JP2022042658A - Traveling unit and article display robot - Google Patents

Abstract

To provide a traveling unit capable of preventing overturn of a car body without interfering with normal traveling; and to provide an article display robot.SOLUTION: A traveling unit includes a vehicle body 10A having multiple wheels 11, and an overturn prevention member 24 suspended on a position projecting outward from the vehicle body 10A. The overturn prevention member 24 is provided at the height at which the vehicle body 10A does not touch the road surface during normal traveling but touches the road surface when the vehicle body 10A is tilted.SELECTED DRAWING: Figure 16

Description

The present invention relates to a traveling unit and an article display robot.

Conventionally, as a traveling unit, for example, a moving device for a traveling body described in Patent Document 1 below is known. In this moving device, in a robot body that can be switched forward and backward via traveling wheels and whose course can be changed, a ball caster is provided at the bottom of the robot body so as to be displaced from the traveling wheel in the traveling direction. On the side of the ball caster, a pair of front and rear auxiliary wheels that are located above the traveling surface by a predetermined dimension and protrude by a predetermined dimension in the traveling direction are provided, and the auxiliary wheels ride on the step on the traveling surface in advance. Therefore, the bearing case of the ball caster can traverse the step without colliding with the step.

Japanese Unexamined Patent Publication No. 2004-34924

By the way, since the moving device is equipped with a robot body and the center of gravity of the vehicle body is high, it is vulnerable to lateral shaking, and in some cases, it may fall. As a countermeasure, it is considered to provide auxiliary wheels such as the ball casters and bring them into contact with the running surface. However, if the center of gravity is biased toward the auxiliary wheels due to the operation of the vehicle body, the drive wheels are likely to slip. Further, when the vehicle body moves on a soft road surface such as a carpet, the auxiliary wheels sink into the road surface and the rotation is hindered, which may lead to a decrease in the driving time of the vehicle body due to an increase in electric power, an unintended stop or a fall.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a traveling unit and an article display robot capable of preventing a vehicle body from tipping over without interfering with normal traveling.

In order to solve the above problems, the traveling unit of the present invention includes a vehicle body provided with a plurality of wheels and a fall prevention member suspended at a position protruding outward from the vehicle body, and the fall prevention member is provided. Is provided at a height at which the vehicle body does not touch the road surface during normal traveling but touches the road surface when the vehicle body tilts.

In order to solve the above problems, the article display robot of the present invention includes the traveling unit described above and a stage unit supported by the traveling unit to display articles.

According to the present invention, it is possible to prevent the vehicle body from tipping over without interfering with normal traveling.

It is a front side perspective view of the article display robot in embodiment of this invention. It is a back side perspective view of the article display robot in embodiment of this invention. It is a perspective view which shows the state which the protective cover of the stage unit in embodiment of this invention is opened. It is an exploded perspective view of the article display robot in embodiment of this invention. It is a front view of the article display robot in embodiment of this invention. It is a side view of the article display robot in embodiment of this invention. FIG. 6 is a cross-sectional view taken along the line AA shown in FIG. FIG. 6 is a cross-sectional view taken along the line BB shown in FIG. It is a bottom view of the article display robot in embodiment of this invention. It is a perspective view which shows the article display example of the article display robot in embodiment of this invention. It is a front view which shows the other article display example of the article display robot in embodiment of this invention. It is a front side perspective view of the traveling unit in embodiment of this invention. FIG. 9 is a cross-sectional view taken along the line CC shown in FIG. It is a top view of the front bumper in embodiment of this invention. 9 is a cross-sectional view taken along the line DD shown in FIG. It is explanatory drawing of the operation of the fall prevention member in embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a front perspective view of the article display robot 1 according to the embodiment of the present invention. FIG. 2 is a rear perspective view of the article display robot 1 according to the embodiment of the present invention.
As shown in FIGS. 1 and 2, the article display robot 1 includes a stage unit 2 and a traveling unit 3 on which the stage unit 2 is mounted and travels. The stage unit 2 includes a stage 4 for arranging articles and an image display device 5 for displaying an image on the background of the stage 4.

