Interlocking transport robot

Abstract

To provide an interlocking transport robot with improved uniformity of the intervals between transport robots. [Solution] The present invention provides an interlocking transport robot 1 equipped with transport robots including a first transport robot 10 and a second transport robot 20, wherein the first transport robot 10 has a first one-side LiDAR 19 provided on one side and a first one-side V-shaped groove V1 provided above or below the first one-side LiDAR 19 and opening in the width direction of the first transport robot 10, and the second transport robot 20 has a second other-side LiDAR 29 provided on the other side and a second other-side V-shaped groove V2 provided above or below the second other-side LiDAR 29 and opening in the width direction of the second transport robot 20, and the vertical positional relationship between the first one-side LiDAR 19 and the first one-side V-shaped groove V1 is opposite to the vertical positional relationship between the second other-side LiDAR 29 and the second other-side V-shaped groove V2.

Description

[Technical Field]

[0001] The present invention relates to an interlocking transfer robot equipped with transfer robots including a first transfer robot and a second transfer robot. [Background technology]

[0002] Patent Document 1 describes a plurality of carriages, each of which is configured to be movable in all directions by driving a plurality of omni-wheels attached thereto and which is provided with a placement section above which at least a part of an object to be transported is placed; self-information acquisition means provided on each carriage for acquiring self-information such as its own current traveling speed and current position and direction (including its own current relative position and direction with respect to a master, which will be described later, when it is a slave, which will be described later); master control means provided on one carriage (hereinafter referred to as the "master") which has been set as a master in advance among the plurality of carriages, for transmitting a master control signal for starting or stopping the master to the drive sections of each omni-wheel of the master to control the operation of each omni-wheel of the master; and one or more carriages (hereinafter referred to as "slave") which are set as slaves other than the master, which are provided on the master for transmitting a master control signal to the drive sections of each omni-wheel of the master to control the operation of each omni-wheel of the master. The transport vehicle system is characterized by comprising: slave instruction signal transmitting means for wirelessly transmitting to the slaves slave instruction signals for instructing the omni-wheels (referred to as "hubs") to start or stop, approximately simultaneously with the transmission of a master control signal to the drive units of each omni-wheel of the master; heteronomous control means provided in the slaves for controlling the operation of each of its own omni-wheels based on the slave instruction signals transmitted from the master; broadcast transmitting means provided in each vehicle for periodically wirelessly broadcasting its own self-information to other vehicles; broadcast receiving means provided in each vehicle for receiving information (self-information) about other vehicles broadcast from the other vehicles; and autonomous control means provided in each vehicle for autonomously controlling the operation of each of its own omni-wheels based on its own self-information and information about other vehicles broadcast from the other vehicles (self-information of the other vehicles). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-216007 Summary of the Invention [Problem to be solved by the invention]

[0004] In Patent Document 1, the current position of the cart is determined based on the movement of the rollers, which may cause the distance between the carts to shift, which may lead to cargo falling or the like.

[0005] The present invention has been made in view of the above circumstances, and has as its object to provide linked transport robots with improved uniformity of the intervals between the transport robots. [Means for solving the problem]

[0006] In order to achieve the above object, the present invention is realized by the following configuration. (1) The interlocking transport robot of the present invention is an interlocking transport robot including a first transport robot and a second transport robot, The first transport robot a first one-side LiDAR provided on one side; a first one-side V-shaped groove provided on the upper side or lower side of the first one-side LiDAR and opening in the width direction of the first transport robot; The second transport robot is A second other-side LiDAR provided on the other side; a second other-side V-shaped groove provided on the upper side or lower side of the second other-side LiDAR and opening in the width direction of the second transport robot; The vertical positional relationship between the first one-side LiDAR and the first one-side V-groove is opposite to the vertical positional relationship between the second other-side LiDAR and the second other-side V-groove.

[0007] (2) In the configuration of (1) above, the first transport robot includes a first load receiving unit that receives a load to be transported at an upper portion thereof; the second transport robot includes a second load receiving unit that receives a load to be transported at an upper portion thereof, The first cargo receiving section is capable of lifting and lowering and rotating 360°, The second cargo receiving section can be raised and lowered and rotated 360 degrees.

