Moving device

Abstract

To provide a moving device that prevents vibration accompanied by movement from being transferred to an electronic apparatus.SOLUTION: A moving device comprises: a traveling body 12; a controller 14 having a bottom plate 76 and an electronic apparatus 82 provided on the bottom plate 76, and mounted on the traveling body 12; and a holding unit 60 having 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.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to mobile devices. [Background technology]

[0002] For example, JP 2021-123249 A (Patent Document 1) discloses a running device comprising a front first wheel which is a driven wheel consisting of an omniwheel, a rear first wheel which is a drive wheel and is provided rearward of the front first wheel, a second wheel which is a driven wheel consisting of an omniwheel and is provided further rearward of the rear first wheel, and a support arm which is supported by a frame so as to be swingable within a vertical plane along the running direction, and on both ends of which the front first wheel and the rear first wheel are rotatably provided. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-123249 Summary of the Invention [Problem to be solved by the invention]

[0004] As an example of a mobile device, an Autonomous Mobile Robot (AMR) that transports an object to a desired location is used in a factory, etc. When such an AMR travels over a cable duct that covers wiring or piping laid on the floor of a factory, excessive vibrations are generated. If such vibrations are transmitted to electronic devices such as a control device for controlling the travel of the AMR, the operation of the electronic devices may be affected.

[0005] An object of the present invention is to provide a moving device, an AMR, and the like in which vibrations caused by movement are suppressed from being transmitted to electronic devices. [Means for solving the problem]

[0006] The present invention provides a mobile device having a running body, a bottom plate, and electronic devices arranged on the bottom plate, a controller mounted on the running body, and a holding unit having an elastic pad interposed between the bottom plate and the running body, and holding the controller relative to the running body.

[0007] Furthermore, the present invention provides, as such a mobile device, an AMR, a mobile robot, an autonomous mobile robot, and the like. Effect of the Invention

[0008] According to the invention, it is possible to provide a moving device, an AMR, and the like, in which vibrations caused by movement are prevented from being transmitted to an electronic device. [Brief description of the drawings]

[0009] [Figure 1] 1 is a perspective view showing a moving device using a running body according to an embodiment of the present invention; [Diagram 2] FIG. 2 is a perspective view showing a running body in FIG. [Diagram 3] FIG. 2 is a top view showing the running body in FIG. [Figure 4] 4 is a rear view showing the traveling body as seen in the direction indicated by the arrow IV in FIG. 3. [Diagram 5] 4 is a top view showing a modification of the arrangement of the traction motor in FIG. 3. FIG. [Figure 6] FIG. 2 is a side view showing the running body in FIG. [Figure 7] 7 is a cross-sectional view showing the running body in the area surrounded by the two-dot chain line VII in FIG. 4 and the bottom plate of the controller. [Figure 8] 3 is a perspective view showing a support structure for a first wheel in the running body in FIG. 2. FIG. [Figure 9] 9 is a side view showing the support structure of the first wheel in FIG. 8 (neutral state of the suspension mechanism). FIG. [Figure 10] 9 is a side view showing the support structure for the first wheel in FIG. 8 (in a contracted state of the suspension mechanism). FIG. [Figure 11]9 is a side view showing the support structure of the first wheel in FIG. 8 (in an extended state of the suspension mechanism). [Figure 12] 13 is a cross-sectional view showing a schematic diagram of a mechanism for restricting a lowering swing end of the arm member. FIG. [Figure 13] 13 is a cross-sectional view showing a schematic diagram of a mechanism for restricting the upward swing end of the arm member. FIG. [Figure 14] This is an oblique view showing the wheel unit holding mechanism (before bolt insertion). [Figure 15] This is an oblique view showing the wheel unit holding mechanism (after bolt insertion). [Figure 16] FIG. 11 is a side view showing the running body when the first wheel is lifted up. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described with reference to the accompanying drawings, in which the same or corresponding components are designated by the same reference numerals.

[0011] Fig. 1 is a perspective view showing a moving device using a traveling body in an embodiment of the present invention. Referring to Fig. 1, the moving device 100 is a device that can move autonomously by computer control. The moving device 100 is an AMR (Autonomous Mobile Robot) and transports a transport target such as a workpiece or a tool to an arbitrary location.

[0012] In Fig. 1 and the drawings described later, six directions, front, rear, right, left, up, and down, are appropriately shown. Front and rear are the directions of travel when the mobile device 100 (running body 12) runs straight ahead, and are opposite to each other. The right side is the right hand direction when looking forward from the mobile device 100 (running body 12). The left side is the left hand direction when looking forward from the mobile device 100 (running body 12), and is the opposite direction to the right. The up side is the sky side when viewed from the mobile device 100 (running body 12), and the down side is the underside (road surface) side on which the mobile device 100 (running body 12) runs.

[0013] In this embodiment, the direction in which the robot 16 is positioned relative to the tray 18 described below is referred to as the front, and the opposite direction is referred to as the rear, but which direction is referred to as the front and which direction is referred to as the rear is arbitrary.

[0014] In the following description, the reference number indicating the right-side configuration of a pair of left and right configurations is marked with "R" and the reference number indicating the left-side configuration is marked with "L." When neither "R" nor "L" is marked with a reference number, the description is common to both the right-side configuration and the left-side configuration.

[0015] [Structure of the moving device 100] First, the structure of the moving device 100 will be described. Referring to Fig. 1, the moving device 100 has a running body 12, a controller 14, and a robot 16 such as a robot arm 17. The running body 12 is configured to be capable of running by wheel drive using a running motor 57 described later. The controller 14 and the robot 16 are mounted on the running body 12.

[0016] The controller 14 controls the running of the running body 12 and the operation of the robot 16. The controller 14 has a cover 15. The cover 15 is a cover body that forms the external appearance of the controller 14, and forms an internal space on the running body 12. Inside the cover 15, various electronic devices 82 (see FIG. 6) for running the running body 12 and operating the robot 16, and a drive motor for the robot 16, etc. are housed.

[0017] A tray 18 for placing an object to be transported is provided on top surface 15a of cover 15. Robot 16 is configured to be able to grasp the object to be transported. Robot 16 is provided on top surface 15a of cover 15 and extends upward from top surface 15a of cover 15. Robot 16 and tray 18 are aligned in the front-rear direction.

[0018] The robot 16 has a base portion 26, a first movable portion 21, a second movable portion 22, and a third movable portion 24. The base portion 26 protrudes from the top surface 15a of the cover 15. The base portion 26 is rotatable about a rotation center axis 111. The rotation center axis 111 extends in the up-down direction (vertical direction). The base portion 26 extends on the axis of the rotation center axis 111. The base portion 26 rotates about the rotation center axis 111.

[0019] The first movable part 21 is connected to the base part 26 so as to be rotatable around a rotation center axis 112. The rotation center axis 112 extends in a direction perpendicular to the rotation center axis 111. The rotation center axis 112 extends in the horizontal direction. The first movable part 21 extends from the base part 26 in the radial direction of the rotation center axis 112. The first movable part 21 swings around the rotation center axis 112.

[0020] The second movable part 22 is connected to the first movable part 21 so as to be rotatable around 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 part 22 extends from the first movable part 21 in the radial direction of the rotation center axis 113.