The stage unit 2 is formed in a columnar shape. The traveling unit 3 is formed in a disk shape. The central axes O of the stage unit 2 and the traveling unit 3 coincide with each other. In the following description, the positional relationship of each member may be described with reference to the central axis O. The direction in which the central axis O extends is referred to as the vertical direction. Further, the direction orthogonal to the central axis O and the direction in which the stage cover 60 (described later) of the stage unit 2 is open is referred to as a front-rear direction, a vertical direction, and a direction orthogonal to each of the front-rear direction is referred to as a left-right direction. Further, the direction around the central axis O is called the circumferential direction.

FIG. 3 is a perspective view showing a state in which the protective cover 6 of the stage unit 2 according to the embodiment of the present invention is opened. FIG. 4 is an exploded perspective view of the article display robot 1 according to the embodiment of the present invention.
As shown in FIG. 4, the traveling unit 3 includes an omnidirectional moving vehicle 10 and a frame structure 20 mounted on the omnidirectional moving vehicle 10.

The stage unit 2 includes a bottom unit 30, an inverted conical cover 40, an intermediate unit 50, a stage cover 60, and a top cap 90 in this order from the bottom. A protective cover 6 surrounding the stage cover 60 is attached to the top cap 90. Further, a protective cover 7 surrounding the inverted conical cover 40 is attached between the bottom unit 30 and the intermediate unit 50. The protective covers 6 and 7 are all transparent cylinders.

The top cap 90 is supported by the elevating mechanism 70. The elevating mechanism 70 raises and lowers the top cap 90 and the protective cover 6 with respect to the stage cover 60. In the closed state shown in FIG. 1, the protective cover 6 closes the opening 61 formed in the stage cover 60, and access to the stage 4 becomes impossible. Further, in the open state shown in FIG. 3, the protective cover 6 opens the opening 61 of the stage cover 60, and access to the stage 4 is possible.

FIG. 5 is a front view of the article display robot 1 according to the embodiment of the present invention. FIG. 6 is a side view of the article display robot 1 according to the embodiment of the present invention. FIG. 7 is a cross-sectional view taken along the line AA shown in FIG. FIG. 8 is a cross-sectional view taken along the line BB shown in FIG. FIG. 9 is a bottom view of the article display robot 1 according to the embodiment of the present invention.
The omnidirectional moving vehicle 10 shown in FIG. 9 includes a total of four wheels 11 having two front wheels and two rear wheels. These four wheels 11 are Mecanum wheels.

The omnidirectional moving vehicle 10 moves in all directions by driving the four wheels 11 in a predetermined pattern. A front bumper 12A is provided in front of the omnidirectional moving vehicle 10. An arcuate front cover 12a is attached to the front bumper 12A. The front cover 12a is provided with an opening / closing door 12a1. By opening the opening / closing door 12a1, the battery 14 inserted in the side surface of the omnidirectional moving vehicle 10 can be accessed.

A rear bumper 12B is provided behind the omnidirectional moving vehicle 10. An arcuate rear cover 12b is attached to the rear bumper 12B. The rear cover 12b is also provided with an opening / closing door 12b1. By opening the opening / closing door 12b1, the battery 14 inserted in the side surface of the omnidirectional moving vehicle 10 can be accessed. That is, two batteries 14 are inserted on the side surface of the omnidirectional moving vehicle 10. The front cover 12a and the rear cover 12b form an annular cover and surround the entire circumference of the omnidirectional moving vehicle 10.

A slight gap is formed between the front cover 12a and the rear cover 12b so that the front bumper 12A and the rear bumper 12B can be individually displaced in the event of a collision with an obstacle (not shown). The displacements of the front bumper 12A and the rear bumper 12B are measured by sensors (not shown). The omnidirectional moving vehicle 10 determines whether the collision occurred on the front side (front cover 12a side) or the rear side (rear cover 12b side) based on the measurement result of the sensor, and stopped as necessary. do.

Returning to FIG. 4, a laser sensor 13A is mounted in front of the omnidirectional moving vehicle 10. The laser sensor 13A irradiates a laser at least 180 ° forward (270 ° forward in this embodiment) from the gap S (see FIG. 5) between the front cover 12a and the bottom unit 30, and measures the distance to the obstacle.

Further, as shown in FIG. 4, a laser sensor 13B is also mounted behind the omnidirectional moving vehicle 10. Similar to the front side, the laser sensor 13B also irradiates the laser at least 180 ° rearward (270 ° rearward in this embodiment) from the gap between the rear cover 12b and the bottom unit 30 to measure the distance to the obstacle. By measuring the distance with these laser sensors 13A and 13B, it is possible to prevent the article display robot 1 from colliding with an obstacle.

