Traveling robot

Abstract

This traveling robot includes: a traveling unit capable of traveling on a traveling surface; and a lifting / lowering unit that is combined with the traveling unit and that has a lifting / lowering part and a lifting / lowering drive unit for lifting / lowering the lifting / lowering part.

Description

Running robot

[0001] The present invention relates to a running robot.

[0002] Conventionally, a traveling robot for transporting luggage has been known, as disclosed in Patent Document 1. Such a traveling robot has a platform provided on the upper part of the traveling body. The traveling robot transports luggage placed on the platform.

[0003] Japanese Patent Application Laid-Open No. 2021-17309

[0004] However, the running robot described above has an actuator that rotates the platform. This actuator is built into the running body and cannot be separated from the running body. This makes it impossible to expand the functionality of the running robot.

[0005] An object of the present invention is to provide a traveling robot whose functions can be easily expanded.

[0006] One aspect of the traveling robot according to the present invention comprises: a traveling unit capable of traveling on a traveling surface; and a lifting unit combined with the traveling unit and having a lifting section and a lifting drive section that raises and lowers the lifting section.

[0007] According to the present invention, a traveling robot whose functions can be easily expanded can be provided.

[0008] FIG. 1 is a perspective view of a running robot according to a first embodiment of the present invention. FIG. 2 is a front view of the running robot in a first position. FIG. 3 is a rear view of the running robot in the first position. FIG. 4 is a left side view of the running robot in the first position. FIG. 5 is a right side view of the running robot in the first position. FIG. 6 is a plan view of the running robot in the first position. FIG. 7 is a bottom view of the running robot in the first position. FIG. 8 is a plan view of the running robot with the lifting unit omitted. FIG. 9 is a left side view of the running robot in a second position. FIG. 10 is a right side view of the running robot in the second position. FIG. 11 is a left side view of the running robot in a third position. FIG. 12 is a right side view of the running robot in the third position. FIG. 13 is a schematic diagram for explaining the operation of the running robot. FIG. 14 is a plan view of a running robot according to a second embodiment of the present invention with the lifting unit omitted. FIG. 15 is a perspective view of a running robot according to a third embodiment of the present invention in the first position. FIG. 16 is a perspective view of a running robot according to the third embodiment of the present invention in the second position. Fig. 17 is a perspective view showing an example of a modified example of the running robot according to embodiment 3 of the present invention. Fig. 18 is a left side view of the running robot according to embodiment 4 of the present invention. Fig. 19 is a right side view of the running robot according to embodiment 4 of the present invention.

[0009] An example of a running robot according to the present invention will be described in detail below with reference to the drawings. Note that the running robot described below is an example of the running robot according to the present invention, and the present invention is not limited to the embodiments described below.

[0010] First Embodiment The configuration of a traveling robot R according to a first embodiment of the present invention will be described with reference to FIGS.

[0011] FIG. 1 is a perspective view of the running robot R. FIG. 2 is a front view of the running robot R. FIG. 3 is a rear view of the running robot R. FIG. 4 is a left side view of the running robot R. FIG. 5 is a right side view of the running robot R. FIG. 6 is a plan view of the running robot R. FIG. 7 is a bottom view of the running robot R. The posture of the running robot R shown in FIGS. 1 to 7 is a first posture. The first posture of the running robot R will be described later.

[0012] The traveling robot R transports luggage W (see FIG. 13). Such a traveling robot R is used, for example, in a logistics warehouse. The environment in which the traveling robot R is used is not particularly limited. Furthermore, the type of luggage that the traveling robot R transports is not particularly limited.

[0013] In the following explanation, when explaining the structure of the traveling robot R, the Cartesian coordinate system (X, Y, Z) shown in each drawing may be used. The X direction corresponds to the front-to-back direction of the traveling robot R. The positive side of the X direction corresponds to the front side of the traveling robot R. The negative side of the X direction corresponds to the rear side of the traveling robot R. Note that the front and rear sides of the traveling robot R are not particularly limited.

[0014] Additionally, the Y direction corresponds to the left-right and width directions of the traveling robot R. The + side of the Y direction corresponds to the left side when viewing the traveling robot R from behind the traveling robot R. The - side of the Y direction corresponds to the right side when viewing the traveling robot R from behind the traveling robot R.

[0015] The Z direction corresponds to the up-down direction of the traveling robot R. The positive Z direction corresponds to the upper side of the traveling robot R. The negative Z direction corresponds to the lower side of the traveling robot R.

[0016] (Traveling Robot) From a functional standpoint, the traveling robot R has a traveling function for traveling on a traveling surface P (see FIG. 2) and a lifting function for lifting up and down the lifting section 21 that supports the cargo W.

[0017] From a structural standpoint, the traveling robot R has a traveling unit 1 and a lifting unit 2 .

[0018] The traveling unit 1 realizes the traveling function of the traveling robot R. On the other hand, the lifting unit 2 realizes the lifting function of the traveling robot R. The traveling unit 1 and the lifting unit 2 are combined in a state that allows the user to easily separate them. The specific configurations of the traveling unit 1 and the lifting unit 2 will be described below.

[0019] (Traveling unit 1) The traveling unit 1 can travel on the traveling surface P. In other words, the traveling unit 1 has a traveling function. The traveling unit 1 does not have the lifting function of the lifting unit 2 described below. In other words, of the traveling function and lifting function that the traveling robot R has, the traveling unit 1 only realizes the traveling function.

[0020] The propulsion unit 1 has a body part 11, a wheel unit 12, a power supply part 13 (see FIG. 8), and a control part 14 (see FIG. 8).

[0021] The traveling unit 1 is provided in a central region RC (see FIG. 8) including the center of the traveling robot R. In this embodiment, the central region RC is, as shown in FIG. 8, the center O of the traveling unit 1 in a plan view. １ (Hereinafter, the center O of the traveling unit 1 １ This is a region that includes the

[0022] A plan view of the traveling unit 1 means a view from above of the traveling unit 1. As shown in Fig. 8, the traveling robot R has a central region RC, a left end region RL, and a right end region RR.

[0023] The left end region RL is a rectangular parallelepiped region extending in the front-to-rear direction and including the left end of the traveling robot R. The right end region RR is a rectangular parallelepiped region extending in the front-to-rear direction and including the right end of the traveling robot R. The center region RC is the region between the left end region RL and the right end region RR in the left-to-right direction.

[0024] (Body Section) The body section 11 supports the elements 12, 13, and 14 that constitute the traveling unit 1.

[0025] 8, the body 11 has a bottom wall 111 and a peripheral wall 112. The bottom wall 111 is circular in a plan view of the body 11. A plan view of the body 11 means that the body 11 is viewed from above.

[0026] The peripheral wall portion 112 is generally cylindrical and extends upward from the outer periphery of the bottom wall portion 111. The peripheral wall portion 112 has a left support portion 113 at its left end and a right support portion 114 at its right end.

[0027] The upper end of the body 11 is open. The upper end of the body 11 may be closed by a cover member (not shown). The shape of the body 11 is not limited to the shape of the body 11 in this embodiment.

[0028] The body 11 has four travel guide portions 115a, 115b, 115c, and 115d at four locations on the bottom wall 111. The travel guide portions 115a, 115b, 115c, and 115d are, for example, ball casters.

[0029] The travel guide portions 115a, 115b, 115c, and 115d are always in contact with the travel surface P. The travel guide portions 115a, 115b, 115c, and 115d prevent the travel unit 1 from tilting.

[0030] The body part 11 (in other words, the traveling unit 1) is disposed inside the transmitted force part 212 of the lifting part 21, which will be described later. In this state, the body part 11 (in other words, the traveling unit 1) is disposed between the left drive part 3 and the right drive part 4 of the lifting drive part 22, which will be described later.

[0031] (Wheel Unit) The wheel unit 12 has a left wheel unit 12L and a right wheel unit 12R.

[0032] 8, the left wheel unit 12L has a left wheel 122a and a left traction motor 122b. The left wheel unit 12L is supported by the left support portion 113.

[0033] The left traveling motor 122b is connected to the left wheel 122a in a state in which rotation can be transmitted, and is connected to a power supply unit 13 and a control unit 14, which will be described later.

[0034] The left traveling motor 122b is driven by power supplied from the power supply unit 13 under the control of the control unit 14. When the left traveling motor 122b is driven, the left wheel 122a rotates according to the rotation direction of the left traveling motor 122b.

[0035] 8, the right wheel unit 12R has a right wheel 123a and a right traction motor 123b. The right wheel unit 12R is supported by the right support portion 114.

[0036] The right-side traveling motor 123b is connected to the right-side wheel 123a in a state in which rotation can be transmitted, and is connected to a power supply unit 13 and a control unit 14, which will be described later.

[0037] The right-side traveling motor 123b is driven by power supplied from the power supply unit 13 under the control of the control unit 14. When the right-side traveling motor 123b is driven, the right-side wheel 123a rotates according to the rotation direction of the right-side traveling motor 123b.

[0038] The left wheel unit 12L and the right wheel unit 12R are provided at positions symmetrical to each other. In other words, the left wheel unit 12L and the right wheel unit 12R are arranged on a straight line L parallel to the left-right direction. １ (See FIG. 8) The straight line L １ is the center O of the traveling unit 1 １ Pass through.

[0039] (Power Supply Unit) The power supply unit 13 (see FIG. 8) is, for example, a rechargeable battery. Under the control of the control unit 14, the power supply unit 13 supplies power to the left traveling motor 122b of the left wheel unit 12L and the right traveling motor 123b of the right wheel unit 12R. In this embodiment, the power supply unit 13 is configured as a battery with a battery voltage of 24V. Furthermore, the traveling unit 1 may also have, in addition to the power supply unit 13, a battery that supplies power to sensors, etc. This battery may be configured as, for example, a battery with a battery voltage of 12V.

[0040] Moreover, the power supply unit 13 supplies power to a lift drive unit 22 in the lift unit 2 (described later) under the control of the control unit 14. Specifically, the power supply unit 13 supplies power to a left lift motor 31 and a right lift motor 41 in the lift drive unit 22.

[0041] The power supply unit 13 is fixed to the bottom wall 111 of the body 11. Specifically, the power supply unit 13 is provided at the rear end of the bottom wall 111.

[0042] The power supply unit 13 is connected to a straight line L parallel to the front-rear direction. ２ (See FIG. 8) The straight line L ２ is the center O of the traveling unit 1 １ This configuration can improve the weight balance of the propulsion unit 1 in the left-right direction.

[0043] The number of batteries constituting the power supply unit is not particularly limited. In addition, the power supply unit that drives the left wheel unit 12L and the right wheel unit 12R may be unitized with the left wheel unit 12L and the right wheel unit 12R.

[0044] (Controller) The controller 14 may be substantially configured such that a CPU, a ROM, a RAM, and a HDD are connected via a bus, or may be configured such as a one-chip LSI.

[0045] The control unit 14 controls the operation of the propulsion unit 1. Specifically, the control unit 14 controls the operation of the left-side propulsion motor 122b of the left-side wheel unit 12L and the right-side propulsion motor 123b of the right-side wheel unit 12R.

[0046] In this embodiment, the control unit 14 controls the operation of the lifting unit 2, which will be described later. The control unit 14 corresponds to an example of a lifting control unit. The control performed by the control unit 14 will be described later.

[0047] The propulsion unit 1 having the above-described configuration switches between forward and reverse movement depending on the rotation direction of the left wheel 122a and the right wheel 123a.

[0048] Specifically, when the left wheel 122a and the right wheel 123a are both rotating at the same speed in a first rotation direction, the traveling unit 1 moves forward. This first rotation direction is sometimes referred to as the forward direction. Note that the first rotation direction is opposite to the clockwise direction when the left wheel 122a and the right wheel 123a are viewed from the left side.

[0049] When the left wheel 122a and the right wheel 123a are both rotating at the same speed in the second rotation direction, the traveling unit 1 moves backward. This second rotation direction is sometimes referred to as the backward direction. The second rotation direction is the clockwise direction when the left wheel 122a and the right wheel 123a are viewed from the left side.

[0050] The propulsion unit 1 can also turn depending on the rotation direction of the left wheel 122a and the right wheel 123a.

[0051] Specifically, when the left wheel 122a rotates in the first rotation direction and the right wheel 123a does not rotate, the traveling unit 1 turns to the right. Note that the turning direction means the direction in which the traveling robot R faces forward.

[0052] When the left wheel 122a does not rotate and the right wheel 123a rotates in the first rotation direction, the propulsion unit 1 turns to the left. The propulsion unit 1 changes its direction of travel by turning.

[0053] In this embodiment, the upper limit of the angle at which the propulsion unit 1 can turn to the right (hereinafter referred to as the right turning angle of the propulsion unit 1) is 90°. Also, the upper limit of the angle at which the propulsion unit 1 can turn to the left (hereinafter referred to as the left turning angle of the propulsion unit 1) is 90°.

