JP6455057B2 - Robot and loading platform - Google Patents

Description

  The present invention relates to a robot and a loading platform.

  Conventionally, there are robots disclosed in Patent Documents 1 and 2 as robots that can overcome obstacles such as steps such as stairs and debris. This includes a deployment wheel that can be deployed in the radial direction.

Japanese Patent No. 5413771 Japanese Patent No. 5467423

  By the way, in such a robot, there is a case where the load is carried on a loading platform having a placement surface on which the load (article) is placed. In this case, if the deployment wheel is deployed when overcoming a step or an obstacle, the placement surface may be inclined with respect to the horizontal, or the deployment wheel during deployment may interfere with the platform or the load on the platform. There was a possibility that the luggage could not be transported stably.

  Accordingly, an object of the present invention is to stably transport a load in a robot and a loading platform.

  As a means for solving the above problems, a robot according to one aspect of the present invention includes a placement unit having a placement surface on which an article is placed, a deployment wheel that can be deployed in a radial direction, and a deployment process of the deployment wheel. Adjusting the inclination of the mounting surface so that the mounting surface is kept horizontal, and height of the mounting surface so that the deployment wheel and the mounting surface are separated in the deployment process of the deployment wheel And an adjusting mechanism for adjusting.

  In the robot, the adjustment mechanism may include a first arm and a second arm that intersect in an X shape in a side view.

  In the robot, the axis at which the first arm and the second arm intersect may deviate from the longitudinal center of the first arm and the second arm.

  In the robot, the axis may be shifted to the deployment wheel side from the longitudinal center of the first arm and the second arm.

  In the robot, the first arm extends in an inclined manner so as to be positioned upward toward the deployment wheel, and is formed in an L-shape projecting downward at a portion intersecting with the second arm in a side view. The second arm may be formed in an L shape that protrudes upward at a portion that intersects with the first arm in a side view and extends so as to be positioned downward toward the deployment wheel. .

  In the robot, the adjustment mechanism may adjust the inclination and the height of the placement surface according to a deployment amount of the deployment wheel.

  The robot may include an auxiliary wheel that assists the deployment wheel and a support member that supports the auxiliary wheel.

  In the robot, a linear inclined surface may be formed on the support member on a side of the deployment wheel in a side view.

  In the robot, a curved surface that is curved in a side view may be formed on the support member on the side of the deployment wheel.

  In the robot, a belt conveyor may be provided on the support member on the side of the development wheel.

The loading platform according to the first aspect of the present invention is configured so that the mounting surface having the mounting surface, the deploying wheel that can be deployed in the radial direction, and the placing surface being maintained horizontally during the deploying process of the deploying wheel. And adjusting an inclination of the placement surface, and adjusting a height of the placement surface so that the deployment wheel and the placement surface are separated in a deployment process of the deployment wheel. Features.

  According to the present invention, the mounting surface is maintained horizontal during the deployment process of the deployment wheel by the adjustment mechanism, and the deployment wheel and the placement surface are separated from each other. For this reason, even if the deployment wheel is deployed when overcoming a step or an obstacle, the mounting surface is inclined with respect to the horizontal, or the deployment wheel during deployment interferes with the loading platform or the load on the loading platform. Can be avoided. Therefore, it is possible to stably transport the luggage.

It is a left view of the robot which concerns on 1st embodiment. It is a rear view of the robot. It is a top view which shows the state except the top plate of the said robot. It is a side view which shows the closed state of the expansion | deployment wheel of the said robot. It is a side view which shows the expansion | deployment state of the expansion | deployment wheel of the said robot. It is a side view of the expansion drive body of the said expansion | deployment wheel. It is explanatory drawing of the driving state of the said expansion | deployment wheel including the VII-VII sectional drawing of FIG. It is sectional drawing corresponded in FIG. 7, and is explanatory drawing of the expansion drive state of the said expansion | deployment wheel. It is a left view which shows the state in which the said expansion | deployment wheel has climbed over the level | step difference. It is a left view which shows the horizontal state of the mounting surface of the said top plate. It is a left view which shows the change state of the inclination of the mounting surface of the said top plate, and height. It is a graph which shows the relationship between the slider horizontal movement amount of the said robot, and a mounting surface height. It is a graph which shows the relationship between the slider horizontal movement amount of the said robot, and a mounting surface inclination | tilt angle. It is a left view of the supporting member of the auxiliary wheel which concerns on 2nd embodiment. It is explanatory drawing of the movement locus | trajectory of the expansion | deployment drive shaft when the expansion | deployment wheel which concerns on 2nd embodiment gets over a level | step difference. It is a left view of the supporting member of the auxiliary wheel which concerns on 3rd embodiment. It is a left view of the robot which concerns on 4th embodiment, and is explanatory drawing when an expansion | deployment wheel is a closed state. It is a left view of the robot which concerns on 4th embodiment, and is explanatory drawing when an expansion | deployment wheel is a full expansion state.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described with reference to the drawings.
Note that the directions such as front, rear, left and right in the following description are the same as those in the robot described below unless otherwise specified. In addition, in the drawings used for the following description, an arrow FR indicating the front of the robot, an arrow LH indicating the left of the robot, and an arrow UP indicating the upper side of the robot are shown. Hereinafter, the left-right direction of the robot is referred to as the “width direction”.

[robot]
FIG. 1 is a left side view of the robot 1 according to the first embodiment.
FIG. 2 is a rear view of the robot 1.
As shown in FIGS. 1 and 2, the robot 1 includes a top plate 2 (mounting unit), a frame 3, a deployment wheel 4, an auxiliary wheel 5, and an adjustment mechanism 6.
The “loading platform” according to the present embodiment includes the top plate 2 and the adjustment mechanism 6.

The top plate 2 has a flat placement surface 2a on which a luggage or the like (article) is placed. For example, the top plate 2 is formed in a rectangular plate shape.
The top plate 2 is not limited to a rectangular plate shape, and may have various shapes such as a circle and an ellipse.

FIG. 3 is a top view showing a state in which the top plate 2 of the robot 1 is removed.
As shown in FIG. 3, the frame 3 includes a bottom plate 30, a front frame 31, a rear frame 32, and a pair of left and right side frames 33.
The bottom plate 30 faces the top plate 2 (see FIG. 1) via the adjustment mechanism 6 and the like. The bottom plate 30 is formed in a rectangular plate shape using a steel plate or the like.

The front frame 31 is located on the front side of the robot 1. The front frame 31 includes a pair of front and rear front bars 31a and 31b, a pair of left and right center plates 31c, and a pair of left and right side plates 31d.
The front and rear front bars 31 a and 31 b are formed in a column shape by a steel pipe or the like, and extend in the width direction along the front side of the bottom plate 30.
The left and right center plates 31c are formed in a plate shape with a steel plate or the like, and connect the front and rear at the center in the width direction of the front and rear front bars 31a and 31b.
The left and right side plates 31d are formed in a plate shape from a steel plate or the like, and connect the front and rear at the width direction outer ends of the front and rear front bars 31a and 31b.