As shown in FIGS. 4 and 8, the frame structure 20 includes a horizontal frame 21 mounted on the omnidirectional moving vehicle 10 and extending left and right, and a pair of vertical frames 22 extending upward from the horizontal frame 21. .. A groove portion having a substantially T-shaped cross section (so-called T slot) is formed in the longitudinal direction on the peripheral surface of each frame constituting the frame structure 20, and bolts and nuts inserted into the groove portion and a triangular cross section are substantially formed. The frames can be connected to each other at any position via the auxiliary frame of.

An angle plate 23 for fixing the upper end portion of the inverted conical cover 40 is attached near the upper end portion of the pair of vertical frames 22. Further, fall prevention members 24 are vertically installed at both ends of the horizontal frame 21 extending in the left-right direction from the omnidirectional moving vehicle 10. As shown in FIG. 8, the fall prevention member 24 is not normally grounded, but is grounded when the article display robot 1 is tilted to prevent the article display robot 1 from tipping over. The horizontal frame 21 is fixed to the omnidirectional moving vehicle 10 via the fixed frame 25 shown in FIG.

As shown in FIGS. 4 and 8, the bottom unit 30 is supported and fixed to the horizontal frame 21. The bottom unit 30 is formed in the shape of a climax cylinder, and an opening 31 through which a pair of vertical frames 22 pass is formed in the center thereof. An annular groove 32 with which the lower end of the protective cover 7 engages is formed on the outer peripheral edge of the upper surface of the bottom unit 30. Further, a ring illumination 33 is provided on the outer peripheral edge of the upper surface of the bottom unit 30. The ring illumination 33 is arranged radially inside the annular groove 32.

The ring illumination 33 includes a plurality of LED light sources arranged in a ring shape and a light diffusion cover that covers the plurality of LED light sources. The plurality of LED light sources can make the light diffusion cover emit light in various colors according to the image of the image display device 5 described later. As shown in FIG. 8, a connection frame 34 connected to the horizontal frame 21 is attached to the lower surface of the bottom unit 30.

As shown in FIG. 4, the inverted conical cover 40 is an inverted conical hollow body, and its radial dimension gradually increases from the lower end portion to the upper end portion. The lower end of the inverted conical cover 40 includes a fitting portion 41 that fits into the opening 31 of the bottom unit 30. Further, the upper end portion of the inverted conical cover 40 is provided with a flange portion 42 extending in an annular shape. The flange portion 42 is formed with a fixing hole 43 for fixing the angle plate 23 of the frame structure 20.

The intermediate unit 50 is supported and fixed to the upper ends of the pair of vertical frames 22. The intermediate unit 50 is formed in a climax cylinder shape, and a camera 51 and a speaker 52 are provided on the front side of the peripheral surface thereof, as shown in FIGS. 1 and 4. The camera 51 is a 3D camera that can measure the distance to the target person, and can also measure how many people are around the article display robot 1.

Further, the article display robot 1 can analyze the captured image of the camera 51 to recognize the target person's face, approach the target person, and change the direction according to the target person. The speaker 52 can play a sound in accordance with the image of the image display device 5, and can explain the article to the target person by voice. As shown in FIG. 2, an emergency stop switch 57 and an operation start switch 58 are provided on the back surface side of the peripheral surface of the intermediate unit 50.

As shown in FIG. 4, a fixing hole 53 for fixing the pair of vertical frames 22 of the frame structure 20 is formed on the upper surface of the intermediate unit 50. Further, an insertion hole 54 through which the elevating mechanism 70 is inserted is formed on the upper surface of the intermediate unit 50. Further, a wiring hole 55 through which the wiring of the image display device 5 or the like is passed is formed on the upper surface of the intermediate unit 50. Further, an annular groove 56 with which the lower end of the protective cover 6 is engaged is formed on the outer peripheral edge of the upper surface of the intermediate unit 50.

A disk-shaped stage 4 on which articles are arranged is installed on the upper surface of such an intermediate unit 50. The periphery of the stage 4 is covered with a climax cylindrical stage cover 60. The stage 4 of the present embodiment is integrally formed with the stage cover 60. An opening 61 for viewing the article arranged on the stage 4 from the front is formed on the peripheral surface of the stage cover 60. As shown in FIG. 5, the opening 61 is formed in a substantially elliptical shape extending in the vertical direction when viewed from the front.

