Transport robot

Abstract

To obtain a conveying robot capable of downsizing an outer shape during standby while securing a loading space of a conveyance object when the conveyance object is conveyed.SOLUTION: A storage bag 106 included in a conveying robot 10 is deformable in the vertical direction of a main body part 16. When a signal V1 is input in an actuator 108, the actuator 108 expands the storage bag 106 upward in the vertical direction of the main body part 16. Therefore, a space capable of storing a conveyance object 28 can be expanded when the conveying robot 10 conveys the conveyance object 28.SELECTED DRAWING: Figure 3

Description

[Technical field]

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

[0002] The following Patent Document 1 discloses an invention related to a home delivery system. This home delivery system includes a user terminal, a home delivery management device, and a home delivery robot. The home delivery management device notifies the user terminal of information related to the package, and the home delivery management device receives a delivery instruction for the package from the user terminal that has received the notification. The home delivery management device searches for a route to the delivery destination of the package for which the delivery instruction has been received, and causes the home delivery robot to deliver the package using the information on the searched route. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-33581 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, in the invention described in the above-mentioned patent document, the delivery robot waits at a waiting location such as a collection and delivery center when it has not received a delivery instruction.

[0005] For this reason, if the external shape of the delivery robot is large, it is conceivable that the space occupied by the delivery robot in the waiting area will be large. On the other hand, from the viewpoint of ensuring a space for carrying packages, it is preferable that the external shape of the delivery robot is large.

[0006] In consideration of the above, an object of the present invention is to provide a transport robot that can ensure a loading space for an object when transporting the object, while reducing the external size when in standby mode. [Means for solving the problem]

[0007] The transport robot according to the present invention as described in claim 1 includes a main body portion on which an object to be transported can be placed; The device includes a drive wheel provided on the main body portion, a storage portion provided on the main body portion, capable of storing the transported object and capable of deforming in the vertical direction of the main body portion, and an actuator that expands the storage portion upward in the vertical direction when a first signal is input, and contracts the storage portion downward in the vertical direction when a second signal is input. The drive wheels are deformable so that their width and diameter are inversely proportional to each other. .

[0008] According to the present invention as described in claim 1, the device includes a main body and a drive wheel provided on the main body, and can transport an object placed on the main body. In addition, the device includes a storage section on the main body, and storing the object in the storage section can prevent the object from falling during transportation.

[0009] From the viewpoint of securing a space for carrying the transported object, it is preferable that the external shape of the transport robot is large. On the other hand, if the external shape of the transport robot is large in a standby state where the transport robot is not transporting the transported object, it is considered that the space occupied by the transport robot in the standby location will be large.

[0010] Here, in the present invention, the storage section is deformable in the up-down direction of the main body section. When a first signal is input to the actuator, the actuator expands the storage section upward in the up-down direction of the main body section. Therefore, when the transport robot transports an object, the space capable of accommodating the object can be expanded by inputting the first signal to the actuator.

[0011] On the other hand, when the second signal is input to the actuator, the actuator contracts the storage unit downward in the up-down direction of the main body. Therefore, when the transport robot is on standby, the storage unit can be made smaller at least in the up-down direction of the main body by inputting the second signal to the actuator. Effect of the Invention

[0012] As described above, the transport robot according to the present invention as set forth in claim 1 has the excellent effect of being able to ensure a mounting space for the transported object when transporting the object, while being able to reduce the external size when in standby mode. [Brief description of the drawings]

