JP2018090084A - Coupling device, coupling travel gear and autonomous travel gear - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a coupling device, a coupling travel gear and an autonomous travel gear, capable of facilitating coupling to a coupling object in such a configuration as to use an engagement member.SOLUTION: A coupling device 10, having a coupling claw 12 serving as an engagement member engaging with a cage truck of a coupling object, includes a magnet 13 serving as an attraction member attracting the cage truck and performs a coupling operation using the coupling claw 12 with the magnet 13 attracting the cage truck, thereby restraining the cage truck from moving in a separating direction from the coupling device 10 even if an autonomous robot having the coupling device 10 comes into contact with the cage truck before coupling using the coupling claw 12 is completed and thus facilitating coupling to the cage truck.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a connecting device, a connected traveling device, and an autonomous traveling device.

  2. Description of the Related Art Conventionally, a connecting device including a hooking member that hooks on a connection target is known.

  Patent Document 1 describes a cart cart auxiliary vehicle that transports a cart by hooking and connecting a claw member that is a hook member to a cart that is to be coupled as a coupled traveling device that includes such a coupling device. ing.

  In the connection travel device described in Patent Literature 1, when connecting to the connection target, the relative positions of the connection device and the connection target are matched, and the hooking member is hooked on the connection target. At this time, if the relative positions of the connecting device and the connection target are separated, the hook member cannot be hooked on the connection target. However, when the connected travel device is brought closer to the connection target in order to set the relative position of the connection device and the connection target to a position where the hooking member can be hooked, the connected travel device comes into contact with the connection target. There is. Due to this contact, the connected traveling device may push the connection target, and the connection target may move away from the connected traveling device.

  In order to solve the problems described above, the present invention is characterized in that, in a connecting device including a hooking member that hooks on a connection target, the suction member is attached to the connection target.

  Advantageous Effects of Invention According to the present invention, there is an excellent effect that a connection device including a hooking member can be easily connected to a connection target.

Explanatory drawing of the self-propelled robot and basket cart of embodiment. Explanatory drawing of an ID display panel, (a) is a perspective view of a cart with an ID display panel arranged, (b) is an explanatory diagram of an example of a color code, and (c) is an explanation of an example of a light and dark barcode. Figure. Explanatory drawing of an example of a distribution warehouse. Explanatory drawing which shows the conveyance system of this embodiment typically. The flowchart which shows the flow of the operation | movement in which a self-propelled robot conveys a cart from a temporary storage area to a storage area. The enlarged view of a 2nd storage area. Explanatory drawing which shows the modification of a conveyance system typically. Explanatory drawing of a connection device, (a) is a perspective view of a state where a connection claw is opened, (b) is a perspective view of a state where a connection claw is closed, (c) is a top view. Explanatory drawing of the part rotated with respect to a fixed board material with the rotation member in a connection apparatus, (a) is a perspective view, (b) is a top view. Cross-sectional explanatory drawing of the coupling device explaining the fixing method of the magnet with respect to a rotation member. Cross-sectional explanatory drawing of the connection apparatus explaining operation | movement of a connection nail, (a) is sectional drawing of the state in which the connection nail was closed, (b) is sectional drawing in the state where the connection nail was opened. Explanatory drawing of the front-end | tip shape of a connection nail | claw, (a) is explanatory drawing of the shape where one part bent the front-end | tip, (b) is explanatory drawing of the shape where two parts are bent at the front-end | tip.

Hereinafter, an example of an embodiment of the present invention will be described with reference to the drawings.
Drawing 1 is an explanatory view of self-running robot 1 which is an autonomous mobile device of an embodiment, and basket cart 2 which is a candidate for connection.
In the present embodiment, an autonomous mobile device such as a self-propelled robot 1 that automatically connects to a towed cart such as a cart 2 and automatically conveys it to a desired conveyance destination by towing, and the self-propelled robot 1 FIG.

  The self-propelled robot 1 is an autonomous mobile device having a function of automatically connecting to a cart 2 for loading a conveyed product. Thus, the self-propelled robot 1 can transport a large number of transported objects loaded on the cart 2 by pulling the cart 2 with a simple moving device without having a configuration capable of loading. it can.

The self-running robot 1 includes a robot body 100 which is a device body, a magnetic sensor 3, a controller 4, a camera 5, a power source (battery) 6, a power motor 7, a motor driver 8, a range sensor 9, a coupling device 10, and a drive. A wheel 71 and a driven wheel 72 are provided.
The magnetic sensor 3 and the range sensor 9 are environment recognition means for recognizing the surrounding environment of the self-running robot 1.

  In the transport system of the present embodiment, a magnetic tape is installed on the floor surface of the path on which the self-running robot 1 can travel, and the magnetic tape is detected using the magnetic sensor 3, so that the self-running robot 1 can travel on the path. Can be recognized. The guiding method for installing the tape on the floor is not limited to a configuration using a magnetic tape, and may be a configuration using an optical tape. When an optical tape is used, a reflection sensor or an image sensor can be used instead of the magnetic sensor 3.

  Moreover, in the transport system of this embodiment, it is possible to perform autonomous traveling in which the self-position is recognized by comparing the two-dimensional or three-dimensional map with the detection result of the range sensor 9. The range sensor 9 is a laser range sensor that irradiates an object with laser light and measures the distance from the reflected light to the object. A stereo camera, a depth camera, or the like can be used as a sensor used for recognizing the self-position by collating the detection result with a two-dimensional or three-dimensional map.

In the self-running robot 1, the controller 4 controls the drive of the power motor 7 via the motor driver 8 based on the detection results of the magnetic sensor 3 and the range sensor 9, and the power motor 7 drives the drive wheel 71 to rotate. Thus, the self-propelled robot 1 performs autonomous traveling.
The cart 2 includes a bottom plate 22 that holds the cage portion 20, casters 23 that are disposed at the four corners of the rectangular bottom plate 22, and an ID display panel 21 that is disposed on a side surface of the cage portion 20.

