JP2020124763A - Mobile robot - Google Patents

Abstract

To provide a mobile robot having high rigidity.SOLUTION: A mobile robot includes: a robot arm (15); a cart part (20) on which loads are loaded; and an unmanned transportation dolly (50) which moves the cart part (20). The cart part (20) includes: side structure parts (21); and a front structure part (22) which connects the two side structure parts (21). A tire (25) which rotates in response to motion of the unmanned transportation dolly (50) is provided in at least one of the side structure parts (21) and the front structure part (22).SELECTED DRAWING: Figure 1

Description

The present invention relates to mobile robots.

Conventionally, there is known a mobile robot in which a manipulator equipped with a robot arm for gripping a work as an object to be conveyed is loaded on an unmanned conveyance cart (for example, refer to Non-Patent Document 1). In addition, a mobile robot that loads and transports luggage on an unmanned transporting cart is also known (for example, see Non-Patent Document 2).

Internet <URL: http://www.castec.com.tw/index.php?option=product&lang=en&task=pageinfo&id=18&index=2> Internet <URL: https://www.fa.omron.co.jp/products/family/3664/feature.html>

For example, as shown in FIG. 5, there is a mobile robot 100 in which a load including an object and a robot arm is loaded on a cart 120 and the cart is moved by an automated guided vehicle. However, there are demands for making the object to be grasped by the robot arm heavier, a demand for making the movement range of the robot arm wider, and a demand for making the movement speed of the robot arm faster, and so on. , There is a need to load a larger robot arm on the cart. As the size of the robot arm increases in this way, the cart is required to have higher rigidity against vibration force and impact force when the robot arm operates.

One aspect of the present invention has been made in view of the above circumstances, and an object thereof is to provide a mobile robot having high rigidity.

In order to solve the above problems, a mobile robot according to an aspect of the present invention includes a robot arm that performs a gripping operation on an object, a cart unit that loads the object including the object, and the robot arm. A mobile robot for moving the cart section, wherein the cart section includes lateral structure portions extending in the front-rear direction on both sides of the unmanned carrier cart, and a traveling direction of the unmanned carrier cart. A front structure part that connects between the two side structure parts at the front, and at least one of the side structure part and the front structure part is in contact with a floor surface, and the unmanned This is a configuration in which a tire that rotates in accordance with the operation of the carrier is provided.

According to the above configuration, the mechanical strength of the cart is improved, and the rigidity of the mobile robot against the vibration force and the impact force of the mobile robot at the time of performing the grasping operation and the conveying operation of the object is improved. be able to.

Further, in the mobile robot according to an aspect of the present invention, the front structure portion may be arranged in a region other than a scanning region of the object detection sensor attached to the front surface of the unmanned transport vehicle.

According to the above configuration, the front structure portion can be provided without hindering the object detection by the object detection sensor, and a mobile robot capable of safely carrying a heavy load can be realized. ..

Further, in the mobile robot according to one aspect of the present invention, the object detection sensor is provided on a front surface of the unmanned transport vehicle at a predetermined height position from a floor surface, and is located in front of the traveling direction of the unmanned transport vehicle. A first sensor that detects an object; and a second sensor that detects an object on a floor surface in the traveling direction of the unmanned transporting vehicle, wherein the front structure portion includes a scanning area of the first sensor, It may be arranged in a region between the second sensor and the scanning region.

According to the above configuration, the front structure portion can be provided without hindering the object detection in the traveling direction front by the first sensor and the object detection on the floor surface in the traveling direction by the second sensor. Accordingly, it is possible to realize a mobile robot capable of safely carrying a heavy load with a simple structure in which the front structure is provided in the cart.

In the mobile robot according to the aspect of the present invention, the front structure unit may include a bumper switch that detects contact with an object.

According to the above configuration, by providing the front structure portion in front of the traveling direction of the automatic guided vehicle, the mobile robot can be safely moved even if the function of the bumper switch of the automated guided vehicle is disturbed.

