JP7004248B2 - Coupling device, connecting mobile device and autonomous mobile device - Google Patents

Description

The present invention relates to a coupling device, a coupling mobile device and an autonomous mobile device.

Conventionally, a connecting device including a hooking member for hooking on a connecting target is known.

In Patent Document 1, as a connecting moving device provided with this type of connecting device, an auxiliary vehicle for a basket trolley that transports a basket trolley by hooking and connecting a claw member, which is a hooking member, to a basket trolley to be connected is described. Are listed.

In the connection moving device described in Patent Document 1, when the hooking member is hooked on the connection target, the connection target is prevented from being relatively separated from the connection target, and the connection movement device pulls and moves the connection target. can do. However, in a state where the hooking member is hooked on the coupling target, the coupling device and the coupling target can be relatively close to each other. Therefore, for example, when the connection moving device is connected to the connection target by a hook member and the connection target is towed and stopped from the state of being moved, the connection target is connected and moved by inertial force after the connection movement device is stopped. It moves in the direction of approaching the device and the relative distance approaches. As described above, the connecting device using the hooking member has room for improvement from the viewpoint of stabilizing the relative positional relationship between the connecting device and the connecting target.

In order to solve the above-mentioned problems, in the present invention, in a connecting device including a hooking member for hooking on the connecting target, the abutting member that abuts on the connecting target and the abutting member are moved toward the connecting target. The abutting member moving means , the suction member for sucking the connecting object, and the rotating member that can rotate with respect to the main body of the connecting device are provided , and the hooking member and the suction member are connected to the rotating member. It is characterized in that the abutting member is provided on the main body .

According to the present invention, there is an excellent effect that a connecting device provided with a hooking member can stabilize the position relative to the connected object after connection.

An explanatory view of the process of connecting the connecting device to the basket cart and sandwiching the front lower frame from the side. An explanatory diagram of the self-propelled robot and the basket trolley of the embodiment. An explanatory diagram of the ID display panel, (a) is a perspective view of a basket trolley in which the ID display panel is arranged, (b) is an explanatory diagram of an example of a color code, and (c) is an explanation of an example of a light and shade barcode. figure. An explanatory diagram of an example of a distribution warehouse. The explanatory view which shows typically the transport system of this embodiment. A flowchart showing the flow of an operation in which a self-propelled robot transports a basket trolley from a temporary storage area to a storage area. Enlarged view of the second storage area. Explanatory drawing which shows the modification of the transfer system schematically. An explanatory view of a perspective view of the connecting device, (a) is an explanatory view of a state in which the connecting claw is open, and FIG. 9 (b) is an explanatory view of a state in which the connecting claw is closed. An explanatory view of a rotating portion that rotates with respect to a fixing member and a fixing portion fixed to the fixing member of the coupling device. An enlarged perspective view of a drive transmission mechanism that transmits drive to a connecting claw and a bumper. The block diagram which shows the outline of the drive transmission in the drive transmission mechanism. Schematic top view of the front lower frame sandwiched between the connecting claws and the bumper. Side view of the claw elevating shaft and the connecting claw.

Hereinafter, an example of an embodiment of the present invention will be described with reference to the drawings.
FIG. 2 is an explanatory diagram of a self-propelled robot 1 which is an autonomous mobile device of the embodiment and a basket trolley 2 which is a connection target.
The present embodiment includes an autonomous moving device such as a self-propelled robot 1 that automatically connects to a towed trolley such as a basket trolley 2 and automatically transports the towed trolley to a desired transport destination by towing. It is an embodiment about a transfer system using a self-propelled robot 1.

The self-propelled robot 1 is an autonomous mobile device having a function of automatically connecting to a basket trolley 2 for loading a transported object. As a result, the self-propelled robot 1 can be towed by a simple moving device without having a loadable configuration, and a large number of objects loaded on the basket trolley 2 can be transported. can.

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

In the transfer system of the present embodiment, a magnetic tape is installed on the floor surface of the path on which the self-propelled robot 1 can travel, and the magnetic tape is detected by using the magnetic sensor 3 on the path on which the self-propelled robot 1 can travel. It can be recognized that it is located in. The guidance method for installing the tape on the floor surface is not limited to the configuration using the magnetic tape, but may be the configuration using the optical tape. When an optical tape is used, a reflection sensor, an image sensor, or the like can be used instead of the magnetic sensor 3.

Further, in the transport system of the present embodiment, autonomous traveling that recognizes the self-position can be performed by collating the two-dimensional or three-dimensional map with the detection result of the range sensor 9. The range sensor 9 is a laser range sensor that irradiates an object with laser light and measures the distance from the reflected light to the object. A stereo camera, a depth camera, or the like can also be used as a sensor used for self-position recognition by collating the detection result with a two-dimensional or three-dimensional map.

In the self-propelled robot 1, the controller 4 controls the drive of the power motor 7 via the motor driver 8 based on the detection results of the magnetic sensor 3 and the range sensor 9, and the power motor 7 rotates and drives the drive wheels 71. As a result, the self-propelled robot 1 autonomously travels.
The basket trolley 2 includes a bottom plate 32 for loading a transported object, a basket portion 20 surrounding the transported object loaded on the bottom plate 32, casters 23 arranged below the four corners of the square bottom plate 32, and a basket. An ID display panel 21 arranged on the side surface of the unit 20 is provided.

An ID display panel 21 on which a marker for recognition is displayed is attached to the basket trolley 2 placed at a predetermined place. As the marker, the identification number information, the transport destination information, and the transport priority information of the basket trolley 2 are coded by using a two-dimensional color code or the like.
The ID display panel 21 is attached to the basket trolley 2 so that information such as a transport position or ID information that can be recognized by reference to a table can be read. A general barcode or QR code (registered trademark) can be used as the marker ID display method. Further, by increasing the amount of information per unit area by using a color code or a light and shade barcode as an ID, it becomes possible to recognize from a greater distance.

A marker reading device is installed in the self-propelled robot 1. The marker reading device includes a camera 5 which is an ID recognition means and a decoding unit. In the present embodiment, the controller 4 has a function as a decoding unit. The marker code is recognized from the captured image of the camera 5 by image recognition of the characteristics of the marker. The decoding unit decodes the code information of the recognized marker to obtain the recognition number information, the transport destination information, and the priority information of the basket trolley 2.