The rear frame 32 is located on the rear side of the robot 1. The rear frame 32 is formed in a column shape by a steel pipe or the like, and extends in the width direction along the rear side of the bottom plate 30.
The left and right side frames 33 are disposed outside the robot 1 in the width direction. The left and right side frames 33 are formed in a column shape from a steel pipe or the like, and extend back and forth along the left and right sides of the bottom plate 30. The left and right side frames 33 connect the front and rear portions of the front frame 31 and the rear frame 32 at the outer ends in the width direction.

[Deployed wheel]
The deployment wheel 4 is disposed on the outer side in the width direction at the front portion of the robot 1 and functions as a front wheel of the robot 1. The deployment wheel 4 can be deployed in the radial direction around a deployment drive shaft 44 of the deployment wheel 4 (hereinafter referred to as “deployment drive shaft”).

  The deployment wheel 4 is not limited to functioning as a front wheel, and may function as a rear wheel by being disposed on the outer side in the width direction at the rear portion of the robot 1. Further, the deploying wheel 4 may function as both front and rear wheels by being disposed on the outer side in the width direction at the front and rear portions of the robot 1. That is, the deployment wheel 4 may function as at least one of the front wheel and the rear wheel.

As shown in FIG. 1, the deployment wheel 4 includes a rotation support body 40 and a rolling claw body 41. Four rolling claw bodies 41 are arranged in the circumferential direction of the rotation support body 40.
In addition, the number of the rolling claw bodies 41 is not limited to four, and may be three or a plurality of five or more.
Further, the deployment wheel 4 may include an omni wheel (registered trademark) or the like.

  A rolling member 41 f having an outer circumferential surface that is arcuate in a side view is attached to the rolling claw body 41. The rolling member 41f forms a rolling circumferential surface Sf having a circular shape in a side view and continuous with the circumferential direction of the deployment wheel 4 in a closed state of the deployment wheel 4.

As shown in FIG. 2, the length of the rolling member 41 f in the width direction is smaller than the length of the rolling claw body 41 in the width direction. The rolling member 41f is formed of an elastic material such as rubber.
The material for forming the rolling member 41f is not limited to an elastic material, and may be selected as appropriate.

  As shown in FIG. 3, at the rear part of the front frame 31, a motor 34 for driving the deployment wheels 4 (hereinafter referred to as “deployment motor”) is attached to the left and right center plates 31c and the left and right side plates 31d. . The deployment motor 34 is controlled by a controller (not shown).

  A deployment drive gear 34 a (hereinafter referred to as “deployment first gear”) of the deployment wheel 4 is attached to the output shaft of the deployment motor 34. A gear 34b (hereinafter referred to as a “second developing gear”) that meshes with the first developing gear 34a is attached to the inner end of the developing drive shaft 44 in the width direction. The diameter of the deployment second gear 34b is larger than the diameter of the deployment first gear 34a.

  An inner bearing 36 disposed on the inner side in the width direction of the deployment drive shaft 44 is attached to the left and right center plates 31c. The left and right side plates 31d are attached with outer bearings 37 disposed on the outer side in the width direction of the deployment drive shaft 44. The inner bearing 36 rotatably supports the deployment drive shaft 44.

  Between the inner bearing 36 and the deployment wheel 4, a cylindrical shaft 38 (hereinafter referred to as “travel drive shaft”) for driving the deployment wheel 4 is disposed. The inner bearing 36 and the outer bearing 37 support the travel drive shaft 38 in a rotatable manner. The unfolding drive shaft 44 is inserted into the traveling drive shaft 38 and attached to the unfolding wheel 4 (see FIG. 7).

  At the front part of the front frame 31, a motor 35 (hereinafter referred to as a “traveling motor”) for driving the deployment wheels 4 is attached to the left and right center plates 31c and the left and right side plates 31d. The travel motor 35 faces the deployment motor 34 via the deployment drive shaft 44. The traveling motor 35 is controlled by a controller (not shown).

  A travel drive gear 35 a (hereinafter referred to as “travel first gear”) of the deployment wheel 4 is attached to the output shaft of the travel motor 35. A gear 35b (hereinafter referred to as “traveling second gear”) that meshes with the traveling first gear 35a at the outer end in the width direction of the traveling drive shaft 38 (between the hub 38a and the outer bearing 37 shown in FIG. 7). Is attached. The diameter of the traveling second gear 35b is larger than the diameter of the traveling first gear 35a.

FIG. 4 is a side view showing a closed state of the deployment wheel 4 of the robot 1.
FIG. 5 is a side view showing a deployed state of the deployment wheel 4 of the robot 1.
FIG. 6 is a side view of the deployment driver 42 of the deployment wheel 4.
4 and 5, the rolling member 41f is not shown for convenience. Further, FIG. 5 shows a state where the deployment wheel 4 is deployed to the maximum extent (hereinafter referred to as “all deployment state”).

As shown in FIGS. 4 and 5, the deployment wheel 4 includes a rotation support body 40 and a rolling claw body 41.
The rotary support 40 is formed in a cross shape when viewed from the side. The rotation support body 40 includes a main body portion 40a having a circular shape in a side view, and four claw support portions 40b projecting radially outward from the outer peripheral surface of the main body portion 40a. The claw support portions 40b are arranged at 90 ° intervals in the circumferential direction of the main body portion 40a.
Note that the number of the claw support portions 40b is not limited to four, and may be three or more than five.

The rolling claw body 41 has an arcuate wall 41a that is arcuate in side view and an engaging claw 41b that is connected to the arcuate wall 41a.
The arc wall portion 41 a forms a circular shape that is continuous with the circumferential direction of the deployment wheel 4 in a closed state of the deployment wheel 4.
In addition, when not having the rolling member 41f, the circular arc wall part 41a may form the rolling peripheral surface Sf (refer FIG. 1) in the closed state of the expansion | deployment wheel.

The engaging claw portion 41b has a linear portion 41b1 that is linear when viewed from the side, and a concave portion 41b2 that is slightly recessed from the linear portion 41b1. The recessed portion 41b2 comes into contact with the curved portion 41d of the rolling claw body 41 adjacent in the circumferential direction in the closed state of the deployment wheel 4. The engaging claw portion 41 b engages with a step or the like when the deployment wheel 4 is deployed.
In addition, the side view shape of the engaging claw portion 41b is not limited to a linear shape, and may be a curved shape, a saw blade shape, or a combination thereof.

A deployment driver 42 and a deployment arm 43 are disposed inside the rotary support 40.
The deployment driver 42 is disposed coaxially with the rotation support 40.
As shown in FIG. 6, the deployment drive body 42 is formed in a disk shape. The deployment driver 42 is formed with a center hole 42a positioned at the rotation center of the deployment driver 42 and a pair of arc-shaped elongated holes 42b sandwiching the center hole 42a. The pair of long holes 42 b are arranged symmetrically twice with respect to the rotation center of the deployment drive body 42.
In FIG. 6, the coupling position of the second deployment pin 42d is indicated by a broken line.

  As shown in FIGS. 4 and 5, the deployment drive shaft 44 is fixedly coupled to the center hole 42 a of the deployment drive body 42. Thereby, the deployment drive body 42 can rotate integrally with the deployment drive shaft 44. The first deployment pin 42c is inserted into the elongated hole 42b of the deployment drive body 42. Thereby, the deployment drive body 42 can be rotated with respect to the rotation support body 40 in the range of the long hole 42b.