[0054] (Lifting unit) The lifting unit 2 lifts and lowers the lifting section 21 that supports the cargo W (see FIG. 13). In other words, the traveling unit 1 has a lifting function. The lifting unit 2 does not have the traveling function that the traveling unit 1 has. Of the traveling function and lifting function that the traveling robot R has, the traveling unit 1 only realizes the lifting function.

[0055] Here, lifting and lowering means that the lifting unit 2 moves the entire lifting section 21 in the vertical direction, or that the lifting unit 2 moves a part of the lifting section 21 in the vertical direction.

[0056] The lifting unit 2 in this embodiment moves the entire lifting section 21 in the up-down direction. On the other hand, a lifting unit 2C in a third embodiment described below moves a part of a lifting section 21C in the up-down direction.

[0057] The lifting unit 2 is detachably combined with the traveling unit 1. The lifting unit 2 is rotatable relative to the traveling unit 1.

[0058] The lifting unit 2 includes a lifting section 21 , a lifting drive section 22 , and a restricting section 23 .

[0059] (Lifting Unit) The lifting unit 21 moves up and down based on the power of the lifting drive unit 22, which will be described later. The position in the up and down direction (i.e., the height) of the lifting unit 21 changes depending on the operation mode of the traveling robot R. The height of the lifting unit 21 is controlled by the control unit 14 in the traveling unit 1. The operation modes of the traveling robot R will be described later.

[0060] The lifting unit 21 is a part that is combined with the traveling unit 1. The lifting unit 21 has a placing unit 211 and a transmitted unit 212.

[0061] (Placement section) The placement section 211 is a section on which cargo to be transported by the traveling robot R is placed. The placement section 211 is in the form of a plate that is parallel in the front-rear and left-right directions. The placement section 211 covers the entire traveling unit 1 from above. The placement section 211 also covers the entire lifting drive section 22 (described later) from above.

[0062] (Transmission receiving portion) The transmission receiving portion 212 is annular (specifically, cylindrical). The transmission receiving portion 212 extends downward from the lower surface of the mounting portion 211. The upper end of the transmission receiving portion 212 is connected to (in other words, fixed to) the lower surface of the mounting portion 211.

[0063] The transmitted force receiving portion 212 is an example of an annular member, and covers the outer peripheral surface of the traveling unit 1 (specifically, the peripheral wall portion 112 of the body portion 11).

[0064] The inner diameter of the transmitted force receiving part 212 is slightly larger than the outer diameter of the propulsion unit 1 (specifically, the peripheral wall part 112 of the body part 11). A small gap exists between the inner peripheral surface of the transmitted force receiving part 212 and the outer peripheral surface of the propulsion unit 1 around the entire circumference.

[0065] The inner diameter of the transmitted force receiving part 212 is the inner diameter of the transmitted force receiving part 212 in a plan view. The outer diameter of the propulsion unit 1 (specifically, the peripheral wall part 112 of the body part 11) is the outer shape of the propulsion unit 1 in a plan view.

[0066] The transmitted force receiving part 212 is a part that is pushed in the direction of travel of the traveling unit 1 by the traveling unit 1 (specifically, the peripheral wall part 112 of the body part 11) when the traveling unit 1 is traveling. The lifting unit 2 travels together with the traveling unit 1 as the transmitted force receiving part 212 is pushed by the traveling unit 1.

[0067] (Lifting drive unit) The lifting drive unit 22 is an actuator that raises and lowers the lifting unit 21. The lifting drive unit 22 is connected to the power supply unit 13 in the propulsion unit 1 via wiring 5 (see FIGS. 2, 3, and 8). The lifting drive unit 22 is driven by power supplied from the power supply unit 13 in the propulsion unit 1.

[0068] The lifting drive unit 22 has a left drive unit 3 and a right drive unit 4 .

[0069] (Left Side Drive Unit) The left side drive unit 3 corresponds to an example of a first drive unit. The left side drive unit 3 is provided in the left end region RL of the traveling robot R. The left side drive unit 3 has the same configuration as the right side drive unit 4 described below.

[0070] As shown in FIG. 4 , the left drive unit 3 includes a left lift motor 31 , a left lift support unit 32 , and a left lift mechanism 33 .

[0071] (Left-side lift motor) The left-side lift motor 31 is driven by power supplied from the power supply unit 13 in the traveling unit 1. The operation of the left-side lift motor 31 is controlled by the control unit 14 in the traveling unit 1. The left-side lift motor 31 is provided near the rear end of the left end region RL (see FIG. 8 ) of the traveling robot R.

[0072] The output shaft (not shown) of the left lift motor 31 is parallel to the front-rear direction. The tip of the output shaft (not shown) of the left lift motor 31 faces forward. The left lift motor 31 is fixed to the left lift mechanism 33 via a left bracket 331 (see FIG. 8 ).

[0073] The left lift motor 31 is, for example, a DC motor. The type of DC motor is not particularly limited. The left lift motor 31 rotates in a direction (first rotation direction or second rotation direction) corresponding to the direction of the current supplied from the power supply unit 13.

[0074] The first rotation direction of the left lift motor 31 is a direction to raise the lift unit 21. The second rotation direction of the left lift motor 31 is a direction to lower the lift unit 21.

[0075] (Left-side lift support section) The left-side lift support section 32 supports the lift section 21, the left-side lift motor 31, and a left-side lift mechanism 33 (described later). The left-side lift support section 32 is provided below the left-side lift motor 31 and the left-side lift mechanism 33.

[0076] The left lifting support portion 32 is a plate-like member that extends in the front-rear direction and is parallel to the front-rear direction and the left-right direction.

[0077] The left lifting support part 32 has, on its lower surface, left running guide parts 321 and 322 that come into contact with the running surface P. The left running guide parts 321 and 322 are each a ball caster.

[0078] The left-side travel guide portion 321 is provided at the front end portion of the left-side lifting support portion 32. The left-side travel guide portion 322 is provided at the rear end portion of the left-side lifting support portion 32. The left-side travel guide portions 321, 322 prevent the left-side drive portion 3 (in other words, the lifting unit 2) from tilting.

[0079] (Left-side lifting mechanism) The left-side lifting mechanism 33 is an example of a lifting mechanism, and is driven by the left-side lifting motor 31. The left-side lifting mechanism 33 raises and lowers the lifting unit 21.

[0080] The left lifting mechanism 33 is a so-called pantograph mechanism. The left lifting mechanism 33 has a function of changing the height of its upper end portion in accordance with the rotation of the left lifting motor 31.

[0081] Specifically, as shown in FIG. 4 , the left lifting mechanism 33 includes a screw portion 332 , a first lifting mechanism 34 , and a second lifting mechanism 35 .

[0082] (Screw portion) The screw portion 332 is axially shaped and extends in the front-rear direction. The screw portion 332 has a male thread on its outer circumferential surface. The base end (i.e., the rear end) of the screw portion 332 is connected to the output shaft (not shown) of the left lift motor 31 via a coupling 334. A reducer may be provided between the coupling 334 and the output shaft of the left lift motor 31.

[0083] The tip end (in other words, the front end) of the screw portion 332 is not connected to any other member. The left lift motor 31 supports the screw portion 332 in a cantilever manner.

[0084] The first rotation direction of the screw portion 332 corresponds to the first rotation direction of the left lift motor 31. The first rotation direction of the screw portion 332 is the direction in which the lift portion 21 is raised.

[0085] The second rotation direction of the screw portion 332 corresponds to the second rotation direction of the left lift motor 31. The second rotation direction of the screw portion 332 is the direction in which the lift portion 21 is lowered.

[0086] (First Lifting Mechanism) The height of the upper end of the first lifting mechanism 34 changes in response to rotation of the screw portion 332. The first lifting mechanism 34 has a first nut 341 and a first link mechanism 342.

[0087] (First Nut) The first nut 341 has a female thread portion (not shown) on its inner circumferential surface. A portion of the screw portion 332 near the base end (in other words, the rear end) is inserted into the first nut 341. In this state, the female thread portion of the first nut 341 and the male thread portion of the screw portion 332 are threadedly engaged with each other.

[0088] The first nut 341 is connected to the lifting unit 21 via a first link mechanism 342, which will be described later. In this state, the rotation of the first nut 341 is restricted by the first link mechanism 342. Therefore, the first nut 341 moves in its axial direction (in other words, in the front-to-rear direction) in response to the rotation of the screw portion 332.

[0089] When the screw portion 332 rotates in the first rotation direction, the first nut 341 moves in a first direction (in other words, rearward) in the axial direction of the first nut 341. This first direction is a direction in which the first nut 341 approaches the left lift motor 31.

[0090] When the screw portion 332 rotates in the second rotation direction, the first nut 341 moves in a second direction (i.e., forward) in the axial direction of the first nut 341. This second direction is a direction in which the first nut 341 moves away from the left lift motor 31.

[0091] In a modified example of the first lifting mechanism 34 (hereinafter referred to as a modified first lifting mechanism), the first nut 341 may be omitted. Specifically, in the modified first lifting mechanism, the first lifting mechanism may have a cylindrical sleeve (not shown) instead of the first nut 341. No female thread is formed on the inner peripheral surface of the sleeve. The sleeve has an inner diameter larger than the outer diameter of the screw portion 332. The screw portion 332 is inserted into the sleeve. Such a sleeve may be fixed to the screw portion 332 via, for example, a bearing (not shown). In this case, the sleeve does not move in the forward / backward direction relative to the screw portion 332.

[0092] (First Link Mechanism) The first link mechanism 342 is configured by combining a plurality of link elements (two in this embodiment).

[0093] Specifically, the first link mechanism 342 has an upper link element 342a and a lower link element 342b. The upper link element 342a and the lower link element 342b are pivotally connected to each other.

[0094] The upper end of the upper link element 342a is rotatably connected to the lifting / lowering unit 21. The upper end of the upper link element 342a is connected to the lifting / lowering unit 21 in a state in which movement in the front-rear, left-right, and up-down directions is prevented.

[0095] Specifically, the upper end of the upper link element 342 a is connected to the left end of the placement portion 211 of the lifting portion 21 .

[0096] The lower end of the upper link element 342a is rotatably connected to the upper end of the lower link element 342b. The lower end of the upper link element 342a is rotatably fixed to the first nut 341. The lower end of the upper link element 342a is movable together with the first nut 341.

[0097] In the modified example of the first lifting mechanism described above, the lower end of the upper link element 342a is rotatably fixed to a sleeve (not shown) and is movable together with the sleeve (not shown).

[0098] The lower end of the lower link element 342b is rotatably connected to the left lifting support part 32. The lower end of the lower link element 342b is connected to the left lifting support part 32 in a state in which movement in the front-rear, left-right, and up-down directions is prevented.

[0099] The upper end of the lower link element 342b is rotatably connected to the lower end of the upper link element 342a. The upper end of the lower link element 342b is rotatably fixed to the first nut 341. The upper end of the lower link element 342b is movable together with the first nut 341.

[0100] In the modified example of the first lifting mechanism described above, the upper end of the lower link element 342b is rotatably fixed to a sleeve (not shown) and is movable together with the sleeve (not shown).

[0101] Hereinafter, the portion where the lower end of the upper link element 342 a and the upper end of the lower link element 342 b are connected may be referred to as the connecting portion of the first link mechanism 342 .

[0102] When the first nut 341 moves in the first direction (in other words, rearward), the connecting portion of the first link mechanism 342 moves in the first direction together with the first nut 341 .

[0103] As a result, the upper link element 342a and the lower link element 342b rotate, and the angle formed between the upper link element 342a and the lower link element 342b (hereinafter sometimes referred to as the angle formed by the first link mechanism 342) increases. The upper end of the upper link element 342a then moves upward. The position of the upper end of the upper link element 342a is at its highest point, as shown in FIG. 4.

[0104] On the other hand, when the first nut 341 moves in the second direction (in other words, forward), the connecting portion of the first link mechanism 342 moves in the second direction (in other words, forward) together with the first nut 341 .

[0105] As a result, the upper link element 342a and the lower link element 342b rotate, and the angle formed between the upper link element 342a and the lower link element 342b (in other words, the angle formed by the first link mechanism 342) becomes smaller. Then, the upper end of the upper link element 342a moves downward.

[0106] In the modified example of the first lifting mechanism described above, the upper link element 342a and the lower link element 342b rotate in response to upward or downward movement of the upper end of the second lifting mechanism 35 (described later). The upper end of the first lifting mechanism then moves upward or downward together with the upper end of the second lifting mechanism 35.

[0107] (Second Lifting Mechanism) The height of the upper end of the second lifting mechanism 35 changes in accordance with the rotation of the screw portion 332. The second lifting mechanism 35 has a second nut 351, a second link mechanism 352, and a third link mechanism 353.

