Traveling body

Abstract

A traveling body is provided with: a base (40); a wheel unit (200) including a first wheel (31) as a driving wheel, the first wheel (31) being movably supported by the base (40); a second wheel (32) spaced apart from the first wheel in the front-rear direction and serving as a driven wheel that is driven to rotate when the first wheel (31) rotates; a suspension mechanism (220) that generates an application force; and a link mechanism (230) that is connected to the suspension mechanism (220) and the wheel unit (200) and receives an applied force from the suspension mechanism (220) to press the first wheel (31) toward the lower surface (310). The suspension mechanism (220) and the link mechanism (230) are arranged between the first wheel (31) and the second wheel (32) in the front-rear direction.

Description

Technical Field

[0001] The present invention relates to a traveling body. Background Art

[0002] For example, Japanese Unexamined Patent Application Publication No. 2021-123249 (Patent Document 1) discloses a traveling device including: a front first wheel as a follower wheel configured as an omnidirectional wheel; a rear first wheel as a driving wheel and located behind the front first wheel; a second wheel as a follower wheel configured as an omnidirectional wheel and located further behind the rear first wheel; and a support arm supported by a frame such that the support arm can swing in a vertical plane along the traveling direction, and the support arm has opposite ends to which the front first wheel and the rear first wheel are respectively rotatably mounted.

[0003] Patent Document

[0004] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2021-123249 Summary of the Invention

[0005] Problems to be Solved by the Invention

[0006] As an example of a mobile device, an autonomous mobile robot (AMR) that transports an object to anywhere is used in a factory or the like. The traveling body included in such an AMR needs to travel on a cable duct or the like covering wiring or pipelines laid on the floor of the factory, and thus needs to exhibit high traveling performance. In a shelf warehouse or the like, the traveling body needs to move to a position directly below the object to be transported, and thus also needs to maintain a low height of the traveling body to improve traveling performance.

[0007] Therefore, an object of the present invention is to provide a traveling body, a mobile device, an AMR, a wheel swing mechanism, etc. that can travel on a protrusion such as a cable duct while maintaining a low height of the traveling body.

[0008] Solutions to the Problems

[0009] The traveling body according to the present invention includes: a base; a wheel unit including a first wheel as a driving wheel, the first wheel being movably supported by the base; a second wheel spaced apart from the first wheel in the front-rear direction and serving as a follower wheel that is driven to rotate as the first wheel rotates; a suspension mechanism that generates an applied force; and a link mechanism connected to the suspension mechanism and the wheel unit and receiving the applied force from the suspension mechanism to press the first wheel downward against the lower surface. The suspension mechanism and the link mechanism are arranged between the first wheel and the second wheel in the front-rear direction.

[0010] In addition, the present invention also provides a mobile device (such as an AMR, a mobile robot, and an autonomous mobile robot) that uses such a traveling body, and provides a wheel swing mechanism for such a traveling body.

[0011] Effects of the Invention

[0012] According to the present invention, it is possible to provide a traveling body, a mobile device, an AMR, a wheel swing mechanism, etc. that can travel on protrusions such as cable ducts while keeping the height of the traveling body low. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 Figure 1 is a perspective view showing a mobile device using a traveling body according to an embodiment of the present invention.

[0014] Figure 2 Figure 2 is a perspective view showing Figure 1 the traveling body in

[0015] Figure 3 Figure 3 is a top view showing Figure 1 the traveling body in

[0016] Figure 4 Figure 4 is a rear view showing the traveling body viewed in the direction indicated by arrow IV in Figure 3

[0017] Figure 5 Figure 5 is a top view showing a modified example of the arrangement of the traveling motor in Figure 3

[0018] Figure 6 Figure 6 is a side view showing Figure 1 the traveling body in

[0019] Figure 7 Figure 7 is a cross-sectional view showing the traveling body and the bottom plate of the controller within the range surrounded by the double-dashed line VII in Figure 4

[0020] Figure 8 Figure 8 is a perspective view showing the support structure for the first wheel in the traveling body for Figure 2

[0021] Figure 9 Figure 9 is a side view showing the support structure (neutral state of the suspension mechanism) for the first wheel in Figure 8 ​​​​​​​​​​​​​​​​​​​​​​​

[0022] Figure 10 Figure 10 is a side view showing the support structure (the contracted state of the suspension mechanism) for the first round in Figure 8 .

[0023] Figure 11 Figure 11 is a side view showing the support structure (the stretched state of the suspension mechanism) for the first round in Figure 8 .

[0024] Figure 12 Figure 12 is a cross-sectional view schematically showing the mechanism for restricting the downward swing end of the arm member.

[0025] Figure 13 Figure 13 is a cross-sectional view schematically showing the mechanism for restricting the upward swing end of the arm member.

[0026] Figure 14 Figure 14 is a perspective view showing the holding mechanism for the wheel unit (before inserting the bolt).

[0027] Figure 15 Figure 15 is a perspective view showing the holding mechanism for the wheel unit (after inserting the bolt).

[0028] Figure 16 Figure 16 is a side view showing the traveling body when the first round is lifted.

[0029] Figure 17 Figure 17 is showing Figure 1 a perspective view of a modified example of the moving device in

[0030] Figure 18 Figure 18 is a plan view for explaining Figure 17 the center-of-gravity position of the moving device in DETAILED DESCRIPTION

[0031] The embodiments of the present invention will be described with reference to the accompanying drawings. In the following drawings mentioned, the same or corresponding members are denoted by the same reference numerals.

[0032] Figure 1 is a perspective view showing a moving device using a traveling body according to an embodiment of the present invention. Refer to Figure 1 ​​​​​​​​​​​​​​​​​​, the mobile device 100 is a device capable of autonomous movement under computer control. The mobile device 100 is an AMR (Autonomous Mobile Robot) and transports objects such as workpieces or tools anywhere.

[0033] In Figure 1 and the accompanying drawings mentioned below, six directions are shown as the case may be: the forward direction, the backward direction, the right direction, the left direction, the upward direction, and the downward direction. The forward direction and the backward direction are the directions in which the mobile device 100 (traveling body 12) travels straight and are opposite to each other. The right direction is the direction toward the right with respect to the mobile device 100 (traveling body 12) oriented forward. The left direction is the direction toward the left with respect to the mobile device 100 (traveling body 12) oriented forward and is opposite to the right direction. The upward direction is the direction toward the sky with respect to the mobile device 100 (traveling body 12), and the downward direction is the direction toward the lower surface (road surface) side on which the mobile device 100 (traveling body 12) travels.

[0034] In the present embodiment, the direction in which the robot 16 is located with respect to the tray 18 described below is referred to as the forward direction, and the opposite direction is referred to as the backward direction. However, the forward direction and the backward direction can be defined in any way.

[0035] In the following description, the reference numeral of the right component in a pair of left and right components is followed by "R", and the reference numeral of the left component is followed by "L". The reference numerals not followed by "R" and "L" are used to describe the common features of the left and right components.

[0036] (Structure of the mobile device 100)

[0037] First, the structure of the mobile device 100 will be described. Referring to Figure 1 , the mobile device 100 includes a traveling body 12, a controller 14, and a robot 16 such as a robot arm 17. The traveling body 12 is configured to be able to travel using wheels driven by a traveling motor 57 described below. The controller 14 and the robot 16 are mounted on the traveling body 12.

[0038] The controller 14 controls the travel of the traveling body 12 and controls the operation of the robot 16. The controller 14 includes a cover 15. The cover 15 is a cover body that presents the appearance of the controller 14 and forms an internal space on the traveling body 12. For example, various electronic devices 82 (see Figure 6 ) for moving the traveling body 12 and operating the robot 16, and a drive motor for the robot 16 are accommodated inside the cover 15.

[0039] A tray 18 is provided on the upper surface 15a of the lid 15, and an object to be transported is placed on the tray. The robot 16 is configured to be able to grasp the object to be transported. The robot 16 is provided on the upper surface 15a of the lid 15 and extends upward from the upper surface 15a of the lid 15. The robot 16 and the tray 18 are arranged in the front-rear direction.

[0040] The robot 16 includes a support portion 26, a first movable portion 21, a second movable portion 22, and a third movable portion 24. The support portion 26 projects from the upper surface 15a of the lid 15. The support portion 26 is rotatable about a rotation center axis 111. The rotation center axis 111 extends in the vertical direction (up and down direction). The support portion 26 extends along the rotation center axis 111. The support portion 26 rotates about the rotation center axis 111.

[0041] The first movable portion 21 is connected to the support portion 26 so as to be rotatable about a rotation center axis 112. The rotation center axis 112 extends in a direction orthogonal to the rotation center axis 111. The rotation center axis 112 extends in the horizontal direction. The first movable portion 21 extends radially from the support portion 26 along the rotation center axis 112. The first movable portion 21 swings about the rotation center axis 112.

[0042] The second movable portion 22 is connected to the first movable portion 21 so as to be rotatable about a rotation center axis 113. The rotation center axis 113 extends parallel to the rotation center axis 112. The rotation center axis 113 extends in the horizontal direction. The second movable portion 22 extends radially from the first movable portion 21 along the rotation center axis 113.

[0043] The second movable portion 22 includes a rotatable portion 23. The rotatable portion 23 is rotatable about a rotation center axis 114. The rotation center axis 114 extends radially along the rotation center axis 113. The rotatable portion 23 extends along the rotation center axis 114. The second movable portion 22 (rotatable portion 23) swings about the rotation center axis 113 and also rotates about the rotation center axis 114.

[0044] The third movable portion 24 is connected to the second movable portion 22 (rotatable portion 23) so as to be rotatable about a rotation center axis 115. The rotation center axis 115 extends parallel to the rotation center axis 112 and the rotation center axis 113. The rotation center axis 115 extends in the horizontal direction. The third movable portion 24 extends radially from the second movable portion 22 (rotatable portion 23) along the rotation center axis 115.

[0045] The third movable part 24 includes a rotatable part 25. The rotatable part 25 is rotatable about a rotation center axis 116. The rotation center axis 116 extends in the radial direction of the rotation center axis 115. The rotatable part 25 extends along the rotation center axis 116. The third movable part 24 (rotatable part 25) swings about the rotation center axis 115 and also rotates about the rotation center axis 116.

[0046] An end operating device (not shown) for grasping an object to be transported is attached to the front end of the third movable part 24 (rotatable part 25).

[0047] Regarding the robot 16, a six-axis (rotation center axes 111 to 116) controllable robot arm 17 will be described in conjunction with this embodiment. Alternatively, a multi-axis controllable robot arm other than six axes can be mounted on the traveling body 12. For example, the robot 16 can be a forklift-type robot. In this case, the robot 16 can be a robot capable of lifting a pallet with a fork (or with multiple forks), placing the lifted pallet in place, lifting a new pallet with a fork (or with multiple forks), and placing the new pallet on the upper surface 15a of the lid 15.

