Work device and work system

Abstract

To provide a work device that comprises a running body mounted with a holding mechanism (a robot arm), which can be prevented from falling without increasing power consumption during running.SOLUTION: The work device comprises a running body 2, a holding mechanism (a robot arm) and an engaging mechanism 4. The running body is configured to be able to run autonomously. The holding mechanism is attached to the running body. The engaging mechanism is attached to the running body. The engaging mechanism is configured to engage with a part 102 to be engaged formed on the ground surface.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a work device and a work system. [Background technology]

[0002] In recent years, work devices such as AMRs (Autonomous Mobile Robots) with robotic arms have come into widespread use. For example, Patent Document 1 discloses a work device having a traveling body and a robotic arm. The work device can travel to a work position and move an object or load it onto a cart or the like. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7475523 Summary of the Invention [Problem to be solved by the invention]

[0004] In order to efficiently perform the above-mentioned tasks with AMRs equipped with robotic arms, there is a demand for longer robotic arms and larger payloads. In this case, a counterweight is required to prevent the AMR from tipping over, which creates the problem of increased power consumption while traveling.

[0005] Therefore, an object of the present invention is to prevent a vehicle from tipping over without increasing power consumption during travel. [Means for solving the problem]

[0006] A working device according to a first aspect includes a traveling body, a holding mechanism, and an engagement mechanism. The traveling body is configured to be capable of autonomous traveling. The holding mechanism is attached to the traveling body. The engagement mechanism is attached to the traveling body. The engagement mechanism is configured to engage with an engaged portion formed on the ground.

[0007] With this configuration, the engaging mechanism of the working device engages with the engaged part formed on the ground, so the working device will not tip over even if the holding mechanism holds a heavy object or is lengthened. Also, since the working device does not need to be equipped with a counterweight to prevent tipping over, it is possible to prevent an increase in power consumption during movement.

[0008] A work device according to a second aspect is the work device according to the first aspect, and is configured as follows: The engagement mechanism has a screw member that screws into a screw hole formed in the ground.

[0009] A working device according to a third aspect is the working device according to the second aspect, and is configured as follows: The engagement mechanism has a support member and a first electric motor. The support member includes a through hole extending in the vertical direction. The support member is rotatably attached to the traveling body. The first electric motor is supported by the support member. The first electric motor is configured to rotate a screw member. The screw member extends in the vertical direction within the through hole of the support member.

[0010] A working device according to a fourth aspect is the working device according to the third aspect, and is configured as follows: the engagement mechanism has a second electric motor. The second electric motor is supported by a support member. The second electric motor is configured to move the screw member in the up and down direction.

[0011] A working device according to a fifth aspect is the working device according to the third or fourth aspect, and is configured as follows: The support member is disposed so as to form a first gap between itself and the traveling body.

[0012] A sixth aspect of the present invention relates to the working device of the fifth aspect, and is configured as follows: the screw member is arranged to form a second gap between the screw member and an inner wall surface that defines the through hole of the support member, and the first gap is larger than the second gap.

[0013] A working device according to a seventh aspect is the working device according to any one of the first to sixth aspects, configured as follows: The engagement mechanism is configured to be rotatable with respect to the traveling body.

[0014] A working device according to an eighth aspect is the working device according to the seventh aspect, and is configured as follows: The engagement mechanism is configured to extend downward from the center of the underside of the traveling body.

[0015] A working device according to a ninth aspect is the working device according to the seventh or eighth aspect, and is configured as follows: The holding mechanism is attached to an end of the traveling body.

[0016] A working device according to a tenth aspect is the working device according to any one of the first to ninth aspects, configured as follows: The holding mechanism is a robot arm.

[0017] A work system according to an eleventh aspect includes an engaged portion formed on the ground and the work device according to any one of the first to tenth aspects.

[0018] A working system according to a twelfth aspect is the working system according to the eleventh aspect, and is configured as follows: the engaged portion is a screw hole, and an inner wall surface defining the screw hole has a guide surface whose diameter increases upward. [Effects of the Invention]

[0019] According to the present invention, it is possible to prevent tipping over without increasing power consumption during movement. [Brief explanation of the drawings]

[0020] [Figure 1] FIG. [Figure 2] FIG. DETAILED DESCRIPTION OF THE INVENTION

[0021] A working system 100 and a working device 101 according to this embodiment will be described below with reference to the drawings. As shown in FIGS. 1 and 2, the working system 100 includes a working device 101 and an engaged part 102. The engaged part 102 is formed in the ground. The engaged part 102 is, for example, a screw hole. The engaged part 102 opens upward. The inner wall surface defining the engaged part 102 has a leading surface 103 at its upper end. The leading surface 103 has a diameter that increases upward. This leading surface 103 can guide a screw member 42, which will be described later, into the engaged part 102.

