Robots and robot systems

Abstract

Provided is a robot comprising: a manipulator holding part for holding at least one manipulator; a linking part that is connected to a base part so as to be freely rotatable about a vertical axis or an axis that is substantially parallel to the vertical axis; and a guide part that is connected, at one end thereof, to the linking part so as to be freely swingable, and that includes a guide rail for guiding the linear movement of the manipulator holding part.

Description

[Technical Field]

[0001] The present invention relates to a robot or a robot system equipped with a manipulator. [Background technology]

[0002] 2. Description of the Related Art Robots that perform work by fixing a manipulator to a base or a moving carriage are known.

[0003] For example, Patent Document 1 discloses a robot equipped with an arm on a base equipped with wheels, and Patent Document 2 discloses a luggage transport robot equipped with a dual-arm robot on a vehicle section. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-056661 [Patent Document 2] Patent Publication No. 2021-49633 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in this type of robot, there is an area that cannot be operated by the manipulator without moving the base or the moving carriage, and the working area is therefore limited.

[0006] For example, in the robot described in Patent Document 1, objects in front of the base can be manipulated using an arm, but objects on the left, right, or rear cannot be manipulated unless the base is moved or rotated.

[0007] Furthermore, in the robot described in Patent Document 2, due to its structure, it was not possible to manipulate an object near the base of the body support arm attached to the vehicle unit without moving the vehicle unit.

[0008] The present invention has been made in view of the above-mentioned technical background, and an object thereof is to provide a robot with a wide working area that can access in all three-dimensional directions using a manipulator. [Means for solving the problem]

[0009] The above-mentioned technical problems can be solved by a robot or the like having the following configuration.

[0010] That is, the robot of the present invention comprises a manipulator support section that supports one or more manipulators, a connecting section that is connected to the base section so as to be rotatable around a vertical axis or an axis approximately parallel to the vertical axis, and a guide section that is connected at one end to the connecting section so as to be swingable relative to the connecting section and includes a guide rail section that guides the linear movement of the manipulator support section.

[0011] With this configuration, the manipulator support part can be rotated around a vertical axis or an axis approximately parallel to the vertical axis relative to the base part, so that the manipulator can be used to access in all directions, including forward, backward, left and right. Also, since the manipulator support part moves linearly along the guide part, it can be moved to a position far or near from the connecting part connected to one end of the guide part, for example, in the direction of height if the guide part is upright, even if the guide part is tilted. stomach In other words, it is possible to provide a robot with a wide working area that can access in all three-dimensional directions using a manipulator.

[0012] The rotation axis between the base portion and the connecting portion may be perpendicular to the swing center axis of the guide portion.

[0013] Such a configuration can be simplified to prevent the generation of unnecessary torque, and can also facilitate the dynamic calculations involved in controlling the robot.

[0014] The swing center axis may be perpendicular to the longitudinal axis of the guide rail portion.

[0015] Such a configuration can be simplified to prevent the generation of unnecessary torque, and can also facilitate the dynamic calculations involved in controlling the robot.

[0016] The manipulator support portion may include a hollow housing, and the hollow housing may house the guide rail portion when the manipulator support portion is closest to the connecting portion.

[0017] According to this configuration, the guide rail can be protected by using the housing of the manipulator support part, thereby improving, for example, waterproofness, dustproofness, etc. Furthermore, even when the manipulator support part is closest to the connecting part, the guide rail does not protrude from the hollow housing, so it does not interfere with other members provided in the hollow housing, such as a head attached to the hollow housing.

[0018] When the guide unit is swung until the guide rail becomes parallel to the top surface of the base unit, a predetermined distance may be provided between the housing of the manipulator support unit and the base unit.

[0019] With this configuration, even if the guide part is swung until the guide rail is parallel to the top surface of the base part, the housing of the manipulator support part does not come into contact with the base part, so that the manipulator can be used to perform work at low positions without damaging the manipulator support part.

[0020] When the rotation axis between the base portion and the connecting portion is parallel to the longitudinal axis of the guide rail, a predetermined distance may be provided between the rotation axis and the longitudinal axis.

[0021] According to this configuration, the distance (offset) between the rotation axis and the longitudinal axis of the guide rail can be utilized to compactly arrange the drive mechanism and the like near the rotation axis.

[0022] The connecting portion and the guide portion may be joined by a double-supported structure.