The image display device 5 is supported on the inner wall surface of the stage cover 60 facing the opening 61. The image display device 5 of the present embodiment is a propeller display, and a hologram can be formed on the background of the stage 4. The inner wall surface of the stage cover 60 is black. As a result, the contrast with the hologram of the image display device 5 can be emphasized, and an image as if floating in the air can be created. The video display device 5 may be a liquid crystal display, an organic EL display, or the like.

As shown in FIGS. 4 and 7, the elevating mechanism 70 includes a fixing portion 71 fixed to the intermediate unit 50 and the stage cover 60, and an elevating portion 72 that moves up and down with respect to the fixing portion 71. The elevating portion 72 is supported by a pair of telescopic shafts 73. As shown in FIG. 4, the pair of telescopic shafts 73 have an insertion hole 54 formed in the intermediate unit 50, an insertion hole 4a formed in the stage 4, and an insertion hole 62 formed on the upper surface of the stage cover 60. It is inserted and arranged.

As shown in FIG. 7, the lower end of the sleeve 75 (outer cylinder) of the telescopic shaft 73 is fixed to the lower surface side of the intermediate unit 50 via the ring member 74. A linear bush with a flange is attached to the upper end of the sleeve 75 as a linear motion guide device 76. The linear motion guide device 76 rolls and guides the linear shaft 80 arranged inside the sleeve 75. The upper end of the linear shaft 80 is fixed to the elevating part 72.

As shown in FIG. 4, the elevating portion 72 is arranged so as to overlap the connecting plate 78. The connecting plate 78 connects between the pair of telescopic shafts 73 (sleeve 75). A pair of channel plates 79 are fixed to the lower surface side of the connecting plate 78. The pair of channel plates 79 are fixed to the fixing holes 63 formed on the upper surface of the stage cover 60.

The top cap 90 is supported and fixed to the elevating portion 72. The top cap 90 is formed in the shape of a top cylinder, and a fixing hole 91 for fixing the elevating part 72 is formed on the upper surface thereof. A protective cover 6 is attached to the inside of the peripheral wall of the top cap 90. As a result, the top cap 90 and the protective cover 6 have a closed position for closing the opening 61 of the stage cover 60 as shown in FIG. 1 and an open position for opening the opening 61 as shown in FIG. It is possible to go up and down between.

FIG. 10 is a perspective view showing an example of displaying an article of the article displaying robot 1 according to the embodiment of the present invention.
As shown in FIG. 10, an article 100 is arranged on the stage 4 of the article display robot 1 via a pedestal 101. The stage 4 is arranged at a certain height so that a general adult can see the article 100 without bending down.

The image display device 5 (not shown in FIG. 10) displays the image 200 on the background of the stage 4. In the example shown in FIG. 10, a virtual image 201 of the article 100 and an advertising image 202 of the article 100 are displayed in the background of the stage 4. The virtual image 201 is an enlarged display of the article 100 with a hologram. The advertising video 202 displays the product name, price, and the like of the article 100.

For example, if the virtual image 201 is an image of rotating the article 100, the shape of the article 100 can be confirmed from all angles without actually picking up the article 100. Furthermore, if you look at the actual article 100 in the foreground, you can immediately see the actual texture and the like. In this way, by displaying the virtual image 200 on the background of the stage 4 in which the real article 100 is arranged, a combined real and virtual advertising effect can be obtained.

FIG. 11 is a front view showing another article display example of the article display robot 1 according to the embodiment of the present invention.
In the example shown in FIG. 11, the decorative image 203 of the article 100 is displayed on the background of the stage 4. Although the article 100 shown in FIG. 11 is supported by the transparent pedestal 101, it may be hung by a thin wire or the like.

The article 100 is arranged so as to overlap the decorative image 203 in a front view. In this way, by making full use of the decorative image 203 in the background of the article 100, it is possible to create a strong image of the article 100. Then, by combining the real article 100 and the virtual image 200, it is possible to deeply attract the interest and interest of the target person and stimulate the purchase motivation of the target person.

Subsequently, the configuration of the traveling unit 3 described above will be described in detail.