[0008] (3) In the configuration of (1) above, the first one-side LiDAR and the first one-side V-shaped groove are located at the center in the width direction of the first transport robot, The second other-side LiDAR and the second other-side V-groove are located at the center of the second transport robot in the width direction.

[0009] (3) In the configuration of (1) above, the first one-side LiDAR and the first one-side V-shaped groove are located at the center in the width direction of the first transport robot, The second other-side LiDAR and the second other-side V-groove are located at the center of the second transport robot in the width direction.

[0010] (4) In any of the configurations (1) to (3) above, The linked transport robot comprises: one or more third transport robots positioned between the first transport robot and the second transport robot; The third transport robot is a third one-sided LiDAR provided on one side; A third one-side V-shaped groove provided on the upper side or lower side of the third one-side LiDAR and opening in the width direction of the third transport robot; a third other-side LiDAR provided on the other side; a third other-side V-shaped groove provided on the upper side or lower side of the third other-side LiDAR and opening in the width direction of the third transport robot; a vertical positional relationship between the third one-side LiDAR and the third one-side V-shaped groove is reverse to a vertical positional relationship between the third other-side LiDAR and the third other-side V-shaped groove; The vertical positional relationship between the third other-side LiDAR and the third other-side V-groove is opposite to the vertical positional relationship between the first one-side LiDAR and the first one-side V-groove.

[0011] (5) In the configuration of (4) above, the third transport robot includes a third load receiving unit that receives a load to be transported at an upper portion thereof, The third cargo receiving section can be raised and lowered and rotated 360 degrees.

[0012] (6) In the configuration of (4) above, The third one-side LiDAR, the third one-side V-groove, the third other-side LiDAR, and the third other-side V-groove are located at the center in the width direction of the third transport robot. [Effects of the Invention]

[0013] According to the present invention, it is possible to provide linked transport robots with improved uniformity of the intervals between the transport robots. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a perspective view of an interlocking transfer robot according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a perspective view of a first transport robot according to the first embodiment of the present invention. [Figure 3] 1 is a perspective view of a drive steering unit including wheels according to a first embodiment of the present invention; [Figure 4] 1 is a perspective view showing a state in which a placement unit of a first transport robot according to a first embodiment of the present invention is raised. FIG. [Figure 5] 1 is a perspective view showing a state in which a load is being transported by an interlocking transport robot according to a first embodiment of the present invention. FIG. [Figure 6] FIG. 10 is a side view of an interlocking transfer robot according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0015] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a mode for carrying out the present invention (hereinafter referred to as an "embodiment") will be described in detail with reference to the accompanying drawings. It should be noted that the same elements are denoted by the same numbers or symbols throughout the description of the embodiments.

[0016] However, please note that in consideration of the ease of viewing the drawings, not all of the same elements are numbered or marked, and some elements are not numbered or marked.

[0017] <<First Embodiment>> An interlocking transfer robot 1 according to a first embodiment of the present invention will be described. FIG. 1 is a perspective view of an interlocking transfer robot 1 according to a first embodiment of the present invention, showing a first transfer robot 10 and a second transfer robot 20 aligned in a line during interlocking operation.

[0018] 1 is a perspective view seen from a direction in which the end portion EN1 on the other side of the first transfer robot 10 and the second transfer robot 20 can be seen.

[0019] As shown in FIG. 1, the linked transfer robot 1 includes a first transfer robot 10 and a second transfer robot 20. That is, the linked transfer robot 1 includes a transfer robot including a first transfer robot 10 and a second transfer robot 20.

[0020] As shown in FIG. 1, the linked transfer robot 1 operates in a linked manner with the first transfer robot 10 and the second transfer robot 20 lined up in series.

[0021] In the following, the forward direction (left direction in Figure 1) and backward direction (right direction in Figure 1) of the interlocking transport robot 1 may be referred to as the X direction, and in the X direction, the backward direction side will be referred to as one side, and the forward direction side will be referred to as the other side.