  The deployment arm 43 is formed in a rod shape having a length in one direction. The deployment arms 43 are arranged in a number (four in this embodiment) corresponding to the rolling claws 41. One end portion 43a of the deployment arm 43 is coupled to the deployment drive body 42 via a second deployment pin 42d so as to be relatively rotatable. The other end 43b of the deployment arm 43 is coupled to the rolling claw body 41 through the third deployment pin 42e so as to be relatively rotatable. The rolling claw body 41 can be deployed via the deployment arm 43 by relative rotation of the deployment drive body 42 with respect to the rotation support body 40.

In FIG. 5, reference numeral C <b> 1 denotes a coupling point between the one end portion 43 a of the deployment arm 43 and the deployment driving body 42 (axis of the second deployment pin 42 d), and coupling between the other end 43 b of the deployment arm 43 and the rolling claw body 41. A point (axial center of the third deployment pin 42e) is denoted by reference symbol C2, and a straight line passing through the coupling point C1 and the coupling point C2 is denoted by reference symbol L.
As shown in FIG. 5, in the fully deployed state of the deployment wheel 4, the straight line L passes through the deployment rotation direction side (arrow q side) of the deployment drive body 42 with respect to the axis Cp of the deployment drive shaft 44.
The straight line L may pass through the axis Cp of the deployment drive shaft 44 in the fully deployed state of the deployment wheel 4.

As shown in FIG. 4, the rolling claw body 41 is closed in the radial direction of the deployment wheel 4 while the deployment wheel 4 is closed. The outer shape of the deployment wheel 4 is a circular shape in a side view when the deployment wheel 4 is closed.
As shown in FIG. 5, the rolling claw body 41 opens outward in the radial direction of the deployment wheel 4 in the fully deployed state of the deployment wheel 4. The outer shape of the deployment wheel 4 is a cross shape in a side view when the deployment wheel 4 is fully deployed.

FIG. 7 is an explanatory diagram of the traveling drive state of the development wheel 4 including the VII-VII cross-sectional view of FIG.
In FIG. 7, the drive region in the travel drive state of the development wheel 4 is indicated by a dot hatch.

  As shown in FIG. 7, an annular portion 45 is disposed on the outer side in the width direction of the main body portion 40 a of the rotation support body 40. The main body portion 40a of the rotation support body 40 is coupled to the annular portion 45 so as to be integrally rotatable by two first deployment pins 42c. A hub 38 a is attached to the outer end of the travel drive shaft 38 in the width direction. The inner side in the width direction of the annular portion 45 is integrally coupled to the travel drive shaft 38 via the hub 38a. A deployment drive shaft 44 is rotatably supported via a ball bearing 44b on the radially inner side of the main body 40a of the rotary support 40.

  The claw support portion 40 b of the rotation support body 40 rotatably supports the rolling claw body 41 via the support shaft 46. Specifically, the claw support portion 40 b is fixedly supported at the center portion in the axial direction of the support shaft 46. The rolling claw body 41 is rotatably supported at both axial ends of the support shaft 46 via ball bearings 46b.

[Travel drive]
When the traveling motor 35 is driven, the traveling drive shaft 38 rotates via the traveling first gear 35a and the traveling second gear 35b. When the traveling drive shaft 38 rotates, the annular portion 45 rotates through the hub 38a. A rotation driving force is transmitted from the first deployment pin 42 c to the rotation support body 40 by the rotation of the annular portion 45. The deployment wheel 4 is driven to travel by the rotation of the rotary support 40. By rotating the rotary support 40 forward, the deployment wheel 4 travels forward.
The unfolding wheel 4 may be moved backward by rotating the traveling drive shaft 38 in the reverse direction.

[Straight running]
If the left and right traveling motors 35 are driven at the same rotational speed in flat ground traveling, the left and right traveling drive shaft 38 rotates at the same rotational speed. When the left and right traveling drive shaft 38 rotates at the same rotation speed, the left and right rotation support body 40 rotates at the same rotation speed. When the left and right rotation support body 40 rotates at the same rotation speed, the left and right deployed wheels 4 travel and drive at the same speed. As a result, the robot 1 (see FIG. 1) can travel straight.

[Turning]
In flat running, when one of the left and right traveling motors 35 is driven at a rotational speed faster than the other, one of the left and right deployed wheels 4 rotates in advance with respect to the other. For example, when the right traveling motor 35 is driven at a rotational speed faster than that of the left traveling motor 35 in flat ground traveling, the right developing wheel 4 rotates in advance with respect to the left developing wheel 4.
Even if only the right traveling motor 35 is driven, the same turning traveling is performed.

[Deployment drive]
FIG. 8 is a cross-sectional view corresponding to FIG. 7 and is an explanatory view of the unfolding drive state of the unfolding wheel 4.
In FIG. 8, the drive area of the deployment wheel 4 in the deployment drive state is indicated by a dot hatch.
As shown in FIG. 8, when the deployment motor 34 is driven, the deployment drive shaft 44 rotates via the deployment first gear 34a and the deployment second gear 34b.

  As shown in FIGS. 4 and 5, when the deployment drive shaft 44 rotates, the deployment drive body 42 moves relative to the first deployment pin 42 c in the range of the long hole 42 b, and relative to the rotation support body 40. Rotate. Due to the relative rotation of the deployment drive body 42 and the rotation support body 40, the one end portion 43a of the deployment arm 43 pivots and rises with respect to the claw support portion 40b. As the deployment arm 43 rises, the rolling claw body 41 rotates about the support shaft 46 and rises with respect to the claw support portion 40b. When the rolling claw body 41 is deployed through the deployment arm 43, the deployment wheel 4 is finally in the fully deployed state shown in FIG.

  In the fully deployed state of the deployment wheel 4, the straight line L passes the deployment rotation direction side (arrow q side) of the deployment drive body 42 with respect to the axis Cp of the deployment drive shaft 44. Therefore, when the rolling claw body 41 receives a reaction force F from a step or the like, the other end 43b of the deployment arm 43 receives rotational force in the direction of the arrow V1, and one end portion 43a of the deployment arm 43 has a force in the direction of the arrow V2. In response, the unfolding drive body 42 is urged in the unfolding drive direction. Therefore, even if the rolling claw body 41 receives the reaction force F from a step or the like, the deployment arm 43 is supported, so that the rolling claw body 41 can maintain the deployed state.

When the deployment drive shaft 44 is rotated in the forward direction with the deployment wheel 4 closed, the deployment wheel 4 is deployed and finally becomes the fully deployed state.
The deployment wheel 4 may be closed and closed by rotating the deployment drive shaft 44 in the fully deployed state of the deployment wheel 4.

  When the traveling motor 35 is driven in the unfolded state of the unfolding wheel 4, the unfolding wheel 4 rolls while the rolling claw body 41 is raised with respect to the nail support portion 40b. Thereby, the robot 1 (refer FIG. 1) can get over obstacles, such as steps, such as stairs, and debris.