An ID display panel 21 on which a marker for recognition is displayed is attached to the cart 2 placed at a predetermined location. The marker is encoded with identification number information, transport destination information, and transport priority information of the cart 2 using a two-dimensional color code or the like.
The ID display panel 21 is attached to the cart 2 and can read information such as a transport position or ID information that can be recognized by referring to a table. A general barcode or QR code (registered trademark) can be used to display the marker ID. Further, by increasing the amount of information per unit area by using a color code or a density bar code as an ID, the ID can be recognized from a greater distance.

  The self-running robot 1 is provided with a marker reading device. The marker reading device includes a camera 5 which is an ID recognition unit and a decoding unit. In this embodiment, the controller 4 has a function as a decoding unit. The marker code is recognized from the photographed image of the camera 5 by image recognition of the marker feature. The decoding unit obtains the identification number information, the transport destination information, and the priority information of the cart 2 by decoding the recognized marker code information.

  In this embodiment, since a color code is used as a marker installed on the cart 2, reading is performed using the camera 5. When the marker for displaying the ID is a bar code or a QR code, a bar code reader can be used as the ID recognition means. When the marker is a light and dark bar code, the reflection intensity information of the laser range sensor can be used for the ID code.

  The self-running robot 1 includes a range sensor 9 such as a laser range finder (LRF) that acquires a distance from the surrounding environment as an environment recognition unit. The controller 4 calculates the position coordinates of the ID display panel 21 from the distance information between the ID display panel 21 whose position is recognized by the range sensor 9 and the range sensor 9. Using the calculated position coordinates of the ID display panel 21, the controller 4 controls the driving of the power motor 7, thereby positioning the self-running robot 1 at a predetermined position in front of the ID display panel 21 in the cart 2.

  As an ID display panel position recognizing means for recognizing the position of the ID display panel 21 installed in the car trolley 2 in order to control the connecting operation with the car trolley 2, the position of the ID display panel 21 can also be read by the ID recognizing means. In some cases, it can be combined. For example, when a laser barometer is used as a marker ID of the ID display panel 21 and the bar code is used as an ID recognition means, the ID of the ID display panel 21 is detected while detecting the position of the ID display panel 21 by the laser range sensor. Can be read. Further, when the color code is used as the marker ID, the camera 5 can read the ID of the ID display panel 21 while detecting the position of the ID display panel 21.

  The light and dark bar code can be detected by a laser range finder, and the laser range finder can be used as a highly accurate position detection means of the ID display panel 21 and an environment recognition sensor for autonomous traveling.

FIG. 2 is an explanatory diagram showing an example of the ID display panel 21.
FIG. 2A is a perspective view of an example in which an ID display panel 21 that displays a marker whose ID is a color code is arranged on the cart 2. FIG. 2B is an explanatory diagram of an example of a color code, and FIG. 2C is an explanatory diagram of an example of a gray bar code.
Unlike barcodes, QR codes and color codes are read using a camera, so that the position information of the ID display panel 21 with respect to the camera is simultaneously acquired based on the captured image captured by the camera together with the ID information of the code. Can do. For this reason, it is possible to recognize the position where the object to be read (ID display panel 21 in this embodiment) is placed.

  When the ID is a bar code, it can be read by a laser range sensor. The light and dark barcode shown in FIG. 2C uses a plurality of types of linear marks with different black densities, and a code number is assigned to each density. In the configuration using the density bar code, the controller 4 stores a code number for the received light intensity of the reflected light corresponding to the linear mark of each density, and the code number according to the received light intensity of the laser range sensor. Recognize

  The laser range sensor rotates the laser beam irradiation part in the horizontal direction, periodically changes the laser beam irradiation direction, scans the surroundings with the laser beam, and reflects the laser beam by the reflected laser beam. The distance information to the reflected object can be acquired. Further, it is possible to acquire angle information from the laser ranging sensor regarding the position of the object that reflects the laser beam based on the irradiation direction of the laser beam. Furthermore, the light and dark barcode can be found based on the change in the received light intensity of the reflected light.

  When a light / dark barcode is found, relative position information between the ID display panel 21 with the light / dark barcode and the laser range sensor can be obtained based on the distance information and angle information of the light / dark barcode. I can do it. For this reason, in the structure which reads a light and dark barcode with a laser range sensor, the information acquired with the laser range sensor can be used as feedback information used for positioning of the self-propelled robot 1 at the time of connection.

The transport system of the present embodiment using the self-propelled robot 1 automates the work of transporting a transport target with a caster such as a cart in a distribution warehouse.
The conveyance operation by the self-running robot 1 is divided into the following three operations (1) to (3).
(1) Search and connection of transport targets in the temporary placement area.
(2) Travel in the travel area.
(3) Storage location search and unloading in the storage area.

  FIG. 3 is an explanatory diagram of an example of a distribution warehouse 1000 that is assumed to apply the transport system of the present embodiment. In the distribution warehouse 1000 shown in FIG. 3, the worker M arranges the packages unloaded from the truck 2000 to the platform 1001, and another worker M transports the packages to the area in front of the elevator 1002. Transfer to another floor. In the distribution warehouse 1000, the temporary storage area (1) is assumed to be a place where the packages unloaded on the platform 1001 are arranged. The storage area (3) is assumed to be an area in front of the elevator when the elevator 1002 transfers to another floor. In addition, the travel area (2) is assumed to be a place showing a round trip route between the temporary storage area and the storage area by an arrow in FIG.

  The self-running robot 1 moves in a main line operation by a guidance method based on line recognition in which a magnetic tape or optical tape line installed on the floor surface is recognized by a sensor. Also, the address mark next to the line is detected to determine the area. In addition, the ID display panel 21 includes transport area information and priority order information.

