Mobility apparatus for mobile work and system for mobile work

Abstract

A mobility apparatus for mobile work comprises: a mobility apparatus body that has a user seating place; one or a plurality of wheels that support the mobility apparatus body; a drive unit that drives at least one drive wheel of the one or plurality of wheels; and a support arm that is attached to the mobility apparatus body, wherein the support arm is configured such that a user seated in the user seating place can arbitrarily move and position a tip part of the support arm.

Description

Mobile work mobility and mobile work systems

[0001] The present invention relates to a mobile work mobility and a mobile work system.

[0002] One method for picking items in a warehouse uses a manual cart. See, for example, Patent Document 1. Another method uses an automatically operated robot to perform the picking work fully automatically. See, for example, Patent Document 2.

[0003] Japanese Patent Application Laid-Open No. 2009-227010

[0004] Methods using manual carts can easily fatigue workers. Methods using automated robots require significant installation costs, are difficult to change the picking settings, and require significant costs for changing specifications after installation. Alternatively, a user of an electric mobility vehicle could carry a basket and perform the picking work while driving the vehicle. This approach reduces the installation costs and fatigue of the worker. Further improvements are anticipated, including flexibility in changing specifications after installation and ease of changing the picking settings. In addition, users of general mobility vehicles, such as wheelchairs, have requested features that allow them to place luggage and tools while riding and to easily perform tasks.

[0005] One aspect of the present invention is a mobile work mobility comprising: a mobility body having a riding place for a user; one or more wheels supporting the mobility body; a drive unit that drives at least one drive wheel of the one or more wheels; and a support arm attached to the mobility body, wherein the support arm is configured so that the user riding in the riding place can freely move and position the tip of the support arm. Another aspect of the present invention is a mobile work system using a mobile work mobility comprising: a mobility body having a riding place for a user; one or more wheels supporting the mobility body; a drive unit that drives at least one drive wheel of the one or more wheels; and a support arm attached to the mobility body, wherein the mobile work system comprises an item mounting section that can be supported by the tip of the support arm, and the support arm is configured so that the user riding in the riding place can freely move and position the tip of the support arm.

[0006] 13 is a schematic side view of a first example of a mobile work mobility vehicle according to the first embodiment. FIG. 14 is a schematic side view of a first example of a mobile work mobility vehicle according to the first embodiment. FIG. 15 is a schematic side view of a first example of a mobile work mobility vehicle according to the first embodiment. FIG. 16 is a schematic side view of a first example of a mobile work mobility vehicle according to the first embodiment. FIG. 17 is a schematic side view of a first example of a mobile work mobility vehicle according to the first embodiment before an item placement unit is attached. FIG. 18 is a schematic oblique view of a second example of a mobile work mobility vehicle according to the first embodiment. FIG. 19 is a schematic side view of a third example of a mobile work mobility vehicle according to the first embodiment. FIG. 19 is a schematic side view of a fourth example of a mobile work mobility vehicle according to the first embodiment. FIG. 19 is a schematic side view of a fifth example of a mobile work mobility vehicle according to the first embodiment. FIG. 19 is a schematic side view of a sixth example of a mobile work mobility vehicle according to the first embodiment. FIG. 19 is a schematic side view of a sixth example of a mobile work mobility vehicle according to the first embodiment. FIG. 19 is a schematic side view of a seventh example of a mobile work mobility vehicle according to the first embodiment. FIG. 19 is a schematic side view of a mobile work mobility vehicle according to the second embodiment. FIG. 19 is a schematic front view of a mobile work mobility vehicle according to the second embodiment. FIG. 19 is a cross-sectional view taken along line XIV-XIV in FIG. FIG. 1 is a schematic perspective view of a portion of a mobile work mobility vehicle according to a second embodiment. FIG. 2 is a schematic perspective view of the vicinity of the seat of the mobile work mobility vehicle according to the second embodiment. FIG. 3 is a schematic perspective view of the vicinity of the seat when the seat is raised by the height adjustment mechanism of the mobile work mobility vehicle according to the second embodiment. FIG. 4 is a perspective view of the seat of the mobile work mobility vehicle according to the second embodiment. FIG. 5 is a perspective view of the rail of the mobile work mobility vehicle according to the second embodiment. FIG. 6 is a horizontal cross-sectional view of the lower front end of the mobile work mobility vehicle according to the second embodiment. FIG. 7 is a schematic perspective view of the vicinity of the seat when the seat of the mobile work mobility vehicle according to the second embodiment has been rotated.

[0007] A mobile work mobility (electric mobility) 1 and a mobile work system according to a first embodiment of the present disclosure will be described below with reference to the drawings. As shown in FIGS. 1 to 4 , the mobile work mobility 1 has a mobility body 30. The mobility body 30 has a pair of front wheels 10, a pair of rear wheels 20, and a body 31 supported by the front wheels 10 and the rear wheels 20. If the rear wheels 20 are not provided at the rear of the vehicle body, they become wheels known as drive wheels. The mobile work mobility 1 also has a seat 40, for example, which is detachably attached to the mobility body 30 and serves as a riding location. The mobile work mobility 1 of this embodiment is designed for one person to sit on the seat 40. Such vehicles are sometimes referred to as personal mobility vehicles. In the following description, the fore-and-aft direction of the vehicle body may be referred to simply as the fore-and-aft direction, and the width direction of the vehicle body may be referred to simply as the width direction. Furthermore, the fore-and-aft direction of the vehicle body coincides with the fore-and-aft direction of the mobility main body 30 or body 31, and the width direction of the vehicle body coincides with the width direction of the mobility main body 30 or body 31. Furthermore, the following description basically describes the mobile work vehicle 1 placed on a horizontal plane in an unloaded state or with a predetermined load applied. An example of a state in which a predetermined load is applied is when an object or person of the mobile work vehicle 1's allowable weight, or an object or person weighing two-thirds of the allowable load, is placed on the seat 40.

[0008] In this embodiment, an output shaft (not shown) of a motor (not shown) is connected to each of the pair of rear wheels 20, and the pair of motors is capable of driving each of the two rear wheels 20. In this embodiment, the output shaft of the motor functions as the axle of the rear wheels 20. Alternatively, the driving force of the motor may be configured to be transmitted to the pair of rear wheels 20 and / or the pair of front wheels 10 via a power transmission member such as a belt, gears, shaft, or axle of the rear wheels 20.

[0009] Each front wheel 10 and each rear wheel 20 is supported by a body 31. In this embodiment, the pair of front wheels 10 are known omnidirectional wheels. Each front wheel 10 may be a standard wheel other than an omnidirectional wheel, such as a caster wheel or the same wheel as the rear wheels 20 described below. When standard wheels are used for the front wheels 10 and rear wheels 20, a steering mechanism is provided in the mobility body 30.

[0010] In this embodiment, each rear wheel 20 has an axle, which is the output shaft of a motor, a hub attached to the axle, and an outer peripheral member provided on the outer periphery of the hub, the outer peripheral surface of which is formed from a material having rubber-like elasticity such as rubber or silicone.

[0011] In this embodiment, the front wheel 10 and the rear wheel 20 may be pneumatic tires or solid tires formed from a material having rubber-like elasticity all the way to the inside.

[0012] The seat 40 has a seat surface 41 on which the passenger sits and a backrest 42. In this embodiment, the front of the vehicle body is the direction in which the backrest 42 faces. The lower end of the seat 40 is supported by the seat support part 32 of the body 31, and the height of the seat 40 relative to the body 31 is adjustable.

