manipulator

Abstract

To provide a manipulator capable of preventing tipping over while ensuring workability.SOLUTION: A manipulator 1 comprises a: traveling body 2; and an arm unit 3 connected to the traveling body 2. The arm unit 3 includes a holding unit 31 that holds an object 10 to be moved. The arm unit 3 is configured to be able to move the holding unit 31 relative to the traveling body 2. The manipulator 1 also comprises an action unit 4 that applies a force in a downward direction Z1 to the manipulator 1.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a manipulator.

Background Art

[0002] For example, as disclosed in Patent Document 1, a manipulator including a vehicle and a manipulator arm attached to the vehicle is known. The manipulator described in Patent Document 1 aims to be reduced in size and weight so that it can be used at a work site with a narrow work space and a small floor load-bearing capacity, and the vehicle is moved so that the center of gravity of the manipulator is located within a predetermined region centered on the vehicle, thereby preventing tipping.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, since the manipulator described in Patent Document 1 aims to be reduced in size and weight, the area surrounded by a plurality of support points that support the vehicle, that is, the grounding portions of a plurality of wheels, tends to be narrow, and the above-mentioned predetermined region tends to be narrow. Further, when the manipulator grips a workpiece with the manipulator arm, the manipulator described in Patent Document 1 moves the vehicle so that the center of gravity of the manipulator is located within the predetermined region, so the posture of the manipulator arm is likely to be restricted. Therefore, it can be said that the manipulator described in Patent Document 1 has room for improvement from the viewpoint of ensuring workability.

[0005] The present invention has been made in view of such problems, and aims to provide a manipulator that can prevent tipping while ensuring workability.

Means for Solving the Problems

[0006] This invention First The configuration includes a running body (2) and A manipulator (1) comprising an arm portion (3) connected to the traveling body, The arm portion described above has a holding portion (31) for holding the object to be moved (10), and is configured to be able to move the holding portion relative to the traveling body. The above manipulator is equipped with an action part (4) that applies a downward force (Z1) (F1). picture, The operating part has a distance adjustment part (5) that adjusts the distance between the operating part and the floor (11) on which the traveling body travels, The above-mentioned vehicle comprises a housing (22) and a plurality of wheels (21). Each of the above wheels has a wheel portion (211) and a tire portion (212), The above wheel section is configured to be deformable into two predetermined shapes by an actuator. The tire portion is made of a material with rubber elasticity, and the shape of the tire portion deforms in accordance with the deformation of the wheel portion. The wheel described above is the distance adjustment unit, and is configured such that the distance between the operating unit and the floor changes as the wheel deforms. It's located on the manipulator. A second aspect of the present invention is a traveling body (2) and A manipulator (1) comprising an arm portion (3) connected to the traveling body, The arm portion described above has a holding portion (31) for holding the object to be moved (10), and is configured to be able to move the holding portion relative to the traveling body. The above manipulator is equipped with an action part (4) that applies a downward force (Z1) (F1), The above-mentioned action part applies an upward force (Z2) (F2) to the outside of the manipulator, thereby applying a downward force to the manipulator. The above-mentioned working part is a rotor (45), and the manipulator is a manipulator that, by operating the rotor, applies an upward force to the outside air, and as a reaction thereto, applies a downward force to the manipulator. A third aspect of the present invention is a traveling body (2) and A manipulator (1) comprising an arm portion (3) connected to the traveling body, The arm portion described above has a holding portion (31) for holding the object to be moved (10), and is configured to be able to move the holding portion relative to the traveling body. The above manipulator is equipped with an action part (4) that applies a downward force (Z1) (F1), The above-mentioned action part applies an upward force (Z2) (F2) to the outside of the manipulator, thereby applying a downward force to the manipulator. The above-mentioned working part is an extendable rod-shaped part (46), A caster part (47) is attached to the tip of the rod-shaped part mentioned above. The above-described manipulator extends the rod-shaped portion upward, thereby pressing the ceiling (17) against the caster portion which is rotatably attached to the rod-shaped portion, and applying an upward force to the ceiling. [Effects of the Invention]

[0007] The above-described manipulator includes an operating part. Therefore, it is possible to prevent tipping when the holding part that holds the object to be moved is moved by the arm part, or when the holding part holds the object to be moved. As a result, tipping can be prevented while ensuring work efficiency.

[0008] As described above, according to the above aspect, it is possible to provide a manipulator that can prevent falling while ensuring workability. Note that the reference signs in parentheses described in the claims and the means for solving the problems indicate the correspondence with the specific means described in the embodiments described later, and do not limit the technical scope of the present invention.

Brief Description of the Drawings

[0009] [Figure 1] External view of the manipulator in Embodiment 1. [Figure 2] View showing the downward force acting on the manipulator and the upward force acting on the floor in Embodiment 1. [Figure 3] External view of the manipulator in Embodiment 2. [Figure 4] External view near the working part in Embodiment 2, showing the state where the working part is brought into contact with the floor by the distance adjustment part. [Figure 5] View showing the downward force acting on the manipulator and the upward force acting on the floor in Embodiment 2. [Figure 6] External view near the working part in Embodiment 3. [Figure 7] External view near the working part in Embodiment 4. [Figure 8] External view near the working part in Embodiment 5. [Figure 9] External view near the working part in Embodiment 5, showing the state after adjusting the distance between the working part and the floor by the distance adjustment part. [Figure 10] External view near the working part in Embodiment 6. [Figure 11] External view near the working part in Embodiment 6, showing the state after adjusting the distance between the working part and the floor by the distance adjustment part. [Figure 12] External view near the working part in Embodiment 7. [Figure 13]This is an external view of the area near the working part in Embodiment 7, after the distance between the working part and the floor has been adjusted by the distance adjustment unit. [Figure 14] This is an external view of the area near the working part in Embodiment 8, showing the working part in contact with the floor by the distance adjustment unit. [Figure 15] A graph showing the abnormal state and the normal state in Embodiment 8. [Figure 16] A flowchart illustrating how the movement of the arm is controlled by the stop unit in Embodiment 8. [Figure 17] A flowchart illustrating how the status notification unit controls the notification of abnormal conditions in Embodiment 8. [Figure 18] External view of the manipulator in Embodiment 9. [Figure 19] External view of the manipulator in Embodiment 10. [Figure 20] External view of the manipulator in Embodiment 11. [Figure 21] External view of the manipulator in Embodiment 12. [Figure 22] External view of the area near the working part in Embodiment 13. [Figure 23] A diagram showing the downward force acting on the supported part and the upward force acting on the support part in Embodiment 13. [Figure 24] External view of the area near the working part in Embodiment 14. [Figure 25] A diagram showing the downward force acting on the supported portion and the upward force acting on the support portion in Embodiment 14. [Figure 26] External view of the manipulator in Embodiment 15. [Figure 27] External view of the area near the working part in Embodiment 16. [Figure 28] External view of the area near the working part in Embodiment 17. [Figure 29] External view of the area near the working part in Embodiment 18. [Modes for carrying out the invention]

[0010] (Embodiment 1) Embodiments relating to the manipulator will be described with reference to Figures 1 and 2. As shown in Figures 1 and 2, the manipulator 1 in this embodiment comprises a traveling body 2 and an arm portion 3 connected to the traveling body 2. The arm portion 3 has a holding portion 31 for holding the object to be moved 10, and is configured to be able to move the holding portion 31 relative to the traveling body 2. The manipulator 1 also includes an action portion 4 for applying a downward force F1 in the direction Z1 to the manipulator 1.