[0108] (Second Nut) The second nut 351 has a female thread portion (not shown) on its inner circumferential surface. A portion of the screw portion 332 near the tip end (in other words, the front end) is inserted into the second nut 351. In other words, the second nut 351 is provided forward of the first nut 341. In this state, the female thread portion of the second nut 351 and the male thread portion of the screw portion 332 are threadedly engaged with each other.

[0109] The second nut 351 is connected to the lifting unit 21 via a second link mechanism 352 and a third link mechanism 353, which will be described later. In this state, the rotation of the first nut 441 is restricted by the second link mechanism 352 and the third link mechanism 353. Therefore, the second nut 351 moves in its axial direction (in other words, in the front-to-rear direction) in response to the rotation of the screw portion 332.

[0110] When the screw portion 332 rotates in the first rotation direction, the second nut 351 moves in a first direction (i.e., forward) in the axial direction of the second nut 351. This first direction is a direction in which the second nut 351 moves away from the left lift motor 31.

[0111] When the screw portion 332 rotates in the second rotation direction, the second nut 351 moves in a second direction (i.e., rearward) in the axial direction of the second nut 351. This second direction is a direction in which the second nut 351 approaches the left lift motor 31.

[0112] (Second Link Mechanism) The second link mechanism 352 is provided forward of the first link mechanism 342. The second link mechanism 352 is configured by combining a plurality of link elements (two in this embodiment).

[0113] Specifically, the second link mechanism 352 has an upper link element 352a and a lower link element 352b. The upper link element 352a and the lower link element 352b are pivotally connected to each other.

[0114] The upper end of the upper link element 352a is rotatably connected to the lifting / lowering unit 21. The upper end of the upper link element 352a is connected to the lifting / lowering unit 21 in a state in which movement in the front-rear, left-right, and up-down directions is prevented.

[0115] Specifically, the upper end of the upper link element 352 a is connected to the left end of the placement portion 211 of the lifting portion 21 .

[0116] The lower end of the upper link element 352a is rotatably connected to the upper end of the lower link element 352b. The lower end of the upper link element 352a is rotatably fixed to the second nut 351. The lower end of the upper link element 352a is movable together with the second nut 351.

[0117] The lower end of the lower link element 352b is rotatably connected to the left lifting support part 32. The lower end of the lower link element 352b is connected to the left lifting support part 32 in a state in which movement in the front-rear, left-right, and up-down directions is prevented.

[0118] The upper end of the lower link element 352b is rotatably connected to the lower end of the upper link element 352a. The upper end of the lower link element 352b is rotatably fixed to the second nut 351. The upper end of the lower link element 352b is movable together with the second nut 351.

[0119] Hereinafter, the portion where the lower end of the upper link element 352 a and the upper end of the lower link element 352 b are connected may be referred to as the connecting portion of the second link mechanism 352 .

[0120] When the second nut 351 moves in the first direction (in other words, forward), the connecting portion of the second link mechanism 352 moves in the first direction (in other words, forward) together with the second nut 351 .

[0121] As a result, the upper link element 352a and the lower link element 352b rotate, and the angle formed between the upper link element 352a and the lower link element 352b (hereinafter sometimes referred to as the angle formed by the second link mechanism 352) increases. The upper end of the upper link element 352a then moves upward. The position of the upper end of the upper link element 352a is at its highest point, as shown in FIG. 4.

[0122] On the other hand, when the second nut 351 moves in the second direction (in other words, rearward), the connecting portion of the second link mechanism 352 moves in the second direction (in other words, rearward) together with the second nut 351 .

[0123] As a result, the upper link element 352a and the lower link element 352b rotate, and the angle formed between the upper link element 352a and the lower link element 352b (in other words, the angle formed by the second link mechanism 352) becomes smaller. Then, the upper end of the upper link element 352a moves downward.

[0124] (Third Link Mechanism) The third link mechanism 353 is provided forward of the second link mechanism 352. The third link mechanism 353 is configured by combining a plurality of link elements (two in this embodiment).

[0125] Specifically, the third link mechanism 353 has an upper link element 353a and a lower link element 353b. The upper link element 353a and the lower link element 353b are rotatably connected to each other.

[0126] The upper end of the upper link element 353a is rotatably connected to the lifting / lowering unit 21. The upper end of the upper link element 353a is connected to the lifting / lowering unit 21 in a state in which movement in the front-rear, left-right, and up-down directions is prevented.

[0127] Specifically, the upper end of the upper link element 353 a is connected to the left end of the placement portion 211 of the lifting portion 21 .

[0128] The lower end of the upper link element 353a is rotatably connected to the upper end of the lower link element 353b. The lower end of the upper link element 353a is rotatably fixed to the second nut 351. The lower end of the upper link element 353a is movable together with the second nut 351.

[0129] The lower end of the lower link element 353b is rotatably connected to the left lifting support part 32. The lower end of the lower link element 353b is connected to the left lifting support part 32 in a state in which movement in the front-rear, left-right, and up-down directions is prevented.

[0130] The upper end of the lower link element 353b is rotatably connected to the lower end of the upper link element 353a. The upper end of the lower link element 353b is rotatably fixed to the second nut 351. The upper end of the lower link element 353b is movable together with the second nut 351.

[0131] Hereinafter, the portion where the lower end of the upper link element 353 a and the upper end of the lower link element 353 b are connected may be referred to as the connecting portion of the third link mechanism 353 .

[0132] When the second nut 351 moves in the first direction (in other words, forward), the connecting portion of the third link mechanism 353 moves in the first direction (in other words, forward) together with the second nut 351 .

[0133] As a result, the upper link element 353a and the lower link element 353b rotate, and the angle formed between the upper link element 353a and the lower link element 353b (hereinafter sometimes referred to as the angle formed by the third link mechanism 353) increases. The upper end of the upper link element 353a then moves upward. The position of the upper end of the upper link element 353a is at its highest point, as shown in FIG. 4.

[0134] On the other hand, when the second nut 351 moves in the second direction (in other words, rearward), the connecting portion of the third link mechanism 353 moves in the second direction (in other words, rearward) together with the second nut 351 .

[0135] As a result, the upper link element 353a and the lower link element 353b rotate, and the angle formed between the upper link element 353a and the lower link element 353b (in other words, the angle formed by the third link mechanism 353) becomes smaller. Then, the upper end of the upper link element 353a moves downward.

[0136] The operation of the left lifting mechanism 33 having the above-described configuration is controlled by the control unit 14 .

[0137] (Right Side Drive Unit) The right side drive unit 4 corresponds to an example of a second drive unit. The right side drive unit 4 is provided in the right end region RR of the traveling robot R. The right side drive unit 4 has the same configuration as the left side drive unit 3.

[0138] In this embodiment, the right drive unit 4 is disposed in the front-rear direction opposite to the left drive unit 3. In other words, the left drive unit 3 and the right drive unit 4 are disposed at the center O of the traveling robot R in a plan view. １ (Hereinafter, the center O of the running robot R １ The robots are arranged in a point-symmetric relationship with respect to the center O of the traveling robot R. １ is the center O of the traveling unit 1 １ is the same as

[0139] The following describes the configuration of the right-side drive unit 4. Note that the description of the configuration of the right-side drive unit 4 that is the same as the configuration of the left-side drive unit 3 may be omitted as appropriate. For the configuration of the right-side drive unit 4 that is the same as the configuration of the left-side drive unit 3 described above, the description of the left-side drive unit 3 described above may be used with appropriate modifications.

[0140] As shown in FIG. 5 , the right drive unit 4 includes a right lift motor 41 , a right lift support unit 42 , and a right lift mechanism 43 .

[0141] (Right-side lift motor) The right-side lift motor 41 is driven by power supplied from the power supply unit 13 (see FIG. 8) of the traveling unit 1. The operation of the right-side lift motor 41 is controlled by the control unit 14 of the traveling unit 1. The right-side lift motor 41 is provided near the front end of the right-side region RR (see FIG. 8) of the traveling robot R.

[0142] In this embodiment, the left lifting motor 31 and the right lifting motor 41 are provided at diagonal positions in a plan view of the traveling robot R.

[0143] In other words, the left lift motor 31 and the right lift motor 41 are １ The robots are arranged in a point-symmetric relationship with respect to the center of symmetry. This configuration contributes to improving the weight balance of the traveling robot R in the front-rear and left-right directions.

[0144] The output shaft (not shown) of the right lift motor 41 is parallel to the front-rear direction. The tip of the output shaft (not shown) of the right lift motor 41 faces rearward. The right lift motor 41 is fixed to the right lift mechanism 43 via a right bracket 431.

[0145] The right-side lift motor 41 is, for example, a DC motor. The type of DC motor is not particularly limited. The right-side lift motor 41 rotates in a direction (first rotation direction or second rotation direction) corresponding to the direction of the current supplied from the power supply unit 13.

[0146] The first rotation direction of the right lift motor 41 is a direction to raise the lift unit 21. The second rotation direction of the right lift motor 41 is a direction to lower the lift unit 21.

[0147] (Right-side lift support section) The right-side lift support section 42 supports the lift section 21, the right-side lift motor 41, and the right-side lift mechanism 43. The right-side lift support section 42 is provided below the right-side lift motor 41 and the right-side lift mechanism 43.

[0148] The right lifting support portion 42 is a plate-like member that extends in the front-rear direction and is parallel to the front-rear direction and the left-right direction.

[0149] The right lift support part 42 has, on its lower surface, right running guide parts 421, 422 that come into contact with the running surface P. The right running guide parts 421, 422 are each a ball caster.

[0150] The right-side travel guide portion 421 is provided at the front end portion of the right-side lifting support portion 42. The right-side travel guide portion 422 is provided at the rear end portion of the right-side lifting support portion 42. The right-side travel guide portions 421, 422 prevent the right-side drive portion 4 (in other words, the lifting unit 2) from tilting.

[0151] (Right-side lifting mechanism) The right-side lifting mechanism 43 is an example of a lifting mechanism, and is driven by the right-side lifting motor 41. The right-side lifting mechanism 43 raises and lowers the lifting unit 21.

[0152] The right lifting mechanism 43 is a so-called pantograph mechanism. The right lifting mechanism 43 has a function of changing the height of its upper end portion in accordance with the rotation of the right lifting motor 41.

[0153] Specifically, as shown in FIG. 5 , the right lifting mechanism 43 includes a screw portion 432 , a first lifting mechanism 44 , and a second lifting mechanism 45 .

[0154] (Screw portion) The screw portion 432 is axially shaped and extends in the front-rear direction. The screw portion 432 has a male thread on its outer circumferential surface. The base end (i.e., the front end) of the screw portion 432 is connected to the output shaft (not shown) of the right-side lift motor 41 via a coupling 434. A reducer may be provided between the coupling 434 and the output shaft of the right-side lift motor 41.

[0155] The tip end (in other words, the front end) of the screw portion 432 is not connected to any other member. The right lift motor 41 supports the screw portion 432 in a cantilever manner.

[0156] The first rotation direction of the screw portion 432 corresponds to the first rotation direction of the right lift motor 41. The first rotation direction of the screw portion 432 is a direction in which the lift portion 21 is raised.

[0157] The second rotation direction of the screw portion 432 corresponds to the second rotation direction of the right lift motor 41. The second rotation direction of the screw portion 432 is a direction in which the lift portion 21 is lowered.

[0158] (First Lifting Mechanism) The height of the upper end of the first lifting mechanism 44 changes in response to rotation of the screw portion 432. The first lifting mechanism 44 has a first nut 441 and a first link mechanism 442.

[0159] (First Nut) The first nut 441 has a female thread portion (not shown) on its inner circumferential surface. A portion of the screw portion 432 near the base end (in other words, the rear end) is inserted into the first nut 441. In this state, the female thread portion of the first nut 441 and the male thread portion of the screw portion 432 are threadedly engaged with each other.

[0160] The first nut 441 is connected to the lifting unit 21 via a first link mechanism 442, which will be described later. In this state, the rotation of the first nut 441 is restricted by the first link mechanism 442. Therefore, the first nut 441 moves in its axial direction (in other words, in the front-to-rear direction) in response to the rotation of the screw portion 432.

[0161] When the screw portion 432 rotates in the first rotation direction, the first nut 441 moves in a first direction (i.e., forward) in the axial direction of the first nut 441. This first direction is a direction in which the first nut 441 approaches the right lift motor 41.

[0162] When the screw portion 432 rotates in the second rotation direction, the first nut 441 moves in a second direction (i.e., rearward) in the axial direction of the first nut 441. This second direction is a direction in which the first nut 441 moves away from the right lift motor 41.

[0163] In a modified example of the first lifting mechanism 44 (hereinafter referred to as a modified first lifting mechanism), the first nut 441 may be omitted. Specifically, in the modified first lifting mechanism, the first lifting mechanism may have a cylindrical sleeve (not shown) instead of the first nut 441. No female thread is formed on the inner peripheral surface of the sleeve. The sleeve has an inner diameter larger than the outer diameter of the screw portion 432. The screw portion 432 is inserted into the sleeve. Such a sleeve is fixed to the screw portion 432 via, for example, a bearing (not shown). In this case, the sleeve does not move in the front-to-rear direction relative to the screw portion 432.