[0021] The second movable part 22 has a rotating part 23. The rotating part 23 is rotatable around a rotation center axis 114. The rotation center axis 114 extends in a radial direction of the rotation center axis 113. The rotating part 23 extends on the axis of the rotation center axis 114. The second movable part 22 (rotating part 23) oscillates around the rotation center axis 113 and rotates around the rotation center axis 114.

[0022] The third movable part 24 is connected to the second movable part 22 (rotating part 23) so as to be rotatable around a rotation center axis 115. The rotation center axis 115 extends parallel to the rotation center axes 112 and 113. The rotation center axis 115 extends in the horizontal direction. The third movable part 24 extends from the second movable part 22 (rotating part 23) in the radial direction of the rotation center axis 115.

[0023] The third movable part 24 has a rotating part 25. The rotating part 25 is rotatable around a rotation center axis 116. The rotation center axis 116 extends in the radial direction of the rotation center axis 115. The rotating part 25 extends on the axis of the rotation center axis 116. The third movable part 24 (rotating part 25) oscillates around the rotation center axis 115 and rotates around the rotation center axis 116.

[0024] An end effector (not shown) for gripping an object to be transported is attached to the tip of the third movable part 24 (rotating part 25).

[0025] In this embodiment, the robot 16 is described as being robot arm 17 capable of controlling six axes (rotation central axes 111 to 116). However, the traveling body 12 may be equipped with a robot arm capable of controlling multiple axes other than six axes. The robot 16 may be, for example, a forklift type robot. In this case, the robot 16 may be a robot that can lift a tray with a fork, place the lifted tray in a predetermined location, lift a new tray with a fork, and place it on the top surface 15a of the cover 15.

[0026] [Structure of the running body] Next, the structure of the running body 12 will be described. Fig. 2 is a perspective view showing the running body in Fig. 1. Fig. 3 is a top view showing the running body in Fig. 1. When assuming a center line 110 (see Fig. 3) of the running body 12 extending in the front-rear direction, the running body 12 has a left-right symmetrical structure with respect to the center line 110.

[0027] 1 to 3, the running body 12 has first wheels 31 (31R, 31L), a running motor 57 (57R, 57L), and a reducer 56 (56R, 57L).

[0028] The first wheel 31 is a drive wheel. The first wheel 31 can rotate around the second shaft 122. The second shaft 122 is an imaginary straight line corresponding to the center of rotation of the first wheel 31 and extends in the left-right direction. The traveling motor 57 is composed of a servo motor or a stepping motor whose rotation number (rotational speed) and rotation direction can be controlled. The first wheel 31 rotates by receiving rotation from the traveling motor 57. The reducer 56 reduces the rotation from the traveling motor 57 and transmits it to the first wheel 31.

[0029] The first wheel 31R and the first wheel 31L are provided with a gap between them in the left-right direction. The first wheel 31R is connected to a traveling motor 57R via a reduction gear 56R. The first wheel 31L is connected to a traveling motor 57L via a reduction gear 56L. The first wheel 31R and the first wheel 31L are rotated independently of each other. The first wheel 31 can rotate forward and backward. The first wheel 31 can rotate at any number of rotations (rotational speed).

[0030] The running motor 57 outputs rotation about the second shaft 122. The running motor 57, the reducer 56, and the first wheel 31 are arranged in series in the left-right direction. The running motor 57 is disposed between the first wheel 31R and the first wheel 31L in the left-right direction. The running motor 57R is disposed between the first wheel 31R and the running motor 57L in the left-right direction. The running motor 57L is disposed between the first wheel 31L and the running motor 57R in the left-right direction.

[0031] The running body 12 further has second wheels 32 (32R, 32L) and third wheels 33 (33R, 33L).

[0032] The second wheel 32 is rotatable around the first shaft 121. The first shaft 121 is an imaginary straight line corresponding to the rotation center of the second wheel 32 and extends in the left-right direction. The second wheel 32 is an omniwheel that combines a wheel supported rotatably around the first shaft 121 and a plurality of rollers that are provided on the outer periphery of the wheel and can rotate around a central rotation axis that extends in a direction perpendicular to the first shaft 121.

[0033] The second wheel 32R and the second wheel 32L are provided at a distance from each other in the left-right direction. The first wheel 31 and the second wheel 32 are provided at a distance 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 a right front corner of the running body 12. The second wheel 32L is provided at a left front corner of the running body 12.

[0034] The third wheel 33 is rotatable around an eighth axis 131. The eighth axis 131 is an imaginary straight line extending in the left-right direction. The third wheel 33 is an omniwheel that combines a wheel that is rotatable around the eighth axis 131 with a plurality of rollers that are provided on the outer periphery of the wheel and are rotatable around a central axis of rotation that extends in a direction perpendicular to the eighth axis 131.

[0035] The third wheel 33R and the third wheel 33L are provided at a distance from each other in the left-right direction. The first wheel 31 and the third wheel 33 are provided at a distance 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 a right rear corner of the running body 12. The third wheel 33L is provided at a left rear corner of the running body 12.

[0036] The omni-wheel constituting the third wheel 33 and the omni-wheel constituting the second wheel 32 are the same. As shown in FIG. 3, the distance Lp between the first wheel 31 and the second wheel 32 in the front-rear direction is equal to the distance Lq between the first wheel 31 and the third wheel 33 in the front-rear direction. The distance between the second wheel 32R and the second wheel 32L in the left-right direction is the same as the distance between the third wheel 33R and the third wheel 33L in the left-right direction. The second wheel 32 is provided so as to protrude in the left-right direction more than the first wheel 31. The third wheel 33 is provided so as to protrude in the left-right direction more than the first wheel 31.

[0037] The second wheel 32 and the third wheel 33 are driven wheels. The second wheel 32 and the third wheel 33 rotate in accordance with the rotation of the first wheel 31. When the running body 12 runs on the lower surface by the rotation of the first wheel 31, the second wheel 32 and the third wheel 33 rotate due to the relative movement 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. The second wheel 32 and the third wheel 33, which are omni-wheels, are provided at the four corners of the running body 12 in a top view and have the function of supporting the weight of the moving device 100.

[0038] The running body 12 further has a base portion 40. The base portion 40 supports the first wheel 31, a running motor 57, a reduction gear 56, the second wheel 32, the third wheel 33, a battery 51, and the like.

[0039] The base portion 40 further has a frame member 41. The frame member 41 is made of a metal frame material that forms the skeleton of the running body 12. The frame member 41 is made of a pipe-shaped frame material having a rectangular closed cross section. The frame member 41 is disposed parallel to the lower surface on which the running body 12 runs.

[0040] The frame member 41 includes a first frame 42 (42R, 42L), a second frame 43, a third frame 44, and a fourth frame 45.

[0041] The first frame 42 extends in the front-rear direction. In the top view shown in FIG. 3, the first frame 42 has a rectangular shape in which the front-rear direction corresponds to the longitudinal direction and the left-right direction corresponds to the short side direction. The front end of the first frame 42 is located forward of the first shaft 121, and the rear end of the first frame 42 is located forward of the second shaft 122. The first frame 42R and the first frame 42L are provided with a gap between them in the left-right direction. In the top view shown in FIG. 3, the first wheel 31R and the second wheel 32R are provided at a position protruding from the first frame 42 in the left-right direction.