[0011] The manipulator 1 in this embodiment can be used, for example, as a means of transporting an object 10 that is to be moved in a factory, warehouse, hospital, supermarket, etc.

[0012] In this specification, the direction parallel to the direction of gravity is referred to as the vertical direction Z. Furthermore, in the vertical direction Z, the direction of gravity is referred to as the downward direction Z1, and the opposite direction is referred to as the upward direction Z2.

[0013] The manipulator 1 is configured to be moved by a mobile body 2. The mobile body 2 comprises a housing 22 and a plurality of wheels 21. The wheels 21 are provided at the lower end of the housing 22. The mobile body 2 also includes a drive unit (not shown) inside the housing 22 for driving the wheels 21. The drive unit can be, for example, a motor. The manipulator 1 can be moved in any direction on the floor 11 by the mobile body 2.

[0014] As shown in Figure 1, an arm portion 3 is connected to the upper end of the traveling body 2. The arm portion 3 has a base portion 32, a first arm portion 33, a second arm portion 34, and a holding portion 31. The base portion 32 is connected to the upper end of the traveling body 2. One end of the first arm portion 33 is connected to the base portion 32, and the other end of the first arm portion 33 is connected to one end of the second arm portion 34. The holding portion 31 is connected to the other end of the second arm portion 34.

[0015] Joints 302, 303, and 304 are provided at the connection points between the base 32 and the first arm 33, between the first arm 33 and the second arm 34, and between the second arm 34 and the holding part 31, respectively. Due to the provision of joint 302, the first arm 33 can rotate and bend in any direction relative to the base 32. The second arm 34 can rotate and bend in any direction relative to the first arm 33 by joint 303. In addition, the holding part 31 can rotate and bend in any direction relative to the second arm 34 by joint 304. As a result, the manipulator 1 can move the holding part 31 in any direction relative to the traveling body 2.

[0016] Each joint 302, 303, and 304 is provided with an actuator (not shown) for rotating and bending the first arm 33, the second arm 34, and the holding part 31. The actuator is composed of a motor (not shown) or the like.

[0017] Furthermore, a connecting portion 301 is provided between the traveling body 2 and the base portion 32. The connecting portion 301 is configured so that the base portion 32 can rotate relative to the traveling body 2. The connecting portion 301 is provided with an actuator (not shown) that rotates the base portion 32 relative to the traveling body 2.

[0018] In this embodiment, the holding portion 31 includes a pair of finger portions 311. The holding portion 31 is configured to grip the object to be moved 10 with the pair of finger portions 311.

[0019] Furthermore, in this embodiment, an operating part 4 is provided at the lower end of the traveling body 2. The operating part 4 has a vacuum pump 41 and a suction part 42 connected to the vacuum pump 41. The operating part 4 applies a downward force F1 in the Z1 direction to the manipulator 1 by using the suction part 42 to suck the floor 11 on which the traveling body 2 travels.

[0020] The working part 4 can use the negative pressure generated by the vacuum pump 41 to suction the suction part 42 to the floor 11. The material of the part of the suction part 42 that comes into contact with the floor 11 can be, for example, nylon, nitrile rubber, silicone rubber, etc. In this embodiment, the material of the part of the suction part 42 that comes into contact with the floor 11 is nylon.

[0021] In this embodiment, the action part 4 does not always apply a downward force F1 in the Z1 direction to the manipulator 1. Rather, it applies a downward force F1 in the Z1 direction to the manipulator 1 at predetermined timings, such as when the holding part 31 holds the object to be moved 10 or when the arm part 3 is extended.

[0022] Furthermore, the downward force F1 in the Z1 direction that the working part 4 applies to the manipulator 1 refers to the component of the force that the working part 4 applies to the manipulator 1 that is the downward force F1 in the Z1 direction. Therefore, for example, the working part 4 can also apply a downward force F1 in the Z1 direction to the manipulator 1 by applying a force to the manipulator 1 in a direction inclined with respect to the vertical direction Z.

[0023] Furthermore, the manipulator 1 is configured to autonomously grasp the object to be moved 10 with the arm portion 3 and move the manipulator 1 with the vehicle portion 2. The manipulator 1 has a control unit 14 that controls the operation of the manipulator 1 and a detection sensor such as a stereo camera (not shown). The control unit 14 controls the operation of the arm portion 3 and the vehicle portion 2. In addition, the manipulator 1 can detect the object to be moved 10 and other external objects using the detection sensor. The control unit 14 includes a processor and memory.

[0024] Next, a specific example of when the manipulator 1 transports the object to be moved 10 will be described. First, the manipulator 1 autonomously starts moving and heads towards the shelf (not shown) on which the object to be moved 10 is placed, and stops in the vicinity of that shelf.

[0025] Next, the action unit 4 is activated. That is, by generating negative pressure with the vacuum pump 41, the suction unit 42 is attracted to the floor 11. As a result, as shown in Figure 2, the floor 11 is attracted to the suction unit 42, and an upward force F2 in the Z2 direction acts on a part of the floor 11. In other words, the action unit 4 acts on the floor 11 in the opposite direction to the direction of gravity. As a result, the downward force Z1 acting on the manipulator 1 increases due to the reaction from the floor 11. In other words, the downward force Z1 acting on the manipulator 1 is the sum of gravity and the downward force Z1 F1 that the action unit 4 acts on the manipulator 1.

[0026] Subsequently, the manipulator 1 extends its arm portion 3 toward the object to be moved 10, bringing the holding portion 31 closer to the object to be moved 10. Next, the holding portion 31 grasps the object to be moved 10 with its pair of fingers 311. Then, in order to bring the center of gravity of the manipulator 1 closer to the center of the vehicle 2, the arm portion 3 is bent so that the holding portion 31, which is grasping the object to be moved 10, moves closer to the center of the vehicle 2.