[0022] In addition, in order to clarify the relationship between the related configurations of the first transport robot 10 and the second transport robot 20, the terms "one side" and "the other side" are defined assuming a state in which the first transport robot 10 and the second transport robot 20 are aligned in a row during coordinated operation, as shown in Figure 1.

[0023] However, the forward direction side may be one side and the reverse direction side may be the other side. In that case, in the following explanation, it is sufficient to read "one side" as "the other side" and "the other side" as "one side." Therefore, please note that the forward direction side is not limited to the other side, and the reverse direction side is not limited to one side.

[0024] Furthermore, the width direction of the transport robots (the first transport robot 10 and the second transport robot 20), that is, the horizontal direction perpendicular to the X direction, may be referred to as the Y direction.

[0025] Furthermore, the up-down direction of the transport robots (first transport robot 10 and second transport robot 20), that is, the vertical direction perpendicular to both the X direction and the Y direction, may be referred to as the Z direction.

[0026] FIG. 2 is a perspective view of the first transport robot 10 according to the first embodiment of the present invention, as seen from a direction in which one end EN2 of the first transport robot 10 is visible.

[0027] As shown in Figure 2, the first transport robot 10 has a main body 11 having an external shape that is approximately rectangular, and wheels 12A (see Figure 3) that are not visible in the figure but are provided on the underside of the main body 11 corresponding to the four corners of the main body 11.

[0028] For example, the main body 11, which is substantially rectangular parallelepiped in shape, has a width of 1200 to 3500 mm, a length of 1800 to 2400 mm, and a height of 500 to 580 mm.

[0029] However, there is no need to be limited to these dimensions, and the dimensions themselves may be determined appropriately according to the intended use, for example, the type of cargo to be mainly transported (also simply referred to as cargo TFO).

[0030] As can be seen from Figure 1, the second transport robot 20 also has a main body 21 whose external shape is approximately rectangular parallelepiped, and wheels 12A (see Figure 3) that are not visible in the figure but are provided on the underside of the main body 21 corresponding to the four corners of the main body 21, and the width, length, and height of the approximately rectangular parallelepiped-shaped main body 21 are the same as the width, length, and height of the main body 11.

[0031] FIG. 3 is an oblique view of the drive steering unit 12 including the wheel 12A of the first embodiment of the present invention, showing one of the four drive steering units 12 that the first transport robot 10 and the second transport robot 20 each have.

[0032] The first transport robot 10 and the second transport robot 20 in the first embodiment are four-wheel drive, and each drive steering unit 12 is equipped with a wheel 12A, a drive encoder 12B that detects the rotational state of the wheel 12A, and a steering encoder 12C that detects the rotational state of the wheel 12A around a vertical axis (an axis in the up and down direction).

[0033] Therefore, since the rotational and pivotal states of each of the four wheels can be detected and controlled, the first transport robot 10 and the second transport robot 20 are capable of a variety of movements such as moving forward, backward, rotating in place, and moving sideways.

[0034] As shown in FIG. 2, the main body 11 of the first transfer robot 10 includes a lower part 11A and an upper part 11B. Although not shown in the figure, the first transport robot 10 is equipped with a drive unit, a secondary battery (a so-called battery), a speaker, and the like, which are provided in the lower portion 11A of the main body 11.

[0035] Furthermore, as shown in FIG. 1, the main body 21 of the second transfer robot 20, like the first transfer robot 10, includes a lower part 21A and an upper part 21B. Although not shown in the figure, the second transfer robot 20 also includes a drive unit, a secondary battery (a so-called battery), a speaker, and the like, which are provided in the lower portion 21A of the main body portion 21.

[0036] On the other hand, as shown in Figures 1 and 2, the first transport robot 10 is equipped with a power switch 13 provided on one side of the upper part 11B of the main body 11, LEDs as direction indicators 14 provided at each of the four upper corners of the upper part 11B of the main body 11, and emergency stop buttons 15 provided at each of the ends EN2 on one side and EN1 on the other side of the upper part 11B of the main body 11.