[0013] The seat 40 and the body 31 are provided with a control unit 43 such as a joystick. When a person (rider; user) seated in the seat 40 operates the control unit 43 in the state shown in FIG. 4 , the motors are driven in response to the operation, and the mobile work mobility 1 moves in response to the drive of the motors. Note that in FIGS. 1 to 3 , the member to which the control unit 43 is attached is swingable and raised, but when a rider on the mobile work mobility 1 performs the following work, the member is basically positioned as shown in FIG. 4 . If the front wheels 10 are omnidirectional wheels, caster wheels, or the like, or if the steering mechanism can adjust the steering angle of the front wheels 10 to approximately 90°, the mobile work mobility 1 can turn. The turning can be described as, for example, the rotation of the mobile work mobility 1 around a vertical axis located within the area surrounded by the front wheels 10 and rear wheels 20 or within the area where the body 31 is located. Depending on the conditions, the turning may also be a rotation of the mobile work vehicle 1 around a vertical axis that is within 20 cm of the range of presence. It is also possible for a control device (not shown) provided on the mobile work vehicle 1 to automatically drive the mobile work vehicle 1 based on a program, without the rider having to operate the control unit 43.

[0014] The mobile work vehicle 1 may also be a mobile work vehicle 1' with a different vehicle body shape. The external shape of such a mobile work vehicle is cylindrical, with a circular top projection (plan view), as shown in FIG. 5 . In this case, the support arm 60, described below, can be configured to fit within the area of ​​the vehicle's top projection. This allows the work radius and operating radius of the mobile work vehicle 1 to be minimized (for example, a diameter of 600 mm). In this case, arranging the left and right independently driven drive wheels 20 at both left and right ends of the center of the vehicle in the fore-and-aft direction and arranging the omnidirectional wheels (driven wheels) 10 toward the fore-and-aft ends of the vehicle results in a simple configuration, improved operability, and makes it possible to realize a vehicle capable of pivoting in a minimal working area (area in a plan view). Furthermore, as another mobile work vehicle, all of the wheels (three or four wheels) can be configured with omnidirectional wheels. This makes it possible to achieve pivoting in addition to moving the vehicle in all directions without changing (or while changing) the vehicle's direction, further improving workability. Furthermore, instead of seats 40, a place for a rider to stand on each mobile work mobility vehicle may be provided as a riding location. In this case, each mobile work mobility vehicle is ridden by a single rider standing on it. Note that there may also be cases where multiple riders stand and / or sit on each mobile work mobility vehicle.

[0015] The mobile work mobility 1 of this embodiment has a support arm 60. As the support arm 60 can take various forms as described below, it is sometimes referred to as a movable support mechanism. As shown in FIGS. 6 to 10 , the support arm 60 has a base-end fixing portion 61 that is fixed to the mobile work mobility 1, a base-end side portion 62 whose base end is supported by the base-end fixing portion 61, and a tip-end side portion 63 whose base end is supported on the tip side of the base-end side portion 62. FIGS. 6 to 10 are shown using the cylindrical mobile work mobility or the like. The base-end side portion 62 and the tip-end side portion 63 may each be an articulated arm.

[0016] The base end fixing part 61 may be a member that is fixed to the mobility main body 30 and extends in the vertical direction as shown in Figure 6, or a member that is fixed to the lower part of the mobility main body 30 and extends in the front-to-rear direction as shown in Figures 7 to 10. The base end fixing part 61 in Figure 6 may be a member that is short in the vertical direction, or the base end fixing part 61 in Figures 7 to 10 may be a member that is short in the front-to-rear direction. The base end fixing part 61 may be a part of the mobile work mobility 1, and in one example, the base end fixing part 61 in Figures 7 to 11 is a part or the entirety of a footrest (foot rest).

[0017] In this embodiment, the base end side of the base end side portion 62 is supported by the base end fixing portion 61 so as to be swingable in the front-rear direction, and the base end side of the tip end side portion 63 is supported by the base end side portion 62 so as to be swingable in the front-rear direction. Also, as shown in FIGS. 6 to 10 , the tip side of the tip end side portion 63 can support an article placement portion 70. The article placement portion 70 is an object capable of placing and / or storing articles, such as a known container, basket, tray, storage box, rack, or storage container with drawers. Articles include, but are not limited to, various parts, various finished products, various commodities, etc.

[0018] In this embodiment, the base end side portion 62 and the tip end side portion 63 are configured using parallel links so that the posture of the tip of the tip end side portion 63 does not swing around an axis extending in the vehicle width direction. In this embodiment, the support arm 60 has multiple joints, which allow the rider to freely move the tip of the support arm 60 within the movable range of each joint.

[0019] 7 to 11, the support arm 60 is provided so as to extend at least upward from a lower region of the mobility body 30, and the tip of the support arm 60 is movable in the fore-and-aft direction of the vehicle body. In this case, the base end of the support arm 60 is attached to the lower region, and the support arm 60 as a whole extends at least vertically from the base end to the tip end, and is capable of supporting an article mounting section 70 for a rider (user). In one example, in FIGS. 7 to 11, the base end of the support arm 60 is attached to the lower region so as to be able to swing vertically. The lower region is the lower one-third, preferably the lower one-quarter, and more preferably the lower one-fifth of the vertical dimension of the mobility body 30.

[0020] 7 to 10, the support arm 60 has a base end side portion 62 that extends at least in the front-rear direction of the mobility main body 30, and a tip side portion 63 that extends at least upward from the tip side of the base end side portion 62. In Fig. 11, the base end side portion 62 is not provided, and the support arm 60 has a tip side portion 63, and the base end side of the tip side portion 63 is supported by the base end fixing portion 61 so that it can swing in the front-rear direction. In Fig. 11 as well, the tip side portion 63 can be configured using a parallel link so that the posture of the tip of the tip side portion 63 does not swing around an axis extending in the vehicle width direction.

[0021] The configuration in which the support arm 60 extends at least upward from the lower area of ​​the mobility body 30 contributes to improving workability when a rider performs work while standing on, for example, the footrest of the electric mobility vehicle, as shown in Figure 10.

[0022] 11, there may be cases where the tip side portion 63 is fixed to the base end fixing portion 61 in a manner that prevents it from swinging in the front-rear direction. In this case, a front-rear frame 71 (described later) is fixed to the tip side portion 63, and the article placement portion 70 is supported by a slider (described later) of the front-rear frame 71. Also, by using the configuration of FIG. 11, for example, a configuration using a single-stage parallel link, the degree of freedom of adjustment is reduced, but the advantages of simpler movement and easier handling for the operator, reduced material costs and manufacturing costs, etc. are obtained.

[0023] In this embodiment, as shown in FIGS. 6 and 7 , each joint may be provided with a force-applying member such as a spring 60A, a damper (not shown), an air cylinder (not shown), or a hydraulic cylinder (not shown). In this case, the tip of the support arm 60 is moved by the occupant, and after the occupant's hand leaves the support arm 60, the tip of the support arm 60 stops at that position. Positioning the tip of the support arm 60 in this manner allows the occupant to easily pick up an item. As shown in FIGS. 1 to 3 , the support arm 60 may have at least a front-rear frame 71 extending in the front-rear direction. The support arm 60 in FIGS. 1 to 3 has an upper and lower frame 72 supported by a slider (not shown) attached to the front-rear frame 71 so as to be movable in the front-rear direction, and the item placement unit 70 is supported by a slider (not shown) attached to the upper and lower frame 72 so as to be movable in the up-down direction. The front-rear frame 71 and the upper and lower frame 72 are each formed using a linear motion mechanism such as a linear guide or a frame with rails. As shown in Figure 1, for example, the mobile work vehicle 1 may be simply configured so that people can get on and off when a tray-type article loading section 70' is moved downward (to the position in Figure 1) by an upper and lower frame 72.