[0023] With this configuration, it is possible to provide sufficient strength to the portion that is likely to be subjected to a large load torque, thereby preventing damage due to an overload and improving safety.

[0024] The base may be a movable body.

[0025] According to this configuration, it is possible to provide a robot that can move freely using a moving body and, at the destination, can access in all three-dimensional directions with high accuracy without moving the moving body.

[0026] The robot may have a reference movement direction, and the connecting portion may be coupled to the top surface of the base portion in a region closer to the center in the opposite direction to the reference movement direction.

[0027] With this configuration, the center of the top surface of the base unit or an area closer to the reference movement direction can be used as a placement area for an object to be manipulated by a manipulator or the like.

[0028] The moving body may be a crawler.

[0029] With this configuration, the crawler can move freely.

[0030] The moving body may be an omnidirectional moving vehicle.

[0031] With this configuration, the omnidirectional moving vehicle can move freely.

[0032] The cross section of the connecting portion parallel to the top surface of the base portion may be circular.

[0033] With this configuration, even when the connecting portion is rotated, it is possible to reduce the possibility of interference with other members or moving mechanisms on the top surface of the base portion.

[0034] The manipulator may be an articulated robotic arm.

[0035] With this configuration, rotation by the rotary shaft, oscillation by the swing shaft, and linear motion by the guide part are combined, and a multi-joint robot arm with a high degree of freedom can be used to freely access surrounding objects, etc.

[0036] The manipulator may be a pair of left and right articulated robot arms.

[0037] With this configuration, the pair of left and right articulated robot arms (two arms) can freely access surrounding objects by combining rotation around the rotation axis, swinging around the swing axis, and linear motion by the guide part.

[0038] The manipulator may be a gripper.

[0039] According to this configuration, the gripper can freely access surrounding objects by combining rotation by the rotation shaft, swinging by the swing shaft, and linear motion by the guide portion.

[0040] The present invention can also be conceived as a system. That is, the system according to the present invention includes a manipulator support unit that supports one or more manipulators, a connecting unit that is connected to a base unit so as to be rotatable about a vertical axis or an axis approximately parallel to the vertical axis, and a guide unit that is connected at one end to the connecting unit so as to be swingable relative to the connecting unit and includes a guide rail unit that guides the linear movement of the manipulator support unit. [Effects of the Invention]

[0041] According to the present invention, it is possible to provide a robot with a wide working area that can access all directions in three dimensions using a manipulator. [Brief explanation of the drawings]

[0042] [Figure 1] FIG. 1 is a perspective view (part 1) of the robot's exterior. [Figure 2] FIG. 2 is a perspective view (part 2) of the robot's exterior. [Figure 3] FIG. 3 is an explanatory diagram regarding the arrangement of the drive axes of the robot. [Figure 4] FIG. 4 is an explanatory diagram relating to the operation of rotating the structure above the connecting portion around the yaw axis (J1). [Figure 5] FIG. 5 is an explanatory diagram relating to the operation of swinging the structure above the guide section around the pitch axis (J2). [Figure 6] FIG. 6 is an explanatory diagram of a connecting mechanism between the connecting portion and the guide portion. [Figure 7] FIG. 7 is an explanatory diagram regarding the lifting and lowering operation along the drive shaft (J3) of the configuration above the body connecting member. [Figure 8] FIG. 8 is an explanatory diagram showing the detailed structure between the body connecting member and the guide rail. [Figure 9] FIG. 9 is an explanatory diagram showing the robot in a posture tilted forward by 90 degrees. [Figure 10] FIG. 10 is an external perspective view (modification) of a robot equipped with a full-body carriage. [Figure 11] FIG. 11 is an explanatory diagram (modification) of a robot equipped with a gripper. DETAILED DESCRIPTION OF THE INVENTION

[0043] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0044] (1. First embodiment) As a first embodiment, an example in which the present invention is applied to a robot 100 equipped with a crawler as a movement mechanism and a pair of arms as a manipulator will be described. Note that although the robot 100 is described as being equipped with a movement mechanism in this embodiment, it is not necessary for it to be equipped with a movement mechanism. Therefore, for example, the robot may simply be configured to be placed on a base or the like. It may also be configured as a system including the robot 100.

[0045] (1.1 Robot Configuration) First, the configuration of the robot 100 will be described.