  In addition, by the rotation control of the unfolding drive 42, the unfolding state of the unfolding wheel 4 (see FIG. 5) or the unfolding state (not shown) between the unfolding state of the unfolding wheel 4 and the fully unfolding state is performed. The state may be adjusted. Further, the deployment state of the deployment wheel 4 may be maintained by stopping the rotation of the deployment drive body 42.

  The deployment state of the left and right deployment wheels 4 may be individually controlled by the control of the left and right deployment motor 34. Thereby, according to the application environment of the expansion | deployment wheel 4, the expansion | deployment state of the left-right expansion | deployment wheel 4 can be adjusted separately suitably.

  7 and 8, reference numerals 34c, 34d and 34e are fixing plates for fixing the developing motor 34, reference numeral 34f is a bolt for fastening the fixing plates 34c, 34d and 34e, and reference numerals 35c, 35d and 35e are traveling. A fixing plate for fixing the motor 35, reference numeral 35f is a bolt for fastening the fixing plates 35c, 35d, and 35f, reference numeral 36a is a ball bearing that rotatably supports the deployment drive shaft 44 in the inner bearing 36, and reference numeral 36b is an inner side. Ball bearings 37a and 37b support the travel drive shaft 38 so that the travel drive shaft 38 can be pivoted on the outer bearing 37.

[Auxiliary wheel]
As shown in FIG. 3, a pair of auxiliary wheels 5 are disposed at the rear of the robot 1 to assist the deploying wheel 4 and function as a rear wheel of the robot 1. The auxiliary wheel 5 is a normal wheel that does not expand in the radial direction.
The auxiliary wheel 5 may include an omni wheel (registered trademark) or the like.

  The auxiliary wheel 5 is supported by a rear part of the support member 50 extending forward and backward behind the bottom plate 30 so as to be rotatable about a shaft 51. By arranging the auxiliary wheel 5 behind the bottom plate 30, the wheel base becomes longer than when the auxiliary wheel 5 is arranged below the bottom plate 30, so that the straight running stability is improved.

  The support member 50 is fastened and fixed to the outer end of the rear frame 32 in the width direction by a fastening member 52 such as a bolt. As shown in FIG. 1, an inclined surface 50 a is formed at the front lower part (the side of the deployment wheel 4) of the support member 50 so as to be inclined downward toward the rear side.

  The auxiliary wheel 5 is not limited to functioning as a rear wheel, and may function as a front wheel when the deploying wheel 4 functions as a rear wheel. The auxiliary wheel 5 may function as either the front wheel or the rear wheel when the deployment wheel 4 functions as either the front wheel or the rear wheel.

[Adjustment mechanism]
The adjusting mechanism 6 adjusts the inclination of the mounting surface 2a so that the mounting surface 2a of the top plate 2 is maintained horizontal during the deployment process of the deployment wheel 4, and The height of the mounting surface 2a is adjusted so that the mounting surface 2a is separated from the mounting surface 2a. The adjustment mechanism 6 adjusts the inclination and height of the placement surface 2a according to the amount of deployment of the deployment wheel 4. The adjustment mechanism 6 adjusts the height of the placement surface 2a according to the inclination of the placement surface 2a.
As shown in FIG. 3, the adjustment mechanism 6 is disposed on the bottom plate 30 of the frame 3. The adjustment mechanism 6 includes a link mechanism 60 and a drive mechanism 70.

[Linking mechanism]
The link mechanism 60 is disposed outside the bottom plate 30 in the width direction.
As shown in FIG. 1, the link mechanism 60 includes a first arm 61 and a second arm 62 that intersect in an X shape in a side view.
The 1st arm 61 inclines so that it may be located upwards, so that it may extend in the front-back direction.
The second arm 62 is inclined so as to be positioned lower on the front side and extends in the front-rear direction.
As shown in FIG. 3, the first arm 61 is disposed on the inner side in the width direction than the second arm 62 via the bearing 63.
The first arm 61 may be disposed on the outer side in the width direction than the second arm 62.

In FIG. 1, an axis where the first arm 61 and the second arm 62 intersect (hereinafter referred to as “intersecting axis”) is indicated by a symbol Pc.
A shaft (hereinafter referred to as “first shaft”) on which the one end portion 61a of the first arm 61 rotates with respect to the first front bracket 64 is denoted by reference numeral P1.
An axis (hereinafter referred to as “second axis”) on which the other end portion 61b of the first arm 61 rotates with respect to the first rear bracket 65 is denoted by reference symbol P2.
An axis (hereinafter referred to as “third axis”) on which the one end portion 62a of the second arm 62 rotates with respect to the second front bracket 66 is indicated by a symbol P3.
Further, an axis (hereinafter referred to as “fourth axis”) on which the other end 62b of the second arm 62 rotates with respect to the second rear bracket 67 is indicated by a symbol P4.
Each of the intersecting axis Pc, the first axis P1, the second axis P2, the third axis P3, and the fourth axis P4 is parallel to the width direction of the robot 1.

The first arm 61 and the second arm 62 can be relatively rotated about the intersecting axis Pc. The intersecting axis Pc is disposed in front of the longitudinal center of the first arm 61 and the second arm 62 (on the deployment wheel 4 side).
The intersecting axis Pc may be arranged on the rear side of the longitudinal center of the first arm 61 and the second arm 62.

  As shown in FIG. 1, one end 61a of the first arm 61 is rotatably supported by the first front bracket 64 about the first axis P1. The other end 61b of the first arm 61 is rotatably supported by the first rear bracket 65 about the second axis P2. The first front bracket 64 is fixed to the lower surface of the top plate 2 near the front frame 31 (see FIG. 3) on the outer side in the width direction of the top plate 2. The first rear bracket 65 is fixed to the first slider 74a.

  As shown in FIG. 1, one end 62a of the second arm 62 is rotatably supported by the second front bracket 66 about the third axis P3. The other end 62b of the second arm 62 is rotatably supported by the second rear bracket 67 about the fourth axis P4. The second front bracket 66 is fixed to the upper surface of the bottom plate 30 near the front frame 31 (see FIG. 3) on the outer side in the width direction of the bottom plate 30. The second rear bracket 67 is fixed to the second slider 75a.

  The first arm 61 is formed in a gentle L shape that protrudes downward at the crossing axis Pc in the side view of FIG. Specifically, the first arm 61 includes a first front arm 61f that extends from one end 61a of the first arm 61 to the crossing axis Pc, and a first rear arm 61r that extends from the crossing axis Pc to the other end 61b of the first arm 61. With. The first front arm 61f is inclined and extends linearly so that the one end 61a side (the development wheel 4 side) of the first arm 61 is positioned higher in the side view of FIG. The first rear arm 61r extends in a straight line with a gentler inclination than the first front arm 61f so as to be positioned higher on the side of the crossing axis Pc in a side view of FIG.

  The second arm 62 is formed in a gentle L-shape projecting upward at the crossing axis Pc in the side view of FIG. Specifically, the second arm 62 includes a second front arm 62f that extends from one end 62a of the second arm 62 to the crossing axis Pc, and a second rear arm 62r that extends from the crossing axis Pc to the other end 62b of the second arm 62. With. The second front arm 62f is inclined and extends linearly so as to be positioned on the one end portion 62a side (the development wheel 4 side) of the second arm 62 in a side view of FIG. The second rear arm 62r extends in a straight line with a gentler inclination than the second front arm 62f so that the second rear arm 62r is positioned downward as the portion of the crossing axis Pc in a side view in FIG.