[0024] The mobile work system of this embodiment is installed in any location, such as inside a building such as a warehouse, or in a predetermined area that is partially located outside the building and partially located inside the building. As shown in FIG. 6 , the mobile work system has a mobile work mobility 1, an item placement unit 70, and a transport means 100 that transports the item placement unit 70 toward a predetermined position. The transport means 100 is a known AGV (Automatic Guided Vehicle), conveyor, etc., and can be any of a variety of devices, equipment, etc. that can transport the item placement unit 70 toward the predetermined position. The predetermined position is, for example, a predetermined area within the building.

[0025] As described above, the support arm 60 is configured so that the rider (user) of the mobile work mobility 1 can freely move and position the tip of the support arm 60. This effectively improves the operability of picking work by the rider compared to when the work is performed without the support arm 60 and / or the mobile work mobility 1. For example, the rider performs picking work by moving an item from a warehouse shelf or the like to the item storage unit 70, with the item storage unit 70 positioned using the support arm 60. The rider may also perform tasks other than picking work. Examples of such tasks include tasks involving inputting data into a computer such as a laptop computer or tablet computer, assembling parts, and inspecting parts or products. For these tasks, the item storage unit 70 may have, for example, a tabletop or a shallow tray on which a computer, part, product, or the like can be placed. Even in these cases, if the tip of the support arm 60 is configured so that it can be freely moved and positioned, the rider (user) can efficiently perform each of the aforementioned tasks. This configuration is useful for providing a comfortable working environment and contributing to the motivation of those who require a wheelchair or the like for mobility or who have difficulty standing for long periods of time. The mobile work mobility 1 may be provided with an operating unit for moving or positioning the tip of the support arm 60. In this case, for example, a brake mechanism is provided that suppresses or restricts the swinging of the base end side portion 62 and the tip end side portion 63 of the support arm 60, and the brake mechanism is operated by the operating unit. Furthermore, depending on the conditions, each mobile work mobility may be designed to accommodate two or more people.

[0026] For example, a terminal may be supported at the tip of the support arm 60 or at another position, allowing the rider to check the work details, such as picking instructions, on the terminal, making this work easier. Furthermore, tools and target equipment used for the work (baskets, containers, display devices, or computers 80 such as tablet computers used for picking) may be supported at the tip of the support arm 60, and the target equipment may be moved to a position that is convenient for work, thereby improving work efficiency. Furthermore, riders who use the mobile work mobility 1 for purposes other than picking work can use the tip of the support arm 60 as a place to support luggage, tools, etc. Furthermore, by moving the tip of the support arm 60 to another location as appropriate (e.g., a position that does not interfere with the rider's movements) when the rider is working or when not necessary, the ease of driving the mobile work mobility 1 and the ease of getting on and off the mobile work mobility 1 are also improved.

[0027] In this embodiment, a basket (picking container), work table, etc. can be attached to the tip of the support arm 60, and the seated occupant positions the item placement unit 70, computer, display device, etc. supported at the tip of the support arm 60 within reach of the occupant's hands, and the support arm 60 prevents the item placement unit 70 from moving (fixing) at that position. This makes it possible to improve the efficiency of picking work and also enables efficient general work (PC work and office work). When a configuration is adopted in which the seated occupant can position the computer, display device, etc. supported at the tip of the support arm 60, the mobile work mobility 1 can be effectively used not only in a picking system but also in offices within buildings, at home, outdoors, etc.

[0028] As shown in Figure 8, an extension 64 may be provided at the middle or tip end of the support arm 60, and a terminal (tablet computer, etc.) installation section may be provided on the extension 64. It is also possible to configure the terminal screen so that the seated person can check it. This makes it possible to transmit picking work instructions and improves convenience when using a portable terminal with a navigation function.

[0029] As in this embodiment, the movable range of the tip of the support arm 60 can be set to the vertical direction and the longitudinal direction of the vehicle body. In this case, the amount of movement of the tip of the support arm 60 in the lateral direction of the vehicle body is small, for example, 40 cm or less, and preferably 20 cm or less. This makes it possible to simplify the structure, improve load-bearing capacity, simplify operation by the seated person, facilitate work by the seated person (picking work), and facilitate the seated person's operation to move the vehicle body.

[0030] The movable range of the tip of the support arm 60 may be set so that the item mounting portion 70 is disposed, for example, to the side or rear of the seat 40 of the mobility main body 30. For example, if the base end side portion 62 is supported by the base end fixing portion 61 so as to be swingable about a vertical axis extending in the vertical direction, and / or if the base end fixing portion 61 is rotatable about the vertical axis, the tip of the support arm 60 will be movable in the vehicle width direction.

[0031] Examples of locations for the article placement unit 70 supported by the tip of the support arm 60 are as follows: - On the centerline of the vehicle body of the mobile work mobility 1 (this is advantageous for the occupant to work left and right with respect to the vehicle body); - Rear of the vehicle body (for example, behind the seat 40. This does not get in the way when the occupant operates the vehicle body, and is advantageous for easier ingress and egress, a more compact vehicle body, and a minimized upward projection area); - Lower front of the vehicle body (this is advantageous for ensuring visibility and workability during work, as the support arm 60 does not obstruct the occupant's view of work and does not interfere with the work area (the occupant's hand work area)); - As for other locations, the support arm 60 can be fixed to the mobility body 30 at, for example, the tip, mid-forth, or rear end of the armrest of the seat 40 or the frame (control arm of the vehicle body) to which the armrest is attached. (This contributes to the miniaturization of work devices such as the support arm 60.)

[0032] Electrical wires such as a signal cable, USB cable, AC cable, and DC cable are housed inside the support arm 60, and a power connector is configured on the tip side (working side) of the support arm 60, and the electrical wires are connected to a power source (a power source for driving the vehicle body or a separate power source) on the base end side (vehicle body fixed side) of the support arm 60. This configuration makes it possible to improve workability and convenience when supporting a mobile terminal on the tip side of the support arm 60 to display picking work details and work instructions, or when performing work using a computer or smartphone supported on the tip side of the support arm 60.

[0033] As described above, the support arm 60 can be configured using a parallel link. This makes it possible to maintain the posture and / or direction of the working end of the support arm 60. In this case, the parallel link can also be configured to include a spring (such as a buffer or holding mechanism), a brake (such as a locking mechanism, a physical mechanism such as a mechanical locking mechanism, or an electromagnetic locking mechanism such as a solenoid), or a gas spring. This makes it possible to facilitate smooth and easy movement of the tip of the support arm 60 and smooth and easy maintenance of the posture and / or direction. When a gas spring is used, the use of antigravity makes it possible to easily move the position of the tip of the support arm 60 (movement of the basket, container, etc. during picking) even when an external force (such as the total gravity of the picking tool and the basket, container, etc.) is applied to the tip of the support arm 60.

[0034] It is also possible to electrically power the support arm 60 (to manipulate it), for example, by providing a motor to each joint of the support arm 60. This improves the workability of seated occupants with limited physical movement and improves convenience when seated occupants handle heavy objects. In this case, the power source for the electrically powered support arm can be shared with the power source for driving the mobile work vehicle 1. This makes it possible to reduce the number of components and to make the vehicle smaller and lighter.

[0035] It is also possible to attach the support arm 60 to an existing mobile work vehicle that does not have the support arm 60. This configuration allows for cost reduction.

[0036] It is also possible to adopt a configuration in which the support arm 60 is removably attached to the mobile work vehicle 1. In this case, it is also possible to provide attachment portions for multiple support arms on the vehicle body side of the vehicle. This improves the storability of the support arm 60 and the mobile work vehicle 1, and also allows the support arm 60 to be installed in an appropriate position on the vehicle body when necessary depending on the application or site, which contributes to improved convenience.