In the present embodiment, since the color code is used as the marker installed on the basket trolley 2, the reading is performed using the camera 5. When the marker displaying the ID is a barcode or a QR code, a barcode reader can be used as an ID recognition means. When the marker is a shading bar code, the reflection intensity information of the laser range sensor can be used for the ID code.

The self-propelled robot 1 includes a range sensor 9 such as a laser range finder (LRF) that acquires a distance from the surrounding environment as an environment recognition means. The controller 4 calculates the position coordinates of the ID display panel 21 from the distance information between the ID display panel 21 and the range sensor 9 whose position is recognized by the range sensor 9. The controller 4 controls the drive of the power motor 7 by using the calculated position coordinates of the ID display panel 21, so that the self-propelled robot 1 is positioned at a predetermined position in front of the ID display panel 21 in the basket trolley 2.

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

Further, the light and shade barcode can be detected by the laser range finder, and the laser range finder can also be used as a position detection means of the highly accurate ID display panel 21 and an environment recognition sensor for autonomous driving.

FIG. 3 is an explanatory diagram showing an example of a basket cart 2 and an ID display panel 21.
FIG. 3A is a perspective view of an example in which an ID display panel 21 for displaying a marker whose ID is a color code is arranged on the basket trolley 2. FIG. 3B is an explanatory diagram of an example of a color code, and FIG. 3C is an explanatory diagram of an example of a shade bar code.
Unlike barcodes, QR codes and color codes are read using a camera to simultaneously acquire the position information of the ID display panel 21 with respect to the camera based on the captured image captured by the camera together with the ID information of the code. Can be done. Therefore, it is possible to recognize the position where the object to be read (ID display panel 21 in this embodiment) is placed.

If the ID is a shading bar code, it can be read by a laser range sensor. The shade bar code shown in FIG. 3C uses a plurality of types of linear marks having different black densities, and code numbers are assigned to each density. In the configuration using the shading barcode, the code number is stored in the controller 4 for the light receiving intensity of the reflected light corresponding to the linear mark of each density, and the code number is stored according to the light receiving intensity of the laser range sensor. Recognize.

The laser range sensor rotates the irradiation part of the laser light in the horizontal direction, periodically changes the irradiation direction of the laser light, scans the surroundings with the laser light, and emits the laser light by the reflected light of the irradiated laser light. It is possible to acquire distance information to the reflected object. In addition, it is possible to acquire angle information from the laser range sensor regarding the position of the object that reflected the laser beam based on the irradiation direction of the laser beam. Furthermore, it is possible to find a shading barcode based on the change in the light receiving intensity of the reflected light.

When the light and shade barcode is found, it is possible to obtain the relative position information between the ID display panel 21 with the light and shade barcode and the laser range sensor based on the distance information and the angle information of the light and shade barcode. You can. Therefore, in the configuration in which the shading bar code is read by the laser range sensor, the information acquired by the laser range sensor can be used as feedback information used for positioning the self-propelled robot 1 at the time of connection.

The transport system of the present embodiment using the self-propelled robot 1 automates the work of transporting a transport target with casters such as a basket trolley in a distribution warehouse or the like.
The transfer operation by the self-propelled robot 1 is divided into the following three operations (1) to (3).
(1) Search and connection of transport targets in the temporary storage area.
(2) Driving in the driving area.
(3) Search for storage location and unloading in the storage area.

FIG. 4 is an explanatory diagram of an example of a distribution warehouse 1000 to which the transfer system of the present embodiment is assumed to be applied. In the distribution warehouse 1000 shown in FIG. 4, the worker M arranges the luggage unloaded from the truck 2000 to the platform 1001, and another worker M transports the luggage to the area in front of the elevator 1002. , Transfer to another floor. In the distribution warehouse 1000, the temporary storage area (1) is assumed to be a place where the packages unloaded by the platform 1001 are arranged. The storage area of (3) above is assumed to be the area in front of the elevator 1002 when the elevator 1002 transfers to another floor. Further, the traveling area of (2) above is assumed to be a place indicating a round-trip route between the temporary storage area and the storage area by the arrow in FIG.

The self-propelled robot 1 moves on the main line by a line recognition method that recognizes a line of magnetic tape or optical tape installed on the floor surface by a sensor. In addition, the area is determined by detecting the address mark next to the line. Further, the ID display panel 21 includes information on the transport area and information on the priority order.

FIG. 5 is an explanatory diagram schematically showing the transport system of the present embodiment.
The transport system shown in FIG. 5 includes a traveling area 50, a temporary storage area A, a first storage area B, and a second storage area C. The traveling area 50 is provided with a magnetic tape or an optical tape for guiding the self-propelled robot 1 in a line shape, and is provided with a main line 51 on which the self-propelled robot 1 travels. The start position S of the self-propelled robot 1 is on the main line 51. Further, at the entrances of the temporary storage area A, the first storage area B, and the second storage area C in the traveling area 50, the address mark 52 is arranged in the vicinity of the main line 51.

FIG. 6 is a flowchart showing the flow of the operation of the self-propelled robot 1 to transport the basket trolley 2 from the temporary storage area A to the storage area (B or C).
First, by arranging the self-propelled robot 1 which is a moving body on the main line 51 and starting the robot 1 in a state where the line can be recognized, the self-propelled robot 1 starts traveling along the main line 51 (S1). While traveling on the main line 51, the vehicle travels at a designated speed by looking at the position of the line. The vehicle travels while searching for the address mark 52 in the temporary storage area A, and stops when the address mark 52 in the temporary storage area A is detected (“Yes” in S2).

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

In the connection operation, the car moves to the row of the basket trolley 2 specified based on the X and Y coordinates on the list. Using the relative position information with the ID display panel 21, it moves to the front of the basket trolley 2. After that, when it is close to the basket trolley 2, it is connected to the basket trolley 2 by the connecting device 10. When the connection with the basket trolley 2 to be transported is detected (“Yes” in S6), the vehicle returns to the main line 51 (S7), travels on the main line 51 (S8), and stores the basket trolley 2 being transported (B). Or, when the address mark 52 of C) is detected (“Yes” in S9), the process is stopped.

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

In the garage entry operation, the user moves to the row of the garage at the vacant address specified based on the X and Y coordinates on the list. After that, when the designated vacant address is reached, the connection with the basket trolley 2 being transported is released.
After the connection is released, the storage area (B or C) returns to the main line 51, and the search for the temporary storage area A is started again (S14).