[Drive mechanism]
As shown in FIG. 1, the drive mechanism 70 includes a link mechanism motor 71 for driving the link mechanism 60 (hereinafter referred to as “link mechanism motor”), a ball screw 72, a first slider mechanism 74, and a second slider mechanism. 75.
As shown in FIG. 3, the link mechanism motor 71 is disposed at the center in the width direction of the bottom plate 30 of the frame 3. The link mechanism motor 71 is controlled by a controller (not shown). The rear end of the link mechanism motor 71 is supported by a motor stay 76. The motor stay 76 is fixed to the center in the width direction of the upper surface of the bottom plate 30.

  The ball screw 72 includes a screw shaft 72s and a nut 72n. The ball screw 72 converts rotational movement around the axis of the screw shaft 72s into linear movement of the nut 72n along the axis of the screw shaft 72s.

  The screw shaft 72s extends linearly back and forth at the center in the width direction of the bottom plate 30. A joint 77 is attached to the output shaft of the link mechanism motor 71. One end 72 a of the screw shaft 72 s is detachably connected to the output shaft of the link mechanism motor 71 by a joint 77. The other end 72 b of the screw shaft 72 s is rotatably supported by the shaft stay 73. The shaft stay 73 is fixed to the upper surface of the boundary portion with the rear frame 32 at the center in the width direction of the bottom plate 30.

  A nut 72n is slidably attached to the screw shaft 72s. The nut 72n is supported by the nut stay 78. The nut stay 78 is fixed to the upper surface of the connecting plate 79. The connecting plate 79 is formed in a rectangular shape extending in the width direction of the bottom plate 30 in a top view of FIG. The connecting plate 79 connects the first slider 74a (see FIG. 1) disposed on the outer side in the width direction of the bottom plate 30.

  For example, a helical thread (male thread) is formed on the outer peripheral surface of the screw shaft 72 s between the joint 77 and the shaft stay 73. On the other hand, a spiral thread (female thread) is formed on the inner peripheral surface of the nut 72n. When the screw shaft 72s is rotated by driving the link mechanism motor 71, the male screw on the outer peripheral surface of the screw shaft 72s and the female screw on the inner peripheral surface of the nut 72n slide. Thereby, the rotational movement of the screw shaft 72s is converted into the front-rear linear movement of the nut 72n along the axis of the screw shaft 72s.

As shown in FIG. 1, the first slider mechanism 74 includes a first slider 74a and a first guide rail 74b.
The first slider 74 a is fixed to the first rear bracket 65.
The first guide rail 74 b extends forward and backward along the first arm 61 on the outer side in the width direction of the bottom plate 30. The front-rear length of the first guide rail 74 b is longer than the front-rear length of the first rear arm 61 r in the first arm 61. The first guide rail 74b is fixed to the upper surface of the bottom plate 30 (see FIG. 3). The first slider 74a slides along the first guide rail 74b. As a result, the other end 61b of the first arm 61 can be moved along the first guide rail 74b by the first slider 74a via the first rear bracket 65.

The second slider mechanism 75 includes a second slider 75a and a second guide rail 75b.
The second slider 75 a is fixed to the second rear bracket 67.
The second guide rail 75 b extends forward and backward along the second arm 62 on the outer side in the width direction of the top plate 2. The front-rear length of the second guide rail 75 b is longer than the front-rear length of the second rear arm 62 r in the second arm 62. The second guide rail 75 b is fixed to the lower surface of the top plate 2. The second slider 75a slides along the second guide rail 75b. As a result, the other end 62 b of the second arm 62 can be moved along the second guide rail 75 b by the second slider 75 a via the second rear bracket 67.

[Robot motion]
Hereinafter, the operation of the robot 1 will be described with reference to FIG. 9 by taking as an example a state in which the deploying wheel 4 is over the step St.
FIG. 9 is a left side view showing a state in which the development wheel 4 is over the step St.
As shown in FIG. 9, the rolling claw body 41 of the deployment wheel 4 is deployed outward in the radial direction by driving a deployment motor 34 (see FIG. 3).

In FIG. 9, the developed height of the rolling claw body 41 is indicated by a symbol J, and the height of the step St is indicated by a symbol K.
Here, the “deployment height J of the rolling claw body 41” means the distance between the tip of the rolling claw body 41 that is separated from the upper surface of the step St and the upper surface of the step St. The “height K of the level difference St” means the height of the level difference St at which the development wheel 4 tries to get over.
The developed height J of the rolling claw body 41 is made larger than the height K of the step St. By driving the traveling motor 35 (see FIG. 3) in this state, the development wheel 4 can get over the step St.

Note that the developed height J of the rolling claw body 41 may be appropriately changed according to the height K of the step St.
Further, the development wheel 4 may be lowered from the step by rotating the traveling drive shaft 38 in reverse by driving the traveling motor 35.

Hereinafter, an operation of changing the inclination and height of the mounting surface 2a of the top plate 2 by the adjusting mechanism 6 will be described with an example.
As shown in FIG. 9, when the first slider 74a moves in the direction of the arrow D1 along the first guide rail 74b by the operation of the ball screw 72 driven by the link mechanism motor 71, the other end of the first arm 61 is moved. The part 61b rotates about the second axis P2 in the direction of the arrow U1. As the other end 61b of the first arm 61 rotates in the direction of the arrow U1, the first arm 61 rises substantially vertically in a side view of FIG.

  When the first slider 74a moves in the direction of the arrow D1 along the first guide rail 74b, the second arm 62 receives a force from the first arm 61 via the intersecting axis Pc, and one end of the second arm 62 62a rotates around the third axis P3 in the direction of the arrow U2. By rotating the one end 62a of the second arm 62 in the direction of the arrow U2, the second slider 75a moves in the direction of the arrow D2 along the second guide rail 75b. Stand up while crossing the first arm 61 in an X shape.

  The placement surface 2a of the top plate 2 is maintained horizontal during the deployment process of the deployment wheel 4 and separated from the deployment wheel 4 by the operation of the adjusting mechanism 6 described above. As a result, even if the deployment wheel 4 is unfolded when overcoming the step St, the mounting surface 2a is inclined obliquely with respect to the horizontal, or the unfolding wheel 4 during deployment is the top plate 2 or the load on the top plate 2 ( Interference with (not shown) can be suppressed.

  The operation of the robot 1 may control any of the deployment motor 34, the travel motor 35, and the link mechanism motor 71 by remote operation.

[Tilt and height of mounting surface]
Hereinafter, the inclination and height of the mounting surface 2a of the top plate 2 will be described with reference to FIGS.
FIG. 10 is a left side view showing the horizontal state of the mounting surface 2a of the top plate 2 of the robot 1. As shown in FIG.
FIG. 11 is a left side view showing a state in which the inclination and height of the mounting surface 2a of the top plate 2 of the robot 1 are changed.
10 and 11, the link mechanism 60 is schematically shown for convenience, and the guide rails 74b, 75b and the like are not shown.
The length of the first front arm 61f of the first arm 61 and the length of the second front arm 62f of the second arm 62 (hereinafter referred to as “front arm length”) are the same.
The length of the first rear arm 61r of the first arm 61 and the length of the second rear arm 62r of the second arm 62 (hereinafter referred to as “rear arm length”) are the same.