[0037] Furthermore, it is also possible to adopt a configuration in which the support arm 60 is stored in a predetermined position on the mobile work vehicle 1. This improves the storability of the support arm 60 when not in use, and also improves safety. Safety relates to, for example, preventing the support arm 60 from getting caught on an object or person. This configuration also improves the design of the support arm 60 when stored.

[0038] The seat 40 may be configured to be manually or electrically adjustable in height while the occupant is seated, which makes it easier for the passenger to pick items, move the vehicle, and get on and off.

[0039] The present technology can be applied to mobile work vehicles, and the above configuration can be applied not only to vehicles operated by a passenger, but also to vehicles in which some or all of the driving operations are automated. In this case, it is possible to adopt a configuration in which the mobile work vehicle detects line picking markers (reflective members, chips, etc.) installed on the vehicle's travel path and travels automatically, as in a general-purpose AGV (automated guided vehicle), or to automatically drive using a digital map and self-location detection. For example, in picking work, it is possible to automate the process of moving the mobile work vehicle to the next process (collection, assembly, etc.) after picking work has completed. This achieves efficiency.

[0040] The mobile work vehicle to which the present technology is applied can be configured to be able to carry multiple containers, baskets, etc., and can be configured so that the baskets, containers, etc. connected to the support arm 60 can be swapped during work. For example, the baskets, containers, etc. can be swapped when they are full or when sorting is required. This improves workability by increasing the load capacity, and improves efficiency by enabling sorting work.

[0041] In a mobile work vehicle to which the present technology is applied, the footrest (footrest portion) on the lower front side of the occupant can be configured to allow the occupant to work in a standing position. This allows for a wider range of work (e.g., picking items from high shelves). In this case, when the mobile work vehicle 1 is stopped without the control unit 43 being operated, or when the mobile work vehicle 1 is stopped during autonomous driving, a brake may be applied to some of the wheels 10, 20 to prevent rotation. This brake can be implemented by an electromagnetic brake built into the motor, or by exciting the motor to stop rotation. Brakes of other structures can also be employed. A configuration in which the brake immediately stops rotation when the occupant stops operating the control unit 43 contributes to improved workability.

[0042] The support arm 60 shown in FIG. 7 includes a base end side portion 62 extending at least in the front-to-rear direction of the mobility body 30 and a tip end side portion 63 extending at least upward from the tip side of the base end side portion 62. In this configuration, the support arm 60, particularly the tip end side portion 63, is located primarily in front of the seated occupant. This configuration has the effect of increasing the working space around the item mounting portion 70 and reducing the vertical size of the mobile work mobility 1 including the support arm 60. In FIG. 7, the base end side portion 62 extends obliquely from its base end toward its tip toward the front and upward of the vehicle body. Therefore, the base end side portion 62 extends at least forward of the mobility body 30 from its base end toward its tip. Also, in FIG. 7, the tip end side portion 63 extends obliquely from its base end toward its tip toward the rear and upward of the vehicle body. The tip end side portion 63 may also extend obliquely from its base end toward its tip toward the front and upward of the vehicle body. In these cases, the distal side portion 63 extends at least upward from its base end toward the distal end.

[0043] In each of the above embodiments, the seated person moves the tip of the support arm 60, for example, toward the front of the vehicle body, and the support arm 60 performs part or all of the work of transferring the article placement unit 70 from the support arm 60 to the conveying means 100. Specifically, the support arm 60 performs functions such as placing the article placement unit 70 at a predetermined placement position on the conveying means 100 and positioning the article placement unit 70 above the predetermined placement position. When the electrically powered support arm 60 places the article placement unit 70 at a predetermined placement position on the conveying means 100, the support arm 60 performs all of the transfer work.

[0044] The mobile work vehicle may be provided with a pair of left and right support arms 60, a pair of left and right front and rear frames 71, a pair of left and right upper and lower frames 72, etc. This configuration may contribute to robustness, load-bearing capacity, and smooth operation of the support arms 60. Furthermore, if the support arms 60 are located on the center line in the vehicle width direction, this may be advantageous in terms of ease of getting on and off for the passenger, visibility, maneuverability, and arm freedom.

[0045] A mobile work mobility (electric mobility) 1'' and a mobile work system according to a second embodiment of the present disclosure will be described below with reference to the drawings. Components similar to those in the first embodiment are given the same reference numerals, and perform the same functions as those in the first embodiment.

[0046] As shown in Figures 12 to 14, this mobile work mobility 1'' has a mobility body 30 similar to that shown in Figures 6 to 11 of the first embodiment. As in Figures 6 to 11, the mobility body 30 has two drive wheels (rear wheels) 20 driven by a pair of motors (not shown), and one or more front wheels (driven wheels) 10 arranged further forward on the vehicle body than the drive wheels 20. The mobility body 30 also has one or more rear-end wheels (driven wheels) 25 arranged further rearward on the vehicle body than the two drive wheels 20. Since the drive wheels 20 are arranged further rearward on the vehicle body than the front wheels 10, they may be referred to as rear wheels in the second embodiment, but the rear wheels 20 may be called center wheels, drive wheels, or other names. Furthermore, the wheels 10, 20, 25 may have a shape different from that of a normal wheel, such as a spherical shape, as long as they are capable of rolling when placed on a ground surface.

[0047] Each wheel 10, 20, 25 is supported by the body 31 as in Figures 6 to 11, and the wheels 10, 25 are caster wheels in the second embodiment. The wheels 10, 25 may be ordinary wheels other than caster wheels, such as omnidirectional wheels or wheels the same as the drive wheels 20. When ordinary wheels are used for the front wheels 10 and the drive wheels 20, a steering mechanism is provided in the mobility main body 30.

[0048] In the second embodiment, each drive wheel 20 also has an axle, which is the output shaft of a motor, a hub attached to the axle, and an outer peripheral member provided on the outer periphery of the hub, the outer peripheral surface of which is formed from a material having rubber-like elasticity such as rubber or silicone.

[0049] In the second embodiment, the seat 40 also has a seat surface portion 41 on which the passenger sits and a backrest portion 42. In the second embodiment, when the seat 40 is positioned as shown in Figure 12, etc., the backrest portion 42 faces the front of the vehicle body. In the second embodiment, the forward direction of the vehicle body when the pair of drive wheels 20 rotate in the same direction at a constant speed and / or the direction in which the tip side portion 63" swings as described below is described as the fore-and-aft direction of the vehicle body. The width direction of the vehicle body is a horizontal direction perpendicular to the fore-and-aft direction of the vehicle body. In the second embodiment, the lower end of the seat 40 is supported by the seat support portion 32 of the body 31, and the height of the seat 40 relative to the body 31 is adjustable.

[0050] In the second embodiment, too, a control unit 43 such as a joystick is provided on the seat 40 or the body 31. Also in the second embodiment, the member to which the control unit 43 is attached is swingable, and the user gets on and off the seat 40 with the member flipped up as shown in FIG. 1 of the first embodiment. When a user (rider) seated in the seat 40 operates the control unit 43, the motors are driven in response to the operation, and the mobile work mobility 1" moves in response to the drive of the motors. When a person (user) riding on the mobile work mobility 1" performs the following work, the above-mentioned members are basically positioned in the positions shown in FIGS. 4, 12, etc., even in the second embodiment. If the front wheels 10 are omnidirectional wheels, caster wheels, etc., if the rear-end wheels 25 are omnidirectional wheels, caster wheels, etc., or if the steering mechanism can adjust the steering angle of the front wheels 10 to around 90°, the mobile work mobility 1" can turn. It is also possible for a control device (not shown) provided on the mobile work mobility 1'' to automatically drive the mobile work mobility 1'' based on a program, without the user having to operate the control unit 43.

[0051] In the second embodiment, all three or four wheels can be configured as omnidirectional wheels, which makes it possible to not only perform pivot turns but also move the vehicle body in all directions without changing its direction (or while changing it), further improving workability.

