Automatic conveyance system and connection conveyance unit

Abstract

Provided are an automatic conveyance system and a connection conveyance unit capable of towing various towing targets without increasing ground contact load of a mobile robot or without providing a lifting and lowering mechanism to the mobile robot.　The present invention provides an automatic conveyance system which includes a mobile robot and a connection conveyance unit. The mobile robot includes a robot body and a drive wheel, the robot body includes a first engagement part configured to be engageable with the connection conveyance unit, and the drive wheel is rotatably supported by the robot body. The connection conveyance unit includes a unit body, a first connection part, and a second connection part, the unit body includes a wheel, the first connection part is provided to the unit body and configured to be engageable with the first engagement part of the mobile robot, and the second connection part is provided to the unit body and configured to be engageable with a towing target to be towed by the mobile robot.

Description

Automatic Transport System and Connecting Transport Unit

[0001] The present invention relates to an automatic transport system and a connecting transport unit using a mobile robot.

[0002] Conventionally, for example, in order to solve the shortage of manpower for transporting articles in stores and logistics warehouses and for transporting between processes in factories, the introduction of autonomous mobile robots (AMRs: Autonomous Mobile Robots) and the like has been progressing.

[0003] Patent Document 1 discloses a technique of using an autonomous mobile robot as a transport vehicle for towing a cage cart. The transport vehicle as an autonomous mobile robot is said to be able to autonomously travel on the floor while towing a cage cart in a factory, a warehouse, a logistics center, etc.

[0004] Japanese Patent Application Laid-Open No. 2024-111399

[0005] However, in order for a mobile robot to tow a cart, it is necessary to increase the ground contact load by increasing the self-weight of the mobile robot or the like. On the other hand, although there is also a conventional technique in which a mobile robot lifts a cart to increase the ground contact load, in such a conventional technique, it is necessary to provide a lifting mechanism or the like for raising and lowering the cart on the mobile robot.

[0006] An object of the present invention is to provide an automatic transport system and a connecting transport unit that can tow various towed bodies without increasing the ground contact load of the mobile robot or providing a lifting mechanism on the mobile robot.

[0007] The present invention provides the following inventions: [1] An automatic transport system having a mobile robot and a connecting transport unit, wherein the mobile robot has a robot body and drive wheels, the robot body has a first engaging portion configured to be engageable with the connecting transport unit, the drive wheels are rotatably supported on the robot body, the connecting transport unit has a unit body, a first connecting portion and a second connecting portion, the unit body has wheels, the first connecting portion is provided on the unit body and configured to be engageable with the first engaging portion of the mobile robot, and the second connecting portion is provided on the unit body and configured to be engageable with a towed body to be towed by the mobile robot, an automatic transport system. [2] The automatic transport system according to [1], wherein the second connecting portion has a second engaging portion and a biasing portion, the second engaging portion is supported so as to be able to move up and down and is configured to be engageable with a part of the towed body, and the biasing portion is configured to apply a force to the second engaging portion in a direction that presses the second engaging portion against the towed body, an automatic transport system. An automatic transport system according to [3] [2], wherein the towed body has a frame with wheels, the second engaging portion is configured to engage with the bottom surface of the frame, and the biasing portion is configured to apply an upward force to the second engaging portion. An automatic transport system according to [4] [2] or [3], wherein the second engaging portion has a plurality of mounting holes on its upper side, a plurality of engaging pins are attached to the plurality of mounting holes, and the engaging pins have a tapered shape in which the cross-sectional area decreases as they approach the tip.[5] A connecting transport unit for connecting a mobile robot and a towed object, wherein the mobile robot has a robot body and drive wheels, the robot body has a first engaging portion configured to engage with the connecting transport unit, the drive wheels are rotatably supported on the robot body, the connecting transport unit has a unit body, a first connecting portion and a second connecting portion, the unit body has wheels, the first connecting portion is provided on the unit body and configured to engage with the first engaging portion of the mobile robot, and the second connecting portion is provided on the unit body and configured to engage with a towed object to be towed by the mobile robot.

[0008] According to the present invention, a mobile robot and a towed object can be relayed by a connecting transport unit. The connecting transport unit is configured to be engageable with the mobile robot and also engageable with towed objects of various shapes. Therefore, an automated transport system and a connecting transport unit can be realized that can tow various towed objects without increasing the ground load of the mobile robot or providing a lifting mechanism on the mobile robot.

