Mobile robot

Abstract

To provide a mobile robot that can ensure high work accuracy, hardly generating vibrations (shaking) even when the working robot arm is used and operated at high speed.SOLUTION: A mobile robot 1 is constituted such that a work robot arm 2 is mounted on an unmanned guided vehicle 10 that can travel on a floor G of a building such as a factory. In addition, is provided with a plurality of jacks 3 supporting the unmanned guided vehicle 10 in a manner of lifting the unmanned vehicle 10 off the floor G.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a mobile robot having a working robot arm mounted on an automatic guided vehicle that can travel on the floor of a building such as a factory. [Background technology]

[0002] BACKGROUND ART Conventionally, mobile robots have been known in which a working robot arm is mounted on an unmanned guided vehicle that can travel on the floor of a building such as a factory (see Patent Document 1, etc.).

[0003] Such mobile robots can perform the work of multiple fixed robots, allowing for more efficient work, and so they have been increasingly adopted in a wide range of fields in recent years. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-82274 Summary of the Invention [Problem to be solved by the invention]

[0005] However, such mobile robots have the problem that when the working robot arm is operated at high speed to further increase efficiency, vibrations (shaking) occur, reducing work accuracy.

[0006] The present invention has been made in view of the above circumstances, and its object is to provide a mobile robot that generates almost no vibration (shaking) even when the working robot arm is operated at high speed, thereby ensuring high working accuracy. [Means for solving the problem]

[0007] In order to achieve the above object, the invention described in claim 1 is a mobile robot having a work robot arm mounted on an automated guided vehicle that can travel on the floor of a building, characterized in that the automated guided vehicle is provided with a plurality of jacks for supporting the automated guided vehicle by lifting it off the floor.

[0008] The invention described in claim 2 is the invention described in claim 1, characterized in that the automatic guided vehicle has a laser irradiation type obstacle detection sensor that can detect obstacles by emitting a laser horizontally at a predetermined angle forward in the direction of travel while traveling, and is configured so that the lower part of the jack provided on the front side of the automatic guided vehicle is retracted upward while traveling so as not to block the laser emitted from the obstacle detection sensor.

[0009] The invention described in claim 3 is characterized in that, in the invention described in claim 2, the lower part of the jack provided on the front side of the automatic guided vehicle is fixed to the base plate of the automatic guided vehicle via a spacer, so that the lower part of the jack can be retracted upward so as not to block the laser emitted from the obstacle detection sensor while the automatic guided vehicle is traveling.

[0010] The invention described in claim 4 is characterized in that, in the invention described in claim 1, the automatic guided vehicle has a control unit that controls the automatic guided vehicle, and when the control unit receives information that the automatic guided vehicle has stopped at a predetermined position, it controls the jack to drive downward and support the automatic guided vehicle by lifting it off the floor surface. [Effects of the Invention]

[0011] According to the invention described in claim 1, when the working robot arm is used, the automatic guided vehicle is stopped at a predetermined position and supported above the floor by multiple jacks. Therefore, even when the working robot arm is operated at high speed, almost no vibration (shaking) occurs, ensuring high work precision.

[0012] According to the invention described in claim 2, the lower part of the jack provided at the front of the automatic guided vehicle is retracted upward while the vehicle is traveling so as not to block the laser emitted from the obstacle detection sensor, thereby enabling the obstacle detection sensor to accurately detect obstacles while the vehicle is traveling.

[0013] According to the invention described in claim 3, by fixing the lower part of the jack provided at the front of the automated guided vehicle to the base plate of the automated guided vehicle via a spacer, the lower part of the jack can be retracted upward so as not to block the laser emitted from the obstacle detection sensor while the automated guided vehicle is traveling, thereby achieving a simple structure that enables the obstacle detection sensor to accurately detect obstacles while the automated guided vehicle is traveling.