FIG. 12 is a front perspective view of the traveling unit 3 according to the embodiment of the present invention. FIG. 13 is a cross-sectional view taken along the line CC shown in FIG. FIG. 14 is a plan view of the front bumper 12A according to the embodiment of the present invention. FIG. 15 is a cross-sectional view taken along the line DD shown in FIG. FIG. 16 is an explanatory diagram of the operation of the fall prevention member 24 in the embodiment of the present invention.
As shown in FIG. 12, the traveling unit 3 includes a vehicle body 10A having four wheels 11.

The vehicle body 10A is formed in the shape of a rectangular box in a plan view with an open upper portion. The vehicle body 10A has a length in the front-rear direction longer than a length in the left-right direction. Four wheels 11 are attached to the outer surface of the vehicle body 10A via the wheelbase 11a. On the inner surface of the vehicle body 10A, connecting frames 26, 27, 28 for connecting the above-mentioned frame structure 20 to the vehicle body 10A are arranged and fixed in a frame shape along the inside of the upper opening of the vehicle body 10A.

The connecting frames 26 are provided in pairs and are connected to both ends of the fixed frame 25 described above. The pair of connecting frames 26 extend in parallel in the front-rear direction from both ends of the fixed frame 25. Both ends of the pair of connecting frames 26 are connected to the pair of connecting frames 27 arranged in the front and rear. Of the pair of connecting frames 27, the connecting frame 27 arranged in the front extends in the left-right direction, and both ends thereof are screwed to the vehicle body 10A and the wheelbase 11a of the front wheels. Further, among the pair of connecting frames 27, the connecting frame 27 arranged at the rear is connected to the connecting frame 28 extending in parallel in the left-right direction, and both ends of the connecting frame 28 are attached to the vehicle body 10A and the wheelbase 11a of the rear wheels. It is screwed.

As shown in FIG. 12, a front base 10B on which the above-mentioned laser sensor 13A and the like are arranged is provided in front of the vehicle body 10A. The above-mentioned front bumper 12A is freely displaceably connected to the front base 10B. As shown in FIG. 13, the front bumper 12A is connected to the front base 10B via a ball plate 16 so as to be displaced in the horizontal direction including front, rear, left and right. Further, the front bumper 12A is connected to the front base 10B via a spring mechanism 17 so as to return to the initial position.

As shown in FIG. 14, the front bumper 12A includes a first horizontal portion 12A1, a fixing portion 12A2, a vertical portion 12A3, a second horizontal portion 12A4, a connecting portion 12A5, and an initial position detecting portion 12A6. The first horizontal portion 12A1 is formed with a positioning hole 12-1 for positioning the front cover 12a described above. As shown in FIG. 13, the front cover 12a includes a positioning protrusion 12a2 to be inserted into the positioning hole 12-1.

As shown in FIG. 14, the fixing portions 12A2 are erected on the front end edge of the first horizontal portion 12A1 and are provided in pairs at intervals in the left-right direction. The fixing portion 12A2 is formed with a fixing hole 12-2 for fixing the front cover 12a. The vertical portion 12A3 is vertically provided downward from the trailing end edge of the first horizontal portion 12A1. The above-mentioned spring mechanism 17 is connected to the vertical portion 12A3.

The second horizontal portion 12A4 extends rearward from the lower end of the vertical portion 12A3. The connecting portions 12A5 are provided on the trailing edge of the second horizontal portion 12A4 in pairs at intervals in the left-right direction. The connecting portion 12A5 is formed with a connecting hole 12-3 for connecting the ball plate 16 described above. The initial position detecting portion 12A6 is provided at the trailing end edge of the second horizontal portion 12A4 and is arranged between the pair of connecting portions 12A5. The initial position detection unit 12A6 is provided with a detection piece 12-4. As shown in FIG. 13, the detection pieces 12-4 are formed in an inverted L shape and face the optical sensor 15 in the vertical direction.

The optical sensor 15 projects the detection light downward, and when the front bumper 12A is in the initial position, the optical sensor 15 receives the reflected light reflected by the detection piece 12-4. According to this configuration, when the front bumper 12A is displaced from the initial position and the optical sensor 15 no longer receives the reflected light from the detection piece 12-4, or when the amount of reflected light decreases, the collision occurs on the front side ( It can be determined that it occurred on the front cover 12a side).
Although the explanation is omitted, the rear bumper 12B has the same configuration.