Each dimension in the horizontal state of the mounting surface 2a of FIG. 10 is shown below.
A distance between the intersecting axis Pc and the first axis P1 and a distance between the intersecting axis Pc and the third axis P3 are denoted by reference symbol l.
Further, a distance between the cross axis Pc and the second axis P2 and a distance between the cross axis Pc and the fourth axis P4 are indicated by a symbol r.
Also shows the distance in the horizontal direction (longitudinal direction) between the cross-axis Pc and the third axis P3 by symbol a _0.
The distance in the vertical direction (up and down direction) between the third axis P3 and the intersecting axis Pc and the distance in the vertical direction (up and down direction) between the first axis P1 and the intersecting axis Pc are _denoted by reference sign h0.
Further, a distance in the horizontal direction (front-rear direction) between the third axis P3 and the second axis P2 is indicated by a symbol w.
The distance l is equivalent to the front arm length, the distance r corresponds to the rear arm length, the distance a ₀ corresponds to the front-rear direction component of the front arm length, the distance h ₀ is the vertical direction of the front arm length It corresponds to the component, and the distance w corresponds to the longitudinal length of the first arm 61.

  The distance l and the distance r are represented by the following formulas (1) and (2), respectively.

Each dimension in the change state of the inclination of the mounting surface 2a of FIG. 11 and height is shown below.
The amount of movement of the first slider 74a in the horizontal direction (forward) (hereinafter referred to as “the amount of horizontal movement of the slider”) is indicated by a symbol x.
Further, the distance in the horizontal direction (front-rear direction) between the third axis P3 and the intersecting axis Pcx (the intersecting axis after the movement of the first slider 74a) is indicated by reference sign ax.
In addition, a distance in the vertical direction (vertical direction) between the third axis P3 and the intersecting axis Pcx is indicated by a symbol hx.

  The distance ax and the distance hx are expressed by the following formulas (3) and (4), respectively.

Further, the inclination angle (hereinafter referred to as “front inclination angle”) of the second front arm 62f with respect to the horizontal plane after the movement of the first slider 74a is indicated by the symbol θ.
Further, an inclination angle (hereinafter referred to as “rear inclination angle”) of the first rear arm 61r with respect to the horizontal plane after the movement of the first slider 74a is denoted by a symbol α.
The front inclination angle θ is defined by a straight line connecting the third axis P3 and the second axis P2x (second axis after the movement of the first slider 74a) and a straight line connecting the third axis P3 and the intersecting axis Pcx. It corresponds to the angle to make. The rear inclination angle α corresponds to an angle formed by a straight line connecting the second axis P2x and the third axis P3 and a straight line connecting the second axis P2x and the intersecting axis Pcx.

  The front inclination angle θ and the rear inclination angle α are expressed by the following equations (5) and (6), respectively.

Further, a distance in the vertical direction (vertical direction) between the third axis P3 and the fourth axis P4x (the fourth axis after the movement of the first slider 74a) is indicated by a symbol hrx.
Further, a distance in the vertical direction (vertical direction) between the third axis P3 and the first axis P1x (the first axis after the movement of the first slider 74a) is indicated by a symbol hlx.
Further, a distance in the horizontal direction (front-rear direction) between the third axis P3 and the fourth axis P4x is indicated by a symbol prx.
Further, the distance in the horizontal direction (front-rear direction) between the third axis P3 and the first axis P1x is indicated by reference numeral plx.

  The distance hrx, the distance hlx, the distance prx, and the distance plx are expressed by the following expressions (7), (8), (9), and (10), respectively.

In addition, an inclination angle (hereinafter referred to as “mounting surface inclination angle”) of the mounting surface 2a with respect to the horizontal plane after the movement of the first slider 74a is denoted by reference sign θt.
Further, the center height of the mounting surface 2a (hereinafter referred to as “mounting surface height”) after the movement of the first slider 74a is indicated by a symbol ht.
The mounting surface inclination angle θt corresponds to an angle formed by a straight line connecting the first axis P1x and the fourth axis P4x and a horizontal plane passing through the first axis P1x.

  The mounting surface inclination angle θt and the mounting surface height ht are expressed by the following equations (11) and (12), respectively.

FIG. 12 is a graph showing the relationship between the slider horizontal movement amount x of the robot 1 and the placement surface height ht.
In FIG. 12, the horizontal axis represents the slider horizontal movement amount x [cm], and the vertical axis represents the placement surface height ht [cm].
The distance _{a 0} is a line La1 a relationship when the 10 cm, the distance _{a 0} indicates respectively relationship when the 25cm in line La2.

As shown in FIG. 12, it can be seen that the placement surface height ht due to the slider horizontal movement amount x hardly changes even when the distance a ₀ changes.

FIG. 13 is a graph showing the relationship between the slider horizontal movement amount x of the robot 1 and the mounting surface inclination angle θt.
In FIG. 13, the horizontal axis represents the slider horizontal movement amount x [cm], and the vertical axis represents the mounting surface inclination angle θt [rad].
The relationship when the distance a ₀ is 10 cm is the line Lb1, the relationship when the distance a ₀ is 11 cm, the line Lb2, the relationship when the distance a ₀ is 12 cm, the line Lb3, and the relationship when the distance a ₀ is 13 cm. line Lb4, distance _{a 0} is the line a relationship when the 14cm Lb5, distance _{a 0} is line Lb6 the relationship when the 15cm, the distance _{a 0} is line Lb7 the relationship when the 16cm, when the distance _{a 0} is 17cm the relationship line LB8, distance _{a 0} is line Lb9 the relationship when the 18cm, the distance _{a 0} is the line a relationship when the 19cm LB10, distance _{a 0} is the relationship when the 20cm line Lb11, distance _{a 0} is 21cm line the relationship when the Lb12, distance _{a 0} is line Lb13 the relationship when the 22 cm, the distance _{a 0} is line Lb14 the relationship when the 23cm, the distance _{a 0} is the relationship when the 24cm line LB15, distance _{a 0} But The relationship at 25 cm is indicated by line Lb16.

As shown in FIG. 13, it can be seen that the placement surface height ht is proportional to the slider horizontal movement amount x. The distance a ₀ larger the mounting for the slider horizontal movement x surface rate of change of the height ht (slope) is can be seen that small.

As described above, in the robot 1 according to the above-described embodiment, the top plate 2 having the mounting surface 2a, the deployment wheel 4 that can be deployed in the radial direction, and the placement surface 2a in the deployment process of the deployment wheel 4 are horizontal. The adjustment mechanism that adjusts the height of the mounting surface 2a so that the developing wheel 4 and the mounting surface 2a are separated in the process of deploying the developing wheel 4 while adjusting the inclination of the mounting surface 2a so as to be maintained 6.
According to this configuration, the mounting surface 2 a is maintained horizontal during the deployment process of the deployment wheel 4 by the adjusting mechanism 6, and the deployment wheel 4 and the placement surface 2 a are separated from each other. Therefore, even when the deployment wheel 4 is deployed when overcoming a step or an obstacle, the placement surface 2a is inclined with respect to the horizontal, or the deployment wheel 4 during deployment is the top plate 2 or the top plate 2 It is possible to avoid interfering with the luggage above. Therefore, it is possible to stably transport the luggage.