[0052] Furthermore, in the second embodiment, instead of the seat 40, the mobile work mobility 1'' may also be provided with a place for the user to stand as a riding location. In this case, the mobile work mobility 1'' is one that a single user rides while standing. Note that there may also be cases where multiple people ride the mobile work mobility 1'' while standing and / or sitting.

[0053] In the second embodiment, the mobile work mobility 1" also has a support arm 60. As in FIG. 11 of the first embodiment, the support arm 60 has a base end fixed part 61" that is fixed to the mobile work mobility 1", and a tip side part 63" that is swingably supported by the base end fixed part 61". The configuration and modifications of the base end fixed part 61 described in the first embodiment can be applied to the base end fixed part 61" as appropriate. In the second embodiment, the base end side of the tip side part 63" is also supported by the base end fixed part 61" so that it can swing in the front-rear direction. Furthermore, in the second embodiment, the tip side part 63" is configured using a pair of parallel links so that the posture of the tip of the tip side part 63" does not swing around an axis extending in the vehicle width direction.

[0054] More specifically, as shown in FIGS. 12 to 15 , the base end fixing portion 61″ is provided so as to extend upward from the front end of the body 31. In the second embodiment, the fixing position of the base end fixing portion 61″ relative to, for example, the fixed portion 33 of the lower end of the body 31 can be adjusted in the vertical direction. The fixed portion 33 extends upward from, for example, the front end of the body 31, and is provided with a plurality of fixed side holes 33A spaced apart in the vertical direction. The lower end of the base end fixing portion 61″ is also provided with a plurality of fixing side holes (not shown) spaced apart in the vertical direction. The user adjusts the vertical position of the base end fixing portion 61″ relative to the fixed portion 33, and at that position, inserts fixing members 33B such as bolts shown in FIG. 12 etc. into the fixing side holes and fixed side holes 33A, and screws a female screw member 34 such as a nut onto the end of the fixing member 33B. This configuration allows the user to adjust the vertical position of the base end fixing portion 61″ relative to the body 31.

[0055] As shown in FIG. 12 , each of the parallel links of the distal end portion 63″ includes a pair of link members 65, each of which has its lower end connected to the upper end (fixed member) 61A of the proximal end fixed portion 61″, and a movable member 66 connected to the upper end of the pair of link members 65. The movable member 66 is connected to the upper end of the pair of link members 65 by two first connecting portions, and the upper end 61A is connected to the lower end of the pair of link members 65 by two second connecting portions. In the second embodiment, the distance between the pair of first connecting portions is approximately equal to the distance between the pair of second connecting portions. Also, in the second embodiment, when viewed from the direction of FIGS. 12 and 14 , i.e., the direction along the rotation axis of each joint of the parallel link, the distance between the first connecting portion and the second connecting portion of one link member 65 is approximately equal to the distance between the first connecting portion and the second connecting portion of the other link member 65. This distance can also be said to be the distance between the first connecting portion and the second connecting portion when the first connecting portion and the second connecting portion are projected in the direction along the rotation axis.

[0056] Here, each link member 65 has a first portion 65A extending mainly outward in the vehicle width direction and a second portion 65B extending upward from the tip of the first portion 65A (see, for example, FIG. 13 ). The base end of the first portion 65A is supported at the upper end 61A by a second connecting portion so as to be swingable in the fore-and-aft direction of the vehicle. The base end of the second portion 65B is integral with the tip of the first portion 65A, and the upper end of the second portion 65B is connected to the movable member 66 by a first connecting portion so as to be swingable in the fore-and-aft direction of the vehicle. As shown in FIG. 13 , in each of a pair of parallel links, each link member 65 has a portion (including the first portion 65A) extending outward in the vehicle width direction from its base end to its tip. This configuration is useful for stably supporting the article placement unit 70 with each link member 65 while achieving weight reduction and size reduction of each link member 65 and the base end fixing portion 61″.

[0057] In the second embodiment, the movable member 66 may be provided as part of a support structure 67 (described later) and has dimensions equivalent to those of the support structure 67 in the vehicle width direction. In the second embodiment, equivalent dimensions refer to dimensions that are 70 to 130% of each other. Even if the vehicle width direction dimension of the movable member 66 is outside the above numerical range, the same function as in the second embodiment can be achieved as long as the distance between the first connecting portion of the right parallel link and the first connecting portion of the left parallel link is 10 cm or more, more preferably 15 cm or more. The upper ends of each link member 65 of the left parallel link are connected to the left end of the movable member 66 by first connecting portions. The upper ends of each link member 65 of the right parallel link are connected to the right end of the movable member 66 by first connecting portions. Note that depending on conditions and other configurations, the distance between the connecting portions may be less than the above dimensions, and the tip side portion 63'' may have only a single parallel link.

[0058] In the second embodiment, the movable member 66 forms the tip side of the tip side portion 63''. This tip side further has a support structure 67. The support structure 67 is a structure for supporting the article mounting portion 70 on the tip side portion 63'', as in the first embodiment. As shown in FIG. 15 , the support structure 67 has two first frames 67A and 67B extending in the vehicle body width direction and a plurality of second frames 67C, 67D, and 67E extending in the vehicle body front-rear direction. The front and rear ends of the second frames 67C, 67D, and 67E are fixed to the first frames 67A and 67B, respectively, by bolts, welding, etc. The article mounting portion 70, similar to that in the first embodiment, is supported by an upper surface formed by the frames 67A, 67B, 67C, 67D, and 67E. The movable member 66 is not limited to the above configuration and can have various configurations depending on the object to be supported.

[0059] As described above, in the second embodiment, the support arm 60 is also provided to extend at least upward from the lower region of the mobility body 30 in the first embodiment, and the tip of the support arm 60 is movable in the fore-and-aft direction of the vehicle body. Also in the second embodiment, the base end of the support arm 60 is attached to the lower region, and the support arm 60 as a whole extends at least vertically from the base end toward the tip end, thereby being able to support an item mounting section 70 and the like for a user seated in the seat 40. To achieve this configuration, the base end of the base end fixing section 61" may be fixed to the seat support section 32 or a seat underside member 44 described below. In the second embodiment, the support arm 60, particularly the tip end section 63", is located primarily in front of the seated person (user). This configuration provides the effect of increasing the working space around the item mounting section 70 and the effect of reducing the vertical size of the mobile work mobility 1" including the support arm 60. This configuration also contributes to improving workability when the user needs to perform work while standing on, for example, the footrest of the mobile work vehicle 1'' or the body 31 in the vicinity thereof.

[0060] In the second embodiment, the support arm 60 is also configured using a parallel link, making it possible to maintain the posture and / or direction of the support structure 67 and the article placement unit 70 of the support arm 60. The support structure 67 is the working end of the support arm 60, which is the working end of the support arm 60 where a seated user performs work. An example of a work performed by a seated user in the second embodiment is picking work, as in the first embodiment. Other examples of work performed by a seated user in the second embodiment include work involving input into a computer such as a laptop computer or tablet computer, assembling parts, and inspecting parts or products. For these tasks, the article placement unit 70 has, for example, a tabletop or a shallow tray, and is appropriately configured to accommodate a computer, part, product, etc. For any of these tasks, the tip of the support arm 60 in the second embodiment is also configured to be freely movable and positioned. This allows a seated user to efficiently perform each of the above tasks.

[0061] Furthermore, in the second embodiment, as in the first embodiment, a brake mechanism that suppresses or restricts the swinging of the tip side portion 63'' of the support arm 60 and an operating unit that operates the brake mechanism may be provided. Specific examples of the brake mechanism will be described later. Furthermore, depending on the conditions, the mobile work vehicle 1'' may be designed to accommodate two or more people.