[0048] (Structure of the traveling body)

[0049] Next, the structure of the traveling body 12 will be described. Figure 2 It is a perspective view showing Figure 1 the traveling body in Figure 3 It is a top view showing Figure 1 the traveling body in Figure 3 . The traveling body 12 has a laterally symmetric structure with respect to a center line 110 (see

[0050] Referring to Figures 1 to 3 , the traveling body 12 includes a first wheel 31 (31R, 31L), a traveling motor 57 (57R, 57L), and a speed reducer 56 (56R, 57L).

[0051] The first wheel 31 is a drive wheel. The first wheel 31 is rotatable about a second axis 122. The second axis 122 is an imaginary straight line corresponding to the rotation center of the first wheel 31 and extending in the left-right direction. The traveling motor 57 is configured as a servo motor or a stepping motor, and its number of revolutions (rotational speed) and rotation direction can be controlled. Rotational motion is input from the traveling motor 57 to the first wheel 31 to rotate the first wheel. The speed reducer 56 slows down the rotation from the traveling motor 57 and transmits the rotation to the first wheel 31.

[0052] The first wheels 31R and 31L are spaced apart from each other in the left - right direction. The first wheel 31R is connected to the traveling motor 57R via the speed reducer 56R. The first wheel 31L is connected to the traveling motor 57L via the speed reducer 56L. The first wheels 31R and 31L are driven to rotate independently of each other. The first wheel 31 can rotate in the forward direction and the reverse direction. The first wheel 31 can rotate at any number of revolutions (rotational speed).

[0053] The traveling motor 57 outputs a rotational motion about the second axis 122. The traveling motor 57, the speed reducer 56, and the first wheel 31 are arranged in series in the left - right direction. The traveling motor 57 is arranged between the first wheel 31R and the first wheel 31L in the left - right direction. The traveling motor 57R is arranged between the first wheel 31R and the traveling motor 57L in the left - right direction. The traveling motor 57L is arranged between the first wheel 31L and the traveling motor 57R in the left - right direction.

[0054] The traveling body 12 further includes second wheels 32 (32R, 32L) and third wheels 33 (33R, 33L).

[0055] The second wheel 32 is rotatable about the first axis 121. The first axis 121 is an imaginary straight line corresponding to the rotation center of the second wheel 32 and extending in the left - right direction. The second wheel 32 is configured as an omnidirectional wheel, which incorporates a wheel supported to be rotatable about the first axis 121 and a plurality of rollers provided on the outer periphery of the wheel and rotatable about a rotation center axis extending in a direction orthogonal to the first axis 121.

[0056] The second wheels 32R and 32L are spaced apart from each other in the left - right direction. The first wheel 31 and the second wheel 32 are spaced apart from each other in the front - rear direction. The second wheel 32 is provided in front of the first wheel 31. The second wheel 32R is provided at the right front corner of the traveling body 12. The second wheel 32L is provided at the left front corner of the traveling body 12.

[0057] The third wheel 33 is rotatable about the eighth axis 131. The eighth axis 131 is an imaginary straight line and extends in the left - right direction. The third wheel 33 is configured as an omnidirectional wheel, which incorporates a wheel rotatable about the eighth axis 131 and a plurality of rollers provided on the outer periphery of the wheel and rotatable about a rotation center axis extending in a direction orthogonal to the eighth axis 131.

[0058] The third wheels 33R and 33L are spaced apart from each other in the left - right direction. The first wheel 31 and the third wheel 33 are spaced apart from each other in the front - rear direction. The third wheel 33 is provided behind the first wheel 31. The third wheel 33R is provided at the right rear corner of the traveling body 12. The third wheel 33L is provided at the left rear corner of the traveling body 12.

[0059] The omnidirectional wheel forming the third wheel 33 is the same as the omnidirectional wheel forming the second wheel 32. AsFigure 3 As shown, the distance Lp in the front-rear direction between the first wheel 31 and the second wheel 32 is equal to the distance Lq in the front-rear direction between the first wheel 31 and the third wheel 33. The interval between the second wheel 32R and the second wheel 32L in the left-right direction is the same as the interval between the third wheel 33R and the third wheel 33L in the left-right direction. The second wheel 32 protrudes more in the left-right direction than the first wheel 31. The third wheel 33 protrudes more in the left-right direction than the first wheel 31.

[0060] The second wheel 32 and the third wheel 33 are driven wheels. When the first wheel 31 rotates, the second wheel 32 and the third wheel 33 are driven to rotate. When the traveling body 12 travels on the lower surface due to the rotation of the first wheel 31, a relative movement is generated between the second wheel 32 and the third wheel 33 and the lower surface with which the second wheel 32 and the third wheel 33 are in contact, which causes the second wheel 32 and the third wheel 33 to rotate. When viewed from above, the second wheel 32 and the third wheel 33 (which are swivel wheels) are provided at the four corners of the traveling body 12 and have the function of bearing the weight of the moving device 100.

[0061] The traveling body 12 further includes a base 40. For example, the base 40 supports the first wheel 31, the traveling motor 57, the speed reducer 56, the second wheel 32, the third wheel 33, and the battery 51.

[0062] The base 40 further includes a frame member 41. The frame member 41 is formed of a metal frame material, which forms the skeleton of the traveling body 12. The frame member 41 is composed of tubular frame members each having a rectangular closed cross-section. The frame member 41 is arranged parallel to the lower surface on which the traveling body 12 travels.

[0063] The frame member 41 includes a first frame 42 (42R, 42L), a second frame 43, a third frame 44, and a fourth frame 45.

[0064] The first frame 42 extends in the front-rear direction. In Figure 3 the top view shown, the first frame 42 has a rectangular shape, in which its longitudinal direction corresponds to the front-rear direction, and its transverse direction corresponds to the left-right direction. The front end portion of the first frame 42 is located in front of the first axis 121, and the rear end portion of the first frame 42 is located in front of the second axis 122. The first frame 42R and the first frame 42L are spaced apart from each other in the left-right direction. In Figure 3 the top view shown, the first wheel 31R and the second wheel 32R are provided at corresponding positions that are farther from the first frame 42 in the left-right direction.

[0065] The second frame 43 extends in the left-right direction. In Figure 3In the top view shown, the second frame 43 has a rectangular shape, where its longitudinal direction corresponds to the left - right direction, and its transverse direction corresponds to the front - back direction. The second frame 43 extends between the first frame 42R and the first frame 42L. The right end of the second frame 43 is connected to the first frame 42R, and the left end of the second frame 43 is connected to the first frame 42L.

[0066] In Figure 3 In the top view shown, the support portion 26 (rotation center axis 111) of the robot 16 is located between the first frame 42R and the first frame 42L in the left - right direction. The rotation center axis 111 of the support portion 26 is located between the first frame 42R and the first frame 42L in the left - right direction and is located on the center line 110 extending in the front - back direction of the traveling body 12. The support portion 26 (rotation center axis 111) is located in front of the first wheel 31 (second axis 122). The support portion 26 (rotation center axis 111) is located in front of the second frame 43. The rotation center axis 111 is located behind the first axis 121. The position of the rotation center axis 111 of the support portion 26 in the front - back direction matches the position of the elastic pad 61 described below in the front - back direction.

[0067] The third frame 44 extends in the front - back direction. In Figure 3 In the top view shown, the third frame 44 has a rectangular shape, where its longitudinal direction corresponds to the front - back direction, and its transverse direction corresponds to the left - right direction. The third frame 44 extends on the center line 110 extending in the front - back direction of the traveling body 12. The third frame 44 extends between the second frame 43 and the fourth frame 45. The front end of the third frame 44 is connected to the second frame 43, and the rear end of the third frame 44 is connected to the fourth frame 45.

[0068] The fourth frame 45 extends in the left - right direction. In Figure 3 In the top view shown, the fourth frame 45 has a rectangular shape, where its longitudinal direction corresponds to the left - right direction, and its transverse direction corresponds to the front - back direction. In Figure 3 In the top view shown, the fourth frame 45 extends along the eighth axis 131.

[0069] The first wheel 31 is supported by the first frame 42, and the first block 46 and the arm member 211 described below are interposed between the first wheel 31 and the first frame 42. The second wheel 32 is supported by the first frame 42, and the first block 46 described below is interposed between the second wheel 32 and the first frame 42. The third wheel 33 is supported by the fourth frame 45, and the support arm 71 and the support block 72 described below are interposed between the third wheel 33 and the fourth frame 45. The battery 51 described below is supported by the third frame 44, and the battery case 52 covering the battery 51 is interposed between the battery 51 and the third frame 44.

[0070] InFigure 3 In the top view shown, the first wheel 31, the second wheel 32, and the third wheel 33 are disposed at corresponding positions that do not overlap with the frame members 41 (the first frame 42, the second frame 43, the third frame 44, and the fourth frame 45).

[0071] The first wheel 31, the second wheel 32, and the third wheel 33 cannot turn in the left - right direction. When the same rotation is applied to the first wheel 31R and the first wheel 31L, the traveling body 12 moves straight forward in the front - rear direction, and when different rotations are applied to the first wheel 31R and the first wheel 31L respectively, the traveling body 12 turns in the left - right direction (two - wheel differential drive system).

[0072] More specifically, by rotating the first wheel 31R and the first wheel 31L in the forward direction at the same rotational speed, the traveling body 12 moves straight forward (forward movement). By rotating the first wheel 31R and the first wheel 31L in the reverse direction at the same rotational speed, the traveling body 12 moves backward (backward movement).

[0073] By rotating the first wheel 31L in the forward direction and rotating the first wheel 31R at a rotational speed higher than that of the first wheel 31L in the forward direction, the moving body 12 turns left (left turn). By rotating the first wheel 31R in the forward direction and rotating the first wheel 31L at a rotational speed higher than that of the first wheel 31R in the forward direction, the traveling body 12 turns right (right turn).

[0074] By rotating the first wheel 31R in the forward direction and rotating the first wheel 31L in the reverse direction at the same rotational speed as the first wheel 31R, the traveling body 12 rotates (counter - clockwise rotation). By rotating the first wheel 31R in the reverse direction and rotating the first wheel 31L in the forward direction at the same rotational speed as the first wheel 31R, the traveling body 12 rotates in the direction opposite to the above - mentioned direction (clockwise rotation). The rotation center of the traveling body 12 is ideally located on the second axis 122 and corresponds to the intermediate position between the first wheel 31R and the first wheel 31L in the left - right direction (corresponding to the intersection of the second axis 122 and the center line 110 of the traveling body 12 extending in the front - rear direction).