[0009] Figure 1A is a perspective view showing the mobile robot 2, trolley 4, and connecting transport unit 5 connected in the automated transport system 1 of this embodiment, and Figure 1B is a perspective view showing the mobile robot 2, trolley 4, and connecting transport unit 5 separated. Figure 2A is a perspective view of the mobile robot 2 in this embodiment viewed from the front left, and Figure 2B is a perspective view of the mobile robot 2 viewed from the rear right. Figure 3A is a front view of the mobile robot 2, and Figure 3B is a side view of the mobile robot 2. Figure 4A is a perspective view of the connecting transport unit 5 viewed from the front left, Figure 4B is a diagram showing the configuration of the first connecting part 51 in Figure 4A, and Figure 4C is a perspective view of the connecting transport unit 5 viewed from the rear left. Figure 5A shows the state in which the leg portion 50A of the connecting transport unit 5 rotates around the leg pivot point 50B, and Figure 5B shows the state in which the rigid stay 50C of the connecting transport unit 5 rotates around the pivot point 50D. Figure 6A is a perspective view of the connecting transport unit 5 from the lower left front side, and Figure 6B is a perspective view showing the rear pin 25 of the mobile robot 2 that engages with the connecting transport unit 5. Figure 7A is a side view of the connecting transport unit 5, and Figure 7B is an enlarged view of area A in Figure 4C. Figure 8 is a side cross-sectional view showing the configuration of the engagement pin 523 in the engagement block 52A. Figure 9A is a perspective view showing the state in which the mobile robot 2 and the connecting transport unit 5 are connected, and the trolley 4 is not connected, and Figure 9B is a view of the state in Figure 9A from below. Figure 10A shows the state in which the connecting transport unit is connected to the mobile robot 2, Figure 10B shows the state in which the trolley 4 is further connected to the connecting transport unit 5 connected to the mobile robot 2, and Figure 10C shows the state in which the connection of the mobile robot 2, trolley 4, and connecting transport unit 5 is completed. Figure 11A is a view from below showing the mobile robot 2, trolley 4, and connecting transport unit 5 after they have been connected, and Figure 11B is a view of Figure 11A from a different angle.

[0010] Embodiments of the present invention will be described with reference to the attached drawings. In each drawing, components denoted by the same reference numerals have the same or similar configurations.

[0011] <Overview of the Automated Transport System 1> As shown in Figure 1A, the automated transport system 1 includes a mobile robot 2 and an object to be transported 3. The mobile robot 2 is a mobile unit that moves (travels) autonomously without requiring operation by a user. In this embodiment, an example will be described in which an autonomous mobile robot is used as the mobile robot 2 to transport an object to be transported 3, for example, inside a store or a logistics warehouse.

[0012] The transported object 3 comprises a trolley 4 and a connecting transport unit 5. The trolley 4 is connected to the mobile robot 2 via the connecting transport unit 5. In this embodiment, the trolley 4 corresponds to the towed object of the present invention. The connecting transport unit 5 is connectable to the mobile robot 2 and is configured to be connectable to various types of trolleys 4. Therefore, by using the connecting transport unit 5 as an intermediary, it becomes possible to have the mobile robot 2 tow various types of trolleys 4. The configuration of the connecting transport unit 5 will be described later.

[0013] <Mobile Robot 2> As shown in Figures 2A and 2B, the mobile robot 2 has a robot body 21 and drive wheels 22A and 22B. Also, as shown in Figures 3A and 3B, the robot body 21 has an upper body 21A, a middle body 21B, and a lower body 21C, in order from top to bottom in the height direction. The upper body 21A and the lower body 21C are each configured to be rotatable relative to the middle body 21B. The upper body 21A is equipped with, for example, a camera for autonomous driving and lights for illumination.

[0014] The central body 21B is provided with a first engagement portion 23 configured to engage with the connecting transport unit 5. Pins 25 are provided on the front and rear sides of the central body 21B, respectively, for locking the engagement state with the connecting transport unit 5. In this embodiment, as will be described later, the engagement state between the mobile robot 2 and the connecting transport unit 5 is locked using the pin 25 on the rear side of the central body 21B. The lower body 21C is provided with drive wheels 22A, 22B and driven wheels 24A, 24B.

