Mobile work mobile device and mobile work system

Abstract

A mobile work mobile device and a mobile work system are provided. The mobile work mobile device includes a mobile device main body including a part on which a user rides, one or more wheels that support the mobile device main body, a drive unit that drives at least one drive wheel of the one or more wheels, and a support arm that is attached to the mobile device main body, the support arm being configured such that the user who rides on the part is able to arbitrarily move and position a front end portion of the support arm.

Description

Technical Field

[0001] This invention relates to mobile devices and systems for mobile operations. Background Technology

[0002] Methods for picking items within a warehouse include using manual carts (see Patent Document 1 for example). Alternatively, there are methods that utilize fully automated picking operations using self-driving robots (see Patent Document 2 for example). Existing technical documents Patent documents

[0003] Patent Document 1: Japanese Patent Application Publication No. 2009-227010 Patent Document 2: Japanese Patent Publication No. 2023-522087 Summary of the Invention The problem to be solved by the present invention

[0004] Using manual carts can easily lead to operator fatigue. While using automated robots requires significant investment to implement, changes to picking-related settings are difficult, and subsequent specification changes also incur substantial costs. On the other hand, it is possible to consider a user riding on an electric mobile device carrying a basket, performing the picking operation while driving the device. In this case, the cost of equipment implementation can be reduced, and the fatigue of the operator can be decreased. However, further improvements are expected, considering the flexibility of specification changes after equipment implementation and the ease of changing picking-related settings. In addition, users of mobile devices such as wheelchairs generally require the ability to place items and tools while in use, as well as the ability to perform tasks easily. Methods for solving problems

[0005] One aspect of the present invention is a mobile work device comprising: a mobile work device body having a user seating area; one or more wheels supporting the mobile work device body; a drive unit driving at least one drive wheel of the one or more wheels; and a support arm mounted on the mobile work device body, the support arm being configured such that the user sitting on the seating area can arbitrarily move and position the front end of the support arm. Another aspect of the present invention is a mobile work system using a mobile work device comprising: a mobile work body having a part for a user to sit on; one or more wheels supporting the mobile work body; a drive unit driving at least one drive wheel of the one or more wheels; and a support arm mounted on the mobile work body. The mobile work system includes an item placement part that can be supported by the front end of the support arm, wherein the support arm is configured such that the user sitting on the part of the body can arbitrarily move and position the front end of the support arm. Attached Figure Description

[0006] Figure 1 This is a schematic side view of a mobile work device, which is a first example of the first embodiment. Figure 2 This is a schematic side view of a mobile work device, which is a first example of the first embodiment. Figure 3 This is a schematic side view of a mobile work device, which is a first example of the first embodiment. Figure 4 This is a schematic side view of the front of the item placement section of the mobile work device of the first embodiment of the first example of the first embodiment. Figure 5 This is a schematic perspective view of a mobile work device, which is a second example of the first embodiment. Figure 6 This is a schematic side view of a mobile work device according to the third example of the first embodiment. Figure 7 This is a schematic side view of the mobile device for mobile work in the fourth example of the first embodiment. Figure 8 This is a schematic side view of the mobile device for mobile work, which is the fifth example of the first embodiment. Figure 9 This is a schematic side view of the mobile device for mobile work, which is the sixth example of the first embodiment. Figure 10 This is a schematic side view of the mobile device for mobile work, which is the sixth example of the first embodiment. Figure 11 This is a schematic side view of the mobile work device of the seventh example of the first embodiment. Figure 12 This is a schematic side view of the mobile device for mobile work according to the second embodiment. Figure 13 This is a schematic front view of the mobile device for mobile work according to the second embodiment. Figure 14 yes Figure 13 Sectional view along line XIV-XIV. Figure 15 This is a schematic perspective view of a part of the mobile work device according to the second embodiment. Figure 16 This is a schematic perspective view of the vicinity of the seat of the mobile work device according to the second embodiment. Figure 17 This is a schematic perspective view of the area near the seat where the seat has been raised by the height adjustment mechanism of the mobile work device according to the second embodiment. Figure 18 This is a perspective view of the seat of the mobile work device according to the second embodiment. Figure 19 This is a perspective view of the track of the mobile work device according to the second embodiment. Figure 20 This is a horizontal cross-sectional view of the lower front end of the mobile work device according to the second embodiment. Figure 21 This is a schematic perspective view of the vicinity of the seat of the mobile work device of the second embodiment, with the seat rotated. Detailed Implementation

[0007] Hereinafter, the mobile equipment (electric mobile equipment) 1 for mobile work and the mobile work system according to the first embodiment of the present disclosure will be described with reference to the accompanying drawings. like Figures 1-4 As shown, the mobile work equipment 1 includes a mobile equipment body 30. The mobile equipment body 30 includes a pair of front wheels 10, a pair of rear wheels 20, and a body 31 supported by the front wheels 10 and the rear wheels 20. The rear wheels 20, when not located at the rear of the vehicle, are referred to as drive wheels. Additionally, the mobile work equipment 1 includes, for example, a seat 40, which is detachably mounted to the seating area of ​​the mobile equipment body 30. The mobile work equipment 1 of this embodiment is a device in which a person sits on the seat 40 for riding. Such a vehicle is sometimes referred to as a personal mobility vehicle. In the following description, the front-to-back direction of the vehicle body is sometimes simply referred to as the front-to-back direction, and the width direction of the vehicle body is sometimes simply referred to as the width direction. Furthermore, the front-to-back direction of the vehicle body coincides with the front-to-back direction of the mobile equipment body 30 or body 31, and the width direction of the vehicle body coincides with the width direction of the mobile equipment body 30 or body 31. Furthermore, the following description is basically for the mobile work equipment 1 placed on a horizontal plane in an unloaded state or with a specified load applied. An example of a state under which a prescribed load is applied is a state in which an object or person of permissible weight or two-thirds of the permissible load of a mobile work equipment 1 is carried on seat 40.

[0008] In this embodiment, the output shafts (not shown) of motors (not shown) are connected to each of the pair of rear wheels 20, and the pair of motors can drive the two rear wheels 20 respectively. In this embodiment, the output shafts of the motors function as axles of the rear wheels 20. Alternatively, the driving force of the motors can be transmitted to the pair of rear wheels 20 and / or the pair of front wheels 10 through power transmission components such as belts, gears, shafts, and axles of the rear wheels 20.

[0009] Each front wheel 10 and each rear wheel 20 are supported on the main body 31. In this embodiment, the pair of front wheels 10 are known omnidirectional moving wheels. As each front wheel 10, ordinary wheels different from omnidirectional moving wheels can be used, such as casters and wheels similar to the rear wheels 20 described later. When ordinary wheels are used for the front wheels 10 and rear wheels 20, a steering mechanism is provided on the main body 30 of the mobile device.

[0010] In this embodiment, each rear wheel 20 includes: an axle, which is the output shaft of a motor, etc.; a hub, which is mounted on the axle; and an outer peripheral component, which is provided on the outer peripheral side of the hub, and the outer peripheral surface is formed of a rubber-like elastic material such as rubber or silicone rubber.

[0011] In this embodiment, the front wheel 10 and the rear wheel 20 can be pneumatic tires or solid tires made of a rubbery elastic material up to the inside.

[0012] The seat 40 includes a seat surface 41 for the passenger to sit on and a backrest 42. In this embodiment, the front of the vehicle body is the direction in which the backrest 42 faces. The lower end of the seat 40 is supported by the seat support portion 32 of the main body 31, and the height of the seat 40 relative to the main body 31 can be adjusted.