[0042] The second frame 43 extends in the left-right direction. In the top view shown in Fig. 3, the second frame 43 has a rectangular shape in which the left-right direction corresponds to the long side direction and the front-rear direction corresponds to the short side 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.

[0043] In the top view shown in FIG. 3, the base 26 (rotation center shaft 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 shaft 111 of the base 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 of the running body 12 extending in the front-rear direction. The base 26 (rotation center shaft 111) is located forward of the first wheel 31 (second shaft 122). The base 26 (rotation center shaft 111) is located forward of the second frame 43. The rotation center shaft 111 is located rearward of the first shaft 121. The position of the rotation center shaft 111 of the base 26 in the front-rear direction and the position of the elastic pad 61 described later in the front-rear direction are aligned.

[0044] The third frame 44 extends in the front-rear direction. In the top view shown in Fig. 3, the third frame 44 has a rectangular shape in which the front-rear direction corresponds to the longitudinal direction and the left-right direction corresponds to the lateral direction. The third frame 44 extends on the center line 110 of the running body 12 that extends in the front-rear direction. 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.

[0045] The fourth frame 45 extends in the left-right direction. In the top view shown in Fig. 3, the fourth frame 45 has a rectangular shape in which the left-right direction corresponds to the long side direction and the front-rear direction corresponds to the short side direction. In the top view shown in Fig. 3, the fourth frame 45 extends on the eighth axis 131.

[0046] The first wheel 31 is supported by the first frame 42 via a first block 46 and an arm member 211 described later. The second wheel 32 is supported by the first frame 42 via the first block 46 described later. The third wheel 33 is supported by the fourth frame 45 via a support arm 71 and a support block 72 described later. The battery 51 described later is supported by the third frame 44 via a battery case 52 that covers the battery 51.

[0047] In the top view shown in FIG. 3, the first wheel 31, the second wheel 32 and the third wheel 33 are provided at positions not overlapping with the frame member 41 (the first frame 42, the second frame 43, the third frame 44, the fourth frame 45).

[0048] The first wheel 31, the second wheel 32, and the third wheel 33 cannot be steered left or right. The vehicle 12 moves straight forward and backward by applying the same rotation to the first wheel 31R and the first wheel 31L, and turns left or right by applying different rotations to the first wheel 31R and the first wheel 31L (differential two-wheel drive system).

[0049] More specifically, the running body 12 moves straight forward (forward) by rotating the first wheels 31R and 31L at an equal number of revolutions in a forward direction. The running body 12 moves straight backward (reverse) by rotating the first wheels 31R and 31L at an equal number of revolutions in a reverse direction.

[0050] The running body 12 turns leftward (left turn) by rotating the first wheel 31L in the normal direction and rotating the first wheel 31R in the normal direction at a rotation speed greater than that of the first wheel 31L. The running body 12 turns rightward (right turn) by rotating the first wheel 31R in the normal direction and rotating the first wheel 31L in the normal direction at a rotation speed greater than that of the first wheel 31R.

[0051] The running body 12 rotates by rotating the first wheel 31R forward and rotating the first wheel 31L in the opposite direction at the same rotation speed as the first wheel 31R (left rotation). When the first wheel 31R is rotated in the opposite direction and the first wheel 31L is rotated forward at the same rotation speed as the first wheel 31R, the direction of the rotation of the running body 12 is reversed from the above case (right rotation). The rotation center of the running body 12 is ideally on the axis of the second shaft 122 and corresponds to the central position of the first wheel 31R and the first wheel 31L in the left-right direction (the intersection of the second shaft 122 and the center line 110 of the running body 12 extending in the front-rear direction).

[0052] In this embodiment, the distance Lp between the first wheel 31 and the second wheel 32 in the front-rear direction is equal to the distance Lq between the first wheel 31 and the third wheel 33 in the front-rear direction. With this configuration, when the running body 12 turns and rotates, the frictional forces generated between the underside and the first wheel 31 and the third wheel 33 are uniform among the four wheels, making it easy to control the running motor 57.

[0053] The running body 12 further includes batteries 51 (51R, 51L). The battery 51 is provided as a power source for the moving device 100, and supplies power to the running motor 57, the drive motor of the robot 16, and the like.

[0054] The battery 51 is provided behind the first wheel 31. The battery 51 is provided between the first wheel 31 and the third wheel 33 in the front-rear direction. The battery 51 is provided in a position adjacent to the third frame 44 in the left-right direction. The battery 51R is provided behind the first wheel 31R, the reduction gear 56R, and the running motor 57R. The battery 51L is provided behind the first wheel 31L, the reduction gear 56L, and the running motor 57L. The battery 51 can be removed in the left-right direction by removing the cover 15.

[0055] The wiring extending from the battery 51 to the controller 14 and the robot 16 may be routed outside the frame member 41 or may be routed inside the frame member 41.

[0056] 3, the base 26 (rotation axis 111) of the robot 16 is located forward of the first wheel 31, while the battery 51 is provided behind the first wheel 31. With this configuration, the robot 16, which is a heavy object and to which a heavy load is applied when driven, and the battery 51, which is also a heavy object, can be supported in a well-balanced manner in the front and rear by the base 40. This allows the traveling of the moving device 100 to be stabilized.

[0057] Fig. 4 is a rear view showing the running body as viewed in the direction indicated by the arrow IV in Fig. 3. With reference to Figs. 3 and 4, the base portion 40 further has a support arm 71 and a support block 72.

[0058] The support arm 71 is provided 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 a right end of the support arm 71. The third wheel 33L is connected to a left end of the support arm 71.

[0059] The support block 72 is connected to the fourth frame 45. The support block 72 protrudes downward from the fourth frame 45. The support arm 71 is supported by the support block 72 so as to be rotatable about a rotation center shaft 136. The rotation center shaft 136 extends in the front-rear direction. In the top view shown in FIG. 3, the rotation center shaft 136 overlaps with the center line 110 of the running 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 on the axis of the rotation center shaft 136, and the shaft 73 is inserted into the support arm 71 via a bearing.

[0060] With this configuration, the support arm 71 swings around the central axis of rotation 136 in accordance with the unevenness of the bottom surface on which the running body 12 runs. This makes it possible to more reliably bring the third wheel 33 into contact with the bottom surface, stabilizing the running of the moving device 100.

[0061] 5 is a top view showing a modified example of the arrangement of the traveling motor in FIG. 3. Referring to FIG. 5, in this modified example, traveling motor 57 outputs rotation about ninth shaft 161. ninth shaft 161 extends in the front-rear direction. Traveling motor 57 is provided below first frame 42. Speed ​​reducer 56 reduces the speed of the rotation from traveling motor 57, converts the rotation about ninth shaft 161 by 90° to rotation about second shaft 122, and transmits the rotation to first wheel 31.

[0062] According to this modification, since the travel motor 57 is not arranged in series with the first wheels 31 and the reduction gears 56 arranged in the left-right direction, the distance between the first wheels 31R and 31L in the left-right direction can be reduced.

[0063] Fig. 6 is a side view showing the running body in Fig. 1. In Fig. 6, a part of the structure of the controller 14 in Fig. 1 is additionally shown.

