Conveying apparatus

Abstract

To prevent liquid or the like from spilling.SOLUTION: The conveying machine includes a conveying machine body, a base member, a placement member, and a spherical body. The base member is fixed to the conveying machine body. The base member has a first concave surface facing upward. The placement member is disposed above the base portion. The mounting member has a second concave curved surface. The second concave curved surface faces downward so as to face the first concave curved surface. The spherical body is disposed between the first concave curved surface and the second concave curved surface. The spherical body is configured to roll on the first concave curved surface and the second concave curved surface.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a conveyor. [Background technology]

[0002] In recent years, conveying machines such as food delivery robots have become widespread. Food delivery robots are autonomously movable robots that are configured to deliver food and drink to customers. For example, the food delivery robot described in Patent Document 1 is configured to transport food and drink stored in containers. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7368542 Summary of the Invention [Problem to be solved by the invention]

[0004] In the conveying device described above, when conveying a liquid such as a beverage, the liquid may spill due to vibrations in the translational or rotational direction. Therefore, an object of the present invention is to prevent the liquid from spilling. [Means for solving the problem]

[0005] A conveying device according to a first aspect includes a conveying device main body, a base member, a mounting member, and a sphere. The base member is fixed to the conveying device main body. The base member has a first concave curved surface facing upward. The mounting member is disposed above the base portion. The mounting member has a second concave curved surface. The second concave curved surface faces downward so as to face the first concave curved surface. The sphere is disposed between the first concave curved surface and the second concave curved surface. The sphere is configured to roll on the first concave curved surface and the second concave curved surface.

[0006] According to this configuration, since the mounting member is disposed on the base member via the sphere, when translational or rotational vibrations are applied to the conveyor body, the mounting member can move in the translational or rotational direction relative to the base member. This makes it possible to suppress vibrations from being applied to the mounting member. As a result, when a container containing liquid is placed on the mounting member, spillage of the liquid from the container can be suppressed.

[0007] A conveying device according to a second aspect is the conveying device according to the first aspect, and is configured as follows: The curvature of the first concave curved surface and the second concave curved surface is greater at the outer periphery than the curvature of the portion other than the outer periphery.

[0008] A conveying device according to a third aspect is the conveying device according to the first or second aspect, and is configured as follows: The base member has a regulating surface that faces a side surface of the mounting member. The regulating surface is inclined so as to face upward.

[0009] A conveying device according to a fourth aspect is the conveying device according to the third aspect, and is configured as follows: the mounting member is circular in plan view, and the regulating surface is annular in plan view.

[0010] A conveying device according to a fifth aspect is the conveying device according to the third aspect, and is configured as follows: the mounting member is rectangular in plan view, and the regulating surface extends in a rectangular shape in plan view.

[0011] A conveying device according to a sixth aspect is the conveying device according to any one of the first to fifth aspects, further comprising an elastic member. The elastic member connects the base member and the placement member.

[0012] A conveying device according to a seventh aspect is the conveying device according to any one of the first to sixth aspects, and is configured as follows: The conveying device has a plurality of spheres. The base member has a plurality of first concave curved surfaces. The mounting member has a plurality of second concave curved surfaces. The spheres are arranged on the same circumference.

[0013] A conveying device according to an eighth aspect is the conveying device according to any one of the first to seventh aspects, further comprising a regulating member and a connecting member. The regulating member is disposed below the base member at a distance. The base member has an opening. The connecting member connects the mounting member and the regulating member via the opening. With this configuration, when the regulating member moves upward together with the mounting member, it abuts against the base member, restricting further upward movement. As a result, upward movement of the mounting member and movement in the translational and rotational directions are also restricted. This also prevents the sphere from falling out of the space between the first concave curved surface and the second concave curved surface.

[0014] A conveying device according to a ninth aspect is the conveying device according to any one of the first to eighth aspects, further comprising a damping mechanism. The damping mechanism is installed between the placement member and the base member.

[0015] A conveying device according to a tenth aspect is the conveying device according to any one of the first to ninth aspects, further comprising a sliding member. The sliding member is attached to the mounting member so as to be movable up and down. The sliding member is configured to slide on the base member.