[0022] The working device 101 has a traveling body 2, a manipulator 3 (an example of a holding mechanism), and an engagement mechanism 4. The working device 101 is configured to travel to a working position where an object is placed by the traveling body 2, and to move the object using the manipulator 3. For example, the working device 101 can load a heavy object as an object onto a dolly or the like. Also, a dolly is connected to the working device 101, and the working device 101 can load the heavy object as an object onto the dolly.

[0023] The running body 2 has a drive motor 24 and is configured to be capable of autonomous running. The running body 2 is a so-called AMR (Autonomous Mobile Robot). The running body 2 may also be an AGV (Automatic Guided Vehicle) or the like. The running body 2 is configured to be capable of moving forward and backward. In addition, the running body 2 is configured to be able to rotate on the spot.

[0024] The traveling body 2 has a first storage section 21 and a second storage section 22. The first storage section 21 is disposed below the second storage section 22. The first storage section 21 and the second storage section 22 are in communication with each other. The first storage section 21 opens downward. The second storage section 22 may open upward or may have a closed top. The first storage section 21 and the second storage section 22 are cylindrical.

[0025] When viewed in the up-down direction, the area of ​​the first storage section 21 is smaller than the area of ​​the second storage section 22. Therefore, a step 23 is formed at the boundary between the first storage section 21 and the second storage section 22. The step 23 faces upward.

[0026] The moving object 2 has a control unit 25 and a camera 26. The camera 26 is configured to capture images of people, obstacles, the ground, and the like around the moving object 2. The camera 26 then outputs the captured peripheral information to the control unit 25.

[0027] The control unit 25 is configured to control the drive motor 24 of the traveling body 2, the manipulator 3, and each electric motor 43, 44 (described later), etc. The control unit 25 is configured, for example, by a computer (e.g., a microcomputer) equipped with a CPU (Central Processing Unit), a ROM (Read Only Memory), etc. The ROM stores programs for performing various calculations. The CPU executes the programs stored in the ROM.

[0028] The control unit 25 controls the drive motor 24 to move the traveling body 2 forward, backward, turn left or right, or stop the traveling body 2. The control unit 25 also identifies the position of the engaged part 102 based on peripheral information obtained from the camera 26.

[0029] The manipulator 3 is attached to the upper surface of the running body 2. The manipulator 3 is attached to an end of the running body 2. For example, if the running body 2 is divided into three equal parts in the front-to-rear direction into a front end, a central part, and a rear end, the manipulator 3 is attached to the front end or the rear end.

[0030] The manipulator 3 is, for example, a robot arm having an end effector at its tip. The end effector is configured to hold an object. The end effector is, for example, a grasping hand, a suction hand, or a magnetic robot hand.

[0031] The engagement mechanism 4 is attached to the running body 2. The engagement mechanism 4 is configured to extend downward from the center of the underside of the running body 2. More specifically, the engagement mechanism 4 is configured to protrude downward from the center of the underside of the running body 2 and retract into the running body 2. The engagement mechanism 4 is configured to engage with the engaged portion 102.

[0032] The engagement mechanism 4 includes a support member 41, a screw member 42, a first electric motor 43, and a second electric motor 44.

[0033] The support member 41 has a through hole 411 extending in the vertical direction. The support member 41 is rotatably attached to the traveling body 2. In detail, the support member 41 has a cylindrical portion 412 and a flange portion 413.

[0034] The tubular portion 412 is accommodated in the first accommodating portion 21. The tubular portion 412 has a cylindrical shape. A first gap G1 is formed between the outer peripheral surface of the tubular portion 412 and the inner wall surface of the first accommodating portion 21.

[0035] The flange portion 413 extends horizontally outward from the upper end of the outer circumferential surface of the cylindrical portion 412. The flange portion 413 is annular. The flange portion 413 is accommodated in the second accommodation portion 22. The flange portion 413 is supported by the stepped portion 23. More specifically, a thrust bearing 45 is disposed between the stepped portion 23 and the flange portion 413. The flange portion 413 is rotatably supported by the stepped portion 23 via the thrust bearing 45. Therefore, the support member 41 is rotatable relative to the running body 2. In this way, the engagement mechanism 4 is configured to be rotatable relative to the running body 2.

[0036] The screw member 42 is configured to screw into the engaged portion 102. The screw member 42 extends in the vertical direction within the through hole 411 of the support member 41. A second gap G2 is formed between the screw member 42 and the inner wall surface that defines the through hole 411. The first gap G1 is larger than the second gap G2.

[0037] The screw member 42 has a screw portion 421, a driven gear portion 422, and a rack portion 423. The screw portion 421 is configured to be screwed into the engaged portion 102. The screw portion 421 extends in the vertical direction within the through hole 411 of the support member 41.

[0038] The driven gear portion 422 is attached to the upper surface of the screw portion 421. The driven gear portion 422 rotates integrally with the screw portion 421.