[0075] In the present embodiment, the distance Lp in the front - rear direction between the first wheel 31 and the second wheel 32 is equal to the distance Lq in the front - rear direction between the first wheel 31 and the third wheel 33. In this configuration, the frictional force generated between the lower surface and the first wheel 31 and the third wheel 33 is uniform, that is, during the turning and rotating operations of the traveling body 12, the frictional force between the lower surface and the four wheels is uniform, and thus the traveling motor 57 can be conveniently controlled.

[0076] The traveling body 12 further includes a battery 51 (51R, 51L). For example, the battery 51 is provided as a power source for the mobile device 100 and supplies power to the traveling motor 57 and the drive motor of the robot 16.

[0077] The battery 51 is disposed behind the first wheel 31. The battery 51 is disposed between the first wheel 31 and the third wheel 33 in the front-rear direction. The battery 51 is located adjacent to the third frame 44 in the left-right direction. The battery 51R is disposed behind the first wheel 31R, the speed reducer 56R, and the traveling motor 57R. The battery 51L is disposed behind the first wheel 31L, the speed reducer 56L, and the traveling motor 57L. The cover 15 can be removed to extract the battery 51 in the left-right direction.

[0078] The wiring extending from the battery 51 toward the controller 14 and the robot 16 can be laid outside the frame member 41 or can be laid inside the frame member 41.

[0079] In Figure 3 the top view shown, the support portion 26 (rotation center axis 111) of the robot 16 is located in front of the first wheel 31, while the battery 51 is located behind the first wheel 31. In this configuration, the robot 16, which is a heavy object and is subjected to a high load when driven, and the battery 51, which is also a heavy object, can be supported by the base 40 in a balanced manner in the front-rear direction. Therefore, the traveling of the mobile device 100 can be made stable.

[0080] Figure 4 is a rear view showing the traveling body as viewed in the direction of the arrow IV shown in Figure 3 . Referring to Figure 3 and Figure 4 , the base 40 further includes a support arm 71 and a support block 72.

[0081] The support arm 71 is disposed below the fourth frame 45. The support arm 71 extends in the left-right direction. The third wheel 33 is supported by the support arm 71. The third wheel 33R is connected to the right end of the support arm 71. The third wheel 33L is connected to the left end of the support arm 71.

[0082] The support block 72 is connected to the fourth frame 45. The support block 72 protrudes downward from the fourth frame 45. Through the support block 72, the support arm 71 is supported in a rotatable manner about the rotation center axis 136. The rotation center axis 136 extends in the front-rear direction. In Figure 3 the top view shown, the rotation center axis 136 overlaps with the center line 110 of the traveling body 12 extending in the front-rear direction. The support block 72 is provided with a shaft 73 that protrudes rearward from the support block 72 and extends along the rotation center axis 136, and the shaft 73 is inserted into the support arm 71, with a bearing interposed between the shaft 73 and the support arm 71.

[0083] In this configuration, when the traveling body 12 travels on the uneven portion of the lower surface, the support arm 71 swings about the rotation center axis 136. Therefore, the third wheel 33 can come into contact with the lower surface more reliably, thereby stabilizing the travel of the mobile device 100.

[0084] Figure 5 is a top view showing Figure 3 a modified example of the arrangement of the traveling motor in Figure 5 , in this modified example, the traveling motor 57 outputs a rotational motion about the ninth axis 161. The ninth axis 161 extends in the front-rear direction. The traveling motor 57 is provided below the first frame 42. The speed reducer 56 slows down the rotational motion from the traveling motor 57, converts the rotational motion about the ninth axis 161 into a motion that rotates 90° about the second axis 122, and transmits the rotational motion to the first wheel 31.

[0085] According to this modified example, since the traveling motor 57 is not arranged in series with respect to the first wheels 31 and the speed reducer 56 arranged in the left-right direction, the distance between the first wheel 31R and the first wheel 31L in the left-right direction can be reduced.

[0086] Figure 6 is a side view showing Figure 1 the traveling body in Figure 6 , additionally shown in Figure 1 is a part of the structure of the controller 14 in

[0087] Referring to Figure 1 and Figure 6 , the controller 14 includes a bottom plate 76, an electronic device 82, and a robot support portion 81.

[0088] The bottom plate 76 is provided at the bottom of the controller 14. The bottom plate 76 is formed of a metal sheet material in which the up-down direction corresponds to the thickness direction. The electronic device 82 and the robot support portion 81 are provided on the bottom plate 76.

[0089] The electronic device 82 includes a control device 83. The control device 83 controls the traveling body 12 and the robot 16. The control device 83 controls the traveling motor 57 of the traveling body 12 and controls the drive motor of the robot 16. The electronic device 82 may further include a laser sensor for detecting map information around the traveling body 12. The battery 51 is disposed below the electronic device 82.

[0090] The robot support portion 81 is provided in front of the electronic device 82. The robot support portion 81 supports the robot 16 at a position separated from the bottom plate 76 in the upward direction. The support portion 26 of the robot 16 is connected to the robot support portion 81.

[0091] The cover 15 is formed of a metal sheet and presents the appearance of the controller 14. The cover 15 is attached to the bottom plate 76 using fastening members such as bolts. The cover 15 is provided to cover the electronic device 82 and the robot support portion 81. The cover 15 forms an internal space on the bottom plate 76 for accommodating the electronic device 82 and the robot support portion 81.

[0092] Figure 7 is a cross-sectional view showing the traveling body and the bottom plate of the controller within the range surrounded by the double-dot chain line VII in Figure 4 . Referring to Figures 2 to 7 , the traveling body 12 includes a holding unit 60. The holding unit 60 holds the controller 14 with respect to the traveling body 12.

[0093] The holding unit 60 includes an elastic pad 61. The elastic pad 61 is formed of an elastic member. The elastic pad 61 is formed of a sheet-like rubber member in which the vertical direction corresponds to the thickness direction. The elastic pad 61 is interposed between the bottom plate 76 of the controller 14 and the traveling body 12. The elastic pad 61 is interposed between the bottom plate 76 of the controller 14 and the frame member 41. The controller 14 is mounted on the traveling body 12, and the elastic pad 61 is interposed between the controller 14 and the traveling body 12. The elastic pad 61 bears the weights of the controller 14 and the robot 16.

[0094] As Figure 7 shown, the holding unit 60 further includes a substrate 66, a positioning pin 68, and an assembly member 69.

[0095] The substrate 66 is formed of a metal sheet material in which the vertical direction corresponds to the thickness direction. The substrate 66 is connected to the frame member 41. The substrate 66 is mounted on the upper surface 41a of the frame member 41. The elastic pad 61 is fixed to the substrate 66.

[0096] The positioning pin 68 has a pin shape protruding upward from the substrate 66. The positioning pin 68 and the elastic pad 61 adjacent to each other are arranged on the substrate 66. The positioning pin 68 is inserted into the bottom plate 76 in the vertical direction. A pin insertion hole 77 is formed in the bottom plate 76. The pin insertion hole 77 penetrates the bottom plate 76 in the vertical direction. The positioning pin 68 is inserted into the pin insertion hole 77.

[0097] The assembly member 69 is formed of a cylindrical body. The assembly member 69 is assembled onto the positioning pin 68 protruding from the bottom plate 76. The assembly member 69 is fastened to the positioning pin 68 using a nut 70. The bottom plate 76 is held between the assembly member 69 and the elastic pad 61 in the vertical direction. The fastening force applied from the nut 70 to the positioning pin 68 may not act on the elastic pad 61.

[0098] As Figure 2 and Figure 3As shown, the traveling body 12 includes a plurality of holding units 60 (60fR, 60fL, 60rR, 60rL). The plurality of holding units 60 are configured to be separated from each other in the front-rear direction and the left-right direction.

[0099] The holding unit 60fR and the holding unit 60fL are respectively provided on the first frames 42R and 42L. The holding unit 60fR is disposed adjacent to the second wheel 32R in the left-right direction. The holding unit 60fL is disposed adjacent to the second wheel 32L in the left-right direction. In each holding unit 60, specifically in each of the holding units 60fR and 60fL, the elastic pad 61 and the positioning pin 68 are disposed adjacent to each other in the front-rear direction.

[0100] The holding unit 60rR and the holding unit 60rL are provided on the fourth frame 45. The holding unit 60rR is disposed adjacent to the third wheel 33R in the left-right direction. The holding unit 60rL is disposed adjacent to the third wheel 33L in the left-right direction. In each holding unit 60, specifically in each of the holding units 60rR and 60rL, the elastic pad 61 and the positioning pin 68 are disposed adjacent to each other in the left-right direction.

[0101] As Figure 6 shown, the holding unit 60fR and the holding unit 60fL are provided at corresponding positions that match the position of the robot support portion 81 in the front-rear direction. The holding unit 60rR and the holding unit 60rL are provided at corresponding positions that match the position of the electronic device 82.

[0102] When the moving device 100 travels over a protrusion such as a cable duct installed on the lower surface, excessive vibration occurs. With the structure that the controller 14 is elastically supported by the elastic pad 61, this vibration can be prevented from being transmitted to the controller 14. Therefore, various electronic devices 82 provided in the controller 14, particularly the control device 83 for controlling the traveling body 12 and the robot 16, can be appropriately protected from vibration.

[0103] In addition, by using the holding unit 60 in which the elastic pad 61 and the positioning pin 68 are integrated by the substrate 66, it is possible to achieve both the elastic support of the controller 14 and the positioning of the controller 14 relative to the traveling body 12 with a simple structure. In the case of this structure, the bottom plate 76 is fixed to the traveling body 12 by the positioning pin 68, and the cover 15 is attached to the bottom plate 76. In this case, as Figure 6 shown, a hanging tool 350 such as a ring head bolt can be attached to the cover 15 to lift and transport the moving device 100.

[0104] The controller 14 can control the mobile device 100 in such a way as to reduce the traveling speed of the mobile device 100 when the mobile device 100 moves over a protrusion such as a cable duct on the lower surface. In this case, the controller 14 can detect the timing of performing speed control based on factory map information etc. pre-stored in the controller 14.

[0105] The following is an outline of the holding structure of the above-mentioned controller 14: The mobile device 100 includes: a traveling body 12; a controller 14 having a bottom plate 76 and an electronic device 82 mounted on the bottom plate 76, and mounted on the traveling body 12; and a holding unit 60 including an elastic pad 61 and holding the controller 14 relative to the traveling body 12, with the elastic pad 61 interposed between the bottom plate 76 and the traveling body 12.

[0106] The holding unit 60 further includes a substrate 66 connected to the traveling body 12, a positioning pin 68 protruding upward from the substrate 66 and inserted into the bottom plate 76, and an assembly member 69 assembled on the positioning pin 68 protruding from the bottom plate 76. The elastic pad 61 is adjacent to the positioning pin 68 and fixed to the substrate 66.