[0014] According to the invention described in claim 4, when the control unit receives information that the automated guided vehicle has stopped at a predetermined position, it controls the jack to drive downward to lift and support the automated guided vehicle above the floor.Therefore, after the automated guided vehicle has stopped at the predetermined position, even if the work robot arm is used by operating it at high speed, almost no vibration (shaking) occurs, and it can be quickly switched to a state where high work accuracy can be ensured, allowing work to be performed more efficiently. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a side cross-sectional view showing a schematic configuration of a mobile robot according to an embodiment of the present invention. [Figure 2] 1 is a front view showing a schematic configuration of a mobile robot according to this embodiment. [Figure 3] 1 is a partially cutaway perspective view showing the schematic configuration of a jack used in a mobile robot according to this embodiment. [Figure 4] FIG. 2 is a partially enlarged view illustrating the mounting state of a jack in the mobile robot according to this embodiment. [Figure 5] 3 is an explanatory diagram showing the detection range of an obstacle detection sensor used in the mobile robot according to this embodiment. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0017] Fig. 1 is a side cross-sectional view showing a schematic configuration of a mobile robot according to an embodiment of the present invention, and Fig. 2 is a front view showing a schematic configuration of the mobile robot according to this embodiment.

[0018] As shown in FIGS. 1 and 2, a mobile robot 1 according to this embodiment is a mobile robot in which a working robot arm 2 is mounted on an automatic guided vehicle 10 that can travel on the floor G of a building such as a factory.

[0019] The mobile robot 1 is configured such that an automatic guided vehicle 10 is provided with a plurality of jacks 3 for supporting the automatic guided vehicle 10 by lifting it above a floor G.

[0020] Here, this automatic guided vehicle 10 is made up of a lower running section 10A and an upper main transport section 10B.

[0021] The running unit 10A has a running drive unit (not shown) inside, and this running drive unit rotates and drives the wheels 10a at the bottom to run on the floor surface G.

[0022] The transport main body 10B is provided on the upper part of the running part 10A, and its lower surface is formed by a base plate 11.

[0023] Here, the transport main body 10B has a width greater than that of the running part 10A in plan view.

[0024] Jacks 3 are provided at the four corners of the transfer main body 10B so as to surround the connection base end 2a of the working robot arm 2.

[0025] In order to stably support the mobile robot 1 horizontally, it is preferable to provide three or more jacks 3.

[0026] In addition, the working robot arm 2 is capable of rotating at the connection base end 2a and performing operations by bending each joint to deform in three dimensions when supplied with power from a battery 4 (described later).

[0027] As shown in FIG. 3, the jack 3 is an electric cylinder equipped with a linear motion conversion mechanism 30 having a rod 36 connected to a ball screw nut 34 which is displaced in a linear motion in the vertical direction as the ball screw 35 is threadedly engaged with the casing 31 to which an electric motor 32 serving as a drive source is connected. The linear motion conversion mechanism 30 transmits the rotational motion of the rotary shaft 33 of the electric motor 32 to a ball screw 35, and the ball screw 35 is rotated.

[0028] The tip of the rod 36 of the jack 3 is provided with a support portion 36a for supporting the rod 36 by pressing it against the floor G. The jack 3 may also be of another type, such as a hydraulic type.

[0029] These four jacks 3 are arranged with their longitudinal directions facing up and down, and their lower ends are fixed to the periphery of a base plate 11 that forms the lower surface of the conveying main body 10B.

[0030] More specifically, as shown in FIG. 4, the pair of jacks 3 on the front side in the direction of travel of the automated guided vehicle 10 have their lower ends fixed to a base plate 11 via a spacer 6 by bolts 12 and 13.

[0031] As shown in FIG. 4, the pair of jacks 3 on the rear side in the traveling direction of the automatic guided vehicle 10 have their lower ends directly fixed to the base plate 11 with bolts 14 .

[0032] As shown in Fig. 4, the pair of jacks 3 on the front side in the traveling direction of the automated guided vehicle 10 are configured so that the lower ends of the rods 36 and the support parts 36a protrude from holes 11a formed in the base plate 11 and can move up and down. As shown in Fig. 2, the pair of jacks 3 on the front side in the traveling direction are configured so that the lower ends of the rods 36 and the support parts 36a pass outside the side parts 10s of the traveling part 10A and can move up and down between them and the floor G. As shown in Fig. 4, the pair of jacks 3 on the front side in the traveling direction are configured so that the lower ends of the rods 36 and the support parts 36a are housed within the spacers 6 while the automated guided vehicle 10 is traveling.

