WO2022050010A1 - Travel unit and article display robot - Google Patents

Travel unit and article display robot Download PDF

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Publication number
WO2022050010A1
WO2022050010A1 PCT/JP2021/029601 JP2021029601W WO2022050010A1 WO 2022050010 A1 WO2022050010 A1 WO 2022050010A1 JP 2021029601 W JP2021029601 W JP 2021029601W WO 2022050010 A1 WO2022050010 A1 WO 2022050010A1
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WO
WIPO (PCT)
Prior art keywords
vehicle body
fall prevention
prevention member
cover
traveling unit
Prior art date
Application number
PCT/JP2021/029601
Other languages
French (fr)
Japanese (ja)
Inventor
正樹 永塚
侑樹 吉田
Original Assignee
Thk株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Thk株式会社 filed Critical Thk株式会社
Publication of WO2022050010A1 publication Critical patent/WO2022050010A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors

Definitions

  • the present invention relates to a traveling unit and an article display robot.
  • This application claims priority based on Japanese Patent Application No. 2020-148145 filed in Japan on September 3, 2020, the contents of which are incorporated herein by reference.
  • a traveling body moving device described in Patent Document 1 below is known.
  • This moving device is a robot body that can be switched forward and backward via traveling wheels and can change course, and a ball caster is provided at the bottom of the robot body.
  • the position of the ball caster and the position of the traveling wheel are out of alignment.
  • a pair of auxiliary wheels located above the traveling surface by a predetermined dimension and protruding by a predetermined dimension in the traveling direction are provided.
  • the pair of auxiliary wheels are lined up front and back.
  • the above-mentioned mobile device is equipped with a robot body and the center of gravity of the vehicle body is high, it is vulnerable to horizontal shaking, and in some cases, it may fall over.
  • it is considered to provide an auxiliary wheel such as the ball caster and bring it into contact with the traveling surface.
  • the center of gravity is biased toward the training wheels due to the movement of the vehicle body, the drive wheels are likely to slip.
  • the training wheels may sink into the road surface and the rotation may be hindered. In this case, there is a possibility that the driving time of the vehicle body may be shortened due to the increase in electric power, which may lead to an unintended stop or a fall.
  • the present invention has been made in view of the above problems, and an object of the present invention is to provide a traveling unit and an article display robot capable of preventing the vehicle body from tipping over without interfering with normal traveling.
  • the traveling unit includes a vehicle body provided with a plurality of wheels and a fall prevention member suspended at a position protruding outside the vehicle body.
  • the fall prevention member is provided at a height at which the vehicle body does not touch the road surface during normal traveling but touches the road surface when the vehicle body tilts.
  • the article display robot includes the traveling unit described above and a stage unit supported by the traveling unit to display articles.
  • FIG. 6 is a cross-sectional arrow view taken along the line AA shown in FIG.
  • FIG. 6 is a cross-sectional arrow view taken along the line BB shown in FIG.
  • FIG. 9 is a cross-sectional arrow view taken along the line CC shown in FIG. It is a top view of the front bumper in embodiment of this invention. 9 is a cross-sectional view taken along the line DD shown in FIG. It is a figure explaining the operation of the fall prevention member in embodiment of this invention.
  • FIG. 1 is a perspective view showing the front side of the article display robot 1 according to the embodiment of the present invention.
  • FIG. 2 is a perspective view showing the back side of the article display robot 1 according to the embodiment of the present invention.
  • the article display robot 1 includes a stage unit 2 and a traveling unit 3 on which the stage unit 2 is mounted and travels.
  • the stage unit 2 includes a stage 4 for arranging articles and an image display device 5 for displaying an image on the background of the stage 4.
  • the stage unit 2 is formed in a columnar shape.
  • the traveling unit 3 is formed in a disk shape.
  • the central axes O of the stage unit 2 and the traveling unit 3 coincide with each other.
  • the positional relationship of each member may be described with reference to the central axis O.
  • the direction in which the central axis O extends is referred to as the vertical direction Z.
  • the direction from the traveling unit 3 toward the stage unit 2 along the vertical direction Z is referred to as an upward direction (+ Z direction).
  • the direction opposite to the upper direction is called the lower direction (-Z direction).
  • a direction orthogonal to the central axis O and in which the stage cover 60 (described later) of the stage unit 2 is open is referred to as a forward direction (+ X direction).
  • the direction opposite to the front is called the rear (-X direction).
  • the front and back are collectively referred to as the front-back direction X.
  • the direction orthogonal to each of the vertical direction Z and the front-back direction X is referred to as a left-right direction Y (+ Y direction, ⁇ Y direction). Further, the direction around the central axis O is called the circumferential direction.
  • FIG. 3 is a perspective view showing a state in which the protective cover 6 of the stage unit 2 according to the embodiment of the present invention is opened.
  • FIG. 4 is an exploded perspective view of the article display robot 1 according to the embodiment of the present invention. As shown in FIG. 4, the traveling unit 3 includes an omnidirectional moving vehicle 10 and a frame structure 20 mounted on the omnidirectional moving vehicle 10.
  • the stage unit 2 includes a bottom unit 30, an inverted conical cover 40, an intermediate unit 50, a stage cover 60, and a top cap 90 in this order from the bottom.
  • a protective cover 6 surrounding the stage cover 60 is attached to the top cap 90.
  • a protective cover 7 surrounding the inverted conical cover 40 is attached between the bottom unit 30 and the intermediate unit 50.
  • the protective covers 6 and 7 are all transparent cylinders.
  • the top cap 90 is supported by the elevating mechanism 70.
  • the elevating mechanism 70 raises and lowers the top cap 90 and the protective cover 6 with respect to the stage cover 60.
  • the protective cover 6 closes the opening 61 formed in the stage cover 60, and access to the stage 4 becomes impossible.
  • the protective cover 6 opens the opening 61 of the stage cover 60, and access to the stage 4 is possible.
  • FIG. 5 is a front view of the article display robot 1 according to the embodiment of the present invention.
  • FIG. 6 is a side view of the article display robot 1 according to the embodiment of the present invention.
  • FIG. 7 is a cross-sectional arrow view taken along the line AA shown in FIG.
  • FIG. 8 is a cross-sectional arrow view taken along the line BB shown in FIG.
  • FIG. 9 is a bottom view of the article display robot 1 according to the embodiment of the present invention.