[0027] The manipulator 1 bends its arm 3 and then stops its working part 4. In other words, it stops suctioning the floor 11 by the suction part 42. After that, the manipulator 1 autonomously moves to the destination of the object to be moved 10. After arriving at the destination, the manipulator 1 stops its mobile body 2 and activates the working part 4 again. Then, the manipulator 1 extends its arm 3 toward the shelf at the destination and places the object to be moved 10 on it.

[0028] Next, we will explain the effects and benefits of this configuration. The manipulator 1 described above includes an operating part 4. Therefore, it is possible to prevent tipping when the holding part 31, which holds the object to be moved 10, is moved by the arm part 3, or when the holding part 31 holds the object to be moved 10. As a result, tipping can be prevented while ensuring work efficiency.

[0029] The center of gravity of the manipulator 1 shifts when it holds the object to be moved 10 or when it extends the arm 3. In this embodiment, when the manipulator 1 holds the object to be moved 10 or extends the arm 3, the actuation part 4 is activated, and a downward force Z1 is applied to the manipulator 1. Therefore, even if the center of gravity of the manipulator 1 shifts due to the extension of the arm 3, tipping over can be suppressed. In other words, tipping over can be prevented even when the arm 3 is extended while holding the object to be moved 10, or when holding a relatively heavy object to be moved 10. As a result, tipping over can be prevented while ensuring work efficiency.

[0030] Furthermore, because the manipulator 1 is equipped with an action part 4, it is easy to prevent tipping even when the manipulator 1 is miniaturized. Therefore, it is possible to prevent tipping while miniaturizing the manipulator 1. As a result, it is possible to move and work even in relatively narrow spaces, making it easy to use the manipulator 1 in collaboration with people in factories, hospitals, etc. As a result, work efficiency can be improved.

[0031] Furthermore, the actuation unit 4 applies a downward force F1 in the direction Z1 to the manipulator 1, bringing the housing 22 of the traveling body 2 closer to the floor 11. Therefore, the center of gravity of the manipulator 1 is more likely to shift downwards. Therefore, it is easier to prevent the manipulator 1 from tipping over.

[0032] The working unit 4 includes a vacuum pump 41 and a suction unit 42. The working unit 4 also applies a downward force F1 in the direction Z1 to the manipulator 1 by using the suction unit 42 to suck the floor 11. Therefore, the manipulator 1 can be reliably prevented from tipping over. As a result, tipping over can be reliably prevented while ensuring workability.

[0033] As described above, this embodiment provides a manipulator 1 that can prevent tipping over while ensuring workability.

[0034] In Embodiment 1, the manipulator 1 stops the working part 4 when it moves. However, the manipulator can also be configured to move while the working part is in operation. That is, the mobile body can be moved with the suction part attached to the floor. In this case, the mobility of the manipulator can be ensured by using a resin-based material such as nylon, which has a relatively low coefficient of friction, for the part of the suction part that comes into contact with the floor. Furthermore, when the manipulator is moving, the suction force of the working part can be adjusted to be lower than the suction force when gripping the object being moved, thereby ensuring the mobility of the manipulator and preventing it from tipping over during movement.

[0035] (Embodiment 2) This embodiment, as shown in Figures 3 to 5, is equipped with a distance adjustment unit 5 that moves the position of the working unit 4.

[0036] In this embodiment, as shown in Figures 3 to 5, the manipulator 1 has an operating part 4 and a distance adjustment part 5 that adjusts the distance between the operating part 4 and the floor 11 on which the traveling body 2 travels.

[0037] The distance adjustment unit 5 is located inside the housing 22 of the traveling body 2. In this embodiment, the distance adjustment unit 5 is an actuator equipped with a motor or the like. The operating part 4 is fixed to the lower end of the distance adjustment unit 5. As shown in Figures 3 and 4, the distance adjustment unit 5 adjusts the distance between the operating part 4 and the floor 11 by moving the operating part 4 in the vertical direction Z.

[0038] Next, we will explain a specific example of when the manipulator 1 transports the object 10. The manipulator 1 first moves towards the shelf (not shown) on which the object to be moved 10 is placed, and then stops in the vicinity of that shelf.

[0039] Next, the manipulator 1 activates the distance adjustment unit 5 and moves the working unit 4 downward Z1, as shown in Figure 4. This causes the suction unit 42 of the working unit 4 to come into contact with the floor 11. After that, the working unit 4 is activated and a downward force F1 in Z1 is applied to the manipulator 1, as shown in Figure 5.

[0040] Next, the manipulator 1 extends its arm 3 and grasps the object to be moved 10 with its holding part 31. Then, while still grasping the object to be moved 10, the manipulator 1 bends its arm 3, returns the arm 3 to its original position, and stops the working part 4. Next, by activating the distance adjustment part 5, the working part 4 is moved upward Z2 as shown in Figure 3, and the suction part 42 is lifted away from the floor 11. After that, the manipulator 1 moves autonomously to the destination. In other words, the manipulator 1 moves with the suction part 42 sufficiently far from the floor 11.

[0041] The manipulator 1 stops after arriving at the destination. Then, as shown in Figure 4, the distance adjustment unit 5 moves the working unit 4 downward Z1 and activates the working unit 4. After that, the manipulator 1 extends the arm 3 toward the destination and places the object to be moved 10 at the destination. Otherwise, it is the same as in Embodiment 1. Note that, among the reference numerals used in Embodiment 2 and later, those that are the same as those used in the previously described embodiments represent the same components, etc., as in the previously described embodiments, unless otherwise specified.

[0042] The manipulator 1 has a distance adjustment unit 5. Therefore, for example, even if the outer diameter of the wheels 21 is large and the distance between the housing 22 of the traveling body 2 on which the working unit 4 is installed and the floor 11 is large, the distance adjustment unit 5 can reduce the distance between the working unit 4 and the floor 11. This ensures that a downward force Z1 F1 is reliably applied to the manipulator 1. As a result, the manipulator 1 can be reliably prevented from tipping over. Furthermore, when the manipulator 1 moves, the distance adjustment unit 5 ensures that the working unit 4 is sufficiently far from the floor 11, thereby ensuring the manipulator 1's mobility. As a result, work efficiency can be reliably ensured.

[0043] Furthermore, the distance adjustment unit 5 ensures that the suction unit 42 and the floor 11 are in firm contact with each other. This allows a strong downward force F1 in the Z1 direction to be applied to the manipulator 1. As a result, the manipulator 1 can be further prevented from tipping over.