FIG. 7 is an enlarged view of the second storage area C. In FIG. 7, the X-axis direction is the “column direction” and the Y-axis direction is the “row direction”.
The temporary storage area A and the storage area (B or C) are arranged at positions off the main line 51. A traveling line 53 and a stop mark 54 for exploring and traveling in the area are attached. A frame line or a mark is attached to the position (parking lot 55) where the basket trolley 2 is placed so that a person can easily place it. When the self-propelled robot 1 enters the temporary storage area A or the storage area (B or C), the self-propelled robot 1 travels on the traveling line 53 by line guidance until the stop mark 54 is detected.

In the temporary storage area A, the operation of connecting to the basket trolley 2 found first may be performed. In the storage area (B or C), it may be controlled to park in the parking lot 55 of the first vacant address found.
The self-propelled robot 1 searches for and lists the basket trolley 2 placed using the range sensor 9 while moving, stops when the stop mark 54 is found, and puts the basket trolley 2 or the garage to be connected. Select (parking lot 55).

In the case of connection, it starts moving to the listed X and Y coordinates, but after moving in the column direction of the address, it turns 90 [°] and approaches the basket trolley 2 to be connected straight. And, the connection operation is easy. At the time of connection, the self-propelled robot 1 can be positioned with high accuracy by controlling the traveling of the self-propelled robot 1 by using the relative position information with the ID display panel 21. Further, when autonomous traveling using the environmental map is performed, the basket trolley 2 to be connected may be arranged on the data of the environmental map and the traveling may be controlled based on the coordinates.
In the case of garage entry operation, you may move while recognizing the environment so that it is positioned at the X and Y coordinates of the address of the parking lot 55, or you can lay a positioning line and perform positioning by the line. good.

FIG. 8 is an explanatory diagram schematically showing a modified example of a transfer system in which the self-propelled robot 1 of the present embodiment can be used.
In the transfer system of the modified example, the temporary storage area A and the storage area D are configured to be immediately next to the main line 51. In the modified example, the self-propelled robot 1 searches within the temporary storage area A and the storage area D while traveling on the main line 51. When the basket trolley 2 to be transported is found in the temporary storage area A, the operation shifts to the connection operation from the main line 51 to the basket trolley 2. Further, the storage area D is also searched for a vacant address from the main line 51, and a garage entry operation is performed.

In the configuration of the modified example, when one self-propelled robot 1 is in operation, the other self-propelled robot 1 becomes impassable, but the occupied area between the temporary storage area A and the storage area D may be narrowed. It can be done and the work time can be shortened.

In distribution warehouses and factories, a general-purpose trolley consisting of casters with four wheels, called a basket trolley, is often used as a trolley for loading transported items. In general, automatic connection by an autonomous mobile device is performed by recognizing the connection position and positioning the autonomous mobile device.
Specifically, the marker is attached to the object to be connected, the marker is recognized by the distance information acquisition device attached to the autonomous moving device, and the position coordinates of the marker are calculated to recognize the connection position. Then, the driving of the autonomous mobile device is controlled and positioning is performed so as to stop at the recognized connection position.

After that, a connecting mechanism such as an arm is operated to connect. For example, it can be used when an autonomous mobile device is connected to a target location such as a charging station. However, when connecting to a trolley equipped with a universal caster as described above, more accurate positioning of the autonomous moving device is required. This is because the autonomous moving device may come into contact with the trolley during positioning with respect to the trolley. If the contact is made before the positioning of the autonomous moving device and the operation of the connecting mechanism are completed, the autonomous moving device pushes the trolley, and the trolley is separated from the autonomous moving device.

In the case of positioning on an object that does not move, such as the charging station described above, control may be performed so that the autonomous moving device comes into contact with the connected object before positioning. However, if the same operation is performed on a trolley that is operated by placing the casters in the released state, such as a site where the basket trolley is frequently transported, there arises a problem that the trolley cannot be easily connected due to the above-mentioned reason. ..

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

The self-propelled robot 1 is equipped with a connecting device 10 for holding the basket cart 2 to be transported. Hereinafter, the details of the connecting device 10 included in the self-propelled robot 1 will be described.

9A and 9B are perspective explanatory views of the connecting device 10, FIG. 9A is an explanatory view of the connecting device 10 in a state where the connecting claw 12 is open, and FIG. 9B is a state in which the connecting claw 12 is closed. It is explanatory drawing of the coupling device 10.

The connecting device 10 includes a fixing member 30, a rotating member 11, a connecting claw 12 as a hooking member, a magnet 13 as an suction member, and the like.
The fixing member 30 is a member for fixing the connecting device 10 to the robot main body 100 of the self-propelled robot 1, and is fixed by screwing to the frame of the robot main body 100 with the fixing screw holes 30a.

The rotating member 11 is a member that can rotate with respect to the fixing member 30 about a rotating shaft 111 extending in the vertical direction, and can rotate with respect to the robot main body 100 to which the fixing member 30 is fixed. It has become.
FIG. 10 shows the connecting device 10 shown in FIG. 9, a rotating portion 200 fixed to the rotating member 11 and rotating with respect to the fixing member 30 together with the rotating member 11, and a fixed portion fixed to the fixing member 30. It is explanatory drawing with 300. 10 (a) is an overall view of the coupling device 10, FIG. 10 (b) is a perspective view of the rotating portion 200, and FIG. 10 (c) is a perspective view of the fixed portion 300. In FIGS. 10 (a) and 10 (c), the drive branch cover 24 and the claw drive torque limiter cover 38 shown in FIG. 9 are allowed to pass through.
The rotating member 11 is rotatable about the rotating shaft 111 as indicated by the arrow “G” in FIG. 10 (b).

The coupling device 10 of the present embodiment temporarily holds the magnet 13 by utilizing the magnetic force of the magnet 13 constituting the temporary holding mechanism, and then performs the main holding by the connecting claw 12. The region indicated by “α” in FIG. 3 indicates the position where the connecting claw 12 on the front lower frame 22a of the lower frame 22 of the basket carriage 2 is hooked.

The coupling device 10 has a configuration in which the magnet 13 is arranged on the rotating member 11 and the temporary holding mechanism using the magnet 13 can rotate with respect to the fixing member 30 fixed to the robot main body 100. With this configuration, even when the self-propelled robot 1 approaches the basket cart 2 in an inclined state, the rotating member 11 rotates and the two connecting claws 12 are attached to the front lower frame 22a of the basket cart 2. On the other hand, it can be parallel. This makes it easy to make the positional relationship between the connecting claw 12 and the front lower frame 22a of the basket carriage 2 a connectable positional relationship.