  • the omnidirectional moving vehicle 10 shown in FIG. 9 includes a total of four wheels 11 including two front wheels and two rear wheels. These four wheels 11 are Mecanum wheels.
  • the omnidirectional moving vehicle 10 moves in all directions by driving the four wheels 11 in a predetermined pattern.
  • a front bumper 12A is provided in front of the omnidirectional moving vehicle 10.
  • An arcuate front cover 12a is attached to the front bumper 12A.
  • the front cover 12a is provided with an opening / closing door 12a1. By opening the opening / closing door 12a1, the battery 14 inserted in the side surface of the omnidirectional moving vehicle 10 can be accessed.
  • a rear bumper 12B is provided behind the omnidirectional moving vehicle 10.
  • An arcuate rear cover 12b is attached to the rear bumper 12B.
  • the rear cover 12b is also provided with an opening / closing door 12b1.
  • the battery 14 inserted in the side surface of the omnidirectional moving vehicle 10 can be accessed. That is, two batteries 14 are inserted on the side surface of the omnidirectional moving vehicle 10.
  • the front cover 12a and the rear cover 12b form an annular cover and surround the entire circumference of the omnidirectional moving vehicle 10.
  • a slight gap is formed between the front cover 12a and the rear cover 12b so that the front bumper 12A and the rear bumper 12B can be individually displaced in the event of a collision with an obstacle (not shown).
  • the displacements of the front bumper 12A and the rear bumper 12B are measured by sensors (not shown).
  • the omnidirectional moving vehicle 10 determines whether the collision occurred on the front side (front cover 12a side) or the rear side (rear cover 12b side) based on the measurement result of the sensor, and stopped as necessary. do.
  • a laser sensor 13A is mounted in front of the omnidirectional moving vehicle 10.
  • the laser sensor 13A irradiates a laser at least 180 ° forward (270 ° forward in this embodiment) from the gap S (see FIG. 5) between the front cover 12a and the bottom unit 30, and is between the obstacle and the laser sensor 13A. Measure the distance of.
  • a laser sensor 13B is also mounted behind the omnidirectional moving vehicle 10. Similar to the front side, the laser sensor 13B also irradiates the laser at least 180 ° rearward (270 ° rearward in this embodiment) from the gap between the rear cover 12b and the bottom unit 30, and between the obstacle and the laser sensor 13B. Measure the distance. By measuring the distance with these laser sensors 13A and 13B, it is possible to prevent the article display robot 1 from colliding with an obstacle.
  • the frame structure 20 includes a horizontal frame 21 mounted on the omnidirectional moving vehicle 10 and extending left and right, and a pair of vertical frames 22 extending upward from the horizontal frame 21. ..
  • a groove portion having a substantially T-shaped cross section is formed on the peripheral surface of each frame constituting the frame structure 20 so as to extend in the longitudinal direction.
  • An angle plate 23 for fixing the upper end of the inverted conical cover 40 is attached near the upper end of the pair of vertical frames 22.
  • fall prevention members 24 are vertically installed at both ends of a horizontal frame (support member) 21 extending in the left-right direction from the omnidirectional moving vehicle 10. As shown in FIG. 8, the fall prevention member 24 is not normally grounded, but is grounded when the article display robot 1 is tilted to prevent the article display robot 1 from tipping over.
  • the horizontal frame 21 is fixed to the omnidirectional moving vehicle 10 via the fixed frame 25 shown in FIG.
  • the bottom unit 30 is supported and fixed to the horizontal frame 21.
  • the bottom unit 30 is formed in the shape of an eclipse cylinder, and an opening 31 through which a pair of vertical frames 22 pass is formed in the center thereof.
  • An annular groove 32 with which the lower end of the protective cover 7 engages is formed on the outer peripheral edge of the upper surface of the bottom unit 30.
  • a ring illumination 33 is provided on the outer peripheral edge of the upper surface of the bottom unit 30. The ring illumination 33 is arranged radially inside the annular groove 32.
  • the ring illumination 33 includes a plurality of LED light sources arranged in a ring shape and a light diffusion cover that covers the plurality of LED light sources.
  • the plurality of LED light sources can make the light diffusion cover emit light in various colors according to the image of the image display device 5 described later.
  • a connection frame 34 connected to the horizontal frame 21 is attached to the lower surface of the bottom unit 30.
  • the inverted conical cover 40 is an inverted conical hollow body, and its radial dimension gradually increases in the direction from the lower end to the upper end.
  • the lower end of the inverted conical cover 40 includes a fitting portion 41 that fits into the opening 31 of the bottom unit 30.
  • the upper end portion of the inverted conical cover 40 is provided with a flange portion 42 extending in an annular shape.
  • a fixing hole 43 for fixing the angle plate 23 of the frame structure 20 is formed in the flange portion 42.
  • the intermediate unit 50 is supported and fixed to the upper ends of the pair of vertical frames 22.
  • the intermediate unit 50 is formed in a climax cylinder shape, and a camera 51 and a speaker 52 are provided on the front side of the peripheral surface of the intermediate unit 50 as shown in FIGS. 1 and 4.
  • the camera 51 is a 3D camera that can measure the distance between the target person and the camera 51, and can also measure how many people are around the article display robot 1.
  • the article display robot 1 can analyze the captured image of the camera 51 to recognize the target person's face, approach the target person, and change the direction according to the target person.
  • the speaker 52 can play a sound in accordance with the image of the image display device 5, and can explain the article to the target person by voice.
  • an emergency stop switch 57 and an operation start switch 58 are provided on the back surface side of the peripheral surface of the intermediate unit 50.
  • a fixing hole 53 for fixing the pair of vertical frames 22 of the frame structure 20 is formed on the upper surface of the intermediate unit 50. Further, an insertion hole 54 through which the elevating mechanism 70 is inserted is formed on the upper surface of the intermediate unit 50. Further, a wiring hole 55 through which the wiring of the image display device 5 or the like is passed is formed on the upper surface of the intermediate unit 50. Further, an annular groove 56 with which the lower end of the protective cover 6 is engaged is formed on the outer peripheral edge of the upper surface of the intermediate unit 50.
  • a disk-shaped stage 4 on which articles are placed is installed on the upper surface of such an intermediate unit 50.
  • the periphery of the stage 4 is covered with a climax cylindrical stage cover 60.
