Fixing device and magnetic field generation unit

Abstract

To provide a fixing device capable of suppressing the overturning of an automatic traveling robot or the like.SOLUTION: A fixing device comprises a device body 10 and an outrigger 40 provided on the device body. The outrigger includes a magnetic field generation device 41 that generates a magnetic field in a state where power is cut off, and a jack device 42 that is configured to control a position in a vertical direction of the magnetic field generation device, and is capable of bringing the magnetic field generation device into contact with a floor surface F and separating the magnetic field generation device from the floor surface. In this fixing device, it is possible to generate a magnetic field from the magnetic field generation device in a state where the magnetic field generation device is in contact with the floor surface.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a fixation device and a magnetic field generating unit. [Background technology]

[0002] There is known an autonomous traveling robot that includes a main body, a robot arm attached to the main body, a plurality of wheels attached below the main body, and an autonomous traveling unit that drives the plurality of wheels to move the main body. Furthermore, Patent Document 1 below describes that in such an autonomous traveling robot, a plurality of jack devices are attached to the outer surface of the main body. In Patent Document 1 below, when the robot arm performs work, the main body is lifted by the plurality of jack devices and the plurality of wheels are raised, thereby suppressing the movement and shaking of the main body during work. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2023 / 171611 Summary of the Invention [Problem to be solved by the invention]

[0004] If the power supply is cut off due to an earthquake or other factors while the robot arm is working, the autonomous robot may become frozen in a relatively unstable position. If further vibrations occur in this state, there is a risk that the autonomous robot may fall over.

[0005] The present invention has been made in consideration of such problems, and aims to provide a fixing device that can prevent an autonomous traveling robot or the like from tipping over. [Means for solving the problem]

[0006] The fixing device according to the present invention includes a device main body and an outrigger attached to the device main body. The outrigger includes a magnetic field generator that generates a magnetic field when the power is off, and a jack device that is configured to be able to control the vertical position of the magnetic field generator and to bring the magnetic field generator into contact with a floor surface and to move the magnetic field generator away from the floor surface. In addition, with this fixing device, it is possible to generate a magnetic field from the magnetic field generator while it is in contact with the floor surface.

[0007] With this type of fixing device, even if the power supply is cut off due to an earthquake or other reasons while the robot arm is working, if the work is being done on a metal floor, the device body can be fixed to the floor by magnetic force, which makes it possible to prevent the autonomous robot from tipping over.

[0008] The fixing device may further include a plurality of wheels provided below the device body and an automatic traveling unit that drives the plurality of wheels to move the device body. Also, the fixing device may be capable of moving the device body by the plurality of wheels while the magnetic field generating device is separated from the floor surface.

[0009] The outrigger may further include a spacer containing a resin material and covering at least a portion of the upper surface and outer circumferential surface of the magnetic field generator, and a cover that houses the magnetic field generator, the jack device, and the spacer. The magnetic field generator may be separated from the cover via the spacer.

[0010] With this configuration, the magnetic field generator can be separated from the cover and other metal components by a predetermined distance or more using the spacer, thereby reducing the number of magnetic flux lines that reach the cover and other metal components and the number of magnetic flux lines that reach components such as a control unit provided in the device body via these metal components, thereby mitigating the effects of the magnetic field on the components such as the control unit.

[0011] The outrigger may further include a tracking mechanism connected to the magnetic field generator and the jacking device. The tracking mechanism may include a first member connected to the magnetic field generator and a second member connected to the jacking device. The first member may support the second member in a state in which the second member is rotatable relative to the first member.

[0012] When the magnetic field generator is fixed to a metal floor or the like using magnetic force, it is desirable for the bottom surface of the magnetic field generator to be in contact with the floor while remaining parallel to the floor. However, the floor may be tilted or uneven. In this regard, with this configuration, even if the floor is tilted or uneven, the bottom surface of the magnetic field generator can be brought into contact with the floor while remaining parallel to the floor. This allows the fixing device to be more appropriately fixed to the floor, making it possible to more appropriately prevent an autonomous robot or the like from tipping over.

[0013] The magnetic field generating device may be configured to be detachable from the jack device.

