Transfer robot

Abstract

To provide a conveyance robot capable of improving traveling stability while suppressing battery consumption.SOLUTION: In the carrying robot 1, a battery storage part for storing a driving battery is arranged in a central part between a car body frame 6A and a carrying base for placing a carrying object. Further, in the conveyance robot 1, at least one of the attachment height of the vehicle body frame side 6B with respect to the first driven frame side 6A and the attachment height of the vehicle body frame side 6C with respect to the second driven frame side 6A is adjusted so as to press the pair of driving wheels 10 downward.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to a transport robot that transports an object. [Background technology]

[0002] Patent Document 1 discloses an autonomous transport device (transport robot). The transport robot has a base portion supported by a support column on which a load is placed. A pair of drive wheels (drive wheels) are provided in the center on both the left and right sides of the base portion, and a pair of first auxiliary wheels (front driven wheels) and a pair of second auxiliary wheels (rear driven wheels) are provided in front and behind them. A battery is also provided on the base portion (frame). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-087821 Summary of the Invention [Problem to be solved by the invention]

[0004] When the load being transported by the transport robot is light, the suspension springs attached to the drive wheels stretch. In this case, the drive wheels come into contact with the ground, but one of the front and rear driven wheels may lift off the ground, which can make the transport robot unstable, especially when starting and stopping.

[0005] To address this issue, weights are typically installed inside the transport robot. By installing weights, the center of gravity of the transport robot can be lowered, improving the safety of the transport robot while it is moving. However, this increases the weight of the transport robot, and the amount of energy required to move the transport robot increases. This increases battery consumption, shortens the usable time of the transport robot, and reduces the efficiency of transporting transported items.

[0006] An object of the present disclosure is to provide a transport robot that can improve running stability while suppressing battery consumption. [Means for solving the problem]

[0007] One aspect of the present disclosure relates to a transport robot. The transport robot includes a pair of drive wheels provided at a center on the left side and a center on the right side and rotated by a motor, a first driven wheel provided at the front, a second driven wheel provided at the rear and rotating in conjunction with the pair of drive wheels, a body frame attached to the pair of drive wheels via suspensions and accommodating the pair of drive wheels, the first driven frame to which the first driven wheel is attached and mounted at a position higher than the body frame, a second driven frame to which the second driven wheel is attached and mounted at a position higher than the body frame, a battery storage unit provided in the center between the body frame and a transport platform on which an object to be transported is placed and accommodating a drive battery, and a height adjustment unit that adjusts at least one of the mounting height of the body frame relative to the first driven frame and the second driven frame so as to press the pair of drive wheels downward. [Effects of the Invention]

[0008] According to the present disclosure, a battery storage section for storing a drive battery is provided in the center between the body frame and the transport platform on which the transported object is placed. Furthermore, at least one of the mounting height of the body frame relative to the first bracket and the mounting height of the body frame relative to the second bracket is adjusted so as to press the pair of drive wheels downward. This eliminates the need for weights solely to suppress lift of the driven wheels, thereby reducing the weight of the transport robot. Therefore, the amount of energy required for the transport robot to travel can be reduced, and the consumption of the drive battery can be suppressed. Furthermore, by adjusting the drive wheels to press downward, lift of the front and rear driven wheels can be suppressed even when the transport robot is carrying a light object, improving the transport robot's travel stability. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram for explaining an overview of a transport robot according to an embodiment; [Figure 2] 1 is a diagram illustrating a configuration example of a transport robot according to an embodiment. [Figure 3] 10A and 10B are explanatory diagrams showing specific examples of wheel parts of a transport robot according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] A transfer robot according to an embodiment of the present disclosure will be described with reference to the accompanying drawings. Elements common to the various drawings will be designated by the same reference numerals, and redundant description will be omitted.

[0011] 1. Overview of the transport robot FIG. 1 is a diagram illustrating an overview of a transport robot 1 according to an embodiment. The transport robot 1 is used in a factory such as a logistics center. For example, the transport robot 1 receives an object 3 placed on a conveyor device 2 installed in the factory and transports it to a destination. The transport robot 1 may also be a robot that sorts the object 3. The transport robot 1 is configured to be capable of autonomous travel. For example, the transport robot 1 has the functions of an AGV (Automated Guided Vehicle), an AMR (Autonomous Mobile Robot), or the like.

[0012] The transport robot 1 is equipped with a transport table 4 on which an object 3 to be transported is placed. The transport table 4 operates in a transport direction that is horizontally perpendicular to the direction of travel. An endless belt that operates in the transport direction is provided on the transport table 4. There may be one transport table 4 or multiple transport tables. For example, as shown in FIG. 1, there may be two transport tables 4. In this case, the transport table 4 includes a first transport table and a second transport table. The second transport table is provided in a direction that is horizontally perpendicular to the transport direction of the first transport table and adjacent to the first transport table. Each of the first transport table and the second transport table is provided with an endless belt that operates in the transport direction.