[0164] (First Link Mechanism) The first link mechanism 442 is configured by combining a plurality of link elements (two in this embodiment).

[0165] Specifically, the first link mechanism 442 has an upper link element 442a and a lower link element 442b. The upper link element 442a and the lower link element 442b are pivotally connected to each other.

[0166] The upper end of the upper link element 442a is rotatably connected to the lifting / lowering unit 21. The upper end of the upper link element 442a is connected to the lifting / lowering unit 21 in a state in which movement in the front-rear, left-right, and up-down directions is prevented.

[0167] Specifically, the upper end of the upper link element 442 a is connected to the right end of the placement portion 211 of the lifting portion 21 .

[0168] The lower end of the upper link element 442a is rotatably connected to the upper end of the lower link element 442b. The lower end of the upper link element 442a is rotatably fixed to the first nut 441. The lower end of the upper link element 442a is movable together with the first nut 441.

[0169] In the modified example of the first lifting mechanism described above, the lower end of the upper link element 442a is rotatably fixed to a sleeve (not shown) and is movable together with the sleeve (not shown).

[0170] The lower end of the lower link element 442b is rotatably connected to the right lifting support part 42. The upper end of the lower link element 442b is connected to the right lifting support part 42 in a manner that prevents movement in the front-rear, left-right, and up-down directions.

[0171] The upper end of the lower link element 442b is rotatably connected to the lower end of the upper link element 442a. The upper end of the lower link element 442b is rotatably fixed to the first nut 441. The upper end of the lower link element 442b is movable together with the first nut 441.

[0172] In the modified example of the first lifting mechanism described above, the upper end of the lower link element 442b is rotatably fixed to a sleeve (not shown) and is movable together with the sleeve (not shown).

[0173] Hereinafter, the portion where the lower end of the upper link element 442 a and the upper end of the lower link element 442 b are connected may be referred to as the connecting portion of the first link mechanism 442 .

[0174] When the first nut 441 moves in the first direction (in other words, forward), the connecting portion of the first link mechanism 442 moves in the first direction (in other words, forward) together with the first nut 441 .

[0175] As a result, the upper link element 442a and the lower link element 442b rotate, and the angle formed between the upper link element 442a and the lower link element 442b (hereinafter also referred to as the angle formed by the first link mechanism 442) increases. The upper end of the upper link element 442a then moves upward. The position of the upper end of the upper link element 442a is at its highest point, as shown in FIG. 5.

[0176] On the other hand, when the first nut 441 moves in the second direction (in other words, rearward), the connecting portion of the first link mechanism 442 moves in the second direction (in other words, rearward) together with the first nut 441 .

[0177] As a result, the upper link element 442a and the lower link element 442b rotate, and the angle formed between the upper link element 442a and the lower link element 442b (in other words, the angle formed by the first link mechanism 442) becomes smaller. Then, the upper end of the upper link element 442a moves downward.

[0178] In the modified example of the first lifting mechanism described above, the upper link element 442 a and the lower link element 442 b rotate in response to upward or downward movement of the upper end of the second lifting mechanism 45 (described later). Then, the upper end of the first lifting mechanism moves upward or downward together with the second lifting mechanism 45.

[0179] (Second Lifting Mechanism) The height of the upper end of the second lifting mechanism 45 changes in accordance with the rotation of the screw portion 432. The second lifting mechanism 45 has a second nut 451, a second link mechanism 452, and a third link mechanism 453.

[0180] (Second Nut) The second nut 451 has a female thread portion (not shown) on its inner circumferential surface. A portion of the screw portion 432 near the tip end (in other words, the rear end) is inserted into the second nut 451. In other words, the second nut 451 is provided rearward of the first nut 441. In this state, the female thread portion of the second nut 451 and the male thread portion of the screw portion 432 are threadedly engaged with each other.

[0181] The second nut 451 is connected to the lifting unit 21 via a second link mechanism 452 and a third link mechanism 453, which will be described later. In this state, the rotation of the second nut 451 is restricted by the second link mechanism 452 and the third link mechanism 453. Therefore, the second nut 451 moves in its axial direction (in other words, in the front-to-rear direction) in response to the rotation of the screw portion 432.

[0182] When the screw portion 432 rotates in the first rotation direction, the second nut 451 moves in a first direction (in other words, rearward) in the axial direction of the second nut 451. This first direction is a direction in which the second nut 451 moves away from the right lift motor 41.

[0183] When the screw portion 432 rotates in the second rotation direction, the second nut 451 moves in a second direction (i.e., forward) in the axial direction of the second nut 451. This second direction is a direction in which the second nut 451 approaches the right lift motor 41.

[0184] (Second Link Mechanism) The second link mechanism 452 is provided rearward of the first link mechanism 442. The second link mechanism 452 is configured by combining a plurality of link elements (two in this embodiment).

[0185] Specifically, the second link mechanism 452 has an upper link element 452a and a lower link element 452b. The upper link element 452a and the lower link element 452b are pivotally connected to each other.

[0186] The upper end of the upper link element 452a is rotatably connected to the lifting / lowering unit 21. The upper end of the upper link element 452a is connected to the lifting / lowering unit 21 in a state in which movement in the front-rear, left-right, and up-down directions is prevented.

[0187] Specifically, the upper end of the upper link element 452 a is connected to the right end of the placement portion 211 of the lifting portion 21 .

[0188] The lower end of the upper link element 452a is rotatably connected to the upper end of the lower link element 452b. The lower end of the upper link element 452a is rotatably fixed to the second nut 451. The lower end of the upper link element 452a is movable together with the second nut 451.

[0189] The lower end of the lower link element 452b is rotatably connected to the right lifting support part 42. The lower end of the lower link element 452b is connected to the right lifting support part 42 in a manner that prevents movement in the front-rear, left-right, and up-down directions.

[0190] The upper end of the lower link element 452b is rotatably connected to the lower end of the upper link element 452a. The upper end of the lower link element 452b is rotatably fixed to the second nut 451. The upper end of the lower link element 452b is movable together with the second nut 451.

[0191] Hereinafter, the portion where the lower end of the upper link element 452 a and the upper end of the lower link element 452 b are connected may be referred to as the connecting portion of the second link mechanism 452 .

[0192] When the second nut 451 moves in the first direction (in other words, rearward), the connecting portion of the second link mechanism 452 moves in the first direction (in other words, rearward) together with the second nut 451 .

[0193] As a result, the upper link element 452a and the lower link element 452b rotate, and the angle formed between the upper link element 452a and the lower link element 452b (hereinafter sometimes referred to as the angle formed by the second link mechanism 452) increases. The upper end of the upper link element 452a then moves upward. The position of the upper end of the upper link element 452a is at its highest point, as shown in FIG. 5.

[0194] On the other hand, when the second nut 451 moves in the second direction (in other words, forward), the connecting portion of the second link mechanism 452 moves in the second direction (in other words, forward) together with the second nut 451 .

[0195] As a result, the upper link element 452a and the lower link element 452b rotate, and the angle formed between the upper link element 452a and the lower link element 452b (in other words, the angle formed by the second link mechanism 452) becomes smaller. Then, the upper end of the upper link element 452a moves downward.

[0196] (Third Link Mechanism) The third link mechanism 453 is provided rearward of the second link mechanism 452. The third link mechanism 453 is configured by combining a plurality of link elements (two in this embodiment).

[0197] Specifically, the third link mechanism 453 has an upper link element 453a and a lower link element 453b. The upper link element 453a and the lower link element 453b are rotatably connected to each other.

[0198] The upper end of the upper link element 453a is rotatably connected to the lifting / lowering unit 21. The upper end of the upper link element 453a is connected to the lifting / lowering unit 21 in a state in which movement in the front-rear, left-right, and up-down directions is prevented.

[0199] Specifically, the upper end of the upper link element 453 a is connected to the right end of the placement portion 211 of the lifting portion 21 .

[0200] The lower end of the upper link element 453a is rotatably connected to the upper end of the lower link element 453b. The lower end of the upper link element 453a is rotatably fixed to the second nut 451. The lower end of the upper link element 453a is movable together with the second nut 451.

[0201] The lower end of the lower link element 453b is rotatably connected to the right lifting support part 42. The lower end of the lower link element 453b is connected to the right lifting support part 42 in a state in which movement in the front-rear, left-right, and up-down directions is prevented.

[0202] The upper end of the lower link element 453b is rotatably connected to the lower end of the upper link element 453a. The upper end of the lower link element 453b is rotatably fixed to the second nut 451. The upper end of the lower link element 453b is movable together with the second nut 451.

[0203] Hereinafter, the portion where the lower end of the upper link element 453 a and the upper end of the lower link element 453 b are connected may be referred to as the connecting portion of the third link mechanism 453 .

[0204] When the second nut 451 moves in the first direction (in other words, rearward), the connecting portion of the third link mechanism 453 moves in the first direction (in other words, rearward) together with the second nut 451 .

[0205] As a result, the upper link element 453a and the lower link element 453b rotate, and the angle formed between the upper link element 453a and the lower link element 453b (hereinafter also referred to as the angle formed by the third link mechanism 453) increases. The upper end of the upper link element 453a then moves upward. The position of the upper end of the upper link element 453a is at its highest point, as shown in FIG. 5.

[0206] On the other hand, when the second nut 451 moves in the second direction (in other words, forward), the connecting portion of the third link mechanism 453 moves in the second direction (in other words, forward) together with the second nut 451 .

[0207] As a result, the upper link element 453a and the lower link element 453b rotate, and the angle formed between the upper link element 453a and the lower link element 453b (in other words, the angle formed by the third link mechanism 453) becomes smaller. Then, the upper end of the upper link element 453a moves downward.

[0208] The operation of the right lifting mechanism 43 having the above-described configuration is controlled by the control unit 14 .

[0209] (Restriction Portion) The restriction portion 23 comes into contact with the traveling surface P when the traveling unit 1 turns, and restricts the rotation of the lifting unit 2 .

[0210] The restricting portion 23 has a left restricting portion 24 (see FIG. 4) and a right restricting portion 25 (see FIG. 5). The left restricting portion 24 is provided in the left drive portion 3. The right restricting portion 25 is provided in the right drive portion 4.

[0211] (Left-Side Restriction Portion) The left-side restriction portion 24 corresponds to an example of a first restriction portion, and has a front-side restriction portion 241 and a rear-side restriction portion 242 as shown in FIG. 4 .

[0212] The front restricting portion 241 is provided on the third link mechanism 353 of the left lifting mechanism 33 in the left drive unit 3 .

[0213] Specifically, the front restricting portion 241 is provided at the lower end of the lower link element 353b of the third link mechanism 353, integrally with the lower link element 353b.

[0214] The front restricting portion 241 rotates together with the lower link element 353b. As the front restricting portion 241 rotates, the height of the lower end of the front restricting portion 241 changes. In other words, when the left lifting mechanism 33 operates based on the power of the left lifting motor 31, the height of the front restricting portion 241 changes.

[0215] The rear regulating portion 242 is provided on a first link mechanism 342 of the left lifting mechanism 33 in the left drive unit 3 .

[0216] Specifically, the rear restricting portion 242 is provided integrally with the lower link element 342b at the lower end of the lower link element 342b of the first link mechanism 342.

[0217] The rear restricting portion 242 rotates together with the lower link element 342b. As the rear restricting portion 242 rotates, the height of the lower end of the rear restricting portion 242 changes. In other words, when the left lifting mechanism 33 operates based on the power of the left lifting motor 31, the height of the rear restricting portion 242 changes.

[0218] (Right-Side Restriction Portion) The right-side restriction portion 25 corresponds to an example of a second restriction portion, and has a front-side restriction portion 251 and a rear-side restriction portion 252 as shown in FIG.

[0219] The front restricting portion 251 is provided on the first link mechanism 442 of the right lifting mechanism 43 in the right drive portion 4 .

[0220] Specifically, the front restricting portion 251 is provided integrally with the lower link element 442b at the lower end of the lower link element 442b of the first link mechanism 442.

[0221] The front restricting portion 251 rotates together with the lower link element 442b. As the front restricting portion 251 rotates, the height of the lower end of the front restricting portion 251 changes. In other words, when the right lifting mechanism 43 operates based on the power of the right lifting motor 41, the height of the front restricting portion 251 changes.

[0222] The rear restriction portion 252 is provided on the third link mechanism 453 of the right lifting mechanism 43 in the right drive portion 4 .

[0223] Specifically, the rear restricting portion 252 is provided at the lower end of the lower link element 452b of the third link mechanism 453, integrally with the lower link element 452b.