[0033] Also, as shown in Figure 4, the pair of jacks 3 on the rear side in the direction of travel of the automatic guided vehicle 10 are designed so that the lower end of the rod 36 and the support part 36a can move up and down between the floor part G and outside the side part 10s of the running part 10A.

[0034] 1, these jacks 3 are powered by a battery 4 mounted on the transport body 10B of the automatic guided vehicle 10. As an example, the battery 4 that drives these jacks 3 is also used as a battery for propelling the automatic guided vehicle 10.

[0035] As shown in Figures 1 and 4, the automatic guided vehicle 10 has a laser irradiation type obstacle detection sensor 5 that can detect obstacles by emitting a laser horizontally forward in the traveling direction while traveling, with a predetermined angle (scanning angle) θ of, for example, 270° and an effective detection distance L of approximately 30 m.

[0036] Specifically, as shown in FIG. 4, the obstacle detection sensor 5 is provided near the center between a lower traveling section 10A and an upper transport main body section 10B that constitute the automatic guided vehicle 10.

[0037] As described above, the pair of jacks 3 at the front of the automated guided vehicle 10 in the direction of travel are configured so that the lower ends of the rods 36 and the support parts 36a are contained within the spacers 6 while the automated guided vehicle 10 is traveling, and therefore can be retracted upward so as not to block the laser emitted from the obstacle detection sensors 5.

[0038] On the other hand, the pair of jacks 3 at the rear of the unmanned guided vehicle 10 in the direction of travel do not affect detection by the obstacle detection sensor 5, so the lower end of the rod 36 and the support portion 36a protrude downward from the base plate 11 while the vehicle is traveling.

[0039] In other words, if the pair of jacks 3 at the front of the automatic guided vehicle 10 in the direction of travel within the detection range of the obstacle detection sensor 5 were simply fixed directly to the base plate 11, the lower end and support part 36a of the rod 36 would protrude downward from the base plate 11 and interfere with the laser emitted from the obstacle detection sensor 5 while the automatic guided vehicle 10 is traveling. However, by fixing these jacks 3 to the base plate 11 via a spacer 6, this situation can be avoided.

[0040] Furthermore, the unmanned guided vehicle 10 of this mobile robot 1 has a control unit (not shown) that controls this unmanned guided vehicle 10, and when this control unit receives information that the unmanned guided vehicle 10 has stopped at a predetermined position through a program, it is configured to control the rod 36 and support part 36a of the jack 3 to drive downward so as to lift and support the unmanned guided vehicle 10 above the floor surface G.

[0041] This allows the mobile robot 1 to start working as soon as it stops at a predetermined position.

[0042] Next, the effects of the mobile robot 1 according to this embodiment will be described.

[0043] According to the mobile robot 1 having the above-described configuration, the lower wheels 10a are driven to rotate by a driving unit inside the running unit 10A of the unmanned guided vehicle 10, so that the robot can travel and move on the floor G of a building such as a factory.

[0044] At this time, the mobile robot 1 can travel while detecting obstacles by irradiating a laser ahead from the obstacle detection sensor 5.

[0045] Here, while the unmanned transport vehicle 10 is traveling, the lower end and support part 36a of the rod 36 of the pair of jacks 3 at the front in the direction of travel of the unmanned transport vehicle 10 are fitted within the spacer 6 provided above the base plate 11, so that the laser emitted from the obstacle detection sensor 5 is not blocked, and therefore the obstacle detection sensor 5 can accurately detect obstacles while the vehicle is traveling.

[0046] Furthermore, the mobile robot 1 that moves by running in this manner is stopped at a predetermined position.

[0047] At this time, the mobile robot 1 sends information about this stop to a control unit (not shown).

[0048] When the control unit receives this information that the automatic guided vehicle 10 has been stopped, it controls the rod 36 and support portion 36a of the jack 3 to be driven downward toward the floor surface G, thereby lifting the automatic guided vehicle 10 above the floor surface G and supporting it.

[0049] At this time, the rods 36 of the pair of jacks 3 on the front side in the traveling direction of the automatic guided vehicle 10 are driven downward toward the floor surface G with a longer stroke than the rods 36 of the pair of jacks 3 on the rear side in the traveling direction of the automatic guided vehicle 10, so that the automatic guided vehicle 10 is supported so as to float stably and horizontally above the floor surface G.