[0015] The drive wheels 22A and 22B are rotatably supported on the lower body 21C of the robot body 21. Furthermore, the drive wheels 22A and 22B are driven independently on the left and right sides. For example, the mobile robot 2 can move forward when both drive wheels 22A and 22B rotate in the forward direction, move backward when both rotate in the reverse direction, and turn while stationary when they rotate in opposite directions. It is also possible to turn in a desired direction while moving forward by having the drive wheels 22A and 22B rotate in the forward direction at different rotational speeds. The driven wheels 24A and 24B are configured to change direction freely and can operate in accordance with the movement of the drive wheels 22A and 22B. In this embodiment, the mobile robot 2 is equipped with two drive wheels 22A and 22B and two driven wheels 24A and 24B, but the number of drive wheels and driven wheels can be increased or decreased as appropriate.

[0016] The aforementioned drive wheels 22A and 22B may be driven and controlled by, for example, a rotary drive unit (e.g., a motor) whose rotational speed can be freely adjusted, or a drive control unit (e.g., a motor driver) for controlling the rotary drive unit. Furthermore, a battery 26 (see Figure 2B) may be used to supply power to the rotary drive unit and the drive control unit.

[0017] Here, the first engaging portion 23 will be described using Figures 3A and 3B. The middle body 21B is configured to have a smaller cross-sectional area in plan view compared to the upper body 21A and the lower body 21C. For this reason, the outer circumferential surface of the middle body 21B is recessed compared to the outer circumferential surfaces of the upper body 21A and the lower body 21C. The first engaging portion 23 is provided along the outer circumferential surface of the middle body 21B at a position sandwiched between the upper body 21A and the lower body 21C. The first engaging portion 23 is provided on the right and left sides of the middle body 21B, respectively, and is configured to engage with the engaging portion on the connecting transport unit 5 side, which will be described later.

[0018] The engagement portion on the connecting transport unit 5 side will be explained using Figures 4A to 4C. The connecting transport unit 5 has a unit body 50, a first connecting portion 51, and a second connecting portion 52. The unit body 50 has wheels 53A to 53D. Wheels 53A to 53D are attached to the bottom of the unit body 50. Of these, wheels 53C and 53D are attached to the tips of a pair of legs 50A that are arranged to surround the mobile robot 2 when connected. Wheels 53A and 53B are attached to the base ends of the legs 50A. In this embodiment, four wheels 53A to 53D are used, but the number of wheels provided on the unit body 50 is not limited to this, and the number of wheels can be increased or decreased as appropriate depending on the usage environment, etc.

[0019] Here, we will briefly explain the running stability of the connected transport unit 5. As shown in Figure 5A, the legs 50A are configured to rotate around the leg pivot point 50B. Furthermore, as shown in Figure 5B, the rigid stay 50C connecting the left and right legs 50A is configured to rotate around the pivot point 50D. As a result, even when encountering uneven road surfaces, steps, or inclined road surfaces, all of the wheels 53A to 53D can always make contact with the road surface. Consequently, the posture of the connected transport unit 5 is stable, and as a result, fluctuations in the applied pressure on the unit body 50 can be reduced.

[0020] The unit body 50 includes an operating section 56 and a weight 57. The operating section 56 can be used by the user as a handle when moving the connecting transport unit 5. Furthermore, by applying a downward force to the operating section 56, it is possible to apply a downward force to the second connecting section 52, which will be described later.

[0021] The weight 57 is attached to the unit body 50 by a support column or beam. The weight 57 functions as a counterweight to prevent the connected transport unit 5 from lifting up due to external forces. Note that the weight 57 is not an essential component. For example, if the weight of the unit body 50 itself is sufficiently heavy, or if the trolley 4 being towed is lightweight, and sufficient pressing force on the mobile robot 2 can be secured by the first connecting part 51, the weight 57 may be omitted. In this embodiment, the weight 57 is set to about 30 kg, but the weight of the weight 57 can be adjusted as appropriate depending on the usage situation. For example, by adopting a configuration of stacked metal plates as the weight 57, the total weight of the weight 57 can be easily adjusted by adjusting the number of metal plates as appropriate.