[0224] The rear restricting portion 252 rotates together with the lower link element 452b. As the rear restricting portion 252 rotates, the height of the lower end of the rear restricting portion 252 changes. In other words, when the right lifting mechanism 43 operates based on the power of the right lifting motor 41, the height of the rear restricting portion 252 changes.

[0225] The left and right restricting portions 24 and 25 having the above-described configuration come into contact with the traveling surface P when the traveling robot R turns, thereby restricting the rotation of the lifting unit 2. In this embodiment, the left and right restricting portions 24 and 25 are positioned at the center O of the traveling unit 1. １ 8A and 8B are arranged in a point-symmetrical relationship with respect to the center of symmetry. This configuration can reliably restrict the rotation of the lifting unit 2.

[0226] 2, 3, and 8, the wiring 5 of the traveling robot R will be described. The traveling robot R includes a plurality of wirings 5 ​​that connect the traveling unit 1 and the lifting / lowering drive unit 22 of the lifting unit 2.

[0227] The wiring 5 includes a left wiring 51 and a right wiring 52 .

[0228] (Left Side Wiring) The left side wiring 51 connects the left lift motor 31 in the lift unit 2 to the power supply unit 13 (see FIG. 8) and the control unit 14 (see FIG. 8) in the traveling unit 1.

[0229] The left wiring 51 includes a power line for transmitting electric power and a signal line for transmitting a control signal. The power line of the left wiring 51 connects the left lift motor 31 and the power supply unit 13. The signal line of the left wiring 51 connects the left lift motor 31 and the control unit 14.

[0230] The following describes the layout of the left-side wiring 51 between the left-side lift motor 31 and the power supply unit 13 and the control unit 14. Unless otherwise specified, the left-side wiring 51 includes both power lines and signal lines.

[0231] The left-side wiring 51 has, in order from the side closest to the left-side lifting motor 31, a first wiring section 511, a second wiring section 512, a third wiring section 513, a fourth wiring section (not shown), a fifth wiring section 515, and a sixth wiring section 516.

[0232] The first wiring portion 511 (see FIG. 3 ) extends upward from the left lift motor 31. A first end of the first wiring portion 511 is connected to the left lift motor 31.

[0233] The second wiring portion 512 (see FIGS. 3 and 8 ) extends from the second end of the first wiring portion 511 to the right along the rear end of the lower surface of the mounting portion 211. The first end of the second wiring portion 512 is connected to the second end of the first wiring portion 511.

[0234] The third wiring portion 513 (see FIG. 8) is a wiring portion extending from the second end of the second wiring portion 512 to the center O of the propulsion unit 1. １ A first end of the third wiring portion 513 is connected to a second end of the second wiring portion 512. The connection portion between the first end of the third wiring portion 513 and the second end of the second wiring portion 512 is fixed to the mounting portion 211 by a wiring fastener 517 (see FIGS. 2 and 8 ).

[0235] The transmitted portion 212 is provided with a through hole (not shown) through which the third wiring portion 513 can pass. The third wiring portion 513 is inserted into the through hole (not shown) of the transmitted portion 212.

[0236] The fourth wiring portion (not shown) extends downward from the second end of the third wiring portion 513. The first end of the fourth wiring portion is connected to the second end of the third wiring portion 513. The fourth wiring portion is connected to the center O of the propulsion unit 1. １ It extends along a straight line that passes through the vertical direction and is parallel to the vertical direction.

[0237] The fifth wiring section 515 (see FIG. 8 ) extends from the second end of the fourth wiring section (not shown) toward the power supply section 13 in the propulsion unit 1. The fifth wiring section 515 includes only the power line of the left-side wiring 51. A first end of the fifth wiring section 515 is connected to the second end of the fourth wiring section.

[0238] The sixth wiring portion 516 (see FIG. 8) extends from the second end of the fourth wiring portion (not shown) toward the control portion 14 in the propulsion unit 1. The sixth wiring portion 516 includes only the signal lines of the left-side wiring 51. A first end of the sixth wiring portion 516 is connected to the second end of the fourth wiring portion.

[0239] (Right Side Wiring) The right side wiring 52 connects the right lift motor 41 in the lift unit 2 to the power supply unit 13 and the control unit 14 in the traveling unit 1 .

[0240] The right wiring 52 includes a power line for transmitting electric power and a signal line for transmitting a control signal. The power line of the right wiring 52 connects the right lift motor 41 and the power supply unit 13. The signal line of the right wiring 52 connects the right lift motor 41 and the control unit 14.

[0241] The following describes the routing of the right-side wiring 52 between the right-side lift motor 41 and the power supply unit 13 and the control unit 14. Unless otherwise specified, the right-side wiring 52 includes both power lines and signal lines.

[0242] The right-side wiring 52 has, in order from the side closest to the right-side lift motor 41, a first wiring section 521, a second wiring section 522, a third wiring section 523, a fourth wiring section (not shown), a fifth wiring section 525, and a sixth wiring section 526.

[0243] The first wiring portion 521 (see FIG. 2 ) extends upward from the right lift-down motor 41. A first end of the first wiring portion 521 is connected to the right lift-down motor 41.

[0244] The second wiring portion 522 (see FIGS. 2 and 8 ) extends from the second end of the first wiring portion 521 to the left along the front end of the lower surface of the mounting portion 211. The first end of the second wiring portion 522 is connected to the second end of the first wiring portion 521.

[0245] The third wiring portion 523 is connected to the second end of the second wiring portion 522 and the center O of the propulsion unit 1. １ A first end of the third wiring portion 523 is connected to a second end of the second wiring portion 522. The connection portion between the first end of the third wiring portion 523 and the second end of the second wiring portion 522 is fixed to the mounting portion 211 by a wiring fastener 527.

[0246] The transmitted portion 212 is provided with a through hole (not shown) through which the third wiring portion 523 can pass. The third wiring portion 523 is inserted into the through hole (not shown) of the transmitted portion 212.

[0247] The fourth wiring portion (not shown) extends downward from the second end of the third wiring portion 523. The first end of the fourth wiring portion is connected to the second end of the third wiring portion 523. The fourth wiring portion, together with the fourth wiring portion of the left wiring 51, is located at the center O of the propulsion unit 1. １ It extends along a straight line that passes through the vertical direction and is parallel to the vertical direction.

[0248] The fifth wiring portion 525 extends from the second end of the fourth wiring portion (not shown) toward the power supply portion 13 of the propulsion unit 1. The fifth wiring portion 525 includes only the power line of the right-side wiring 52. A first end of the fifth wiring portion 525 is connected to the second end of the fourth wiring portion. In FIG. 8 , the fifth wiring portion 525 and the fifth wiring portion 515 are shown as a single line.

[0249] The sixth wiring portion 526 extends from the second end of the fourth wiring portion (not shown) toward the control portion 14 in the propulsion unit 1. The sixth wiring portion 526 includes only the signal lines of the right-side wiring 52. A first end of the sixth wiring portion 526 is connected to the second end of the fourth wiring portion. In FIG. 8 , the sixth wiring portion 526 and the sixth wiring portion 516 are shown as a single line.

[0250] As described above, the middle part of the wiring 5 is located at the center O of the traveling robot R. １ The intermediate portions of the wiring 5 are a fourth wiring portion (not shown) of the left wiring 51 and a fourth wiring portion (not shown) of the right wiring 52.

[0251] Furthermore, when the wiring 5 is removed from the propulsion unit 1, the lifting unit 2 is separated from the propulsion unit 1. In other words, the lifting unit 2 and the propulsion unit 1 are connected only by the wiring 5. The lifting unit 2 and the propulsion unit 1 are not mechanically connected other than by the wiring 5. Therefore, the user can easily separate the lifting unit 2 from the propulsion unit 1.

[0252] (Operation) Next, the operation of the traveling robot R will be described. The traveling robot R switches between operation modes. The operation modes include a first traveling mode, a second traveling mode, and a turning mode. The traveling robot R selectively switches between the first traveling mode, the second traveling mode, and the turning mode.

[0253] The first traveling mode is a mode in which the traveling robot R travels under a load. The loaded state refers to a state in which a package W (see FIG. 13) is placed on the placement section 211.

[0254] The second traveling mode is a mode in which the traveling robot R travels in an unloaded state. The unloaded state is a state in which no luggage W is placed on the placement section 211.

[0255] The turning mode is a mode in which the traveling robot R turns. The traveling robot R changes its direction of travel by turning.

[0256] The mode of the traveling robot R is switched by the control unit 14. The control by the control unit 14 to switch the mode of the traveling robot R is referred to as mode switching control.

[0257] Furthermore, the control unit 14 changes the posture of the running robot R in accordance with the mode of the running robot R. The control by the control unit 14 to change the posture of the running robot R is referred to as posture control.

[0258] In the posture control, the control unit 14 sets the posture of the traveling robot R to one of a first posture, a second posture, and a third posture. The first posture corresponds to a first traveling mode. The second posture corresponds to a second traveling mode. The third posture corresponds to a turning mode.

[0259] The posture control performed by the control unit 14 for each mode of the traveling robot R will be described below.

[0260] (First Traveling Mode) When causing the traveling robot R to travel under a load, the control unit 14 sets the mode of the traveling robot R to the first traveling mode. When the control unit 14 sets the mode of the traveling robot R to the first traveling mode, the control unit 14 controls the lifting unit 2 to set the posture of the traveling robot R to the first posture.

[0261] In the first posture of the traveling robot R, the lifting unit 21 is located at a first position. In the first position, the lifting unit 21 is at its highest position.

[0262] Specifically, the control unit 14 controls the left lifting motor 31 and the right lifting motor 41 in the lifting unit 2 to bring the left lifting mechanism 33 into the state shown in Figure 4 and the right lifting mechanism 43 into the state shown in Figure 5.

[0263] In the state shown in FIG. 4, the first nut 341 of the left lifting mechanism 33 is located at the rear end of the stroke of the first nut 341 (also referred to as the first position of the first nut 341).

[0264] The stroke of the first nut 341 is the range of movement of the first nut 341 in the front-rear direction. The rear end of the stroke of the first nut 341 is the position in the stroke of the first nut 341 where the first nut 341 and the second nut 351 are closest to each other.

[0265] When the first nut 341 is positioned at the rear end of the stroke, the angle formed between the upper link element 342a and the lower link element 342b of the first link mechanism 342 in the left-side lifting mechanism 33 (in other words, the angle formed by the first link mechanism 342) becomes the first angle.

[0266] This first angle is the maximum angle that can be formed by the first link mechanism 342. In this state, the upper end of the first link mechanism 342 of the left lifting mechanism 33 is positioned at the highest position.

[0267] In the state shown in FIG. 4, the second nut 351 of the left lifting mechanism 33 is located at the front end of the stroke of the second nut 351 (also referred to as the first position of the second nut 351).

[0268] The stroke of the second nut 351 is the range of movement of the second nut 351 in the front-to-rear direction. The front end of the stroke of the second nut 351 is the position in the stroke of the second nut 351 that is farthest from the left lift motor 31. In other words, the front end of the stroke of the second nut 351 is the position in the stroke of the second nut 351 where the distance between the first nut 341 and the second nut 351 is the greatest.

[0269] When the second nut 351 is positioned at the front end of the stroke, the angle formed between the upper link element 352a and the lower link element 352b of the second link mechanism 352 in the left-side lifting mechanism 33 (in other words, the angle formed by the second link mechanism 352) becomes the first angle.

[0270] This first angle is the maximum angle that can be formed by the second link mechanism 352. In this state, the upper end of the second link mechanism 352 of the left lifting mechanism 33 is positioned at the highest position.

[0271] Furthermore, when the second nut 351 is positioned at the front end of the stroke, the angle formed between the upper link element 353a and the lower link element 353b of the third link mechanism 353 in the left-side lifting mechanism 33 (in other words, the angle formed by the third link mechanism 353) becomes the third angle.

[0272] This third angle is the maximum angle that can be formed by the third link mechanism 353. In this state, the upper end of the third link mechanism 353 of the left lifting mechanism 33 is positioned at the highest position.

[0273] In the state shown in FIG. 5, the first nut 441 of the right lifting mechanism 43 is located at the front end of its stroke.

[0274] The stroke of the first nut 441 is the range of movement of the first nut 441 in the front-rear direction. The front end of the stroke of the first nut 441 is the position in the stroke of the first nut 441 where the distance between the first nut 441 and the second nut 451 is shortest.

[0275] When the first nut 441 is positioned at the front end of the stroke, the angle formed between the upper link element 442a and the lower link element 442b of the first link mechanism 442 in the right-side lifting mechanism 43 (in other words, the angle formed by the first link mechanism 442) becomes the first angle.

[0276] This first angle is the maximum angle that can be formed by the first link mechanism 442. In this state, the upper end of the first link mechanism 442 of the right lifting mechanism 43 is positioned at the highest position.