[0050] As a result, with the mobile robot 1 configured as described above, even when the working robot arm 2 is operated at high speed, almost no vibration (shaking) occurs, and high working precision can be ensured.

[0051] On the other hand, if the working robot arm 2 is operated at high speed without being supported by the jack 3, vibrations (shaking) will occur due to adverse effects such as the damper device for the running part 10A of the unmanned guided vehicle 10, resulting in a decrease in work accuracy.

[0052] Furthermore, with the mobile robot 1 configured as described above, when the control unit receives information that the automated guided vehicle 10 has stopped at a predetermined position, it controls the jack 3 to move downward to support the automated guided vehicle 10 above the floor G. Therefore, after the automated guided vehicle 10 has stopped at a predetermined position, even if the working robot arm 2 is operated at high speed, almost no vibration (shaking) occurs, and the robot can be quickly switched to a state in which high work accuracy can be ensured, allowing work to be performed more efficiently.

[0053] Furthermore, with the mobile robot 1 configured as described above, the lower parts of the pair of jacks 3 on the front side in the traveling direction of the automatic guided vehicle 10 are fixed to the base plate 11 of the automatic guided vehicle 10 via the spacers 6, so that the lower parts of the jacks 3 can be retracted upward while traveling so as not to block the laser emitted from the obstacle detection sensors 5. This makes it possible to realize a simple configuration that enables the obstacle detection sensors 5 to accurately detect obstacles while traveling.

[0054] Furthermore, according to the mobile robot 1 having the above-described configuration, the pair of jacks 3 on the front side in the direction of travel of the unmanned guided vehicle 10 are retracted upward by being fixed to the base plate 11 via spacers 6 so as not to block the laser emitted from the obstacle detection sensor 5 while the unmanned guided vehicle 10 is traveling, and therefore the same jacks 3 as the pair of jacks 3 on the rear side in the direction of travel of the unmanned guided vehicle 10 can be used.

[0055] The embodiment described above is an example of the present invention, and it goes without saying that the present invention is not limited to the above embodiment. In other words, the specific configurations and specific procedures of the above embodiment can be variously modified without departing from the spirit of the present invention. [Explanation of symbols]

[0056] 1. Mobile robot 10 Automated Guided Vehicle 10a wheels 10A Running part 10s Side of the running part 10B Transport main body 11 Base Plate 11a Base plate hole 12 volts 13 volts 14 volts 2. Working robot arm 2a Connection base end of working robot arm 3 Jack 30 Linear motion conversion mechanism 31 cases 32 Electric motor 33 Rotation axis 34 Ball screw nut 35 Ball screw 36 Rod 36a Support part 4 Battery 5 Obstacle detection sensors 6 spacers G Floor surface

Claims

1. A mobile robot having a work robot arm mounted on an automated guided vehicle that can travel on the floor of a building, The mobile robot is characterized in that the automatic guided vehicle is provided with a plurality of jacks for supporting the automatic guided vehicle by lifting it off the floor surface.

2. 2. The mobile robot according to claim 1, wherein the automatic guided vehicle has a laser-emitting obstacle detection sensor that can detect obstacles by emitting a laser horizontally at a predetermined angle forward in the direction of travel while the automatic guided vehicle is traveling, and a lower portion of the jack provided on the front side of the automatic guided vehicle is retracted upward while the automatic guided vehicle is traveling so as not to block the laser emitted from the obstacle detection sensor.

3. 3. The mobile robot according to claim 2, wherein a lower portion of the jack provided on the front side of the automatic guided vehicle is fixed to a base plate of the automatic guided vehicle via a spacer, so that the lower portion of the jack can be retracted upward so as not to block the laser emitted from the obstacle detection sensor while the automatic guided vehicle is traveling.

4. 2. The mobile robot according to claim 1, wherein the automated guided vehicle has a control unit that controls the automated guided vehicle, and when the control unit receives information that the automated guided vehicle has stopped at a predetermined position, the control unit controls the jack to drive downward and support the automated guided vehicle above the floor surface.

Images