[0013] [Figure 1] FIG. 2 is a perspective view showing a schematic diagram of a transport state of an object by the transport robot according to the embodiment; [Diagram 2] FIG. 1 is a plan view illustrating a schematic configuration of a transport robot according to the present embodiment. [Diagram 3] 2 is a side view showing a schematic configuration of a storage unit of the transport robot according to the embodiment; FIG. [Figure 4] 1 is a plan sectional view showing a schematic configuration of a drive device for a transport robot according to the present embodiment. [Diagram 5] 4 is a plan cross-sectional view showing a schematic configuration of a boundary portion between a main body portion and a driving device of the transport robot according to the embodiment; FIG. [Figure 6] 5A and 5B are schematic diagrams showing a state in which the diameter of a drive wheel of the transport robot according to the embodiment is expanded, in which (A) is a cross-sectional view of the drive wheel, and (B) is a side view of the drive wheel. [Figure 7] 5A and 5B are schematic diagrams showing a state in which the drive wheels of the transport robot according to the embodiment are in a contracted state, in which FIG. 5A is a cross-sectional view of the drive wheels, and FIG. 5B is a side view of the drive wheels. [Figure 8] FIG. 2 is a block diagram showing a hardware configuration of the transfer robot according to the embodiment. [Figure 9] FIG. 2 is a block diagram showing a hardware configuration of a server constituting a part of the transport system according to the embodiment. [Figure 10] FIG. 2 is a block diagram showing a functional configuration of the transport system according to the present embodiment. [Figure 11] FIG. 2 is a side view showing a schematic diagram of the transport robot according to the embodiment in a stored state; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] An example of an embodiment of a transport robot according to the present invention will be described below with reference to Figures 1 to 11. As shown in Figure 1, a "transport robot 10" according to this embodiment constitutes a part of a transport system 12 together with a server 14.

[0015] 2, the transport robot 10 is equipped with a "main body 16," four drive devices 18, a storage device 20, and a control unit 22, and is capable of transporting an "item 28" by traveling on a road surface 26 in a factory 24. The transport robot 10 is configured symmetrically with respect to a center line CL that passes through the center in the width direction of the transport robot 10 and extends in the front-rear direction of the transport robot 10, and therefore, in the following, explanations of the components of the transport robot 10 will be omitted as appropriate.

[0016] In addition, the arrow FR shown appropriately in each figure indicates the front side in the front-rear direction of the transport robot 10, the arrow UP indicates the upward and downward upward side of the transport robot 10, and the arrow RH indicates the right side in the width direction of the transport robot 10. In addition, hereinafter, unless otherwise specified, the front-rear direction means the front-rear direction of the transport robot 10, the up-down direction means the up-down direction of the transport robot 10, and the width direction means the width direction of the transport robot 10.

[0017] 3, the main body 16 includes a base plate 30, a pair of side frames 32, and a pair of cross members 34. The base plate 30 is made of reinforced resin such as glass fiber reinforced plastic and is formed into a rectangular plate with the longitudinal direction in a top-bottom view, and an article 28 can be placed on the upper surface of the base plate 30. The side frames 32 are attached to the outer periphery of the base plate 30 in the width direction along the front-rear direction.

[0018] The side frame 32 is made of a metal such as an aluminum alloy, and includes an upper wall portion 32A that constitutes an upper portion in the vertical direction, and a side wall portion 32B that extends downward in the vertical direction from a peripheral portion on the outer side in the width direction of the upper wall portion 32A. In addition, a slit portion 36 that penetrates in the width direction and extends in the front-rear direction is provided in a front-rear direction front portion of the side wall portion 32B.

[0019] On the other hand, the cross member 34 is made of a metal such as an aluminum alloy and extends in the width direction, connecting the front and rear ends of the side frames 32 that are arranged with a gap in between in the width direction in the width direction.

[0020] Returning to Figure 2, the drive unit 18 is arranged at four locations spaced apart in the front-to-rear and width directions relative to the main body 16, and as also shown in Figure 4, is equipped with a "drive wheel 38", a power shaft 40, a motor 42, a power transmission device 44, and an outer diameter adjustment device 46.

[0021] As shown in Fig. 6, the drive wheel 38 includes a pair of side plates 48, eighteen tread side plates 50, and eight tread center plates 52. The pair of side plates 48 are each shaped like a regular octagon when viewed in the width direction, and are spaced apart in the width direction so that their outer peripheries coincide when viewed in the width direction. The spacing S between the pair of side plates 48 can be changed by an outer diameter adjustment device 46, as described below.

[0022] The tread side plate 50 is made of a flexible material and has a rectangular plate shape with a longitudinal length set to the same length as the length L1 of one side of the peripheral portion of the side plate 48, and has a rubber sheet (not shown) attached to its surface (a surface constituting a part of the surface of the drive wheel 38). One of a pair of peripheral portions extending in the longitudinal direction of the tread side plate 50 is connected to the side plate 48 so as to be rotatable around the longitudinal direction, and the other peripheral portion is connected to the tread center plate 52 so as to be rotatable around the longitudinal direction.