The fixing member 30 is made of sheet metal and includes a shaft holding portion 31 for holding the rotating shaft 111. The fixing member 30 is fixed to the robot main body 100, and the rotating member 11 is rotatable about the rotating shaft 111 with respect to the robot main body 100. The connecting claw 12 and the magnet 13 are attached to the rotating member 11. The connecting claw 12 is for hooking and connecting to the front lower frame 22a of the basket carriage 2. The magnet 13 is for attracting to the front lower frame 22a of the basket carriage 2.

Generally, the frame of the basket trolley 2 is made of steel and can be attached with a magnet 13. In the unconnected state, the connecting claws 12 are retracted upward as shown in FIG. 9A so as not to be caught by the frame of the basket carriage 2 during the connecting operation. The reason why both the connecting claw 12 and the magnet 13 are used is as follows. That is, the timing of the connecting operation cannot be measured only by the connecting claw 12, and the self-propelled robot 1 needs to be positioned with high accuracy. Because there are times.

The positioning and connection operation of the self-propelled robot 1 to a predetermined position in front of the ID display panel 21 of the basket trolley 2 is performed by the following three steps.
In the first step, the self-propelled robot 1 is driven so as to be in a posture substantially facing the basket trolley 2 at a constant distance.
In the second step, the speed is slowed down toward the basket trolley while keeping the posture facing roughly.
In the third step, after the adsorption of the magnet 13 to the front lower frame 22a of the basket carriage 2 is confirmed, the self-propelled robot 1 is stopped and the connecting claws 12 are operated to connect the robot 1.

The self-propelled robot 1 is a contact switch capable of detecting that an object comes into contact with the surface of the magnet 13 that comes into contact with the front lower frame 22a when the magnet 13 is attracted to the front lower frame 22a. It is equipped with a micro switch 14. By this micro switch 14, it is possible to confirm the adsorption of the magnet 13 to the front lower frame 22a of the basket carriage 2.

In reading the marker for obtaining the position coordinates of the ID display panel 21, an error of detection by the range sensor 9 and an error of calculation are included. In addition, an error due to wheel slippage or the like when driving the self-propelled robot 1 also occurs. For this reason, it is normal for the self-propelled robot 1 to have an inclination and a misalignment with respect to the basket trolley 2, and it is difficult to make them completely face each other.

In the present embodiment, when the magnet 13 is attracted to the basket trolley 2 in the second step described above, it is only necessary to slow down the speed, so that the self-propelled robot 1 is accurately stopped at the connection position with the basket trolley 2. It eliminates the need for highly accurate positioning operations. Therefore, it is tolerant of misalignment. Further, even when the self-propelled robot 1 approaches the basket trolley 2 with an inclination, the rotating member 11 rotates to cause the magnet 13 to move the magnet 13 with respect to the surface surface of the front lower frame 22a of the basket trolley 2. It can be made parallel and can be reliably adsorbed. With such a configuration, it is possible to reliably connect the self-propelled robot 1 and the basket trolley 2 without requiring highly accurate positioning.

It is preferable to use an electromagnet as the magnet 13. Since the electromagnet controls "ON-OFF" by supplying electric power, it can be freely attracted and released. Therefore, the electric power can be adsorbed only when necessary, such as turning the electric power "ON" at the time of the above-mentioned second step of performing the above-mentioned positioning and connection operation.

As the electromagnet, a permanent electromagnetic type electromagnet can also be used. The permanent electromagnetic type electromagnet can be attracted as a permanent magnet when the electric power is "OFF", and can be released when the electric power is "ON". When a permanent electromagnetic type electromagnet is used, the magnetic force is not lost even in the event of a power failure or disconnection, so that the basket trolley 2 can be held more reliably. Regardless of which electromagnet is used, it is possible to operate the system as a system in which the basket trolley 2 transported to a predetermined place by the self-propelled robot 1 is automatically separated and released by a simple operation.

In the case of a configuration in which a permanent magnet is used as the magnet 13, a separation mechanism may be provided in which the basket trolley 2 is pressed and separated from the self-propelled robot 1 in order to separate the basket trolley 2 transported to a predetermined place.

Next, the magnet 13 attached to the rotating member 11 will be described.
It is preferable that a plurality of magnets 13 are arranged on the rotating member 11. This is due to the following reasons.
That is, the front lower frame 22a to be connected in the basket carriage 2 is generally short in the height direction and long in the width direction. On the other hand, most general-purpose magnets are cylindrical or square, so for example, by using two small magnets side by side in the horizontal direction, the surface on which the magnetic force is applied to the horizontally long frame can be made large, and the size is large. It is cheaper and more reliable than using one magnet.

The self-propelled robot 1 which is an autonomous moving device includes a rotating member 11 which can rotate with respect to the robot main body 100, and further provides a magnet 13 and a connecting claw 12 on the rotating member 11. Then, the connecting claw 12 operates at the place where the basket trolley 2 and the self-propelled robot 1 to be conveyed are temporarily held by the magnet 13, and the connecting claw 12 is hooked on the frame of the basket trolley 2. With such a configuration, the self-propelled robot 1 can reliably hold the basket trolley 2 and automatically transport it to a desired transport destination without requiring highly accurate positioning of the self-propelled robot 1 with respect to the basket trolley 2.

Further, even if the self-propelled robot 1 approaches the basket cart 2 in an inclined state, the rotating member 11 having the magnet 13 and the connecting claw 12 rotates, and the two magnets 13 and the two connecting claws rotate. 12 can be made parallel to the front lower frame 22a of the basket carriage 2. Therefore, the positional relationship between the magnet 13 and the connecting claw 12 and the front lower frame 22a of the basket trolley 2 can be easily connected, and the self-propelled robot 1 and the basket trolley 2 can be easily connected. Can be realized.

Here, like the self-propelled robot 1 of the present embodiment, the self-propelled robot 1 travels while the rotating member 11 is rotatable in a configuration in which the magnet 13, the connecting claw 12, and the rotating member 11 are arranged. When the above is started, there is a concern that the basket trolley 2 is likely to wobble during traveling. If the basket trolley 2 is staggered, the moving speed of the self-propelled robot 1 is lowered, and the transport speed of the basket trolley 2 is lowered, so that there is a concern that the transport efficiency is lowered.