[0046] FIG. 1 is a perspective view (part 1) of the exterior of a robot 100 according to this embodiment. As is clear from the figure, the robot 100 comprises a head 1 and a roughly rectangular parallelepiped torso 4 that supports the head 1 and two arms (a right arm 2 and a left arm 3) extending from the left and right. The torso 4 is configured to be able to move up and down (or extend and contract) along a guide rail that corresponds to the long side of a roughly J-shaped guide unit 5. The lower end of the guide unit 5 is connected to a crawler 8 via a connecting unit 6.

[0047] In this embodiment, the robot 100 has a reference movement direction, and in the figure, the robot 100 faces the reference movement direction. In the following description, the reference movement direction of the robot 100 will be referred to as the front, and the opposite direction will be referred to as the back, and the direction of the right arm 2 as seen from the robot 100 will be referred to as the right, the direction of the left arm 3 as the left, a vertically downward direction as down, and a vertically upward direction as up.

[0048] Each drive axis, which will be described later, is driven by a control mechanism and a drive mechanism (not shown) provided within the robot 100. Furthermore, the robot 100 is also provided with a power supply system (not shown).

[0049] The head 1 is equipped with sensors such as a camera, allowing it to recognize its surroundings. The head 1 is also configured to rotate around a drive shaft that extends vertically from near the center of the top surface of the torso 4, and also rotate around a drive shaft that is perpendicular to the drive shaft and extends in the shoulder width direction. In other words, the head 1 has two degrees of freedom, allowing it to observe up, down, left, and right.

[0050] The right arm 2 and the left arm 3 are each an articulated robot arm having seven degrees of freedom.

[0051] As will be described later, by using an articulated robot arm with a high degree of freedom, in addition to the effect of the axis arrangement described later, it is possible to access surrounding objects more freely.

[0052] The body part 4 is configured to move linearly along a guide rail provided on the guide part 5. Fig. 1 shows the body part 4 when it is positioned at the highest position (upper limit) relative to the guide rail.

[0053] 2 is a second perspective view of the exterior of the robot 100. In the drawing, the body 4 is disposed at the lowest position (lower limit) relative to the guide rail.

[0054] According to this configuration, the body 4 can be moved linearly from the connecting portion 6 connected to one end of the guide portion 5 to the other end. For example, if the robot 100 is standing upright, the body 4 can be moved in a vertical direction. stomach This allows access in the forward and backward directions using a manipulator.

[0055] The crawler 8 has a base portion 82 having an oval vertical cross section, and a right belt 81 and a left belt 83 that are arranged on both the left and right sides of the base portion 82 and are independently driven to rotate.

[0056] The top surface of the base part 82 is configured to be flat, and the connecting part 6 is connected to the top surface of the base part 82 in an area closer to the direction opposite to the reference movement direction from the center of the top surface (behind the center).

[0057] With this configuration, the center of the top surface of the base unit 82 or an area closer to the reference movement direction can be used as a placement area for an object to be manipulated by the manipulators 2 and 3. Furthermore, even if the torso 4 of the robot 100 is swung relative to the reference movement direction, tipping over due to a shift in the center of gravity can be prevented.

[0058] The connecting portion 6 has two connecting mechanisms, one at the top and one at the bottom. The lower connecting mechanism of the connecting portion 6 is used for connecting to the base portion 82, and the upper connecting mechanism of the connecting portion 6 is used for connecting to the guide portion 5.

[0059] The connecting mechanism at the bottom of the connecting part 6 is connected to the base part 82 so as to be rotatable around a drive shaft (J1, see FIG. 3) extending vertically upward from the base part 82. At this time, the base part 82 at the bottom of the connecting part 6 of On the top parallel Na Cut off The surface is circular.

[0060] With this configuration, since there are no corners, even when the connecting part is rotated, the possibility of interference with objects on the top surface of the base part 82 or parts of the moving mechanism, such as belts 81, 83 related to the crawler 8, can be reduced.

[0061] Meanwhile, the connecting mechanism at the top of the connecting part 6 is connected to the lower end of the guide part 5 so as to be rotatable around a drive shaft (J2, see FIG. 3) extending to the left and right of the robot 100. That is, by rotating around this drive shaft, the guide part 5 can be swung back and forth.

[0062] 3 is an explanatory diagram of the arrangement of the drive shaft of the robot 100 according to this embodiment. To explain the principle, the diagram shows a schematic configuration of, from bottom to top, the base 82, the connecting part 6, the guide part 5, and the torso connecting member 42. The torso connecting member 42 is disposed inside the torso 4 and moves integrally with the torso 4.