[0013] Control units 43, such as joysticks, are provided on the seat 40 and the main body 31. Figure 4 In the shown state, if the occupant (passenger, user) sitting in seat 40 operates the control unit 43, the operation drives each motor, and the moving work equipment 1 moves accordingly. Furthermore, in Figures 1-3 In the middle, the component equipped with the control unit 43 can swing and flip upwards. When a person riding on the mobile work equipment 1 performs the following operations, the component is basically arranged in... Figure 4The position. When each front wheel 10 is an omnidirectional moving wheel, caster, etc., and when the steering mechanism can make the steering angle of each front wheel 10 approximately 90°, the mobile work device 1 can turn. The turning can be described, for example, as rotation of the mobile work device 1 about a vertical axis disposed within the area surrounded by each front wheel 10 and each rear wheel 20 and within the area where the main body 31 exists. Depending on the conditions, there may also be cases where the turning is equivalent to rotation about a vertical axis located within 20 cm of the area where the mobile work device 1 exists. Alternatively, the passenger may not operate the control unit 43, and the control device (not shown) installed in the mobile work equipment 1 may drive the mobile work equipment 1 automatically based on a program.

[0014] The mobile work device 1 can also be a mobile work device 1' with other vehicle body shapes. For example... Figure 5 As shown, the mobile work device has a cylindrical shape that appears circular when projected from above (top view). In this case, it can also be configured so that the support arm 60, described later, enters the projected area of ​​the vehicle body. This minimizes the working radius and the operating radius of the mobile work device 1 (for example, to a diameter of 600 mm). In this case, if the independently driven drive wheels 20 are positioned at the left and right ends of the center in the longitudinal direction of the vehicle body, and the omnidirectional moving wheels (driven wheels) 10 are positioned in the front and rear directions of the vehicle body, a simple configuration is achieved, and operability is improved, enabling the mobile device to turn on the spot within a minimal working area (area when viewed from above). In addition, as another mobile work equipment, it can also be equipped with omnidirectional movable wheels (3 or 4 wheels). Thus, in addition to being able to turn on the spot, it can also move in all directions without changing the vehicle's direction (or while changing the vehicle's direction), which can further improve workability. Alternatively, instead of the seat 40, a standing area may be provided in each of the mobile work equipment. In this case, each mobile work equipment becomes a standing platform for one person. Furthermore, it is also possible for multiple people to stand and / or ride on each of the mobile work equipment.

[0015] The mobile work device 1 of this embodiment includes a support arm 60. The support arm 60 can take various forms as described later, and therefore may also be referred to as a movable support mechanism. Figures 6-10 As shown, the support arm 60 includes: a base end fixing part 61, which is fixed to the mobile equipment 1 for mobile operation; a base end side part 62, which is supported on the base end fixing part 6; and a front end side part 63, which is supported on the front end side of the base end side part 62. Figures 6-10 The use of the cylindrical mobile work equipment described above has been described. The base side 62 and the front side 63 may also be multi-joint arms.

[0016] The base fixing part 61 is as follows Figure 6 Such components are fixed to the main body 30 of the mobile device and extend in the vertical direction, such as Figures 7-10 Such components are fixed to the lower part of the main body 30 of the mobile device and extend in the front-to-back direction, etc. Figure 6 The base fixing part 61 can be a shorter component in the vertical direction. Figures 7-10 The base fixing part 61 can be a relatively short component in the front-to-back direction. There are also cases where the base fixing part 61 is part of the mobile equipment 1 for mobile operations; in one example, Figures 7-11 The base fixing part 61 is part or the whole of the foot pedal (foot rest).

[0017] In this embodiment, the base end side of the base end portion 62 is supported on the base end fixing portion 61 in a swinging manner in the front-rear direction, and the base end side of the front end portion 63 is supported on the base end side portion 62 in a swinging manner in the front-rear direction. Additionally, as... Figures 6-10 As shown, the front end of the front end 63 can support the item placement section 70. The item placement section 70 is, for example, a known container, basket, tray, storage box, rack, or storage unit with drawers, etc., which is a placement section for placing and / or storing items. Items include various parts, various finished products, and various commodities, but are not limited to these.

[0018] In this embodiment, the base end side 62 and the front end side 63 are constructed using parallel links to prevent the posture of the front end of the front end side 63 from swinging about an axis extending in the vehicle width direction. In this embodiment, the support arm 60 has multiple joints, thereby allowing the passenger to freely move the front end of the support arm 60 within the range of motion of each joint.

[0019] In addition, Figures 7-11 In this configuration, the support arm 60 is arranged to extend at least upward from the lower side of the mobile device body 30, and the front end of the support arm 60 is movable in the longitudinal direction of the vehicle body. In this case, the base end of the support arm 60 is mounted to the lower side, and the support arm 60, as a whole extending at least vertically from its base end towards the front end, is capable of supporting the item placement portion 70 for the passenger (user). In one example, in… Figures 7-11 In this configuration, the base end of the support arm 60 is mounted on the lower side range in a vertically swaying manner. The lower side range is the lower 1 / 3 of the vertical dimension of the mobile device body 30, preferably the lower 1 / 4, and more preferably the lower 1 / 5.

[0020] exist Figures 7-10 In this configuration, the support arm 60 includes: a base end side portion 62 extending along at least a longitudinal direction of the mobile device body 30; and a front end side portion 63 extending at least upward from the front end side of the base end side portion 62. Figure 11 In the middle section, the base end side 62 is not provided, and the support arm 60 has a front end side 63. The base end side of the front end side 63 is supported on the base end fixing part 61 in a swingable manner in the front-back direction. Even in Figure 11 In the middle, parallel links can also be used to form the front side 63 so that the posture of the front end of the front side 63 does not swing around the axis extending in the width direction of the vehicle body.

[0021] The support arm 60 extends at least upward from the lower side of the mobile device body 30, as configured in... Figure 10 That way, when passengers stand on the footrest of the electric mobile device to perform their work, it helps to improve its workability.

[0022] exist Figure 11 In some cases, the front end 63 may be fixed to the base fixing part 61 in a manner that does not swing in the front-back direction. In this case, the front and rear frames 71, described later, are fixed to the front end 63, and the item placement part 70 is supported by the slider of the front and rear frames 71. Additionally, by setting it to Figure 11 The structure, such as the use of a single-stage parallel link, reduces the degree of freedom of adjustment, but simplifies the operation, providing advantages such as ease of operation for the operator and the ability to reduce material and manufacturing costs.

[0023] In addition, in this embodiment, such as Figure 6 as well as Figure 7 As shown, force-applying components such as springs 60A, dampers (not shown), cylinders (not shown), and hydraulic cylinders (not shown) can also be installed at each joint. In this case, the front end of the support arm 60 is moved by the passenger, and the front end of the support arm 60 stops at that position after the passenger's hand leaves the support arm 60. Thus, if the front end of the support arm 60 is positioned, the passenger can easily perform the picking operation. like Figures 1-3 As shown, the support arm 60 may also have front and rear frames 71 extending at least in the front-rear direction. Figures 1-3 The support arm 60 includes upper and lower frames 72, which are supported on a slider (not shown) that is movable in the front-rear direction and mounted on the front and rear frames 71. The item placement part 70 is supported on a slider (not shown) that is movable in the vertical direction and mounted on the upper and lower frames 72. The front and rear frames 71 and the upper and lower frames 72 are formed using linear guides or other linear motion mechanisms, or as a frame with a track. Figure 1As shown, for example, items can also be placed downwards via upper and lower frames 72 in a tray-type item placement section 70'. Figure 1 When a person moves (the location), they can easily be positioned relative to the mobile work using the mobile device 1 in a way that allows them to board and alight.

[0024] The mobile operation system of this embodiment can be installed in any location, such as inside a building like a warehouse, or in a designated area where part of it is located outside the building and part of it is located inside the building. like Figure 6 As shown, the mobile work system includes a mobile work device 1, a workpiece placement unit 70, and a conveying device 100 for conveying the workpiece placement unit 70 toward a designated location. The conveying device 100 can be a known AGV (Automatic Guided Vehicle), a conveyor, or any other device or equipment capable of conveying the workpiece placement unit 70 toward the designated location. The designated location is, for example, a designated area within the building.