[0062] In the second embodiment, as in the first embodiment, the support arm 60 has a positioning mechanism that allows a user riding on the mobile work mobility 1" to arbitrarily move and position the tip of the support arm 60. This effectively improves the operability of picking work, etc., by the user compared to when the work is performed without using the support arm 60 and / or the mobile work mobility 1". For example, with the article placement unit 70 positioned by the support arm 60, the user can efficiently perform picking work, moving articles from a warehouse shelf or the like to the article placement unit 70.

[0063] As in the first embodiment, the positioning mechanism includes a force-applying member 60B, such as a known gas spring with a locking mechanism, attached to the joint of the support arm 60. Instead of a gas spring, the force-applying member 60B may include a known damper (not shown), an air cylinder (not shown), a hydraulic cylinder (not shown), or a combination of these. The force-applying member 60B is configured so that the tip of the support arm 60 can be moved by a user and stopped at that position after the user's movement is complete. Once the tip of the support arm 60 is positioned in this manner, a seated user can easily perform the above-mentioned tasks, such as picking items. In other words, the user positions the item placement unit 70, computer, display device, etc., supported at the tip of the support arm 60 within the user's reach, and the support arm 60 prevents the item placement unit 70 from moving in that position. This improves the efficiency of tasks such as picking items, and also enables efficient general tasks (PC work and office work).

[0064] Furthermore, in the second embodiment, the support arm 60 is configured using a single-stage parallel link, similar to the first embodiment shown in FIG. 11 , and therefore has the advantages of simpler movement and easier handling for workers, as well as reduced material costs and manufacturing costs.

[0065] In the second embodiment, similarly to the state of FIG. 11 in the first embodiment, by using a configuration using a single-stage parallel link, when the tip side section 63" swings forward of the vehicle body, the article mounting section 70 and other components supported on the tip side of the tip side section 63" move downward (FIGS. 11, 12, etc.). For example, when a user moves the mobile work mobility 1" toward a destination, the tip side section 63" swings forward of the vehicle body. This configuration is useful for reducing the area of ​​the user's field of vision that is blocked by the article mounting section 70 and other components.

[0066] Furthermore, although users vary in height, in the second embodiment, for a tall user, swinging the tip side portion 63'' so that the tip is positioned directly above the base end thereof will position the item placement portion 70 at a higher position. On the other hand, for a short user, moving the tip of the tip side portion 63'' closer to the user will lower the position of the item placement portion 70. Since short users tend to have short hands, in this case, moving the tip of the tip side portion 63'' closer to the user can contribute to improved operability.

[0067] In the second embodiment, the user can adjust the position of the base end fixing portion 61" in the fore-and-aft direction of the vehicle body using the adjustment holes 35 shown in FIGS. 15 and 20. A plurality of adjustment holes 35 are provided in the body 31 and are spaced apart in the fore-and-aft direction of the vehicle body. A plate 36 is fixed to the lower end of the base end fixing portion 61", and a known fixing member (not shown) such as a bolt is inserted through a hole 36A provided in the plate 36 and threadedly engaged with one of the plurality of adjustment holes 35. The position of the upper end of the base end fixing portion 61" in the fore-and-aft direction of the vehicle body can be adjusted by changing the adjustment hole 35 into which the fixing member B threads. When this configuration is combined with the ability to adjust the swing position of the tip side portion 63" according to the user's height, the user can find the optimal position of the support structure 67 for work with a simple adjustment procedure.

[0068] As described above, the distal end portion 63" may be configured to be stopped at any pivotal position by the force application member 60B. However, in the second embodiment, as a preferred aspect, a brake mechanism 90 is provided in addition to the force application member 60B. A user can fix the distal end portion 63" at any pivotal position in the pivotal direction by operating the brake mechanism 90. The brake mechanism 90 includes a pivoting portion 91 and a force transmission member 92 (FIG. 14) such as a wire connected to the pivoting portion 91. The pivoting portion 91 has a plurality of levers 91A attached to the support structure 67 so as to be pivotable in the vertical direction (FIG. 15). The force transmission member 92 may have a plurality of gears. The base end of each lever 91A is attached to the second frames 67C, 67D, 67E so as to be pivotable in the vertical direction, and the distal end of each lever 91A supports a shaft 91B. The shaft 91B has the same dimension as the support structure 67 in the vehicle body width direction.

[0069] One end of a force transmission member 92 is fixed to the base end of at least one lever 91A, and the other end of the force transmission member 92 is connected to a known unlocking operation unit (not shown) of the force applying member 60B. The unlocking operation unit opens and closes an orifice in the gas spring, for example, and has an unlocking operation unit such as a lever or a switch. In the second embodiment, when the tip side of the lever 91A swings upward and the unlocking operation unit is pulled by the force applying member 60B, the orifice in the gas spring is released. Other known mechanisms for unlocking may also be used.

[0070] As described above, the tip ends of the levers 91A are connected to each other by the shaft 91B. Therefore, when the user lifts the shaft 91B or the tip end of any of the levers 91A upward, the tip end portion 63" becomes swingable, and when the tip end of the lever 91A swings downward, the force applying member 60B restricts the swinging of the tip end portion 63". In one example, each lever 91A is biased downward by a spring (not shown), but each lever 91A may be configured to swing downward due to gravity.

[0071] As shown in Figure 14 and other figures, when viewed from the vehicle width direction, each lever 91A has a lever body 91C extending diagonally downward and rearward from the base end toward the tip end, and a tip portion 91D extending diagonally upward and rearward from the tip of the lever body 91C. The tip portion 91D facilitates the swinging portion 91 to swing upward when the user's knee or other part of their body unintentionally strikes the swinging portion 91 from the rear of the vehicle. Furthermore, as the swinging portion 91 swings upward, the force application member 60B is unlocked, and the support structure 67 to which the swinging portion 91 is attached also moves toward the front of the vehicle. This configuration contributes to reducing injury to the user when the user's knee or other part of their body unintentionally strikes the swinging portion 91.

[0072] As described above, the height of the seat 40 relative to the body 31 can also be adjusted in the second embodiment. Therefore, in the second embodiment, the height adjustment mechanism 110 has a link mechanism 111 and an elevation drive unit 112 that changes the distance of the upper end of the link mechanism 111 (FIG. 17). The link mechanism 111 in the second embodiment may also be called a pantograph mechanism, an X-link mechanism, or the like.

[0073] A known direct-acting electric cylinder or the like can be used as the lift drive unit 112. For example, a direct-acting electric cylinder is configured so that a rod extends and retracts, and converts the rotation of an electric motor into axial movement of the rod using a ball screw or the like. When the distance to the upper end of the link mechanism 111 becomes closer as shown in FIG. 17, the seat 40 moves upward, and when the distance to the upper end of the link mechanism 111 becomes farther, the seat 40 moves downward as shown in FIG. 16. A user can operate the lift drive unit 112 using the control unit 43 to raise or lower the seat 40.

[0074] In the second embodiment, the seat 40 has a seat underside member 44, which is supported by the upper end of the link mechanism 111. The seat 40 is supported by the seat underside member 44 so as to be rotatable about a rotation axis 40A (FIG. 18) extending in the vertical direction. As shown in FIGS. 17 and 18 , a seat-side gear 121 is fixed to the underside of, for example, the seat cushion portion 41 of the seat 40, and a drive gear 122 meshing with the seat-side gear 121 is provided on the seat underside member 44. The drive gear 122 is fixed to the shaft of a seat rotation motor 123 and is rotated by the seat rotation motor 123. The seat rotation motor 123 is fixed to the seat underside member 44. A user can use the control unit 43 to operate the seat rotation motor 123 to rotate the seat 40 about the rotation axis 40A.