FIG. 4 is an explanatory view schematically showing the transport system of the present embodiment.
The transport system shown in FIG. 4 includes a travel area 50, a temporary storage area A, a first storage area B, and a second storage area C. The traveling area 50 is provided with a magnetic line or optical tape for guiding the self-running robot 1 in a line shape, and a main line 51 on which the self-running robot 1 travels is provided. There is a start position S of the self-running robot 1 on the main line 51. An address mark 52 is arranged near the main line 51 at the entrance of the temporary storage area A, the first storage area B, and the second storage area C in the travel area 50.

FIG. 5 is a flowchart showing a flow of an operation in which the self-propelled robot 1 transports the cart 2 from the temporary placement area A to the storage area (B or C).
First, the self-running robot 1 starts moving along the main line 51 by placing the self-running robot 1 as a moving body on the main line 51 and starting it in a state where the line can be recognized (S1). While traveling on the main line 51, the vehicle travels at a designated speed while looking at the position of the line. The vehicle travels while searching for the address mark 52 in the temporary placement area A, and stops when the address mark 52 in the temporary placement area A is detected (“Yes” in S2).

When the address mark 52 in the temporary placement area A is detected (“Yes” in S2) and stopped, an approach operation to the temporary placement area A is started (S3).
When the self-propelled robot 1 enters the temporary placement area A from the travel area 50 where the main line 51 is provided, the self-propelled robot 1 reads the marker on the ID display panel 21 of the temporarily placed cart 2 while traveling. Generate a list. At this time, if there is an ID, X and Y coordinates, transport destination, and priority, they are recorded together. Then, the travel stops at the address mark at the end of the temporary placement area A, the transport target is selected from the generated list of the cart 2 (S4), and the connecting operation with the selected transport cart 2 is started (S5). ).

  In the connecting operation, the vehicle moves to the designated row of the cart 2 based on the X and Y coordinates on the list. The relative position information with respect to the ID display panel 21 is used to move to the front of the cart 2. Then, if it approaches the cart 2, it is connected to the cart 2 by the connecting device 10. When the connection with the cart 2 to be transported is detected (“Yes” in S6), the main line 51 is returned (S7), the main line 51 is traveled (S8), and the storage area (B for storing the cart 2 being transported) Alternatively, when the address mark 52 of C) is detected (“Yes” in S9), the operation is stopped.

When the address mark 52 in the storage area (B or C) is detected (“Yes” in S9) and stopped, an entry operation to the storage area (B or C) is started (S10).
When the self-propelled robot 1 enters the storage area (B or C) from the travel area 50 where the main line 51 is provided, the self-propelled robot 1 reads the marker on the ID display panel 21 of the stored cart 2 while traveling. 2 lists are generated. At this time, if there is an ID, X and Y coordinates, transport destination, and priority, they are recorded together. Next, traveling stops at the end address mark of the storage area (B or C), and an empty address is searched from the list of the generated cart 2 (S11). Then, an address for putting the cart 2 in the garage into the garage is selected from the vacant addresses (S12), and a garage entry operation to the selected vacant address is started (S13).

In the garage entry operation, the vehicle moves to the garage column of the vacant address designated based on the X and Y coordinates on the list. After that, when arriving at the designated empty address, the connection with the cart 2 being transported is released.
When the connection is released, the storage area (B or C) returns to the main line 51 and the search for the temporary storage area A is started again.

FIG. 6 is an enlarged view of the second storage area C. FIG. In FIG. 6, the X-axis direction is the “column direction”, and the Y-axis direction is the “row direction”.
The temporary storage area A and the storage area (B or C) are arranged at positions off the main line 51. A travel line 53 and a stop mark 54 for traveling in the area are added. A frame line or mark is attached to the position (parking lot 55) where the cart 2 is placed to make it easier for people to place it. The self-running robot 1 travels on the travel line 53 by line guidance until the stop mark 54 is detected when entering the temporary placement area A or the storage area (B or C).

At this time, in the temporary storage area A, an operation of connecting to the cart 2 found first may be performed. In the storage area (B or C), it may be controlled to park in the parking lot 55 of the first vacant address found.
The self-propelled robot 1 searches and lists the cart 2 placed using the range sensor 9 while moving, stops when it finds the stop mark 54, and stops at the car cart 2 to be connected or the garage (Parking lot 55) is selected.

In the case of connection, the movement starts to the X and Y coordinates listed, but after moving in the row direction of the address, it turns 90 [°] and goes straight to the car cart 2 to be connected. And the connecting operation is easy. At the time of connection, highly accurate positioning can be performed by controlling the traveling of the self-running robot 1 using the relative position information with the ID display panel 21. In addition, when autonomous traveling using an environmental map is performed, the cart 2 to be connected may be arranged on the environmental map data, and traveling control may be performed based on the coordinates.
In the case of a garage entry operation, it may be moved while recognizing the environment so as to be positioned at the X and Y coordinates of the address of the parking lot 55, or a positioning line may be laid and positioning performed by the line good.

FIG. 7 is an explanatory view schematically showing a modified example of the transport system that can use the self-running robot 1 of the present embodiment.
The transport system according to the modification has a configuration in which the temporary placement area A and the storage area D are immediately next to the main line 51. In the modified example, the self-running robot 1 searches in the temporary storage area A and the storage area D while traveling on the main line 51. When the cart 2 to be transported is found in the temporary placement area A, the operation shifts from the main line 51 to the cart 2. Also for the storage area D, an empty address is searched from the main line 51 and a garage entry operation is performed.

  In the configuration of the modified example, when one self-propelled robot 1 is operating, the other self-propelled robots 1 cannot pass, but the exclusive area of the temporary storage area A and the storage area D may be reduced. And the work time can be shortened.