[0025] As described above, the support arm 60 is configured such that the user riding on the mobile work equipment 1 can freely move and position the front end of the support arm 60. Therefore, compared to working without using the support arm 60 and / or the mobile work equipment 1, the workability of the picking operation performed by the user can be effectively improved. For example, the user performs picking operations by moving items from shelves in a warehouse to the item placement section 70 while the item placement section 70 is positioned by the support arm 60. There may also be situations where the user performs operations other than picking operations. These operations include inputting data into a computer such as a laptop or tablet, assembling components, and inspecting components or products. For these operations, the item placement section 70 is provided with, for example, a table or shallow tray, to hold computers, components, products, etc. Even in these cases, if the front end of the support arm 60 is configured to be freely movable and positioned, the user can perform each of these operations efficiently. This configuration is useful for people who need wheelchairs for mobility or who have difficulty standing for long periods of time, in providing an easy working environment and promoting work motivation. An operating unit for moving or positioning the front end of the support arm 60 may also be provided in the mobile work equipment 1. In this case, for example, a braking mechanism is provided to suppress or limit the swinging of the base end side 62 and the front end side 63 of the support arm 60, and the braking mechanism is operated by the operating unit. In addition, depending on the conditions, each of the mobile work equipment may also be a specification for carrying two or more people.

[0026] For example, sometimes a terminal is supported at the front end of the support arm 60 or other locations, allowing the rider to check the picking instructions and other work content, making the work easier. Additionally, tools or equipment for the work (picking baskets, containers, display devices, or computers such as tablets 80) are supported at the front end of the support arm 60. By moving the equipment to a workable position, work efficiency can be improved. Furthermore, when using the mobile work equipment 1 for purposes other than picking, the rider can use the front end of the support arm 60 as a support for items, tools, etc. Moreover, the rider can move the front end of the support arm 60 to other suitable locations (positions that do not obstruct the rider's movements, etc.) when not in use or when needed, thereby improving the ease of driving and getting on / off the mobile work equipment 1.

[0027] In this embodiment, a basket (picking container), workbench, etc., can be installed at the front end of the support arm 60. Within the reach of the user's hands, the user can position the item placement section 70, computer, display device, etc., supported at the front end of the support arm 60. The position of the item placement section 70 is fixed at that position by the support arm 60. As a result, picking operations can be made more efficient, and general operations (PC operations, administrative operations) can also be performed efficiently. With the configuration in which the user can position the computer, display device, etc., supported at the front end of the support arm 60, mobile work equipment 1 can be effectively used not only in picking systems, but also in offices, homes, and outdoors.

[0028] like Figure 8 As shown, an extension 64 can also be provided in the middle or front end of the support arm 60, and a terminal (tablet computer, etc.) mounting part can be provided on the extension 64. This allows the user to view the terminal screen. This improves the ease of use when transmitting picking instructions and using portable terminals with navigation functions.

[0029] As in this embodiment, the movable range of the front end of the support arm 60 can be in the vertical direction and the longitudinal direction of the vehicle body. In this case, the amount of movement of the front end of the support arm 60 in the lateral direction of the vehicle body is reduced, for example, to 40 cm or less, preferably to 20 cm or less. As a result, it is possible to simplify the structure, improve load-bearing capacity, simplify the operation of the seated person, facilitate the seated person's work (picking operation), and facilitate the seated person's vehicle body movement operation.

[0030] The range of motion of the front end of the support arm 60 can also be set to position the item placement part 70 to the side or rear of, for example, the seat 40 of the mobile device body 30. For example, if the base end side 62 is supported on the base end fixing part 61 by means of pivoting about an upper and lower axis extending in the upper and lower direction, and / or the base end fixing part 61 is rotatable about the upper and lower axis, then the front end of the support arm 60 can move in the vehicle width direction.

[0031] The following is an example of the position of the item placement part 70 supported by the front end of the support arm 60. • On the center line of the vehicle body of the mobile work equipment 1 (which is advantageous for the passenger's work in the left and right directions of the vehicle body). • The rear of the vehicle body (e.g., behind seat 40). This will not obstruct the passenger's vehicle movement, making it easy for the passenger to get in and out, and is beneficial for vehicle miniaturization and minimizing the overhead projection area. • Lower front side of the vehicle body (This is beneficial for ensuring visibility and workability during operation; the support arm 60 will not obstruct the operator's view or hinder the work area (the operator's hand range)). • Other positions may be used to fix the support arm 60 to the main body 30 of the mobile device, such as the front end, the middle part in the front-rear direction, or the rear end of the frame (the control arm of the vehicle body) of the seat 40, etc. (This helps to miniaturize the working device such as the support arm 60).

[0032] Signal cables, USB cables, AC cables, DC cables, and other wires are housed within the support arm 60. A power connector is formed on the front end (operating side) of the support arm 60, and the wires are connected to a power source (vehicle drive power or other power source) on the base end (vehicle mounting side) of the support arm 60. This configuration improves operability and convenience when a portable terminal is supported on the front end of the support arm 60 to display the picking operation content and operation instructions, or when using a computer or smartphone supported on the front end of the support arm 60.

[0033] As described above, the support arm 60 can be constructed using parallel links. This allows for maintaining the posture and / or orientation of the working end of the support arm 60. In this case, the parallel links can also be configured with springs (buffers, retaining mechanisms, etc.), brakes (physical mechanisms such as locking mechanisms, mechanical locking mechanisms, or electromagnetic locking mechanisms such as solenoids), or gas springs. This facilitates smooth and easy movement of the front end of the support arm 60, and makes maintaining its posture and / or orientation smoother and easier. When using a gas spring, by utilizing anti-gravity, even when an external force (the total weight of the picking component and the basket, container, etc.) is applied to the front end of the support arm 60, movement of the front end of the support arm 60 (movement of the basket, container, etc. during picking) is easy.

[0034] Furthermore, motors can be installed at each joint of the support arm 60 to electrify (mechanicalize) the support arm 60. This improves the workability of the user with limited body movement and the convenience of the user when handling heavy objects. In this case, the power supply for the electric support arm can be shared with the power supply for driving the mobile work device 1. In this case, it is possible to reduce the number of components, miniaturize the vehicle body, and reduce weight.

[0035] The aforementioned support arm 60 can be mounted on existing mobile work equipment that does not have the support arm 60 installed. This configuration can reduce costs.

[0036] Alternatively, the support arm 60 can be detachably mounted to the mobile work equipment 1. In this case, multiple mounting parts for the support arms can be provided on the side of the mobile equipment body. This improves the storage capacity of the support arm 60 and the mobile work equipment 1, and allows the support arm 60 to be positioned appropriately on the body as needed, depending on the application and site conditions, thus enhancing convenience.

[0037] Furthermore, a configuration can be adopted in which the support arm 60 is stored in a predetermined position within the mobile work equipment 1. This improves the storage capacity of the support arm 60 when not in use and enhances safety. Safety is related, for example, to situations where objects or people are caught on the support arm 60. This configuration also improves the design flexibility of the support arm 60 when stored.

[0038] The seat 40 can also be configured to be height-adjustable manually or electrically while the passenger is seated. This facilitates passenger picking operations, passenger movement, and passenger boarding and alighting.

[0039] Regarding mobile work equipment using this technology, the above-described configuration can be applied not only to mobile equipment that moves by passenger-driven operation, but also to mobile equipment that automates some or all of the driving operations. In this case, configurations such as those used in general-purpose AGVs (Automated Guided Vehicles) that detect assembly line picking markers (reflective components, chips, etc.) set on the movement path of the mobile work equipment and drive automatically, or configurations that achieve automatic driving through electronic maps and self-position detection, can be adopted. For example, in picking operations, the process of moving the mobile work equipment to the next process (collection, assembly, etc.) after the picking operation is completed can be automated. As a result, efficiency can be improved.