  • the stage 4 of the present embodiment is integrally formed with the stage cover 60.
  • An opening 61 for viewing the article arranged on the stage 4 from the front is formed on the peripheral surface of the stage cover 60. As shown in FIG. 5, the opening 61 is formed in a substantially elliptical shape extending in the vertical direction when viewed from the front.
  • the image display device 5 is supported on the portion of the inner wall surface of the stage cover 60 facing the opening 61.
  • the image display device 5 of the present embodiment is a propeller display, and a hologram can be formed on the background of the stage 4.
  • the inner wall surface of the stage cover 60 is black. As a result, the contrast between the hologram of the image display device 5 and the inner wall surface of the stage cover 60 can be emphasized, and an image as if floating in the air can be created.
  • the video display device 5 may be a liquid crystal display, an organic EL display, or the like.
  • the elevating mechanism 70 includes a fixing portion 71 fixed to the intermediate unit 50 and the stage cover 60, and an elevating portion 72 that moves up and down with respect to the fixing portion 71.
  • the elevating portion 72 is supported by a pair of telescopic shafts 73.
  • the pair of telescopic shafts 73 have an insertion hole 54 formed in the intermediate unit 50, an insertion hole 4a formed in the stage 4, and an insertion hole 62 formed on the upper surface of the stage cover 60. It is inserted and arranged.
  • the lower end of the sleeve 75 (outer cylinder) of the telescopic shaft 73 is fixed to the lower surface side of the intermediate unit 50 via the ring member 74.
  • a linear bush with a flange is attached to the upper end of the sleeve 75 as a linear motion guide device 76.
  • the linear motion guide device 76 rolls and guides the linear shaft 80 arranged inside the sleeve 75.
  • the upper end of the linear shaft 80 is fixed to the elevating part 72.
  • the elevating portion 72 is arranged so as to overlap the connecting plate 78.
  • the connecting plate 78 connects between the pair of telescopic shafts 73 (sleeve 75).
  • a pair of channel plates 79 are fixed to the lower surface side of the connecting plate 78.
  • the pair of channel plates 79 are fixed to the fixing holes 63 formed on the upper surface of the stage cover 60.
  • the top cap 90 is supported and fixed to the elevating part 72.
  • the top cap 90 is formed in the shape of a top cylinder.
  • a fixing hole 91 for fixing the elevating portion 72 is formed on the upper surface of the top cap 90.
  • a protective cover 6 is attached to the inside of the peripheral wall of the top cap 90. As a result, the top cap 90 and the protective cover 6 move up and down between the closed position for closing the opening 61 of the stage cover 60 shown in FIG. 1 and the open position for opening the opening 61 shown in FIG. be able to.
  • FIG. 10 is a perspective view showing an example of displaying an article of the article displaying robot 1 according to the embodiment of the present invention.
  • an article 100 is arranged on the stage 4 of the article display robot 1 via a pedestal 101.
  • the stage 4 is arranged at a certain height so that a general adult can see the article 100 without bending down.
  • the video display device 5 (not shown in FIG. 10) displays the video 200 on the background of the stage 4.
  • a virtual image 201 of the article 100 and an advertising image 202 of the article 100 are displayed in the background of the stage 4.
  • the virtual image 201 is an enlarged display of the article 100 with a hologram.
  • the advertising video 202 displays the product name, price, and the like of the article 100.
  • the virtual image 201 is an image of rotating the article 100
  • the shape of the article 100 can be confirmed from all angles without actually picking up the article 100.
  • you look at the actual article 100 in the foreground you can immediately see the actual texture and the like.
  • a combined advertising effect of real and virtual can be obtained.
  • FIG. 11 is a front view showing another article display example of the article display robot 1 according to the embodiment of the present invention.
  • the decorative image 203 of the article 100 is displayed on the background of the stage 4.
  • the article 100 shown in FIG. 11 is supported by the transparent pedestal 101, it may be hung by a thin wire or the like.
  • the article 100 is arranged so as to overlap the decorative image 203 in front view. In this way, by making full use of the decorative image 203 displayed as the background of the article 100, it is possible to create a strong image of the article 100. Then, by combining the real article 100 and the virtual image 200, it is possible to deeply attract the interest and interest of the target person and stimulate the purchase motivation of the target person.
  • FIG. 12 is a perspective view showing the front side of the traveling unit 3 according to the embodiment of the present invention.
  • FIG. 13 is a cross-sectional arrow view taken along the line CC shown in FIG.
  • FIG. 14 is a plan view of the front bumper 12A according to the embodiment of the present invention.
  • FIG. 15 is a cross-sectional arrow view taken along the line DD shown in FIG.
  • FIG. 16 is a diagram illustrating the operation of the fall prevention member 24 in the embodiment of the present invention.
  • the traveling unit 3 includes a vehicle body 10A having four wheels 11.
  • the vehicle body 10A is formed in the shape of a rectangular box in a plan view with an open upper part.
  • the vehicle body 10A has a length in the front-rear direction longer than a length in the left-right direction.
  • Four wheels 11 are attached to the outer surface of the vehicle body 10A via the wheelbase 11a.
  • Connecting frames 26, 27, and 28 for connecting the above-mentioned frame structure 20 to the vehicle body 10A are arranged and fixed on the inner surface of the vehicle body 10A.
  • the connecting frames 26, 27, and 28 are arranged and fixed in a frame shape along the inside of the upper opening of the vehicle body 10A.
  • the connecting frames 26 are provided in pairs and are connected to both ends of the fixed frame 25 described above.
  • the pair of connecting frames 26 extend in parallel in the front-rear direction from both ends of the fixed frame 25. Both ends of the pair of connecting frames 26 are connected to the pair of connecting frames 27 arranged in the front and rear.
  • the connecting frame 27 arranged in the front may be referred to as a first connecting frame 27A
  • the connecting frame 27 arranged in the rear may be referred to as a second connecting frame 27B.
  • the first connecting frame 27A extends in the left-right direction, and both ends of the first connecting frame 27A are screwed to the vehicle body 10A and the wheelbase 11a of the front wheels.
  • the second connecting frame 27B is connected to a connecting frame 28 extending in parallel in the left-right direction, and both ends of the connecting frame 28 are screwed to the vehicle body 10A and the wheelbase 11a of the rear wheels.