[0037] Like the first transport robot 10, the second transport robot 20 also has a power switch provided on the other side (the side not visible in Figure 1) of the upper part 21B of the main body 21, LEDs as direction indicators 24 provided at each of the four upper corners of the upper part 21B of the main body 21, and emergency stop buttons 25 provided at one end EN2 of the upper part 21B of the main body 21 and at the other end EN1.

[0038] The first transport robot 10 and the second transport robot 20 are equipped with a wireless communication unit (e.g., a communication device capable of Wi-Fi (registered trademark) communication), and when either the emergency stop button 15 or the emergency stop button 25 is pressed, the first transport robot 10 and the second transport robot 20 are simultaneously brought to an emergency stop.

[0039] In addition, as shown in Figures 1 and 2, the first transport robot 10 is equipped with bumper sensors 16 provided at one end EN2 of the lower part 11A of the main body 11 and below the other end EN1.

[0040] Like the first transport robot 10, the second transport robot 20 also has bumper sensors 26 provided at one end of the lower portion 21A of the main body 21 and below the other end EN1.

[0041] Bumper sensor 16 and bumper sensor 26 are equipped with, for example, a cushioning material (e.g., rubber) that absorbs impact during a collision and a switch provided on the back side of the cushioning material, and when the cushioning material collides with something, the switch is activated to perform an emergency stop.

[0042] As with the emergency stop button 15 and the emergency stop button 25, when either of the bumper sensors 16 and 26 collides with something and the switch is activated, the first transport robot 10 and the second transport robot 20 are simultaneously brought to an emergency stop.

[0043] As shown in FIGS. 1 and 2, the first transfer robot 10 also includes LiDARs 17 provided at the four corners between the lower portion 11A and the upper portion 11B.

[0044] More specifically, LiDAR 17 is a 3D-LiDAR that can acquire three-dimensional point cloud data of the forward side within a predetermined angle range, and can acquire the shape of a structure (e.g., an obstacle, etc.) and the distance to the structure in three dimensions.

[0045] The pair of LiDARs 17 provided on the other side function as LiDARs for navigation of the first transport robot 10, which functions as the master, when moving forward, and the pair of LiDARs 17 provided on one side function as LiDARs for obstacle avoidance.

[0046] Similar to the first transfer robot 10, the second transfer robot 20 includes LiDARs 27 provided at the four corners between the lower portion 21A and the upper portion 21B.

[0047] Like LiDAR17, LiDAR27 is a 3D-LiDAR that can acquire three-dimensional point cloud data of the forward side within a specified angle range, and can acquire the shape of structures (e.g., obstacles) and the distance to the structures in three dimensions.

[0048] The pair of LiDARs 27 provided on one side function as LiDARs for navigation of the second transport robot 20, which functions as the master, when moving backward, and the pair of LiDARs 27 provided on the other side function as LiDARs for obstacle avoidance.

[0049] FIG. 4 is a perspective view showing a state in which the placement unit 18A of the first transport robot 10 according to the first embodiment of the present invention is raised. FIG. 5 is a perspective view showing a state in which an article TFO is being transported by the interlocking transport robot 1 of the first embodiment according to the present invention.

[0050] As shown in FIGS. 1, 2, and 4, the first transport robot 10 has a first load receiving section 18 for receiving a load TFO (see FIG. 5) to be transported at its upper portion.

[0051] Specifically, the first receiving section 18 comprises a mounting section 18A having a disk-shaped base 18A1 and a pair of position fixing pins 18A2 provided on the upper side of the base 18A1, and a lifting mechanism 18B (see Figure 4) that raises and lowers the mounting section 18A within a range of, for example, approximately 100 mm.

[0052] For example, if the size of the first transport robot 10 is small, the lifting mechanism 18B may be an electric lifting mechanism, but conversely, if the size of the first transport robot 10 is large, it is preferable to use a hydraulic lifting mechanism, as it is expected that the weight of the load TFO to be transported will be heavy.

[0053] In addition, the first load receiving section 18 is capable of rotating 360°, and is capable of absorbing some rotational movement of the load TFO during transport. It is sufficient that at least the placement portion 18A is rotatable.

[0054] On the other hand, as shown in FIG. 1, the second transport robot 20, like the first transport robot 10, also has a second goods receiving section 28 for receiving goods TFO (see FIG. 5) to be transported above it.