[0107] The mobile device 100 includes a plurality of holding units 60 (60fL, 60fR, 60rL, 60rR) arranged separately from each other in the front-rear direction and the left-right direction.

[0108] The mobile device 100 further includes a robot 16. The controller 14 further includes a robot support portion 81 that supports the robot 16. The electronic device 82 includes a control device 83 that controls the traveling body 12 and the robot 16.

[0109] The mobile device 100 includes: a traveling body 12 having (i) wheels (31) and (ii) mechanisms (220, 211, 230), the mechanisms including a biasing member (220) extending in the front-rear direction for causing the wheels (31) to move toward the lower surface 310 by an applied force generated by the biasing member (220); a controller 14 having a bottom plate 76 and an electronic device 82 mounted on the bottom plate 76, and mounted on the traveling body 12; and a holding unit 60 including an elastic pad 61 interposed between the bottom plate 76 and the traveling body 12 and holding the controller 14 relative to the traveling body 12.

[0110] The mobile device 100 includes: a traveling body 12; a controller 14 having a base plate 76 and an electronic device 82 mounted on the base plate 76, and mounted on the traveling body 12; and a holding unit 60 including an elastic pad 61 interposed between the base plate 76 and the traveling body 12, and holding the controller 14 relative to the traveling body 12. The traveling body 12 includes a frame member 41 formed of a tubular frame member, each frame member having a rectangular closed cross-section and having wiring passing therethrough, and the extending direction of the short side of the rectangle corresponds to the up-and-down direction. The holding unit 60 is provided on the frame member 41.

[0111] In this structure, when the mobile device 100 travels on a protrusion such as a cable duct, excessive vibration occurs. With the structure in which the controller is elastically supported by the elastic pad 61, this vibration can be prevented from being transmitted to the controller 14. Therefore, the electronic device 82 provided in the controller 14 can be appropriately protected from the influence of vibration.

[0112] In addition, a biasing member 220 that generates a biasing force for moving the wheel (31) downward toward the lower surface 310 is provided to extend in the front-rear direction. In this structure and in the structure in which an elastic pad 61 is used instead of a damper in the holding unit 60, vibration can be more effectively prevented from being transmitted to the controller 14, and the height of the traveling body 12 can be kept low.

[0113] The traveling body 12 includes a frame member 41 formed of tubular frame members each having a rectangular closed cross-section, and wiring passes through the inside of the frame member 41. In this structure, for example, interference between the wiring and the wheels (31) included in the traveling body 12 and / or with the lower surface 310 can be prevented, and the rigidity of the traveling body 12 can be kept high. In addition, since the frame member 41 is arranged such that the extending direction of the short side of the rectangle corresponds to the up-and-down direction, the height of the traveling body 12 can be kept low.

[0114] (Support structure for the first wheel)

[0115] Next, the support structure for the first wheel 31 will be described. Figure 8 is a perspective view showing the support structure for the first wheel in the traveling body in Figure 2 Figure 9 is a side view showing the support structure for the first wheel (neutral state of the suspension mechanism) in Figure 8 Figure 10 is a side view showing Figure 8 the support structure for the first wheel (contracted state of the suspension mechanism) in Figure 11 is a side view showing the support structure for the first wheel (stretched state of the suspension mechanism) in Figure 8

[0116] ​​​The neutral state of the suspension mechanism 220 corresponds to the state of the suspension mechanism 220 when the lowermost part of the first wheel 31 in contact with the lower surface 310 and the lowermost parts of the second wheel 32 and the third wheel 33 in contact with the lower surface 310 are at the same height. The contracted state of the suspension mechanism 220 corresponds to the state of the suspension mechanism 220 when the suspension mechanism 220 has performed a contraction operation from the neutral state. The stretched state of the suspension mechanism 220 corresponds to the state of the suspension mechanism 220 when the suspension mechanism 220 has performed a stretching operation from the neutral state.

[0117] Referring to Figure 2 、 Figure 3 and Figures 8 to 11 ,the base 40 further includes a first block 46, a second block 47 (47S, 47T), and a third block 48 (48S, 48T).

[0118] The first block 46, the second block 47, and the third block 48 are fixed to the frame member 41 and are thus stationary members that do not move due to the upward / downward movement of the first wheel 31 and the stretching / contraction of the suspension mechanism 220, as described below. In the left-right direction, the first block 46, the second block 47, and the third block 48 are disposed between the first arm member 211S and the second arm member 211T, which will be described below.

[0119] The first block 46 is connected to the first frame 42. The first block 46 protrudes downward from the first frame 42. The second block 47 is connected to the first block 46. The second block 47 is fastened to the rear surface of the first block 46. The second block 47S and the second block 47T are spaced apart from each other in the left-right direction.

[0120] The third block 48 is connected to the first frame 42. The third block 48 protrudes downward from the first frame 42. The third block 48 is disposed at a position separated backward from the second block 47. The third block 48S and the third block 48T are spaced apart from each other in the left-right direction.

[0121] The moving device 100 (traveling body 12) includes a wheel unit 200. In the wheel unit 200, the first wheel 31 is movably supported by the base 40. In the wheel unit 200, the first wheel 31 is supported by the base 40 in such a manner that the first wheel 31 can move up and down.

[0122] The wheel unit 200 includes a first wheel 31, an arm member 211, and a coupling member 212. The arm member 211 extends in an arm shape in the front-rear direction. The arm member 211 is formed of a metal sheet material in which the left-right direction corresponds to the thickness direction. The arm member 211 is supported by the base 40 so as to be rotatable about the first axis 121.

[0123] As Figure 9 shown, in the neutral state of the suspension mechanism 220, the arm member 211 extends parallel in the front-rear direction.

[0124] The wheel unit 200 includes a first arm member 211S and a second arm member 211T that are the arm members 211. The first arm member 211S and the second arm member 211T are spaced apart from each other in the left-right direction. The first arm member 211S is disposed outside the traveling body 12 in the left-right direction with respect to the second arm member 211T. The first arm member 211S and the second arm member 211T are connected to each other by a connecting member 212.

[0125] The connecting member 212 extends axially in the left-right direction. Opposite end portions of the connecting member 212 in the left-right direction are respectively connected to the first arm member 211S and the second arm member 211T. The connecting member 212 is disposed opposite to the first wheel 31 with respect to the first block 46. The first wheel 31 is disposed behind the first block 46. The first block 46 is disposed behind the connecting member 212. The distance between the first block 46 and the connecting member 212 in the front-rear direction is less than the distance between the first block 46 and the first wheel 31 in the front-rear direction.

[0126] The wheel unit 200 includes a first connecting member 212A and a second connecting member 212B that are the connecting member 212. The first connecting member 212A and the second connecting member 212B are spaced apart from each other in the up-down direction. The first connecting member 212A is disposed above the second connecting member 212B.

[0127] Through the first block 46, the arm member 211 is supported so as to be rotatable about the first axis 121. The first wheel 31 is arranged opposite to the first block 46 in the left-right direction with respect to the first arm member 211S. Through the first arm member 211S, the first wheel 31 is supported at a position separated from the first axis 121 in its radial direction. Through the first arm member 211S, the first wheel 31 is supported at a position separated rearward from the first axis 121.

[0128] The first wheel 31 can be supported by the second arm member 211T, or can be supported by both the first arm member 211S and the second arm member 211T.

[0129] As Figure 9 and Figure 10 shown, when the first wheel 31 moves upward from the neutral state of the suspension mechanism 220, the arm member 211 swings clockwise about the first axis 121. As Figure 9 and Figure 11 shown, when the first wheel 31 moves downward from the neutral state of the suspension mechanism 220, the arm member 211 swings counterclockwise about the first axis 121.

[0130] The moving device 100 (traveling body 12) further includes a suspension mechanism 220. The suspension mechanism 220 generates an applied force acting on the first wheel 31.

[0131] The suspension mechanism 220 extends in the front-rear direction. The suspension mechanism 220 is arranged in a horizontal attitude such that the total length of the suspension mechanism 220 in the front-rear direction is greater than the total height of the suspension mechanism 220 in the up-down direction.

[0132] The suspension mechanism 220 is arranged such that at least a part of the suspension mechanism 220 overlaps with the arm member 211 when viewed in the left-right direction. The suspension mechanism 220 is arranged between the first arm member 211S and the second arm member 211T in the left-right direction. The suspension mechanism 220 is provided below the frame member 41 (the first frame 42). The suspension mechanism 220 is provided at a position lower than the uppermost part of the second wheel 32 and the uppermost part of the third wheel 33. The suspension mechanism 220 is arranged between the first axis 121 and the second axis 122 in the front-rear direction. The suspension mechanism 220 is arranged in front of the speed reducer 56.

[0133] The first axis 121 is positioned opposite to the first wheel 31 with respect to the suspension mechanism 220 in the front-rear direction. The battery 51 is arranged opposite to the first wheel 31 with respect to the arm member 211 in the front-rear direction.

[0134] One end (front end) of the suspension mechanism 220 is supported by the base 40 so as to be rotatable about the third axis 123. The third axis 123 is an imaginary straight line corresponding to the rotation center of the suspension mechanism 220 and extends in the left-right direction. The third axis 123 is located between the first axis 121 and the second axis 122 in the front-rear direction. The third axis 123 is located above the first axis 121. The second block 47 is provided on the third axis 123.

[0135] The suspension mechanism 220 includes a spring member 221 and a shock absorber 222. The shock absorber 222 is composed of a cylinder filled with oil, gas, etc. and a rod coupled to the cylinder and capable of telescoping in the front-rear direction. The front end of the cylinder of the shock absorber 222 is inserted between the second block 47S and the second block 47T and is supported by the second block 47S and the second block 47T so as to be rotatable about the third axis 123.

[0136] The spring member 221 is configured as a helical spring. The spring member 221 is coupled to the outer periphery of the shock absorber 222. The spring member 221 applies a spring force to the rod of the shock absorber 222 in the stretching direction.

[0137] The moving device 100 (traveling body 12) further includes a link mechanism 230. The link mechanism 230 is connected to the suspension mechanism 220 and the wheel unit 200. The link mechanism 230 is connected to the other end (rear end) of the suspension mechanism 220. The link mechanism 230 is connected to the rear end of the rod of the shock absorber 222. The link mechanism 230 is connected to the arm member 211. The link mechanism 230 receives the applied force from the suspension mechanism 220 to press the first wheel 31 toward the lower surface 310.

[0138] The link mechanism 230 is disposed between the first axis 121 and the second axis 122 in the front-rear direction. The link mechanism 230 is disposed between the first arm member 211S and the second arm member 211T in the left-right direction. The link mechanism 230 is disposed below the frame member 41 (the first frame 42).