[0014] The magnetic field generating unit according to the present invention is configured to be detachable from a jack device, and includes a magnetic field generating device that generates a magnetic field when the power is turned off, and a spacer that contains a resin material and covers an upper surface and a part of an outer peripheral surface of the magnetic field generating device. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a schematic perspective view showing the configuration of an autonomous traveling robot. [Figure 2] FIG. 1 is a schematic perspective view showing the configuration of an autonomous traveling robot. [Figure 3] FIG. 2 is a schematic side view showing the configuration of an outrigger 40. [Figure 4] FIG. 2 is a schematic side view showing the configuration of an outrigger 40. [Figure 5] FIG. 2 is a schematic side view showing the configuration of an outrigger 40. [Figure 6]FIG. 2 is a schematic side view showing the configuration of a magnetic field generating unit 71. [Figure 7] FIG. 2 is a schematic side view showing the configuration of an outrigger 72. [Figure 8] FIG. 2 is a schematic side view showing the configuration of an outrigger 72. DETAILED DESCRIPTION OF THE INVENTION

[0016] Next, a fixing device according to an embodiment will be described in detail with reference to the drawings. Note that the following embodiment is merely an example and is not intended to limit the present invention. Furthermore, the following drawings are schematic, and for the sake of convenience, some configurations may be omitted. Furthermore, parts common to multiple embodiments are given the same reference numerals, and descriptions thereof may be omitted.

[0017] [Autonomous driving robot] 1 and 2 are schematic perspective views showing the configuration of an autonomous traveling robot. Fig. 1 shows the autonomous traveling robot while it is moving. Fig. 2 shows the autonomous traveling robot when it is not moving.

[0018] In the illustrated example, the autonomous traveling robot is installed on a floor surface F. The floor surface F is made of metal. More specifically, the floor surface F contains a magnetic material such as iron (Fe).

[0019] The autonomous driving robot comprises a device main body 10, a robot arm 20 provided on the upper surface of the device main body 10, a plurality of wheels 30 provided below the device main body 10, a plurality of outriggers 40 provided on the outer surface of the device main body 10, and a control unit 50 housed in the device main body 10.

[0020] The robot arm 20 includes a plurality of link sections 21 and a joint section 22 that connects the plurality of link sections 21 and drives the link sections 21 .

[0021] The multiple wheels 30 are driven by a motor (not shown) to move the autonomous traveling robot to its destination.

[0022] In the illustrated example, two outriggers 40 are provided on one outer surface in the X direction of the device main body 10, and two on the other outer surface in the X direction of the device main body 10. The outriggers 40 include a magnetic field generating device 41, a jack device 42 configured to be able to control the vertical position of the magnetic field generating device 41, and a cover 43 that houses these components.

[0023] The magnetic field generator 41 generates a magnetic field when the power is off. The magnetic field generator 41 may be, for example, a permanent magnet including a permanent magnet and an electromagnet. This permanent magnet generates a magnetic field of the permanent magnet when the power is off. Also, when the power is on, the magnetic field of the permanent magnet is canceled out by the magnetic force of the electromagnet, thereby suppressing the magnetic field.

[0024] The jack device 42 includes, for example, a jack post 44 extending in the Z direction and having a lower end connected to the magnetic field generator 41, and a jack cylinder 45 that houses the jack post 44 in a state in which it can be raised and lowered. When the autonomous traveling robot moves, the jack device 42 moves the magnetic field generator 41 away from the floor surface F, as shown in Fig. 1. Furthermore, when the autonomous traveling robot has finished moving, the jack device 42 brings the magnetic field generator 41 into contact with the floor surface F and lifts the entire autonomous traveling robot, causing the multiple wheels 30 to float above the floor surface F, as shown in Fig. 2.

[0025] In this way, by using the jack device 42 to raise the multiple wheels 30 above the floor surface F and supporting them with the multiple outriggers 40, the device main body 10 can be stably fixed, and there is no risk of the device main body 10 moving or shaking unstably on the floor surface F when the robot arm 20 is operating. This makes it possible to ensure that the robot arm 20 can perform work quickly and with high precision.

[0026] It should be noted that, if the device main body 10 is stably fixed to the floor surface F by the outriggers 40, the wheels 30 do not necessarily have to be raised above the floor surface F.

[0027] In addition, in this embodiment, wheels 30 are provided near the four corners of the bottom of the device main body 10, and outriggers 40 are provided at four locations near these four wheels 30 to support the device main body 10, but the number of wheels 30 and the locations and number of outriggers 40 can be set arbitrarily as needed.

[0028] The control unit 50 includes a control unit 51 for the robot arm 20, an automatic traveling unit 52 for driving the wheels 30 to move the automatic traveling robot, and a control unit 53 for the outriggers 40.