[0039] The rack portion 423 is attached to the upper surface of the driven gear portion 422. The rack portion 423 extends in the vertical direction. The rack portion 423 may rotate integrally with the driven gear portion 422, or may rotate relative to the driven gear portion 422.

[0040] The first electric motor 43 is configured to rotate the screw member 42. In detail, the first electric motor 43 rotates the screw member 42 via a drive gear 431. The drive gear 431 is in mesh with a driven gear portion 422 of the screw member 42.

[0041] The first electric motor 43 is supported by the support member 41. More specifically, the first electric motor 43 is fixed onto a flange portion 413 of the support member 41.

[0042] The second electric motor 44 is configured to move the screw member 42 in the up and down direction. More specifically, the second electric motor 44 is configured to move the screw member 42 in the up and down direction via a pinion gear 441. The pinion gear 441 is in mesh with the rack portion 423.

[0043] The second electric motor 44 is supported by the support member 41. More specifically, the second electric motor 44 is fixed onto a flange portion 413 of the support member 41.

[0044] Next, the operation of the working system 100 configured as described above will be described. First, the control unit 25 controls the drive motor 24 based on peripheral information obtained from the camera 26, etc., to move the traveling body 2 so that the screw member 42 is positioned directly above the engaged portion 102. Then, the control unit 25 causes the second electric motor 44 to move the screw member 42 downward. When the lower end of the screw member 42 reaches the engaged portion 102, the second electric motor 44 is stopped.

[0045] Next, the control unit 25 controls the first electric motor 43 to rotate the screw member 42. As a result, the screw member 42 screws into the engaged portion 102 and advances into the engaged portion 102. In this manner, the engagement mechanism 4 engages with the engaged portion 102. This makes it possible to prevent the working device 101 from tipping over when the manipulator 3 lifts an object.

[0046] The control unit 25 holds the object using the manipulator 3 and rotates the running body 2 to move the held object or load it onto a dolly or the like. Furthermore, if a dolly or the like is connected to the working device 101, the working device 101 uses the manipulator 3 to load the object onto the dolly. Because the support member 41 is rotatable relative to the running body 2, the support member 41 does not rotate even when the running body 2 rotates. Therefore, even when an operation to rotate the running body 2 is performed, the engagement mechanism 4 does not rotate.

[0047] When the working device 101 has completed the work of moving or loading an object, the control unit 25 causes the first electric motor 43 to rotate the screw member 42, thereby releasing the screw engagement with the engaged portion 102. Next, the control unit 25 causes the second electric motor 44 to move the screw member 42 upward. This makes the working device 101 ready to move.

[0048] [Variations] Although the embodiments of the present invention have been described above, the present invention is not limited to these, and various modifications are possible without departing from the spirit of the present invention.

[0049] (a) The engagement mechanism 4 is not limited to a configuration including the screw member 42. For example, the engagement mechanism 4 may have an electromagnet. In this case, the engaged portion 102 is configured by a magnet fixed to the ground, rather than a screw hole.

[0050] (b) The engagement mechanism 4 may be a claw member. In this case, the engaged portion 102 may be, for example, an annular member on which the claw portion can be hooked. [Explanation of symbols]

[0051] 2: Running body 3: Manipulator 4: Engagement mechanism 41: Support member 411: Through hole 42: Screw material 43: First electric motor 44: Second electric motor 100: Work System 101: Work equipment 102: Engaged part 103: Inviting face

Claims

1. a traveling body configured to be capable of autonomous traveling; a holding mechanism attached to the traveling body; an engagement mechanism attached to the traveling body and configured to engage with an engaged portion formed on the ground; A working device comprising:

2. The engagement mechanism has a screw member that screws into a screw hole formed in the ground. The work device according to claim 1 .

3. The engagement mechanism includes: a support member including a through hole extending in the vertical direction and rotatably attached to the traveling body; a first electric motor supported by the support member and configured to rotate the screw member; and The screw member extends in the vertical direction within the through hole of the support member. The work device according to claim 2 .

4. the engagement mechanism includes a second electric motor supported by the support member and configured to move the screw member in a vertical direction; The working device according to claim 3 .

5. The support member is disposed so as to form a first gap between the support member and the traveling body. The working device according to claim 3 .

6. the screw member is disposed so as to form a second gap between itself and an inner wall surface that defines the through hole of the support member, The first gap is larger than the second gap. The working device according to claim 5 .

7. The engagement mechanism is configured to be rotatable with respect to the running body. The work device according to claim 1 .

8. The engagement mechanism is configured to extend downward from a central portion of a lower surface of the running body. The working device according to claim 7.

9. The holding mechanism is attached to an end of the running body. The working device according to claim 7.

10. The holding mechanism is a robot arm. The work device according to claim 1 .

11. an engaged portion formed on the ground; A working device according to any one of claims 1 to 10; A working system comprising:

12. the engaged portion is a screw hole, The inner wall surface defining the screw hole has a guide surface whose diameter increases upward. The work system according to claim 11.

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