[0040] The mobile work equipment using this technology can also be configured to carry multiple containers, baskets, etc., and to allow for the replacement of the baskets, containers, etc., connected to the support arm 60 during operation. For example, when the baskets, containers, etc., are full and sorting is required, the baskets, containers, etc., can be replaced. This allows for improved workability based on increased loading capacity and improved efficiency based on the ability to perform sorting operations.

[0041] Regarding the mobile work equipment using this technology, by configuring the footrest (footrest) on the lower front side of the rider, the rider can work in a standing position. This ability to work in a standing position expands the work area (e.g., picking from higher shelves). In this case, it can also be configured such that when the mobile work equipment 1 stops without operating the control unit 43, or when the mobile work equipment 1 stops in automatic driving mode, a portion of the wheels 10, 20 is braked and does not rotate. This braking can be achieved by an electromagnetic brake built into the motor, or by energizing the motor to stop its rotation, or other braking structures can also be used. The configuration that immediately stops the rotation using the braking when the rider does not operate the control unit 43 helps improve workability.

[0042] Figure 7 The support arm 60 shown includes: a base end side portion 62 extending at least in the front-rear direction along the main body 30 of the mobile device; and a front end side portion 63 extending at least upward from the front end side of the base end side portion 62. In this configuration, the support arm 60, especially the front end side portion 63, is located primarily at the front when seated. This configuration has the effect of expanding the working space around the item placement section 70 and miniaturizing the mobile working device 1 for mobile operations, including the support arm 60, in the vertical direction. Figure 7 In the middle, the base end side portion 62 extends obliquely from its base end toward the front end towards the front of the vehicle body and upward. Therefore, the base end side portion 62 extends from its base end toward the front end at least toward the front of the mobile device body 30. Additionally, in Figure 7In this configuration, the front end side portion 63 extends obliquely from its base toward the front end towards the rear and upward of the vehicle body. The front end side portion 63 may also extend obliquely from its base toward the front end towards the front and upward of the vehicle body. In these cases, the front end side portion 63 extends at least upward from its base toward the front end.

[0043] In the above embodiments, the support arm 60 performs part or all of the transfer operation from the support arm 60 of the item placement section 70 to the conveyor 100 by the passenger moving the front end of the support arm 60, for example, forward of the vehicle body. Specifically, the support arm 60 performs actions such as placing the item placement section 70 on the conveyor 100 at a predetermined placement position, or positioning the item placement section 70 above the predetermined placement position. When the electrically powered support arm 60 places the item placement section 70 on the conveyor 100 at the predetermined placement position, the support arm 60 performs all of the transfer operation.

[0044] Alternatively, a pair of left and right support arms 60, a pair of left and right front and rear frames 71, and a pair of left and right upper and lower frames 72 can be installed on the mobile work equipment. This configuration can sometimes contribute to robustness, load-bearing capacity, and smooth operation of the support arms 60. In addition, when the support arms 60 are located on the centerline in the width direction of the vehicle, there are advantages in terms of passenger lifting ability, visibility, maneuverability, and arm freedom.

[0045] Hereinafter, a mobile work device (electric mobile device) 1'' and a mobile work system according to the second embodiment of this disclosure will be described with reference to the accompanying drawings. The same reference numerals are used for components that are the same as in the first embodiment, and they function in the same way as in the first embodiment.

[0046] like Figures 12-14 As shown, the mobile work device 1'' has the same features as in the first embodiment. Figures 6 to 11 The same mobile device body 30. Mobile device body 30 and... Figures 6 to 11 Similarly, it includes two drive wheels (rear wheels) 20 driven by a pair of motors (not shown), and one or more front wheels (driven wheels) 10 disposed in front of the vehicle body above the drive wheels 20. Additionally, the mobile device body 30 includes one or more rear-end side wheels (driven wheels) 25 disposed behind the vehicle body above the two drive wheels 20. Because the drive wheels 20 are disposed behind the vehicle body above the front wheels 10, they are sometimes referred to as rear wheels in the second embodiment, but the name of the rear wheels 20 can also be other names such as central wheel or drive wheel. Furthermore, each wheel 10, 20, 25 can also have a shape different from a typical wheel, such as a spherical shape; each wheel 10, 20, 25 only needs to be able to roll when placed on the contact surface.

[0047] Each wheel 10, 20, 25 and Figures 6 to 11Similarly supported on the main body 31, the wheels 10 and 25 are casters in the second embodiment. However, ordinary wheels, different from casters, can also be used as the wheels 10 and 25, such as the same wheels used for omnidirectional movement and drive wheels 20. When ordinary wheels are used for the front wheels 10 and drive wheels 20, a steering mechanism is provided on the main body 30 of the mobile device.

[0048] Even in the second embodiment, each drive wheel 20 also includes: an axle, which is the output shaft of a motor, etc.; a hub, which is mounted on the axle; and an outer peripheral component, which is provided on the outer peripheral side of the hub, and the outer peripheral surface is formed of a rubber-like elastic material such as rubber or silicone rubber.

[0049] Even in the second embodiment, the seat 40 includes a seat surface 41 for the occupant to sit on and a backrest 42. In the second embodiment, when in Figure 12 When the seat 40 is positioned, the backrest 42 faces the front of the vehicle. In the second embodiment, the forward direction of the vehicle and / or the direction of the swing of the front side 63'' as described later, when the pair of drive wheels 20 rotate at the same speed in the same direction, will be described as the longitudinal direction of the vehicle. The width direction of the vehicle is a horizontal direction orthogonal to the longitudinal direction of the vehicle. Even in the second embodiment, the lower end of the seat 40 is supported by the seat support portion 32 of the main body 31, and the height of the seat 40 relative to the main body 31 can be adjusted.

[0050] Even in the second embodiment, a control unit 43, such as a joystick, is provided on the seat 40 and the main body 31. Furthermore, even in the second embodiment, the component on which the control unit 43 is mounted is capable of swinging, and this component, as in the first embodiment… Figure 1 In this flipped-up state, the user can get on and off the seat 40. If the user (passenger) sitting in the seat 40 operates the control unit 43, the operation drives each motor, and the mobile work device 1'' moves accordingly. Even in the second embodiment, the components are essentially arranged in the following configuration when the person (user) riding on the mobile work device 1'' performs the following operations. Figure 4 , Figure 12 The mobile work equipment 1'' can be turned when the front wheels 10 are omnidirectional wheels, casters, etc., and the rear side wheels 25 are omnidirectional wheels, casters, etc., and the steering mechanism can make the steering angle of each front wheel 10 approximately 90°. Alternatively, the user can not operate the control unit 43, and the control device (not shown) installed on the mobile work equipment 1'' can drive the mobile work equipment 1'' automatically based on a program.

[0051] Even in the second embodiment, all wheels (3 or 4 wheels) can be formed using omnidirectional movable wheels. Therefore, in addition to enabling turning on the spot, it is possible to move the vehicle body in all directions without changing its direction (or while changing its direction), further improving workability.

[0052] Furthermore, even in the second embodiment, instead of the seat 40, a standing area can be provided on the mobile work device 1'' for the user. In this case, the mobile work device 1'' becomes a device for one person to stand on. Additionally, there are cases where multiple people stand and / or sit on the mobile work device 1''.