[0063] As is clear from the figure, the connecting part 6 is connected to the top surface of the base part 82 in a manner that allows it to rotate around a drive shaft (J1) that extends vertically upward from the base part 82. This drive shaft (J1) allows the components above the connecting part 6 (connecting part 6, guide part 5, body part 4, head part 1, right arm part 2, left arm part 3) to rotate.

[0064] Furthermore, the connecting part 6 is connected to the lower end of the guide part 5 in such a manner that the guide part 5 and the subsequent components (guide part 5, torso part 4, head part 1, right arm part 2, left arm part 3) can be swung about a drive shaft (J2) that is perpendicular to the drive shaft (J1) and extends to the left and right of the robot 100. This drive shaft (J2) allows the guide part 5 and the subsequent components to be swung relative to the connecting part 6.

[0065] Furthermore, the torso connecting member 42 is coupled to the guide rail in a manner that allows linear movement along the longitudinal axis (J3) of the guide rail. This drive shaft (J3) allows the torso connecting member 42 and the rest of the structure (the torso connecting member 42, torso 4, head 1, right arm 2, and left arm 3) to move linearly.

[0066] In the following description, the drive shaft (J1) may be referred to as the yaw axis, and the drive shaft (J2) as the pitch axis.

[0067] In this embodiment, the yaw axis (J1) is perpendicular to the pitch axis (J2), which is also perpendicular to the longitudinal axis (J3) of the guide rail.

[0068] Such a configuration can be simplified to prevent the generation of unnecessary torque, and can also facilitate the dynamic calculations involved in controlling the robot.

[0069] (1.2 Robot behavior) Next, the operation of the robot 100 having the above configuration will be described in detail.

[0070] FIG. 4 is an explanatory diagram relating to the operation of rotating the structure above the connecting portion 6 around the yaw axis (J1).

[0071] In the initial state, the robot 100 is facing the reference movement direction (the direction of the arrow extending from the center of the connector 6 in the figure) (FIG. 4(A)). From this state, the robot 100 can be oriented in any direction by rotating the connector 6 and the components above it around the yaw axis (J1). As an example, FIG. 4(B) depicts the state when the connector 6 and the components above it are rotated 90° to the right around the yaw axis (J1).

[0072] FIG. 5 is an explanatory diagram relating to the operation of swinging the guide unit 5 and the other components around the pitch axis (J2).

[0073] The guide unit 5 and the subsequent components can be freely swung as long as they do not collide with the base unit 82. For example, as shown in Fig. 8(A), the guide unit 5 and the subsequent components can be tilted forward relative to the connecting unit 6, or as shown in Fig. 8(B), the guide unit 5 and the subsequent components can be tilted backward relative to the connecting unit 6.

[0074] 6 is an explanatory diagram of the connection mechanism between the connecting portion 6 and the guide portion 5. FIG. 6(A) is a perspective view of the actual connection mechanism, and FIG. 6(B) is a schematic diagram thereof. As is clear from these figures, the lower end of the guide portion 5 is connected to the connecting portion 6 so as to sandwich the upper portion of the connecting portion 6 from both sides. In other words, the connecting portion 6 and the lower end of the guide portion 5 are connected by a so-called double-supported structure.

[0075] With this configuration, the portions of the guide portion 5 and above that are subjected to the load torque due to the swinging of the structure can be made strong enough, preventing damage due to an overload and improving safety.

[0076] 7A and 7B are explanatory diagrams of the lifting and lowering operation along the drive shaft (J3) of the configuration above the torso connecting member 42. Fig. 7A shows the case where the torso connecting member 42 is located at the upper end (upper limit). As is clear from the figure, the motor 41 and the torso connecting member 42 are located inside the hollow housing of the torso 4 of the robot 100 (see the dashed line in the figure).

[0077] 1B shows the case where the trunk portion connecting member 42 is located at the lower end (lower limit). As is clear from the figure, even when the trunk portion 4 is at the lower limit, the guide rail is contained within the trunk portion 4 and does not protrude from the upper end.

[0078] According to this configuration, the guide rail can be protected by the housing of the body 4, thereby improving waterproofness, dustproofness, etc. Furthermore, since the guide rail does not protrude from the body 4, it does not interfere with other members provided on the body 4, such as the head 1.