  In addition, since the adjustment mechanism 6 includes the first arm 61 and the second arm 62 that intersect in an X shape in a side view, the configuration of the adjustment mechanism 6 can be simplified. Therefore, cost reduction can be achieved.

  Moreover, the crossing axis Pc is shifted forward from the longitudinal center of the first arm 61 and the second arm 62, so that the end portion (first slider 74a) of the first arm 61 is easily moved by the lever principle. The slider horizontal movement amount can be easily increased. In particular, in the configuration in which the placement surface deployment wheel 4 functions as a front wheel, the inclination and height of the placement surface 2a can be easily adjusted.

Further, the first arm 61 is inclined and extended so as to be positioned upward as the deployment wheel 4 is located, and is formed in an L-shape projecting downward at a portion of the cross axis Pc in a side view. Is extended in an inclined manner so as to be positioned downward as the deployment wheel 4 is located, and is formed in an L-shape that is convex upward at a portion of the cross axis Pc in a side view.
According to this configuration, the position of the center of gravity of the adjustment mechanism 6 can be lowered compared to the case where both the first arm 61 and the second arm 62 are formed in a straight line, and the cargo can be stably conveyed. Becomes easy.

  In addition, the adjustment mechanism 6 adjusts the inclination and height of the mounting surface 2a according to the deployment amount of the deployment wheel 4, thereby changing the deployment amount of the deployment wheel 4 according to the application environment of the deployment wheel 4. However, it is possible to avoid that the mounting surface 2a is inclined obliquely with respect to the horizontal, or that the deployment wheel 4 during deployment interferes with the top plate 2 or the load on the top plate 2. Therefore, it is possible to stably transport the luggage according to various environments.

Further, by providing the auxiliary wheel 5 that assists the deployment wheel 4 and the support member 50 that supports the auxiliary wheel 5, it is possible to suppress the mounting surface 2 a from swinging during the deployment process of the deployment wheel 4. .
Further, the configuration of the robot 1 is simplified by making the mounting surface deployment wheel 4 function as a front wheel and the auxiliary wheel 5 function as a rear wheel, as compared with the case where the mounting surface deployment wheel 4 functions as a front and rear wheel. It is possible to reduce the cost.

  Further, by forming a linearly inclined surface 50a in the front lower portion of the support member 50 in a side view, it is possible to suppress the support member 50 from interfering with the step St when getting over the step St. Accordingly, it is easy to stably transport the load even when the vehicle climbs over the step St.

The loading platform according to the above embodiment adjusts the inclination of the mounting surface 2a so that the mounting surface 2a is maintained horizontally and the top plate 2 having the mounting surface 2a, and according to the inclination of the mounting surface 2a. And an adjusting mechanism 6 that adjusts the height of the mounting surface 2a.
According to this configuration, the placement mechanism 2a is maintained horizontally by the adjustment mechanism 6, and the height of the placement surface 2a is adjusted according to the inclination of the placement surface 2a. For this reason, it is possible to avoid the placement surface 2a from being inclined obliquely with respect to the horizontal and the step or obstacles interfering with the top plate 2 or the load on the top plate 2 when transporting the load. Therefore, it is possible to stably transport the luggage.

(Second embodiment)
Next, a second embodiment of the present invention will be described with reference to FIGS.
In the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.
FIG. 14 is a left side view of the support member 250 of the auxiliary wheel 5 according to the second embodiment.
As shown in FIG. 14, a curved surface 250 a that is curved in a side view is formed in the front lower portion of the support member 250. In this respect, the second embodiment is different from the first embodiment described above.

FIG. 15 is an explanatory diagram of the movement locus Ar of the unfolding drive shaft 44 when the unfolding wheel 4 gets over the step St.
As shown in FIG. 15, the movement trajectory Ar of the deployment drive shaft 44 when the deployment wheel 4 gets over the step St draws a plurality of arcs in a side view. The movement locus Ar draws one circular arc every time the development wheel 4 gets over one step St. The curved surface 250a of the support member 250 has the same shape as the arc of the movement locus Ar in a side view.

  According to this configuration, when the curved surface 250 a that is curved in a side view is formed in the front lower portion of the support member 250, a linear inclined surface 50 a is formed in the front lower portion of the support member 50 in a side view. As compared with, the support member 250 can be prevented from interfering with the step St when the step St is overcome. Accordingly, it is easy to stably transport the load even when the vehicle climbs over the step St.

(Third embodiment)
Next, a third embodiment of the present invention will be described with reference to FIG.
In the third embodiment, the same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.
FIG. 16 is a left side view of the support member 350 of the auxiliary wheel 5 according to the third embodiment.
As shown in FIG. 16, a belt conveyor 355 is provided at the front lower portion of the support member 350. In this regard, the third embodiment is different from the first embodiment described above.

The belt conveyor 355 is configured by winding an endless belt 357 around a pair of front and rear rollers 356. The belt conveyor 355 is controlled by a controller (not shown).
Note that the belt conveyor 355 may be driven independently from the deployment wheel 4 (see FIG. 15), or may be driven depending on the deployment wheel 4.

On the belt conveyor 355, a linear inclined surface 355a is formed at a position facing the step St (see FIG. 15) in a side view. The inclined surface 355a of the belt conveyor 355 protrudes forward and downward from the inclined surface 350a of the lower front portion of the support member 350.
The belt conveyor 355 may be formed with a curved surface that is curved in a side view at a position facing the step St. In this case, the curved surface of the belt conveyor 355 may have the same shape as the arc of the movement locus Ar (see FIG. 15) in a side view.

  According to this configuration, by providing the belt conveyor 355 at the front lower portion of the support member 350, it is possible to suppress the support member 250 from interfering with the step St when getting over the step St. Further, the driving of the belt conveyor 355 makes it easy for the support member 350 to get over the step St. Accordingly, it is easy to stably transport the load even when the vehicle climbs over the step St.

(Fourth embodiment)
Next, a fourth embodiment of the present invention will be described with reference to FIGS.
In addition, in 4th embodiment, the same code | symbol is attached | subjected about the part same as the component in 1st embodiment, and description is abbreviate | omitted.
FIG. 17 is a left side view of the robot 401 according to the fourth embodiment, and is an explanatory view when the development wheel 4 is in a closed state.
As shown in FIG. 17, the fourth embodiment is different from the first embodiment in the configuration of the drive mechanism 470 in the adjustment mechanism 406. In the fourth embodiment, the support member 50 of the auxiliary wheel 5 is attached to the lower surface of the rear portion of the bottom plate 30.

The drive mechanism 470 is a so-called linear actuator including a link mechanism motor 471 and a slider mechanism 472.
The link mechanism motor 471 is controlled by a controller (not shown).