[0053] Even in the second embodiment, the mobile work device 1'' also includes a support arm 60. The support arm 60 is the same as that in the first embodiment. Figure 11 Similarly, it includes a base fixing part 61'' fixed to the mobile work equipment 1'', and a front end side part 63'' swayably supported on the base fixing part 61''. The configuration and variations of the base fixing part 61 described in the first embodiment can also be appropriately applied to the base fixing part 61''. Even in the second embodiment, the base end side of the front end side part 63'' can be swayably supported on the base fixing part 61'' in the front-rear direction. In addition, even in the second embodiment, the front end side part 63'' is constructed using a pair of parallel links so that the posture of the front end of the front end side part 63'' does not sway about an axis extending in the vehicle width direction.

[0054] More specifically, such as Figures 12-15 As shown, the base fixing portion 61'' is configured to extend upward from the front end of the main body 31. In the second embodiment, the fixing position of the base fixing portion 61'' relative to, for example, the fixed portion 33 of the lower end of the main body 31 can be adjusted in the vertical direction. The fixed portion 33 extends upward from, for example, from the front end of the main body 31, and is provided with a plurality of fixed side holes 33A spaced apart in the vertical direction. In addition, a plurality of fixing side holes (not shown) are also provided at intervals in the vertical direction at the lower end of the base fixing portion 61''. The user adjusts the position of the base fixing portion 61'' relative to the fixed portion 33 in the vertical direction, at which position... Figure 12 The bolt or other fixing component 33B shown in the figure is inserted through the fixing side hole and the fixed side hole 33A, and the end of the fixing component 33B is threaded with an internally threaded component 34 such as a nut. With this configuration, the user can adjust the position of the base fixing part 61'' relative to the main body 31 in the vertical direction.

[0055] For example, such as Figure 12As shown, each of the parallel links on the front end side 63'' has a pair of link members 65 whose lower ends are connected to the upper ends (fixed side members) 61A of the base end fixing portion 61'', and a movable member 66 connected to the upper ends of the pair of link members 65. The movable member 66 is connected to the upper ends of the pair of link members 65 by two first connecting portions, and the upper end 61A is connected to the lower ends of the pair of link members 65 by two second connecting portions. In the second embodiment, the distance between the pair of first connecting portions is approximately equal to the distance between the pair of second connecting portions. Furthermore, in the second embodiment, when from... Figure 12 as well as Figure 14 When viewed in the direction of rotation of each joint of the parallel link, the distance between the first and second connecting portions of one link component 65 is approximately equal to the distance between the first and second connecting portions of the other link component 65. Alternatively, this distance can be described as the distance between the first and second connecting portions when projected along the direction of rotation.

[0056] Here, each link component 65 has a first portion 65A extending outward primarily in the vehicle width direction and a second portion 65B extending upward from the front end of the first portion 65A. Figure 13 (etc.). The base end of the first part 65A is supported on the upper end 61A in a swingable manner in the front-rear direction of the vehicle body via the second connecting part. The base end of the second part 65B is integral with the front end of the first part 65A, and the upper end of the second part 65B is connected to the movable part 66 in a swingable manner in the front-rear direction of the vehicle body via the first connecting part. Figure 13 As shown, for each of a pair of parallel links, each link component 65 has a portion (including the first portion 65A) extending outward from its base end toward the front end in the vehicle width direction. This configuration is useful for achieving lightweighting and miniaturization of each link component 65 and the base end fixing portion 61'', and for stably supporting the item placement portion 70 by each link component 65.

[0057] In the second embodiment, the movable member 66 is sometimes also configured as part of the support structure 67 described later, having the same dimensions as the support structure 67 in the vehicle width direction. In the second embodiment, the so-called "same dimensions" means dimensions that are 70% to 130% of each other. Even if the dimensions of the movable member 66 in the vehicle width direction are outside this range, if the distance between the first connecting portion of the right parallel link and the first connecting portion of the left parallel link is 10 cm or more, more preferably 15 cm or more, it can still perform the same function as in the second embodiment. The upper end of each link member 65 of the left parallel link is connected to the left end of such a movable member 66 via the first connecting portion. In addition, the upper end of each link member 65 of the right parallel link is connected to the right end of such a movable member 66 via the first connecting portion. Furthermore, depending on the conditions and other configurations, there may be cases where the distance between the connecting portions is less than the above-mentioned dimensions, and there may also be cases where the front end side 63'' has only a single parallel link.

[0058] In the second embodiment, the movable member 66 forms the front end side of the front end side 63''. This front end side also includes a support structure 67. The support structure 67 is the same as in the first embodiment, used to support the article placement part 70 on the front end side 63''. Figure 15 As shown, the support structure 67 includes two first frames 67A and 67B extending in the width direction of the vehicle body, and multiple second frames 67C, 67D, and 67E extending in the front-rear direction of the vehicle body. The front and rear ends of the second frames 67C, 67D, and 67E are fixed to the first frames 67A and 67B by bolts, welding, or the like. The article placement section 70, which is the same as in the first embodiment, is supported by the upper surfaces formed by the frames 67A, 67B, 67C, 67D, and 67E. The movable part 66 is not limited to the above configuration and has various configurations depending on the article being supported.

[0059] Thus, even in the second embodiment, the support arm 60 is configured to extend at least upward from the lower side of the mobile device body 30 in the first embodiment, and the front end of the support arm 60 is movable in the front-rear direction of the vehicle body. Furthermore, even in the second embodiment, the base end of the support arm 60 is also mounted in the lower side, and the support arm 60, as a whole, extends at least vertically from its base end towards the front end, enabling it to support the item placement section 70, etc., for the user sitting on the seat 40. To form such a configuration, the base end of the base end fixing part 61'' is sometimes also fixed to the seat support part 32 or the lower seat component 44 described later. Even in the second embodiment, the support arm 60, especially the front end part 63'', is mainly located in front of the seated person (user). These configurations have the effect of expanding the working space around the item placement section 70, and miniaturizing the mobile work device 1'' of the support arm 60 in the vertical direction. Additionally, this configuration also helps improve the workability of the mobile work device 1'' when the user needs to stand on, for example, the footrest or the main body 31 near it to perform work.

[0060] Furthermore, even in the second embodiment, the support arm 60 can be constructed using parallel links, which can maintain the posture and / or orientation of the support structure 67 and the item placement section 70 of the support arm 60. The support structure 67 is the working end, and is the working end of the support arm 60 for the seated user to perform operations. In the second embodiment, an example of the operation performed by the seated user is picking, just like in the first embodiment. Even in the second embodiment, other examples of operations performed by the seated user include operations such as inputting data into a computer (e.g., a laptop or tablet), assembling components, and inspecting components or products. For these operations, the item placement section 70 is appropriately configured to hold computers, components, products, etc., for example, a tabletop or a shallow tray. Even for any of these operations, in the second embodiment, the front end of the support arm 60 is configured to be freely movable and positioned. Therefore, the seated user can effectively perform each of the aforementioned operations.

[0061] Furthermore, even in the second embodiment, a braking mechanism for suppressing or limiting the swinging of the front end side 63'' of the support arm 60, and an operating part for operating the braking mechanism, can be provided in the same manner as in the first embodiment. Specific examples of the braking mechanism will be described later. Additionally, depending on the conditions, the mobile work equipment 1'' can also be configured to carry two or more people.

[0062] Even in the second embodiment, similar to the first embodiment, the support arm 60 is equipped with a positioning mechanism that allows a user riding on the mobile work equipment 1'' to freely move and position the front end of the support arm 60. Therefore, compared to working without using the support arm 60 and / or the mobile work equipment 1'', the workability of the user's picking operations can be effectively improved. For example, with the item placement section 70 positioned by the support arm 60, the user can effectively perform picking operations that move items from warehouse shelves or the like to the item placement section 70.