  • a front base 10B on which the above-mentioned laser sensor 13A and the like are arranged is provided in front of the vehicle body 10A.
  • the above-mentioned front bumper 12A is freely displaceably connected to the front base 10B.
  • the front bumper 12A is connected to the front base 10B via a ball plate 16 so as to be displaced in the horizontal direction including front, rear, left and right. Further, the front bumper 12A is connected to the front base 10B via a spring mechanism 17 so as to return to the initial position.
  • the front bumper 12A includes a first horizontal portion 12A1, a fixed portion 12A2, a vertical portion 12A3, a second horizontal portion 12A4, a connecting portion 12A5, and an initial position detecting portion 12A6.
  • the first horizontal portion 12A1 is formed with a positioning hole 12-1 for positioning the front cover 12a described above.
  • the front cover 12a includes a positioning protrusion 12a2 to be inserted into the positioning hole 12-1.
  • the fixing portions 12A2 are erected on the front end edge of the first horizontal portion 12A1 and are provided in pairs at intervals in the left-right direction.
  • the fixing portion 12A2 is formed with a fixing hole 12-2 for fixing the front cover 12a.
  • the vertical portion 12A3 is vertically provided downward from the trailing end edge of the first horizontal portion 12A1.
  • the above-mentioned spring mechanism 17 is connected to the vertical portion 12A3.
  • the second horizontal portion 12A4 extends rearward from the lower end of the vertical portion 12A3.
  • the connecting portions 12A5 are provided on the trailing edge of the second horizontal portion 12A4 in pairs at intervals in the left-right direction.
  • the connecting portion 12A5 is formed with a connecting hole 12-3 for connecting the ball plate 16 described above.
  • the initial position detecting portion 12A6 is provided at the trailing end edge of the second horizontal portion 12A4 and is arranged between the pair of connecting portions 12A5.
  • the initial position detection unit 12A6 is provided with a detection piece 12-4. As shown in FIG. 13, the detection pieces 12-4 are formed in an inverted L shape and face the optical sensor 15 in the vertical direction.
  • the optical sensor 15 projects the detection light downward.
  • the optical sensor 15 receives the reflected light reflected by the detection piece 12-4.
  • the front bumper 12A is displaced from the initial position and the optical sensor 15 no longer receives the reflected light from the detection piece 12-4, or when the amount of reflected light decreases, the collision occurs on the front side ( It can be determined that it occurred on the front cover 12a side).
  • the rear bumper 12B has the same configuration.
  • the fall prevention member 24 is suspended from both ends of the above-mentioned horizontal frame 21 at a position protruding to the outside of the vehicle body 10A. Further, as shown in FIG. 9, the fall prevention member 24 is suspended in pairs at a position protruding in the left-right direction at an intermediate position in the front-rear direction of the vehicle body 10A. These pair of fall prevention members 24 are arranged in the gaps S1 and S2 between the cover (front cover 12a and rear cover 12b) surrounding the vehicle body 10A and the vehicle body 10A. In the gap S2, two batteries 14 are arranged so that they can be inserted and removed in the left-right direction with respect to the vehicle body 10A. The fall prevention member 24 arranged in the gap S2 is arranged in the gap between the two insertion / removal paths L for inserting / removing the two batteries 14. As a result, the interference between the fall prevention member 24 and the two batteries 14 is suppressed.
  • the fall prevention member 24 is arranged with a distance D from the road surface on which the wheel 11 touches the ground (indicated by a two-dot chain line in FIG. 15). That is, the fall prevention member 24 is not in contact with the road surface during normal traveling of the vehicle body 10A, and is provided at a height at which the vehicle body 10A is in contact with the road surface when the vehicle body 10A is tilted, as shown in FIG.
  • the distance D is preferably appropriately adjusted according to the condition of the road surface (for example, the unevenness of the floor surface, the length of the fluff of the carpet, the size of the gravel on the gravel road, etc.).
  • the height of the fall prevention member 24 may be adjusted so that the center of gravity G of the article display robot 1 comes into contact with the road surface before moving outward in the horizontal direction from the fall prevention member 24.
  • the fall prevention member 24 is a so-called ball caster, and includes a ball 24A that comes into contact with the road surface when the vehicle body 10A is tilted, and a holder 24B that rotatably supports the ball 24A.
  • the holder 24B is supported by the lower end of the hanging frame 24C suspended from the horizontal frame 21.
  • the vertical frame 24C is formed so that a groove portion having a substantially T-shaped cross section (so-called T slot) extends in the longitudinal direction on the peripheral surface of the frame.
  • a through hole 24C1 extending in the longitudinal direction is formed in the center of the vertical frame 24C.
  • the fall prevention member 24 includes a height adjusting mechanism 110 that adjusts the height with respect to the road surface.
  • the height adjusting mechanism 110 includes a female screw portion 111 formed in the through hole 24C1 of the vertical frame 24C, and a male screw portion 112 connected to the holder 24B and screwed into the female screw portion 111. By adjusting the screwing amount of the male screw portion 112 with respect to the female screw portion 111, the distance D between the fall prevention member 24 and the road surface can be adjusted according to the condition of the road surface.
  • the fall prevention member 24 since the fall prevention member 24 does not touch the road surface during normal running, the center of gravity of the vehicle body 10A is less likely to be biased toward the fall prevention member 24, and the wheels 11 (driving wheels) are less likely to slip. Become. Further, even when the vehicle body 10A moves on a soft road surface such as a carpet, the fall prevention member 24 is less likely to be taken off, so that it is possible to prevent a decrease in driving time, an unintended stop, and a fall. Further, as shown in FIG. 16, when the vehicle body 10A is tilted due to an unexpected impact, the fall prevention member 24 suspended at a position protruding outside the vehicle body 10A touches the road surface. Therefore, the fall prevention member 24 can sufficiently receive the rotational moment when the vehicle body 10A is about to fall, and the posture of the vehicle body 10A can be restored to the posture during normal traveling.
  • the vehicle body 10A having a plurality of wheels 11 and the fall prevention member 24 suspended at a position protruding outside the vehicle body 10A are provided, and the fall prevention member 24 is provided. It is provided at a height at which the vehicle body 10A does not touch the road surface during normal traveling but touches the road surface when the vehicle body 10A tilts. According to this configuration, a traveling unit 3 capable of preventing the vehicle body 10A from tipping over without interfering with normal traveling can be obtained. Further, according to the article display robot 1 provided with the traveling unit 3, even an article displaying robot 1 provided with a stage unit 2 and having a high center of gravity can prevent a fall without hindering normal traveling.