[0139] The link mechanism 230 includes a first plate 231 (231S, 231T) and a second plate 241 (241S, 241T).

[0140] The first plate 231 is formed of a sheet member in which the left-right direction corresponds to the thickness direction. Through the base portion 40, the first plate 231 is supported so as to be rotatable about the fourth axis 124. The fourth axis 124 is an imaginary straight line corresponding to the rotation center of the first plate 231 relative to the base portion 40 (the third block 48) and extends in the left-right direction. The fourth axis 124 is located between the first axis 121 and the second axis 122 in the front-rear direction. The fourth axis 124 is located between the third axis 123 and the sixth axis 126, which will be described below, in the front-rear direction.

[0141] Through the third block 48, the first plate 231 is supported so as to be rotatable about the fourth axis 124. As Figure 8 shown, the first plate 231 is disposed between the third block 48S and the third block 48T in the left-right direction. The first plate 231S is disposed adjacent to the third block 48S in the left-right direction. The first plate 231T is disposed adjacent to the third block 48T in the left-right direction. A shaft member (not shown) located between the third block 48S and the third block 48T and extending along the fourth axis 124 is inserted through the first plate 231S and the first plate 231T. A bearing such as a sliding bearing is interposed between the shaft member and the first plate 231S / the first plate 231T. The bearing has a cylindrical shape, has the fourth axis 124 as its center, and allows relative rotational movement between the shaft member and the first plate 231S / the first plate 231T.

[0142] The first plate 231S and the first plate 231T are spaced apart from each other in the left-right direction. The rear end of the rod of the shock absorber 222 is inserted between the first plate 231S and the first plate 231T in the left-right direction.

[0143] The first plate 231 (231S, 231T) is connected to the other end of the suspension mechanism 220 (the rear end of the rod of the shock absorber 222) in a manner rotatable about the fifth axis 125. The fifth axis 125 is an imaginary straight line corresponding to the rotation center of the first plate 231 with respect to the rear end of the rod of the shock absorber 222 and extends in the left-right direction. The fifth axis 125 is radially away from the fourth axis 124. The fifth axis 125 is located above the fourth axis 124. A shaft member (not shown) extending along the fifth axis 125 between the first plate 231S and the first plate 231T is inserted into the rear end of the rod of the shock absorber 222.

[0144] The second plate 241 is formed of a sheet member in which the left-right direction corresponds to the thickness direction. The second plate 241 partially overlaps the first plate 231 in the left-right direction. The second plate 241 overlaps the first plate 231 within at least a range including the seventh axis 127 to be described below. The second plate 241 is disposed between the first arm member 211S and the second arm member 211T in the left-right direction. The second plate 241S is disposed adjacent to the first arm member 211S in the left-right direction. The second plate 241T is disposed adjacent to the second arm member 211T in the left-right direction.

[0145] The second plate 241 is connected to the arm member 211 in a manner rotatable about the sixth axis 126. The sixth axis 126 is an imaginary straight line corresponding to the rotation center of the second plate 241 with respect to the arm member 211 and extends in the left-right direction. The sixth axis 126 is located between the fourth axis 124 and the second axis 122 in the front-rear direction. The sixth axis 126 is located between the fifth axis 125 and the second axis 122 in the front-rear direction. A shaft member (not shown) extending along the sixth axis 126 between the first arm member 211S and the second arm member 211T is inserted through the second plate 241S and the second plate 241T.

[0146] The second plate 241 is connected to the first plate 231 in a manner rotatable about a seventh axis 127. The seventh axis 127 is an imaginary straight line corresponding to the rotation center of the second plate 241 relative to the first plate 231 and extends in the left - right direction. The seventh axis 127 is radially away from the sixth axis 126. The seventh axis 127 is radially away from the fourth axis 124. The seventh axis 127 is located between the fourth axis 124 and the second axis 122 in the front - rear direction. The seventh axis 127 is located behind the fourth axis 124. The seventh axis 127 is located below the sixth axis 126. A shaft member (not shown) extending along the seventh axis 127 is inserted through the first plate 231S, the second plate 241S, the first plate 231T, and the second plate 241T. A bearing such as a sliding bearing is interposed between the shaft member and the second plate 241S / second plate 241T. The bearing has a cylindrical shape with the seventh axis 127 as its center and allows relative rotational movement between the shaft member and the second plate 241S / second plate 241T.

[0147] The distance between the fourth axis 124 and the seventh axis 127 is greater than the distance between the fourth axis 124 and the fifth axis 125.

[0148] The applied force from the suspension mechanism 220 generated by the spring force of the spring member 221 is transmitted to the arm member 211 via the first plate 231 and the second plate 241. The arm member 211 receives the applied force from the suspension mechanism 220 and is thus driven counter - clockwise about the first axis 121. Therefore, the first wheel 31 supported by the arm member 211 is pressed against the lower surface 310.

[0149] Refer to Figure 9 and Figure 10 When the first wheel 31 moves upward as the first wheel passes over the protrusion on the lower surface 310, the arm member 211 swings clockwise about the first axis 121. As the arm member 211 swings, the second plate 241 swings counter - clockwise about the sixth axis 126, and the first plate 231 swings clockwise about the fourth axis 124. As the first plate 231 swings, the fifth axis 125 moves in the direction toward the third axis 123, thereby compressing the suspension mechanism 220. At this time, although a relative position deviation occurs between the third axis 123 and the fifth axis 125 that respectively support the opposite ends of the suspension mechanism 220, this position deviation is absorbed by the suspension mechanism 220 swinging about the third axis 123.

[0150] See Figure 9 and Figure 11, when the first round 31 moves downward as the first round passes through the recess in the lower surface 310, the arm member 211 swings counterclockwise about the first axis 121. As the arm member 211 swings, the second plate 241 swings clockwise about the sixth axis 126, and the first plate 231 swings counterclockwise about the fourth axis 124. As the first plate 231 swings, the fifth axis 125 moves in a direction away from the third axis 123, thereby stretching the suspension mechanism 220. At this time, although a relative position deviation occurs between the third axis 123 and the fifth axis 125 that respectively support opposite ends of the suspension mechanism 220, this position deviation is absorbed by the suspension mechanism 220 that swings about the third axis 123.

[0151] In Figure 9 In the neutral state of the suspension mechanism 220 shown, the third axis 123 is located behind and above the first axis 121. The fourth axis 124 and the fifth axis 125 are located at corresponding positions behind the third axis 123 and are aligned with each other in the front-rear direction. The fifth axis 125 is located above the fourth axis 124. The sixth axis 126 and the seventh axis 127 are located at corresponding positions behind the fourth axis 124 and the fifth axis 125 and are aligned with each other in the front-rear direction. The second axis 122 is located behind the sixth axis 126 and the seventh axis 127. The third axis 123, the fifth axis 125, and the sixth axis 126 are located at corresponding positions that are aligned with each other in the up-down direction (at the same height). The fourth axis 124, the seventh axis 127, and the second axis 122 are located at corresponding positions that are aligned with each other in the up-down direction. The first axis 121 is located below the third axis 123, the fifth axis 125, and the sixth axis 126 and above the fourth axis 124, the seventh axis 127, and the second axis 122.

[0152] In Figure 10 In the contracted state of the suspension mechanism 220 shown, the first axis 121, the third axis 123, the fifth axis 125, the fourth axis 124, the seventh axis 127, the sixth axis 126, and the second axis 122 are arranged in sequence from the front side to the rear side of the traveling body 12. The second axis 122 is located above the first axis 121. The fifth axis 125 is located above the fourth axis 124, the seventh axis 127 is located above the fifth axis 125, and the sixth axis 126 is located above the seventh axis 127. The first axis 121 is located above the fourth axis 124 and below the fifth axis 125. The second axis 122 is located above the seventh axis 127 and below the sixth axis 126.

[0153] In Figure 11In the stretched state of the suspension mechanism 220 shown, the first axis 121, the third axis 123, the fourth axis 124, the fifth axis 125, the seventh axis 127, the sixth axis 126, and the second axis 122 are arranged in sequence from the front side to the rear side of the traveling body 12. The second axis 122 is located at a position below the first axis 121. The sixth axis 126 is located at a position above the seventh axis 127, the fourth axis 124 is located at a position above the sixth axis 126, and the fifth axis 125 is located at a position above the fourth axis 124. The first axis 121 is located at a position above the fourth axis 124 and below the fifth axis 125. The second axis 122 is located at a position below the seventh axis 127.

[0154] As described above, the traveling body 12 according to the present embodiment includes: a base portion 40; a wheel unit 200 including a first wheel 31 movably supported by the base portion 40; a suspension mechanism 220 that generates an applied force; and a link mechanism 230 connected to the suspension mechanism 220 and the wheel unit 200 and receiving the applied force from the suspension mechanism 220 to press the first wheel 31 toward the lower surface 310.

[0155] In the traveling body 12 configured in this way, the first wheel 31 is pressed toward the lower surface 310 by the applied force from the suspension mechanism 220, and thus the ground contact force of the first wheel 31 can be increased, thereby improving the traveling performance of the traveling body 12. The traveling performance of the traveling body 12 is thus improved, and it can travel over protrusions such as cable ducts, etc., thereby improving the mobility of the mobile device 100. In this configured case, the link mechanism 230 can appropriately change the direction of the applied force from the suspension mechanism 220 to transmit the applied force to the wheel unit 200, and thus, the attitude of the suspension mechanism 220 mounted on the traveling body 12 can be freely set. Therefore, when mounting the suspension mechanism 220, the height of the traveling body 12 can be kept low.

[0156] When the suspension mechanism is mounted in an upright posture, the total length of the coil spring must be shortened because the height of the traveling body is restricted. In this case, the ratio of the length of the coil spring to be stretched / contracted to the total length of the coil spring increases, and thus it is impossible to ensure that the coil spring has sufficient durability. On the contrary, according to the present embodiment, the suspension mechanism 220 is mounted in a horizontal posture, and thus it is easy to ensure a large space in the stretching / contracting direction of the spring member 221 for mounting the suspension mechanism 220. Therefore, the above durability problem of the spring member 221 can be overcome.

[0157] The wheel unit 200 further includes an arm member 211 supported by a base portion 40 so as to be rotatable about a first axis 121 extending in the left-right direction. A first wheel 31 is supported by the arm member 211 so as to be rotatable about a second axis 122 extending in the left-right direction, and is spaced apart from the first axis 121 in the front-rear direction.

[0158] In this configuration, as the arm member 211 swings about the first axis 121, the first wheel 31 can move circumferentially along the first axis 121. Therefore, the wheel unit 200 (wherein the first wheel 31 is movably supported by the base portion 40) can be realized with a simple structure.