[0055] Like the first receiving section 18, the second receiving section 28 is equipped with a mounting section 28A having a disk-shaped base 28A1 and a pair of position fixing pins 28A2 provided on the upper side of the base 28A1, and a lifting mechanism (not shown) that raises and lowers the mounting section 28A within a range of, for example, approximately 100 mm.

[0056] As explained above, the lifting mechanism (not shown) of the second cargo receiving section 28 may be an electric lifting mechanism if the size of the second transport robot 20 is small, but conversely, if the size of the second transport robot 20 is large, it is preferable to use a hydraulic lifting mechanism, as the weight of the cargo TFO to be transported is expected to be heavy.

[0057] Furthermore, like the first goods receiving section 18, the second goods receiving section 28 is capable of swiveling 360°, and is capable of absorbing some rotational movement of the goods TFO during transport. It is sufficient that at least the placement portion 28A is rotatable.

[0058] As shown in Figure 5, the interlocking transport robot 1 transports the cargo TFO by positioning the cargo TFO to bridge the gap between the first cargo receiving section 18 (see Figure 1) of the first transport robot 10 and the second cargo receiving section 28 (see Figure 1) of the second transport robot 20, while the first transport robot 10 and the second transport robot 20 work together to maintain a constant distance apart.

[0059] Note that Figure 5 shows a case where the first receiving section 18 (see Figure 1) and the second receiving section 28 (see Figure 1) directly receive the cargo TFO, but the first receiving section 18 (see Figure 1) and the second receiving section 28 (see Figure 1) may also receive the cargo TFO indirectly.

[0060] For example, a pallet or the like carrying the cargo TFO may be placed between the first cargo receiving section 18 (see Figure 1) of the first transport robot 10 and the second cargo receiving section 28 (see Figure 1) of the second transport robot 20 to bridge the gap, and the cargo TFO may be placed on the pallet or the like, so that the first cargo receiving section 18 (see Figure 1) and the second cargo receiving section 28 (see Figure 1) can indirectly receive the cargo TFO via the pallet or the like.

[0061] Furthermore, as explained above, both the first receiving section 18 (see Figure 1) of the first transport robot 10 and the second receiving section 28 (see Figure 1) of the second transport robot 20 are capable of being raised and lowered, so even if the height of the underside of the cargo TFO is slightly different between the part corresponding to the first receiving section 18 and the part corresponding to the second receiving section 28, the cargo TFO can be received by being raised and lowered.

[0062] As shown in Figure 5, the cargo TFO is positioned to bridge the gap between the first cargo receiving section 18 (see Figure 1) of the first transport robot 10 and the second cargo receiving section 28 (see Figure 1) of the second transport robot 20, and in order to transport the cargo TFO without it falling, it is important that the distance between the first transport robot 10 and the second transport robot 20 is kept constant during transport, and the configuration for this will now be described.

[0063] As shown in Figure 2, the first transport robot 10 is equipped with a first one-side LiDAR 19 provided on one side, and a first one-side V-shaped groove V1 provided above the first one-side LiDAR 19 and opening toward one side in the width direction (Y direction) of the first transport robot 10.

[0064] More specifically, the first one-side LiDAR 19 and the first one-side V-groove V1 are provided so as to be positioned at the center of the first transport robot 10 in the width direction (Y direction).

[0065] On the other hand, as shown in Figure 1, the second transport robot 20 is equipped with a second other-side LiDAR 29 provided on the other side, and a second other-side V-shaped groove V2 provided below the second other-side LiDAR 29 and opening toward the other side in the width direction of the second transport robot 20.

[0066] More specifically, the second other-side LiDAR 29 and the second other-side V-groove V2 are provided so as to be positioned at the center of the second transport robot 20 in the width direction (Y direction).

[0067] As described above, the vertical positional relationship between the first one-side LiDAR 19 and the first one-side V-groove V1 is opposite to the vertical positional relationship between the second other-side LiDAR 29 and the second other-side V-groove V2, and the vertical height positions of the first one-side LiDAR 19 and the second other-side V-groove V2 are approximately the same height position, and the vertical height positions of the second other-side LiDAR 29 and the first one-side V-groove V1 are approximately the same height position.