  • the fall prevention member 24 includes a height adjusting mechanism 110 that adjusts the height with respect to the road surface. According to this configuration, the distance D between the fall prevention member 24 and the road surface can be adjusted according to the condition of the road surface.
  • the fall prevention member 24 includes a ball 24A (spherical portion) that comes into contact with the road surface when the vehicle body 10A is tilted.
  • a ball 24A sinosphere
  • the fall prevention member 24 becomes slippery along the road surface.
  • the driving of the wheels 11 is less likely to be hindered, and the vehicle body 10A can be prevented from tipping over.
  • a hemispherical object may be fixed to the lower end of the fall prevention member 24 instead of the ball 24A.
  • the fall prevention member 24 includes a ball 24A forming a spherical portion and a holder 24B for rotatably supporting the ball 24A. According to the configuration having the ball casters as in the present embodiment, it is possible to suppress the change in the ground contact position of the fall prevention member 24 as compared with the configuration having the eccentric wheel type casters. Therefore, it is possible to effectively prevent the vehicle body 10A from tipping over.
  • the cover front cover 12a and rear cover 12b surrounding the vehicle body 10A is provided, and the fall prevention member 24 is arranged in the gaps S1 and S2 between the cover and the vehicle body 10A.
  • the fall prevention member 24 can be arranged by utilizing the dead space located inside the annular cover surrounding the vehicle body 10A.
  • the shape of the cover is not limited to an annular shape as long as the fall prevention member 24 can be arranged by utilizing the dead space between the vehicle body 10A and the cover, and the shape can be appropriately changed.
  • the vehicle body 10A has a length in the front-rear direction longer than the length in the left-right direction, and the fall prevention member 24 is suspended at a position protruding in the left-right direction at an intermediate position in the front-rear direction of the vehicle body 10A. It has been lowered. According to this configuration, the fall prevention member 24 can prevent the vehicle body 10A from falling (rolling over) in the left-right direction, which is particularly likely to occur.
  • the wheel 11 is a Mecanum wheel.
  • the Mecanum wheel has more stable running than the omni wheel that can move in all directions, so that even a tall robot such as the article display robot 1 can run stably. It will be possible.
  • the frame structure 20 mounted on the vehicle body 10A and supporting the stage unit 2 (object) is provided. According to this configuration, even when a tall object such as the stage unit 2 is supported, the fall prevention member 24 can prevent the vehicle body 10A from falling without hindering normal running.

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  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Toys (AREA)

Abstract

This travel unit comprises a vehicle body and a fall prevention member. The vehicle body is provided with a plurality of wheels. The fall prevention member is suspended at a position extending outwards of the vehicle body. The fall prevention member is arranged at such a height that said member does not contact a road surface during normal travel of the vehicle body and contacts a road surface when the vehicle body is tilted.

Description

走行ユニット、物品展示ロボットTraveling unit, article display robot
　本発明は、走行ユニット、物品展示ロボットに関する。
　本願は、２０２０年９月３日に、日本に出願された特願２０２０－１４８１４５号に基づき優先権を主張し、その内容をここに援用する。 The present invention relates to a traveling unit and an article display robot.
This application claims priority based on Japanese Patent Application No. 2020-148145 filed in Japan on September 3, 2020, the contents of which are incorporated herein by reference.
　従来、走行ユニットとして、例えば、下記特許文献１に記載された走行体の移動装置が知られている。この移動装置は、走行用車輪を介して前後進切換可能で、かつ進路変更可能なロボット本体であって、該ロボット本体の底部にはボールキャスタが設けられている。走行方向において、ボールキャスタの位置と、走行用車輪の位置とは、ずれている。ボールキャスタの側方には、走行面から所定寸法上方に位置し、かつ走行方向へ所定寸法突出させた一対の補助車輪が設けられる。一対の補助車輪は、前後に並べられている。該補助車輪が先行して走行面の段差に乗り上げることで、ボールキャスタの軸受ケースが段差に衝突することなく、段差を踏破できる。 Conventionally, as a traveling unit, for example, a traveling body moving device described in Patent Document 1 below is known. This moving device is a robot body that can be switched forward and backward via traveling wheels and can change course, and a ball caster is provided at the bottom of the robot body. In the traveling direction, the position of the ball caster and the position of the traveling wheel are out of alignment. On the side of the ball caster, a pair of auxiliary wheels located above the traveling surface by a predetermined dimension and protruding by a predetermined dimension in the traveling direction are provided. The pair of auxiliary wheels are lined up front and back. By riding the auxiliary wheel on the step on the traveling surface in advance, the bearing case of the ball caster can traverse the step without colliding with the step.
日本国特開２００４－３４９２４号公報Japanese Patent Application Laid-Open No. 2004-34924
　ところで、上記移動装置は、ロボット本体を搭載して車体の重心が高くなっていることから、水平方向の揺れに弱く、場合によっては転倒してしまう可能性があった。その対策として、上記ボールキャスタのような補助輪を設け、走行面に接地させることが検討される。しかしながら、車体の動作により重心が補助輪へ偏ると、駆動輪の空転が発生しやすくなる。また、車体が絨毯などやわらかい路面上を移動する場合、路面に補助輪が沈み込み回転が妨げられる可能性があった。この場合、電力増加による車体の駆動時間低下、意図しない停止や転倒につながる可能性があった。 By the way, since the above-mentioned mobile device is equipped with a robot body and the center of gravity of the vehicle body is high, it is vulnerable to horizontal shaking, and in some cases, it may fall over. As a countermeasure, it is considered to provide an auxiliary wheel such as the ball caster and bring it into contact with the traveling surface. However, if the center of gravity is biased toward the training wheels due to the movement of the vehicle body, the drive wheels are likely to slip. In addition, when the vehicle body moves on a soft road surface such as a carpet, the training wheels may sink into the road surface and the rotation may be hindered. In this case, there is a possibility that the driving time of the vehicle body may be shortened due to the increase in electric power, which may lead to an unintended stop or a fall.