[0063] As the positioning mechanism, similar to the first embodiment, a known force-applying component 60B, such as a gas spring with a locking mechanism, is provided at the joint of the support arm 60. There are also cases where the force-applying component 60B replaces the gas spring and is equipped with a known damper (not shown), cylinder (not shown), hydraulic cylinder (not shown), or a combination thereof. The force-applying component 60B is configured such that the front end of the support arm 60 is moved by the user, and after the user's movement ends, the front end of the support arm 60 can be stopped at that position. Thus, if the front end of the support arm 60 is positioned, the seated user can easily perform various operations such as picking items. That is, the user can position the item placement section 70, computer, display device, etc., supported at the front end of the support arm 60 within the reach of the seated user's hands, and the support arm 60 prevents the item placement section 70 from moving at that position. This makes picking operations and other operations more efficient, and also enables efficient general operations (PC operations, office work).

[0064] Furthermore, even in the second embodiment, due to the support arm 60 being different from that in the first embodiment... Figure 11 It also uses a single-stage parallel linkage, so it has the advantages of simple operation and easy operation for the operator, as well as the ability to control material and manufacturing costs.

[0065] Even in the second embodiment, it is still consistent with the first embodiment. Figure 11 Similarly, by configuring it with a single-stage parallel link, when the front side 63'' swings forward towards the vehicle body, the item placement part 70 and the like supported on the front side of the front side 63'' move downwards. Figure 11 , Figure 12 (etc.). For example, when the user moves the mobile work device 1'' toward the destination, the front side 63'' swings forward toward the vehicle body. This configuration is useful for reducing the area obstructed by the item placement part 70, etc., within the user's field of vision.

[0066] Furthermore, users vary in height, but in the second embodiment, for taller users, if the front end 63'' is swung so that the front end is positioned directly above its base, the item placement section 70 is positioned at a higher position. On the other hand, for shorter users, if the front end of the front end 63'' is brought closer to the user, the position of the item placement section 70 is lowered. Since shorter users tend to have shorter arms, bringing the front end of the front end 63'' closer to the user in this case helps improve workability.

[0067] Furthermore, in the second embodiment, the user can use Figure 15 as well as Figure 20 The adjustment holes 35 shown adjust the position of the base fixing part 61'' in the front-rear direction of the vehicle body. Multiple adjustment holes 35 are provided, each located on the main body 31 and spaced apart in the front-rear direction. Furthermore, a plate 36 is fixed to the lower end of the base fixing part 61'', and a known fixing component (not shown) such as a bolt is inserted through a hole 36A in the plate 36 and threadedly connected to any one of the multiple adjustment holes 35. By changing the adjustment hole 35 threaded to the fixing component B, the position of the upper end of the base fixing part 61'' in the front-rear direction of the vehicle body can be adjusted. If the aforementioned adjustment of the swing position of the front end side 63'' corresponding to the user's height is added to this configuration, the user can find the most suitable position for the support structure 67 through a simple adjustment operation.

[0068] As described above, the front end 63'' can also be stopped at any swing position by the force-applying member 60B. However, in the second embodiment, as a preferred embodiment, in addition to the force-applying member 60B, a braking mechanism 90 is also provided. The user can fix the front end 63'' at any position in the swing direction by operating the braking mechanism 90. The braking mechanism 90 includes a swing part 91 and a force transmission member 92 such as a metal wire connected to the swing part 91. Figure 14 The swinging part 91 has a plurality of rods 91A mounted on the support structure 67 that can swing in the vertical direction. Figure 15 There are also cases where the force transmission component 92 has multiple gears. The base end of each rod 91A is oscillatingly mounted to the second frame 67C, 67D, and 67E in the vertical direction, and the front end of each rod 91A supports the shaft 91B. The shaft 91B has the same dimensions as the support structure 67 in the vehicle body width direction.

[0069] Furthermore, one end of the force transmission member 92 is fixed to the base end of at least one rod 91A, and the other end of the force transmission member 92 is connected to a known locking release operation part (not shown) of the force application member 60B. The locking release operation part, for example, opens and closes an orifice within the gas spring, and may include a rod, switch, or similar locking release operation part. In the second embodiment, if the front end of the rod 91A swings upward and the locking release operation part is pulled by the force application member 60B, the orifice within the gas spring opens. Other known mechanisms for locking release can be used.

[0070] As described above, since the front ends of each rod 91A are interconnected via shaft 91B, if the user lifts shaft 91B or the front end of any rod 91A upwards, the front end 63'' becomes capable of swinging. If the front end of the rod 91A swings downwards, the swinging of the front end 63'' is restricted by the force-applying member 60B. In one example, each rod 91A is subjected to a downward force by a spring (not shown), but it can also be configured so that each rod 91A swings downwards by gravity.

[0071] like Figure 14 As shown, each rod 91A, when viewed from the width direction of the vehicle body, has a rod body 91C extending diagonally downwards and backwards from the base end towards the front end towards the rear end of the vehicle body, and a front end portion 91D extending diagonally upwards and backwards from the front end of the rod body 91C towards the rear end of the vehicle body. Because of the front end portion 91D, if a user's knee or other body part accidentally hits the swing portion 91 from behind the vehicle body, the swing portion 91 easily swings upwards. Furthermore, as the swing portion 91 swings upwards, the locking mechanism 60B is released, and the support structure 67 on which the swing portion 91 is mounted also moves forwards towards the vehicle body. This configuration helps to reduce the risk of injury to the user in the event that their knee or other body part accidentally hits the swing portion 91.

[0072] As described above, the height of the seat 40 relative to the main body 31 can be adjusted even in the second embodiment. Therefore, in the second embodiment, the height adjustment mechanism 110 includes a linkage mechanism 111 and a lifting drive unit 112 that changes the distance of the upper end of the linkage mechanism 111. Figure 17 The linkage mechanism 111 in the second embodiment is sometimes also referred to as a telescopic mechanism, an X-link mechanism, etc.

[0073] As the lifting drive unit 112, a known direct-acting electric cylinder or the like can be used. For example, the rod in a direct-acting electric cylinder is moved forward and backward, and the rotation of the electric motor is converted into axial movement of the rod using a ball screw or the like. If... Figure 17 If the distance between the upper ends of the linkage 111 becomes closer, the seat 40 moves upward; if the distance between the upper ends of the linkage 111 becomes farther, then... Figure 16The seat 40 then moves downwards. The user can use the control unit 43 to operate the lifting drive unit 112 to raise or lower the seat 40.

[0074] In the second embodiment, the seat 40 includes a lower seat component 44, which is supported by the upper end of a linkage mechanism 111. The seat 40 is rotatable about a rotation axis 40A extending in the vertical direction. Figure 18 It is rotatably supported on the lower part of the seat component 44. Figure 17 as well as Figure 18 As shown, a seat side gear 121 is fixed to the lower surface of, for example, the seat surface 41 of the seat 40, and a drive gear 122 that meshes with the seat side gear 121 is provided on the lower seat component 44. The drive gear 122 is fixed to the shaft of the seat rotation motor 123 and is rotated by the seat rotation motor 123. The seat rotation motor 123 is fixed to the lower seat component 44. The user can operate the seat rotation motor 123 using the control unit 43 to rotate the seat 40 around the rotation axis 40A.

[0075] like Figure 17 As shown, a pair of footrests 130 are mounted on the front end side of the seat 40. Each footrest 130 includes: a vertical member 131, the base end of which is supported on the front end side in a swinging manner in the front-back direction of the seat 40; and a footrest member 132 extending from the lower end of the vertical member 131 toward the front of the seat 40. In the second embodiment, the two footrests 130 are each swingable in the front-back direction of the seat 40, but they can also be configured to swing as a single unit. Furthermore, the front of the seat 40 is the direction in which the backrest 42 faces; the direction in which the footrests 130 are provided when viewed from the backrest 42 and the seat surface 41; the direction in which the user mainly faces when sitting; and so on.