The self-propelled robot 1 includes a bumper 40 that abuts on the basket trolley 2 to be connected, and a bumper protrusion mechanism 43 that moves the bumper 40 toward the basket trolley 2. The bumper protrusion mechanism 43 is a mechanism for suppressing the wobbling of the basket carriage 2 during traveling by eliminating the range of motion of the rotating member 11 after the connection is completed.

The rotating portion 200 shown in FIG. 10B is a portion provided with a connecting mechanism by the connecting claw 12 and the magnet 13. The fixing portion shown in FIG. 10C is a portion including a bumper projecting mechanism 43 fixed to the robot main body 100 via the fixing member 30.
Further, the coupling device 10 of the present embodiment suppresses an increase in the number of drive sources and reduces the cost by performing an elevating operation of the connecting claw 12 and a protruding and retracting operation of the bumper 40 by one motor. It is structured to be planned.

FIG. 11 is an enlarged perspective view of a drive transmission mechanism 400 that transmits drive to the connecting claw 12 and the bumper 40. Similar to FIGS. 10 (a) and 10 (c), in FIG. 11, the drive branch portion cover 24 and the claw drive torque limiter cover 38 are transmitted through.
FIG. 12 is a block diagram showing an outline of drive transmission in the drive transmission mechanism 400. With the drive transmission mechanism 400 shown in FIGS. 11 and 12, it is possible to realize a configuration in which the symptomatic operation of the connecting claw 12 and the protruding and retracting operations of the bumper 40 are performed by one motor.

FIG. 1 is an explanatory view of the process in which the connecting device 10 is connected to the basket carriage 2 and sandwiches the front lower frame 22a as viewed from the side. FIG. 1A is a side view of the coupling device 10 in the state of FIG. 9A, and shows an initial state before the coupling operation is performed. In the initial state, the connecting claw 12 is retracted upward, and the bumper 40 is retracted to the robot main body 100 side (left side in FIG. 1). FIG. 1B shows a state in which the bumper protruding cam 64 is rotated by 90 [°] from the initial state, the connecting claw 12 is lowered, and the bumper 40 is on the robot main body 100 side (left side in FIG. 1). It is in the state of being evacuated. FIG. 1C is a side view of the coupling device 10 in the state of FIG. 9B, in which the bumper protruding cam 64 is rotated by 270 [°] from the initial state and the coupling operation is completed. In the state where the connecting operation is completed, the bumper 40 is pushed out toward the front lower frame 22a by the bumper protruding cam 64. In the state shown in FIG. 1 (c), the front lower frame 22a is sandwiched between the connecting claw 12 and the bumper 40.

From the initial state shown in FIGS. 1 (a) and 9 (a), the motor shaft 16 is rotated by driving the connecting motor 15, and the output gear 17 fixed to the motor shaft 16 is rotated. Then, the common drive shaft 19 to which the common drive gear 18 meshing with the output gear 17 is fixed rotates. A claw drive pulley 25 and a bumper drive pulley 60 that transmit drive to the connecting claw 12 are fixed to the common drive shaft 19, and when the common drive shaft 19 rotates, these pulleys (25, 60) also rotate. ..

When the claw drive pulley 25 rotates, the torque limiter front pulley 27 rotates via the claw drive belt 26, and the torque limiter front shaft 28 to which the torque limiter front pulley 27 is fixed rotates. When the torque acting on the torque limiter 29 is less than the limit value, the rotational drive of the torque limiter front shaft 28 is transmitted to the torque limiter rear shaft 33, and the claw elevating drive output pulley fixed to the torque limiter rear shaft 33. 34 rotates. When the claw elevating drive output pulley 34 rotates, the claw elevating drive input pulley 36 rotates via the claw elevating belt 35, and the claw elevating shaft 37 to which the claw elevating drive input pulley 36 is fixed rotates. As a result, the connecting claw 12 fixed to the claw elevating shaft 37 descends to the state shown in FIG. 12 (b).

The connecting claw drive transmission mechanism 44 that transmits rotational drive from the claw drive belt 26 to the connecting claw 12 includes a torque limiter front shaft 28, a torque limiter 29, a torque limiter rear shaft 33, a claw elevating drive output pulley 34, and a claw elevating belt 35. Be prepared. Further, the connecting claw drive transmission mechanism 44 includes a claw elevating drive input pulley 36 and a claw elevating shaft 37.

When the bumper drive pulley 60 rotates, the bumper shaft rotation pulley 62 rotates via the bumper drive belt 61, and the bumper protrusion shaft 63 to which the bumper shaft rotation pulley 62 is fixed rotates. As a result, the bumper protrusion cam 64 fixed to the bumper protrusion shaft 63 rotates. As the bumper protruding cam 64 rotates, the distance from the center of rotation to the portion in contact with the cam follower 65 varies. By increasing this distance, the bumper protruding cam 64 can push the cam follower 65 and press the bumper 40 fixed to the cam follower 65 against the front lower frame 22a of the basket carriage 2 to be connected.

In the initial state shown in FIG. 12A, the connecting claw 12 is retracted upward and the connection is released, and the bumper 40 is retracted. As shown in FIG. 12B, when the bumper protruding cam 64 is rotated by 90 [°] from the initial state, the connecting claw 12 is lowered and is in a state of being caught by the front lower frame 22a. On the other hand, the bumper 40 remains in the retracted state. This is because the diameter of the portion of the bumper protruding cam 64 that contacts the cam follower 65 is constant from the initial state until the bumper protruding cam 64 rotates 90 [°], from the center of rotation to the portion that contacts the cam follower 65. This is because the distance does not change.

When the rotation angle of the bumper protruding cam 64 exceeds 90 [°], the larger the rotation angle, the larger the diameter of the portion of the bumper protruding cam 64 that comes into contact with the cam follower 65. As a result, the cam follower 65 is displaced in the direction of pushing out the bumper 40. Then, as shown in FIG. 12 (c), when the rotation angle of the bumper protruding cam 64 from the initial state reaches 270 [°], the extrusion of the bumper 40 is completed, and the connecting claw 12 and the bumper 40 are on the front side. The lower frame 22a can be sandwiched.