[0044] The manipulator 1 activates the distance adjustment unit 5, moving the working unit 4 downward in the Z1 direction. Therefore, the center of gravity of the manipulator 1 can be moved downward in the Z1 direction. As a result, the manipulator 1 can be further prevented from tipping over. Furthermore, it has the same effects and advantages as Embodiment 1.

[0045] (Embodiment 3) As shown in Figure 6, this configuration applies a downward force F1 in the Z1 direction to the manipulator 1 using magnetic force.

[0046] In this embodiment, the working part 4 and the floor 11 each have magnetic properties. The working part 4 and the floor 11 are attracted to each other by magnetic force, causing the working part 4 to exert a downward force F1 in the direction Z1 on the manipulator 1.

[0047] In this embodiment, the working part 4 is an electromagnetic coil 44. The electromagnetic coil 44 is installed at the lower end of the traveling body 2. The electromagnetic coil 44 is installed at a position away from the floor 11 in the vertical direction Z. The electromagnetic coil 44 has an iron core (not shown) as a magnetic material and a coil section (not shown) formed by winding a conductor around the iron core.

[0048] Furthermore, the floor 11 can be made of a magnetic material such as iron, ferrite, or neodymium magnet. In this embodiment, the floor 11 is made of an iron plate. The manipulator 1 generates a magnetic force that attracts the electromagnetic coil 44 and the floor 11 to each other by energizing the coil portion of the electromagnetic coil 44. As a result, a downward force F1 in the direction Z1 acts on the manipulator 1.

[0049] Next, we will describe how the manipulator 1 in this embodiment transports the object 10 to be moved. First, the manipulator 1 moves to the vicinity of the shelf on which the object to be moved 10 is placed. Then, by energizing the electromagnetic coil 44, which is the working part 4, the working part 4 and the floor 11 are attracted to each other by magnetic force. As a result, a downward force F1 in the direction Z1 acts on the manipulator 1. Subsequently, the manipulator 1 extends the arm part 3 to hold the object to be moved 10.

[0050] Next, the manipulator 1 bends its arm 3, returns the arm 3 to its original position, then stops supplying power to the working part 4, thereby ceasing the generation of the magnetic force that attracts the working part 4 and the floor 11 to each other. After that, the manipulator 1 moves toward the destination and stops near the destination. Then, by supplying power to the working part 4 again, a downward force F1 in the direction Z1 is applied to the manipulator 1. After that, the manipulator 1 places the object to be moved 10 at the destination and completes the transport. Other aspects are the same as in Embodiment 1.

[0051] In this embodiment, the working part 4 and the floor 11 each have magnetic properties. The working part 4 and the floor 11 are attracted to each other by magnetic force, causing the working part 4 to exert a downward force F1 in the direction Z1 on the manipulator 1. Therefore, the manipulator 1 can be reliably prevented from tipping over.

[0052] Furthermore, the working part 4 consists of an electromagnetic coil 44. Therefore, by adjusting the current supplied to the electromagnetic coil 44, the generation of magnetic force can be adjusted quickly and easily. Thus, work efficiency can be further improved.

[0053] Furthermore, since the working part 4 is an electromagnetic coil 44, a sufficient downward force F1 Z1 can be applied to the manipulator 1 even when the working part 4 is separated from the floor 11. Therefore, the working part 4 can be easily operated without adjusting the distance between the working part 4 and the floor 11. As a result, work efficiency can be further improved. Furthermore, it has the same effects and advantages as Embodiment 1.

[0054] In Embodiment 3, the working part 4 is an electromagnetic coil 44, and the floor 11 is made of a magnetic iron plate. However, it is also possible to configure the manipulator to have an electromagnetic coil as the working part, and to install an electromagnetic coil on the floor, and to apply a downward force to both electromagnetic coils by energizing them.

[0055] In Embodiment 3, the manipulator 1 stops supplying power to the electromagnetic coil when it is being moved by the vehicle 2. However, the manipulator can also be configured to be moved by the vehicle while the electromagnetic coil is energized and a magnetic force is generated. In this case, for example, when transporting a relatively heavy object, it is possible to reliably prevent the manipulator from tipping over during movement.

[0056] (Embodiment 4) This configuration, as shown in Figure 7, is one in which the electromagnetic coil 111 is installed on the floor 11.

[0057] The working part 4 is installed at the lower end of the traveling body 2. In this embodiment, the working part 4 is made of a magnetic material such as iron, ferrite, or neodymium magnet.

[0058] In this embodiment, when transporting an object to be moved 10, the manipulator 1 moves toward the shelf on which the object to be moved 10 is placed, and at the same time recognizes an electromagnetic coil 111 installed on the floor 11 near the shelf, and stops so that the working part 4 is positioned above the electromagnetic coil 111. Then, for example, a command from the control unit 14 of the manipulator 1 energizes the electromagnetic coil 111 installed on the floor 11. This generates a magnetic force that attracts each other between the working part 4 and the electromagnetic coil 111, causing a downward force F1 in the direction Z1 to act on the manipulator 1. After that, the manipulator 1 extends the arm part 3 and holds the object to be moved 10.

[0059] Next, the manipulator 1 bends the arm portion 3 and returns the arm portion 3 to its original position. Then, the control unit 14 of the manipulator 1 sends a command to the electromagnetic coil 111, stopping the power supply to the electromagnetic coil 111 and stopping the generation of magnetic force. This stops the generation of magnetic force that attracts the working portion 4 and the floor 11 to each other. Other configurations and effects are the same as in Embodiment 3.

[0060] In Embodiment 4, the operating part 4 is installed at the lower end of the traveling body 2. However, for example, by making the housing of the traveling body a magnetic material such as iron, a configuration can be made in which the housing of the traveling body and the electromagnetic coil installed on the floor are attracted to each other by magnetic force. In this case, the housing of the traveling body becomes the operating part.

[0061] (Embodiment 5) As shown in Figures 8 and 9, this embodiment is a configuration that includes a distance adjustment unit 5 compared to Embodiment 3.

[0062] As shown in Figures 8 and 9, the electromagnetic coil 44, which is the working part 4, is fixed to the lower end of the distance adjustment part 5. The distance adjustment part 5 in this embodiment has the same configuration as the distance adjustment part 5 in Embodiment 2. The distance adjustment part 5 adjusts the distance between the working part 4 and the floor 11 by moving the lower end to which the working part 4 is fixed in the vertical direction Z. Otherwise, it is the same as in Embodiment 3.