[0064] 1 and 6, the controller 14 includes a base plate 76, an electronic device 82, and a robot support portion 81. The base plate 76 includes a base plate 76, an electronic device 82, and a robot support portion 81.

[0065] The bottom plate 76 is provided at the bottom of the controller 14. The bottom plate 76 is made of a metal plate material whose thickness direction corresponds to the up-down direction. An electronic device 82 and a robot support unit 81 are provided on the bottom plate 76.

[0066] The electronic device 82 includes a control device 83. The control device 83 controls the running body 12 and the robot 16. The control device 83 controls the running motor 57 of the running body 12 and the drive motor of the robot 16. The electronic device 82 may further include a laser sensor for detecting map information of the surroundings of the running body 12. A battery 51 is disposed below the electronic device 82.

[0067] The robot support part 81 is provided in front of the electronic device 82. The robot support part 81 supports the robot 16 at a position spaced above the bottom plate 76. The base part 26 of the robot 16 is connected to the robot support part 81.

[0068] The cover 15 is made of sheet metal and forms the external 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 so as to cover the electronic device 82 and the robot support unit 81. The cover 15 forms an internal space on the bottom plate 76 that houses the electronic device 82 and the robot support unit 81.

[0069] Fig. 7 is a cross-sectional view showing the running body and the bottom plate of the controller in the area surrounded by the two-dot chain line VII in Fig. 4. With reference to Figs. 2 to 7, running body 12 has a holding unit 60. Holding unit 60 holds controller 14 relative to running body 12.

[0070] The holding unit 60 has an elastic pad 61. The elastic pad 61 is made of an elastic member. The elastic pad 61 is made of a sheet-shaped rubber member whose vertical direction corresponds to its thickness direction. The elastic pad 61 is interposed between a bottom plate 76 of the controller 14 and the running body 12. The elastic pad 61 is interposed between a bottom plate 76 of the controller 14 and a frame member 41. The controller 14 is mounted on the running body 12 via the elastic pad 61. The elastic pad 61 bears the weight of the controller 14 and the robot 16.

[0071] As shown in FIG. 7, the holding unit 60 further includes a base plate 66 , a positioning pin 68 , and a fitting member 69 .

[0072] The base plate 66 is made of a metal plate material whose thickness direction corresponds to the up-down direction. The base plate 66 is connected to the frame member 41. The base plate 66 is placed on the top surface 41a of the frame member 41. The elastic pad 61 is fixed to the base plate 66.

[0073] The positioning pin 68 has a pin shape that protrudes upward from the base plate 66. The positioning pin 68 and the base plate 66 are provided on the base plate 66 adjacent to each other. The positioning pin 68 is inserted into the bottom plate 76 in the up-down direction. The bottom plate 76 is provided with a pin insertion hole 77. The pin insertion hole 77 penetrates the bottom plate 76 in the up-down direction. The positioning pin 68 is inserted into the pin insertion hole 77.

[0074] The fitting member 69 is made of a cylindrical body. The fitting member 69 is fitted onto a positioning pin 68 protruding from a bottom plate 76. The fitting member 69 is fixed to the positioning pin 68 by using a nut 70. The bottom plate 76 is sandwiched between the fitting member 69 and the elastic pad 61 in the vertical direction. Note that the tightening force of the nut 70 on the positioning pin 68 does not necessarily act on the elastic pad 61.

[0075] 2 and 3, the traveling body 12 has a plurality of holding units 60 (60fR, 60fL, 60rR, 60rL). The plurality of holding units 60 are disposed apart from each other in the front-rear direction and the left-right direction.

[0076] The holding unit 60fR and the holding unit 60fL are provided on the first frame 42R and the first frame 42L, respectively. The holding unit 60fR is provided adjacent to the second wheel 32R in the left-right direction. The holding unit 60fL is provided adjacent to the second wheel 32L in the left-right direction. In each of the holding units 60 of the holding unit 60fR and the holding unit 60fL, an elastic pad 61 and a positioning pin 68 are provided adjacent to each other in the front-rear direction.

[0077] The holding unit 60rR and the holding unit 60rL are provided on the fourth frame 45. The holding unit 60rR is provided adjacent to the third wheel 33R in the left-right direction. The holding unit 60rL is provided adjacent to the third wheel 33L in the left-right direction. In each of the holding units 60 of the holding unit 60rR and the holding unit 60rL, an elastic pad 61 and a positioning pin 68 are provided adjacent to each other in the left-right direction.

[0078] 6, the holding units 60fR and 60fL are provided at positions aligned with the robot support part 81 in the front-rear direction. The holding units 60rR and 60rL are provided at positions aligned with the electronic device 82.

[0079] When the mobile device 100 travels over a convex portion such as a cable duct installed on the underside, excessive vibrations are generated. The configuration in which the controller 14 is elastically supported by the elastic pad 61 can prevent such vibrations from being transmitted to the controller 14. This makes it possible to appropriately protect the various electronic devices 82 installed in the controller 14, in particular the control device 83 that controls the traveling body 12 and the robot 16, from the vibrations.

[0080] Furthermore, by using the holding unit 60 in which the elastic pad 61 and the positioning pin 68 are integrated by the base plate 66, both the elastic support of the controller 14 and the positioning of the controller 14 with respect to the running body 12 can be realized with a simple configuration. In such a configuration, the bottom plate 76 is fixed to the running body 12 via the positioning pin 68, and the cover 15 is attached to the bottom plate 76. In this case, as shown in Fig. 6, by attaching a lifting tool 350 such as an eyebolt to the cover 15, the moving device 100 can be lifted and transported.

[0081] The controller 14 may execute control to decelerate the traveling speed of the mobile device 100 at the timing when the mobile device 100 passes over a convex portion on the underside of a cable duct, etc. In this case, the controller 14 may detect the timing to execute the speed control based on map information of a factory, etc., stored in advance in the controller 14.

[0082] [First wheel support structure] Next, the support structure of the first wheel 31 will be described. Fig. 8 is a perspective view showing the support structure of the first wheel in the running body in Fig. 2. Fig. 9 is a side view showing the support structure of the first wheel in Fig. 8 (neutral state of the suspension mechanism). Fig. 10 is a side view showing the support structure of the first wheel in Fig. 8 (contracted state of the suspension mechanism). Fig. 11 is a side view showing the support structure of the first wheel in Fig. 8 (extended state of the suspension mechanism).

[0083] The neutral state of the suspension mechanism 220 corresponds to the state of the suspension mechanism 220 when the bottommost part of the first wheel 31 in contact with the underside 310 and the bottommost parts of the second wheel 32 and the third wheel 33 in contact with the underside 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 contracts from the neutral state. The extended state of the suspension mechanism 220 corresponds to the state of the suspension mechanism 220 when the suspension mechanism 220 extends from the neutral state.

[0084] 2, 3 and 8 to 11, the base portion 40 further includes a first block 46, a second block 47 (47S, 47T), and a third block 48 (48S, 48T).

[0085] The first block 46, the second block 47 and the third block 48 are fixed to the frame member 41 and are fixed members that do not move in conjunction with the lifting and lowering movement of the first wheel 31 and the extension and contraction movement of the suspension mechanism 220, which will be described below. The first block 46, the second block 47 and the third block 48 are provided in the left-right direction between the first arm member 211S and the second arm member 211T, which will be described later.