[0023] A torsion spring 54 is disposed on the widthwise center side of the drive wheel 38 at the boundary between the tread side plate 50 and the side plate 48. The torsion spring 54 biases the tread side plate 50 against the side plate 48 so that the angle θ between the side plate 48 and the tread side plate 50 becomes larger on the widthwise center side of the drive wheel 38.

[0024] On the other hand, the tread center plate 52 is a rectangular plate with a longitudinal length set to length L1 and a lateral length W2 set to a length shorter than the lateral length W1 of the tread side plate 50, and a rubber sheet (not shown) is attached to its surface (a surface constituting a part of the surface of the drive wheel 38). One of a pair of peripheral edges extending in the longitudinal direction of the tread center plate 52 is connected to the tread side plate 50 on one widthwise side so as to be rotatable around the longitudinal direction, and the other peripheral edge is connected to the tread side plate 50 on the other widthwise side so as to be rotatable around the longitudinal direction.

[0025] Returning to Fig. 4, the power shaft 40 includes a cylindrical tube portion 40A extending in the width direction, and an annular mounting plate portion 40B extending from the widthwise outer end of the tube portion 40A to the radially outer side of the tube portion 40A with the plate thickness direction being the width direction. The mounting plate portion 40B is attached to the side plate 48 by a mounting member (not shown) in a state where it abuts against the widthwise inner surface of the side plate 48 on the widthwise inner side. The center of the side plate 48 and the center of the power shaft 40 are aligned when viewed in the width direction.

[0026] On the other hand, an inner end portion in the width direction of the cylindrical portion 40A is supported by a mount 66 provided on the lower side of the base plate portion 30 in the up-down direction via a bearing 67 so as to be rotatable around the width direction.

[0027] The motor 42 is disposed so as to be located on the central side in the front-rear direction with respect to the power shaft 40, and an output shaft 56 of the motor 42 extends outward in the width direction from a main body 58 of the motor 42. The main body 58 is fixed to a mount 60 provided on the lower side of the base plate portion 30 in the up-down direction.

[0028] A motor driver 62 (see FIG. 8) is electrically connected to the motor 42, and the motor driver 62 is capable of controlling the rotation speed, torque, etc. of the motor 42 based on a signal input from a control device 64 (described later). The driving force of the motor 42 is transmitted to the power shaft 40 via the power transmission device 44.

[0029] The power transmission device 44 includes a ring gear 68, a pulley 70, and a timing belt 72. The ring gear 68 is attached to the cylindrical portion 40A of the power shaft 40 so as to be rotatable around the width direction and to be located between the mounting plate portion 40B and the bearing 67.

[0030] On the other hand, the pulley 70 is attached to the output shaft 56 of the motor 42 so as to be rotatable around the width direction. A timing belt 72 is wound around the ring gear 68 and the pulley 70, and a driving force is transmitted from the motor 42 side to the power shaft 40 side via the timing belt 72.

[0031] On the other hand, the outer diameter adjustment device 46 includes an electric cylinder 74, a brush unit 76, and a ring unit 78. The electric cylinder 74 includes a main body 82 incorporating a motor, a ball screw, and a cylinder control device 80 (see FIG. 8), not shown, and a rod 84 that can be extended and retracted in the width direction from the main body 82. An end portion on the inner side in the width direction of the main body 82 is fixed to the side plate 48 on the inner side in the width direction, and a rod end portion 84A on the outer side in the width direction of the rod 84 is fixed to the side plate 48 on the outer side in the width direction.

[0032] Further, the electric cylinder 74 is supplied with power and a control signal is transmitted from the control device 64 to a cylinder control device 80 via a brush unit 76 and a ring unit 78. The cylinder control device 80 drives the electric cylinder 74 based on a control signal from the control device 64, whereby the electric cylinder 74 expands and contracts in the width direction, making it possible to change the interval S between the pair of side plates 48.