[0016] A conveying device according to an eleventh aspect is the conveying device according to the ninth aspect, and is configured as follows: the mounting member has a housing portion that opens downward, and the sliding member is housed in the housing portion so as to be movable up and down. [Effects of the Invention]

[0017] According to the present invention, spillage of liquid or the like can be suppressed. [Brief explanation of the drawings]

[0018] [Figure 1] Side view of a food delivery robot. [Figure 2] FIG. [Figure 3] Cross-sectional view of line III-III in Figure 2. [Figure 4] FIG. [Figure 5]FIG. [Figure 6] FIG. 10 is a cross-sectional view of the vibration damping mechanism showing a state in which the mounting member has moved relatively in the translational direction. [Figure 7] FIG. 10 is a plan view of a vibration damping mechanism according to a modified example. [Figure 8] Cross-sectional view taken along line VIII-VIII in Figure 7. [Figure 9] FIG. 10 is a plan view of a base member according to a modified example. [Figure 10] FIG. 10 is a bottom view of a mounting member according to a modified example. [Figure 11] FIG. 10 is a plan view of a vibration damping mechanism according to a modified example. [Figure 12] FIG. 10 is a cross-sectional view of a vibration damping mechanism according to a modified example. [Figure 13] FIG. 10 is a perspective view of a vibration damping mechanism according to a modified example. [Figure 14] FIG. 10 is a front view of a vibration damping mechanism according to a modified example. [Figure 15] Cross-sectional view of line AA in Figure 14. [Figure 16] Cross-sectional view of line BB in Figure 15. [Figure 17] Cross-sectional view of line CC in Figure 14. [Figure 18] Cross section of line DD in Figure 17. [Figure 19] Cross-sectional view taken along line EE in Figure 17. [Figure 20] 19 is a view corresponding to FIG. 18 in which the mounting member has moved relative to the base member. [Figure 21] 20 is a view corresponding to FIG. 19 showing a state in which the mounting member has moved relative to the base member. DETAILED DESCRIPTION OF THE INVENTION

[0019] The conveying device 100 according to this embodiment will be described below with reference to the drawings. In this embodiment, an AMR (Autonomous Mobile Robot) such as a food delivery robot will be described as an example of the conveying device 100. Note that the conveying device 100 may be any device other than a food delivery robot that can move to carry containers containing liquids or the like, and may be, for example, an AGV (Automatic Guided Vehicle) or a drone. The conveying device 100 may also be a device that is moved by human power, such as a dolly.

[0020] <Conveyor> As shown in Fig. 1, the conveyor 100 is configured to be capable of autonomous travel. The conveyor 100 is configured to move to a destination and convey an object. For example, the conveyor 100 is configured to convey food and drink to a dining table within a restaurant. The conveyor 100 has a conveyor main body 2 and a vibration damping mechanism 10.

[0021] <Conveyor body> The conveyance machine body 2 is configured to be capable of autonomous travel. The conveyance machine body 2 is a so-called AMR. The conveyance machine body 2 has a plurality of wheels 21, an electric motor (not shown), a sensor (not shown), and a control unit (not shown).

[0022] The electric motor is configured to drive at least one of the plurality of wheels 21. The sensor is configured to detect the distance to an object around the conveyor body 2. The sensor is, for example, a distance measurement sensor such as a LiDAR (Light Detection and Ranging).

[0023] The control unit controls the electric motor to cause the conveyor body 2 to travel autonomously. That is, the control unit controls the electric motor to cause the conveyor body 2 to move forward, backward, turn left and right, rotate on the spot, and stop. The control unit also estimates its own position and creates an environmental map based on data acquired from the sensors. The control unit causes the conveyor body 2 to travel based on the created environmental map and data acquired from the sensors.

[0024] The control unit is configured by, for example, a computer (e.g., a microcomputer) equipped with a CPU (Central Processing Unit) and a ROM (Read Only Memory). The ROM stores programs for performing various calculations. The CPU executes the programs stored in the ROM.