[0068] The first one-side LiDAR 19 and the second other-side LiDAR 29 are both 3D-LiDARs that can acquire three-dimensional point cloud data of the forward side within a predetermined angle range, and can acquire the shape of a structure (e.g., an obstacle) and the distance to the structure in three dimensions.

[0069] Therefore, the first one-side LiDAR19 detects the inner surface shape (also called the second other-side triangular recess) whose width becomes smaller the further it goes in the second other-side V-shaped groove V2 located at the same height position on the front, and the second other-side LiDAR29 detects the inner surface shape (also called the first one-side triangular recess) whose width becomes smaller the further it goes in the first one-side V-shaped groove V1 located at the same height position on the front.

[0070] Furthermore, since the widthwise center of the second other-side triangular recess is the widthwise center of the second transport robot 20, the first transport robot 10 can use this as a reference to align itself widthwise with the second transport robot 20 and accurately detect the distance.

[0071] Furthermore, since the widthwise center of the first one-sided triangular recess is the widthwise center of the first transport robot 10, the second transport robot 20 can align itself with the first transport robot 10 in the widthwise direction using this as a reference, and can also accurately detect the distance.

[0072] As described above, in the first embodiment, the widthwise position and separation distance between the first transport robot 10 and the second transport robot 20 are directly measured by the first one-side LiDAR 19 and the second other-side LiDAR 29, so misalignment is unlikely to occur.

[0073] Furthermore, in order to improve the measurement accuracy of the first one-side LiDAR 19, the measurement target is made a V-shaped recess, called the second other-side V-groove V2, which is highly shape-recognizable, and in order to improve the measurement accuracy of the second other-side LiDAR 29, the measurement target is made a V-shaped recess, called the first one-side V-groove V1, which is highly shape-recognizable, so that the widthwise position and separation distance can be measured accurately.

[0074] For example, when the linked transport robot 1 moves forward, the first transport robot 10 performs navigation driving, and the second transport robot 20 performs following driving based on the widthwise position and separation distance of the first transport robot 10, which are accurately measured by the second transport robot 20.

[0075] Conversely, when the linked transport robot 1 moves backward, the second transport robot 20 navigates and follows the second transport robot 20 based on the widthwise position and separation distance of the second transport robot 20 that are accurately measured by the first transport robot 10.

[0076] In addition, in the first embodiment, when the interlocking transport robot 1 moves laterally, the first transport robot 10 performs navigation driving and the second transport robot 20 performs following driving, but the reverse is also possible.

[0077] Furthermore, if the vertical positional relationship between the first one-side LiDAR 19 and the first one-side V-groove V1 is reversed to the vertical positional relationship between the second other-side LiDAR 29 and the second other-side V-groove V2, the first one-side LiDAR 19 and the second other-side V-groove V2 will face each other at the same height position, and the second other-side LiDAR 29 and the first one-side V-groove V1 will face each other at the same height position, so the upper limit relationship described above may be reversed.

[0078] In other words, the first transport robot 10 may have a first one-side LiDAR 19 provided on one side and a first one-side V-shaped groove V1 provided below the first one-side LiDAR 19 and opening toward one side in the width direction (Y direction) of the first transport robot 10, and the second transport robot 20 may have a second other-side LiDAR 29 provided on the other side and a second other-side V-shaped groove V2 provided above the second other-side LiDAR 29 and opening toward the other side in the width direction of the second transport robot 20.

[0079] <<Second embodiment>> Next, a description will be given of an interlocking transfer robot 1 according to a second embodiment of the present invention. FIG. 6 is a side view of the interlocking transport robot 1 of the second embodiment according to the present invention, showing the first transport robot 10, the second transport robot 20, and the third transport robot 30 aligned in a line during interlocking operation.

[0080] In FIG. 6, the first transport robot 10, the second transport robot 20, and the third transport robot 30 are shown in a simplified schematic diagram.