[0063] The manipulator 1 comprises an electromagnetic coil 44, which is the working part 4, and a distance adjustment part 5. Therefore, the distance between the electromagnetic coil 44 and the floor 11 can be adjusted. Thus, when holding the object to be moved 10, as shown in Figure 9, the distance adjustment part 5 can be used to reduce the distance between the working part 4 and the floor 11, which is made of a magnetic material, thereby causing the working part 4 and the floor 11 to attract each other more strongly. As a result, the downward force Z1 F1 acting on the manipulator 1 can be increased. Furthermore, it has the same effects and advantages as Embodiment 3.

[0064] (Embodiment 6) As shown in Figures 10 and 11, this embodiment is one in which the vehicle body 2 is equipped with an active suspension. In other words, in this embodiment, the distance adjustment unit 5 is the active suspension.

[0065] In this embodiment, multiple active suspensions are provided within the housing 22 of the vehicle 2. The active suspension, which is the distance adjustment unit 5, is configured to extend and retract in the vertical direction Z by means of, for example, hydraulics or pneumatics. As shown in Figures 10 and 11, the manipulator 1 is configured to adjust the distance between the operating unit 4 and the floor 11 by extending and retracting the active suspension. In other words, by contracting the active suspension, the vehicle 2 is brought closer to the floor 11. This makes it possible to reduce the distance between the operating unit 4 and the floor 11. Other configurations and effects are the same as in Embodiment 3.

[0066] (Embodiment 7) As shown in Figures 12 and 13, this configuration allows the wheel 21 to be deformed.

[0067] In this embodiment, the wheel 21 has a wheel portion 211 and a tire portion 212, as shown in Figures 12 and 13. The wheel portion 211 is configured to be deformable into two predetermined shapes, as shown in Figures 12 and 13, for example, by using an actuator. The tire portion 212 is made of a material with rubber elasticity, such as rubber. The shape of the tire portion 212 deforms in accordance with the deformation of the wheel portion 211.

[0068] As the wheel 21 deforms, the distance between the working part 4 and the floor 11 changes. In other words, when the shape of the wheel 21, as viewed from the direction along the central axis of the wheel 21, is approximately triangular as shown in Figure 13, compared to when it is approximately circular as shown in Figure 12, the distance between the working part 4 and the floor 11 is smaller. In other words, the wheel 21 also functions as a distance adjustment part 5. Otherwise, it is the same as in Embodiment 3.

[0069] In this embodiment, the wheel 21 is configured to be deformable into two predetermined shapes. Therefore, by changing the shape of the wheel 21, the distance between the working part 4 and the floor 11 can be adjusted. Consequently, when the object to be moved 10 is held by the holding part 31, the downward force F1 in Z1 acting on the manipulator 1 can be increased by changing the shape of the wheel 21 and operating the working part 4. As a result, tipping over can be further prevented.

[0070] Furthermore, the deformation of the wheel 21 allows the center of gravity of the manipulator 1 to be shifted downwards. Therefore, tipping over of the manipulator 1 can be prevented even more effectively. Furthermore, it has the same effects and advantages as Embodiment 3.

[0071] (Embodiment 8) As shown in Figures 14 to 17, this configuration is designed to enable safety measures to be implemented when an abnormal condition is detected.

[0072] As shown in Figure 14, the manipulator 1 comprises a control unit 14 and a measuring sensor 13. The control unit 14 controls the action unit 4 to apply a downward force F1 in the Z1 direction to the manipulator 1 at a predetermined timing. The measuring sensor 13 measures the downward force F1 in the Z1 direction acting on the manipulator 1. The action unit 4 is configured to operate when it receives an operation signal transmitted by the control unit 14.

[0073] Furthermore, the manipulator 1 includes at least one of the stopping unit 15 and the status notification unit 16. The stopping unit 15 stops the movement of at least a part of the manipulator 1 when the control unit 14 transmits an operation signal to the operating unit 4 and the sensor measurement value, which is a value measured by the measurement sensor 13, is less than a predetermined value. The status notification unit 16 determines that an abnormal state exists when the sensor measurement value is less than a predetermined value when the control unit 14 transmits an operation signal to the operating unit 4 and notifies the recipient of the abnormal state. In this embodiment, the manipulator 1 includes both the stopping unit 15 and the status notification unit 16. In this embodiment, the recipient of the status notification unit 16 is the worker who works with the manipulator 1.

[0074] In this embodiment, the measurement sensor 13 is a sensor that measures the weight of the manipulator 1. The measurement sensor 13 measures both gravity, which is a downward force Z1 acting on the manipulator 1, and the force generated by the action part 4. The measurement sensor 13 is installed on the vehicle 2. The measurement sensor 13 can be assembled, for example, to the wheels 21, axles, suspension, etc. of the vehicle 2.

[0075] The control unit 14 is configured to acquire sensor measurements. When the control unit 14 transmits an operation signal to the operating unit 4, if the sensor measurement is below a predetermined value, it stops the movement of the arm unit 3 and determines that an abnormal condition exists. In other words, the control unit 14 is also part of the stopping unit 15 and the status notification unit 16.

[0076] Specifically, when the control unit 14 transmits an operation signal, the working unit 4 switches from a stopped state to an operating state, as shown in Figure 15, and the sensor measurement value increases. When the working unit 4 is operating normally, the sensor measurement value exceeds a predetermined reference value, as shown by the dashed line in the graph of Figure 15. On the other hand, for example, if the suction part 42 of the working unit 4 attracts a foreign object, the sensor measurement value may fall below a predetermined reference value, as shown by the solid line in the graph of Figure 15. In this case, the control unit 14 determines that an abnormal state has occurred and stops the movement of the arm part 3.

[0077] Next, we will explain how to control the operation of the arm 3 based on the flowchart shown in Figure 16. First, as shown in step S11, the working part 4 is activated. Then, in step S12, the measuring sensor 13 measures the load of the manipulator 1 multiple times.

[0078] Next, in step S13, the control unit 14 determines whether the average value of the load of the manipulator 1 measured multiple times exceeds the reference value. Here, if the control unit 14 determines that the average value of the load of the manipulator 1 exceeds the reference value, it determines that it is normal and terminates the control without stopping the movement of the arm 3. On the other hand, if the average value of the load of the manipulator 1 in step S13 is below the reference value, the process proceeds to step S14, and the control unit 14, which is the stopping unit 15, stops the movement of the arm 3. After that, the arm 3 remains stopped until the abnormal condition is resolved.

[0079] Furthermore, in this embodiment, the status notification unit 16 has a speaker (not shown) and a display 161, as shown in Figure 14. When the status notification unit 16 determines that an abnormal state exists, it emits a sound from the speaker indicating that an abnormal state exists and displays an image indicating an abnormal state on the display 161 in order to inform workers around the manipulator 1 that is the target of the notification of the abnormal state.