The connecting motor 15 is driven from the initial state shown in FIG. 12 (a), and even after the connecting claw 12 is lowered as shown in FIG. 12 (b), the bumper protruding shaft 63 is rotated by the rotation of the connecting motor 15. Therefore, in the coupling device 10 of the present embodiment, as shown in FIGS. 11 and 12, the torque limiter 29 is arranged in the drive transmission system from the common drive shaft 19 to the claw elevating shaft 37. As a result, after the connecting claw 12 reaches the lowest point, the drive transmission to the claw elevating shaft 37 side is cut off, and the drive transmission to the bumper protruding shaft 63 side can be continued. The shown connection operation can be realized.

FIG. 13 is a schematic top view of a state in which the front lower frame 22a is sandwiched between the connecting claw 12 and the bumper 40. The force indicated by the arrow “F1” in FIG. 13 acts on the front lower frame 22a by the connecting claw 12, and the force indicated by “F2” in FIG. 13 acts on the bumper 40. As a result, the connecting claw 12 prevents the connecting target from moving in the direction away from the connecting device 10, and the bumper 40 prevents the connecting target from moving in the direction approaching the connecting device 10. Therefore, the relative position of the basket carriage 2 with respect to the connecting device 10 can be fixed.

FIG. 14 is a side view of the claw elevating shaft 37 and the connecting claw 12.
As shown in the solid line in FIG. 14, the connecting claw 12 can be attached to the claw elevating shaft 37 so that the connecting claw 12 is located below the claw elevating shaft 37 when the connection is completed. preferable. By attaching in this way, the contact portion 12a of the connecting claw 12 in contact with the front lower frame 22a of the basket trolley 2 to be transported is below the rotation center 37a of the claw elevating shaft 37. As a result, when the connecting claw 12 connected to the front lower frame 22a is raised, the contact portion 12a moves in the direction of the arrow "E" in FIG. 14, but moves away from the front lower frame 22a (in FIG. 14). (To the right of), a component force (arrow “E1” in FIG. 14) is generated. Even if the basket trolley 2 and the connecting claw 12 are in a state of being pulled when trying to release the connection due to the inclination of the road surface or the like due to the component force indicated by the arrow "E1". It is possible to surely release the connection by the connecting claw 12.

As a conventional connection moving device, the connection moving device described in Patent Document 1 aligns the relative positions of the connection device and the connection target when connecting to the connection target, and pulls the hooking member to the connection target. It is something to hang. When the hooking member is hooked, if the relative positions of the connecting device and the connecting target are separated, the hooking member cannot be hooked on the connecting target. However, when the coupling moving device is brought closer to the coupling target in order to make the relative position between the coupling device and the coupling target a position where the hooking member can be hooked, the coupling mobile device comes into contact with the coupling target. There is. Due to this contact, the connected moving device pushes the connected object, and there is a concern that the connected object moves in a direction away from the connected moving device.

The connecting device 10 of the present embodiment includes a magnet 13 which is a suction member that attracts to the lower frame 22 of the basket cart 2 to be connected. Since the magnet 13 attracts the lower frame 22, even if the self-propelled robot 1 comes into contact with the basket trolley 2, it is possible to prevent the basket trolley 2 from moving in a direction away from the self-propelled robot 1. Then, the lower frame 22 and the connecting device 10 can be easily connected by performing the connecting operation of lowering the connecting claw 12 while the magnet 13 is attracted to the lower frame 22.

Further, in the connection / moving device described in Patent Document 1, when an attempt is made to connect to a connection target, the connection / movement device cannot be connected unless the connection operation is performed while the connection / movement device is stationary facing the connection target. Is a concern.

On the other hand, the connecting device 10 of the present embodiment includes a rotating member 11 that can rotate with respect to the fixing member 30 constituting the main body of the connecting device 10, and rotates the connecting claw 12 and the magnet 13. It is provided on the member 11. With such a configuration, even if the robot main body 100 to which the fixing member 30 is fixed is tilted and close to the basket cart 2 to be connected, the rotating member 11 rotates to and the connecting claw 12. It becomes easy to make the positional relationship with the front lower frame 22a connectable.
Therefore, in the self-propelled robot 1, the connecting operation by the connecting claw 12 which is a hooking member can be performed even if the self-propelled robot 1 is not completely facing the basket trolley 2 to be connected and is not stationary.
As described above, the connecting device 10 includes a magnet 13 that attracts the object to be connected before being connected by the connecting claw 12, and further includes a rotating member 11 that holds the magnet 13 and the connecting claw 12 and is rotatable. This makes it possible to easily connect with the connection target.

An automatic connection method using a parallel link mechanism can be considered as a configuration that does not require highly accurate positioning of the autonomous mobile device, but it requires control of a complicated mechanism and a highly accurate parallel link mechanism. On the other hand, in the self-propelled robot 1 of the present embodiment, automatic connection can be performed with a simple configuration of a magnet 13 and a connecting claw 12.

Further, if the rotating member 11 having the magnet 13 and the connecting claw 12 to be connected to the object to be connected is rotatable with respect to the robot main body 100 even when the self-propelled robot 1 is traveling, the basket cart is running. There is concern that 2 will sway.
On the other hand, the connecting device 10 projects two bumpers 40 after being connected to the connecting target by the magnet 13 arranged on the rotating member 11 and the connecting claw 12. As a result, when the connection target connected to the rotation member 11 tries to rotate about the rotation axis of the rotation member 11, the connection target abuts on one of the two bumpers 40, and the robot main body 100 The structure is such that the rotation range of the object to be connected to is eliminated. As a result, it is possible to prevent the basket carriage 2 from swaying during traveling.

The connecting device 10 can be reliably held with the basket trolley 2 by easily connecting to the basket trolley 2 to be connected, and the basket trolley 2 can be automatically transported to a desired transport destination, and the basket trolley 2 can be automatically transported during transportation. It is possible to prevent wobbling and maintain transport efficiency.

The connecting claw 12 rotates around the claw elevating shaft 37, and the bent tip moves up and down. When the bent tip of the connecting claw 12 descends from the state of being retracted upward, the connecting claw 12 is placed between the flip-up type bottom plate 32 and the lower frame 22, which is a common shape of the basket carriage 2. You can plug it in. Therefore, it is possible to connect to a wide variety of basket carts 2 without modification.