[0081] 6 shows a case where the interlocking transfer robot 1 includes, in addition to the first transfer robot 10 and the second transfer robot 20, one or more (two in this example) third transfer robots 30.

[0082] In the first embodiment, the case where the interlocking transport robot 1 is equipped with two transport robots, a first transport robot 10 and a second transport robot 20, is described, but the interlocking transport robot 1 may be equipped with three or more transport robots, and in the second embodiment, the case where the interlocking transport robot 1 further includes one or more third transport robots 30 positioned between the first transport robot 10 and the second transport robot 20 is described.

[0083] The third transport robot 30 basically has the same configuration as that described for the first transport robot 10 and the second transport robot 20, so below we will mainly explain the different configurations, and may omit explanations of the similar configurations.

[0084] As shown in Figure 6, the interlocking transport robot 1 has one or more (two in this example) third transport robots 30 positioned between the first transport robot 10 and the second transport robot 20, and the third transport robot 30 has a main body 31 having a lower part 31A and an upper part 31B, similar to the first transport robot 10 and the second transport robot 20.

[0085] Although not shown in the figure, the third transport robot 30 is equipped with a third receiving section that receives the transported cargo TFO (not shown) at the top, similar to the first receiving section 18 of the first transport robot 10 and the second receiving section 28 of the second transport robot 20, and the third receiving section is also capable of raising and lowering and rotating 360 degrees.

[0086] The third transport robot 30 is equipped with a third one-side LiDAR 392 provided on one side, a third one-side V-shaped groove V32 provided above the third one-side LiDAR 392 and opening toward one side in the width direction of the third transport robot 30, a third other-side LiDAR 391 provided on the other side, and a third other-side V-shaped groove V31 provided below the third other-side LiDAR 391 and opening toward the other side in the width direction of the third transport robot 30.

[0087] That is, the vertical positional relationship between the third one-side LiDAR 392 and the third one-side V-groove V32 is opposite to the vertical positional relationship between the third other-side LiDAR 391 and the third other-side V-groove V31.

[0088] Furthermore, similar to the first one-side LiDAR 19 and the first one-side V-groove V1 of the first transport robot 10, the third one-side LiDAR 392 and the third one-side V-groove V32 of the third transport robot 30 are arranged to be positioned at the center of the width direction (Y direction) of the third transport robot 30.

[0089] Furthermore, similar to the second other-side LiDAR 29 and the second other-side V-groove V2 of the second transport robot 20, the third other-side LiDAR 391 and the third other-side V-groove V31 of the third transport robot 30 are arranged to be positioned at the center in the width direction (Y direction).

[0090] The vertical positional relationship between the third other-side LiDAR 391 and the third other-side V-groove V31 is opposite to the vertical positional relationship between the first one-side LiDAR 19 and the first one-side V-groove V1.

[0091] Therefore, the vertical (Z direction) height positions of the first one-side LiDAR 19 and the third other-side V-shaped groove V31 are at approximately the same height position, and the vertical (Z direction) height positions of the third other-side LiDAR 391 and the first one-side V-shaped groove V1 are at approximately the same height position.

[0092] Furthermore, the vertical positional relationship between the third one-side LiDAR 392 and the third one-side V-groove V32 is opposite to the vertical positional relationship between the second other-side LiDAR 29 and the second other-side V-groove V2.

[0093] Therefore, the vertical (Z direction) height positions of the second other-side LiDAR 29 and the third one-side V-shaped groove V32 are approximately the same height position, and the vertical (Z direction) height positions of the third one-side LiDAR 392 and the second other-side V-shaped groove V2 are approximately the same height position.

[0094] Furthermore, even when looking between adjacent third transport robots 30, the vertical positional relationship between the third one-side LiDAR 392 and the third one-side V-shaped groove V32 of the third transport robot 30 located on the other side is reversed from the vertical positional relationship between the third other-side LiDAR 391 and the third other-side V-shaped groove V31 of the third transport robot 30 located on one side.