[0080] Next, we will explain how to perform control to notify of abnormal conditions, based on the flowchart shown in Figure 17. Steps S21 and S22 perform the same actions as steps S11 and S12 in the flowchart shown in Figure 16. Then, in step S23, if the average load of the manipulator 1 exceeds the reference value, the control unit 14 determines that it is normal and terminates control without notifying of an abnormal condition. On the other hand, if the average load of the manipulator 1 is below the reference value in step S23, the process proceeds to step S24. Then, the status notification unit 16 emits a sound from the speaker and displays an image on the display 161 to inform the worker who is the target of the notification of the abnormal condition. After that, the status notification unit 16 operates the speaker and display 161 until the abnormal condition is resolved. Otherwise, it is the same as in Embodiment 2.

[0081] The manipulator 1 comprises a control unit 14 and a measuring sensor 13. Furthermore, the manipulator 1 includes at least one of a stop unit 15 and a status notification unit 16. Therefore, after detecting an abnormal condition, it can take predetermined safety actions. Specifically, if the manipulator 1 is equipped with a stop unit 15, it can stop the movement of the arm unit 3, preventing the arm unit 3 from gripping the object 10 when the working unit 4 is not functioning properly. As a result, the manipulator 1 can be reliably prevented from tipping over. Also, if the manipulator 1 is equipped with a status notification unit 16, it can notify the target of the abnormal condition, allowing the target to resolve the abnormal condition. Therefore, safety and work efficiency can be improved. Furthermore, it has the same effects and advantages as Embodiment 2.

[0082] (Embodiment 9) In this configuration, a downward force F1 in the Z1 direction is applied to the manipulator 1 by the repulsive force generated when a magnetic force is produced by the working part 4.

[0083] In this embodiment, a magnet 171 is installed on the ceiling 17, as shown in Figure 18. The magnet 171 is, for example, a ferrite magnet, a neodymium magnet, or an electromagnetic coil.

[0084] Furthermore, the working part 4 is an electromagnetic coil 44. When the manipulator 1 holds the object to be moved 10, it stops so that it is positioned below the magnet 171 on the ceiling 17. Then, by energizing the electromagnetic coil 44, a repulsive force is generated between the working part 4 and the magnet 171. In other words, the working part 4 applies an upward force F2 in the Z2 direction to the outside of the manipulator 1, thereby applying a downward force F1 in the Z1 direction to the manipulator 1. Otherwise, it is the same as in Embodiment 3.

[0085] The working part 4 applies an upward force F2 in the Z2 direction to the outside of the manipulator 1, thereby applying a downward force F1 in the Z1 direction to the manipulator 1. Therefore, it is possible to prevent the manipulator 1 from tipping over. Furthermore, it has the same effects and advantages as Embodiment 3.

[0086] (Embodiment 10) As shown in Figure 19, this configuration applies a downward force F1 in the Z1 direction to the manipulator 1 due to the repulsive force generated by the rotor blade 45. In other words, in this configuration, the acting part 4 is the rotor blade 45.

[0087] As shown in Figure 19, in this embodiment, the rotor blades 45 are operated to generate an airflow AF directed upward Z2. In other words, the manipulator 1, by operating the rotor blades 45, exerts an upward force F2 Z2 on the external air, and as a reaction to this, exerts a downward force F1 Z1 on the manipulator 1. Other configurations and effects are the same as in Embodiment 9.

[0088] (Embodiment 11) In this configuration, as shown in Figure 20, the arm portion 3 presses against the ceiling 17, thereby applying a downward force F1 in the Z1 direction to the manipulator 1.

[0089] The manipulator 1 in this embodiment has two arm sections 3. One of the arm sections 3 has an extendable rod-shaped section 35.

[0090] In this embodiment, the manipulator 1 extends its rod-shaped portion 35 upward in the Z2 direction, pressing the tip of the arm portion 3 against the ceiling 17 and applying an upward force F2 in the Z2 direction to the ceiling 17. The reaction force at this time applies a downward force F1 in the Z1 direction to the manipulator 1. In other words, the arm portion 3, which has the rod-shaped portion 35, is also the acting portion 4. Other configurations and effects are the same as in Embodiment 9.

[0091] (Embodiment 12) As shown in Figure 21, this configuration applies a downward force F1 Z1 to the manipulator 1 by pressing the ceiling 17 with the rod-shaped portion 46.

[0092] In this embodiment, the traveling body 2 is provided with an extendable rod-shaped portion 46, as shown in Figure 21. A caster portion 47 is attached to the tip of the rod-shaped portion 46. The caster portion 47 is rotatably attached to the rod-shaped portion 46.

[0093] In this embodiment, the manipulator 1 extends its rod-shaped portion 46 upward Z2, causing the caster portion 47 attached to the rod-shaped portion 46 to press against the ceiling 17, thereby applying an upward force F2 Z2 to the ceiling 17. The reaction force at this time causes a downward force F1 Z1 to be applied to the manipulator 1. In other words, the rod-shaped portion 46 with the caster portion 47 is also the acting portion 4. Other aspects are the same as in Embodiment 11.

[0094] In this embodiment, the manipulator 1 extends its rod-shaped portion 46 upward Z2, causing the caster portion 47 to press against the ceiling 17. The reaction force at this time applies a downward force F1 Z1 to the manipulator 1. The caster portion 47 is rotatably attached to the rod-shaped portion 46. Therefore, it is easy to apply a downward force F1 Z1 to the manipulator 1 while the mobile body 2 is moving. As a result, the tipping of the manipulator 1 can be reliably prevented even when transporting relatively heavy objects 10 or when the mobile body 2 is moving with the arm portion 3 extended. Furthermore, it has the same effects and advantages as Embodiment 11.

[0095] (Embodiment 13) As shown in Figures 22 and 23, this embodiment includes a supported part 43 that can be supported by an externally provided support part 12.

[0096] As shown in Figures 22 and 23, the working part 4 has a supported part 43 that can be supported by a support part 12 provided on the outside of the manipulator 1. The manipulator 1 applies a downward force to the supported part 43 by having the supported part 43 supported by the support part 12.

[0097] In this embodiment, the support portion 12 is provided on the floor 11, as shown in Figures 22 and 23. The support portion 12 extends in a rail-like manner along the floor surface of the floor 11. The cross-sectional shape of the support portion 12 perpendicular to the direction of extension of the support portion 12 is approximately T-shaped. That is, the support portion 12 comprises a first rail portion 121 projecting upward Z2 from the floor 11, and a second rail portion 122 formed on both sides from the upper end of the first rail portion 121 in directions perpendicular to both the vertical direction Z and the direction of extension of the support portion 12.