　本発明は、上記課題に鑑みてなされ、通常走行を妨げることなく車体の転倒を防止できる走行ユニット、物品展示ロボットの提供を目的とする。 The present invention has been made in view of the above problems, and an object of the present invention is to provide a traveling unit and an article display robot capable of preventing the vehicle body from tipping over without interfering with normal traveling.
　上記の課題を解決するために、本発明の一態様に係る走行ユニットは、複数の車輪を備える車体と、前記車体の外側に突き出た位置において吊り下げられた転倒防止部材と、を備え、前記転倒防止部材は、前記車体の通常走行時には路面に接地せず、前記車体が傾いたときに路面に接地する高さに設けられている。 In order to solve the above problems, the traveling unit according to one aspect of the present invention includes a vehicle body provided with a plurality of wheels and a fall prevention member suspended at a position protruding outside the vehicle body. The fall prevention member is provided at a height at which the vehicle body does not touch the road surface during normal traveling but touches the road surface when the vehicle body tilts.
　上記の課題を解決するために、本発明の一態様に係る物品展示ロボットは、先に記載の走行ユニットと、前記走行ユニットに支持され、物品を展示するステージユニットと、を備える。 In order to solve the above problems, the article display robot according to one aspect of the present invention includes the traveling unit described above and a stage unit supported by the traveling unit to display articles.
　本発明の上記態様によれば、通常走行を妨げることなく車体の転倒を防止できる。 According to the above aspect of the present invention, it is possible to prevent the vehicle body from tipping over without interfering with normal running.
本発明の実施形態における物品展示ロボットの正面側を示す斜視図である。It is a perspective view which shows the front side of the article display robot in embodiment of this invention. 本発明の実施形態における物品展示ロボットの背面側を示す斜視図である。It is a perspective view which shows the back side of the article display robot in embodiment of this invention. 本発明の実施形態におけるステージユニットの保護カバーが開いた状態を示す斜視図である。It is a perspective view which shows the state which the protective cover of the stage unit in embodiment of this invention is opened. 本発明の実施形態における物品展示ロボットの分解斜視図である。It is an exploded perspective view of the article display robot in embodiment of this invention. 本発明の実施形態における物品展示ロボットの正面図である。It is a front view of the article display robot in embodiment of this invention. 本発明の実施形態における物品展示ロボットの側面図である。It is a side view of the article display robot in embodiment of this invention. 図６に示すＡ－Ａ線に沿う断面矢視図である。FIG. 6 is a cross-sectional arrow view taken along the line AA shown in FIG. 図６に示すＢ－Ｂ線に沿う断面矢視図である。FIG. 6 is a cross-sectional arrow view taken along the line BB shown in FIG. 本発明の実施形態における物品展示ロボットの底面図である。It is a bottom view of the article display robot in embodiment of this invention. 本発明の実施形態における物品展示ロボットの物品展示例を示す斜視図である。It is a perspective view which shows the article display example of the article display robot in embodiment of this invention. 本発明の実施形態における物品展示ロボットの他の物品展示例を示す正面図である。It is a front view which shows the other article display example of the article display robot in embodiment of this invention. 本発明の実施形態における走行ユニットの正面側を示す斜視図である。It is a perspective view which shows the front side of the traveling unit in embodiment of this invention. 図９に示すＣ－Ｃ線に沿う断面矢視図である。FIG. 9 is a cross-sectional arrow view taken along the line CC shown in FIG. 本発明の実施形態におけるフロントバンパーの平面図である。It is a top view of the front bumper in embodiment of this invention. 図９に示すＤ－Ｄ線に沿う断面矢視図である。9 is a cross-sectional view taken along the line DD shown in FIG. 本発明の実施形態における転倒防止部材の作用を説明する図である。It is a figure explaining the operation of the fall prevention member in embodiment of this invention.
　以下、本発明の実施形態について図面を参照して説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
　図１は、本発明の実施形態における物品展示ロボット１の正面側を示す斜視図である。図２は、本発明の実施形態における物品展示ロボット１の背面側を示す斜視図である。
　図１及び図２に示すように、物品展示ロボット１は、ステージユニット２と、ステージユニット２を搭載し走行する走行ユニット３と、を備えている。ステージユニット２は、物品を配置するステージ４と、ステージ４の背景に映像を表示する映像表示装置５と、を備えている。 FIG. 1 is a perspective view showing the front side of the article display robot 1 according to the embodiment of the present invention. FIG. 2 is a perspective view showing the back side of the article display robot 1 according to the embodiment of the present invention.
As shown in FIGS. 1 and 2, the article display robot 1 includes a stage unit 2 and a traveling unit 3 on which the stage unit 2 is mounted and travels. The stage unit 2 includes a stage 4 for arranging articles and an image display device 5 for displaying an image on the background of the stage 4.
　ステージユニット２は、円柱状に形成されている。走行ユニット３は、円板状に形成されている。ステージユニット２と走行ユニット３の中心軸Ｏは、一致している。以下の説明において、中心軸Ｏを基準に各部材の位置関係について説明することがある。なお、中心軸Ｏが延びる方向を上下方向Ｚと言う。上下方向Ｚに沿って、走行ユニット３からステージユニット２に向かう方向を上方（＋Ｚ方向）と言う。上方とは反対の方向を下方（－Ｚ方向）と言う。また、中心軸Ｏと直交する方向であって、ステージユニット２のステージカバー６０（後述）が開口している方向を前方（＋Ｘ方向）と言う。前方とは反対の方向を後方（－Ｘ方向）という。前方と後方とを合わせて、前後方向Ｘと言う。上下方向Ｚ及び前後方向Ｘのそれぞれと直交する方向を左右方向Ｙ（＋Ｙ方向、－Ｙ方向）と言う。また、中心軸Ｏを周回する方向を周方向と言う。 The stage unit 2 is formed in a columnar shape. The traveling unit 3 is formed in a disk shape. The central axes O of the stage unit 2 and the traveling unit 3 coincide with each other. In the following description, the positional relationship of each member may be described with reference to the central axis O. The direction in which the central axis O extends is referred to as the vertical direction Z. The direction from the traveling unit 3 toward the stage unit 2 along the vertical direction Z is referred to as an upward direction (+ Z direction). The direction opposite to the upper direction is called the lower direction (-Z direction). Further, a direction orthogonal to the central axis O and in which the stage cover 60 (described later) of the stage unit 2 is open is referred to as a forward direction (+ X direction). The direction opposite to the front is called the rear (-X direction). The front and back are collectively referred to as the front-back direction X. The direction orthogonal to each of the vertical direction Z and the front-back direction X is referred to as a left-right direction Y (+ Y direction, −Y direction). Further, the direction around the central axis O is called the circumferential direction.