[0022] The first connecting portion 51 is provided on the unit body 50 and is configured to engage with the first engaging portion 23 of the mobile robot 2. The first connecting portion 51 extends from the unit body 50 in the direction facing the mobile robot 2 when connected. The first connecting portion 51 is an arm member whose base end is attached to the unit body 50. As shown in Figure 4B, a small rotating body 51A is attached to the tip of the first connecting portion 51. A pressurizing arm portion 51C is positioned on the tip side of the pivot point portion 51B. The pressurizing arm portion 51C is supported so as to be able to swing within a predetermined angular range, and a downward force is applied by a pressurizing spring 51D. This downward force acts as a force that pushes down the first engaging portion 23 of the mobile robot 2 by the first connecting portion 51. As a result, the ground pressure (frictional force against the road surface) of the drive wheels 22A and 22B of the mobile robot 2 increases, making it possible to secure sufficient traction force without increasing the weight of the mobile robot 2 itself.

[0023] As shown in Figure 3B, the first engagement portion 23 on the mobile robot 2 side has a high, flat central portion in the front-to-back direction (left-to-right direction in Figure 3B) and inclined surfaces that slope forward and backward. Of these inclined surfaces, the rear inclined surface (the left inclined surface in Figure 3B) into which the first connecting portion 51 of the connecting transport unit 5 is inserted becomes the guide portion 23A for guiding the first connecting portion 51. In this embodiment, the rear inclined surface is the guide portion 23A because the first connecting portion 51 of the connecting transport unit 5 is inserted into the first engagement portion 23 from the rear of the mobile robot 2, but the embodiment is not limited to this.

[0024] Furthermore, as shown in Figure 6A, the unit body 50 is provided with a lock lever 54 sandwiched between a pair of first connecting parts 51. The lock lever 54 has a hook portion configured to catch on a pin 25 on the rear side of the mobile robot 2 (see Figure 6B). The lock lever 54 is connected to a release pedal 55. Normally, the lock lever 54 is locked (closed) by a force from the elastic body. When the user slides the release pedal 55 to the side as needed, an external force acting against the elastic force acts from the release pedal 55 to the lock lever 54, releasing it into an unlocked state (open).

[0025] The second connecting portion 52 is provided on the unit body 50 and is configured to engage with the trolley 4 to be towed by the mobile robot 2. As shown in Figures 7A and 7B, the second connecting portion 52 has an engagement block 52A and a pair of gas springs 52B. The engagement block 52A corresponds to the second engagement portion of the present invention. The engagement block 52A is supported on the unit body 50 via a bracket 521 or the like so that it can move up and down. The range of movement of the engagement block 52A is, for example, a range in which the upper surface (engagement surface) of the engagement block 52A is located at a height of 50 mm to 200 mm from the road surface. However, it is not limited to this, and the range of movement can be set appropriately according to the height of the trolley 4 to be towed. The engagement block 52A is made of a metal material. Examples of metal materials include stainless steel, aluminum, titanium, etc., but it is not limited to these. The shape of the engagement block 52A is not limited to a rectangular parallelepiped shape, and it is possible to appropriately select a shape that can achieve suitable engagement with the trolley 4.

[0026] The engagement block 52A is configured to be engageable with a part of the trolley 4 (for example, the bottom). The engagement block 52A has a plurality of mounting holes 522 on its upper side. A plurality of engagement pins 523 are attached to the plurality of mounting holes 522. The engagement pins 523 may be made of the same material as the engagement block 52A, or they may be made of a different material. The engagement pins 523 are generally cylindrical, but have a tapered shape (narrowing shape) in which the cross-sectional area decreases as it approaches the tip. In this embodiment, a total of 12 engagement pins 523 are attached in 3 rows in the front-rear direction and 4 rows in the left-right direction, but the number and arrangement of the engagement pins 523 are not limited to this.

[0027] The configuration of the engagement block 52A will be explained in more detail using Figure 8. The engagement pin 523 is fitted into the mounting hole 522 in a manner that allows it to move up and down. An upward force is applied to the engagement pin 523 by a spring 524. In addition, a retaining portion 525 is provided at the base end of the engagement pin 523 to prevent it from falling out of the mounting hole 522.