[0013] When the transport robot 1 receives the transported object 3 from the conveyor device 2 or when it delivers the transported object 3 at the destination location, it operates or stops the endless belt of the transport table 4. Specifically, when the transport robot 1 receives the transported object 3 from the conveyor device 2, it operates the endless belt of the transport table 4, and after placing the transported object 3 on the transport table 4, it stops the endless belt of the transport table 4. Then, after the transport robot 1 moves to the destination location, it operates the endless belt of the transport table 4 when delivering the transported object 3, and after delivering the transported object 3, it stops the endless belt of the transport table 4. In this way, the transport of the transported object 3 by the transport robot 1 is realized.

[0014] The transport robot 1 is surrounded by a cover 5, and the internal structure of the transport robot 1 will be described later.

[0015] 2. Example of transport robot configuration FIG. 2 is a diagram illustrating an example of the configuration of a transport robot 1 according to an embodiment. (A) in FIG. 2 is a top view showing the internal structure of the transport robot 1, and (B) in FIG. 2 is a side view showing the internal structure of the transport robot 1. The transport robot 1 has a plurality of wheels attached to a frame 6. The plurality of wheels includes a pair of drive wheels 10, a driven wheel 20A, and a driven wheel 20B. The pair of drive wheels 10 is provided at the center of the left side and the center of the right side, respectively. The pair of drive wheels 10 are also simply referred to as drive wheels 10. The drive wheels 10 rotate by being driven by a motor 11. An example of the motor 11 is a direct drive motor. The driven wheel 20A is provided at the front. Specifically, the driven wheels 20A are provided at the front left and front right, respectively. The driven wheel 20A is also referred to as a pair of driven wheels 20A, and the pair of driven wheels 20A are also referred to as a pair of driven wheels 20A. The pair of first driven wheels 20A are also simply referred to as first driven wheels 20A. The driven wheels 20B are provided at the rear. The driven wheels 20B are also referred to as second driven wheels 20B. Details of the wheels of the transport robot 1 will be described later.

[0016] A platform 8 is attached to the top of the frame 6. The platform 8 refers to a structure that supports the transport platform 4 using pillars, beams, etc. The platform 8 is provided with a battery storage section 30 for storing one or more drive batteries 31. Specifically, the battery storage section 30 is provided in the center between the transport platform 4 and a part of the frame 6 (a body frame, described below) to which the pair of drive wheels 10 are attached.

[0017] 3. Example of wheel section 3 is an explanatory diagram showing a specific example of a wheel unit of the transport robot 1 according to the embodiment. The frame 6 to which the wheels are attached includes a body frame 6A, a first driven frame 6B on the front side, and a second driven frame 6C on the rear side.

[0018] The body frame 6A is a mechanical component for mounting a pair of drive wheels 10. Specifically, the body frame 6A is provided with a pair of drive wheel frames 71 (also simply referred to as drive wheel frames 71) for mounting the pair of drive wheels 10. The body frame 6A has a structure capable of accommodating the pair of drive wheels 10, a pair of first driven wheels 20A, and a pair of second driven wheels 20B.

[0019] The drive wheel frame 71 includes a fixed frame 71d and a movable frame 71b. The fixed frame 71d is fixedly attached to the body frame 6A using fastening parts 72 (e.g., screws). The movable frame 71b has a mechanism that rotates around an axis 71a, and is attached to the fixed frame 71d via a suspension 40. One end of the suspension 40 is attached to the fixed frame 71d, and the other end of the suspension 40 is attached to the movable frame 71b. The drive wheel 10 (including the motor 11) is attached to the movable frame 71b using fastening parts 71c (e.g., screws). The suspension 40 is attached to the rear side of the drive wheel 10, for example, as shown in FIG. 3.

[0020] The first driven frame 6B is a mechanical component for attaching the first driven wheel 20A. The first driven wheel 20A is attached to the first driven frame 6B with fastening components 60 (e.g., screws). The first driven wheel 20A is, for example, a plate-type caster made up of a rectangular plate and a wheel. The four corners of the plate of the first driven wheel 20A are fixed to the first driven frame 6B at four locations using the fastening components 60. The first driven frame 6B is attached at a higher position than the vehicle body frame 6A using fastening components 50A (e.g., bolts and nuts). The fastening components 50A include a bolt 51 made up of a head and a threaded portion, and nuts 52 (first nut 52A, second nut 52B, third nut 52C) that are screwed onto the threaded portion. The first driven frame 6B is fixed by being sandwiched between the head of the bolt 51 and the first nut 52A, and the body frame 6A is fixed by being sandwiched between the second nut 52B and the third nut 52C. In this state, the fastening part 50A can adjust the mounting height of the body frame 6A relative to the first driven frame 6B by adjusting the distance between the first nut 52A and the second nut 52B while maintaining the height of the first driven frame 6B. In other words, the fastening part 50A is also a mechanical part for adjusting the height of the body frame 6A up and down. The fastening part 50A is also referred to as a first height adjustment part 50A.