[0098] Furthermore, a supported portion 43 is formed at the lower end of the traveling body 2, recessed to correspond to the shape of the support portion 12. The supported portion 43 is configured so that a part of the support portion 12 can be positioned inside the supported portion 43. The manipulator 1 can move along the extending direction of the support portion 12 with a part of the support portion 12 positioned inside the supported portion 43.

[0099] Furthermore, the surface forming the supported portion 43 faces upward and has an upward-facing surface 431 that faces the second rail portion 122 of the support portion 12 in the vertical direction Z.

[0100] In this embodiment, a support portion 12 is provided on the floor 11 near a shelf (not shown) on which the object to be moved 10 is placed. The manipulator 1, having moved to the vicinity of the shelf, moves along the extending direction of the support portion 12 so that a part of the support portion 12 is positioned inside the supported portion 43. As a result, when the holding portion 31 holds the object to be moved 10, a part of the support portion 12 is positioned inside the supported portion 43. Other aspects are the same as in Embodiment 1.

[0101] The working part 4 has a supported part 43. The manipulator 1 applies a downward force F1 in the Z1 direction to the supported part 43 by having the support part 12 support the supported part 43. In other words, when the manipulator 1 is holding the object to be moved 10 placed on the shelf, even if the traveling body 2 tries to tilt, the support part 12 can support the supported part 43. Specifically, as shown in Figure 23, when the traveling body 2 tries to tilt, the upward surface 431 of the supported part 43 is supported by the second rail part 122 of the support part 12. Then, because the upward surface 431 is supported by the second rail part 122, an upward force F2 in the Z2 direction acts on the second rail part 122, and a downward force F1 in the Z1 direction acts on the supported part 43. As a result, the manipulator 1 can be prevented from tipping over. Furthermore, it has the same effects and advantages as Embodiment 1.

[0102] (Embodiment 14) As shown in Figures 24 and 25, this embodiment is a modified version of Embodiment 13 in which the shapes of the support portion 12 and the supported portion 43 are changed.

[0103] In this embodiment, multiple support parts 12 are formed in the floor 11, as shown in Figures 24 and 25. Each support part 12 is a recess formed in the floor surface in a downward direction Z1.

[0104] Furthermore, the traveling body 2 is provided with multiple rod-shaped support portions 43. As shown in Figures 24 and 25, the support portions 43 are configured to protrude downward Z1 from the lower surface of the traveling body 2. The support portions 43 are configured to be positioned inside the housing 22 of the traveling body 2 when the traveling body 2 is moving (not shown).

[0105] In this embodiment, a support portion 12 is provided on the floor 11 near a shelf (not shown) on which the object to be moved 10 is placed. The manipulator 1, which has been moved near the shelf by the traveling body 2, extends its supported portion 43 downward Z1 from the lower surface of the traveling body 2, and inserts the supported portion 43 into the support portion 12, as shown in Figures 24 and 25. Otherwise, it is the same as in Embodiment 13.

[0106] In this configuration, the supported portion 43 protrudes downward Z1 from the lower surface of the traveling body 2, and the supported portion 43 is inserted into the support portion 12. Therefore, when the manipulator 1 holds the object to be moved 10 placed on the shelf, even if the traveling body 2 were to tilt as shown in Figure 25, the supported portion 43 can be supported by the support portion 12. As a result, an upward force F2 Z2 acts on the support portion 12, and a downward force F1 Z1 acts on the supported portion 43. Consequently, the manipulator 1 can be prevented from tipping over. Furthermore, it has the same effects and advantages as Embodiment 13.

[0107] (Embodiment 15) As shown in Figure 26, this embodiment is a modified version of Embodiment 14 in which the shapes of the support portion 12 and the supported portion 43 are changed.

[0108] In this embodiment, a support portion 12 is formed on the external shelf 18. As shown in Figure 26, the support portion 12 protrudes from the side of the shelf 18 along the lateral direction Y, which is perpendicular to the vertical direction Z. In addition, a supported portion 43 is formed on the traveling body 2, which is recessed along the direction perpendicular to the vertical direction Z. The supported portion 43 is formed by a part of the side of the traveling body 2 receding toward the inside of the traveling body 2.

[0109] The manipulator 1, having been moved to the vicinity of the shelf 18 by the traveling body 2, further moves along the lateral direction Y, inserting the support portion 12 into the supported portion 43, as shown in Figure 26. Otherwise, it is the same as in Embodiment 14.

[0110] The traveling body 2 has a supported portion 43 formed in a recess along one direction perpendicular to the vertical direction Z. The manipulator 1 has a support portion 12 inserted through the supported portion 43. Therefore, even if the traveling body 2 were to tilt when the manipulator 1 is holding the object to be moved 10 placed on the shelf 18, the supported portion 43 can be supported by the support portion 12. As a result, the manipulator 1 can be prevented from tipping over. Furthermore, it has the same effects and advantages as Embodiment 14.

[0111] (Embodiment 16) As shown in Figure 27, this embodiment is a modified version of Embodiment 13 in which the shapes of the support portion 12 and the supported portion 43 are changed.

[0112] In this embodiment, the support portion 12 is provided on the floor 11, as shown in Figure 27. The support portion 12 comprises a floor-side projection portion 123 that protrudes upward Z2 from the floor surface, and a floor-side extension portion 124 that extends from the upper end of the floor-side projection portion 123 along one direction perpendicular to the vertical direction Z.

[0113] Furthermore, the supported portion 43 is provided at the lower end of the traveling body 2. The supported portion 43 comprises a traveling body side projection portion 432 that protrudes downward Z1 from the lower surface of the traveling body 2, and a traveling body side extension portion 433 that extends from the lower end of the traveling body side projection portion 432 along one direction perpendicular to the vertical direction Z.

[0114] As shown in Figure 27, the manipulator 1, having been moved near the shelf by the traveling body 2, moves further such that the lower surface of the floor-side extension 124 of the support part 12 and the upper surface of the traveling body-side extension 433 of the supported part 43 face each other in the vertical direction Z. Otherwise, it is the same as in Embodiment 13.

[0115] The supported portion 43 includes a vehicle-side protruding portion 432 and a vehicle-side extended portion 433. Furthermore, the manipulator 1 moves such that the lower surface of the floor-side extended portion 124 of the support portion 12 and the upper surface of the vehicle-side extended portion 433 of the supported portion 43 face each other in the vertical direction Z. Therefore, even if the vehicle 2 were to tilt when the manipulator 1 is holding the object to be moved 10 placed on the shelf, the vehicle-side extended portion 433 can be supported by the floor-side extended portion 124. As a result, the manipulator 1 can be prevented from tipping over. Furthermore, it has the same effects and advantages as Embodiment 13.