[0076] Two circumferentially extending rails 45 are fixed to the upper surface of the seat 40, for example, the lower seat component 44. Figure 14 (etc.). For example... Figure 18 as well as Figure 19 As shown, each track 45 is configured to have a groove 45A extending circumferentially, and a portion of the groove 45A serves as a distance-varying section 45B, which is farther from the rotation axis 40A than the rest of the groove 45A. In the second embodiment, two distance-varying sections 45B are provided, but there may also be one or more distance-varying sections 45B. Alternatively, there may be a configuration where the distance of the groove 45A from the rotation axis 40A gradually changes throughout the entire circumference.

[0077] The two tracks 45 are configured to overlap vertically, with the upper track 45 as follows: Figure 14 as well as Figure 18The groove 45A shown is configured to open downwards, and the lower track 45 is as follows: Figure 14 The arrangement shown is such that slot 45A opens upwards. Furthermore, Figure 16 , Figure 17 The diagram below omits the state of orbit 45.

[0078] On the other hand, roller components 133 extending toward the rear of the seat 40 are respectively installed on the vertical components 131 of a pair of footrests 130. Figure 18 (etc.). Furthermore, in Figure 18 Only one foot pedal 130 is shown in the figure. The base end of each roller component 133 is oscillatingly connected to the vertical component 131, and the roller 134 is rotatably mounted on the front end about an axis extending in the vertical direction. For example, the roller 134 is made of plastic material, metal material, etc., and is mounted to the roller component 133 via a bearing (not shown). In the second embodiment, an oscillating connecting portion 133A is also provided in the middle part of the roller component 133 to allow the roller 134 to roll smoothly in the track 45. The oscillating connecting portion 133A allows the front end side of the roller component 133 to oscillate in the vertical direction relative to the base end side.

[0079] like Figure 14 as well as Figure 18 As shown, the roller 134 is configured to be disposed within a groove 45A of two tracks 45, and the roller 134 rolls on the side wall of the groove 45A. That is, when the seat 40 is rotated relative to the lower seat member 44 by the seat rotation motor 123, the roller 134 moves within the groove 45A about the rotation axis 40A, and at this time the roller 134 rolls on the side wall of the groove 45A. Moreover, when the roller 134 moves within the distance variation section 45B, the roller member 133 is pushed away from the rotation axis 40A, thereby causing the vertical member 131 to swing towards the front of the seat 40. Figure 21 As a result, the foot pedal component 132 of the foot pedal 130, which is pushed by the up-down direction component 131, moves toward the front and upward of the seat 40. In this way, the groove 45A of the track 45 and the roller component 133 function as a foot pedal moving mechanism that lifts the foot pedal 130 upward when the seat 40 rotates within a predetermined rotation range.

[0080] In the second embodiment, a distance-changing section 45B is provided on the track 45, so that when the seat 40 is rotated as described above, as Figure 21In this configuration, the footrest 130 avoids the left and right corners of the rear wheel (drive wheel) 20 and the front end of the seat underside component 44. In the second embodiment, even without a motor other than the seat rotation motor 123 and its control, the footrest 130 can be moved forward and / or upward at a predetermined position in the rotation direction of the seat 40. Furthermore, with this configuration, the seat 40 can rotate smoothly around the rotation axis 40A even without reducing the distance between the pair of rear wheels (drive wheels) 20 in the vehicle width direction. This configuration is useful for achieving both improved stability of the mobile work equipment 1'' and improved user operability.

[0081] Furthermore, there may be cases where the distance variation section 45B is formed closer to the rotation axis 40A than other positions of the groove 45A. Even in this case, by providing other linkage mechanisms or the like between the belt roller member 133 and the vertical direction member 131, the foot pedal 130 can still make the same movement. Alternatively, instead of using the groove 45A of the track 45 and the belt roller member 133, a foot pedal motor (not shown) can be used to swing the foot pedal 130 upward.

[0082] In the second embodiment, such as Figure 15 , Figure 20 As shown, a bumper 140 is provided at the front end of the mobile device body 30. The bumper 140 of the second embodiment includes: a front member 141 extending across the front end of the mobile device body 30 in the width direction; and side members 142 extending from both ends of the front member 141 toward the rear of the body. Figure 15 As shown, the front component 141 has an arched shape where the central portion 141A in the vehicle width direction becomes higher. Therefore, as a cross-sectional view cut at a certain height... Figure 20 The central portion 141A of the front component 141 is not shown. Furthermore, the shape and structure of the bumper can be appropriately modified depending on the conditions.

[0083] In the second embodiment, such as Figure 20As shown, a sensor support member 143 extending inward in the width direction of the vehicle body is provided on the side component 142 of the bumper 140. The sensor support member 143 can be formed to extend from the side component 142 and the front component 141 towards the rear of the vehicle body. In one example, the sensor support member 143 and the bumper 140 are made of plastic, metal, or other materials. The base end of the sensor support member 143 is fixed to the side component 142 and / or the front component 141, and a sensor body (detection part) 144 of a known non-contact sensor, such as a micro-optical sensor, photoelectric sensor, or proximity sensor, is fixed to the front end of the sensor support member 143. In the second embodiment, the sensor support member 143 and the sensor body 144 are respectively provided on one end side and the other end side (left and right) of the bumper 140.

[0084] In one example, such as Figure 20 As shown, a transmitter (output unit) 145 for emitting light (detection wave) and sound wave (detection wave), such as a miniature light sensor, photoelectric sensor, or ultrasonic sensor, is fixed to the main body 30 of the mobile device. The sensor body 144 can detect the presence and intensity of the detection wave from the transmitter 145. Furthermore, the bumper 140 is movably mounted to the main body 30 of the mobile device. More specifically, it is configured such that if a force is applied to the bumper 140 toward the rear of the vehicle body, the bumper 140 will displace relative to the main body 30 of the mobile device in the rearward direction. Additionally, it is configured such that if a force is applied to the bumper 140 in the width direction of the vehicle body, the bumper 140 will displace relative to the main body 30 of the mobile device in the width direction of the vehicle body. The relationship between this force and the displacement of the bumper 140 (spring constant, etc.) can be appropriately set. In one example, when a force of approximately 1 N or approximately 10 N is applied to the bumper 140, the bumper 140 displaces less than 1 mm, more than 1 mm, or several mm in the rearward and width directions of the vehicle body. Miniature optical sensors can accurately detect even small displacements of less than 1 mm.

[0085] Thus, by measuring the change in the amount of detection wave received by the sensor body 144 from the transmitter 145 before and after displacement, it is possible to detect contact or collision between the bumper 140 and objects such as obstacles or people. Alternatively, the sensor body 144 may also include a transmitter. In this case, a component reflecting the detection wave from the sensor body 144 is installed at the location of the transmitter 145. Furthermore, if the non-contact sensor is a proximity sensor, a metal sheet such as iron can be used instead of the transmitter 145. In this case, based on the displacement of the bumper 140, the sensor body 144 can detect a change in the positional relationship between itself and the metal sheet.

[0086] In the second embodiment, sometimes the mobile work equipment 1'' is driven automatically by the control device of the first embodiment. Sometimes, automatic driving is not performed, and the control device controls the motors of a pair of rear wheels (drive wheels) 20 respectively based on the user's operation of the control unit 43. In these cases, the control device performs avoidance driving control such as automatically stopping the mobile work equipment 1'' and reducing its speed based on the detection results of the sensor body 144.