As shown in FIG. 12, the fall prevention member 24 is suspended from both ends of the above-mentioned horizontal frame 21 at a position protruding outward from the vehicle body 10A. Further, as shown in FIG. 9, the fall prevention member 24 is suspended in pairs at a position protruding in the left-right direction at an intermediate position in the front-rear direction of the vehicle body 10A. These pair of fall prevention members 24 are arranged in the gaps S1 and S2 between the cover (front cover 12a and rear cover 12b) surrounding the vehicle body 10A and the vehicle body 10A. In the gap S2, two batteries 14 are arranged so that they can be inserted and removed in the left-right direction with respect to the vehicle body 10A. The fall prevention member 24 arranged in the gap S2 is arranged in the gap of the insertion / removal path L of the two batteries 14 so as not to interfere with the two batteries 14.

As shown in FIG. 15, the fall prevention member 24 is arranged with a distance D from the road surface on which the wheel 11 touches the ground (indicated by a two-dot chain line in FIG. 15). That is, the fall prevention member 24 is not in contact with the road surface during normal traveling of the vehicle body 10A, and is provided at a height at which the vehicle body 10A is in contact with the road surface when the vehicle body 10A is tilted, as shown in FIG. The distance D is preferably appropriately adjusted according to the condition of the road surface (for example, the unevenness of the floor surface, the length of the fluff of the carpet, the size of the gravel on the gravel road, etc.). The fall prevention member 24 may be provided at a height at which the center of gravity G of the article display robot 1 comes into contact with the road surface before moving outward from the fall prevention member 24.

The fall prevention member 24 is a so-called ball caster, and includes a ball 24A that comes into contact with the road surface when the vehicle body 10A is tilted, and a holder 24B that rotatably supports the ball 24A. The holder 24B is supported by the lower end of the hanging frame 24C suspended from the horizontal frame 21. Similar to each frame of the frame structure 20 described above, the vertical frame 24C has a groove portion having a substantially T-shaped cross section (so-called T slot) formed on the peripheral surface of the frame in the longitudinal direction, and is formed in the center of the frame in the longitudinal direction. A through hole 24C1 is formed in the hole 24C1.

The fall prevention member 24 includes a height adjusting mechanism 110 that adjusts the height with respect to the road surface. The height adjusting mechanism 110 includes a female screw portion 111 formed in the through hole 24C1 of the vertical frame 24C, and a male screw portion 112 connected to the holder 24B and screwed into the female screw portion 111. By adjusting the screwing amount of the male screw portion 112 with respect to the female screw portion 111, the distance D of the fall prevention member 24 from the road surface can be adjusted according to the condition of the road surface.

According to the traveling unit 3 having the above configuration, since the fall prevention member 24 does not touch the road surface during normal running, the center of gravity of the vehicle body 10A is not biased toward the fall prevention member 24, and the wheels 11 (driving wheels) slip. It becomes difficult. Further, even when the vehicle body 10A moves on a soft road surface such as a carpet, the fall prevention member 24 cannot take a foot, so that it is possible to prevent a decrease in driving time, an unintended stop, and a fall. Further, as shown in FIG. 16, when the vehicle body 10A is tilted due to an unexpected impact, the fall prevention member 24 suspended at a position protruding outward from the vehicle body 10A comes into contact with the road surface, so that the vehicle body 10A Can sufficiently receive the rotational moment that the vehicle body is about to fall over, and the posture of the vehicle body 10A can be restored to the posture during normal running.

As described above, according to the present embodiment, the vehicle body 10A having a plurality of wheels 11 and the fall prevention member 24 suspended at a position protruding outward from the vehicle body 10A are provided, and the fall prevention member 24 is provided. The vehicle body 10A is provided at a height at which the vehicle body 10A does not touch the road surface during normal traveling but touches the road surface when the vehicle body 10A tilts. According to this configuration, a traveling unit 3 capable of preventing the vehicle body 10A from tipping over without interfering with normal traveling can be obtained. Further, according to the article display robot 1 provided with the traveling unit 3, the stage unit 2 is provided, and even if the center of gravity is high, it is possible to prevent the robot from tipping over without hindering normal traveling.

Further, in the present embodiment, the fall prevention member 24 includes a height adjusting mechanism 110 that adjusts the height with respect to the road surface. According to this configuration, the distance D of the fall prevention member 24 from the road surface can be adjusted according to the state of the road surface.