Further, in the mobile robot according to an aspect of the present invention, the front structure portion is provided with a pair of tires, and the pair of tires have an installation position outside a scanning region of the second sensor. Thus, they may be provided at intervals.

According to the above configuration, the cart portion 20 can support the weight of the load in a well-balanced manner. Therefore, it is possible to realize a mobile robot capable of safely carrying a heavy load.

A mobile robot according to one aspect of the present invention includes a housing having a robot control unit that controls the operation of the robot arm, and the housing is provided between an upper surface and a side surface of the housing. Further, at least two inclined surfaces whose normal direction is obliquely upward may be provided, and the inclined surfaces may be provided with respective emergency stop switches for stopping a predetermined operation of the mobile robot.

According to the above configuration, the ease of access to the emergency stop switch can be improved, and since the chamfer is added to the outer surface of the housing, the working range of the robot arm can be widened.

Further, in the mobile robot according to the aspect of the present invention, the two emergency stop switches may be arranged at positions opposite to each other with respect to a position where the robot arm is arranged in the casing.

According to the above configuration, the worker can safely access the emergency stop switch regardless of the position of the robot arm, the positional relationship between the mobile robot and the peripheral equipment, and the like.

According to one embodiment of the present invention, a mobile robot having high rigidity can be provided.

It is a perspective view showing the appearance composition of the mobile robot concerning this embodiment. It is a perspective view showing the appearance composition of a mobile robot provided with a bumper switch. It is a trihedral figure which shows the external structure of the mobile robot which concerns on this embodiment, (a) is a top view, (b) is a front view, (c) is a side view. It is a figure which shows typically the scanning range of the sensor provided in the automatic guided vehicle. It is a figure which shows the example of the conventional mobile robot provided with the cart which loads a load. It is a figure which shows the example of the conventional mobile robot provided with the emergency stop switch.

Hereinafter, an embodiment according to one aspect of the present invention (hereinafter, also referred to as “the present embodiment”) will be described with reference to the drawings.

§1 Application Example FIG. 1 is a diagram showing an example of an external configuration of the mobile robot 10 according to the present embodiment.

The mobile robot 10 is used to hold an object to be transferred by the robot arm 15 and transfer it from a predetermined transfer start position to a predetermined transfer destination by the unmanned transfer vehicle 50 at a manufacturing site, a physical distribution site, or the like. To be The robot arm 15 constitutes a manipulator together with a housing 30 that contains a control unit that controls the robot arm 15.

A load including the target object and the manipulator is loaded on the cart unit 20. The unmanned transport vehicle 50 transports the target object by moving the cart unit 20 on which the load is loaded.

The cart unit 20 has a structure that surrounds both sides of the unmanned transport vehicle 50 and the front side in the traveling direction, and has high mechanical strength. In this way, the mobile robot 10 loads and transports a load on the cart unit 20 having high mechanical strength, so that it is possible to stably transport a heavy load.

§2 Configuration Example [Embodiment]
Hereinafter, the configuration of the mobile robot 10 according to the embodiment of the present invention will be described in detail with reference to FIGS. 1, 2, 3, and 4. FIG. 1 is a perspective view showing an external configuration of the mobile robot 10. FIG. 2 is a perspective view showing an external configuration of the mobile robot 10 including the bumper switch 28. FIG. 3 is a three-sided view showing the external configuration of the mobile robot 10 shown in FIG. 2. FIG. 3A is a top view of the mobile robot 10, and FIG. FIG. 3C is a side view of the mobile robot 10 as viewed from the front in the traveling direction of the carrier vehicle 50, and FIG. FIG. 4 is a diagram schematically showing a scanning area of the object detection sensor provided on the unmanned transport vehicle 50.

[Configuration of mobile robot]
As shown in FIG. 1, the mobile robot 10 includes a robot arm 15, a housing 30, a cart unit 20, and an unmanned transportation vehicle 50.

The robot arm 15 includes a grip portion 16 that grips an object at the tip of the arm, and the grip portion 16 performs a gripping operation on the object. The grip portion 16 is configured to suck and grip an object by negative pressure, for example. The robot arm 15 is provided on the upper surface 31 of the housing 30 so as to be rotatable in the horizontal direction.