[0277] In the state shown in FIG. 5, the second nut 451 of the right lifting mechanism 43 is positioned at the rear end of its stroke.

[0278] The stroke of the second nut 451 is the range of movement of the second nut 451 in the front-rear direction. The rear end of the stroke of the second nut 451 is the position in the stroke of the second nut 451 that is farthest from the right lift motor 41. In other words, the rear end of the stroke of the second nut 451 is the position in the stroke of the second nut 451 where the distance between the first nut 441 and the second nut 451 is the greatest.

[0279] When the second nut 451 is positioned at the rear end of the stroke, the angle formed between the upper link element 452a and the lower link element 452b of the second link mechanism 452 in the right-side lifting mechanism 43 (in other words, the angle formed by the second link mechanism 452) becomes the second angle.

[0280] This second angle is the maximum angle that can be formed by the second link mechanism 452. In this state, the upper end of the second link mechanism 452 of the right lifting mechanism 43 is positioned at the highest position.

[0281] Furthermore, when the second nut 451 is positioned at the front end of the stroke, the angle formed between the upper link element 353a and the lower link element 353b of the third link mechanism 453 in the right-side lifting mechanism 43 (in other words, the angle formed by the third link mechanism 453) becomes the third angle.

[0282] This third angle is the maximum angle that can be formed by the third link mechanism 453. In this state, the upper end of the third link mechanism 453 of the right lifting mechanism 43 is positioned at the highest position.

[0283] As described above, when the left-side lifting mechanism 33 is in the state shown in Fig. 4 and the right-side lifting mechanism 43 is in the state shown in Fig. 5, the lifting section 21 of the lifting unit 2 is in the first position. This state is the first posture of the traveling robot R.

[0284] (Second Traveling Mode) When causing the traveling robot R to travel in an unloaded state, the control unit 14 sets the mode of the traveling robot R to the second traveling mode. When the control unit 14 sets the mode of the traveling robot R to the second traveling mode, the control unit 14 controls the lifting unit 2 to set the posture of the traveling robot R to the second posture.

[0285] In the second posture of the traveling robot R, the lifting unit 21 is located at a second position. The second position is lower than the first position.

[0286] Specifically, the control unit 14 controls the left lifting motor 31 and the right lifting motor 41 in the lifting unit 2 to bring the left lifting mechanism 33 into the state shown in Figure 9 and the right lifting mechanism 43 into the state shown in Figure 10.

[0287] In the state shown in FIG. 9, the first nut 341 of the left lifting mechanism 33 is located near the front end of the stroke of the first nut 341 (also referred to as the second position of the first nut 341).

[0288] When the first nut 341 is positioned near the front end of the stroke, the angle formed by the first link mechanism 342 in the left lifting mechanism 33 becomes a second angle.

[0289] This second angle is smaller than the first angle, which is the angle formed by the first link mechanism 342 in the first position described above, and is larger than the third angle, which is the angle formed by the first link mechanism 342 in the third position described below.

[0290] In this state, the upper end of the first link mechanism 342 of the left lifting mechanism 33 is lower than the upper end of the first link mechanism 342 in the first position described above, and higher than the upper end of the first link mechanism 342 in the third position described below.

[0291] In the state shown in FIG. 9, the second nut 351 of the left lifting mechanism 33 is located near the rear end of the stroke of the second nut 351 (also referred to as the second position of the second nut 351).

[0292] When the second nut 351 is positioned near the rear end of the stroke, the angle formed by the second link mechanism 352 in the left lifting mechanism 33 becomes a second angle.

[0293] This second angle is smaller than the second angle that is the angle formed by the second link mechanism 352 in the first position described above, and is larger than the third angle that is the angle formed by the second link mechanism 352 in the third position described below.

[0294] In this state, the upper end of the second link mechanism 352 of the left lifting mechanism 33 is lower than the upper end of the second link mechanism 352 in the first position described above, and higher than the upper end of the second link mechanism 352 in the third position described below.

[0295] When the second nut 351 is positioned near the rear end of the stroke, the angle formed by the third link mechanism 353 in the left lifting mechanism 33 becomes a second angle.

[0296] This third angle is smaller than the first angle, which is the angle formed by the second link mechanism 352 in the first position described above, and larger than the third angle, which is the angle formed by the second link mechanism 352 in the third position described below.

[0297] In this state, the upper end of the second link mechanism 352 of the left lifting mechanism 33 is lower than the upper end of the second link mechanism 352 in the first position described above, and higher than the upper end of the second link mechanism 352 in the third position described below.

[0298] In the state shown in FIG. 10, the first nut 441 of the right lifting mechanism 43 is positioned near the rear end of the stroke of the first nut 441 .

[0299] When the first nut 441 is positioned near the rear end of the stroke, the angle formed by the first link mechanism 442 in the right lifting mechanism 43 becomes a second angle.

[0300] This second angle is smaller than the first angle, which is the angle formed by the first link mechanism 442 in the first position described above, and is larger than the third angle, which is the angle formed by the first link mechanism 442 in the third position described below.

[0301] In this state, the upper end of the first link mechanism 442 of the right lifting mechanism 43 is lower than the upper end of the first link mechanism 442 in the first position described above, and higher than the upper end of the first link mechanism 442 in the third position described below.

[0302] In the state shown in FIG. 10, the second nut 451 of the right lifting mechanism 43 is positioned near the front end of the stroke of the second nut 451 .

[0303] When the second nut 451 is positioned near the front end of the stroke, the angle formed by the second link mechanism 452 in the right lifting mechanism 43 becomes a second angle.

[0304] This second angle is smaller than the second angle that is the angle formed by the second link mechanism 452 in the first position described above, and is larger than the third angle that is the angle formed by the second link mechanism 452 in the third position described below.

[0305] In this state, the upper end of the second link mechanism 452 of the right lifting mechanism 43 is lower than the upper end of the second link mechanism 452 in the first position described above, and higher than the upper end of the second link mechanism 452 in the third position described below.

[0306] Furthermore, when the second nut 451 is positioned near the front end of the stroke, the angle formed by the third link mechanism 453 in the right lifting mechanism 43 becomes a second angle.

[0307] This second angle is smaller than the first angle, which is the angle formed by the third link mechanism 453 in the first position described above, and is larger than the third angle, which is the angle formed by the third link mechanism 453 in the third position described below.

[0308] In this state, the upper end of the third link mechanism 453 of the right lifting mechanism 43 is lower than the upper end of the third link mechanism 453 in the first position described above, and higher than the upper end of the third link mechanism 453 in the third position described below.

[0309] As described above, when the left-side lifting mechanism 33 is in the state shown in Fig. 9 and the right-side lifting mechanism 43 is in the state shown in Fig. 10, the lifting section 21 of the lifting unit 2 is in the second position. This state is the second posture of the traveling robot R.

[0310] (Turning Mode) When turning the traveling robot R, the control unit 14 sets the mode of the traveling robot R to the turning mode. When the control unit 14 sets the mode of the traveling robot R to the turning mode, the control unit 14 controls the lifting unit 2 to set the posture of the traveling robot R to the third posture.

[0311] In the third posture of the traveling robot R, the lifting unit 21 is located at a third position. The third position is lower than the first and second positions.

[0312] Specifically, the control unit 14 controls the left lifting motor 31 and the right lifting motor 41 in the lifting unit 2 to bring the left lifting mechanism 33 into the state shown in Figure 11 and the right lifting mechanism 43 into the state shown in Figure 12.

[0313] 11 , the first nut 341 of the left-side lifting mechanism 33 is located at the front end of the stroke of the first nut 341 (sometimes referred to as the third position of the first nut 341). The front end of the stroke of the first nut 341 is the position in the stroke of the first nut 341 where the distance between the first nut 341 and the second nut 351 is the farthest.

[0314] When the first nut 341 is positioned at the front end of the stroke, the angle formed by the first link mechanism 342 in the left lifting mechanism 33 is a third angle.

[0315] This third angle is the smallest angle that can be formed by the first link mechanism 342. In other words, this third angle is smaller than the first and second angles of the first link mechanism 342. In this state, the upper end of the first link mechanism 342 is lower than the upper end of the first link mechanism 342 in the second posture.

[0316] In this state, the lower end of the rear restricting portion 242 of the left restricting portion 24 of the restricting portion 23 abuts against the traveling surface P.

[0317] 11 , the second nut 351 of the left-side lifting mechanism 33 is located at the rear end of the stroke of the second nut 351 (also referred to as the third position of the second nut 351). The rear end of the stroke of the second nut 351 is the position in the stroke of the second nut 351 that is closest to the left-side lifting motor 31. In other words, the rear end of the stroke of the second nut 351 is the position in the stroke of the second nut 351 where the distance between the first nut 341 and the second nut 351 is shortest.

[0318] When the second nut 351 is positioned at the rear end of the stroke, the angle formed by the second link mechanism 352 in the left lifting mechanism 33 is a third angle.

[0319] This third angle is the smallest angle that can be formed by the second link mechanism 352. In other words, this third angle is smaller than the first angle and the second angle of the second link mechanism 352. In this state, the upper end of the second link mechanism 352 is lower than the upper end of the second link mechanism 352 in the second posture.

[0320] When the second nut 351 is positioned at the rear end of the stroke, the angle formed by the third link mechanism 353 in the left lifting mechanism 33 is a third angle.

[0321] This third angle is the smallest angle that can be formed by the third link mechanism 353. In other words, this third angle is smaller than the first angle and the second angle of the third link mechanism 353. In this state, the upper end of the third link mechanism 353 is lower than the upper end of the third link mechanism 353 in the second posture.

[0322] In this state, the lower end of the front restricting portion 241 of the left restricting portion 24 of the restricting portion 23 abuts against the traveling surface P.

[0323] 12 , the first nut 441 of the right-side lifting mechanism 43 is located at the rear end of the stroke of the first nut 441 (sometimes referred to as the third position of the first nut 441). The rear end of the stroke of the first nut 441 is the position in the stroke of the first nut 441 where the distance between the first nut 341 and the second nut 351 is the greatest.

[0324] When the first nut 441 is positioned at the rear end of the stroke, the angle formed by the first link mechanism 442 in the right lifting mechanism 43 becomes a third angle.

[0325] This third angle is the smallest angle that can be formed by the first link mechanism 442. In other words, this third angle is smaller than the first and second angles of the first link mechanism 442. In this state, the upper end of the first link mechanism 442 is lower than the upper end of the first link mechanism 442 in the second posture.

[0326] In this state, the lower end of the front restricting portion 251 of the right restricting portion 25 of the restricting portion 23 comes into contact with the traveling surface P.

[0327] 12, the second nut 451 of the right-side lifting mechanism 43 is located at the front end of the stroke of the second nut 451 (sometimes referred to as the third position of the second nut 451). The front end of the stroke of the second nut 451 is the position in the stroke of the second nut 451 that is closest to the right-side lifting motor 41. In other words, the front end of the stroke of the second nut 451 is the position in the stroke of the second nut 451 where the distance between the first nut 341 and the second nut 351 is shortest.

[0328] When the second nut 451 is positioned at the front end of the stroke, the angle formed by the second link mechanism 452 in the right lifting mechanism 43 is a third angle.

[0329] This third angle is the smallest angle that can be formed by the second link mechanism 452. In other words, this third angle is smaller than the first angle and the second angle of the second link mechanism 452. In this state, the upper end of the second link mechanism 452 is lower than the upper end of the second link mechanism 452 in the second posture.

[0330] When the second nut 451 is positioned at the front end of the stroke, the angle formed by the third link mechanism 453 in the right lifting mechanism 43 is a third angle.

[0331] This third angle is the smallest angle that can be formed by the third link mechanism 453. In other words, this third angle is smaller than the first angle and the second angle of the third link mechanism 453. In this state, the upper end of the third link mechanism 453 is lower than the upper end of the third link mechanism 453 in the second posture.

[0332] In this state, the lower end of the rear restricting portion 252 of the right restricting portion 25 of the restricting portion 23 abuts against the traveling surface P.

[0333] As described above, when the left-side lifting mechanism 33 is in the state shown in Fig. 11 and the right-side lifting mechanism 43 is in the state shown in Fig. 12, the lifting section 21 of the lifting unit 2 is in the third position. This state is the third posture of the traveling robot R.

[0334] When the traveling robot R is in the third posture, the front regulating portion 241, the rear regulating portion 242, the front regulating portion 251, and the rear regulating portion 252 of the regulating portion 23 abut against the traveling surface P.

[0335] In this state, the rotation of the lifting unit 2 is restricted by the running surface P. When the running unit 1 turns relative to the lifting unit 2, the traveling direction of the running robot R changes.

[0336] In this manner, in the present embodiment, when the traveling robot R changes its direction of travel, only the traveling unit 1 of the traveling unit 1 and the lifting unit 2 turns.