In distribution warehouses and factories, general-purpose carts, which are four-wheeled free casters, are often used as carts for loading transported goods. In general, automatic connection by an autonomous mobile device is performed by recognizing the connection position and positioning the autonomous mobile device.
Specifically, the marker is attached to the object to be connected, the marker is recognized by the distance information acquisition device attached to the autonomous mobile device, and the position coordinates of the marker are calculated to recognize the connected position. Then, positioning is performed by controlling the driving of the autonomous mobile device so as to stop at the recognized connection position.

  Thereafter, a connection mechanism such as an arm is operated to perform connection. For example, it can be used when an autonomous mobile device is connected to a target place such as a charging station. However, when connecting with the cart provided with the above-mentioned free casters, more accurate positioning of the autonomous mobile device is required. This is because the autonomous mobile device may come into contact with the carriage during positioning with respect to the carriage. If contact is made before the positioning of the autonomous mobile device and the operation of the coupling mechanism are completed, the autonomous mobile device pushes the cart, and the cart moves away from the autonomous mobile device.

  As long as positioning is performed on an object that does not move like the above-described charging station, control may be performed so that the autonomous mobile device contacts the connection target before positioning. However, if the same operation is performed on a cart that operates to place the caster in a released state, such as a site where the cart is frequently transported, there is a problem that it cannot be easily connected for the above-described reason. .

  As described above, the cart having the rotatable caster 23 such as the cart 2 may move away from the self-propelled robot 1 when the self-propelled robot 1 comes into contact before the connection is completed. For this reason, it is required to precisely position and control the self-propelled robot 1 so that the connecting device 10 of the self-propelled robot 1 is brought close to and not in contact with the cart 2. The coupling device 10 for the self-propelled robot 1 of this embodiment includes a mechanism for temporarily holding the cart 2 so that the cart 2 does not move when the self-propelled robot 1 comes into contact.

A self-propelled robot 1 is attached with a connecting device 10 for holding a cart 2 to be transported. Hereinafter, the detail of the connection apparatus 10 with which the self-propelled robot 1 is provided is demonstrated.
FIG. 8 is an explanatory view of the connecting device 10, FIG. 8 (a) is a perspective view of the connecting device 10 with the connecting claw 12 open, and FIG. 8 (b) is a state with the connecting claw 12 closed. FIG. 8C is a perspective view of the coupling device 10, and FIG. 8C is a top view of the coupling device 10.

The connecting device 10 includes a fixed plate member 30, a rotating member 11, a connecting claw 12 that is a hooking member, a magnet 13 that is an attracting member, and the like.
The fixed plate member 30 is a member that fixes the coupling device 10 to the robot main body 100 of the self-running robot 1 and is fixed by screwing to the frame of the robot main body 100 through the fixing screw hole 30a.

  The rotating member 11 is a member that can rotate with respect to the fixed plate 30 around a rotating shaft 111 extending in the vertical direction. FIG. 9 is an explanatory view of the connecting device 10 shown in FIG. 8, in which the connecting device 10 is fixed to the rotating member 11, and the portion rotating with the rotating member 11 relative to the fixed plate member 30 is shaded. FIG. 9A is a perspective view, and FIG. 9B is a top view. The rotation member 11 can rotate around a rotation shaft 111 as indicated by an arrow “G” in FIG. The fixed plate member 30 includes a rotation range regulating member 32, and a rotation member front end portion 11e that is a front end of the rotation member 11 that rotates (the front end of the rotation member 11 in the front-rear direction of the self-propelled robot 1) rotates. The rotation range of the rotation member 11 is restricted at a position where it abuts against the movement range restriction member 32.

  In this embodiment, after temporarily holding using the magnetic force of the magnet 13 as a temporary holding mechanism, the fixing by the connecting claw 12 is performed. In addition, the magnet 13 is arranged on the rotating member 11 and the temporary fixing mechanism using the magnet 13 is configured to be rotatable. With this configuration, even when the self-propelled robot 1 comes close to the cart 2 in a tilted state, the rotating member 11 rotates and the two connecting claws 12 are moved with respect to the horizontal frame of the cart 2. Can be parallel. Thereby, it becomes easy to make the positional relationship of the connection nail | claw 12 and the horizontal frame of the cart 2 into a connectable positional relationship.

  The fixed plate member 30 is made of sheet metal and includes a shaft holding portion 31 that holds the rotating shaft 111. By fixing the fixed plate 30 to the robot main body 100, the rotating member 11 can rotate with respect to the robot main body 100 about the rotating shaft 111. The connecting claw 12 and the magnet 13 are attached to the rotating member 11. The connecting claw 12 is for hooking and fixing to the frame of the cart 2. The magnet 13 is for adhering to the frame of the cart 2.

Generally, the frame of the cart 2 is made of a steel material, and the cart 2 used in the present embodiment is made of a material to which a magnet 13 can be attached like a steel material. The connection claw 12 is retracted upward as shown in FIG. 8A so as not to be caught by the frame of the cart 2 during the connection operation when the connection claw 12 is not connected.
The reason for using both the connecting claw 12 and the magnet 13 is as follows.
That is, the connecting claw 12 alone does not measure the timing of the connecting operation, so that the self-propelled robot 1 needs to be positioned with high accuracy, and the magnet 13 alone leaves during the transfer when the weight of the cart 2 to be transferred is heavy. Because there are things.

Positioning and connecting operation of the self-propelled robot 1 to a predetermined position in front of the ID display panel 21 of the cart 2 is performed by the following three steps.
As a first step, the self-propelled robot 1 is driven so as to be in a posture facing the car cart 2 at a constant distance and substantially in front of it.
As a second step, the vehicle is moved at a reduced speed toward the car cart while maintaining a substantially straight posture.
As a third step, the self-running robot 1 is stopped after the magnet 13 is attracted to the frame of the cart 2 and the connecting claw 12 is operated and fixed.