The housing 30 has a built-in robot controller that controls the operation of the robot arm 15. Further, the housing 30 is provided with a vacuum pump that generates a negative pressure for realizing the gripping operation of the gripping unit 16 under the control of the robot control unit.

The robot arm 15 and the housing 30 having the robot control unit built therein together with an object gripped by the robot arm 15 constitute a load of the mobile robot 10. These loads are loaded on the cart unit 20. The object grasped by the robot arm 15 may be loaded on the loading surface on the upper surface of the housing 30.

The automated guided vehicle 50 moves the cart unit 20 loaded with the loaded objects from a predetermined movement start position to a predetermined movement end position. The unmanned transport vehicle 50 and the cart unit 20 are connected to each other so that the unmanned transport vehicle 50 fits within the outer dimensions of the cart unit 20 in a top view, and the unmanned transport vehicle 50 moves in accordance with the movement of the unmanned transport vehicle 50. The cart unit 20 on which is loaded moves. The automated guided vehicle 50 and the cart unit 20 may be connected using any known connection structure. The automated guided vehicle 50 may be configured to share the weight of the load with the cart unit 20 or may be configured not to receive the load from the load.

[About the structure of the cart]
The cart unit 20 includes a loading unit 23, a side structure unit 21, and a front structure unit 22.

The loading section 23 is a section for loading a load including the target object, the robot arm 15, and the housing 30, and may be, for example, a plate-shaped section on which the load is placed. Further, the stacking unit 23 may be provided with a connecting unit that connects the cart unit 20 and the unmanned transport vehicle 50.

The lateral structure portion 21 is connected to the loading portion 23 and extends forward and backward on both sides of the automated guided vehicle 50. The lateral structure portion 21 may be configured using, for example, a pipe-shaped member as shown in FIG. Further, the lateral structure portion 21 is not limited to the pipe-shaped member, and may be configured by using a rod-shaped or plate-shaped member. The stacking unit 23 is provided in the side structure unit 21 in a trapezoidal shape, and holds the load on one side of the unmanned transport vehicle 50 and on the other side of the unmanned transport vehicle 50. May be In this case, the automated guided vehicle 50 may be connected to the housing 30.

The front structure part 22 connects the two side structure parts 21 in front of the unmanned transport vehicle 50 in the traveling direction. The front structure portion 22 may be configured using, for example, a pipe-shaped member as shown in FIG. Further, the front structure portion 22 is not limited to the pipe-shaped member, and may be configured using a rod-shaped or plate-shaped member.

At least one of the side structure portion 21 and the front structure portion 22 is provided with a tire 25 that is in contact with the floor surface and that rotates in accordance with the operation of the unmanned transport vehicle 50. In the present embodiment, the tires 25 are provided at four locations, one location on each side structure portion 21 and two locations on the front structure portion 22. In this way, when the tires 25 are provided at one location on each side structure section 21 and at two locations on the front structure section 22, in each side structure section 21, the traveling direction of the automated guided vehicle 50 is reduced. It is desirable to be provided at the rear. As a result, the weight of the load can be supported with good balance.

Note that the tire 25 is not provided in the front structure portion 22 and may be provided in each side structure portion 21 near the front end and the vicinity of the rear end in the traveling direction of the automated guided vehicle 50. Good.

As shown in FIGS. 2 and 3, the side structure portion 21 and the front structure portion 22 may be provided with a bumper switch 28 that detects contact with an object. The bumper switch 28 protrudes outward from the housing 30 in a top view, extends forward and backward on both sides of the mobile robot 10, and extends leftward and rightward in front of the traveling direction of the mobile robot 10. When contact with an object is detected by the bumper switch 28, the unmanned guided vehicle 50 is controlled to stop moving, change the moving direction, and move back.