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

The bumper 40 is made of an elastic material such as a rubber material, and the connecting device 10 holds the bumper 40 and slidably supports the bumper shaft 41 that integrally moves the cam follower 65 and the bumper shaft 41 with respect to the fixing member 30. It is provided with a bumper support portion 42 to be used.
By using an elastic member such as a rubber material for the bumper 40, noise is generated due to the contact between the basket trolley 2 and the bumper 40 and the basket trolley is generated when the trolley 2 is connected to the trolley 2 or when the trolley 2 is towed and transported. It is possible to prevent damage to the frame of 2.

It is desirable that the bumper shaft 41 has a configuration in which the bumper shaft 41 is urged toward the bumper protruding cam 64 by an urging member. By urging the bumper shaft 41 toward the bumper protruding cam 64, the cam follower 65 can be kept in contact with the bumper protruding cam 64 at all times, and the bumper shaft 41 can be prevented from rattling in the sliding direction. Even if the configuration does not include an urging member for urging the bumper shaft 41, when the rotation angle of the bumper protruding cam 64 from the initial state reaches 270 [°], the bumper 40 is mounted on the front lower frame 22a. It is possible to realize a configuration that presses against.

As for the position of the bumper 40 in the initial state, it is desirable that the bumper 40 does not protrude from the magnet 13 so that the tip of the bumper 40 does not come into contact with the basket carriage 2 before the magnet 13. By arranging the bumper 40, it is possible to prevent the non-elastic portion of the self-propelled robot 1 from coming into contact with the basket cart 2 and prevent damage caused by the contact.

As shown in FIG. 9, in the connecting device 10 of the present embodiment, the bumper 40, the connecting claw 12, and the magnet 13 are arranged in this order from the outside in the lateral direction. That is, two magnets 13 are arranged from the center in the lateral direction toward the outside, two connecting claws 12 are arranged on the outside thereof, and two bumpers 40 are arranged on the outside. The order of these three horizontal arrangements may be any order.

As shown in FIGS. 2 and 3, the basket portion 20 of the basket carriage 2 has a basket shape in which a plurality of horizontal frames and a plurality of vertical frames are combined, and the connecting device 10 has a connecting claw 12 of the basket portion 20. It is configured to be hooked on the horizontal frame (front lower frame 22a).
Therefore, the connecting claws 12 of the connecting device 10 are arranged so that the two connecting claws 12 do not interfere with the vertical frame of the basket portion 20 with respect to the center of the connecting surface of the basket carriage 2. Then, the above-mentioned ID display panel 21 is installed at a position centered in the lateral direction on the connecting surface of the basket trolley 2, and the position of the ID display panel 21 is recognized by using the range sensor 9, so that there are two. It is possible to connect the connecting claws 12 without interfering with the vertical frame.

In the above-described embodiment, the connected moving device including the moving means such as the power motor 7 and the drive wheel 71 and the connecting device 10 to be connected to the basket trolley 2 to be connected is an autonomous moving device in which the moving means is controlled by the controller 4. The case where the self-propelled robot 1 is used has been described. The connected moving device provided with the connecting device 10 is not limited to a device that automatically travels like an autonomous traveling device, but may be a traveling device such as a car driven by a human.

The articulated mobile device of the present embodiment is a self-propelled robot 1 traveling on a road surface, but the articulated mobile device including the articulated device 10 according to the present embodiment is not limited to the one traveling on the road surface. It may be a connecting movement device in which the connecting device 10 is arranged on a device that moves on water, underwater, or in the air.
Further, the connection moving device is not limited to the configuration of pulling the connected connection target, and may be configured to push and move the connection target or lift and move the connection target.

In the coupling device 10 of the above-described embodiment, as shown in FIGS. 11 and 12, the drive transmission mechanism 400 includes a plurality of belts and pulleys. Then, one motor (connecting motor 15) is used to raise and lower the connecting claw 12 and to push out and retract the bumper 40. However, a drive source for raising and lowering the connecting claw 12 and a drive source for pushing out and retracting the bumper 40 may be provided separately.

What has been described above is an example, and has a unique effect in each of the following aspects.

(Aspect 1)
In a connecting device such as a connecting device 10 having a hooking member such as a connecting claw 12 that hooks on a connecting target such as a basket trolley 2, the abutting member such as a bumper 40 that abuts on the connecting target and the abutting member are directed toward the connecting target. It is characterized by including a bumper projecting mechanism 43 and other abutting member moving means for moving the bumper.
According to this, as described in the above-described embodiment, by hooking the hooking member on the connecting target, it is possible to prevent the connecting target from moving in the direction away from the connecting device. Further, by moving the abutting member toward the connecting target and abutting the abutting member against the connecting target, it is possible to prevent the connecting target from moving in a direction approaching the connecting device. In this way, the movement of the coupling target in the direction away from the coupling device can be prevented by the hooking member, and the movement of the coupling target in the direction closer to the coupling device can be prevented by the abutting member. It is possible to stabilize the position relative to the target.

(Aspect 2)
In the first aspect, the abutting member is a buffering means for cushioning an impact at the time of contact with a connecting object.
According to this, as described with respect to the above-described embodiment, it is possible to prevent the generation of sound and damage to the connection target due to the contact between the connection target and the abutting member.

(Aspect 3)
In the first or second aspect, the hooking member moving means such as the connecting claw drive transmission mechanism 44 for moving the hooking member and the abutting member moving means have a common drive source (connecting motor 15 or the like). do.
According to this, as described in the above-described embodiment, it is possible to suppress an increase in the number of drive sources and reduce the cost.

(Aspect 4)
In the third aspect, a branch portion such as a common drive shaft 19 that branches the drive transmission from the drive source into the hook member moving means and the abutting member moving means is provided, and the hook member moving means is a hook member from the branch portion. It is characterized by providing a torque limiter such as a torque limiter 29 in the meantime.
According to this, as described with respect to the above-described embodiment, after the hooking member is caught on the connection target, the drive transmission to the hooking member side is cut off and the drive transmission to the abutting member moving means is continued. It becomes possible. As a result, it is possible to realize a configuration in which the hooking member moving means and the abutting member moving means are driven by one drive source.

(Aspect 5)
In any of aspects 1 to 4, the abutting member moving means includes a cam such as a bumper protruding cam 64 that converts a rotary motion into a reciprocating motion.
According to this, as described with respect to the above-described embodiment, it is possible to realize the protrusion of the abutting member with a simple configuration.