[0079] 8 is an explanatory diagram showing the detailed structure between the body connecting member 42 and the guide rail. In the center of the figure, a guide rail corresponding to the long side of the substantially J-shaped guide section 5 is depicted. The body connecting member 42 slides while engaging with the guide rail, thereby raising and lowering the body 4, which is attached to the body connecting member 42 and moves integrally therewith.

[0080] 9 is an explanatory diagram showing the forward tilt posture of the robot 100 when the guide unit 5 and other components are swung forward by 90° around the pitch axis (J2) from an upright state. At this time, the guide rail is parallel to the top surface of the base unit 82.

[0081] As is clear from the figure, even when the body part 4 is swung by 90° in this manner, a predetermined distance (offset) d is provided between the body part 4 and the base part 82.

[0082] With this configuration, even if the guide unit 5 and the other components are swung 90 degrees, the housing associated with the torso unit 4 does not come into contact with the base unit 82, so that work at low positions can be performed with the dual arms 2 and 3 without damaging the torso unit 4.

[0083] Furthermore, since the robot can move using the crawler 8 while maintaining a forward leaning state (or horizontal state), it can be active even in areas with limited height.

[0084] According to the above configuration, it is possible to provide the robot 100 having a wide working area that can be accessed in all three-dimensional directions by the manipulator.

[0085] Furthermore, with the above configuration, it is possible to provide a robot 100 that can move freely using a moving body, and at the destination, can access in all three-dimensional directions with high accuracy without moving the moving body.

[0086] (2. Modifications) The present invention can be implemented in various modifications.

[0087] In the above-described embodiment, the crawler 8 is used as the transfer mechanism. However, the present invention is not limited to such a configuration. Therefore, other transfer mechanisms, such as an omnidirectional moving carriage, may be used.

[0088] 10 is a perspective view of the appearance of a robot 200 equipped with an omnidirectional mobile platform. In this figure, the configuration from the connecting part 6 onwards is the same as that shown in the above embodiment, so a description thereof will be omitted.

[0089] The robot 200 is equipped with an omnidirectional moving carriage 9 instead of the crawler 8. The omnidirectional moving carriage 9 has a base 95 having a substantially circular horizontal cross section, and drive wheels 91 to 94 (94 not shown) are provided on all four sides of the bottom surface of the base 95.

[0090] With this configuration, the omnidirectional moving carriage 9 can move freely.

[0091] In the above-described embodiment, a pair of arms is used as the manipulator. However, the present invention is not limited to such a configuration. Therefore, other manipulators, such as a gripper, may be used.

[0092] 11 is an explanatory diagram of a robot 300 equipped with an omnidirectional moving carriage as a moving mechanism and a gripper 46 as a manipulator. FIG. 11(A) is an external perspective view of the robot 300, and FIG. 11(B) is a front view of the robot 300.

[0093] As is clear from these figures, in the robot 300, a connecting part 65 that rotates around the yaw axis (J1) is disposed on the top surface of the omnidirectional mobile carriage 150, as in the first embodiment. The upper part of the connecting part 65 is connected to the lower end of a substantially J-shaped guide part 55 so as to be rotatable around the pitch axis (J2). A slide member 45 is attached to a guide rail that corresponds to the long side of the J-shaped guide part 55 in such a manner that it can move up and down along the guide rail.

[0094] A gripper 46 is attached to the front surface of the slide member 45. The gripper 46 has a support portion 463 that supports a pair of clamping plates 461 and 462. By opening and closing the clamping plates 461 and 462, an object can be gripped.

[0095] With this configuration, the gripper can freely access surrounding objects by combining rotation around the yaw axis, swinging around the pitch axis, and linear motion by the guide portion.

[0096] Although the embodiments of the present invention have been described above, the above embodiments merely illustrate some of the application examples of the present invention, and the technical scope of the present invention is not intended to be limited to the specific configurations of the above embodiments. Furthermore, the above embodiments can be combined as appropriate within the scope of not causing any contradiction. [Industrial Applicability]

[0097] The present invention can be used in the robot manufacturing industry. [Explanation of symbols]

[0098] 1 head 2 Right arm 3 Left arm 4. Torso 41 Motor 42 Body connection part 45 Slide member 46 Gripper 461 Holding plate (right) 462 Holding plate (left) 463 Support part 5 Guide section 55 Guide section 6 Connecting part 65 Connecting part 8 Crawler 81 Belt (right) 82 Base 83 Belt (left) 9 Omnidirectional moving trolley 91 Drive wheels 92 Drive wheels 93 Drive wheels 94 Drive wheels 95 Base 100 robots 150 Omnidirectional moving trolley 151 Drive wheels 152 Drive wheels 153 Drive Wheel 154 Drive wheels 155 Base 200 Robot (variant) 300 Robot (variant)