[0025] <Vibration control mechanism> Fig. 2 is a plan view of the vibration damping mechanism 10, and Fig. 3 is a cross-sectional view taken along line III-III in Fig. 2. As shown in Figs. 2 and 3, the vibration damping mechanism 10 has a base member 3, a mounting member 4, and a plurality of spheres 5. The vibration damping mechanism 10 is attached to the conveyor body 2.

[0026] <Base material> The base member 3 is fixed to the conveyor body 2. The base member 3 is disk-shaped. The base member 3 has a circular shape in a plan view.

[0027] FIG. 4 is a plan view of the base member 3. As shown in FIGS. 3 and 4, the base member 3 has a plurality of first concave curved surfaces 31. The first concave curved surfaces 31 face upward. That is, the first concave curved surfaces 31 are concave downward. The first concave curved surfaces 31 are circular in plan view. The curvature of the outer circumferential portion 311 of the first concave curved surfaces 31 is greater than the curvature of the portions other than the outer circumferential portion. The first concave curved surfaces 31 are substantially concave spherical surfaces except for the different curvature of the outer circumferential portion 311.

[0028] The first concave curved surfaces 31 are arranged on the same circumference. For example, the first concave curved surfaces 31 are arranged on the same circumference centered on the center O of the base member 3. The first concave curved surfaces 31 are arranged at equal intervals from one another.

[0029] The base member 3 has an outer peripheral wall portion 32. The outer peripheral wall portion 32 protrudes upward from the outer periphery of the base member 3. The outer peripheral wall portion 32 extends in an annular shape. The height of the outer peripheral wall portion 32 is greater than the thickness of the mounting member 4.

[0030] The base member 3 has a restriction surface 33. The restriction surface 33 is formed by the inner peripheral surface of the outer peripheral wall portion 32. The restriction surface 33 is annular in plan view. The restriction surface 33 faces a side surface 41 of the mounting member 4 in the horizontal direction. The restriction surface 33 restricts the translational movement of the mounting member 4 within a predetermined range.

[0031] The restricting surface 33 is inclined so as to face upward. That is, the restricting surface 33 faces the side surface 41 of the mounting member 4 and also faces upward.

[0032] <Placement member> 5 is a bottom view of the mounting member 4 as seen from below. As shown in FIGS. 3 and 5, the mounting member 4 is configured to hold transported items such as food and drink. The mounting member 4 is disposed above the base member 3. The mounting member 4 is movable in a translational direction relative to the base member 3. The mounting member 4 is also rotatable relative to the base member 3.

[0033] The mounting member 4 has a plurality of second concave curved surfaces 42. The number of the second concave curved surfaces 42 is the same as the number of the first concave curved surfaces 31. Each second concave curved surface 42 faces a corresponding first concave curved surface 31 in the up-down direction. The second concave curved surfaces 42 face downward. That is, the second concave curved surfaces 42 are concave upward. The second concave curved surfaces 42 are circular in plan view. The curvature of the outer circumferential portion 421 of the second concave curved surfaces 42 is greater than the curvature of the portions other than the outer circumferential portion. The second concave curved surfaces 42 are substantially concave spherical surfaces, except for the different curvature of the outer circumferential portion 421. The second concave curved surfaces 42 have substantially the same shape as the first concave curved surfaces 31, except for their orientation.

[0034] The mounting member 4 has a circular shape in a plan view. When the conveyor 100 is stopped, the horizontal distance from the outer periphery of the mounting member 4 to the regulating surface 33 is uniform.

[0035] <sphere> 3 and 4, the sphere 5 is disposed between the first concave curved surface 31 and the second concave curved surface 42. The sphere 5 is sandwiched between the first concave curved surface 31 and the second concave curved surface 42. The sphere 5 is configured to roll on the first concave curved surface 31 and the second concave curved surface 42. Therefore, the mounting member 4 is movable in the translational direction and the rotational direction on the base member 3 via the sphere 5.

[0036] Each sphere 5 is arranged on the same circumference C. For example, each sphere 5 is arranged on the same circumference C centered on the center O of the base member 3. Therefore, the center of rotation of the mounting member 4 is at the same position as the center O of the base member 3 in a plan view. The sphere 5 is in contact with the center of the first concave curved surface 31. The sphere 5 is also in contact with the center of the second concave curved surface 42.