[0086] 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 a rear surface of the first block 46. The second block 47S and the second block 47T are provided with a gap between them in the left-right direction.

[0087] 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 provided at a position spaced rearward from the second block 47. The third block 48S and the third block 48T are provided at an interval from each other in the left-right direction.

[0088] The moving device 100 (the traveling body 12) has a wheel unit 200. In the wheel unit 200, a first wheel 31 is supported by a base portion 40 so as to be movable. The wheel unit 200 is supported by the base portion 40 so that the first wheel 31 can rise and fall.

[0089] The wheel unit 200 has a first wheel 31, an arm member 211, and a connecting member 212. The arm member 211 extends in an arm shape along the front-rear direction. The arm member 211 is made of a metal plate member whose left-right direction corresponds to its thickness direction. The arm member 211 is supported by the base portion 40 so as to be rotatable about a first shaft 121.

[0090] The arm members 211 extend parallel to the front-rear direction when the suspension mechanism 220 is in the neutral state shown in FIG.

[0091] The wheel unit 200 has a first arm member 211S and a second arm member 211T as the arm member 211. The first arm member 211S and the second arm member 211T are provided at a distance from each other in the left-right direction. The first arm member 211S is provided on the outer side of the traveling body 12 in the left-right direction than 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.

[0092] The connecting member 212 extends in an axial manner in the left-right direction. Both ends of the connecting member 212 in the left-right direction are connected to the first arm member 211S and the second arm member 211T, respectively. The connecting member 212 is provided on the opposite side of the first block 46 from the first wheel 31. The first wheel 31 is provided in front of the first block 46. The first block 46 is provided behind the connecting member 212. The distance between the first block 46 and the connecting member 212 in the front-rear direction is smaller than the distance between the first block 46 and the first wheel 31 in the front-rear direction.

[0093] The wheel unit 200 has a first connecting member 212A and a second connecting member 212B as the connecting member 212. The first connecting member 212A and the second connecting member 212B are provided at a distance from each other in the up-down direction. The first connecting member 212A is provided above the second connecting member 212B.

[0094] The arm member 211 is supported by the first block 46 so as to be rotatable about the first shaft 121. The first wheel 31 is disposed on the opposite side of the first block 46 in the left-right direction, with the first arm member 211S sandwiched between them. The first wheel 31 is supported by the first arm member 211S at a position spaced apart from the first shaft 121 in the radial direction. The first wheel 31 is supported by the first arm member 211S at a position spaced apart rearward from the first shaft 121.

[0095] The first wheel 31 may be supported by the second arm member 211T, or may be supported by both the first arm member 211S and the second arm member 211T.

[0096] 9 and 10, when the first wheel 31 moves upward from the neutral state of the suspension mechanism 220, the arm member 211 swings in the clockwise direction about the first shaft 121. As shown in Figures 9 and 11, when the first wheel 31 moves downward from the neutral state of the suspension mechanism 220, the arm member 211 swings in the counterclockwise direction about the first shaft 121.

[0097] The transportation apparatus 100 (the traveling body 12) further includes a suspension mechanism 220. The suspension mechanism 220 generates a biasing force to be applied to the first wheel 31.

[0098] The suspension mechanism 220 extends along the front-rear direction and is provided in a lying position such that the overall length of the suspension mechanism 220 in the front-rear direction is greater than the overall height of the suspension mechanism 220 in the up-down direction.

[0099] The suspension mechanism 220 is disposed such that at least a portion of the suspension mechanism 220 overlaps with the arm member 211 when viewed in the left-right direction. The suspension mechanism 220 is provided 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 (first frame 42). The suspension mechanism 220 is provided at a position lower than the tops of the second wheel 32 and the third wheel 33. The suspension mechanism 220 is provided between the first shaft 121 and the second shaft 122 in the front-rear direction. The suspension mechanism 220 is disposed behind the reducer 56.

[0100] The first shaft 121 is located on the opposite side of the first wheel 31 in the front-rear direction, with the suspension mechanism 220 in between. The battery 51 is disposed on the opposite side of the arm member 211 in the front-rear direction, with the first wheel 31 in between.

[0101] One end (front end) of suspension mechanism 220 is supported by base portion 40 so as to be rotatable about a third shaft 123. The third shaft 123 is an imaginary straight line corresponding to the center of rotation of suspension mechanism 220 and extends in the left-right direction. The third shaft 123 is located between the first shaft 121 and the second shaft 122 in the front-rear direction. The third shaft 123 is located above the first shaft 121. The second block 47 is provided on the axis of the third shaft 123.

[0102] The suspension mechanism 220 has a spring member 221 and a shock absorber 222. The shock absorber 222 is composed of a cylinder filled with oil, gas, or the like, and a rod that is combined with the cylinder and can expand and contract 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 to be rotatable about the third shaft 123.

[0103] The spring member 221 is made of a coil spring. The spring member 221 is assembled onto the outer periphery of the shock absorber 222. The spring member 221 exerts a spring force on the rod of the shock absorber 222 in the expanding direction.

[0104] The moving device 100 (the traveling body 12) further has 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 a biasing force from the suspension mechanism 220 and presses the first wheel 31 against the lower surface 310.

[0105] The link mechanism 230 is provided between the first shaft 121 and the second shaft 122 in the front-rear direction. The link mechanism 230 is provided between the first arm member 211S and the second arm member 211T in the left-right direction. The link mechanism 230 is provided below the frame member 41 (first frame 42).

[0106] The link mechanism 230 has a first plate 231 (231S, 231T) and a second plate 241 (241S, 241T).

[0107] The first plate 231 is made of a plate member whose thickness direction corresponds to the left-right direction. The first plate 231 is supported by the base portion 40 so as to be rotatable about a fourth shaft 124. The fourth shaft 124 is an imaginary straight line corresponding to the center of rotation of the first plate 231 relative to the base portion 40 (third block 48) and extends in the left-right direction. The fourth shaft 124 is located between the first shaft 121 and the second shaft 122 in the front-rear direction. The fourth shaft 124 is located between the third shaft 123 and a sixth shaft 126 (described later) in the front-rear direction.

[0108] The first plate 231 is supported by the third block 48 so as to be rotatable about the fourth shaft 124. As shown in FIG. 8, the first plate 231 is provided between the third block 48S and the third block 48T in the left-right direction. The first plate 231S is provided adjacent to the third block 48S in the left-right direction. The first plate 231T is provided adjacent to the third block 48T in the left-right direction. A shaft member (not shown) extending on the axis of the fourth shaft 124 between the third block 48S and the third block 48T 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 and the first plate 231T. The bearing has a cylindrical shape centered on the fourth axis 124, and enables relative rotational movement between the shaft member and the first plates 231S and 231T.

[0109] The first plates 231S and 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 plates 231S and 231T in the left-right direction.

[0110] 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) so as to be rotatable about the fifth shaft 125. The fifth shaft 125 is an imaginary straight line corresponding to the center of rotation 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 shaft 125 is located away from the fourth shaft 124 in the radial direction. The fifth shaft 125 is located above the fourth shaft 124. A shaft member (not shown) extending on the axis of the fifth shaft 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.