Claims

1. a manipulator support portion that supports one or more manipulators; a connecting portion coupled to the base portion so as to be rotatable about a vertical axis or an axis substantially parallel to the vertical axis; a guide portion including a guide rail portion pivotably coupled to the connecting portion at one end thereof and guiding the linear motion of the manipulator support portion; Equipped with the manipulator support includes a hollow housing; The hollow housing accommodates the guide rail portion when the manipulator support portion is closest to the connecting portion.

2. The robot according to claim 1 , wherein a rotation axis between the base portion and the connecting portion is perpendicular to a swing center axis of the guide portion.

3. The robot according to claim 1 , wherein the swing center axis of the guide portion is perpendicular to the longitudinal axis of the guide rail portion.

4. A manipulator support part that supports one or more manipulators; a connecting portion coupled to the base portion so as to be rotatable about a vertical axis or an axis substantially parallel to the vertical axis; a guide portion including a guide rail portion pivotably coupled to the connecting portion at one end thereof and guiding the linear motion of the manipulator support portion; Equipped with A robot in which, when the guide portion is swung until the guide rail portion is parallel to the top surface of the base portion, a predetermined distance is provided between a housing associated with the manipulator support portion and the base portion.

5. A manipulator support part that supports one or more manipulators; a connecting portion coupled to the base portion so as to be rotatable about a vertical axis or an axis substantially parallel to the vertical axis; a guide portion including a guide rail portion pivotably coupled to the connecting portion at one end thereof and guiding the linear motion of the manipulator support portion; Equipped with A robot wherein when a rotation axis between the base portion and the connecting portion and a longitudinal axis of the guide rail portion are parallel to each other, a predetermined distance is provided between the rotation axis and the longitudinal axis.

6. The robot according to claim 1 , wherein the connecting portion and the guide portion are joined together by a double-supported structure.

7. a manipulator support portion that supports one or more manipulators; a connecting portion coupled to the base portion so as to be rotatable about a vertical axis or an axis substantially parallel to the vertical axis; a guide portion including a guide rail portion pivotably coupled to the connecting portion at one end thereof and guiding the linear motion of the manipulator support portion; Equipped with a rotation axis between the base portion and the connecting portion is perpendicular to a swing center axis of the guide portion; the swing center axis is perpendicular to the longitudinal axis of the guide rail portion, the manipulator support includes a hollow housing; the hollow housing accommodates the guide rail portion when the manipulator support portion is closest to the connecting portion, when the guide unit is swung until the guide rail unit is parallel to the top surface of the base unit, a predetermined distance is provided between a housing associated with the manipulator support unit and the base unit, When a rotation axis between the base portion and the connecting portion and a longitudinal axis of the guide rail portion are parallel to each other, a predetermined distance is provided between the rotation axis and the longitudinal axis, The robot, wherein the connecting portion and the guide portion are connected by a double-supported structure.

8. The robot according to any one of claims 1 to 7, wherein the base part is a moving body.

9. the robot has a reference direction of movement; The robot according to claim 8 , wherein the connecting portion is coupled to the top surface of the base portion in a region closer to the center in the direction opposite to the reference movement direction.

10. The robot according to claim 8 , wherein the moving body is a crawler.

11. The robot according to claim 8 , wherein the moving body is an omnidirectional moving cart.

12. The robot according to any one of claims 1 to 11, wherein a cross section of the connecting portion parallel to the top surface of the base portion is circular.

13. The robot according to any one of claims 1 to 12, wherein the manipulator is an articulated robot arm.

14. The robot according to any one of claims 1 to 12, wherein the manipulator is a pair of left and right articulated robot arms.

15. The robot according to any one of claims 1 to 12, wherein the manipulator is a gripper.

16. a manipulator support portion that supports one or more manipulators; a connecting portion coupled to the base portion so as to be rotatable about a vertical axis or an axis substantially parallel to the vertical axis; a guide portion including a guide rail portion pivotably coupled to the connecting portion at one end thereof and guiding the linear motion of the manipulator support portion; Equipped with the manipulator support includes a hollow housing; The hollow housing accommodates the guide rail portion when the manipulator support portion is closest to the connecting portion.

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