[0159] The suspension mechanism 220 is arranged in such a manner that at least a part of the suspension mechanism 220 overlaps with the arm member 211 when viewed in the left-right direction.

[0160] In this configuration, when installing the suspension mechanism 220, the height of the traveling body 12 can be kept low.

[0161] The suspension mechanism 220 is arranged between the first axis 121 and the second axis 122 in the front-rear direction.

[0162] In this configuration, the suspension mechanism 220 can be installed compactly in the front-rear direction.

[0163] The first axis 121 is located on the opposite side of the suspension mechanism 220 with respect to the first wheel 31 in the front-rear direction. The traveling body 12 further includes a battery 51, and the battery 51 is arranged on the opposite side of the arm member 211 with respect to the first wheel 31 in the front-rear direction.

[0164] In the traveling body 12 configured in this way, due to the configuration that the first axis 121 is located on the opposite side of the suspension mechanism 220 with respect to the first wheel 31 in the front-rear direction, the length of the arm member 211 in the front-rear direction is set to be greater than the length of the suspension mechanism 220 in the front-rear direction. In this case, as the arm member 211 swings about the first axis 121, the first wheel 31 moves circumferentially along the first axis 121, and the trajectory curvature of the first wheel 31 is small, so that the first wheel 31 is less likely to interfere with the battery 51 ( Figure 8 the battery case 52 in). Therefore, the battery 51 can be arranged closer to the first wheel 31, and thus the traveling body 12 can be configured compactly.

[0165] The traveling body 12 further includes a second wheel 32 supported by the base portion 40 (the first block 46) so as to be rotatable about the first axis 121.

[0166] In this configuration, by making the arm member 211 and the second wheel 32 have a common rotation center axis, the support structure for the arm member 211 and the second wheel 32 can be simplified.

[0167] One end of the suspension mechanism 220 is supported by the base 40 in a manner that it can rotate about a third axis 123 extending in the left - right direction and located between the first axis 121 and the second axis 122 in the front - back direction. The link mechanism 230 includes: a first plate 231, which is supported by the base 40 in a manner that it can rotate about a fourth axis 124 extending in the left - right direction and located between the third axis 123 and the second axis 122 in the front - back direction, and is connected to the other end of the suspension mechanism 220 in a manner that it can rotate about a fifth axis 125 extending in the left - right direction and radially away from the fourth axis 124; and a second plate 241, which is connected to the arm member 211 in a manner that it can rotate about a sixth axis 126 extending in the left - right direction and located between the fourth axis 124 and the second axis 122 in the front - back direction, and is connected to the first plate 231 in a manner that it can rotate about a seventh axis 127 extending in the left - right direction and radially away from each of the fourth axis 124 and the sixth axis 126.

[0168] In this configuration, the stretching / contraction of the suspension mechanism 220 and the movement (up - down movement) of the first wheel 31 can be coordinated with each other by the swinging of the suspension mechanism 220 relative to the base 40 about the third axis 123, the swinging of the first plate 231 relative to the base 40 about the fourth axis 124, the swinging of the second plate 241 relative to the arm member 211 about the sixth axis 126, and the swinging of the arm member 211 relative to the base 40 about the first axis 121.

[0169] The distance between the fourth axis 124 and the seventh axis 127 is greater than the distance between the fourth axis 124 and the fifth axis 125.

[0170] In this configuration, the length that the first wheel 31 moves through (the stroke of the up - down movement of the first wheel) can be set to be relatively large, while the length to be stretched / contracted of the suspension mechanism 220 is kept relatively small.

[0171] The wheel unit 200 further includes a pair of arm members 211 (211S, 211T) spaced apart from each other in the left - right direction. The suspension mechanism 220 is arranged between the pair of arm members 211 (211S, 211T).

[0172] In this configuration, it can be ensured that the arm member 211 connecting the suspension mechanism 220 and the first wheel 31 has sufficient rigidity.

[0173] The base 40 further includes a frame member 41 (first frame 42) arranged parallel to the lower surface 310 and extending in the front - back direction. The suspension mechanism 220 is arranged below the frame member 41 (first frame 42).

[0174] In the case of this configuration, when installing the suspension mechanism 220, the height of the traveling body 12 can be kept low.

[0175] The traveling body 12 according to the present embodiment includes: a base portion 40; a wheel unit 200 including a first wheel 31 as a drive wheel, the first wheel 31 being movably supported by the base portion 40; a second wheel 32 spaced apart from the first wheel 31 in the front-rear direction and serving as a driven wheel that is driven to rotate when the first wheel 31 rotates; a suspension mechanism 220 that generates an applied force; and a link mechanism 230 connected to the suspension mechanism 220 and the wheel unit 200 and receiving the applied force from the suspension mechanism 220 to press the first wheel 31 toward the lower surface 310. The suspension mechanism 220 and the link mechanism 230 are arranged between the first wheel 31 and the second wheel 32 in the front-rear direction. In the case of this configuration, the suspension mechanism 220 and the link mechanism 230 are arranged between the first wheel 31 and the second wheel 32 in the front-rear direction, and thus, the suspension mechanism 220 and the link mechanism 230 can be arranged by effectively using the space in the front-rear direction ensured between the drive wheel and the driven wheel.

[0176] Furthermore, in the front-rear direction, the suspension mechanism 220 is arranged closer to the second wheel 32 spaced apart from the first wheel 31 in the front-rear direction than to the first wheel 31 to which the applied force is to be applied. Therefore, the suspension mechanism 220 and the link mechanism 230 can be arranged by using a larger space in the front-rear direction ensured between the drive wheel and the driven wheel.

[0177] As Figure 6 and Figures 8 to 11 shown, the suspension mechanism 220 and the link mechanism 230 are arranged between the first block 46 and the traveling motor 57 in the front-rear direction. The suspension mechanism 220 and the link mechanism 230 face the traveling motor 57 in the front-rear direction.

[0178] The first axis 121 corresponds to the rotation center axis of the second wheel 32. The first axis 121 corresponds to the rotation center axis of the arm member 211. The second axis 122 corresponds to the rotation center axis of the first wheel 31. The third axis 123 corresponds to the rotation center axis of the suspension mechanism 220 relative to the base portion 40. The fifth axis 125 corresponds to the rotation center axis at which the link mechanism 230 and the suspension mechanism 220 are rotatably connected to each other. The sixth axis 126 corresponds to the rotation center axis at which the arm member 211 and the link mechanism 230 are rotatably connected to each other.

[0179] The suspension mechanism 220 is arranged in the front-rear direction at a position closer to the second wheel 32 than to the first wheel 31. The distance in the front-rear direction between the second wheel 32 and the suspension mechanism 220 is smaller than the distance in the front-rear direction between the first wheel 31 and the suspension mechanism 220. The distance in the front-rear direction between the first axis 121 and the third axis 123 is smaller than the distance in the front-rear direction between the fifth axis 125 and the second axis 122. The link mechanism 230 is arranged in the front-rear direction at a position closer to the first wheel 31 than to the second wheel 32. The distance in the front-rear direction between the link mechanism 230 and the first wheel 31 is smaller than the distance in the front-rear direction between the link mechanism 230 and the second wheel 32. The distance in the front-rear direction between the sixth axis 126 and the second axis 122 is smaller than the distance in the front-rear direction between the fifth axis 125 and the first axis 121.

[0180] The front end of the suspension mechanism 220 is arranged in the front-rear direction at a position closer to the second wheel 32 than to the first wheel 31. The distance in the front-rear direction between the third axis 123 and the first axis 121 is smaller than the distance in the front-rear direction between the third axis 123 and the second axis 122. The rear end of the suspension mechanism 220 is arranged in the front-rear direction at a position closer to the first wheel 31 than to the second wheel 32. The distance in the front-rear direction between the fifth axis 125 and the second axis 122 is smaller than the distance in the front-rear direction between the fifth axis 125 and the first axis 121.

[0181] When observed in the left-right direction, the end portion (front end) of the suspension mechanism 220 in the front-rear direction overlaps with the second wheel 32. When observed in the left-right direction, the suspension mechanism 220 is arranged at a position where the suspension mechanism 220 does not overlap with the first wheel 31. When observed in the left-right direction, the link mechanism 230 can be arranged at a position overlapping with the first wheel 31, or can be arranged at a position not overlapping with the first wheel 31.

[0182] The suspension mechanism 220 and the link mechanism 230 are arranged inside the traveling body 12, that is, inside the first wheel 31 and the second wheel 32 in the left-right direction. The suspension mechanism 220 and the link mechanism 230 are arranged between the first wheel 31R and the first wheel 31L in the left-right direction. The suspension mechanism 220 and the link mechanism 230 are arranged between the second wheel 32R and the second wheel 32L in the left-right direction.

[0183] As Figures 9 to 11As shown, the suspension mechanism 220 can be stretched and contracted along a predetermined axis 410 located at its center. The predetermined axis 410 intersects the third axis 123 and the fifth axis 125. The suspension mechanism 220 can be axially stretched and contracted along the predetermined axis 410 in such a way that the distance between the third axis 123 and the fifth axis 125 changes. The predetermined axis 410 of the suspension mechanism 220 corresponds to the central axis of the spring member 221. When the suspension mechanism 220 is stretched / contracted, the angle formed by the predetermined axis 410 and the horizontal line extending in the front-rear direction changes. The angle formed by the predetermined axis 410 and the horizontal line extending in the front-rear direction can be 30° or less, can be 15° or less, can be 10° or less, or can also be 5° or less.

[0184] The traveling body 12 includes: a base 40; a wheel unit 200 including a first wheel 31 as a drive wheel, the first wheel 31 being movably supported by the base 40; a second wheel 32 spaced apart from the first wheel 31 in the front-rear direction and serving as a driven wheel that is driven to rotate as the first wheel 31 rotates; a suspension mechanism 220 that generates an applied force; and a link mechanism 230 connected to the suspension mechanism 220 and the wheel unit 200 and receiving the applied force from the suspension mechanism 220 to press the first wheel 31 toward the lower surface 310. The base 40 includes a first block 46. The wheel unit 200 further includes an arm member 211 supported by the first block 46 so as to be rotatable about a first axis 121 extending in the left-right direction. The first wheel 31 is supported by the arm member 211 so as to be rotatable about a second axis 122 extending in the left-right direction and away from the first axis 121 in the front-rear direction. The second wheel 32 is rotatably supported by the first block 46.

[0185] In this configuration, the arm member 211 and the second wheel 32 are rotatably supported by the same first block 46, and thus the support structure for the arm member 211 and the second wheel 32 can be simplified.

[0186] Figure 12 is a cross-sectional view schematically showing a mechanism for restricting the downward swing end of the arm member. Figure 13 is a cross-sectional view schematically showing a mechanism for restricting the upward swing end of the arm member.