[0037] The natural frequency in the translational direction of the vibration damping mechanism 10 configured as described above is set to be sufficiently small relative to the input vibration to the base member 3. Similarly, the natural frequency in the rotational direction of the vibration damping mechanism 10 is also set to be sufficiently small relative to the input vibration to the base member 3. Here, the natural frequency ωr in the translational direction of the vibration damping mechanism 10 can be expressed by the following equation.

[0038]

number

[0039] The natural frequency ωθ of the vibration damping mechanism 10 in the rotational direction can be expressed by the following equation.

[0040]

number

[0041] According to the conveying machine 100 configured as described above, even if vibrations are applied to the conveying machine main body 2 when an object to be conveyed is placed on the mounting member 4 and conveyed, the mounting member 4 is movable relative to the base member 3, so it is possible to prevent the vibrations from being transmitted to the object to be conveyed placed on the mounting member 4. As a result, if the object to be conveyed placed on the mounting member 4 is a container containing a liquid, it is possible to prevent the liquid from spilling from the container.

[0042] Furthermore, when large amplitude vibrations are input to the conveyor body 2, the mounting member 4 comes into contact with the regulating surface 33 as shown in FIG. 6, and the translational movement of the mounting member 4 can be regulated.

[0043] [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. Note that the following modifications can basically be applied simultaneously.

[0044] (a) In the above embodiment, the mounting member 4 is circular in plan view, but the mounting member 4 may also be rectangular in plan view. Fig. 7 is a plan view of the vibration damping mechanism 10, Fig. 8 is a cross-sectional view taken along line VIII-VIII in Fig. 7, Fig. 9 is a plan view of the base member 3, and Fig. 10 is a bottom view of the mounting member 4.

[0045] 7 to 10, the base member 3 and the mounting member 4 are rectangular in plan view. In this case, the restricting surface 33 of the base member 3 extends in a rectangular shape in plan view. The second concave curved surface 42 is disposed at a corner of the mounting member 4. In this modification, each sphere 5 is also disposed on one circumference C.

[0046] (b) The restricting surface 33 does not have to extend continuously in an annular shape. That is, the restricting surface 33 may extend intermittently. For example, when the mounting member 4 is rectangular as in the above-described modified example, the restricting surface 33 may be provided only in the portion facing the corner of the mounting member 4, as shown in FIG. 11 .

[0047] (c) In this embodiment, the base member 3 is configured as a separate member from the conveyor body 2, but the configuration of the base member 3 is not limited to this. For example, the base member 3 may be configured integrally with the conveyor body 2 as a single member.

[0048] (d) As shown in Fig. 12, the vibration damping mechanism 10 may have an elastic member 6. The elastic member 6 connects the base member 3 and the mounting member 4. The elastic member 6 is made of rubber, a coil spring, or the like. When the elastic member 6 is installed in this manner, the regulating surface 33 may be omitted.

[0049] (e) Figure 13 is an oblique view of a vibration damping mechanism 10 according to a modified example, Figure 14 is a front view of a vibration damping mechanism 10 according to a modified example, Figure 15 is a cross-sectional view taken along line AA in Figure 14, Figure 16 is a cross-sectional view taken along line BB in Figure 15, and Figure 17 is a cross-sectional view taken along line CC in Figure 14.

[0050] 13 to 17, the vibration damping mechanism 10 may have a restricting member 7 and a plurality of connecting members 8 in addition to the base member 3, the mounting member 4, and the plurality of spheres 5. In this case, the restricting surface 33 can be omitted.

[0051] The base member 3 and the mounting member 4 are substantially rectangular in plan view. The base member 3 has first concave curved surfaces 31 at its corners. The mounting member 4 has second concave curved surfaces 42 at its corners. Note that the base member 3 and the mounting member 4 may have a shape other than a substantially rectangular shape in plan view, such as a circular shape.

[0052] The base member 3 has an opening 34 in its center. The opening 34 passes through the base member 3 in the up-down direction. The opening 34 has a substantially rectangular shape in a plan view, but the opening 34 may have another shape, such as a circular shape.