[0033] Specifically, when the electric cylinder 74 is in the most contracted state, the distance between the pair of side plates 48 is distance S1 as shown in Fig. 6(A). At this time, the angle θ1 between the side plate 48 and the tread side plate 50 becomes an obtuse angle, and the drive wheel 38 is in the most expanded state as shown in Fig. 6(B), and the diameter of the drive wheel 38 becomes its maximum value D1. Note that the diameter of the drive wheel 38 here means the diameter of a circle connecting the points farthest from the center of the drive wheel 38 when viewed from the width direction of the drive wheel 38.

[0034] On the other hand, when the electric cylinder 74 is in the most extended state, the distance between the pair of side plates 48 becomes S2, which is longer than S1, as shown in Fig. 7(A). At this time, the angle θ2 between the side plate 48 and the tread side plate 50 becomes a right angle, and the drive wheel 38 becomes in the most contracted state as shown in Fig. 7(B), and the diameter of the drive wheel 38 becomes its minimum value D2.

[0035] 5, the brush unit 76 includes a case 86 that forms an outer shell thereof, and a plurality of metal brushes 88. The case 86 has a cylindrical outer shape with the axial direction as the width direction, and includes a housing section 86A that is provided inside the case 86 and can house a part of the ring unit 78, an opening 86B formed on the outer side of the housing section 86A in the width direction, and an opening 86C formed on the inner side of the housing section 86A in the width direction. The case 86 is fixed to the side plate 48 on the inner side in the width direction from the inner side in the width direction.

[0036] On the other hand, the brushes 88 extend radially from the case 86, and are each insulated and collected into a single wiring 90, which is connected to the main body 82 of the electric cylinder 74 via an insertion portion 92 formed in the case 86 and the side plate 48.

[0037] The ring unit 78 includes a rod 94 that constitutes its main portion, and metal rings 96 in the same number as the brushes 88. The rod 94 includes a ring base portion 94A that constitutes its widthwise outer portion and to which the rings 96 are attached, and a guide tube portion 94B that extends inward in the widthwise direction from the ring base portion 94A.

[0038] The ring base 94A is cylindrical with its width direction aligned along the axial direction, and has a plurality of partitions 94A1 on its surface spaced apart in the width direction. Rings 96 are fitted between the partitions 94A1, and the corresponding brushes 88 are in contact with the rings 96.

[0039] On the other hand, the guide tube portion 94B is shaped like a tube extending in the width direction, and its end portion on the inner side in the width direction is supported via a rubber bush 100 on a mount 98 provided on the upper-lower side of the base plate portion 30 (see FIG. 4). A plurality of wires 102 each extending from the ring 96 are inserted into the inside of the guide tube portion 94B. These wires 102 are electrically connected to a battery, a control device 64, etc. (not shown).

[0040] Further, the widthwise outer portion of the rod 94 is connected to the case 86 via bearings 104 arranged in the openings 86B and 86C of the case 86 so as to be rotatable relative to the case 86 in the widthwise direction.

[0041] In this embodiment, the electric cylinder 74 is electrically connected to electronic devices such as the battery and the control device 64 via the brush unit 76 and the ring unit 78 configured as described above, so that the electrical connection between these electronic devices and the electric cylinder 74 is maintained even when the drive wheel 38 rotates.

[0042] 2 and 3, the storage device 20 includes a "storage bag 106" as a storage unit, and an "actuator 108" that deforms the storage bag 106. The storage bag 106 includes a bottom surface portion 106A having a plate thickness direction in the vertical direction and a rectangular shape when viewed from the vertical direction, and a side surface portion 106B that extends upward in the vertical direction from the bottom surface portion 106A and has bellows-like shapes with peaks and valleys alternately provided in the vertical direction, and is open at the top in the vertical direction. The inside of the storage bag 106 is capable of storing the transported object 28.

[0043] The actuator 108 includes an upper frame 110, a link mechanism 112, and an electric cylinder 114. The upper frame 110 includes a pair of rail members 110A and a pair of horizontal members 110B, each made of a metal such as an aluminum alloy. The rail members 110A extend in the front-rear direction with a gap between them in the width direction, and the rail members 110A are provided with slits 116 that penetrate the rail members 110A in the width direction and extend in the front-rear direction. On the other hand, the horizontal members 110B extend in the width direction and connect the ends of the rail members 110A to each other in the width direction. The upper edge of the storage bag 106 is engaged with the upper frame 110 from the bottom in the vertical direction.