[0187] Referring to Figure 2 、 Figure 12 and Figure 13 and Figure 12 and 13with a gap from the first block 46 in the other direction (the counterclockwise direction in ) along the circumferential direction of the first axis 121. The second coupling member 212B is arranged with a gap from the first block 46 in the other direction ( Figure 12 and Figure 13 the clockwise direction in ) along the circumferential direction of the first axis 121.

[0188] The first block 46 has a front surface 46C. The front surface 46C is a flat surface facing forward and is orthogonal to the front - rear direction. In the neutral state of the suspension mechanism 220, there is a gap in the front - rear direction between the front surface 46C and the first coupling member 212A / the second coupling member 212B.

[0189] The first block 46 is provided with a first female threaded hole 252 and a second female threaded hole 257. The first female threaded hole 252 and the second female threaded hole 257 extend in the front - rear direction and open in the front surface 46C. The first female threaded hole 252 and the second female threaded hole 257 are arranged side by side in the up - down direction, and the interval therebetween is the same as the interval between the first coupling member 212A and the second coupling member 212B.

[0190] The traveling body 12 further includes a first fastening member 251 and a second fastening member 256. Both the first fastening member 251 and the second fastening member 256 are formed as hollow set screws. The first fastening member 251 and the second fastening member 256 are respectively screwed into the first female threaded hole 252 and the second female threaded hole 257.

[0191] In one direction ( Figure 12 the counterclockwise direction in ) along the circumferential direction of the first axis 121, the first coupling member 212A is arranged with a gap from the front end of the first fastening member 251. In the other direction ( Figure 13 the clockwise direction in ) along the circumferential direction of the first axis 121, the second coupling member 212B is arranged with a gap from the front end of the second fastening member 256.

[0192] The coupling member 212 not only serves as a component for connecting the first arm member 211S and the second arm member 211T to each other, but also serves as a component for restricting the swing end of the arm member 211 around the first axis 121.

[0193] As Figure 12 shown, as the first wheel 31 moves downward, the first coupling member 212A contacts the first fastening member 251, thereby restricting the downward swing end of the arm member 211 around the first axis 121. By increasing or decreasing the length of the protruding portion of the first fastening member 251 from the first female threaded hole 252, the angle of the downward swing end of the arm member 211 can be adjusted. As Figure 13As shown, as the first wheel 31 moves upward, the second coupling member 212B comes into contact with the second fastening member 256, thereby restricting the upward swing end of the arm member 211 around the first axis 121. By increasing or decreasing the length of the protruding portion of the second fastening member 256 from the second female threaded hole 257, the angle of the upward swing end of the arm member 211 can be adjusted.

[0194] In the present embodiment, the wheel unit 200 includes a first coupling member 212A and a second coupling member 212B as the coupling member 212. The first coupling member 212A is arranged with a clearance from the first slider 46 in one direction along the circumferential direction of the first axis 121. The second coupling member 212B is spaced apart from the first coupling member 212A and is arranged with a clearance from the first slider 46 in the other direction along the circumferential direction of the first axis 121. In this configuration, the first arm member 211S and the second arm member 211T can be more firmly coupled to each other, and the downward swing end and the upward swing end of the arm member 211 can be restricted by the first coupling member 212A and the second coupling member 212B, respectively.

[0195] Furthermore, the coupling member 212 (212A, 212B) is arranged opposite to the first wheel 31 with respect to the first block 46 (arranged in front of the first block 46), and the suspension mechanism 220 and the link mechanism 230 are arranged opposite to the coupling member 212 with respect to the first block 46 (arranged behind the first block 46). In this configuration, the coupling member 212 (212A, 212B), the suspension mechanism 220, and the link mechanism 230 can be effectively arranged in front of and behind the first block 46 without interference between the coupling member 212 (212A, 212B) and the suspension mechanism 220 / link mechanism 230.

[0196] The components for restricting the swing end of the arm member 211 are not limited to the above components. For example, as the first wheel 31 moves upward, the swing end of the arm member 211 can be restricted by Figure 2 the configuration in which the first wheel 31 in [ ] comes into contact with the flange 52j of the battery case 52. The swing end of the arm member 211 can be restricted by the stroke end of the shock absorber 222 in the suspension mechanism 220.

[0197] Figure 14 is a perspective view showing the holding mechanism for the wheel unit (before inserting the bolt). Figure 15 is a perspective view showing the holding mechanism for the wheel unit (after inserting the bolt). Figure 16 is a side view showing the traveling body when the first wheel is lifted.

[0198] Refer to Figures 14 to 16, the traveling body 12 further includes a holding mechanism 330. The holding mechanism 330 is configured to hold the wheel unit 200 to maintain the state where the first wheel 31 is separated from the lower surface 310. The holding mechanism 330 is configured to hold the arm member 211 (the first arm member 211S) at a predetermined angle in the circumferential direction of the first axis 121 to maintain the state where the first wheel 31 is separated from the lower surface 310.

[0199] The holding mechanism 330 includes a lifting block 321. The lifting block 321 is attached to the wheel unit 200. The lifting block 321 is connected to the arm member 211 (the first arm member 211S). The lifting block 321 protrudes from the arm member 211 (the first arm member 211S) in the left-right direction. The lifting block 321 is provided with a threaded portion 322. The threaded portion 322 is formed as an internal threaded hole extending through the lifting block 321 in the up-down direction.

[0200] The holding mechanism 330 further includes a bracket 341 and a bolt 331. The bracket 341 is attached to the base 40. The bracket 341 is fastened to the first frame 42 with a bolt. The bracket 341 faces the lifting block 321 in the up-down direction. The bracket 341 is provided with a locking portion 342. The locking portion 342 is formed as a bolt insertion hole extending through the bottom plate 343 of the bracket 341 in the up-down direction. The shaft portion 333 of the bolt 331 is inserted into the locking portion 342 and screwed into the threaded portion 322. The head 332 of the bolt 331 is locked by the edge of the locking portion 342 of the bottom plate 343.

[0201] If the battery 51 runs out of power during transportation by the mobile device 100, the operator has to manually move the mobile device 100 to a charging location. In this case, if the first wheel 31 connected to the traveling motor 57 still contacts the lower surface 310, the labor required to move the mobile device 100 will increase. On the contrary, by fastening the shaft portion 333 of the bolt 331 to the threaded portion 322, the arm member 211 can swing clockwise around the first axis 121 to create a state where the first wheel 31 is separated from the lower surface 310. Therefore, only the second wheel 32 and the third wheel 33 (which act as driven wheels) maintain contact with the lower surface 310, and thus the mobile device 100 can be moved with less labor.

[0202] The holding mechanism of the present invention is not particularly limited as long as it can hold the wheel unit (arm member) at a predetermined angle in the circumferential direction of the first axis. For example, the lifting block 321 can be attached to the base 40, and the bracket 341 can be attached to the wheel unit 200. In addition, the holding mechanism of the present invention can be composed of a foot pedal provided at the front end of the arm member 211 and a locking member for locking the upwardly swinging arm member 211 by pressing the foot pedal.

[0203] The following is an overview of the restriction structure for the swing end of the arm member 211 and the structure of the holding mechanism 330 capable of holding the wheel unit 200 as described above.

[0204] The traveling body 12 includes: a base portion 40 including a block (46); and a wheel unit 200. The wheel unit 200 includes: a first arm member 211S and a second arm member 211T, which are supported by the block (46) so as to be rotatable about a first axis 121 and are spaced apart from each other in the axial direction of the first axis 121; a first wheel 31, which is rotatably supported by at least one of the first arm member 211S and the second arm member 211T at a position radially away from the first axis 121; and a coupling member 212, which is arranged with a clearance from the block (46) in the circumferential direction of the first axis 121 and couples the first arm member 211S and the second arm member 211T to each other.

[0205] The coupling member 212 includes a first coupling member 212A and a second coupling member 212B. The first coupling member 212A is arranged with a clearance from the block (46) in one direction along the circumferential direction of the first axis 121, and the second coupling member 212B is spaced apart from the first coupling member 212A and is arranged with a clearance from the block (46) in the other direction along the circumferential direction of the first axis 121.

[0206] The coupling member 212 is arranged opposite to the first wheel 31 with respect to the block (46). The traveling body 12 further includes: a suspension mechanism 220 that generates an applied force; and a link mechanism 230 that is connected to the suspension mechanism 220 and the wheel unit 200 and receives the applied force from the suspension mechanism 220 to press the first wheel 31 toward the lower surface 310. The suspension mechanism 220 and the link mechanism 230 are arranged opposite to the coupling member 212 with respect to the block (46).

[0207] The first wheel 31 is a drive wheel, and rotational motion is input thereto from a traveling motor 57. The traveling body 12 further includes: a driven wheel (32) rotatably supported by the base portion 40; and a holding mechanism 330 that holds the first arm member 211S and the second arm member 211T at a predetermined angle in the circumferential direction of the first axis 121 to maintain a state in which the drive wheel (31) is separated from the lower surface 310.

[0208] The holding mechanism 330 includes: a lifting block 321 provided with a threaded portion 322 and attached to one of the base portion 40 and the wheel unit 200; a bolt 331 having a head 332 and screwed into the threaded portion 322; and a bracket 341 having a locking portion 342 capable of locking the head 332 and attached to the other of the base portion 40 and the wheel unit 200 and arranged to face the lifting block 321 in the vertical direction.

[0209] The traveling body 12 includes: a base portion 40 having a block (46); and a wheel unit 200. The wheel unit 200 includes: a first arm member 211S and a second arm member 211T which are supported by the block (46) so as to be rotatable about a first axis 121 and are spaced apart from each other in the axial direction of the first axis 121; a first wheel 31 which is rotatably supported by at least one of the first arm member 211S and the second arm member 211T at a position radially away from the first axis 121; and a coupling member 212 which is arranged with a clearance from the block (46) in the circumferential direction of the first axis 121 and couples the first arm member 211S and the second arm member 211T to each other. The coupling member 212 includes: a first coupling member 212A which is arranged with a clearance from the block (46) in one direction along the circumferential direction of the first axis 121, and a second coupling member 212B which is spaced apart from the first coupling member 212A and is arranged with a clearance from the block (46) in the other direction along the circumferential direction of the first axis 121. When the first arm member 211S and the second arm member 211T swing about the first axis 121 in one direction, the first wheel 31 moves downward, and when the first arm member 211S and the second arm member 211T swing about the first axis 121 in the other direction, the first wheel 31 moves upward. When the first wheel 31 moves downward, the first coupling member 212A contacts the block (46), thereby restricting the respective swing ends of the first arm member 211S and the second arm member 211T in one direction. When the first wheel 31 moves upward, the second coupling member 212B contacts the block (46), thereby restricting the respective swing ends of the first arm member 211S and the second arm member 211T in the other direction.