[0075] As shown in Figure 17 and other figures, the base ends of a pair of footrests 130 are attached to the front end of the seat 40. Each footrest 130 has a vertical member 131 whose base end is supported on the front end so as to be swingable in the fore-and-aft direction of the seat 40, and a footrest member 132 extending from the lower end of the vertical member 131 toward the front of the seat 40. In the second embodiment, each of the two footrests 130 is swingable in the fore-and-aft direction of the seat 40, but the two footrests 130 may also be configured to swing together. The front of the seat 40 refers to the direction in which the backrest 42 faces, the direction in which the footrests 130 are provided as viewed from the backrest 42 and the seat surface 41, the direction in which the user primarily faces when seated, etc.

[0076] Two rails 45 extending circumferentially around the rotation axis 40A are fixed to the upper surface of, for example, the seat underside member 44 of the seat 40 (see, for example, FIG. 14 ). As shown in FIGS. 18 and 19 , each rail 45 has a groove 45A extending circumferentially, and a portion of the groove 45A is configured as a distance change portion 45B so that the distance from the rotation axis 40A is greater than that of other portions of the groove 45A. In the second embodiment, two distance change portions 45B are provided, but the number of distance change portions 45B may be one or three or more. It is also possible for the groove 45A to be configured so that the distance from the rotation axis 40A gradually changes over the entire circumference.

[0077] The two rails 45 are arranged so as to overlap in the vertical direction, and the upper rail 45 is arranged so that the groove 45A opens downward as shown in Figures 14 and 18, while the lower rail 45 is arranged so that the groove 45A opens upward as shown in Figure 14. Note that Figures 16, 17, etc. show a state in which the rails 45 are omitted.

[0078] Meanwhile, roller-equipped members 133 extending toward the rear of the seat 40 are attached to the vertical members 131 of each of the pair of footrests 130 (see, e.g., Figure 18 ). Note that Figure 18 shows only one of the footrests 130. Each roller-equipped member 133 has a base end connected to the vertical member 131 so as to be swingable in the vertical direction, and a roller 134 attached to the tip end so as to be rotatable about an axis extending in the vertical direction. For example, the roller 134 is made of a plastic material, a metal material, or the like, and is attached to the roller-equipped member 133 via a bearing (not shown). In the second embodiment, a swinging connector 133A is also provided in the middle of the roller-equipped member 133 so that the roller 134 can roll smoothly within the rail 45. The swinging connector 133A allows the tip end of the roller-equipped member 133 to swing in the vertical direction relative to the base end.

[0079] As shown in Figures 14 and 18, the rollers 134 are disposed in the grooves 45A of the two rails 45, and are configured to roll on the side walls of the grooves 45A. That is, when the seat rotation motor 123 rotates the seat 40 relative to the seat underside member 44, the rollers 134 move within the grooves 45A around the rotation axis 40A, rolling on the side walls of the grooves 45A. When the rollers 134 move within the distance-changing section 45B, the roller-equipped member 133 is pushed in a direction away from the rotation axis 40A, causing the vertical direction member 131 to swing toward the front of the seat 40 (Figure 21). As a result, the footrest member 132 of the footrest section 130, which is pushed by the vertical direction member 131, moves toward the front and upward of the seat 40. In this way, the groove 45A of the rail 45 and the roller-equipped member 133 function as a footrest moving mechanism that raises the footrest 130 upward when the seat 40 rotates within a predetermined rotation range.

[0080] In the second embodiment, a distance change section 45B is provided on the rail 45 so that, when the seat 40 is rotated as described above, the footrest section 130 avoids the left and right corners of the rear wheels (drive wheels) 20 and the front end of the seat underside member 44, as shown in FIG. 21 . In the second embodiment, the footrest section 130 can be moved forward and / or upward at a predetermined position in the rotation direction of the seat 40, without the need for a motor other than the seat rotation motor 123 or its control. Note that this configuration allows the seat 40 to rotate smoothly around the rotation axis 40A without reducing the distance between the pair of rear wheels (drive wheels) 20 in the vehicle width direction. This configuration is useful for achieving both improved stability and improved workability for the user of the mobile work mobility 1″.

[0081] It is also possible that the distance-changing portion 45B is formed closer to the rotation axis 40A than other positions of the groove 45A. Even in this case, it is possible to cause the footrest 130 to move in a similar manner by providing another link mechanism between the member with rollers 133 and the vertical direction member 131. Also, instead of using the groove 45A of the rail 45 and the member with rollers 133, it is also possible to use a footrest motor (not shown) to swing the footrest 130 upward.

[0082] In the second embodiment, as shown in Figures 15, 20, etc., a bumper 140 is provided at the front end of the vehicle body of the mobility main body 30. The bumper 140 of the second embodiment has a front member 141 that extends in the vehicle body width direction across the front end of the vehicle body of the mobility main body 30, and side members 142 that extend rearward from both ends of the front member 141. As shown in Figure 15, etc., the front member 141 has an arch shape in which a central portion 141A in the vehicle body width direction is elevated. For this reason, Figure 20, which is a cross-sectional view taken at a certain height, does not show the central portion 141A of the front member 141. Note that the shape, structure, etc. of the bumper may be modified as appropriate depending on the conditions.

[0083] In the second embodiment, as shown in FIG. 20 , a side member 142 of a bumper 140 is provided with a sensor support member 143 extending inward in the vehicle width direction. The sensor support member 143 may be formed to extend rearward from the side member 142 or the front member 141. In one example, the sensor support member 143 and the bumper 140 are made of a plastic material, a metal material, or the like. The base end of the sensor support member 143 is fixed to the side member 142 and / or the front member 141, and a sensor main body (detection unit) 144 of a known non-contact sensor such as a phor-microsensor, a photoelectric sensor, or a proximity sensor is fixed to the tip of the sensor support member 143. In the second embodiment, the sensor support member 143 and the sensor main body 144 are provided at one end and the other end (left and right) of the bumper 140, respectively.

[0084] 20 , an emitter (output unit) 145 that emits light (detection wave) or sound waves (detection wave), such as a microphotosensor, photoelectric sensor, or ultrasonic sensor, is fixed to the mobility body 30, and a sensor body 144 can detect the presence or absence and intensity of the detection wave from the emitter 145. The bumper 140 is also displaceably attached to the mobility body 30. More specifically, when a force toward the rear of the vehicle body is applied to the bumper 140, the bumper 140 is displaced toward the rear of the vehicle body relative to the mobility body 30. The bumper 140 is also configured to displace in the vehicle body width direction relative to the mobility body 30 when a force toward the width of the vehicle body is applied to the bumper 140. The relationship (spring constant, etc.) between the force and the displacement of the bumper 140 can be set as appropriate. For example, when a force of about 1 N or 10 N is applied to the bumper 140, the bumper 140 is displaced rearward and widthwise by 1 mm or less, 1 mm or more, or several mm, etc. A microphotosensor or the like can accurately detect even small displacements of 1 mm or less.

[0085] The amount of detection wave received by the sensor main body 144 from the emitter 145 changes before and after the displacement occurs, thereby detecting contact or collision between the bumper 140 and a detection target such as an obstacle or person. The sensor main body 144 may have an emitter. In this case, a member that reflects the detection wave from the sensor main body 144 is attached to the position of the emitter 145. Furthermore, if the non-contact sensor is a proximity sensor, a metal piece such as iron can be placed in place of the emitter 145. In this case, the sensor main body 144 can detect that the positional relationship between the sensor main body 144 and the metal piece has changed due to the displacement of the bumper 140.

[0086] In the second embodiment, the control device of the first embodiment may perform automatic driving of the mobile work mobility 1''. There may also be cases where automatic driving is not performed, and the control device controls the motors of the pair of rear wheels (drive wheels) 20 based on the operation of the control unit 43 by the user. In these cases, the control device performs avoidance driving control, such as automatically stopping the mobile work mobility 1'' or reducing its speed, based on the detection results of the sensor main body 144.

