in that, The storage unit is positioned at a height accessible to one or more robotic arms that have been moved to their lowest position by the lifting device.

5. The robot according to claim 1, 2 or 4, characterized in that, It also includes a secondary battery as a power source, which is mounted on the transport vehicle and configured adjacent to one or more robotic arms. The storage compartment is positioned above the secondary battery.

6. The robot according to claim 3, characterized in that, It also includes a secondary battery as a power source, which is mounted on the transport vehicle and configured adjacent to one or more robotic arms. The storage compartment is positioned above the secondary battery.

Images