[0210] In this configuration, the coupling member 212 for coupling the first arm member 211S and the second arm member 211T to each other contacts the block (46), thereby restricting the respective swing ends of the first arm member 211S and the second arm member 211T about the first axis 121, and thus, a component for restricting the swing ends of the arm member 211 can be realized with a simple configuration.

[0211] In addition, as a coupling member, there are also provided: a first coupling member 212A which comes into contact with a block (46) as the first wheel 31 moves downward, so as to limit the respective swinging ends of the first arm member 211S and the second arm member 211T in one direction; and a second coupling member 212B which comes into contact with the block (46) as the first wheel 31 moves upward, so as to limit the respective swinging ends of the first arm member 211S and the second arm member 211T in the other direction. In such a configuration, the first arm member 211S and the second arm member 211T can be more firmly coupled to each other by the first coupling member 212A and the second coupling member 212B. By positioning the first coupling member 212A, the swinging end of the arm member 211 in one direction can be limited to an appropriate position (angle), and by positioning the second coupling member 212B, the swinging end of the arm member 211 in the other direction can be limited to an appropriate position (angle).

[0212] (Variant example of the mobile device)

[0213] Figure 17 is a perspective view showing Figure 1 a variant example of the mobile device in Figure 18 is a plan view for explaining Figure 17 the position of the center of gravity of the mobile device in

[0214] Referring to Figure 17 and Figure 18 , the mobile device 100A according to this variant example further includes counterweights 420 (420R, 420L). The counterweights 420 are formed of metal blocks. The counterweights 420 are formed of rectangular parallelepiped blocks and extend in such a manner that their longitudinal directions correspond to the vertical direction. The counterweights 420 are mounted on the traveling body 12. The counterweights 420 are mounted on the controller 14.

[0215] The counterweights 420 are arranged in the front part of the mobile device 100A. The counterweights 420 are arranged in front of the first wheel 31. The counterweights 420 are arranged in front of the rotation center axis 111 of the robot 16. The counterweights 420 may be arranged in front of the first axis 121 which is the rotation center axis of the second wheel 32, or may be arranged to match the position of the first axis 121 in the front - rear direction. The counterweights 420 are arranged in the vertical direction between the bottom plate 76 (see Figure 6 ) and the upper surface 15a of the cover 15.

[0216] The counterweights 420R and 420L have the same shape and the same weight. The counterweights 420R and 420L are spaced apart from each other in the left - right direction. The counterweights 420R and 420L are arranged in a laterally symmetric manner with respect to the center line 110 (see Figure 3 ) extending in the front - rear direction of the traveling body 12.

[0217] In Figure 18 , as an example, the center line 110 of the traveling body 12 and the area on the right side of the center line 110 are shown. The first position Pa is located on the center line 110 and corresponds to the center position in the front-rear direction of the rotation center axis 136 of the support arm 71 shown in Figure 4 . The second position Pb corresponds to the position where the second wheel 32 (the outer ring of the omnidirectional wheel having an outer ring and an inner ring) contacts the lower surface 310. The third position Pc corresponds to the position on the center line 110 and matches the second position Pb in the front-rear direction. The fourth position Pd corresponds to the center position in the front-rear direction between the first position Pa and the third position Pc. The fifth position Pe is located on the center line 110 and corresponds to the position of the rotation center axis 111 of the robot 16 (the support portion 26).

[0218] The right-angled triangle area defined by the line connecting the first position Pa, the second position Pb, and the third position Pc is the safe area Sa of the center-of-gravity position. As can be seen from the plan view, the center of gravity of the mobile device 100A can be positioned within the safe area Sa, thereby stabilizing the attitude of the mobile device 100A.

[0219] The center-of-gravity position ge represents the center-of-gravity position of the robot 16 alone when the robot 16 with a weight of 20 kg to be transported is operated to the right rear. The center-of-gravity position gj represents the center-of-gravity position of the mobile device 100 in Figure 1 where the mobile device 100 does not include the robot 16 and no counterweight 420 is provided. In this case, Figure 1 the center-of-gravity position Gj of the entire mobile device 100 including the robot 16 in

[0220] is defined to be located on the straight line connecting the center-of-gravity position gj and the center-of-gravity position ge, depending on the ratio between the weight of the mobile device 100 and the weight of the robot 16. Figure 17 Conversely, the center-of-gravity position gk represents the center-of-gravity position of the mobile device 100A that does not include the robot 16 provided with the counterweight 420 in the mobile device 100A in Figure 17 . Due to the provision of the counterweight 420, the center-of-gravity position gk is displaced forward from the center-of-gravity position gj. In this case,

[0221] the center-of-gravity position of the entire mobile device 100A including the robot 16 in Figure 4In the support arm 71 in [reference numeral] swings about the rotation center axis 136, the attitude of the mobile device 100 may incline significantly to the left or right. Conversely, in the mobile device 100A according to this modification example, the counterweight 420 can be arranged so that the center of gravity position Gk of the entire mobile device 100A is further located within the safety area Sa. In this way, the change in the attitude of the mobile device 100A caused by the movement of the robot 16 can be further reduced.

[0222] It should be understood that the embodiments disclosed herein are illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, rather than by the above description, and includes all modifications and variations equivalent in meaning and scope to the claims.

[0223] Explanation of reference numerals

[0224] 12 Traveling body; 14 Controller; 15 Cover; 15a, 41a Upper surface; 16 Robot; 17 Robot arm; 18 Tray; 21 First movable part; 22 Second movable part; 23, 25 Rotatable part; 24 Third movable part; 26 Support part; 31, 31L, 31R First wheel; 32, 32L, 32R Second wheel; 33, 33L, 33R Third wheel; 40 Base; 41 Frame member; 42, 42L, 42R First frame; 43 Second frame; 44 Third frame; 45 Fourth frame; 46 First block; 46C Front surface; 47, 47S, 47T Second block; 48, 48S, 48T Third block; 51, 51L, 51R Battery; 52 Battery case; 52j Flange; 56, 56L, 56R Reducer; 57, 57L, 57R Traveling motor; 60, 60fL, 60fR, 60rL, 60rR Holding unit; 61 Elastic pad; 66 Substrate; 68 Positioning pin; 69 Assembly member; 70 Nut; 71 Support arm; 72 Support block; 73 Shaft; 76, 343 Bottom plate; 77 Pin insertion hole; 81 Robot support part; 82 Electronic device; 83 Control device; 100, 100A Moving device; 110 Center line; 111, 112, 113, 114, 115, 116, 136 Rotation center axis; 121 First axis; 122 Second axis; 123 Third axis; 124 Fourth axis; 125 Fifth axis; 126 Sixth axis; 127 Seventh axis; 131 Eighth axis; 161 Ninth axis; 200 Wheel unit; 211 Arm member; 211S First arm member; 211T Second arm member; 212 Link member; 212A First link member; 212B Second link member; 220 Suspension mechanism; 221 Spring member; 222 Shock absorber; 230 Linkage mechanism; 231, 231S, 231T First plate; 241, 241S, 241T Second plate; 251 First fastening member; 252 First female threaded hole; 256 Second fastening member; 257 Second female threaded hole; 310 Lower surface; 321 Lifting block; 322 Threaded part; 330 Holding mechanism; 331 Bolt; 332 Head; 333 Shaft part; 341 Bracket; 342 Locking part; 350 Suspension tool; 410 Predetermined axis; 420, 420L, 420R Counterweight; Gj, Gk, ge, gj, gk Center of gravity position; Pa First position; Pb Second position; Pc Third position; Pd Fourth position; Pe Fifth position; Sa Safety area.

Claims

1. A traveling body, comprising: A base; A wheel unit including a first wheel serving as a drive wheel, the first wheel being movably supported by the base; A second wheel spaced from the first wheel in the front-rear direction and serving as a driven wheel that is driven to rotate when the first wheel rotates; A suspension mechanism that generates an applied force; And A link mechanism connected to the suspension mechanism and the wheel unit and receiving the applied force from the suspension mechanism to press the first wheel downward against the lower surface, wherein The suspension mechanism and the link mechanism are arranged between the first wheel and the second wheel in the front-rear direction.

2. The traveling body according to claim 1, wherein The wheel unit further includes an arm member supported by the base so as to be rotatable about a first axis extending in the left-right direction, and The first wheel is supported by the arm member so as to be rotatable about a second axis extending in the left-right direction and spaced from the first axis in the front-rear direction.

3. The traveling body according to claim 2, wherein the suspension mechanism is arranged such that at least a part of the suspension mechanism overlaps with the arm member when viewed in the left-right direction.

4. The traveling body according to claim 2, wherein the suspension mechanism is arranged between the first axis and the second axis in the front-rear direction.

5. The traveling body according to claim 2, wherein One end of the suspension mechanism is supported by the base so as to be rotatable about a third axis extending in the left-right direction and located between the first axis and the second axis in the front-rear direction, and The link mechanism includes: A first plate supported by the base so as to be rotatable about a fourth axis extending in the left-right direction and connected to the other end of the suspension mechanism so as to be rotatable about a fifth axis, the fourth axis extending in the left-right direction and located between the third axis and the second axis in the front-rear direction, the fifth axis extending in the left-right direction and radially away from the fourth axis; And A second plate connected to the arm member so as to be rotatable about a sixth axis extending in the left-right direction and connected to the first plate so as to be rotatable about a seventh axis, the sixth axis extending in the left-right direction and located between the fourth axis and the second axis in the front-rear direction, the seventh axis extending in the left-right direction and radially away from each of the fourth axis and the sixth axis.

6. The traveling body according to claim 1, wherein The base includes a frame member arranged parallel to the lower surface and extending in the front-rear direction, and The suspension mechanism is arranged below the frame member.

7. The traveling body according to claim 1, further including a third wheel spaced from the first wheel in the front-rear direction, the third wheel being arranged opposite to the second wheel with respect to the first wheel in the front-rear direction and serving as a driven wheel that is driven to rotate as the first wheel rotates.

8. The traveling body according to claim 7 further includes a battery disposed between the first wheel and the third wheel in the front-rear direction.

9. The traveling body according to claim 1, wherein the suspension mechanism includes one end supported by the base so as to be rotatable about a third axis extending in the left-right direction, and the one end of the suspension mechanism is located at a position overlapping the second wheel when viewed in the left-right direction.

10. The traveling body according to claim 2, wherein the second wheel is supported so as to be rotatable about the first axis.

11. The traveling body according to claim 1, wherein the suspension mechanism is disposed at a position closer to the second wheel than to the first wheel in the front-rear direction.

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