[0111] The second plate 241 is made of a plate member whose left-right direction corresponds to its thickness direction. The second plate 241 partially overlaps with the first plate 231 in the left-right direction. The second plate 241 overlaps with the first plate 231 at least in a range including a seventh axis 127 described later. The second plate 241 is provided between the first arm member 211S and the second arm member 211T in the left-right direction. The second plate 241S is provided adjacent to the first arm member 211S in the left-right direction. The second plate 241T is provided adjacent to the second arm member 211T in the left-right direction.

[0112] The second plate 241 is connected to the arm member 211 so as to be rotatable about a sixth shaft 126. The sixth shaft 126 is an imaginary straight line corresponding to the center of rotation of the second plate 241 relative to the arm member 211, and extends in the left-right direction. The sixth shaft 126 is located between the fourth shaft 124 and the second shaft 122 in the front-rear direction. The sixth shaft 126 is located between the fifth shaft 125 and the second shaft 122 in the front-rear direction. A shaft member (not shown) extending on the axis of the sixth shaft 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.

[0113] The second plate 241 is connected to the first plate 231 so as to be rotatable about the seventh shaft 127. The seventh shaft 127 is an imaginary straight line corresponding to the center of rotation of the second plate 241 relative to the first plate 231, and extends in the left-right direction. The seventh shaft 127 is located away from the sixth shaft 126 in the radial direction. The seventh shaft 127 is located away from the fourth shaft 124 in the radial direction. The seventh shaft 127 is located between the fourth shaft 124 and the second shaft 122 in the front-rear direction. The seventh shaft 127 is located rearward of the fourth shaft 124. The seventh shaft 127 is located below the sixth shaft 126. A shaft member (not shown) extending on the axis of the seventh shaft 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 and the second plate 241T. The bearing has a cylindrical shape centered on the seventh axis 127, and enables relative rotational movement between the shaft member and the second plate 241S and the second plate 241T.

[0114] The distance between the fourth axis 124 and the fifth axis 125 is greater than the distance between the fourth axis 124 and the seventh axis 127 .

[0115] The biasing force from the suspension mechanism 220 due to 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 biasing force from the suspension mechanism 220 and is biased in the counterclockwise direction about the first shaft 121. As a result, the first wheel 31 supported by the arm member 211 is pressed against the lower surface 310.

[0116] 9 and 10, when the first wheel 31 moves upward when passing through a convex portion of the lower surface 310, the arm member 211 swings clockwise around the first shaft 121. With the swinging motion of the arm member 211, the second plate 241 swings counterclockwise around the sixth shaft 126, and the first plate 231 swings clockwise around the fourth shaft 124. With the swinging motion of the first plate 231, the fifth shaft 125 moves in a direction approaching the third shaft 123, and the suspension mechanism 220 performs a compression motion. At this time, a relative positional deviation occurs between the third shaft 123 and the fifth shaft 125 that support both ends of the suspension mechanism 220, but this positional deviation is absorbed by the suspension mechanism 220 swinging around the third shaft 123.

[0117] 9 and 11, when the first wheel 31 moves downward as it passes through the recess of the lower surface 310, the arm member 211 swings counterclockwise around the first shaft 121. With the swinging motion of the arm member 211, the second plate 241 swings clockwise around the sixth shaft 126, and the first plate 231 swings counterclockwise around the fourth shaft 124. With the swinging motion of the first plate 231, the fifth shaft 125 moves in a direction away from the third shaft 123, and the suspension mechanism 220 extends. At this time, a relative positional deviation occurs between the third shaft 123 and the fifth shaft 125 that support both ends of the suspension mechanism 220, but this positional deviation is absorbed by the suspension mechanism 220 swinging around the third shaft 123.

[0118] In the neutral state of the suspension mechanism 220 shown in FIG. 9, the third shaft 123 is disposed in a position rearward and above the first shaft 121. The fourth shaft 124 and the fifth shaft 125 are disposed rearward of the third shaft 123 and aligned in the front-rear direction. The fifth shaft 125 is disposed above the fourth shaft 124. The sixth shaft 126 and the seventh shaft 127 are disposed rearward of the fourth shaft 124 and the fifth shaft 125 and aligned in the front-rear direction. The second shaft 122 is disposed rearward of the sixth shaft 126 and the seventh shaft 127. The third shaft 123, the fifth shaft 125, and the sixth shaft 126 are disposed in aligned positions (at the same height) in the up-down direction. The fourth shaft 124, the seventh shaft 127, and the second shaft 122 are disposed in aligned positions in the up-down direction. The first shaft 121 is disposed at a position lower than the third shaft 123 , the fifth shaft 125 , and the sixth shaft 126 , and higher than the fourth shaft 124 , the seventh shaft 127 , and the second shaft 122 .

[0119] In the contracted state of the suspension mechanism 220 shown in FIG. 10, the first shaft 121, the third shaft 123, the fifth shaft 125, the fourth shaft 124, the seventh shaft 127, the sixth shaft 126 and the second shaft 122 are arranged in the order listed from the front to the rear of the running body 12. The second shaft 122 is disposed in a position higher than the first shaft 121. The fifth shaft 125 is disposed in a position higher than the fourth shaft 124, the seventh shaft 127 is disposed in a position higher than the fifth shaft 125, and the sixth shaft 126 is disposed in a position higher than the seventh shaft 127. The first shaft 121 is disposed in a position higher than the fourth shaft 124 and lower than the fifth shaft 125. The second shaft 122 is disposed in a position higher than the seventh shaft 127 and lower than the sixth shaft 126.

[0120] In the extended state of the suspension mechanism 220 shown in FIG. 11, the first shaft 121, the third shaft 123, the fourth shaft 124, the fifth shaft 125, the seventh shaft 127, the sixth shaft 126 and the second shaft 122 are arranged in the order listed from the front to the rear of the running body 12. The second shaft 122 is disposed in a position lower than the first shaft 121. The sixth shaft 126 is disposed in a position higher than the seventh shaft 127, the fourth shaft 124 is disposed in a position higher than the sixth shaft 126, and the fifth shaft 125 is disposed in a position higher than the fourth shaft 124. The first shaft 121 is disposed in a position higher than the fourth shaft 124 and lower than the fifth shaft 125. The second shaft 122 is disposed in a position lower than the seventh shaft 127.

[0121] As described above, the running body 12 in this embodiment includes a base portion 40, a wheel unit 200 having a first wheel 31 and in which the first wheel 31 is movably supported on the base portion 40, a suspension mechanism 220 that generates a biasing force, and a link mechanism 230 that is connected to the suspension mechanism 220 and the wheel unit 200 and receives the biasing force from the suspension mechanism 220 to press the first wheel 31 toward the underside 310.

[0122] According to the running body 12 configured in this manner, the first wheel 31 is pressed toward the lower surface 310 by the biasing force from the suspension mechanism 220, so that the ground contact force of the first wheel 31 can be increased and the running performance of the running body 12 can be improved. The improved running performance enables the running body 12 to run over convex parts such as cable ducts, so that the mobility of the moving device 100 can be improved. In this configuration, the link mechanism 230 can appropriately convert the direction of the biasing force from the suspension mechanism 220 and transmit it to the wheel unit 200, so that the attitude of the suspension mechanism 220 mounted on the running body 12 can be freely set. As a result, the vehicle height of the running body 12 can be maintained low when the suspension mechanism 220 is mounted.