[0044] The link mechanism 112 includes a first link arm 118 and a second link arm 120. The first link arm 118 includes a pair of link plates 122 spaced apart in the seat width direction, and a link pipe 124 connecting the link plates 122 to each other. In detail, the link plate 122 is disposed adjacent to the main body 16 and the upper frame 110 on the outer sides in the width direction thereof, has a plate shape with the plate thickness direction being the width direction, and extends from the front side in the front-rear direction to the rear side in the front-rear direction at an upward gradient when viewed in the width direction.

[0045] A rear end of the link plate 122 in the front-rear direction is connected to a rear portion of the rail member 110A of the upper frame 110 in the front-rear direction via a connecting pin 126 so as to be rotatable around the width direction.

[0046] On the other hand, the link pipe 124 is disposed between the side frames 32 and extends in the width direction, and its end is connected to the front end of the link plate 122 in the fore-and-aft direction via a connecting pin 128 that is inserted widthwise through the slit portion 36 so as to be rotatable around the width direction.

[0047] The second link arm 120 includes a pair of link plates 130 spaced apart in the seat width direction. In detail, the link plate 130 is disposed adjacent to the link plate 122 on the outer side in the width direction of the link plate 122, has a plate shape with the plate thickness direction being the width direction, and extends from the front side in the front-rear direction to the rear side in the front-rear direction with a downward slope as viewed in the width direction.

[0048] The longitudinal center portion of this link plate 130 is connected to the longitudinal center portion of the link plate 122 via a connecting pin 132 so as to be rotatable around the width direction. The front end portion of the link plate 130 in the front-rear direction is connected to the rail member 110A via a connecting pin 136 inserted in the width direction through the slit portion 116, with a spacer 134 interposed between the link plate 130 and the rail member 110A. The connecting pin 136 and the connecting pin 128 are positioned on the same straight line extending in the up-down direction when viewed in the width direction.

[0049] Meanwhile, the rear end of the link plate 130 in the front-rear direction is connected to the side wall portion 32B of the side frame 32 via a connecting pin 138 so as to be rotatable around the width direction, with a spacer 134 interposed between the link plate 130 and the side wall portion 32B of the side frame 32. The connecting pin 138 and the connecting pin 126 are positioned on the same straight line extending in the up-down direction when viewed in the width direction.

[0050] The electric cylinder 114 is basically configured in the same way as the electric cylinder 74, and includes a main body 142 incorporating a motor, a ball screw, and a cylinder control device 140 (see FIG. 8), not shown, and a rod 144 that can be extended and retracted in the front-rear direction from the main body 142. The main body 142 is attached to the base plate portion 30 from below in the vertical direction, and a link pipe 124 is inserted in the width direction into a block-shaped rod end portion 144A provided on the front side of the rod 144 in the front-rear direction.

[0051] Moreover, the electric cylinder 114 is supplied with power via wiring (not shown) and a control signal is transmitted from the control device 64 to the cylinder control device 140. The cylinder control device 140 drives the electric cylinder 114 based on a control signal from the control device 64, causing the electric cylinder 114 to expand and contract in the front-rear direction. This makes it possible to change the height H of the upper frame 110 relative to the main body 16 by deforming the link mechanism 112. Also, the storage bag 106 expands and contracts in the up-down direction in accordance with the change in height H.

[0052] Next, the configuration of the control unit 22 will be described. As shown in Fig. 2, the control unit 22 includes a case 146 that constitutes the outer shell of the control unit 22 and is made of a metal such as an aluminum alloy. The case 146 stores a battery (not shown) capable of supplying power to electronic devices mounted on the transport robot 10, and a control device 64.

[0053] In this embodiment, the operation of the transport robot 10 is managed by communication between the control device 64 and the server 14. The drive wheels 38 and the storage bag 106 are adapted to be deformed according to the operating state of the transport robot 10 under the control of the control device 64. The following description will be focused on the configurations of the control device 64 and the server 14.