　図３は、本発明の実施形態におけるステージユニット２の保護カバー６が開いた状態を示す斜視図である。図４は、本発明の実施形態における物品展示ロボット１の分解斜視図である。
　図４に示すように、走行ユニット３は、全方向移動車両１０と、全方向移動車両１０に搭載されたフレーム構造体２０と、を備えている。 FIG. 3 is a perspective view showing a state in which the protective cover 6 of the stage unit 2 according to the embodiment of the present invention is opened. FIG. 4 is an exploded perspective view of the article display robot 1 according to the embodiment of the present invention.
As shown in FIG. 4, the traveling unit 3 includes an omnidirectional moving vehicle 10 and a frame structure 20 mounted on the omnidirectional moving vehicle 10.
　ステージユニット２は、下から順に、底部ユニット３０、逆円錐状カバー４０、中間ユニット５０、ステージカバー６０、及び、頂部キャップ９０を備えている。頂部キャップ９０には、ステージカバー６０を囲う保護カバー６が取り付けられている。また、底部ユニット３０と中間ユニット５０との間には、逆円錐状カバー４０を囲う保護カバー７が取り付けられている。保護カバー６，７は、いずれも透明な円筒体である。 The stage unit 2 includes a bottom unit 30, an inverted conical cover 40, an intermediate unit 50, a stage cover 60, and a top cap 90 in this order from the bottom. A protective cover 6 surrounding the stage cover 60 is attached to the top cap 90. Further, a protective cover 7 surrounding the inverted conical cover 40 is attached between the bottom unit 30 and the intermediate unit 50. The protective covers 6 and 7 are all transparent cylinders.
　頂部キャップ９０は、昇降機構７０に支持されている。昇降機構７０は、頂部キャップ９０及び保護カバー６を、ステージカバー６０に対して昇降させる。図１に示す閉塞状態では、保護カバー６が、ステージカバー６０に形成された開口部６１を閉塞し、ステージ４へのアクセスが不能となっている。また、図３に示す開放状態では、保護カバー６がステージカバー６０の開口部６１を開放し、ステージ４へのアクセスが可能となっている。 The top cap 90 is supported by the elevating mechanism 70. The elevating mechanism 70 raises and lowers the top cap 90 and the protective cover 6 with respect to the stage cover 60. In the closed state shown in FIG. 1, the protective cover 6 closes the opening 61 formed in the stage cover 60, and access to the stage 4 becomes impossible. Further, in the open state shown in FIG. 3, the protective cover 6 opens the opening 61 of the stage cover 60, and access to the stage 4 is possible.
　図５は、本発明の実施形態における物品展示ロボット１の正面図である。図６は、本発明の実施形態における物品展示ロボット１の側面図である。図７は、図６に示すＡ－Ａ線に沿う断面矢視図である。図８は、図６に示すＢ－Ｂ線に沿う断面矢視図である。図９は、本発明の実施形態における物品展示ロボット１の底面図である。
　図９に示す全方向移動車両１０は、２つの前輪および２つの後輪を含む計４つの車輪１１を備えている。これら４つの車輪１１は、メカナムホイールである。 FIG. 5 is a front view of the article display robot 1 according to the embodiment of the present invention. FIG. 6 is a side view of the article display robot 1 according to the embodiment of the present invention. FIG. 7 is a cross-sectional arrow view taken along the line AA shown in FIG. FIG. 8 is a cross-sectional arrow view taken along the line BB shown in FIG. FIG. 9 is a bottom view of the article display robot 1 according to the embodiment of the present invention.
The omnidirectional moving vehicle 10 shown in FIG. 9 includes a total of four wheels 11 including two front wheels and two rear wheels. These four wheels 11 are Mecanum wheels.
　全方向移動車両１０は、当該４つの車輪１１を所定のパターンで駆動させることにより、全方向に移動する。全方向移動車両１０の前方には、フロントバンパー１２Ａが設けられている。フロントバンパー１２Ａには、円弧状のフロントカバー１２ａが取り付けられている。フロントカバー１２ａには、開閉扉１２ａ１が設けられている。開閉扉１２ａ１を開くことで、全方向移動車両１０の側面に挿入されたバッテリー１４にアクセスすることができる。 The omnidirectional moving vehicle 10 moves in all directions by driving the four wheels 11 in a predetermined pattern. A front bumper 12A is provided in front of the omnidirectional moving vehicle 10. An arcuate front cover 12a is attached to the front bumper 12A. The front cover 12a is provided with an opening / closing door 12a1. By opening the opening / closing door 12a1, the battery 14 inserted in the side surface of the omnidirectional moving vehicle 10 can be accessed.
　全方向移動車両１０の後方には、リアバンパー１２Ｂが設けられている。リアバンパー１２Ｂには、円弧状のリアカバー１２ｂが取り付けられている。リアカバー１２ｂにも、開閉扉１２ｂ１が設けられている。開閉扉１２ｂ１を開くことで、全方向移動車両１０の側面に挿入されたバッテリー１４にアクセスすることができる。つまり、全方向移動車両１０の側面には、２本のバッテリー１４が挿入されている。フロントカバー１２ａ及びリアカバー１２ｂは、円環状のカバーを形成し、全方向移動車両１０の全周を囲っている。 A rear bumper 12B is provided behind the omnidirectional moving vehicle 10. An arcuate rear cover 12b is attached to the rear bumper 12B. The rear cover 12b is also provided with an opening / closing door 12b1. By opening the opening / closing door 12b1, the battery 14 inserted in the side surface of the omnidirectional moving vehicle 10 can be accessed. That is, two batteries 14 are inserted on the side surface of the omnidirectional moving vehicle 10. The front cover 12a and the rear cover 12b form an annular cover and surround the entire circumference of the omnidirectional moving vehicle 10.