[0028] The spring 524 is positioned in the hollow portion of the engagement pin 523. The strength of the upward force exerted by the spring 524 is set to be less than the upward force exerted by the gas spring 52B. For example, the upward force exerted by the spring 524 is preferably set to about 5-20% of the upward force exerted by the gas spring 52B, and in this embodiment, it is set to about 1N. Therefore, if there is a part on the base portion 40 side of the trolley 4 that comes into contact with the tip of one of the engagement pins 523 (for example, the rib 40B in Figure 8), that engagement pin 523 will be pushed down by the upward force of the gas spring 52B. Figure 8 shows the state in which the rightmost engagement pin 523 is pushed down by the tip of the rib 40B of the trolley 4, while the leftmost engagement pin 523 is suitably engaged with the base portion 40 of the trolley 4. Since the upward force exerted by the spring 524 is set to be sufficiently smaller than the upward force exerted by the gas spring 52B, even when multiple engagement pins 523 simultaneously contact the ribs 40B of the frame portion 40 of the trolley 4, the engagement block 52A can secure the upward force exerted by the gas spring 52B. By adopting this configuration, the engagement block 52A itself can rise regardless of the shape of the bottom surface of the trolley 4, and one of the multiple engagement pins 523 will engage suitably with the trolley 4.

[0029] Furthermore, it is preferable that the engagement block 52A is supported by fasteners such as bolts through the elongated holes in the bracket 521. By adopting such a configuration, it becomes possible to adjust the position of the engagement block 52A by sliding it 50 to 100 mm in the front-rear direction. As a result, it becomes possible to finely adjust the relative position of the engagement pin 523 with respect to the trolley 4, making it easier to engage the engagement pin 523 with a wider variety of trolleys 4.

[0030] The gas spring 52B corresponds to the biasing part of the present invention. The gas spring 52B is configured to apply a force to the engaging block 52A in a direction that presses the engaging block 52A against the trolley 4. The operating force of the gas spring 52B is, for example, 20 to 70 N, but is not limited thereto. The operating force of the gas spring 52B can be appropriately set according to the strength of the engagement force required between the unit body 50 and the trolley 4. Furthermore, the biasing part is not limited to the gas spring 52B, and an elastic member such as a spring can be used as appropriate.

[0031] As shown in Figures 9A and 9B, the trolley 4 has a frame portion 40 having wheels 41. The bottom surface of the frame portion 40 usually has a frame engagement portion 40A having multiple ribs or the like. The engagement block 52A described above engages with the frame engagement portion 40A via multiple engagement pins 523. In this embodiment, the gas spring 52B is configured to apply an upward force to the engagement block 52A. Therefore, when the engagement block 52A and the frame engagement portion 40A are engaged, a force is applied from the gas spring 52B to the engagement block 52A in a direction that makes the engagement force stronger.

[0032] <Method for connecting the connecting transport unit 5 to the mobile robot 2> Figure 10A shows the unengaged state before the mobile robot 2 and the connecting transport unit 5 are engaged. When engaging the mobile robot 2 and the connecting transport unit 5, the user first applies the brakes to prevent the mobile robot 2 from moving, and then positions the connecting transport unit 5 behind the mobile robot 2 while it is braked. The user then gradually moves the connecting transport unit 5 closer to the mobile robot 2 and aligns the connecting transport unit 5 so that the pair of first connecting parts 51 each fit properly into the pair of first engaging parts 23.

[0033] Once the alignment of the connecting transport unit 5 is complete, the user pushes the connecting transport unit 5 further toward the mobile robot 2, inserting the pair of first connecting parts 51 into the pair of first engaging parts 23. The rotating body 51A of the first connecting part 51 is guided by the guide part 23A as it ascends the inclined surface and reaches the center of the first engaging part 23. At this time, the pressurizing arm part 51C is lifted against the elastic force by the force acting from the guide part 23A.

[0034] When the rotating body 51A of the first connecting portion 51 reaches the center of the first engaging portion 23, the first engaging portion 23 and the first connecting portion 51 engage, as shown in Figure 10B, and the mobile robot 2 and the connecting transport unit 5 are connected. It is also possible to configure the guided portion of the connecting transport unit 5 with a component other than the rotating body 51A. The guided portion of the connecting transport unit 5 can be any member that can move smoothly along the guide portion 23A, and it is also possible to configure it with a low-friction tip instead of the rotating body 51A.

[0035] When the first engaging portion 23 and the first connecting portion 51 are engaged, the pin 25 on the rear side of the mobile robot 2 comes into contact with the tapered tip of the lock lever 54, temporarily releasing the lock lever 54. After the hook portion of the lock lever 54 catches on the pin 25, the lock lever 54 returns to the locked state. As a result, the first engaging portion 23 and the first connecting portion 51 are engaged at the same time that the lock lever 54 and the pin 25 lock this engagement. In the locked state, the mobile robot 2 and the connecting transport unit 5 are firmly connected, preventing the connecting transport unit 5 from detaching from the mobile robot 2 during automatic movement of the mobile robot 2.