[0054] 8, the control device 64 includes a CPU (Central Processing Unit) 64A, which is an example of a processor, a ROM (Read Only Memory) 64B, a RAM (Random Access Memory) 64C, a storage 64D, a communication I / F (Interface) 64E, and an input / output I / F 64F. The CPU 64A, the ROM 64B, the RAM 64C, the storage 64D, the communication I / F 64E, and the input / output I / F 64F are connected to each other so as to be able to communicate with each other via a bus 64G.

[0055] The CPU 64A is a central processing unit and is capable of executing various programs relating to various controls of the transfer robot 10. Specifically, the CPU 64A is capable of reading out the programs from the ROM 64B and executing the programs using the RAM 64C as a working area. The execution programs stored in the ROM 64B are read out and executed by the CPU 64A, enabling the control device 64 to perform various functions as described below.

[0056] The storage 64D includes a hard disk drive (HDD) or a solid state drive (SSD) and stores various programs including an operating system and various data. The storage 64D is also capable of storing various information necessary for the operation of the transport robot 10, as described later.

[0057] The communication I / F 64E is an interface used to connect the control device 64 to a network N (see FIG. 1), and is capable of communicating with the server 14 and the like via the network N. For this interface, a communication standard such as Ethernet (registered trademark), FDDI, or Wi-Fi (registered trademark) is used.

[0058] The input / output I / F 64F is an interface for the control device 64 to communicate with each device mounted on the transport robot 10. The control device 64 is connected to each device described below via the input / output I / F 64F so as to be able to communicate with each other. Note that these devices may be directly connected to the bus 64G.

[0059] In detail, the input / output I / F 64F is connected to four motor drivers 62, a cylinder control device 80, a cylinder control device 140, an external sensor 148, and a reader / writer 150. The motor driver 62 controls the motor 42 based on a command signal input from the control device 64, and is capable of controlling the number of rotations, the direction of rotation, the torque, and the like of the motor 42. In this embodiment, the four motors 42 are independently controlled by the control device 64 and the four motor drivers 62, thereby making it possible to change the traveling direction and speed of the transfer robot 10.

[0060] The external sensor 148 is a group of sensors used to detect the surrounding environment of the transport robot 10. The external sensor 148 includes a camera that captures an image of a predetermined range and a millimeter wave radar that transmits a search wave to the predetermined range. Data acquired by the external sensor 148, such as an image captured by the camera, is temporarily stored in the storage 64D and is transmitted from the communication I / F 64E to the server 14.

[0061] The reader / writer 150 is mounted on the main body 16 and is capable of reading electronic information from an RF (Radio Frequency) tag 152 (see FIG. 2) attached to the transported object 28 and writing electronic information to the RF tag 152. Information about the part read from the RF tag 152 is temporarily stored in the storage 64D and is transmitted from the control device 64 to the server 14 in a state associated with the ID (IDentification) of the transport robot 10 transporting the part stored in the storage 64D.

[0062] 2, the transported goods 28 includes parts (not shown) used in the factory 24 and a case 28A storing the parts, and basically includes only one type of part in the transported goods 28. An RF tag 152 is provided on the bottom surface of the case 28A, and this RF tag 152 stores various information related to the part stored in the case 28A.

[0063] More specifically, the information about the part stored in the RF tag 152 includes the part number of the part, an input code indicating the location in the factory 24 where the part is input, and the height dimension Z of the transported item 28 .

[0064] In addition, when the transported item 28 has been unloaded from the transport robot 10, the reader / writer 150 detects that the transported item 28 has been unloaded from the transport robot 10 based on a signal output from a load meter or the like (not shown) provided on the transport robot 10, and outputs a signal indicating that the transport robot 10 is empty to the input / output I / F 64F.

[0065] Next, the configuration of the server 14 will be described with reference to Fig. 9. The server 14 is configured to include a CPU 14A, a ROM 14B, a RAM 14C, a storage 14D, and a communication I / F 14E. The CPU 14A, the ROM 14B, the RAM 14C, the storage 14D, and the communication I / F 14E are connected to each other via a bus 14F so as to be able to communicate with each other. The CPU 14A, the ROM 14B, the RAM 14C, the storage 14D, and the communication I / F 14E basically have the same functions as those constituting the control device 64 described above.