[0053] The base member 3 has a base main body 35 and a plurality of leg portions 36. In this modification, the base member 3 has four leg portions 36. The leg portions 36 are arranged so as to overlap the first concave curved surface 31 in a plan view. The leg portions 36 extend downward from the corners of the base main body 35. The legs 36 allow the bottom surface of the base main body 35 to be spaced apart from the conveyor main body 2.

[0054] The regulating member 7 is disposed below the base member 3. That is, the regulating member 7 and the mounting member 4 are disposed so as to sandwich the base member 3 in the up-down direction. The regulating member 7 is disposed at a distance from the base main body 35. The regulating member 7 is also disposed at a distance from the conveying device main body 2. The regulating member 7 is disposed in the space formed by the legs 36 between the base main body 35 and the conveying device main body 2.

[0055] The restricting member 7 has a substantially rectangular shape in a plan view. However, the shape of the restricting member 7 is not limited to this and may be, for example, circular. The restricting member 7 is larger than the opening 34 in a plan view. Therefore, the restricting member 7 cannot move above the base member 3 through the opening 34. The restricting member 7 is exposed upward through the opening 34 except for its outer periphery.

[0056] The regulating member 7 is attached to the mounting member 43 by a connecting member 8. The connecting member 8 connects the mounting member 4 and the regulating member 7 through the opening 34. Note that the multiple connecting members 8 may be one connecting member 8. The mounting member 4, the regulating member 7, and the connecting member 8 are fixed to one another by bolts. Note that the connecting member 8 may be fixed to the mounting member 4 and the regulating member 7 by adhesive. The connecting member 8 may be formed integrally with the mounting member 4 as a single member, or may be formed integrally with the regulating member 7 as a single member.

[0057] The regulating member 7 is fixed to the mounting member 4 via a connecting member 8. The regulating member 7 moves integrally with the mounting member 4. The regulating member 7 comes into contact with the base member 3, thereby regulating the movement of the mounting member 4 relative to the base member 3 in the translational direction, rotational direction, and up-down direction.

[0058] Fig. 18 is a cross-sectional view taken along line DD in Fig. 17, and Fig. 19 is a cross-sectional view taken along line EE in Fig. 17. As shown in Fig. 18 and Fig. 19, when the mounting member 4 is not moving relative to the base member 3, the mounting member 4 is closest to the base member 3 in the up-down direction. The mounting member 4 is disposed above the base member 3 with a gap therebetween.

[0059] The regulating member 7 is disposed below and spaced apart from the base member 3. While the regulating member 7 is not in contact with the base member 3 in this manner, the mounting member 4 can freely move in the translational and rotational directions relative to the base member 3.

[0060] Figure 20 is a view corresponding to Figure 18 when the mounting member 4 moves relative to the base member 3 in the translational direction, and Figure 21 is a view corresponding to Figure 19 when the mounting member 4 moves relative to the base member 3 in the translational direction.

[0061] As shown in FIGS. 20 and 21 , when the conveyor 100 accelerates or decelerates, the mounting member 4 moves in the translational or rotational direction relative to the base member 3, and the spheres 5 roll on the outer periphery 311 of the first concave curved surface 31 and the outer periphery 421 of the second concave curved surface 42, causing the mounting member 4 to move upward. The regulating member 7 moves upward together with the mounting member 4 and eventually abuts against the base main body 35 of the base member 3. This abutment of the regulating member 7 with the base main body 35 prevents the mounting member 4 from moving further relative to the base member 3. As a result, the spheres 5 are prevented from jumping out of the space between the first concave curved surface 31 and the second concave curved surface 42. In this way, the regulating member 7 restricts the translational and rotational movement of the mounting member 4 within a predetermined range. When the regulating member 7 abuts against the base main body portion 35, the connecting portion 8 does not abut against the inner wall surface that defines the opening 34, but the connecting portion 8 may abut against the inner wall surface that defines the opening 34.