[0036] On the other hand, when removing the connecting transport unit 5 connected to the mobile robot 2, a release operation is performed to release the lock lever 54 that is hooked onto the pin 25 of the mobile robot 2. The release operation is simple and can be performed by the user sliding the release pedal 55 sideways. When the release pedal 55 is slid sideways, a force is applied to the lock lever 54 in the direction of opening against its elastic force. Therefore, with the brakes applied to the mobile robot 2, the connecting transport unit 5 can be easily disengaged and the connection released by sliding the release pedal 55 sideways while moving the unit away from the mobile robot 2. However, the release operation is not limited to this, and for example, a mechanism can be adopted in which the lock is released by stepping on the release pedal 55.

[0037] <Method for connecting the trolley 4 to the connecting transport unit 5> Connecting the trolley 4 to the connecting transport unit 5 can also be done simply. As shown in Figure 10B, the operating unit 56 is pushed down to move the engagement block 52A to a position lower than the base portion 40 of the trolley 4 against the force of the gas spring 52B. In this state, the connecting transport unit 5 is pressed against the trolley 4. After that, when the downward pressure on the operating unit 56 is released, the engagement block 52A rises due to the force of the gas spring 52B and engages with the base engagement portion 40A on the bottom surface of the base portion 40, as shown in Figure 10C. The gas spring 52B continues to apply an upward force to the engagement block 52A thereafter, so that a strong engagement state between the engagement block 52A and the base engagement portion 40A is maintained. Figures 11A and 11B show the state when the connection of the mobile robot 2, trolley 4, and connecting transport unit 5 is completed, as seen from below.

[0038] For example, even if the connection between the second connecting section 52 and the trolley 4 vibrates up and down while the mobile robot 2 is moving, the gas spring 52B constantly applies an upward force to the engagement block 52A, making it difficult for the engagement block 52A and the frame engagement section 40A to disengage. In particular, even when connecting a trolley 4 that is prone to oscillating around a pair of central wheels, such as a six-wheeled trolley, it is possible to prevent detachment during movement. Furthermore, there is no problem even if relative vertical misalignment or angle changes occur between the connecting transport unit 5 and the trolley 4 due to inclined surfaces or road surface distortion.

[0039] On the other hand, when releasing the engagement between the engagement block 52A and the frame engagement part 40A, the user should push down the operating part 56 while moving the connecting transport unit 5 away from the trolley 4. In this way, connecting and disconnecting the connecting transport unit 5 and the trolley 4 can be done very easily. Furthermore, as described above, connecting and disconnecting the mobile robot 2 and the connecting transport unit 5 can also be done very easily. As a result, it becomes possible to easily connect and tow various trolleys 4 with the mobile robot 2.

[0040] As described above, the mobile robot 2 can tow the transported object 3 without being equipped with a lifting mechanism or the like. Furthermore, since the ground load can be increased by utilizing the weight of the connecting transport unit 5 itself and the force that the first connecting part 51 exerts on the mobile robot 2, there is no need to increase the weight of the mobile robot 2 itself. Moreover, since it does not support the weight of the load mounted on the trolley 4, excessive robustness is not required of the mobile robot 2. For this reason, the mobile robot 2 can be designed to be lightweight and compact, achieving high versatility that can be used in a variety of situations.

[0041] For the drive wheels 22A and 22B of the mobile robot 2, it is preferable that they be made of a material and have a shape that increases friction with the road surface, from the viewpoint of improving propulsion. On the other hand, for the wheels 53A to 53D of the connecting transport unit 5, it is preferable that they be made of a material and have a shape that reduces friction with the floor surface, from the viewpoint of facilitating towing. For example, it is preferable to use hard materials with low friction with the floor surface, such as nylon or urethane, for the wheels 53A to 53D.

[0042] As described above, by connecting to the mobile robot 2 via the connecting transport unit 5, it becomes possible for the mobile robot 2 to tow various types and shapes of carts 4. Generally, the mobile robot 2 is often connected to functional units that have configurations specifically designed for connection with the mobile robot 2 (e.g., an imaging unit for imaging the condition of product shelves, a customer service unit for guiding shoppers, an information display unit for displaying sales promotion information, a tray unit with multi-tiered trays, a serving unit for transporting food, beverages, tableware, etc.). As in this embodiment, by using the connecting transport unit 5, it becomes possible for the mobile robot 2 to tow existing general-purpose carts 4 that do not have configurations specifically designed for connection with the mobile robot 2. In addition, the work of connecting existing general-purpose carts 4 to the mobile robot 2 can be done easily with almost a one-touch operation, thus reducing the workload.