(Aspect 6)
In any one of aspects 1 to 5, the feature is to include an attraction member such as a magnet 13 that attracts the object to be connected.
According to this, as described in the above-described embodiment, since the suction member is attracted to the coupling target, the coupling target is separated from the coupling target even if the coupling device or the device provided with the coupling device comes into contact with the coupling target. It is possible to suppress the movement to. Then, the suction member can be easily connected to the connection target by performing the connection operation by the hooking member while the suction member is attracted to the connection target.

(Aspect 7)
In the sixth aspect, a rotating member such as a rotating member 11 that is rotatable with respect to the main body (fixed portion 300 or the like) of the connecting device is provided, and the hooking member and the suction member are provided on the rotating member, and the abutting member is provided. Is provided in the main body.
According to this, as described with respect to the above-described embodiment, the abutting member abuts on the connection target connected by the hooking member and the suction member provided on the rotating member, so that the rotating member and the rotating member are connected after the connection. It is possible to prevent the connected object from rotating and wobbling.

(Aspect 8)
In a connecting moving device such as a self-propelled robot 1 provided with a moving means such as a power motor 7 and a drive wheel 71 and a connecting means for connecting to a connecting target such as a basket carriage 2, any of aspects 1 to 7 is used as the connecting means. It is characterized by comprising a connecting device such as the connecting device 10 according to the above aspect.
According to this, as described with respect to the above-described embodiment, it is possible to realize a connected mobile device that can be easily connected to a connected object.

(Aspect 9)
A self-propelled robot including a moving means such as a power motor 7 and a drive wheel 71, a connecting moving means having a connecting means for connecting to a connecting target such as a basket carriage 2, and a control means such as a controller 4 for controlling the moving means. The autonomous moving device of the first or the like is characterized in that the connected moving device according to the ninth aspect is provided as the connected moving means.
According to this, as described with respect to the above-described embodiment, it is possible to realize an autonomous mobile device that can be easily connected to a connection target.

(Aspect 10)
In the ninth aspect, a recognition means such as a camera 5 that recognizes a sign such as an ID display panel 21 arranged on the connection target is provided, and the control means recognizes the connection target and the connection target based on the recognition result of the recognition means. It controls the moving means for positioning to connect to.
According to this, as described with respect to the above-described embodiment, it is possible to realize an autonomous mobile device that automatically connects to a connection target and automatically transports to a desired transport destination.

1 Self-propelled robot 2 Basket wheel 3 Magnetic sensor 4 Controller 5 Camera 6 Battery 7 Power motor 8 Motor driver 9 Range sensor 10 Coupling device 11 Rotating member 12 Coupling claw 12a Contact part 13 Magnet 14 Microswitch 15 Coupling motor 16 Motor shaft 17 Output gear 18 Common drive gear 19 Common drive shaft 20 Basket 21 Display panel 22 Lower frame 22a Front lower frame 23 Caster 24 Drive branch cover 25 Claw drive pulley 26 Claw drive belt 27 Torque drive belt 27 Torque limiter front pulley 28 Torque limiter front shaft 29 Torque limiter 30a Fixing screw hole 30 Fixing member 31 Shaft holding part 32 Bottom plate 33 Torque limiter rear shaft 34 Claw lift drive output pulley 35 Claw lift belt 36 Claw lift drive input pulley 37 Claw lift shaft 37a Rotation center 38 Claw drive torque limiter cover 40 Bumper 41 Bumper shaft 42 Bumper support 43 Bumper protrusion mechanism 44 Connecting claw drive transmission mechanism 50 Driving area 51 Main line 52 Address mark 53 Driving line 54 Stop mark 55 Parking lot 60 Bumper drive pulley 61 Bumper drive belt 62 Bumper shaft rotation pulley 63 Bumper protrusion shaft 64 Bumper protrusion cam 65 Cam follower 71 Drive wheel 72 Driven wheel 100 Robot body 111 Rotating shaft 200 Rotating part 300 Fixed part 400 Drive transmission mechanism 1000 Distribution warehouse 1001 Platform 1002 Elevator 2000 Truck A Temporary storage area B No. 1 Storage area C 2nd storage area D Storage area M Worker S Start position

Japanese Unexamined Patent Publication No. 2005-178504

Claims (10)

In a connecting device provided with a hooking member that hooks on a connecting target,
The abutting member that abuts on the connection target and
The abutting member moving means for moving the abutting member toward the connecting target ,
The adsorption member that adsorbs the connection target and
A rotating member that can rotate with respect to the main body of the coupling device .
The hooking member and the suction member are provided on the rotating member, and the hooking member and the suction member are provided on the rotating member.
A connecting device characterized in that the abutting member is provided on the main body . In the coupling device of claim 1,
The abutting member is a coupling device characterized by being a cushioning means for alleviating an impact at the time of contact with the coupling target. In the coupling device of claim 1 or 2,
A coupling device characterized in that the hooking member moving means for moving the hooking member and the abutting member moving means have a common drive source. In the coupling device of claim 3,
A branch portion is provided which branches the drive transmission from the drive source into the hook member moving means and the abutting member moving means.
The hooking member moving means is a coupling device including a torque limiter between the branch portion and the hooking member. In a connecting device provided with a hooking member that hooks on a connecting target,
The hook member moving means for moving the hook member, and
The abutting member that abuts on the connection target and
The abutting member moving means for moving the abutting member toward the connecting target,
A drive source for driving the hooking member moving means and the abutting member moving means,
A branch portion for branching a drive transmission from the drive source into the hook member moving means and the abutting member moving means is provided.
The hooking member moving means is a coupling device including a torque limiter between the branch portion and the hooking member. In the coupling device of claim 5,
A connecting device including a suction member that sucks the connection target. In the coupling device according to any one of claims 1 to 6 .
The abutting member moving means is a coupling device including a cam that converts a rotary motion into a reciprocating motion . Transportation and
In a connection moving device including a connection means for connecting to a connection target,
A connecting mobile device comprising the connecting device according to any one of claims 1 to 7 as the connecting means. A connected moving means having a moving means and a connecting means to be connected to the connecting target,
In an autonomous mobile device including a control means for controlling the moving means,
An autonomous mobile device comprising the linked mobile device according to claim 8 as the linked moving means. In the autonomous mobile device of claim 9,
A recognition means for recognizing a sign placed on the connection target is provided.
The control means autonomously moves, based on the recognition result of the recognition means, recognizes the connection target and controls the movement means for positioning to connect to the connection target. Device.

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