The slider mechanism 472 includes a slider 472a and a guide rail 472b.
The guide rail 472b extends linearly back and forth at the center of the bottom plate 30 in the width direction. The guide rail 472b is fixed to the upper surface of the bottom plate 30. The slider 472a slides along the guide rail 472b by driving the link mechanism motor 471.

In FIG. 17, a shaft (hereinafter referred to as “slide shaft”) on which the other end 473b of the stay arm 473 rotates with respect to the slider 472a is indicated by a symbol Ps.
Note that the slide axis Ps is parallel to the width direction of the robot 401.

  The stay arm 473 is formed in a rod shape having a length in one direction. One end 473a of the stay arm 473 is rotatably supported by a bearing (not shown) about the intersecting axis Pc. The other end 473b of the stay arm 473 is supported by the slider 472a so as to be rotatable about the slide axis Ps. The other end 473b of the stay arm 473 is movable along the guide rail 472b by the slider 472a.

[Robot motion]
Hereinafter, the operation of the robot 401 will be described with reference to FIG.
FIG. 18 is a left side view of the robot 401 according to the fourth embodiment, and is an explanatory diagram when the deployment wheel 4 is in the fully deployed state.
As shown in FIG. 18, the rolling claw body 41 of the deployment wheel 4 is deployed outward in the radial direction by driving a deployment motor 34 (see FIG. 3).

Hereinafter, an operation of changing the inclination and height of the placement surface 2a of the top plate 2 by the adjustment mechanism 406 will be described with an example.
As shown in FIG. 18, when the slider 472a is moved along the guide rail 472b in the direction of the arrow D3 by driving the link mechanism motor 471, the other end 473b of the stay arm 473 is centered on the slide axis Ps as indicated by the arrow U3. It rotates in the direction of. As the other end 473b of the stay arm 473 rotates in the direction of the arrow U3, the stay arm 473 rises more steeply than the state of FIG. 17 so as to incline forward and upward in a side view of FIG.

  When the slider 472a moves in the direction of the arrow D3 along the guide rail 472b, the first arm 61 receives a force from the stay arm 473 via the cross axis Pc, and the one end 61a of the first arm 61 is moved to the first axis. It rotates in the direction of arrow U4 around P1. By rotating the one end portion 61a of the first arm 61 in the direction of the arrow U4, the first slider 74a moves in the direction of the arrow D1 along the first guide rail 74b, and the first arm 61 moves to the side surface of FIG. It rises steeper than the state of FIG. 17 so as to incline forward and upward.

  When the slider 472a moves in the direction of the arrow D3 along the guide rail 472b, the second arm 62 receives a force from the stay arm 473 via the intersecting axis Pc, and the one end 62a of the second arm 62 is moved to the third axis. It rotates in the direction of arrow U2 around P3. By rotating the one end portion 62a of the second arm 62 in the direction of the arrow U2, the second slider 75a moves in the direction of the arrow D2 along the second guide rail 75b. Stand up while crossing the first arm 61 in an X shape.

  The mounting surface 2a of the top plate 2 is maintained horizontal during the deployment process of the deployment wheel 4 and separated from the deployment wheel 4 by the operation of the adjusting mechanism 406 described above. Thereby, even if the deployment wheel 4 is deployed, the mounting surface 2a is inclined obliquely with respect to the horizontal, or the deployment wheel 4 during deployment interferes with the top plate 2 or a load (not shown) on the top plate 2. Can be suppressed.

  The operation of the robot 1 may control any of the deployment motor 34, the traveling motor 35, and the link mechanism motor 471 by remote operation.

  According to this configuration, the mounting surface 2 a is maintained horizontal during the deployment process of the deployment wheel 4 by the adjustment mechanism 406, and the deployment wheel 4 and the placement surface 2 a are separated from each other. Therefore, even when the deployment wheel 4 is deployed when overcoming a step or an obstacle, the placement surface 2a is inclined with respect to the horizontal, or the deployment wheel 4 during deployment is the top plate 2 or the top plate 2 It is possible to avoid interfering with the luggage above. Therefore, it is possible to stably transport the luggage.

  Further, by arranging the auxiliary wheel 5 below the rear portion of the bottom plate 30, the wheel base becomes shorter than when the auxiliary wheel 5 is arranged behind the bottom plate 30, and thus the turning performance is improved.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment. The configuration in the above embodiment is an example of the present invention, and various modifications can be made without departing from the gist of the present invention, such as replacing the component of the embodiment with a known component.

For example, the actuator for deployment and link mechanism may be constituted by a piston / cylinder mechanism or the like.
Moreover, you may expand a rolling nail | claw body manually.
Further, an urging member such as a spring for urging the rolling claw body in the closing direction or the unfolding direction may be provided.

  DESCRIPTION OF SYMBOLS 1,401 ... Robot 2 ... Top plate (mounting part) 2a ... Mounting surface 4 ... Deployment wheel 5 ... Auxiliary wheel 6,406 ... Adjustment mechanism 50, 250, 350 ... Support member 50a ... Inclined surface 61 ... First arm 62 ... second arm 250a ... curved surface 355 ... belt conveyor Pc ... cross axis (axis)

Claims (11)

A placement unit having a placement surface on which an article is placed;
Deployment wheels that can be deployed in the radial direction;
The tilt of the mounting surface is adjusted so that the mounting surface is maintained horizontal during the deployment process of the deployment wheel, and the deployment wheel and the mounting surface are separated from each other during the deployment process of the deployment wheel. And an adjustment mechanism for adjusting the height of the placement surface.   The robot according to claim 1, wherein the adjustment mechanism includes a first arm and a second arm that intersect in an X shape in a side view.   The robot according to claim 2, wherein an axis at which the first arm and the second arm intersect is deviated from a longitudinal center of the first arm and the second arm.   4. The robot according to claim 3, wherein the axis is shifted toward the deployment wheel from the longitudinal center of the first arm and the second arm. The first arm extends in an inclined manner so as to be positioned higher toward the side of the deployment wheel, and is formed in an L-shape projecting downward at a portion intersecting the second arm in a side view,
The second arm extends in an inclined manner so as to be positioned at the lower side of the deployment wheel, and is formed in an upwardly convex L-shape at a portion intersecting the first arm in a side view. The robot according to any one of claims 2 to 4.   The robot according to any one of claims 1 to 5, wherein the adjustment mechanism adjusts the inclination and the height of the placement surface according to a deployment amount of the deployment wheel.   The robot according to any one of claims 1 to 6, further comprising: an auxiliary wheel that assists the deployment wheel; and a support member that supports the auxiliary wheel.   The robot according to claim 7, wherein the support member is formed with a linear inclined surface in a side view on the side of the development wheel.   The robot according to claim 7, wherein the support member has a curved surface that is curved in a side view on the side of the deployment wheel.   The robot according to any one of claims 7 to 9, wherein the support member is provided with a belt conveyor on a side of the development wheel. A mounting portion having a mounting surface;
Deployment wheels that can be deployed in the radial direction;
Wherein with the mounting surface deployment process of expansion wheel to adjust the inclination of the mounting surface so as to be maintained horizontally, so that said expansion wheel and the mounting surface deployment process of the expansion wheel away And an adjustment mechanism for adjusting the height of the mounting surface.

Images