[0043] <Other Embodiments> - The mobile robot of the present invention is not limited to the form of the mobile robot 2 shown in the embodiment, but also includes autonomous vehicles with a vehicle-like appearance, etc. - The operation of connecting the mobile robot 2 to the connecting transport unit 5, and the operation of connecting the connecting transport unit 5 to the trolley 4 may be performed manually by the user or automatically. Alternatively, the mobile robot 2 may approach the connecting transport unit 5 with the brakes applied to the connecting transport unit 5. - In the above embodiment, an engagement block 52A is used for the second connecting part 52, but the second engagement part that engages with the trolley 4 does not necessarily have to be block-shaped (lump-shaped). The second engagement part may be constructed by appropriately combining one or more plates.

[0044] In addition, in the above embodiments, each only shows an example of implementation in carrying out the present invention, and the technical scope of the present invention should not be construed in a limited manner by these. That is, the present invention can be implemented in various forms without departing from its gist or its main features.

[0045] 1: Automatic conveyance system, 2: Mobile robot, 3: Object to be conveyed, 4: Cart, 5: Connecting conveyance unit, 21: Robot main body, 21A: Upper body, 21B: Middle body, 21C: Lower body, 22A: Driving wheel, 22B: Driving wheel, 23: First engaging portion, 23A: Guide portion, 24A: Driven wheel, 24B: Driven wheel, 25: Pin, 26: Battery, 40: Mounting portion, 40A: Mount engaging portion, 40B: Rib, 41: Wheel, 50: Unit main body, 50A: Leg portion, 50B: Leg fulcrum, 50C: Rigid stay, 50D: Fulcrum, 51: First connecting portion, 51A: Rotating body, 51B: Fulcrum portion, 51C: Pressing arm portion, 51D: Pressing spring, 52: Second connecting portion, 52A: Engaging block, 52B: Gas spring, 53A: Wheel, 53B: Wheel, 53C: Wheel, 53D: Wheel, 54: Lock lever, 55: Release pedal, 56: Operating portion, 57: Weight, 521: Bracket, 522: Mounting hole, 523: Engaging pin, 524: Spring, 525: Anti-disengagement portion

Claims

1. An automated transport system comprising a mobile robot and a linked transport unit, wherein the mobile robot comprises a robot body and drive wheels, the robot body comprises a first engaging portion configured to engage with the linked transport unit, the drive wheels are rotatably supported on the robot body, the linked transport unit comprises a unit body, a first connecting portion and a second connecting portion, the unit body comprises wheels, the first connecting portion is provided on the unit body and configured to engage with the first engaging portion of the mobile robot, and the second connecting portion is provided on the unit body and configured to engage with a towed object to be towed by the mobile robot.

2. An automatic transport system according to claim 1, wherein the second connecting portion has a second engaging portion and a biasing portion, the second engaging portion is supported so as to be able to move up and down and is configured to be able to engage with a part of the towed body, and the biasing portion is configured to apply a force to the second engaging portion in a direction that presses the second engaging portion against the towed body.

3. An automated transport system according to claim 2, wherein the towed body has a frame portion having wheels, the second engaging portion is configured to engage with the bottom surface of the frame portion, and the biasing portion is configured to apply an upward force to the second engaging portion.

4. An automatic transport system according to claim 2 or claim 3, wherein the second engaging portion has a plurality of mounting holes on its upper surface, a plurality of engaging pins are attached to the plurality of mounting holes, and the engaging pins have a tapered shape in which the cross-sectional area decreases as they approach the tip.

5. A connecting transport unit for connecting a mobile robot and a towed object, wherein the mobile robot has a robot body and drive wheels, the robot body has a first engaging portion configured to engage with the connecting transport unit, the drive wheels are rotatably supported on the robot body, the connecting transport unit has a unit body, a first connecting portion and a second connecting portion, the unit body has wheels, the first connecting portion is provided on the unit body and configured to engage with the first engaging portion of the mobile robot, and the second connecting portion is provided on the unit body and configured to engage with the towed object to be towed by the mobile robot.

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