[0087] In the second embodiment, the detection state of the sensor main body 144 changes as described above when the bumper 140 is displaced, thereby detecting the displacement of the bumper 140 without contact. This configuration is useful for reducing the possibility of failure of the sensor main body 144 in situations where the bumper 140 repeatedly experiences displacement and the displacement is detected by the sensor main body 144. For example, a button may be used instead of the sensor main body 144. In this case, multiple buttons are attached to the front end of the mobility body 30, and when the bumper 140 is displaced, the bumper 140 presses one of the buttons, thereby detecting contact or collision with an obstacle, person, or the like. In this configuration, physical force is applied to the button, making it prone to failure. Furthermore, a certain amount of force is required to press the button, which may make it difficult to detect small forces applied to the bumper 140 using a button method. The configuration of the second embodiment for detecting the displacement of the bumper 140 is also useful for detecting small forces applied to the bumper 140. For example, a user may move the mobile work vehicle 1'' forward without noticing that an empty cardboard box is present, causing the empty cardboard box to come into contact with the bumper 140. In this way, the second embodiment can also be configured to be able to detect contact of the bumper 140 with a light object. Note that the bumper 140 and a configuration that can detect its displacement may also be provided at the rear end of the vehicle body 30 as needed.

[0088] Furthermore, in the second embodiment, the sensor main body 144 is fixed to a sensor support member 143 that displaces together with the bumper 140, and the emitter 145 is fixed to the mobility main body 30. This allows for a configuration that reliably detects the displacement of the bumper 140 relative to the mobility main body 30. Furthermore, compared to the case where multiple buttons are used as described above, the number of sensor main bodies 144 can be reduced. For example, in the second embodiment, the displacement of the bumper 140 toward the rear of the vehicle body and the displacement in the vehicle width direction can be detected by a single sensor main body 144. Note that the same effect can be achieved even if the sensor main body 144 is fixed to the position of the emitter 145, and the emitter 145 is fixed to the sensor support member 143.

[0089] In each of the above embodiments, when a user performs the picking operation and places an item on the item placement unit 70, the information on the information code or information chip attached to the item may be readable by a device provided on the item placement unit 70 or the support arm 60. The device may be a known reader such as a QR code (registered trademark) reader or an IC chip reader. The control device may determine the next destination of the mobile work mobility 1'' based on the read information. For example, after three picking operations are performed at different locations, the control device calculates or estimates the weight of the items placed in the item placement unit 70 based on the read information, and when the weight exceeds a predetermined amount, the control device determines the delivery destination of the items (the location where the items are unloaded) as the next destination. The control device can display the determined destination on a display device provided on the mobility body 30. Alternatively, the control device can automatically drive the mobile work mobility 1'' toward the determined destination. When the weight does not exceed a predetermined amount, the control device is configured to have the user determine the next destination.

[0090] In each of the above embodiments, a weight sensor that detects the weight of the items placed in the item placement section 70 may be provided on the support arm 60 or the item placement section 70. In one example, the weight sensor detects the item placement section 70 and / or the total weight of the items in the item placement section 70. The control device may determine the next destination of the mobile work mobility 1" based on the detection result of the weight sensor. For example, after performing three picking operations at different locations, the control device determines the delivery destination of the items (the location where the items are unloaded) as the next destination when the detection value of the weight sensor exceeds a predetermined value. The control device can display the determined destination on a display device provided on the mobility body 30. Alternatively, the control device can automatically drive the mobile work mobility 1" toward the determined destination. When the weight does not exceed a predetermined amount, the control device is configured to have the user decide the next destination.

[0091] In each of the above embodiments, the hook 150 may be attached to the front end of the main body 30. In the example of FIG. 15 , the hook 150 is attached to the front end of the main body 30 via a flexible, long member 151 such as a string. A user can hook the hook 150 to an item located in front of the main body 30, rotate the seat 40 by, for example, 180°, and then move the mobile work vehicle 1'' in the direction in which the seat 40 and the user are facing. This allows the item hooked to the hook 150 to be moved while being towed by the mobile work vehicle 1''.

[0092] DESCRIPTION OF SYMBOLS 1, 1', 1'': Mobility for mobile work 10: Front wheel (wheel) 20: Rear wheel (wheel) 25: Rear end wheel (wheel) 30: Mobility main body 31: Body 40: Seat 40A: Rotation axis 45: Rail 45A: Groove 45B: Distance change section 60: Support arm 60A: Spring 60B: Force application member 61, 61'': Base end fixed section 61A: Upper end section 62: Base end side section 63, 63'': Tip side section 65: Link member 65A: First section 65B: Second section 66: Movable member 67: Support structure 70, 70': Article placement section 70': Article placement section 90: Brake mechanism 91: Swinging section 91A: Lever 91B: Shaft 91C: Lever body 91D: Tip portion 92: Force transmission member 110: Height adjustment mechanism 130: Foot rest 133: Member with roller 134: Roller 140: Bumper 143: Sensor support member 144: Sensor body 145: Emitter 150: Hook 151: Long member

Claims

1. A mobility device for mobile work comprising: a mobility body having a place for a user to ride; one or more wheels supporting said mobility body; a drive unit that drives at least one drive wheel of said one or more wheels; and a support arm attached to said mobility body, said support arm being configured so that said user riding in said riding place can freely move and position the tip of said support arm.

2. A mobile work vehicle as described in claim 1, wherein the base end of the support arm is attached to the mobility body, the support arm extends at least upward from a lower area of ​​the mobility body, and the tip of the support arm is movable at least in the fore-and-aft direction of the vehicle body.

3. A mobile work mobility as described in claim 2, wherein the support arm has a base end fixing portion fixed to the mobility body, and a tip side portion whose base end is supported on the base end fixing portion so as to be swingable in the fore-and-aft direction of the vehicle body and which supports an item loading portion on its tip side.

4. A mobile work vehicle as described in claim 3, wherein the support arm uses a parallel link at the tip side so that the posture of the article placement section does not change when the tip side swings.

5. A mobile work vehicle as described in any one of claims 1 to 4, comprising: a bumper attached to the mobility body so as to be displaced relative to the mobility body when the bumper collides with a detection object due to the mobility body moving; and a sensor that detects the displacement of the bumper relative to the mobility body in a non-contact manner.

6. A mobile work mobility as described in claim 5, wherein the sensor has an output unit that outputs a detection wave and a detection unit that outputs differently when the detection wave is received from the output unit than when it is not received, and one of the output unit or the detection unit is fixed to the bumper or a member that displaces together with the bumper, and the other of the output unit or the detection unit is fixed to the mobility body.

7. A mobile work mobility as described in claim 3 or 4, comprising: a swinging section provided on the side of the tip of the support arm and moving in response to operation by the user; when the user swings the swinging section in a predetermined direction, the tip side section becomes swingable; and when the user does not swing the swinging section in the predetermined direction, the swinging of the tip side section is restricted.

8. A mobile work vehicle as claimed in any one of claims 1 to 4, wherein the riding location has a seat that can rotate around a vertical axis and a footrest that rotates together with the seat around the vertical axis, and is equipped with a footrest movement mechanism that raises the footrest when the seat rotates within a predetermined rotation range.

9. A mobile work system using a mobile work mobility, wherein the mobile work mobility comprises: a mobility body having a place for a user to ride; one or more wheels supporting the mobility body; a drive unit that drives at least one drive wheel of the one or more wheels; and a support arm attached to the mobility body, wherein the mobile work system comprises an item loading unit that can be supported by the tip side of the support arm, and the support arm is configured so that the user riding in the riding place can freely move and position the tip of the support arm.

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