  The self-propelled robot 1 includes a micro switch 14 that is a contact switch that can detect that an object is in contact with the surface of the magnet 13 that contacts the frame when the magnet 13 is attracted to the frame. Yes. The micro switch 14 can confirm the adsorption of the magnet 13 to the frame of the cart 2.

  The reading of the marker for obtaining the position coordinates of the ID display panel 21 includes an error in detection by the range sensor 9 and an error in calculation. In addition, an error due to wheel slip or the like when driving the self-running robot 1 occurs. For this reason, it is normal that the self-propelled robot 1 is in a state of being tilted and displaced with respect to the cart 2 and it is difficult to completely face it.

  In this embodiment, when the magnet 13 is attracted to the cart 2 in the second step, it is only necessary to proceed at a reduced speed, so that the self-propelled robot 1 is accurately stopped at the connection position with the cart 2. A highly accurate positioning operation is not required. For this reason, it becomes tolerance with respect to position shift. Even when the self-propelled robot 1 approaches the car cart 2 with an inclination, the magnet 13 can be made parallel to the frame surface of the car cart 2 by the rotation of the rotating member 11. Can be adsorbed reliably. With such a configuration, it is possible to reliably connect the self-propelled robot 1 and the cart 2 without requiring highly accurate positioning.

  As the magnet 13, an electromagnet is preferably used. Since the electromagnet performs ON / OFF control by supplying electric power, it can be attracted and released. For this reason, it can be adsorbed only when necessary, for example, the power is turned “ON” in the second step in which the positioning and the connecting operation described above are performed.

  As the electromagnet, a permanent electromagnetic electromagnet can also be used. A permanent electromagnetic electromagnet can be attracted as a permanent magnet when the power is OFF, and can be released when the power is ON. If a permanent electromagnetic electromagnet is used, even if a power failure or disconnection occurs, the magnetic force is not lost, so the cart 2 can be held more reliably. Whichever electromagnet is used, it becomes possible to operate as a system in which the cart 2 transported to a predetermined place by the self-propelled robot 1 is automatically separated and released by a simple operation.

  In the case of using a permanent magnet as the magnet 13, a separation mechanism that presses the cart 2 and separates it from the self-running robot 1 may be provided in order to separate the cart 2 transported to a predetermined place.

Next, the magnet 13 attached to the rotating member 11 will be described.
A plurality of magnets 13 are preferably arranged on the rotating member 11. This is due to the following reason.
That is, the frame to be connected in the cart 2 is generally short in the height direction and long in the width direction. On the other hand, since many general-purpose magnets are cylindrical or rectangular, for example, by using two small magnets arranged side by side in the horizontal direction, the surface on which the magnetic force acts on the horizontally long frame can be enlarged, It is cheaper and more reliable than using a single magnet.

FIG. 10 is a cross-sectional explanatory view of the coupling device 10 for explaining a method of fixing the magnet 13 to the rotating member 11. FIG. 10 is a cross-sectional view taken along the line E-E in FIG.
In the cross section shown in FIG. 10, the rotating member 11 has an L-shaped cross section, and is located on the rear side of the rotating member 11 extending in the horizontal direction (the connection target side at the time of connection, the right side in FIG. 10). A rotating member magnet attachment portion 11a that is bent at the end and extends vertically downward is formed.

  The rotating member magnet attachment portion 11a includes a through hole penetrating in the left-right direction in FIG. The coupling device 10 includes a magnet holding member 131 that holds the magnet 13. The magnet holding member 131 is disposed on the opposite side of the magnet 13 across the magnet holding shaft 131b and the magnet holding shaft 131b passing through the through hole of the rotating member magnet mounting portion 11a, and a first spring 132 to be described later abuts on the magnet holding member 131. And a magnet holding butting portion 131a.

The coupling device 10 includes a first spring 132 and a second spring 133 that are arranged so that the magnet holding shaft 131b is positioned inside. The first spring 132 has a surface on the front side (the opposite side to the connection target at the time of connection, the left side in FIG. 10) of the rotating member magnet attachment portion 11a and the rear side of the magnet holding abutting portion 131a (the connection target at the time of connection). Side, the right side in FIG. 10. The second spring 133 has a surface on the rear side of the rotating member magnet mounting portion 11a (the connection target side at the time of connection, the right side in FIG. 10) and the front side of the magnet 13 (the opposite side to the connection target at the time of connection, FIG. It is arranged so as to hit the surface on the left side.
In addition, the coupling device 10 has a lower surface of the magnet 13 that prevents the magnet 13 held by the rotating member magnet attachment portion 11a from moving downward via the magnet holding shaft 131b and tilting the magnet holding shaft 131b. The magnet lower surface holding part to hold | maintain is provided.

With such a configuration, the first spring 132, the second spring 133, and the like are provided between the magnet holding butting portion 131a and the rotating member magnet attaching portion 11a, and between the rotating member magnet attaching portion 11a and the magnet 13. It is possible to connect using the elastic member.
When the self-propelled robot 1 is trying to be connected to the cage cart 2 in a tilted state, the corners of the magnet 13 come into contact with the cage before the rotating member 11 is rotated by the attractive force of the magnet 13. There is a risk of piercing the frame of the carriage 2. On the other hand, in the coupling device according to the present embodiment, the direction of the magnet 13 that has come into contact with the elastic member can be changed, so that it can be attracted more reliably.

  Since the connection claw 12 in a state of being hooked and held on the frame of the car cart 2 protrudes toward the car cart 2 side than the magnet 13, as shown in FIG. There is a gap. When the cart 2 is pulled by the self-propelled robot 1, the cart is mainly pulled by the connecting claw 12. At this time, the first spring 132 is contracted and the second spring 133 is extended, so that the magnet 13 can be prevented from being separated from the frame of the cart 2 during towing. This makes it possible to prevent the conveyance from becoming unstable due to the magnet 13 being attracted to or separated from the frame of the cart 2 during the conveyance.