[0021] The second driven frame 6C is a mechanical component for attaching the second driven wheel 20B. The second driven wheel 20B is attached to the second driven frame 6C with fastening components 60. The second driven wheel 20B is, for example, a plate-type caster made up of a rectangular plate and a wheel. The four corners of the plate of the second driven wheel 20B are fixed to the second driven frame 6C at four locations using the fastening components 60. The second driven frame 6C is attached at a higher position than the body frame 6A using fastening components 50B (e.g., bolts and nuts). The fastening components 50B include bolts 53 made up of a head and a threaded portion, and nuts 54 (first nut 54A, second nut 54B, third nut 54C) that are screwed onto the threaded portions. The second driven frame 6C is fixed by being sandwiched between the head of the bolt 53 and the first nut 54A, and the body frame 6A is fixed by being sandwiched between the second nut 54B and the third nut 54C. In this state, the fastening part 50B can adjust the mounting height of the body frame 6A relative to the second driven frame 6C by adjusting the distance between the first nut 54A and the second nut 54B while maintaining the height of the second driven frame 6C. In other words, the fastening part 50B is also a mechanical part for adjusting the height of the body frame 6A up and down. The fastening part 50B is also referred to as a second height adjustment part 50B. Note that the fastening part 50B may be the same part as the fastening part 50A.

[0022] Now, let us consider the traveling stability of the transport robot 1. As shown in the above-mentioned Patent Document 1, the drive battery 31 is mounted on the frame 6. Furthermore, conventionally, weights such as the drive battery 31 are mounted in front of and behind the pair of drive wheels 10 and on the top surface of the body frame 6A to prevent the driven wheels (first driven wheel 20A, second driven wheel 20B) from floating. In contrast, in the transport robot 1 according to the present invention, the drive battery 31 (battery storage section 30) is mounted above the pair of drive wheels 10.

[0023] As described above, in the present invention, by elevating the mounting position of the drive battery 31, workers can easily access the drive battery 31, facilitating maintenance and replacement of the drive battery 31. Furthermore, by elevating the mounting position of the drive battery 31, the pair of drive wheels 10 can be pressed downward, preventing the driven wheels (first driven wheel 20A, second driven wheel 20B) from floating. However, elevating the mounting position of the drive battery 31 also raises the center of gravity of the transport robot 1. Furthermore, the weight of the drive battery 31 alone may not be enough to press the pair of drive wheels 10 downward. In this case, as shown in FIG. 3 , if the load 3 placed on the transport platform 4 is light, the springs of the suspension 40 will expand, causing the pair of drive wheels 10 to contact the ground, but one of the pair of first driven wheel 20A and second driven wheel 20B to float above the ground. For this reason, it is preferable to provide a mechanism for further improving the traveling stability of the transport robot 1.

[0024] According to the transport robot 1 of the present invention, the height adjustment units (first height adjustment unit 50A, second height adjustment unit 50B) adjust at least one of the mounting height of the body frame 6A relative to the first driven frame 6B and the mounting height of the body frame 6A relative to the second driven frame 6C so as to press the pair of drive wheels 10 downward. Specifically, the mounting height of the body frame 6A relative to the first driven frame 6B is adjusted by the first height adjustment unit 50A, and the mounting height of the body frame 6A relative to the second driven frame 6C is adjusted by the second height adjustment unit 50B. As a result, even if the transport object 3 placed on the transport platform 4 is light, the pair of drive wheels 10 are pressed downward without the need for additional weight, thereby preventing the pair of first driven wheels 20A and second driven wheels 20B from floating. This further improves the traveling stability of the transport robot 1 and reduces the amount of traveling energy required by the transport robot 1, thereby further extending the operating time and traveling distance of the transport robot 1.

[0025] The height H1 between the first driven frame 6B and the body frame 6A, which is adjusted by the first height adjustment unit 50A, and the height H2 between the second driven frame 6C and the body frame 6A, which is adjusted by the second height adjustment unit 50B, may be the same or different. Alternatively, it is possible to adjust either the first height adjustment unit 50A or the second height adjustment unit 50B, and omit adjustment of the other. The adjustment of the first height adjustment unit 50A and the second height adjustment unit 50B is performed during manufacture or maintenance of the transport robot 1.