[0029] Here, the autonomous traveling robot according to this embodiment is equipped with a magnetic field generator 41 that generates a magnetic field when the power is turned off. Furthermore, it is possible to generate a magnetic field from the magnetic field generator 41 when the magnetic field generator 41 is in contact with the floor surface F. Therefore, even if the power supply to the autonomous traveling robot is cut off due to the effects of an earthquake or the like while the robot arm 20 is working, if the work is being done on a metal floor surface F, it is possible to fix the entire autonomous traveling robot to the floor surface F by magnetic force. This makes it possible to prevent the autonomous traveling robot from tipping over.

[0030] [Outrigger 40] 3 to 5 are schematic side views showing the configuration of the outrigger 40. Fig. 3 shows the state when the magnetic field generator 41 is separated from the floor surface F. Fig. 4 shows the state when the magnetic field generator 41 is in contact with a flat floor surface F. Fig. 5 shows the state when the magnetic field generator 41 is in contact with an inclined floor surface F.

[0031] In addition to the above-mentioned configuration, the outrigger 40 includes a spacer 61 that covers the upper surface and at least a portion of the outer peripheral surface of the magnetic field generating device 41, a floating joint 62 connected to the magnetic field generating device 41 and the jack device 42, and a mechanism 63 that limits the rotation of the magnetic field generating device 41.

[0032] The spacer 61 includes a resin material such as nylon, etc. The magnetic field generating device 41 is separated by the spacer 61 from metal components such as the cover 43 and the jack post 44 by a predetermined distance or more.

[0033] Here, if the magnetic field generator 41 is in contact with or in close proximity to metal parts such as the cover 43 and the jack post 44, there is a risk that most of the magnetic flux generated by the magnetic field generator 41 will reach the control unit 50 via these metal parts. In this regard, in the present embodiment, the magnetic field generator 41 is separated by a predetermined distance or more from metal parts such as the cover 43 and the jack post 44 via a spacer 61. This reduces the number of magnetic flux lines that reach the metal parts such as the cover 43 and the jack post 44, and thus reduces the number of magnetic flux lines that reach the control unit 50 via these metal parts, making it possible to mitigate the effect of the magnetic field on the control unit 50.

[0034] When the automatic traveling robot is fixed, it is desirable that the magnetic field generating device 41 be in direct contact with the floor surface F. Therefore, the spacer 61 does not cover the bottom surface of the magnetic field generating device 41.

[0035] Floating joint 62 includes a case 64 (first member) connected to magnetic field generator 41 via spacer 61, and a socket 65 (second member) connected to the lower end of jack post 44. Floating joint 62 includes a ball, ring, etc. (not shown) housed in case 64, and supports socket 65 in a state in which socket 65 can rotate relative to case 64 in the XY plane, XZ plane, and YZ plane.

[0036] Here, when the magnetic field generator 41 is fixed to a metal floor F by magnetic force, it is desirable that the lower surface of the magnetic field generator 41 be in contact with the floor F while being parallel to the floor F, as shown in FIG. 4, for example. However, the floor F may be tilted or uneven. Therefore, in this embodiment, the magnetic field generator 41 and the jack device 42 are connected via a floating joint 62. With this configuration, as shown in FIG. 5, for example, even if the floor F is tilted or uneven, the magnetic field generator 41 can be brought into contact with the floor F while being parallel to the floor F. This makes it possible to more appropriately fix the autonomous robot to the floor F and more appropriately prevent the autonomous robot from tipping over.

[0037] The mechanism 63 includes two rods 66 connected to the spacer 61, and a flange 67 connected to the lower end of the jack cylinder 45 and through which the rods 66 are inserted. The two rods 66 each extend in the Z direction along the jack post 44, and have their lower ends connected to the spacer 61. One of the two rods 66 is provided on one side of the floating joint 62 in the Y direction, and the other is provided on the other side of the floating joint 62 in the Y direction. Each of the two rods 66 is inserted into the flange 67 in a state that allows it to move in the Z direction.

[0038] The mechanism 63 limits the rotation of the magnetic field generating device 41 in the XY plane and the XZ plane.

[0039] [Magnetic Field Generation Unit 71] 6 is a schematic side view showing the configuration of the magnetic field generating unit 71. In this embodiment, the magnetic field generating device 41, the spacer 61, the floating joint 62, and the mechanism 63 configure the magnetic field generating unit 71, which is detachable from the jack device 42.