[0066] Storage 14D stores three-dimensional map data that associates a 3D model including the shape and location of pillars 154 (see Figure 1) placed within factory 24 with image data of each location within factory 24.

[0067] The storage 14D also stores data relating the part numbers of parts used in the factory 24 to the locations in the factory 24 to which the parts are inserted, based on input by a worker using an input device (not shown). The storage 14D also temporarily stores information relating to the goods 28 transmitted from the reader / writer 150 via the control device 64.

[0068] The execution programs stored in the ROM 14B are read and executed by the CPU 14A, thereby enabling the server 14 to perform various functions, as will be described later.

[0069] Next, the functional configuration of the control device 64 will be described with reference to Fig. 10. The control device 64 functions as an assembly of a communication unit 156, a drive control unit 158, an image data acquisition unit 160, a drive side cylinder control unit 162, and a housing side cylinder control unit 164 by the CPU 64A reading out and executing an execution program stored in the ROM 64B.

[0070] The communication unit 156 receives signals transmitted from the server 14 via the network N, and acquires various pieces of information. In addition, the communication unit 156 transmits data acquired by the external sensor 148 to the server 14.

[0071] The drive control unit 158 ​​controls the motor driver 62 based on a drive signal from the server 14, which will be described later, and controls the drive amount of the motor 42, etc.

[0072] The image data acquisition unit 160 acquires data such as images from the external sensor 148 and detects the presence or absence of objects in the vicinity of the transfer robot 10 .

[0073] The driving side cylinder control unit 162 judges whether the transport robot 10 is located on the road surface 26 or near the garage 166 (see FIG. 11) based on the position of the transport robot 10 acquired from the server 14 as described below. If it is judged that the transport robot 10 is located on the road surface 26, it controls the cylinder control device 80 to bring the electric cylinder 74 into the most contracted state and set the diameter of the drive wheels 38 to the maximum value D1.

[0074] On the other hand, when the drive side cylinder control unit 162 determines that the transport robot 10 is located near the garage 166, it controls the cylinder control device 80 to bring the electric cylinder 74 into its most extended state and set the diameter of the drive wheel 38 to its minimum value D1.

[0075] The accommodation side cylinder control unit 164 judges whether the transport robot 10 is transporting the transported object 28 based on a signal output from a load meter provided on the transport robot 10. When the accommodation side cylinder control unit 164 judges that the transport robot 10 is transporting the transported object 28, the accommodation side cylinder control unit 164 controls the cylinder control unit 140 by transmitting a signal V1 as a first signal to the cylinder control unit 140, and adjusts the length of the electric cylinder 114 based on the height dimension Z of the transported object 28 acquired from the reader / writer 150. As a result, the height H of the upper frame 110 is set to the same value as the height dimension Z of the transported object 28. Note that when the height dimension Z is greater than the maximum value of the height H, the accommodation side cylinder control unit 164 controls the cylinder control unit 140 so that the height H becomes the maximum value.

[0076] On the other hand, when the accommodation side cylinder control unit 164 determines that the transport robot 10 is not transporting the transported object 28, the accommodation side cylinder control unit 164 controls the cylinder control device 140 to bring the electric cylinder 114 into the most extended state by transmitting a signal V2 as a second signal to the cylinder control device 140. As a result, the height H of the upper frame 110 becomes the minimum value.

[0077] Next, a description will be given of the functional configuration of the server 14. The server 14 functions as a collection of a communication unit 168, a map data storage unit 170, a transported object information acquisition unit 172, a travel route setting unit 174, a transported vehicle position estimation unit 176, and a drive amount calculation unit 178 by the CPU 14A reading out an execution program stored in the ROM 14B and executing the program.

[0078] The communication unit 168 receives signals transmitted from the control device 64 of the transfer robot 10 via the network N, and acquires various pieces of information. In addition, the communication unit 168 transmits various signals to the control device 64, as will be described later.

[0079] The map data storage unit 170 manages the three-dimensional map data of the factory 24 and the locations at which parts are inserted within the factory 24 to be updated based on various data including a 3D model of the factory 24 input by the user and image data transmitted from the control device 64.