[0123] If the suspension mechanism is installed in an upright position, the overall length of the coil spring needs to be shortened due to limitations on the vehicle height of the traveling body. In this case, the ratio of the expansion length to the overall length of the coil spring becomes large, making it difficult to ensure sufficient durability of the coil spring. On the other hand, in this embodiment, the suspension mechanism 220 is installed in a lying position, so that it is easy to ensure a large space for installing the suspension mechanism 220 in the expansion and contraction direction of the spring member 221. This makes it possible to eliminate the above-mentioned concerns about the durability of the spring member 221.

[0124] The wheel unit 200 further has an arm member 211 supported by the base portion 40 so as to be rotatable about a first shaft 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 shaft 122 extending in the left-right direction and positioned away from the first shaft 121 in the front-rear direction.

[0125] According to this configuration, the first wheel 31 can be moved in the circumferential direction of the first shaft 121 in accordance with the swinging motion of the arm member 211 about the first shaft 121. This makes it possible to realize the wheel unit 200 in which the first wheel 31 is movably supported by the base portion 40 with a simple configuration.

[0126] Furthermore, the suspension mechanism 220 is disposed so that at least a portion of the suspension mechanism 220 overlaps with the arm member 211 when viewed in the left-right direction.

[0127] According to this configuration, when the suspension mechanism 220 is mounted, the vehicle height of the running body 12 can be kept lower.

[0128] Furthermore, the suspension mechanism 220 is disposed between the first shaft 121 and the second shaft 122 in the front-rear direction.

[0129] According to this configuration, the suspension mechanism 220 can be mounted compactly in the front-rear direction.

[0130] The first shaft 121 is located on the opposite side of the first wheel 31 in the front-rear direction, with the suspension mechanism 220 in between. The running body 12 further includes a battery 51 disposed on the opposite side of the arm member 211 with the first wheel 31 in between in the front-rear direction.

[0131] According to the running body 12 configured in this manner, the first shaft 121 is located on the opposite side of the first wheel 31 across the suspension mechanism 220 in the front-rear direction, and 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, when the first wheel 31 moves in the circumferential direction of the first shaft 121 in accordance with the swinging motion of the arm member 211 about the first shaft 121, the curvature of the trajectory of the first wheel 31 becomes smaller, so that the first wheel 31 is less likely to interfere with the battery 51 (battery case 52 in FIG. 8). This allows the battery 51 to be disposed closer to the first wheel 31, and therefore the running body 12 can be configured compactly.

[0132] The running body 12 further includes a second wheel 32 that is supported rotatably about a first shaft 121 by the base portion 40 (first block 46).

[0133] According to such a configuration, by making the rotation central axes of the arm member 211 and the second wheel 32 coaxial, the support structure for the arm member 211 and the second wheel 32 can be simplified.

[0134] Moreover, one end of the suspension mechanism 220 is supported by the base portion 40 so as to be rotatable about a third shaft 123 that extends in the left-right direction and is located between the first shaft 121 and the second shaft 122 in the front-rear direction. The link mechanism 230 is supported by the base portion 40 so as to be rotatable about a fourth shaft 124 that is located between the third shaft 123 and the second shaft 122 in the front-rear direction, and has a first plate 231 that extends in the left-right direction and is connected to the other end of the suspension mechanism 220 so as to be rotatable about a fifth shaft 125 that is radially spaced from the fourth shaft 124, and a second plate 241 that extends in the left-right direction and is connected to the arm member 211 so as to be rotatable about a sixth shaft 126 that is located between the fourth shaft 124 and the second shaft 122 in the front-rear direction, and is connected to the first plate 231 so as to be rotatable about a seventh shaft 127 that is radially spaced from each of the fourth shaft 124 and the sixth shaft 126.

[0135] With this configuration, the extension and contraction movement of the suspension mechanism 220 and the movement (raising and lowering movement) of the first wheel 31 can be linked to each other via the swinging movement of the suspension mechanism 220 relative to the base part 40 around the third axis 123, the swinging movement of the first plate 231 relative to the base part 40 around the fourth axis 124, the swinging movement of the second plate 241 relative to the arm member 211 around the sixth axis 126, and the swinging movement of the arm member 211 relative to the base part 40 around the first axis 121.

[0136] In addition, the distance between the fourth axis 124 and the fifth axis 125 is greater than the distance between the fourth axis 124 and the seventh axis 127.

[0137] According to such a configuration, the length of movement of the first wheel 31 (stroke of the lifting and lowering operation) can be set large while keeping the extension length of the suspension mechanism 220 small.

[0138] The wheel unit 200 also has a pair of arm members 211 (211S, 211S) arranged at a distance from each other in the left-right direction. The suspension mechanism 220 is arranged between the pair of arm members 211 (211S, 211S).

[0139] According to such a configuration, the rigidity of the arm member 211 connecting between the suspension mechanism 220 and the first wheel 31 can be sufficiently ensured.

[0140] The base portion 40 also has a frame member 41 (first frame 42) that is disposed parallel to the lower surface 310 and extends in the front-rear direction. The suspension mechanism 220 is provided below the frame member 41 (first frame 42).

[0141] According to this configuration, when the suspension mechanism 220 is mounted, the vehicle height of the running body 12 can be kept lower.

[0142] Fig. 12 is a cross-sectional view showing a mechanism for restricting the lowering side swing end of the arm member, and Fig. 13 is a cross-sectional view showing a mechanism for restricting the upper side swing end of the arm member.

[0143] 2, 12 and 13, connecting member 212 is disposed with a gap between it and first block 46 in the circumferential direction of first shaft 121. First connecting member 212A is disposed with a gap between it and first block 46 in one direction along the circumferential direction of first shaft 121 (counterclockwise direction in Figs. 12 and 13). Second connecting member 212B is disposed with a gap between it and first block 46 in the other direction along the circumferential direction of first shaft 121 (clockwise direction in Figs. 12 and 13).

[0144] The first block 46 has a front surface 46C. The front surface 46C faces forward and is a flat surface perpendicular to the front-rear direction. When the suspension mechanism 220 is in a neutral state, a gap is provided in the front-rear direction between the first connecting member 212A and the second connecting member 212B and the front surface 46C.

[0145] 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 to the front surface 46C. The first female threaded hole 252 and the second female threaded hole 257 are provided side by side in the up-down direction at the same interval as the first connecting member 212A and the second connecting member 212B.

[0146] The running body 12 further includes a first stop member 251 and a second stop member 256. The first stop member 251 and the second stop member 256 are made of hollow set screws. The first stop member 251 and the second stop member 256 are screwed into the first female threaded hole 252 and the second female threaded hole 257, respectively.

[0147] First connecting member 212A is disposed with a gap between it and the tip end of first fastening member 251 in one direction (counterclockwise direction in FIG. 12) along the circumferential direction of first shaft 121. Second connecting member 212B is disposed with a gap between it and the tip end of second fastening member 256 in the other direction (clockwise direction in FIG. 13) along the circumferential direction of first shaft 121.