FIG. 11 is a cross-sectional explanatory view of the coupling device 10 for explaining the operation of the coupling claw 12. FIG. 11 is a cross-sectional view taken along the line FF in FIG.
FIG. 11A shows a state where the connection claw 12 after connection is closed (the state shown in FIG. 8B), and FIG. 11B shows a state where the connection claw 12 before connection is opened (FIG. 8B). a) state).
As a configuration for operating the connecting claw 12, any configuration may be used as long as the cart 2 can be pulled or pushed by being hooked on a part of the cart 2 such as a frame of the cart 2. In the coupling device 10 of the present embodiment, a mechanism using a linear cylinder is used as a configuration for operating the coupling claw 12.

A bearing holder 113 which is a connecting claw rotating shaft holding member is installed on the rotating member 11 to hold the connecting claw shaft 120 to which the connecting claw 12 is fixed. The connecting claw 12 is rotated so that the tip (right end in FIG. 11) of the connecting claw 12 moves up and down by the rotating operation of the connecting claw shaft 120.
When performing the coupling operation, first, the tip of the coupling claw 12 is retracted upward so as not to be caught by the frame of the cart 2, and the coupling claw 12 is rotated by the rotation of the coupling claw shaft 120 after being attracted by the magnet 13. Is lowered so that the tip of the hangs on the frame height of the cart 2.
When performing the operation for releasing the connection, similarly, the tip of the connection claw 12 is raised by rotating the connection claw shaft 120 in the direction opposite to the connection operation.

As the linear motion cylinder, a general-purpose electric cylinder 121 is used, and a non-moving portion of the electric cylinder 121 is fixed on a linear motion cylinder holding member 122 provided on the rotating member 11.
The moving part of the electric cylinder 121, the tip of the cylinder part 123 that moves in the vertical direction by driving the electric cylinder 121 is the lower end part in FIG. 11, and the cylinder part 123 expands and contracts within a predetermined length range. Can be made.

  A vertical motion connecting member 124 is fixed to the tip of the cylinder portion 123, and a vertical motion transmitting member 125 that transmits the vertical motion of the cylinder portion 123 to the coupling claw shaft 120 is provided at the lower end of the vertical motion connecting member 124. The vertical motion transmission member 125 of this embodiment is a roller-like member that can rotate around a rotation axis that is orthogonal to the paper surface in FIG.

A vertical movement transmission plate member 127 to which the vertical movement of the vertical movement transmission member 125 is transmitted is fixed to the connecting claw shaft 120 and the lower end portion of the vertical movement transmission member 125 is in contact therewith. Further, on the vertical movement transmission plate member 127, a convex plate material 126 arranged so that the upper end portion of the vertical movement transmission member 125 is in contact with the convex inner wall surface is fixed.
When the cylinder portion 123 is contracted by driving the electric cylinder 121 from the state shown in FIG. 11A, the vertical motion transmitting member 125 moves upward, and pushes up the convex plate material 126 whose upper end contacts. As a result, the vertical motion transmission plate material 127 to which the convex plate material 126 is fixed is pulled upward, and the connecting claw shaft 120 to which the vertical motion transmission plate material 127 is fixed rotates counterclockwise in FIG. The connection claw 12 fixed to the connection claw shaft 120 by this rotation also rotates counterclockwise in FIG. 11 around the connection claw shaft 120, and the connection claw 12 is opened as shown in FIG. 11B. It becomes a state.

  When the cylinder portion 123 is extended by driving the electric cylinder 121 from the state shown in FIG. 11B, the vertical motion transmission member 125 moves downward, and pushes down the vertical motion transmission plate member 127 that contacts the lower end thereof. As a result, the connecting claw shaft 120 to which the vertical motion transmitting plate member 127 is fixed rotates in the clockwise direction in FIG. The connection claw 12 fixed to the connection claw shaft 120 by this rotation also rotates in the clockwise direction in FIG. 11 around the connection claw shaft 120, and the connection claw 12 is closed as shown in FIG. It becomes.

  Thus, the expansion / contraction drive of the electric cylinder 121 which is a direct acting cylinder can be converted into the rotational movement of the connecting claw 12 with a simple configuration. By using such an operation mechanism of the connecting claw 12 by the linear cylinder, the connecting claw 12 (hanging member) can be inserted between the flip-up bottom plate 22 and the frame, which is a common form of the cart 2. Therefore, it is possible to cope with a wide variety of carts 2 without modification.

Next, the tip shape of the connecting claw 12 will be described.
FIG. 12 is an explanatory diagram of the tip shape of the connecting claw 12, and FIG. 12A is an explanatory diagram of the shape of one bent portion of the tip used in the connecting device 10 of the embodiment described above. 12 (b) is an explanatory diagram in which the bent portion at the tip has two shapes.

As shown in FIG. 12A, the shape with one bent tip is sufficient when the self-propelled robot 1 pulls the cart 2 mainly by traction by the connecting claw 12.
On the other hand, when the bent portion of the tip shown in FIG. 12B has two shapes, the frame of the cart 2 can be sandwiched and held between the two bent portions. For this reason, not only when the self-propelled robot 1 pulls the cart 2 but also when the self-propelled robot 1 is accompanied by an operation of pushing the cart 2 into a predetermined position, It is a suitable configuration.

  The hook member is not limited to the claw member such as the connecting claw 12. In the present embodiment, it is possible to realize a configuration in which the tip is bent at a right angle and a simple configuration of a claw member that is bent at a right angle is connected to the connection target.