[0080] The transported goods information acquisition unit 172 acquires information on the parts included in the transported goods 28, the location in the factory 24 to which the parts are inserted, etc., based on the signal input from the control device 64 and the data stored in the map data storage unit 170. In addition, for each part, it acquires the ID of the transport robot 10 that transports the part.

[0081] The travel route setting unit 174 sets a transport route for the transported object 28, i.e., a travel route for the transport robot 10, based on the information acquired by the transported object information acquisition unit 172 and the three-dimensional map data of the factory 24 stored in the map data storage unit 170. The travel route setting unit 174 sets the travel route for the transport robot 10 after the transported object 28 has been unloaded to a place in the factory 24 where the transported object is to be carried in. In addition, the travel route setting unit 174 guides the transport robot 10 to the garage 166 when the transport robot 10 becomes empty after traveling for a predetermined time.

[0082] The transport vehicle position estimation unit 176 estimates the position of each transport robot 10 based on the image data transmitted from the control device 64 and the three-dimensional map data of the factory 24 stored in the map data storage unit 170. The transport vehicle position estimation unit 176 then transmits a position signal indicating the position of the transport robot 10 to the control device 64.

[0083] The drive amount calculation unit 178 calculates the drive amount of the drive wheels 38 of each transport robot 10 for each predetermined time based on the travel path of the transport robot 10 set by the travel path setting unit 174 and the position of the transport robot 10 estimated by the transport vehicle position estimation unit 176. Then, a drive signal based on this drive amount is transmitted to the control device 64 via the communication unit 168.

[0084] (Actions and Effects of the Present Embodiment) Next, the operation and effects of this embodiment will be described.

[0085] 2, the transport robot 10 according to this embodiment includes a main body 16 and drive wheels 38 provided on the main body 16, and can transport the object 28 while the object 28 is placed on the upper side of the main body 16. In this embodiment, a storage bag 106 is provided on the main body 16, and by storing the object 28 in the storage bag 106, it is possible to prevent the object 28 from falling during transport.

[0086] Incidentally, from the viewpoint of securing a space for mounting the transported object 28, it is preferable that the outer shape of the transport robot 10 is large. On the other hand, if the outer shape of the transport robot 10 is large in a standby state in which the transport robot 10 is not transporting the transported object 28, it is considered that the space occupied by the transport robot 10 in the standby location will be large.

[0087] 3, in this embodiment, the containing bag 106 is deformable in the up-down direction of the main body 16. When a signal V1 is input to the actuator 108, the actuator 108 expands the containing bag 106 upward and downward from the main body 16. Therefore, when the transport robot 10 transports the object 28, the space capable of accommodating the object 28 can be expanded by inputting the signal V1 to the actuator 108.

[0088] On the other hand, when the signal V2 is input to the actuator 108, the actuator 108 contracts the containing bag 106 downward in the up-down direction of the main body 16. Therefore, when the transfer robot 10 is on standby, the containing bag 106 can be made smaller at least in the up-down direction of the main body 16 by inputting the signal V2 to the actuator 108.

[0089] 11, when the transport robot 10 is located near the garage 166, the diameter of the drive wheels 38 is reduced so that the diameter of the drive wheels 38 is minimized. Therefore, when the transport robot 10 is stored in the garage 166, the vertical dimension of the transport robot 10 is reduced, and the garage 166 can be prevented from expanding in the vertical direction.

[0090] Therefore, in the transport robot 10 according to this embodiment, the external shape of the transport robot 10 can be made small during standby while a mounting space for the transport object 28 is secured in the transport robot 10 during transport of the transport object 28. [Explanation of symbols]

[0091] 10. Transport Robot 16 Main body 28 Transported goods 38 Drive Wheel 106 Storage bag (storage section) 108 Actuator

Claims

[Claim 1] A main body portion on which an object to be transported can be placed; A drive wheel provided on the main body portion; A storage section provided in the main body section, capable of storing the object to be transported, and capable of deforming in the vertical direction of the main body section; an actuator that expands the storage portion upward in the up-down direction when a first signal is input thereto and contracts the storage portion downward in the up-down direction when a second signal is input thereto; having The drive wheel is deformable such that its width and diameter are inversely proportional to each other. Transport robot.

Images