[0148] The connecting member 212 functions as a means for restricting the swing end of the arm member 211 about the first shaft 121, in addition to functioning as a means for connecting the first arm member 211S and the second arm member 211T.

[0149] As shown in FIG. 12, when the first wheel 31 descends, the first connecting member 212A comes into contact with the first stop member 251, thereby restricting the downward swing end of the arm member 211 about the first shaft 121. By increasing or decreasing the length of the first stop member 251 protruding from the first female screw hole 252, the angle of the downward swing end of the arm member 211 can be adjusted. As shown in FIG. 13, when the first wheel 31 ascends, the second connecting member 212B comes into contact with the second stop member 256, thereby restricting the upward swing end of the arm member 211 about the first shaft 121. By increasing or decreasing the length of the second stop member 256 protruding from the second female screw hole 257, the angle of the upward swing end of the arm member 211 can be adjusted.

[0150] In the present embodiment, the wheel unit 200 has, as the connecting member 212, a first connecting member 212A arranged with a gap between it and the first block 46 in one direction along the circumferential direction of the first shaft 121, and a second connecting member 212B arranged with a gap between it and the first block 46 in the other direction along the circumferential direction of the first shaft 121. With this configuration, the first connecting member 212A and the second connecting member 212B can connect the first arm member 211S and the second arm member 211T more firmly and regulate the lowering side swing end and the uppering side swing end of the arm member 211, respectively.

[0151] Furthermore, the connecting members 212 (212A, 212B) are disposed on the opposite side of the first block 46 from the first wheel 31 (the front side of the first block 46), while the suspension mechanism 220 and the link mechanism 230 are disposed on the opposite side of the first block 46 from the connecting members 212 (the rear side of the first block 46). With this configuration, the connecting members 212 (212A, 212B), the suspension mechanism 220, and the link mechanism 230 can be efficiently disposed in front of and behind the first block 46 without interfering with each other.

[0152] The means for restricting the swing end of the arm member 211 is not limited to the above. For example, the swing end of the arm member 211 may be restricted by a configuration in which the first wheel 31 abuts against the flange 52j of the battery case 52 in FIG. 2 when the first wheel 31 ascends. Also, the swing end of the arm member 211 may be restricted by a stroke end of the shock absorber 222 in the suspension mechanism 220.

[0153] Fig. 14 is a perspective view showing the holding mechanism of the wheel unit (before the bolt is inserted), Fig. 15 is a perspective view showing the holding mechanism of the wheel unit (after the bolt is inserted), Fig. 16 is a side view showing the running body when the first wheel is lifted up.

[0154] 14 to 16, the running body 12 further has a holding mechanism 330. The holding mechanism 330 is configured to be able to hold the wheel unit 200 so that the first wheel 31 is maintained in a state spaced apart from the lower surface 310. The holding mechanism 330 is configured to be able to hold the arm member 211 (first arm member 211S) at a predetermined angle in the circumferential direction of the first shaft 121 so that the first wheel 31 is maintained in a state spaced apart from the lower surface 310.

[0155] The holding mechanism 330 has 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 (first arm member 211S). The lifting block 321 protrudes in the left-right direction from the arm member 211 (first arm member 211S). The lifting block 321 is provided with a screw portion 322. The screw portion 322 is made of a female screw hole that penetrates the lifting block 321 in the up-down direction.

[0156] The holding mechanism 330 further includes a bracket 341 and a bolt 331. The bracket 341 is attached to the base portion 40. The bracket 341 is fastened to the first frame 42 by using a bolt. The bracket 341 is provided facing 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 of a bolt insertion hole penetrating a 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 portion 332 of the bolt 331 is locked by an edge portion of the locking portion 342 on the bottom plate 343.

[0157] If the battery 51 runs out of charge during transportation by the moving device 100, an operator must manually push the moving device 100 to a charging location. In this case, if the first wheel 31 connected to the traveling motor 57 remains in contact with the lower surface 310, the labor required to move the moving device 100 increases. In response to this, by tightening the shaft portion 333 of the bolt 331 against the threaded portion 322, the arm member 211 can be swung clockwise about the first shaft 121, and the first wheel 31 can be separated from the lower surface 310. This allows only the second wheel 32 and the third wheel 33, which are driven wheels, to be in contact with the lower surface 310, and the moving device 100 can be moved with less labor.

[0158] The holding mechanism in the present invention is not particularly limited as long as it has a structure capable of holding the wheel unit (arm member) at a predetermined angle in the circumferential direction of the first shaft. For example, the lifting block 321 may be attached to the base part 40 side, and the bracket 341 may be attached to the wheel unit 200 side. The holding mechanism in the present invention may be composed of a foot pedal provided at the front end of the arm member 211, and a locking means for locking the arm member 211 that has been swung to the upward direction by stepping on the foot pedal.

[0159] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0160] 12 running body, 14 controller, 15 cover, 15a, 41a top surface, 16 robot, 17 robot arm, 18 tray, 21 first movable part, 22 second movable part, 23, 25 rotating part, 24 third movable part, 26 base part, 31, 31L, 31R first wheel, 32, 32L, 32R second wheel, 33, 33L, 33R third wheel, 40 base part, 41 frame member, 42, 42L, 42R first frame, 43 second frame, 44 third frame, 45 fourth frame, 46 first block, 46C front, 47, 47S, 47T second block, 48, 48S, 48T third block, 51, 51L, 51R battery, 52 battery case, 52j flange part, 56, 56L, 56R Reducer, 57, 57L, 57R Travel motor, 60, 60fL, 60fR, 60rL, 60rR Holding unit, 61 Elastic pad, 66 Base plate, 68 Positioning pin, 69 Fitting member, 70 Nut, 71 Support arm, 72 Support block, 73 Shaft, 76, 343 Bottom plate, 77 Pin insertion hole, 81 Robot support, 82 Electronic device, 83 Control device, 100 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 connecting member, 212A first connecting member, 212B second connecting member, 220 suspension mechanism, 221 spring member, 222 shock absorber, 230 link mechanism, 231, 231S, 231T first plate, 241, 241S, 241T second plate, 251 first stop member, 252 first female screw hole, 256 second stop member, 257 second female screw hole, 310 underside, 321 lifting block, 322 threaded portion, 330 holding mechanism, 331 bolt, 332 head, 333 shaft portion, 341 bracket, 342 locking portion, 350 lifting device.

Claims

1. A running body, A controller having a bottom plate and electronic devices provided on the bottom plate and mounted on the traveling body; A moving device comprising: a holding unit having an elastic pad interposed between the bottom plate and the running body, the holding unit holding the controller relative to the running body.

2. The holding unit includes: A base plate connected to the traveling body; A positioning pin protruding upward from the base plate and inserted into the bottom plate; a fitting member that is fitted to the positioning pin protruding from the bottom plate, The movement device of claim 1 , wherein the elastic pad is fixed to the base plate adjacent to the positioning pin.

3. The moving device according to claim 1 or 2, comprising a plurality of the holding units arranged at intervals in the front-rear and left-right directions.

4. Equipped with robots, The controller further includes a robot support unit that supports the robot. The moving device according to claim 1 , wherein the electronic device includes a control device that controls the running body and the robot.

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