[0026] 4.Effects According to this embodiment, the battery storage section 30 for storing the drive battery 31 is provided in the center between the body frame 6A and the transport platform 4 on which the transported object 3 is placed. The first height adjustment section 50A, which fastens the body frame 6A to the first driven frame 6B, adjusts the mounting height of the body frame 6A relative to the first driven frame 6B so as to press the pair of drive wheels 10 downward. The second height adjustment section 50B, which fastens the body frame 6A to the second driven frame 6C, adjusts the mounting height of the body frame 6A relative to the second driven frame 6C so as to press the pair of drive wheels 10 downward. This eliminates the need for weights solely to prevent the driven wheels (first driven wheel 20A, second driven wheel 20B) from floating, thereby reducing the weight and cost of the transport robot 1. This reduces the amount of energy required for the transport robot 1 to travel, thereby suppressing consumption of the drive battery 31. Furthermore, by adjusting the drive wheel 10 so that it is pressed downward, even if the transported object 3 placed on the transport robot 1 is light, the floating of the front and rear driven wheels (first driven wheel 20A, second driven wheel 20B) can be suppressed, improving the running stability of the transport robot 1.

[0027] 5. Variations The transport robot 1 may be configured to include either the first height adjustment unit 50A or the second height adjustment unit 50B. For example, if the transport robot 1 is supported at three points, namely, a pair of first driven wheels 20A (two front wheels) and a pair of second driven wheels 20B (one rear wheel), it is expected that the pair of first driven wheels 20A will contact the ground while the second driven wheel 20B will float above the ground when the transport robot 1 starts or stops moving, making the transport robot 1 unstable. In this case, to prevent the second driven wheels 20B from floating, the second height adjustment unit 50B may be used to adjust the mounting height of the body frame 6A relative to the second driven frame 6C so as to press the pair of drive wheels 10 downward. In other words, if the transport robot 1 is configured with a pair of first driven wheels 20A and second driven wheels 20B, the transport robot 1 may be configured to include only the second height adjustment unit 50B as a height adjustment unit. As a result, even when the traveling of the transport robot 1 tends to become unstable, the front and rear driven wheels (the pair of first driven wheels 20A and second driven wheels 20B) are supported at three points, thereby improving the traveling stability of the transport robot 1.

[0028] Furthermore, the pair of first driven wheels 20A includes two front wheels, while the second driven wheel 20B is composed of one rear wheel. For example, when suppressing the floating of the second driven wheel 20B by adjusting the first height adjustment unit 50A, it is necessary to adjust the mounting height of the body frame 6A relative to the first driven frame 6B for each front wheel. In other words, the first height adjustment unit 50A requires adjustment at two locations. In contrast, the second height adjustment unit 50B requires adjustment at only one location, so the adjustment time can be shortened compared to adjustment using the first height adjustment unit 50A. [Explanation of symbols]

[0029] 1...Transport robot, 2...Conveyor device, 3...Transported object, 4...Transport table, 5...Cover, 6...Frame, 6A...Vehicle body frame, 6B...First driven frame, 6C...Second driven frame, 8...Base portion, 10...Pair of drive wheels, 11...Motor, 20A...First driven wheel, 20B...Second driven wheel, 30...Battery storage portion, 31...Driving battery, 40...Suspension, 50A...First height adjustment portion, 50B...Second height adjustment portion, 51, 53...Bolt, 52, 54...Nut, 60...Fastening part, 71...Pair of drive wheel frames, 71a...Axis, 71b...Movable frame, 71c...Fastening part, 71d...Fixed frame, 72...Fastening part

Claims

1. A transport robot that transports an object, a pair of drive wheels provided at the center of the left side and the center of the right side and rotated by driving a motor; a first driven wheel provided in the front; a second driven wheel provided at the rear; a vehicle body frame attached to the pair of drive wheels via suspensions and housing the pair of drive wheels; a first driven frame to which the first driven wheel is attached and which is attached at a position higher than the body frame; a second driven frame to which the second driven wheel is attached and which is attached at a position higher than the body frame; a battery storage section provided in the center between the body frame and a conveyance platform on which the transported object is placed, the battery storage section storing a drive battery; a height adjustment unit that adjusts at least one of an attachment height of the body frame relative to the first driven frame and an attachment height of the body frame relative to the second driven frame so as to press the pair of drive wheels downward; Equipped with This transport robot is characterized by the following.

2. The transport robot according to claim 1, The conveying table includes a first conveying table that operates in a conveying direction that is horizontally orthogonal to the traveling direction, and a second conveying table that operates in a conveying direction that is horizontally orthogonal to the traveling direction and is provided adjacent to the first conveying table in a direction horizontally orthogonal to the conveying direction of the first conveying table. A transport robot characterized by:

3. The transport robot according to claim 2, Each of the first conveying table and the second conveying table is provided with an endless belt that operates in the conveying direction. A transport robot characterized by:

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