[0062] (f) As shown in Figures 13 to 21, the vibration damping mechanism 10 may further include a damping mechanism 9 in addition to the base member 3, the mounting member 4, and the plurality of spheres 5. The damping mechanism 9 is installed between the mounting member 4 and the base member 3. The damping mechanism 9 is configured to absorb and dissipate kinetic energy resulting from relative motion between the base member 3 and the mounting member 4. The damping mechanism 9 is configured by, for example, a plurality of sliding members 91. Note that the damping mechanism 9 may also be configured by a hydraulic damper or the like instead of the plurality of sliding members 91. The vibration damping mechanism 10 may or may not include a damping member 7 and a plurality of connecting members 8.

[0063] The mounting member 4 has a plurality of storage portions 44. The storage portions 44 are open downward. The storage portions 44 may extend vertically through the mounting member 4. The storage portions 44 are formed between a pair of adjacent second concave curved surfaces 42.

[0064] The sliding member 91 is attached to the mounting member 4 so as to be vertically movable. More specifically, the sliding member 91 is attached to the mounting member 4 so as to be vertically movable by being housed in the housing portion 44 of the mounting member 4 so as to be vertically movable. The sliding member 91 does not move in the translational direction or the rotational direction within the housing portion 44. Therefore, the sliding member 91 moves integrally with the mounting member 4 in the translational direction and the rotational direction.

[0065] Two sliding members 91 are housed in one housing section 44. The number of sliding members 91 housed in one housing section 44 is not particularly limited, and one housing section 44 may house only one sliding member 91, or three or more sliding members 91.

[0066] When the mounting member 4 moves in a translational or rotational direction relative to the base member 3, the sliding member 91 moves together with the mounting member 4, causing the mounting member 4 to slide on the base member 3. The sliding member 91 moves in the translational and rotational directions together with the mounting member 4 while always in contact with the base member 3. The sliding member 91 may be biased downward by a biasing member such as a spring. In other words, a biasing member may be installed above the sliding member 91 within the accommodation section 44. [Explanation of symbols]

[0067] 2: Transfer machine body 3: Base material 31: First concave surface 311: Outer periphery 33: Regulatory aspects 34: Opening 4: Mounting member 41: Side 42: Second concave surface 421: Outer periphery 44: Storage section 5: Sphere 6: Elastic member 7: Regulating member 8: Connecting member 9: Damping mechanism 91: Sliding member 10: Vibration control mechanism 100: Conveyor

Claims

1. A conveyor body, a base member having a first concave curved surface facing upward and fixed to the conveying machine body; a mounting member disposed above the base portion and having a second concave curved surface facing downward so as to face the first concave curved surface; a sphere disposed between the first concave curved surface and the second concave curved surface and configured to roll on the first concave curved surface and the second concave curved surface; A conveyor comprising:

2. the first concave curved surface and the second concave curved surface have a larger curvature at an outer periphery than at a portion other than the outer periphery; The conveyor of claim 1 .

3. the base member has a restricting surface facing a side surface of the mounting member, The restriction surface is inclined so as to face upward. The conveyor of claim 1 .

4. the mounting member has a circular shape in a plan view, The restriction surface is annular in plan view. The conveyor according to claim 3 .

5. The mounting member has a rectangular shape in a plan view, The restriction surface extends in a rectangular shape in a plan view. The conveyor according to claim 3 .

6. Further, an elastic member is provided to connect the base member and the mounting member. The conveyor of claim 1 .

7. the conveyor has a plurality of the spheres, the base member has a plurality of the first concave curved surfaces, the mounting member has a plurality of the second concave curved surfaces, The spheres are arranged on the same circumference. The conveyor of claim 1 .

8. A restricting member; A connecting member; Furthermore, the restricting member is disposed below the base member with a gap therebetween, the base member has an opening; the connecting member connects the mounting member and the regulating member through the opening. The conveyor of claim 1 .

9. Further, a damping mechanism is provided between the mounting member and the base member. The conveyor of claim 1 .

10. Further provided is a sliding member attached to the mounting member so as to be movable up and down and configured to slide on the base member. The conveyor of claim 1 .

11. the mounting member has a storage portion that opens downward, The sliding member is accommodated in the accommodation portion so as to be movable up and down. The conveyor according to claim 9.

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