[0095] Therefore, even when looking between adjacent third transport robots 30, the vertical (Z direction) height positions of the third one-side LiDAR 392 of the third transport robot 30 located on the other side and the third other-side V-shaped groove V31 of the third transport robot 30 located on one side are arranged to be at approximately the same height position, and the vertical (Z direction) height positions of the third other-side LiDAR 391 of the third transport robot 30 located on one side and the third one-side V-shaped groove V32 of the third transport robot 30 located on the other side are arranged to be at approximately the same height position.

[0096] Therefore, as described in the first embodiment, the widthwise positions and separation distances between the first transport robot 10 and the third transport robot 30, between the third transport robot 30 and the third transport robot 30, and between the third transport robot 30 and the second transport robot 20 can be accurately measured, enabling good coordinated operation of the first transport robot 10, the second transport robot 20, and the third transport robot 30.

[0097] However, as the number of transport robots increases, costs also increase accordingly. If the load TFO is long, the distance between the first transport robot 10 and the second transport robot 20 can be set longer to accommodate a relatively long object. Therefore, it is considered a preferable form for the interlocking transport robot 1 to have only two transport robots, the first transport robot 10 and the second transport robot 20.

[0098] It should be noted that modifications and improvements to the above-described embodiments are also included within the technical scope of the present invention, and this will be apparent to those skilled in the art from the claims. [Explanation of symbols]

[0099] 1···Interlocking transport robot, 10···First transport robot, 18···First cargo receiving section, 19···First LiDAR on one side, 20···Second transport robot, 28···Second cargo receiving section, 29···Second LiDAR on the other side, 30···Third transport robot, 391···Third LiDAR on the other side, 392···Third LiDAR on one side, V1···First V-shaped groove on one side, V2···Second V-shaped groove on the other side, V31···Third V-shaped groove on the other side, V32···Third V-shaped groove on one side

Claims

1. An interlocking transport robot including a first transport robot and a second transport robot, The first transport robot A first one-sided LiDAR provided on one side; A first one-side V-shaped groove is provided on the upper side or lower side of the first one-side LiDAR and opens in the width direction of the first transport robot, The second transport robot is A second other-side LiDAR provided on the other side; A second other-side V-shaped groove is provided on the upper side or lower side of the second other-side LiDAR and opens in the width direction of the second transport robot, The vertical positional relationship between the first one-side LiDAR and the first one-side V-shaped groove is opposite to the vertical positional relationship between the second other-side LiDAR and the second other-side V-shaped groove, the first one-side LiDAR and the first one-side V-groove are located at the center of the first transport robot in the width direction, The second other-side LiDAR and the second other-side V-groove are located at the center of the second transport robot in the width direction. A linked transport robot characterized by the above.

2. the first transport robot includes a first load receiving unit that receives a load to be transported at an upper portion thereof; the second transport robot includes a second load receiving unit that receives a load to be transported at an upper portion thereof, The first cargo receiving section is capable of lifting and lowering and rotating 360°; 2. The linked transport robot according to claim 1, wherein the second receiving section is capable of moving up and down and rotating 360 degrees.

3. The linked transport robot comprises: one or more third transport robots positioned between the first transport robot and the second transport robot; The third transport robot is a third one-sided LiDAR provided on one side; A third one-side V-shaped groove provided on the upper side or lower side of the third one-side LiDAR and opening in the width direction of the third transport robot; A third other-side LiDAR provided on the other side; a third other-side V-groove provided on the upper side or lower side of the third other-side LiDAR and opening in the width direction of the third transport robot; The vertical positional relationship between the third one-side LiDAR and the third one-side V-shaped groove is reverse to the vertical positional relationship between the third other-side LiDAR and the third other-side V-shaped groove, The vertical positional relationship between the third other-side LiDAR and the third other-side V-shaped groove is opposite to the vertical positional relationship between the first one-side LiDAR and the first one-side V-shaped groove, The third one-side LiDAR, the third one-side V-shaped groove, the third other-side LiDAR, and the third other-side V-shaped groove are located at the center in the width direction of the third transport robot.

3. The linked transport robot according to claim 1 or 2.

4. the third transport robot includes a third load receiving unit that receives a load to be transported at an upper portion thereof, 4. The linked transport robot according to claim 3, wherein the third receiving section is capable of moving up and down and rotating 360 degrees.

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