[0116] (Embodiment 17) In this configuration, as shown in Figure 28, the wheel 21 becomes the supported part 43.

[0117] In this embodiment, the support portion 12 is formed in the floor 11. As shown in Figure 28, the support portion 12 is formed by a part of the floor surface receding downward in the Z1 direction. The support portion 12 extends in a groove shape along the floor surface. In this embodiment, two support portions 12 are formed in the floor 11.

[0118] Furthermore, a portion of the wheel 21, which is the supported portion 43, is positioned inside each of the two support portions 12. With a portion of the wheel 21 positioned inside the support portion 12, the manipulator 1 can move along the floor 11 along the extending direction of the support portion 12. Otherwise, it is the same as in Embodiment 14.

[0119] A portion of the wheel 21, which is the supported part 43, is positioned inside the support part 12. Therefore, even if the vehicle body 2 were to tilt when the manipulator 1 was holding the object to be moved 10 placed on the shelf, the support part 12 could support the wheel 21. As a result, the manipulator 1 could be prevented from tipping over. Furthermore, it has the same effects and advantages as Embodiment 14.

[0120] (Embodiment 18) As shown in Figure 29, this embodiment is a modified version of Embodiment 13 in which the shapes of the support portion 12 and the supported portion 43 are changed.

[0121] In this embodiment, a rod-shaped support portion 12 is provided on the outside, extending in a direction perpendicular to the vertical direction Z, as shown in Figure 29. The support portion 12 is fixed to, for example, the wall of a building.

[0122] Furthermore, the traveling body 2 is equipped with a supported portion 43 that can grip the support portion 12 with a pair of finger portions. The manipulator 1 can move the traveling body 2 along the extending direction of the support portion 12 while gripping the support portion 12 with the supported portion 43. Otherwise, it is the same as in Embodiment 13.

[0123] The traveling body 2 is equipped with a supported portion 43 that can grip the support portion 12. Therefore, even if the traveling body 2 were to tilt when the manipulator 1 was holding the object to be moved 10 placed on the shelf, the supported portion 43 could be supported by the support portion 12. As a result, the manipulator 1 could not be prevented from tipping over. Furthermore, it has the same effects and advantages as Embodiment 13.

[0124] In embodiments 1 to 18 described above, the holding part 31 comprises a pair of finger parts 311. However, the holding part can be configured in any way that suits the shape of the object to be moved. The holding part can also be configured to hold the object to be moved by means of attraction using a suction part or by magnetic force. Furthermore, the holding part can be configured to have three or more finger parts.

[0125] The present invention is not limited to the embodiments described above, and can be applied to various embodiments without departing from its spirit. [Explanation of Symbols]

[0126] 1...Manipulator, 2...Traveling body, 3...Arm section, 31...Holding section, 4...Action section, 10...Object to be moved, F1...Force, Z1...Downward direction

Claims

1. The vehicle (2) and A manipulator (1) comprising an arm portion (3) connected to the traveling body, The arm portion has a holding portion (31) for holding the object to be moved (10), and is configured to be able to move the holding portion relative to the traveling body. The above manipulator is equipped with an action part (4) that applies a downward force (Z1) (F1), The operating part has a distance adjustment part (5) that adjusts the distance between the operating part and the floor (11) on which the traveling body travels, The above-mentioned vehicle comprises a housing (22) and a plurality of wheels (21). Each of the above wheels has a wheel portion (211) and a tire portion (212), The above-mentioned wheel section is configured to be deformable into two predetermined shapes by an actuator. The tire portion is made of a material with rubber elasticity, and the shape of the tire portion deforms in accordance with the deformation of the wheel portion. The wheel is the distance adjustment unit, and the manipulator is configured such that the distance between the operating unit and the floor changes as the wheel deforms.

2. The vehicle (2) and A manipulator (1) comprising an arm portion (3) connected to the traveling body, The arm portion has a holding portion (31) for holding the object to be moved (10), and is configured to be able to move the holding portion relative to the traveling body. The above manipulator is equipped with an action part (4) that applies a downward force (Z1) (F1), The above-mentioned action part applies an upward force (Z2) (F2) to the outside of the manipulator, thereby applying a downward force to the manipulator. The above-mentioned working part is a rotor (45), and the manipulator is a manipulator that, by operating the rotor, applies an upward force to the external air, and as a reaction thereto, applies a downward force to the manipulator.

3. The vehicle (2) and A manipulator (1) comprising an arm portion (3) connected to the traveling body, The arm portion has a holding portion (31) for holding the object to be moved (10), and is configured to be able to move the holding portion relative to the traveling body. The above manipulator is equipped with an action part (4) that applies a downward force (Z1) (F1), The above-mentioned action part applies an upward force (Z2) (F2) to the outside of the manipulator, thereby applying a downward force to the manipulator. The above-mentioned working part is an extendable rod-shaped part (46), A caster part (47) is attached to the tip of the rod-shaped part mentioned above. The above-described manipulator extends the rod-shaped portion upward, thereby pressing the ceiling (17) against the caster portion which is rotatably attached to the rod-shaped portion, and applying an upward force to the ceiling.

4. The manipulator according to claim 1, wherein the working part comprises a vacuum pump (41) and a suction part (42) connected to the vacuum pump, and the working part applies a downward force to the manipulator by using the suction part to suck the floor (11) on which the traveling body travels.

5. The manipulator according to claim 1, wherein the working part and the floor (11) on which the traveling body runs each have magnetic materials, and the working part and the floor are attracted to each other by magnetic force, causing the working part to exert a downward force on the manipulator.

6. The manipulator according to claim 1, wherein the acting part applies an upward force (F2) to the outside of the manipulator, thereby applying a downward force to the manipulator.

7. The system comprises a control unit (14) that controls the action unit to apply a downward force to the manipulator at a predetermined timing, and a measuring sensor (13) that measures the downward force acting on the manipulator, wherein the action unit is configured to operate when it receives an operation signal transmitted by the control unit. When the control unit transmits the operation signal to the operating unit, if the sensor measurement value, which is the value measured by the measurement sensor, is less than a predetermined value, the stopping unit (15) stops the movement of at least a part of the manipulator. The manipulator according to any one of claims 1 to 3, further comprising at least one of the following: and a status notification unit (16) which determines that an abnormal state exists when the sensor measurement value is less than a predetermined value when the control unit transmits the operation signal to the operating unit, and notifies the target of the abnormal state.

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