[About sensor configuration of unmanned carrier]
As shown in FIG. 4, the automatic guided vehicle 50 is provided with a plurality of object detection sensors 51, 52, 53, 54. FIG. 4 shows a scanning area in which each object detection sensor 51, 52, 53, 54 scans to detect the presence or absence of an object.

Of the plurality of object detection sensors 51, 52, 53, 54, a sensor that is attached to the front surface of the unmanned transport vehicle 50 and detects an object in the forward direction of the unmanned transport vehicle 50 is referred to as a first sensor 51. The first sensor 51 is provided at a predetermined height position from the floor surface, and scans an area in the forward direction of the automated guided vehicle 50 at the predetermined height. The first sensor 51 may be capable of scanning not only the front side in the traveling direction of the automated guided vehicle 50 but also a predetermined range on the lateral side of the automated guided vehicle 50.

Further, among the plurality of object detection sensors 51, 52, 53, 54, a sensor that detects an object on the floor surface in the traveling direction of the unmanned transport vehicle 50 is referred to as a second sensor 52. The second sensor 52 scans an area within a predetermined angle range on the left and right with respect to the traveling direction on the floor surface in the traveling direction of the automated guided vehicle 50.

In addition, a front bumper 53 that functions as a bumper switch may be provided on the front surface of the automated guided vehicle 50.

Further, the unmanned transport vehicle 50 may be provided with a back sonar 54 that is a sensor that detects an object behind the unmanned transport vehicle 50 in the traveling direction.

When the object is detected by any of the plurality of object detection sensors 51, 52, 53, 54, the automatic guided vehicle 50 stops a predetermined movement, changes a traveling direction, or moves backward. To execute.

[About the positional relationship between the front structure part and the object detection sensor]
The front structure portion 22 is arranged in a region other than the scanning regions of the first sensor 51 and the second sensor 52 attached to the front surface of the unmanned transport vehicle 50. Desirably, the front structure part 22 is arrange|positioned in the area|region between the scanning area|region of the 1st sensor 51, and the scanning area|region of the 2nd sensor 52.

As described above, since the front structure portion 22 is arranged in the area other than the scanning area of the first sensor 51 and the second sensor 52 attached to the front surface of the unmanned transport vehicle 50, the sensors 51, 52 The rigidity of the cart unit 20 can be improved without impeding the detection of an object, and a heavy load can be stably conveyed.

Further, as described above, since the front structure portion 22 includes the bumper switch 28 that detects contact with an object, even if the front structure portion 22 interferes with the function as the bumper switch of the front bumper 53, the front structure portion 22 can safely operate. The operation of the mobile robot 10 can be executed.

When the pair of tires 25 is provided on the front structure portion 22, the pair of tires 25 are provided with a space therebetween so that the installation position is outside the scanning region of the second sensor 52. Is desirable. As described above, by providing the pair of tires 25 on the front structure portion 22, the autonomous traveling operation of the mobile robot 10 is stabilized without impeding the detection of the object on the floor surface by the second sensor 52, and the high weight is achieved. It is possible to stably transport the loaded items.

〔Emergency stop switch〕
By the way, as shown in FIG. 6, a mobile robot 200 having an emergency stop switch 234 on the front side in the traveling direction is conventionally known. However, there is a problem that the emergency stop switch may be difficult to push depending on the position of the robot arm and the positional relationship between the mobile robot 100 and peripheral equipment.

As shown in FIGS. 1 to 3, the mobile robot 10 according to the present embodiment has at least an inclined surface 33 provided between an upper surface 31 and a side surface 32 of a housing 30 and having a normal direction obliquely upward. Preparing for two places. An emergency stop switch 34 for stopping a predetermined operation of the mobile robot 10 is provided on each of the at least two inclined surfaces 33. When the emergency stop switch 34 is pressed by an operator, at least one of the operation of the robot arm 15 and the operation of the unmanned transporting vehicle may be stopped.