Further, in the present embodiment, the fall prevention member 24 includes a ball 24A (spherical portion) that comes into contact with the road surface when the vehicle body 10A is tilted. According to this configuration, when the fall prevention member 24 touches the road surface, the fall prevention member 24 becomes slippery along the road surface so as not to interfere with the driving of the wheels 11, and the vehicle body 10A can be prevented from falling. If the lower end of the fall prevention member 24 slips, a hemispherical object (spherical portion) may be fixed to the lower end of the fall prevention member 24 instead of the ball 24A.

Further, in the present embodiment, the fall prevention member 24 includes a ball 24A forming a spherical portion and a holder 24B for rotatably supporting the ball 24A. According to this configuration, the ball caster of the present embodiment does not change the ground contact position of the fall prevention member 24 as compared with the eccentric wheel type caster, so that the fall of the vehicle body 10A can be effectively prevented.

Further, in the present embodiment, the cover (front cover 12a and rear cover 12b) surrounding the vehicle body 10A is provided, and the fall prevention member 24 is arranged in the gaps S1 and S2 between the cover and the vehicle body 10A. According to this configuration, the fall prevention member 24 can be arranged by utilizing the dead space inside the annular cover surrounding the vehicle body 10A. The shape of the cover is not limited to an annular shape as long as the fall prevention member 24 can be arranged by utilizing the dead space between the vehicle body 10A and the cover, and the shape thereof does not matter.

Further, in the present embodiment, the vehicle body 10A has a length in the front-rear direction longer than the length in the left-right direction, and the fall prevention member 24 is suspended at a position protruding in the left-right direction at an intermediate position in the front-rear direction of the vehicle body 10A. It has been lowered. According to this configuration, the fall prevention member 24 can prevent the vehicle body 10A from falling (rolling over) in the left-right direction, which tends to cause the vehicle body 10A to fall.

Further, in the present embodiment, the wheel 11 is a Mecanum wheel. According to this configuration, the Mecanum wheel has more stable running than the omni wheel that can move in all directions, so that it can run stably even if it is tall like the article display robot 1. ..

Further, in the present embodiment, the frame structure 20 mounted on the vehicle body 10A and supporting the stage unit 2 (object) is provided. According to this configuration, even when a tall object such as the stage unit 2 is supported, the fall prevention member 24 can prevent the vehicle body 10A from falling without hindering normal running.

Although the preferred embodiment of the present invention has been described above with reference to the drawings, the present invention is not limited to the above embodiment. The various shapes and combinations of the constituent members shown in the above-described embodiment are examples, and can be variously changed based on design requirements and the like within a range not deviating from the gist of the present invention.

1 ... article display robot, 2 ... stage unit, 3 ... traveling unit, 10A ... car body, 11 ... wheel (mechanum wheel), 12a ... front cover (cover), 12b ... rear cover (cover), 20 ... frame structure, 24 ... Fall prevention member, 24A ... Ball (spherical part), 24B ... Holder, 100 ... Article, S1 ... Gap, S2 ... Gap

Claims (9)

A car body with multiple wheels and
It is provided with a fall prevention member suspended at a position protruding outward from the vehicle body.
The traveling unit is characterized in that the fall prevention member is provided at a height at which the vehicle body does not touch the road surface during normal traveling but touches the road surface when the vehicle body tilts. The traveling unit according to claim 1, wherein the fall prevention member includes a height adjusting mechanism for adjusting the height with respect to the road surface. The traveling unit according to claim 1 or 2, wherein the fall prevention member includes a spherical portion that comes into contact with the road surface when the vehicle body is tilted. The fall prevention member is
The ball forming the spherical portion and
The traveling unit according to claim 3, further comprising a holder that rotatably supports the ball. It has a cover that surrounds the vehicle body and has a cover.
The traveling unit according to any one of claims 1 to 4, wherein the fall prevention member is arranged in a gap between the cover and the vehicle body. The vehicle body has a length in the front-rear direction longer than a length in the left-right direction.
The traveling unit according to any one of claims 1 to 5, wherein the fall prevention member is suspended at a position protruding in the left-right direction at an intermediate position in the front-rear direction of the vehicle body. The traveling unit according to any one of claims 1 to 6, wherein the wheel is a Mecanum wheel. The traveling unit according to any one of claims 1 to 7, further comprising a frame structure mounted on the vehicle body and supporting an object. The traveling unit according to any one of claims 1 to 8, and the traveling unit.
An article display robot including a stage unit that is supported by the traveling unit and displays articles.

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