[0087] In the second embodiment, the sensor body 144 is configured such that if the bumper 140 is displaced, the detection state of the sensor body 144 changes as described above, thereby enabling non-contact detection of the bumper 140's displacement. This configuration is useful for reducing the likelihood of sensor body 144 malfunctioning when the bumper 140 repeatedly generates the displacement and this displacement is detected by the sensor body 144. For example, sometimes a button is used instead of the sensor body 144. In this case, multiple buttons are mounted on the front end of the mobile device body 30, and if the bumper 140 is displaced, pressing any one of the buttons via the bumper 140 detects contact or collision with obstacles, people, etc. In this configuration, since physical force is applied to the button, the button is prone to malfunction. In addition, a certain amount of force is required to press the button, so in this method of using buttons, it is sometimes difficult to detect small forces applied to the bumper 140. The configuration of the second embodiment for detecting the displacement of the bumper 140 is also useful for detecting small forces applied to the bumper 140. For example, sometimes a user may not notice the presence of an empty corrugated cardboard box and move the mobile work device 1'' forward, causing the empty cardboard box to come into contact with the bumper 140. Thus, the second embodiment can also be configured to detect contact between the bumper 140 and a lighter object. Furthermore, a configuration capable of detecting the bumper 140 and its displacement can be provided at the rear end of the mobile work device body 30, as needed.

[0088] Furthermore, in the second embodiment, the sensor body 144 is fixed to the sensor support member 143, which moves together with the bumper 140, and the transmitter 145 is fixed to the mobile device body 30. Therefore, it is possible to reliably detect the displacement of the bumper 140 relative to the mobile device body 30. Additionally, compared to using multiple buttons as described above, the number of sensor bodies 144 can be reduced. For example, in the second embodiment, a single sensor body 144 can detect the rearward displacement of the bumper 140 and its displacement in the width direction of the vehicle body. Moreover, the same effect can be achieved even if the sensor body 144 is fixed to the position of the transmitter 145 and the transmitter 145 is fixed to the sensor support member 143.

[0089] In the above embodiments, the device can be configured such that when the user performs the picking operation and places the item into the item placement section 70, the device provided on the item placement section 70 or the support arm 60 can read the information code or information chip attached to the item. This device is a known reader such as a QR code (registered trademark) reader or an IC chip reader. The control device sometimes determines the next destination of the mobile work device 1'' based on the read information. For example, after three picking operations at different locations, the control device calculates or infers the weight of the item placed in the item placement section 70 based on the read information. If the weight exceeds a predetermined amount, the device determines the delivery destination (the location where the item is unloaded) of the item as the next destination. The control device can display the determined destination on a display device provided on the main body 30 of the mobile work device. Alternatively, the control device can also automatically move the mobile work device 1'' towards the determined destination. If the weight does not exceed the predetermined amount, the control device is configured to allow the user to determine the next destination.

[0090] In the above embodiments, a weight sensor that detects the weight of the items placed in the item placement section 70 may also be provided on the support arm 60 or the item placement section 70. In one example, the weight sensor detects the total weight of the item placement section 70 and / or the items in the item placement section 70. The control device sometimes determines the next destination of the mobile work device 1'' based on the detection result of the weight sensor. For example, after three picking operations at different locations, the control device determines the delivery destination (the location where the items are unloaded) of the items as the next destination when the detection value of the weight sensor exceeds a predetermined value. The control device can display the determined destination on a display device provided on the main body 30 of the mobile work device. Alternatively, the control device can move the mobile work device 1'' towards the determined destination in an automatic driving manner. The control device is configured such that when the weight does not exceed a predetermined amount, the control device allows the user to determine the next destination.

[0091] In the above embodiments, a hook 150 may also be installed on the front end side of the mobile device body 30. Figure 15 In this example, a hook 150 is installed on the front side of the mobile device body 30 via a flexible, long strip component 151 such as a rope. The user hooks the hook 150 onto an object located in front of the mobile device body 30, and after rotating the seat 40, for example, by 180°, the mobile work device 1'' can move towards the seat 40 and in the direction the user is facing. Thus, it is possible to move the mobile work device 1'' while simultaneously pulling the object hooked by the hook 150. Explanation of reference numerals in the attached figures:

[0092] 1, 1', 1'': Mobile equipment for mobile operations; 10: Front wheel (wheel); 20: Rear wheel (wheel); 25: Rear side wheel (wheel); 30: Main body of the mobile equipment; 31: Main body; 40: Seat; 40A: Rotation axis; 45: Track; 45A: Groove; 45B: Distance variation part; 60: Support arm; 60A: Spring; 60B: Force application part; 61, 61'': Base end fixing part; 61A: Upper end; 62: Base end side; 63, 63'': Front end side; 65: Linkage component; 65A: First part; 65B: Second part; 66: Movable part; 67: Support structure; 70, 70': Item placement part; 70': Item placement part; 90: Braking mechanism; 91: Swinging part; 91A: Rod; 91B: Shaft; 91C: Rod body; 91D: Front end; 92: Force transmission part; 110: Height adjustment mechanism; 130: Foot pedal; 133: Roller part; 134: Roller; 140: Bumper; 143: Sensor support part; 144: Sensor body; 145: Transmitter; 150: Hook; 151: Long strip part.

Claims

1. A mobile device for mobile operations, wherein, The mobile device for mobile operations includes: The main body of the mobile device, including the section where the user can ride. One or more wheels support the main body of the mobile device; A drive unit that drives at least one drive wheel of the one or more wheels; as well as The support arm is mounted on the main body of the mobile device. The support arm is configured such that the user, who is seated on the seat, can move and position the front end of the support arm arbitrarily.

2. The mobile device for mobile operations according to claim 1, wherein, The base end of the support arm is mounted on the main body of the mobile device. The support arm extends at least upward from the lower side of the mobile device body, and the front end of the support arm is movable at least in the front-rear direction of the vehicle body.

3. The mobile device for mobile operations according to claim 2, wherein, The support arm includes: a base end fixing part fixed to the main body of the mobile device; and a front end side part, wherein the base end is supported by the base end fixing part in a manner that allows it to swing in the front-rear direction of the vehicle body and supports an item placement part on the front end side.

4. The mobile device for mobile operations according to claim 3, wherein, The support arm uses a parallel link on the front side to prevent the posture of the item placement part from changing due to the swinging of the front side.

5. The mobile device for mobile operations according to any one of claims 1 to 4, wherein, The mobile device for mobile operations includes: A bumper, mounted on the main body of the mobile device, displaces relative to the main body of the mobile device when it collides with the detection object due to movement of the main body of the mobile device; and The sensor detects the displacement of the bumper relative to the main body of the mobile device in a non-contact manner.

6. The mobile device for mobile operations according to claim 5, wherein, The sensor includes: an output unit that outputs a detection wave; and a detection unit that outputs a different signal when it receives the detection wave from the output unit compared to when it does not receive the detection wave from the output unit. One of the output section and the detection section is fixed to the bumper or a component that moves together with the bumper, and the other of the output section and the detection section is fixed to the main body of the mobile device.

7. The mobile device for mobile operations according to claim 3 or 4, wherein, The mobile work device includes a swinging part disposed on the front end side of the support arm, which moves according to the user's operation. When the user swings the swinging part in a predetermined direction, the front end side can swing; when the user does not swing the swinging part in the predetermined direction, the swinging of the front end side is restricted.

8. The mobile device for mobile operations according to any one of claims 1 to 4, wherein, The seating area includes: a seat capable of rotating about a vertical axis; and a footrest that rotates together with the seat about the vertical axis. The mobile work device includes a foot pedal moving mechanism, which lifts the foot pedal upward when the seat rotates within a specified rotation range.

9. A mobile work system, comprising a mobile work device, wherein, The mobile device for mobile operations includes: The main body of the mobile device, including the part for the user to ride on; One or more wheels support the main body of the mobile device; A drive unit that drives at least one drive wheel of the one or more wheels; as well as The support arm is mounted on the main body of the mobile device. The mobile work system includes an item placement section, which is supported by the front end of the support arm. The support arm is configured such that the user, who is seated on the seat, can move and position the front end of the support arm arbitrarily.

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