As described above, since the emergency stop switch 34 is provided on the inclined surface 33 in which the normal direction is obliquely upward, the worker can safely access the emergency stop switch 34 even if the operator is in a squat position. be able to. Further, by providing the inclined surface 33 between the upper surface 31 and the side surface 32 of the housing 30, chamfering is added to the housing 30. As a result, the edge portion of the housing 30 can be reduced, the swinging motion range of the robot arm 15 can be widened, the safety can be improved, and the operating range of the robot arm 15 can be widened. You can Further, by providing the emergency stop switch 34 in at least two places of the housing 30, the emergency stop switch 34 can be safely accessed regardless of the position of the robot arm 15 and the positional relationship between the mobile robot 10 and peripheral equipment. can do.

In the present embodiment, the two emergency stop switches 34 are the inclined surface 33 between the front surface of the housing 30 in the traveling direction of the unmanned transport vehicle 50 and the upper surface 31 of the housing 30. They are arranged at positions opposite to each other with the arrangement position as the center. Further, two other emergency stop switches 34 are provided on the rear surface of the housing 30 at the rear side in the traveling direction so as to be bilaterally symmetrical to each other. As described above, since the mobile robot 10 is provided with the emergency stop switches 34 at a plurality of positions on the outer peripheral surface of the housing 30, the position of the robot arm 15 and the positional relationship between the mobile robot 10 and peripheral equipment can be determined. Therefore, the operator can safely access the emergency stop switch 34.

In addition, the mobile robot is not limited to this, and two emergency stop switches 34 may be provided on a diagonal line with the position of the robot arm 15 in the housing 30 as the center. Further, in the housing 30, the inclined surface 33 and the emergency stop switch 34 are provided in at least two of four positions on the front left and right and two positions on the rear left and right in the traveling direction of the automated guided vehicle 50. May be.

The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and embodiments obtained by appropriately combining the technical means disclosed in the different embodiments. Is also included in the technical scope of the present invention.

10 Mobile Robot 15 Robot Arm 20 Cart Part 21 Side Structure Part 22 Front Structure Part 25 Tire 28 Bumper Switch 30 Housing 31 Top 32 Side 33 Slope 34 Emergency Stop Switch 50 Unmanned Transport Vehicle 51 First Sensor (Object Detection Sensor) )
52 Second sensor (object detection sensor)

Claims (7)

A robot arm that performs a gripping operation on an object,
A cart unit for loading a load including the object and the robot arm;
A mobile robot comprising: an unmanned carrier for moving the cart section;
The cart section is
Lateral structure portions extending in the front-rear direction on both sides of the automatic guided vehicle,
A front structure part that connects between the two side structure parts in the forward direction of the unmanned transport vehicle,
A mobile robot in which at least one of the side structure portion and the front structure portion is provided with a tire that is in contact with a floor surface and that rotates according to the operation of the unmanned transport vehicle. The mobile robot according to claim 1, wherein the front structure portion is arranged in a region other than a scanning region of an object detection sensor mounted on the front surface of the unmanned transporting vehicle. The object detection sensor,
A first sensor which is provided on a front surface of the unmanned guided vehicle at a predetermined height from the floor surface and detects an object in front of the unmanned guided vehicle in a traveling direction;
A second sensor for detecting an object on the floor in the traveling direction of the unmanned transport vehicle;
The mobile robot according to claim 2, wherein the front structure portion is arranged in a region between a scanning region of the first sensor and a scanning region of the second sensor. The mobile robot according to claim 1, wherein the front structure unit includes a bumper switch that detects contact with an object. The front structure portion is provided with a pair of tires,
The mobile robot according to claim 3, wherein the pair of tires are provided so as to be spaced apart from each other such that an installation position thereof is outside a scanning region of the second sensor. A housing having a built-in robot controller for controlling the operation of the robot arm,
The housing is provided with at least two inclined surfaces that are provided between an upper surface and a side surface of the housing and have a normal direction obliquely upward.
The mobile robot according to claim 1, wherein an emergency stop switch for stopping a predetermined operation of the mobile robot is provided on each of the inclined surfaces. The mobile robot according to claim 6, wherein the two emergency stop switches are arranged at positions opposite to each other with respect to a position where the robot arm is arranged in the housing.

Images