  The rotation range restriction member 32 provided on the fixed plate 30 is for limiting the rotation range so that the rotation member 11 does not rotate too much with respect to the robot body 100 of the self-running robot 1. . This makes it possible to prevent contact between the rotating member 11 and the robot body 100 and between the cart 2 and the self-propelled robot 1 when connected or towing the cart 2 and prevent damage caused by contact. Is possible.

  In addition, the self-propelled robot 1 of the present embodiment is provided with a bumper fixing portion 41 with respect to the robot main body 100, and from the bumper fixing portion 41 to the rear of the self-propelled robot 1 (upper in FIG. 8C) A bumper 40 extending toward the center is provided. The bumper 40 includes a rod-shaped bumper shaft 40b having one end fixed to the bumper fixing portion 41, and a bumper abutting rubber 40a fixed to the other end side of the bumper shaft 40b.

By using an elastic member such as a rubber material such as a bumper abutting rubber 40a at the tip of the bumper 40, noise caused by the contact between the cart 2 and the bumper 40 when the cart 2 is pulled and conveyed. Damage to the frame of the cart 2 can be prevented.
In the present embodiment, the bumper 40 is arranged so that the bumper 40 does not protrude beyond the magnet 13 so that the tip of the bumper 40 does not contact the cart 2 before the magnet 13 during connection. Alternatively, the bumper 40 may be driven to extend after the connection claw 12 is connected to the cart 2. Thereby, the behavior of the cart 2 during the traction conveyance by the self-propelled robot 1 can be further stabilized.
By arranging such a bumper 40, it is possible to prevent contact between the cart 2 and the self-propelled robot 1, and damage due to the contact can be prevented.

  As shown in FIG. 8, in the coupling device 10 of the present embodiment, the bumper 40, the coupling claw 12, and the magnet 13 are arranged in this order from the outside in the lateral direction. That is, the two magnets 13 are arranged outward from the center in the horizontal direction, the two connecting claws 12 are arranged on the outer side, and the two bumpers 40 are arranged on the outer side. Any order may be sufficient as the order of these three horizontal arrangements.

As shown in FIGS. 1 and 2, the cage portion 20 of the cage cart 2 has a cage shape in which a plurality of horizontal frames and a plurality of vertical frames are combined, and the connecting device 10 connects the connecting claws 12 to the cage portion 20. It is a structure which hooks on a horizontal frame.
For this reason, as the connection claw 12 of the connection apparatus 10, it arrange | positions so that the two connection claw 12 may become the space | interval which does not interfere with the vertical frame of the cage | basket part 20 with respect to the center of the connection surface of the cart 2. And the ID display panel 21 mentioned above is installed in the position which becomes the center of the horizontal direction in the connection surface of the car trolley | bogie 2, and the position of this ID display panel 21 is recognized using the range sensor 9, and two connection is carried out. It is possible to connect the claw 12 without interfering with the vertical frame.

As a configuration for connecting the autonomous mobile device and the connection target, there is the following problem in the configuration in which the attracting means such as the magnet 13 is not provided and the connection is made only by the hooking member such as the connection claw 12. That is, when attempting to automatically connect, if the autonomous mobile device cannot be connected and fixed by the hooking member in a state where the autonomous mobile device is completely opposite to the connection target and is stationary, there is a problem that the connection cannot be made reliably.
On the other hand, in the self-running robot 1 of the present embodiment, the connection fixing operation by the connection claw 12 that is a hooking member, even if it is not completely in a stationary state with respect to the cart 2 that is the connection target. It can be performed.

  As a configuration that does not require highly accurate positioning of the autonomous mobile device, an automatic connection method using a parallel link mechanism is conceivable. However, a complicated mechanism and a highly accurate parallel link mechanism need to be controlled. On the other hand, in the self-running robot 1 of this embodiment, automatic connection can be performed with a simple configuration of the magnet 13 and the connection claw 12.

In the embodiment described above, the autonomous traveling device in which the traveling device including the moving means such as the power motor 7 and the driving wheel 71 and the connecting device 10 that is connected to the cart 2 to be connected controls the moving means by the controller 4. The case of the self-propelled robot 1 as described above has been described. The connected traveling device including the connecting device 10 is not limited to an automatic traveling device such as an autonomous traveling device, but may be a traveling device such as a car driven by a human.
In addition, the connected traveling device is not limited to a configuration that pulls the connected connection target, and may be a configuration that pushes and moves the connection target or lifts and moves the connection target.

  What was demonstrated above is an example, and there exists an effect peculiar for every following aspect.

(Aspect A)
In a coupling device such as a coupling device 10 including a hooking member such as a coupling claw 12 that hooks on a coupling target such as the cart 2, an adsorption member such as a magnet 13 that attracts the coupling target is provided.
According to this, as described in the above-described embodiment, the adsorbing member is adsorbed to the connection target, so that the connection device or the device to which the connection device such as the self-running robot 1 is fixed contacts the connection target. It can suppress that a connection target moves in the direction which leaves | separates from a connection apparatus. And it can be easily connected with a connecting object by performing connecting operation by a hooking member in the state where an adsorbing member was adsorbed to a connecting object.

(Aspect B)
In aspect A, a rotation member such as a rotation member 11 that can rotate with respect to the main body of the connection device such as the fixed plate member 30 is provided, and the hooking member such as the connection claw 12 and the adsorption member such as the magnet 13 are rotated. Provided on the moving member.
According to this, as described in the above-described embodiment, even when the main body of the connecting device is inclined and close to the connection target such as the cart 2, the rotating member rotates, so that the hooking member It becomes easy to make the positional relationship between the connection object and the connection object a connectable positional relationship.

(Aspect C)
In aspect B, a rotation restricting means such as a rotation range restricting member 32 for restricting the rotation range of the rotating member such as the rotating member 11 is provided.
According to this, as described in the above-described embodiment, the contact between the rotating member and a device to which the connecting device such as the self-running robot 1 is fixed, the cart 2 or the like at the time of connection or movement after the connection. It is possible to prevent contact between the connection object and the device to which the connection device is fixed. Thereby, it becomes possible to prevent damage resulting from contact.