[0337] In this embodiment, the restricting portion 23 comes into contact with the travel surface P at four points. Therefore, the rotation of the lifting unit 2 can be reliably restricted.

[0338] Furthermore, in this embodiment, the upper limit of the angle at which the traveling unit 1 pivots relative to the lifting unit 2 is 90°. Therefore, when the traveling unit 1 pivots relative to the lifting unit 2, the upper limit of the pivot angle of the fifth wiring portion 515, the sixth wiring portion 516, the fifth wiring portion 525, and the sixth wiring portion 526 in the wiring 5 (see FIG. 8 ) is also 90°. This makes it possible to prevent the fifth wiring portion 515, the sixth wiring portion 516, the fifth wiring portion 525, and the sixth wiring portion 526 from being twisted excessively.

[0339] In the modified first lifting mechanism, the sleeve (not shown) does not move in the front-to-rear direction, and therefore, in the modified first lifting mechanism, the position of the sleeve in the front-to-rear direction does not change in the first traveling mode, the second traveling mode, and the swing mode.

[0340] The traveling robot R having the above-described configuration transports luggage by switching the operation mode.

[0341] 13, a brief description will be given of the operation of the traveling robot R when the traveling robot R transports the luggage W. The operation of the traveling robot R when changing its posture is as described above.

[0342] Fig. 13 shows a schematic diagram of a traveling robot R arranged in a logistics warehouse. In Fig. 13, a two-dot chain line indicates a traveling reading line L. The traveling robot R travels on the reading line L while reading the traveling reading line L with a sensor (not shown).

[0343] The following describes the operation of the traveling robot R when the traveling robot R transports the luggage W from point A to point B, point C, and point D in this order. The main body that controls the operation of the traveling robot R is the control unit 14.

[0344] At point A, a package W is placed on the placement section 211 (see FIG. 1 ) of the traveling robot R. The package W may be placed on the placement section 211 by a worker or by a robot (not shown).

[0345] The traveling robot R is in the second traveling mode before the luggage W is placed on the placement section 211 at point A. Therefore, the posture of the traveling robot R before the luggage W is placed on the placement section 211 at point A is the second posture shown in FIGS.

[0346] When the luggage W is placed on the placement section 211 at point A, the control section 14 switches the mode of the traveling robot R to the first traveling mode. Then, the control section 14 controls the lifting unit 2 to change the posture of the traveling robot R to the first posture shown in FIGS. 4 and 5 .

[0347] Next, the control unit 14 controls the traveling unit 1 to move the traveling robot R forward toward point B. At this time, the traveling direction of the traveling robot R is the upward direction in FIG. 13. The traveling robot R travels on the reading line L connecting point A and point B.

[0348] Next, the control unit 14 controls the traveling unit 1 to turn the traveling robot R to the right at point B. At this time, the control unit 14 switches the mode of the traveling robot R from the first traveling mode to the turning mode. Then, the control unit 14 controls the lifting unit 2 to change the posture of the traveling robot R to the third posture shown in FIGS. 11 and 12 .

[0349] In the third posture, the rotation of the lifting unit 2 is restricted based on the contact between the lifting unit 2 and the traveling surface P. In this state, the control unit 14 controls the traveling unit 1 to rotate the traveling unit 1 by 90° to the right.

[0350] As a result, the traveling unit 1 turns 90° to the right relative to the lifting unit 2. Then, the traveling direction of the traveling robot R changes to the right in FIG.

[0351] Next, the control unit 14 switches the mode of the traveling robot R to the first traveling mode. Then, the control unit 14 controls the lifting unit 2 to change the posture of the traveling robot R to the first posture shown in FIGS.

[0352] Next, the control unit 14 controls the traveling unit 1 to move the traveling robot R forward from point B toward point C. At this time, the traveling direction of the traveling robot R is the right direction in FIG. 13. The traveling robot R travels on the reading line L connecting point B and point C.

[0353] Next, at point C, the control unit 14 controls the traveling unit 1 to turn the traveling robot R to the left. At this time, the control unit 14 switches the mode of the traveling robot R from the first traveling mode to the turning mode. Then, the control unit 14 controls the lifting unit 2 to change the posture of the traveling robot R to the third posture shown in FIGS. 11 and 12 .

[0354] In the third posture, the rotation of the lifting unit 2 is restricted by the contact between the lifting unit 2 and the running surface P. In this state, the control unit 14 controls the traveling unit 1 to rotate the traveling unit 1 90° to the left. As a result, the traveling unit 1 rotates 90° to the left relative to the lifting unit 2. The traveling direction of the traveling robot R then changes to the upward direction in FIG. 13 .

[0355] Next, the control unit 14 switches the mode of the traveling robot R to the first traveling mode. Then, the control unit 14 controls the lifting unit 2 to change the posture of the traveling robot R to the first posture shown in FIGS.

[0356] Next, the control unit 14 controls the traveling unit 1 to move the traveling robot R forward from point C toward point D. At this time, the traveling direction of the traveling robot R is the upward direction in FIG. 13. The traveling robot R travels on the reading line L connecting point C and point D. When the traveling robot R reaches point D, the transport operation of the traveling robot R ends.

[0357] (Operations and Effects of the Present Embodiment) According to the traveling robot R of the present embodiment having the above-described configuration, it is possible to realize a traveling robot whose functions can be easily expanded.

[0358] The traveling robot R is composed of a traveling unit 1 that can travel on a traveling surface, and a lifting unit 2 that is combined with the traveling unit 1. The traveling unit 1 and the lifting unit 2 are combined in a separable state. Therefore, by combining a lifting unit with a function different from that of the lifting unit 2 with the traveling unit 1, the functions of the traveling robot can be easily expanded. Other actions and effects obtained from the traveling robot R according to this embodiment are as described above.

[0359] Second Embodiment With reference to FIG. 14, the configuration of a traveling robot R2 according to a second embodiment of the present invention will be described.

[0360] The traveling robot R2 has a traveling unit 1 and a lifting unit 2B. The configuration of the traveling unit 1 is the same as the configuration of the traveling unit 1 in the above-described embodiment 1. Therefore, for the configuration of the traveling unit 1, the description of the configuration of the traveling unit 1 in the above-described embodiment 1 may be used as appropriate.

[0361] 14 is a plan view of the traveling robot R2 without the lifting unit 21. As shown in Fig. 14, the traveling robot R2 according to this embodiment has a lifting drive unit 22B of a lifting unit 2B disposed in a different position from the lifting drive unit 22 in the first embodiment.

[0362] The lifting drive unit 22B has a left drive unit 3B and a right drive unit 4B. The arrangement and configuration of the left drive unit 3B are similar to the arrangement and configuration of the left drive unit 3 in the above-described first embodiment. Therefore, the reference numerals of the components provided in the left drive unit 3B are similar to the reference numerals of the components provided in the left drive unit 3 in the above-described first embodiment.

[0363] The right-side drive unit 4B is disposed in the reversed position in the front-rear direction to the right-side drive unit 4 in the above-described embodiment 1. The configuration of the right-side drive unit 4B is the same as the configuration of the right-side drive unit 4 in the above-described embodiment 1. Therefore, the reference numerals of the components provided in the right-side drive unit 4B are the same as the reference numerals of the components provided in the left-side drive unit 3 in the above-described embodiment 1.

[0364] As described above, in this embodiment, the left drive unit 3B and the right drive unit 4B are aligned with the center O of the traveling robot R. １ A straight line L that passes through and is parallel to the front-to-rear direction ２ The other configurations, functions, and effects of the traveling robot R2 are the same as those of the traveling robot R2 according to the first embodiment.

[0365] [Embodiment 3] The configuration of a running robot R3 according to embodiment 3 of the present invention will be described with reference to Figures 15 and 16. Figure 15 is a perspective view showing a first posture of the running robot R3. Figure 16 is a perspective view showing a second posture of the running robot R3.

[0366] The traveling robot R3 has a traveling unit 1 and a lifting unit 2C. The configuration of the traveling unit 1 is the same as the configuration of the traveling unit 1 in the above-described embodiment 1. Therefore, for the configuration of the traveling unit 1, the description of the configuration of the traveling unit 1 in the above-described embodiment 1 may be used as appropriate.

[0367] The lifting unit 2C has a lifting section 21C and a lifting drive section 22C.

[0368] The lifting section 21C has a placing section 211C and a force receiving section 212C.

[0369] The placement unit 211C moves up and down based on the power of the lifting drive unit 22C described below. In the present embodiment, only the placement unit 211C moves up and down in the lifting unit 21C. Therefore, the placement unit 211C corresponds to an example of a lifting unit that is lifted and lowered by the lifting drive unit.

[0370] The mounting portion 211C has a bucket-like shape. Specifically, the mounting portion 211C is box-shaped with an open front end and an open top end. In this embodiment, the depth of the mounting portion 211C does not change in the front-rear and left-right directions.

[0371] The placing portion 211C is rotatably supported by a force receiving portion 212C, which will be described later.

[0372] The force receiving portion 212C is provided below the mounting portion 211C. The force receiving portion 212C has a top plate portion 212a and a cylindrical portion 212b.

[0373] The top plate portion 212a has a circular plate shape in a plan view.

[0374] The cylindrical portion 212b extends downward from the outer periphery of the top plate portion 212a, and the upper end of the cylindrical portion 212b is connected to (in other words, fixed to) the outer periphery of the top plate portion 212a.

[0375] The cylindrical portion 212b is an example of an annular member, and covers the upper end of the outer circumferential surface of the traveling unit 1 (specifically, the peripheral wall portion 112 of the body portion 11).

[0376] The inner diameter of the cylindrical portion 212b is slightly larger than the outer diameter of the propulsion unit 1 (specifically, the peripheral wall portion 112 of the body portion 11). A small gap exists between the inner peripheral surface of the cylindrical portion 212b and the outer peripheral surface of the propulsion unit 1 around the entire circumference.

[0377] The cylindrical portion 212b is a portion that is pushed in the direction of travel of the traveling unit 1 by the traveling unit 1 (specifically, the peripheral wall portion 112 of the body portion 11) when the traveling unit 1 is traveling. The lifting unit 2C travels together with the traveling unit 1 as the cylindrical portion 212b is pushed by the traveling unit 1.

[0378] The lifting drive unit 22C has a lifting motor 26 and a rotating shaft 27. The rotating shaft 27 is connected to the output shaft of the lifting motor 26. A coupling and / or a reducer may be provided between the lifting motor 26 and the rotating shaft 27. A pair of fixing portions 28a, 28b provided on the underside of the mounting portion 211C are fixed to the rotating shaft 27.

[0379] The operation of the traveling robot R3 will be briefly described below. First, the operation of the traveling unit 1 is the same as the operation of the traveling unit 1 in the above-described embodiment 1. The traveling robot R3 transports luggage in the first posture shown in FIG. 15 .

[0380] Next, the operation of the lifting unit 2C will be described. When the traveling robot R3 is in the first posture shown in Fig. 15, the lifting motor 26 of the lifting drive unit 22C is driven in a first rotation direction. As the lifting motor 26 rotates, the rotation shaft 27 rotates in the first rotation direction.

[0381] As a result, the loading section 211C rotates so that the front end moves downward (in other words, descends) and the rear end moves upward (in other words, rises). Then, the baggage placed on the loading section 211C is discharged from the front end of the loading section 211C.

[0382] The configuration of the traveling robot R3 in which part of the placement unit 211C is raised and lowered as described above also falls within the technical scope of the present invention. The other configurations, functions, and effects of the traveling robot R3 are the same as those of the traveling robot R according to the first embodiment described above.

[0383] The shape of the mounting portion is not limited to the shape of the mounting portion 211C. Fig. 17 is a perspective view showing an example of a modified example of the traveling robot R3 of the above-described embodiment 3. In the case of the traveling robot R3a shown in Fig. 17, the shape of the mounting portion 211D of the lifting portion 21D in the lifting unit 2D is different from the shape of the mounting portion 211C in the above-described embodiment 4.

[0384] The placement unit 211D shown in Fig. 17 has a bucket-like shape. The placement unit 211D is box-shaped with openings at the front and top ends. However, in the case of the placement unit 211D shown in Fig. 17, the depth of the placement unit 211D decreases toward the front end. The other configurations of the traveling robot R3a are the same as those of the traveling robot R3 according to the fourth embodiment described above.

[0385] [Fourth Embodiment] The configuration of a running robot R4 according to a fourth embodiment of the present invention will be described with reference to Fig. 18 and Fig. 19. Fig. 18 is a left side view of the running robot R4 in a first posture. Fig. 19 is a right side view of the running robot R4 in the first posture.

[0386] The traveling robot R4 has a traveling unit 1 and a lifting unit 2D. The configuration of the traveling unit 1 is the same as the configuration of the traveling unit 1 in the above-described embodiment 1. Therefore, for the configuration of the traveling unit 1, the description of the configuration of the traveling unit 1 in the above-described embodiment 1 may be used as appropriate.