[0040] When installing the magnetic field generating unit 71, for example, a flange 67 is attached to the lower end of the jack cylinder 45. Then, with two rods 66 inserted into the flange 67, the floating joint 62 is attached to the lower end of the jack post 44. The magnetic field generating unit 71 can be removed, for example, by performing the procedure in reverse.

[0041] When the magnetic field generating unit 71 is removed from the outrigger 40, other components can be attached to the jack device 42.

[0042] 7 and 8 are schematic side views showing the configuration of the outrigger 72. Fig. 7 shows the state when the jack post 73 is separated from the floor surface F. Fig. 8 shows the state when the jack post 73 is in contact with the floor surface F.

[0043] The outrigger 72 is constructed by removing the magnetic field generating unit 71 from the outrigger 40 and attaching a jack post 73 to the lower end of the jack post 44.

[0044] [Other embodiments] The above has described the autonomous traveling robot and the magnetic field generating unit 71 according to the embodiment. However, the autonomous traveling robot and the magnetic field generating unit 71 according to these embodiments are merely examples, and the specific configurations and the like can be adjusted as appropriate.

[0045] For example, in the embodiment, an autonomous traveling robot is exemplified as a configuration to which the outrigger 40 is applied. However, the outrigger 40 can also be applied to configurations other than autonomous traveling robots. In this specification, a device equipped with the outrigger 40 will be referred to as a fixing device.

[0046] 1 and 2 includes four outriggers 40, and all of the outriggers 40 include magnetic field generators 41. However, when the fixing device includes multiple outriggers, only some of the outriggers may include magnetic field generators 41, and the remaining outriggers may not include magnetic field generators 41.

[0047] Furthermore, in the embodiment, the floating joint 62 is illustrated as an example of a tracing mechanism, but other tracing mechanisms can be used instead of the floating joint 62. Such a tracing mechanism includes a first member connected to the magnetic field generating device 41 and a second member connected to the lower end of the jack post 44 or configured to be detachable, and the first member supports the second member in a state in which the second member is rotatable relative to the first member. [Explanation of symbols]

[0048] 10...device main body, 20...robot arm, 21...link portion, 22...joint portion, 30...wheel, 40...outrigger, 41...magnetic field generating device, 42...jack device, 43...cover, 44...jack post, 45...jack cylinder, 50...control unit, 51...control unit for robot arm 20, 52...automatic driving unit, 53...control unit for outrigger 40, 61...spacer, 62...floating joint, 63...mechanism, 64...case, 65...socket, 66...rod, 67...flange, 71...magnetic field generating unit.

Claims

1. The device comprises a device main body and an outrigger provided on the device main body, The outrigger is a magnetic field generating device that generates a magnetic field in a power-off state; a jack device configured to be able to control the vertical position of the magnetic field generating device, and capable of bringing the magnetic field generating device into contact with a floor surface and separating the magnetic field generating device from the floor surface; Equipped with A magnetic field can be generated from the magnetic field generating device while the magnetic field generating device is in contact with the floor surface. Fixation device.

2. A plurality of wheels provided below the device body; an automatic driving unit that drives the plurality of wheels to move the device body; Further provided with The magnetic field generating device can be moved by the plurality of wheels while being separated from the floor surface. The fixation device of claim 1 .

3. The outrigger is a spacer including a resin material and covering at least a portion of an upper surface and an outer peripheral surface of the magnetic field generating device; a cover that houses the magnetic field generating device, the jack device, and the spacer; Further equipped with The magnetic field generating device is separated from the cover via the spacer. The fixation device of claim 1 .

4. The outrigger further includes a tracing mechanism connected to the magnetic field generating device and the jack device, The copying mechanism includes: a first member connected to the magnetic field generating device; a second member connected to the jack device; Equipped with The first member supports the second member in a state in which the second member is rotatable relative to the first member. The fixation device of claim 1 .

5. The magnetic field generating device is configured to be detachable from the jack device. The fixation device of claim 1 .

6. The jack device is configured to be detachable from the jack device, a magnetic field generating device that generates a magnetic field in a power-off state; a spacer including a resin material and covering at least a portion of an upper surface and an outer peripheral surface of the magnetic field generating device; A magnetic field generating unit comprising:

7. Further provided with a copying mechanism, The copying mechanism includes: a first member connected to the magnetic field generating device; a second member configured to be detachable from the jack device; Equipped with The first member supports the second member in a state in which the second member is rotatable relative to the first member. The magnetic field generating unit according to claim 6.

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