(Aspect D)
In any of the aspects A to C, an electromagnet is provided as an adsorbing member such as the magnet 13.
According to this, as explained about the embodiment mentioned above, an adsorption member can be adsorbed only when needed with respect to connection objects, such as the cart 2.

(Aspect E)
In any one of the aspects A to D, a plurality of magnets are provided as the attracting member.
According to this, as described in the above-described embodiment, it is possible to secure a large surface on which the magnetic force of the magnet is applied to a surface having a certain size such as a horizontally long frame, rather than using one large self-made one. Can be reliably adsorbed at low cost.

(Aspect F)
In any of the aspects A to E, the hook member is provided with a claw member such as a connecting claw 12 that moves the tip of the hook-shaped claw part downward from above.
According to this, as described in the above-described embodiment, it is possible to realize a configuration in which a connection target is connected with a simple configuration of a claw member having a bent tip.

(Aspect G)
In a connected traveling device such as a self-propelled robot 1 provided with a moving means such as the power motor 7 and the drive wheel 71 and a connecting means connected to a connection target such as the cart 2, any of the aspects A to F is used as the connecting means. A connection device such as the connection device 10 according to the above aspect is provided.
According to this, as described in the above-described embodiment, a connected traveling device that can be easily connected to a connection target can be realized.

(Aspect H)
In the aspect G, a buffering means such as a bumper 40 is provided to alleviate an impact at the time of contact with a connection target such as the cart 2.
According to this, as described in the above-described embodiment, it is possible to prevent generation of sound and damage to the contact target due to contact between the connected traveling device such as the self-running robot 1 and the connection target.

(Aspect I)
A self-propelled robot provided with a moving means such as a power motor 7 and a drive wheel 71, a connecting moving means having a connecting means for connecting with a connecting object such as a cart 2 and a control means such as a controller 4 for controlling the moving means. The autonomous traveling device of No. 1 and the like includes the configuration of the coupled traveling device according to the aspect G or H as the coupled moving means.
According to this, as demonstrated about embodiment mentioned above, the autonomous running apparatus which can be easily connected with a connection object is realizable.

(Aspect J)
In the aspect I, a recognition unit such as a camera 5 for recognizing a sign such as an ID display panel 21 arranged on a connection target such as the cart 2 is provided, and the control unit such as the controller 4 is based on the recognition result of the recognition unit. The recognition of the connection target and the control of the moving means such as the power motor 7 and the drive wheel 71 for positioning for connection to the connection target are performed.
According to this, as described in the above-described embodiment, it is possible to realize an autonomous mobile device that is automatically connected to a connection target and automatically transferred to a desired transfer destination.

DESCRIPTION OF SYMBOLS 1 Self-propelled robot 2 Basket cart 3 Magnetic sensor 4 Controller 5 Camera 7 Power motor 8 Motor driver 9 Range sensor 10 Connecting device 11 Rotating member 11a Rotating member magnet attaching part 11e Rotating member front end 12 Connecting claw 13 Magnet 14 Micro switch 20 Cage part 21 ID display panel 22 Bottom plate 23 Caster 30 Fixed plate material 30a Fixing screw hole 31 Axle holding part 32 Rotating range regulating member 40 Bumper 40a Bumper bump rubber 40b Bumper shaft 41 Bumper fixing part 50 Traveling area 51 Main line 52 Address mark 53 Traveling line 54 Stop mark 55 Parking lot 71 Drive wheel 72 Driven wheel 100 Robot main body 111 Rotating shaft 113 Bearing holder 120 Connecting claw shaft 121 Electric cylinder 122 Direct acting cylinder holding member 123 Cylinder portion 124 Vertical movement connection Member 125 Vertical motion transmission member 126 Convex plate material 127 Vertical motion transmission plate material 131 Magnet holding member 131a Magnet holding abutting portion 131b Magnet holding shaft 132 First spring 133 Second spring 1000 Distribution warehouse 1001 Platform 1002 Elevator 2000 Truck A Temporary placement area B First storage area C Second storage area D Storage area M Worker S Start position

JP 2005-178504 A

Claims (10)

In a connecting device comprising a hooking member that hooks on a connection target,
A coupling device comprising an adsorption member that adsorbs to the coupling object. The connecting device according to claim 1.
A rotation member rotatable with respect to the main body of the coupling device;
The coupling device, wherein the hooking member and the adsorption member are provided on the rotating member. The connecting device according to claim 2.
A coupling device comprising a rotation restricting means for restricting a rotation range of the rotation member. The connecting device according to any one of claims 1 to 3,
An electromagnet is provided as the attracting member. The connecting device according to any one of claims 1 to 4,
A coupling device comprising a plurality of magnets as the attracting member. The connecting device according to any one of claims 1 to 5,
A coupling device comprising a claw member that moves the tip of the hook-shaped claw portion downward from above as the hooking member. Transportation means;
In a connected traveling device comprising a connecting means for connecting to a connection target,
A connection travel device comprising the connection device according to claim 1 as the connection means. The connected traveling device according to claim 7,
A connected traveling device comprising buffer means for reducing an impact at the time of contact with the connection target. A connecting and moving means having a moving means and a connecting means for connecting to the connection object;
In an autonomous traveling device comprising a control means for controlling the moving means,
An autonomous traveling device comprising the connected traveling device according to claim 7 or 8 as the connected moving means. In the autonomous traveling device of claim 9,
Recognizing means for recognizing a sign placed on the connection target,
The autonomous running is characterized in that the control means performs recognition of the connection target and control of the moving means for positioning for connection to the connection target based on a recognition result of the recognition means. apparatus.