[0387] The lifting unit 2D has a lifting section 21, a lifting drive section 22, and a restriction section 23D. The configuration of the lifting section 21 is similar to the configuration of the lifting section 21 in the above-described embodiment 1. Therefore, the description of the configuration of the lifting section 21 in the above-described embodiment 1 may be used as appropriate for the configuration of the lifting section 21.

[0388] The configuration of the lift drive unit 22 is substantially the same as the configuration of the lift drive unit 22 in the above-described embodiment 1. Therefore, for the configuration of the lift drive unit 22, the description of the configuration of the lift drive unit 22 in the above-described embodiment 1 may be appropriately cited.

[0389] In this embodiment, the configuration of a restricting portion 23D is different from that of the restricting portion 23 in the first embodiment.

[0390] The regulating section 23 (see Figures 4 and 5) in the above-mentioned embodiment 1 is integrally formed with the left lifting mechanism 33 in the left drive section 3 of the lifting drive section 22 and the right lifting mechanism 43 in the right drive section 4 of the lifting drive section 22.

[0391] On the other hand, in this embodiment, the restricting portion 23D is configured by a device provided separately from the left lifting mechanism 33 and the right lifting mechanism 43 .

[0392] The restricting portion 23D has a left restricting portion 24D (see FIG. 18) and a right restricting portion 25D (see FIG. 19).

[0393] The left-side restricting portion 24D is provided at the front end of the left end region RL (see FIG. 8) of the traveling robot R4.

[0394] In other words, the left-side restriction portion 24D is provided in the left end region RL (see FIG. 8) of the traveling robot R4, in an area forward of the screw portion 332 of the left-side lifting mechanism 33. The left-side restriction portion 24D is supported by another member of the lifting unit 2D (for example, the left-side lifting support portion 32).

[0395] The left-side restricting unit 24D is a so-called push solenoid. The left-side restricting unit 24D operates based on power supplied from the power supply unit 13 (see FIG. 8). The operation of the left-side restricting unit 24D is controlled by the control unit 14 (see FIG. 8).

[0396] The left-side restricting portion 24D includes an actuator 243 and a moving body 244 .

[0397] When power is supplied from the power supply unit 13 (see FIG. 8 ), the actuator 243 moves the moving body 244 downward. When power supply from the power supply unit 13 (see FIG. 8 ) is stopped, the actuator 243 moves the moving body 244 upward.

[0398] The right-side restriction portion 25D is provided at the rear end of the right-side region RR (see FIG. 8) of the traveling robot R4.

[0399] In other words, the right-side restriction portion 25D is provided in the right end region RR (see FIG. 8) of the traveling robot R4, in a region behind the screw portion 432 of the right-side lifting mechanism 43. The right-side restriction portion 25D is supported by another member of the lifting unit 2D (for example, the right-side lifting support portion 42).

[0400] The right-side restricting portion 25D is a so-called push solenoid. The right-side restricting portion 25D is operated based on power supplied from the power supply portion 13 (see FIG. 8). The operation of the right-side restricting portion 25D is controlled by the control portion 14 (see FIG. 8).

[0401] The right-side restricting portion 25D includes an actuator 253 and a moving body 254 .

[0402] When power is supplied from the power supply unit 13 (see FIG. 8 ), the actuator 253 moves the moving body 254 downward. When power supply from the power supply unit 13 (see FIG. 8 ) is stopped, the actuator 253 moves the moving body 254 upward.

[0403] The traveling robot R4 having the above-described configuration selectively switches between a first traveling mode, a second traveling mode, and a turning mode.

[0404] In the first traveling mode, the running robot R4 assumes a first posture, which is similar to the first posture of the running robot R in the first embodiment described above (see FIGS. 4 and 5).

[0405] In addition, the running robot R4 assumes a second posture in the second running mode. The second posture of the running robot R4 is similar to the second posture of the running robot R in the first embodiment described above (see FIGS. 9 and 10).

[0406] In addition, the traveling robot R4 assumes the second posture in the turning mode. That is, the traveling robot R4 assumes the second posture in the second traveling mode and the turning mode.

[0407] The operation of the running robot R4 in the first running mode is the same as the operation of the running robot R in the first running mode in the above-described embodiment 1. Moreover, the operation of the running robot R4 in the second running mode is the same as the operation of the running robot R in the above-described embodiment 1 in the second running mode.

[0408] On the other hand, the operation of the running robot R4 in the turning mode differs from the operation of the running robot R in the turning mode in the above-described embodiment 1. The operation of the running robot R4 in the turning mode will be described below.

[0409] The operation of the traveling robot R4 in the turning mode is controlled by the control unit 14 (see FIG. 8). When turning the traveling robot R, the control unit 14 sets the mode of the traveling robot R to the turning mode. When the control unit 14 sets the mode of the traveling robot R to the turning mode, the control unit 14 controls the lifting unit 2 to set the posture of the traveling robot R to the second posture.

[0410] Furthermore, after the posture of the traveling robot R has become the second posture, the control unit 14 drives the regulating unit 23D to regulate the rotation of the lifting unit 2. Specifically, the control unit 14 supplies power from the power supply unit 13 to the left regulating unit 24D and the right regulating unit 25D of the regulating unit 23D.

[0411] When power is supplied from the power supply unit 13, the actuator 243 of the left-side restricting unit 24D moves the moving body 244 downward. Then, the lower end of the moving body 244 comes into contact with the traveling surface P.

[0412] Furthermore, when power is supplied from the power supply unit 13, the actuator 253 of the right-side restricting unit 25D moves the moving body 254 downward. Then, the lower end of the moving body 254 abuts against the traveling surface P.

[0413] In this state, the rotation of the lifting unit 2 is restricted by the running surface P. When the running unit 1 turns relative to the lifting unit 2, the traveling direction of the running robot R changes.

[0414] In this manner, in the present embodiment, when the traveling robot R4 changes its direction of travel, only the traveling unit 1 of the traveling unit 1 and the lifting unit 2 turns.

[0415] In the case of the traveling robot R4 of this embodiment having the above-described configuration, the lifting unit 2 does not need to change its posture to restrict its own rotation in the swing mode. Therefore, posture control in the swing mode is simpler than in the above-described embodiment 1. The other configurations, functions, and effects of the traveling robot R4 are the same as those of the traveling robot R of the above-described embodiment 1.

[0416] The disclosures of the specification, drawings, and abstract contained in Japanese Patent Application No. 2024-089099, filed May 31, 2024, are incorporated herein by reference in their entirety.

[0417] The present invention can be applied to running robots used for various purposes.

[0418] R, R2, R3, R3a, R4 Traveling robot 1 Traveling unit 11 Body part 111 Bottom wall part 112 Peripheral wall part 113 Left side support part 114 Right side support part 115a, 115b, 115c, 115d Traveling guide part 12 Wheel unit 12L Left side wheel unit 12R Right side wheel unit 122a Left side wheel 123a Right side wheel 122b Left side travel motor 123b Right side travel motor 13 Power supply part 14 Control part 2 Lifting unit 21, 21C Lifting part 211, 211C Placement part 212, 212C Transmitted part 212a Top plate part 212b Cylindrical part 22, 22B, 22C Lifting drive part 23, 23D Restriction part 24, 24D Left-side restricting portion 241 Front-side restricting portion 242 Rear-side restricting portion 243 Actuator 244 Moving body 25, 25D Right-side restricting portion 251 Front-side restricting portion 252 Rear-side restricting portion 253 Actuator 254 Moving body 26 Lifting motor 27 Rotating shaft 28a, 28b Fixed portion 3, 3B, 3D Left-side drive portion 31 Left-side lifting motor 32 Left-side lifting support portion 321, 322 Left-side travel guide portion 33 Left-side lifting mechanism 331 Left-side bracket 332 Screw portion 334 Coupling 34 First lifting mechanism 341 First nut 342 First link mechanism 342a Upper link element 342b Lower link element 35 Second lifting mechanism 351 Second nut 352 Second link mechanism 352a Upper link element 352b Lower link element 353 Third link mechanism 353a Upper link element 353b Lower link element 4, 4B, 4D Right drive unit 41 Right lift motor 42 Right lift support unit 421, 422 Right travel guide unit 43 Right lift mechanism 431 Right bracket 432 Screw unit 434 Coupling 44 First lift mechanism 441 First nut 442 First link mechanism 442a Upper link element 442b Lower link element 45 Second lift mechanism 451 Second nut 452 Second link mechanism 452a Upper link element 452b Lower link element 453 Third link mechanism 453a Upper link element453b Lower link element 5 Wiring 51 Left side wiring 511 First wiring section 512 Second wiring section 513 Third wiring section 515 Fifth wiring section 516 Sixth wiring section 517 Wiring fastener 52 Right side wiring 521 First wiring section 522 Second wiring section 523 Third wiring section 525 Fifth wiring section 526 Sixth wiring section 527 Wiring fastener L, Reading line P Travel surface R Ｃ Central area R Ｌ Left end area R Ｒ Right edge area W Luggage

Claims

1. A traveling robot comprising: a traveling unit capable of traveling on a traveling surface; and a lifting unit combined with the traveling unit and having a lifting section and a lifting drive section for raising and lowering the lifting section.

2. The traveling robot according to claim 1, wherein the lifting drive unit has a first drive unit and a second drive unit, and the traveling unit is disposed between the first drive unit and the second drive unit.

3. The traveling robot according to claim 2, wherein the first drive unit and the second drive unit each have a motor and an elevating mechanism driven by the motor to raise and lower the elevating unit.

4. The running robot described in claim 3, wherein the first drive unit and the second drive unit have the same configuration and are arranged in a point-symmetric relationship with the center of the running robot in a planar view as the center of symmetry.

5. The traveling robot according to claim 1, wherein the lifting drive unit has a ball caster that contacts the traveling surface.

6. The traveling robot according to claim 1, wherein the traveling unit is rotatable, and the lifting unit is combined with the traveling unit in a state in which it can rotate relative to the traveling unit.

7. The traveling robot according to claim 1, wherein the traveling unit and the lifting drive unit are arranged in a space covered from above by the lifting unit.

8. The running robot according to claim 1, wherein the lifting unit has a ring-shaped portion that covers the outer peripheral surface of the running unit, and the lifting unit runs together with the running unit when the ring-shaped portion is pressed by the running unit.

9. A traveling robot as described in claim 1, further comprising a plurality of wires connecting the traveling unit and the lifting drive part of the lifting unit, the plurality of wires being arranged so that their intermediate portions are gathered at the center of the traveling robot in a planar view.

10. The traveling robot according to claim 9, wherein the lifting unit is separated from the traveling unit when the plurality of wires are removed from the traveling unit.

11. A traveling robot as described in claim 9, wherein the traveling unit has a lift control unit that controls the lift drive unit, and a power supply unit that supplies power to the lift drive unit, and the plurality of wirings connect the lift drive unit to the lift control unit and the power supply unit.

12. The traveling robot according to claim 1, wherein the traveling unit is rotatable, and the lifting unit has a restricting portion that abuts against the traveling surface when the traveling unit rotates, thereby restricting the rotation of the lifting unit.

13. A running robot as described in claim 12, wherein the lifting drive unit has a motor and a lifting mechanism that is driven by the motor and raises and lowers the lifting unit, and the regulating unit is provided on the lifting mechanism, and when the lifting mechanism is operated based on the power of the motor, the height changes.

14. A running robot as described in claim 13, further comprising a control unit that controls the motor to operate the lifting mechanism, thereby moving the lifting unit to a position corresponding to the mode of the running unit, wherein the control unit: moves the lifting unit to a first position when the mode is set to a first running mode in which the running unit runs under load; moves the lifting unit to a second position lower than the first position when the mode is set to a second running mode in which the running unit runs under no load; moves the lifting unit to a third position lower than the second position when the mode is set to a turning mode in which the running unit turns; and the regulating unit abuts the running surface at the third position.

15. A traveling robot as described in claim 12, wherein the regulating unit has an actuator driven by electricity and a moving body that moves by the power of the actuator, and regulates the rotation of the lifting unit by abutting the moving body against the traveling surface when the traveling unit turns.

16. A traveling robot as described in claim 15, further comprising a control unit that controls the position of the lifting unit in accordance with the mode of the traveling unit, wherein the control unit: moves the lifting unit to a first position when the mode is set to a first traveling mode in which the traveling unit travels under a load; moves the lifting unit to a second position lower than the first position when the mode is set to a second traveling mode in which the traveling unit travels under an unloaded condition; and controls the actuator to bring the moving body into contact with the traveling surface when the mode is set to a turning mode in which the traveling unit turns with the lifting unit positioned at the second position.

17. The running robot described in claim 12, wherein the regulating section has a first regulating section and a second regulating section, and the first regulating section and the second regulating section are arranged in a point-symmetric relationship with the center of the running robot in a planar view as the center of symmetry.

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