　フロントカバー１２ａとリアカバー１２ｂとの間には、僅かに隙間が形成され、図示しない障害物と衝突した場合に、フロントバンパー１２Ａ及びリアバンパー１２Ｂが個別に変位できるようになっている。フロントバンパー１２Ａ及びリアバンパー１２Ｂの変位は、それぞれ図示しないセンサによって計測される。全方向移動車両１０は、当該センサの計測結果に基づいて、衝突が前側（フロントカバー１２ａ側）で生じたのか、後側（リアカバー１２ｂ側）で生じたのかを判断し、必要に応じて停止する。 A slight gap is formed between the front cover 12a and the rear cover 12b so that the front bumper 12A and the rear bumper 12B can be individually displaced in the event of a collision with an obstacle (not shown). The displacements of the front bumper 12A and the rear bumper 12B are measured by sensors (not shown). The omnidirectional moving vehicle 10 determines whether the collision occurred on the front side (front cover 12a side) or the rear side (rear cover 12b side) based on the measurement result of the sensor, and stopped as necessary. do.
　図４に戻り、全方向移動車両１０の前方には、レーザーセンサ１３Ａが搭載されている。レーザーセンサ１３Ａは、フロントカバー１２ａと底部ユニット３０との隙間Ｓ（図５参照）から少なくとも前方１８０°（本実施形態では前方２７０°）にレーザーを照射し、障害物とレーザーセンサ１３Ａとの間の距離を計測する。 Returning to FIG. 4, a laser sensor 13A is mounted in front of the omnidirectional moving vehicle 10. The laser sensor 13A irradiates a laser at least 180 ° forward (270 ° forward in this embodiment) from the gap S (see FIG. 5) between the front cover 12a and the bottom unit 30, and is between the obstacle and the laser sensor 13A. Measure the distance of.
　また、図４に示すように、全方向移動車両１０の後方にも、レーザーセンサ１３Ｂが搭載されている。レーザーセンサ１３Ｂも、フロント側と同様に、リアカバー１２ｂと底部ユニット３０との隙間から少なくとも後方１８０°（本実施形態では後方２７０°）にレーザーを照射し、障害物とレーザーセンサ１３Ｂとの間の距離を計測する。これらレーザーセンサ１３Ａ，１３Ｂによる距離計測によって、物品展示ロボット１と障害物との衝突を未然に防ぐことができる。 Further, as shown in FIG. 4, a laser sensor 13B is also mounted behind the omnidirectional moving vehicle 10. Similar to the front side, the laser sensor 13B also irradiates the laser at least 180 ° rearward (270 ° rearward in this embodiment) from the gap between the rear cover 12b and the bottom unit 30, and between the obstacle and the laser sensor 13B. Measure the distance. By measuring the distance with these laser sensors 13A and 13B, it is possible to prevent the article display robot 1 from colliding with an obstacle.
　フレーム構造体２０は、図４及び図８に示すように、全方向移動車両１０に搭載され左右に延びる横フレーム２１と、横フレーム２１から上方に延びる一対の縦フレーム２２と、を備えている。なお、フレーム構造体２０を構成する各フレームの周面には、断面略Ｔ字状の溝部（所謂Ｔスロット）が長手方向に延びるように形成されている。これにより、当該溝部に挿入したボルト・ナットや、断面視略三角形の補助フレームを介して、任意の位置でフレームと他のフレームとを連結できる。 As shown in FIGS. 4 and 8, the frame structure 20 includes a horizontal frame 21 mounted on the omnidirectional moving vehicle 10 and extending left and right, and a pair of vertical frames 22 extending upward from the horizontal frame 21. .. A groove portion having a substantially T-shaped cross section (so-called T slot) is formed on the peripheral surface of each frame constituting the frame structure 20 so as to extend in the longitudinal direction. As a result, the frame and other frames can be connected at any position via the bolts and nuts inserted into the groove and the auxiliary frame having a substantially triangular cross-sectional view.
　一対の縦フレーム２２の上端部付近には、逆円錐状カバー４０の上端部を固定するアングルプレート２３が取り付けられている。また、全方向移動車両１０から左右方向に延出した横フレーム（支持部材）２１の両端部には、転倒防止部材２４が垂設されている。転倒防止部材２４は、図８に示すように、通常時には接地しておらず、物品展示ロボット１が傾いたときに接地し、物品展示ロボット１の転倒を防止する。なお、横フレーム２１は、図８に示す固定フレーム２５を介して、全方向移動車両１０に固定されている。 An angle plate 23 for fixing the upper end of the inverted conical cover 40 is attached near the upper end of the pair of vertical frames 22. Further, fall prevention members 24 are vertically installed at both ends of a horizontal frame (support member) 21 extending in the left-right direction from the omnidirectional moving vehicle 10. As shown in FIG. 8, the fall prevention member 24 is not normally grounded, but is grounded when the article display robot 1 is tilted to prevent the article display robot 1 from tipping over. The horizontal frame 21 is fixed to the omnidirectional moving vehicle 10 via the fixed frame 25 shown in FIG.
　図４及び図８に示すように、底部ユニット３０は、横フレーム２１に支持・固定されている。底部ユニット３０は、有頂筒状に形成され、その中央には、一対の縦フレーム２２が通過する開口部３１が形成されている。底部ユニット３０の上面の外周縁には、保護カバー７の下端が係合する環状溝３２が形成されている。また、底部ユニット３０の上面の外周縁には、リング照明３３が設けられている。リング照明３３は、環状溝３２よりも径方向内側に配置されている。 As shown in FIGS. 4 and 8, the bottom unit 30 is supported and fixed to the horizontal frame 21. The bottom unit 30 is formed in the shape of an eclipse cylinder, and an opening 31 through which a pair of vertical frames 22 pass is formed in the center thereof. An annular groove 32 with which the lower end of the protective cover 7 engages is formed on the outer peripheral edge of the upper surface of the bottom unit 30. Further, a ring illumination 33 is provided on the outer peripheral edge of the upper surface of the bottom unit 30. The ring illumination 33 is arranged radially inside the annular groove 32.
　リング照明３３は、環状に配置された複数のＬＥＤ光源と、複数のＬＥＤ光源を覆う光拡散カバーと、を備えている。複数のＬＥＤ光源は、後述する映像表示装置５の映像に合わせて、光拡散カバーを様々な色に発光させることができる。図８に示すように、底部ユニット３０の下面には、横フレーム２１に接続される接続フレーム３４が取り付けられている。 The ring illumination 33 includes a plurality of LED light sources arranged in a ring shape and a light diffusion cover that covers the plurality of LED light sources. The plurality of LED light sources can make the light diffusion cover emit light in various colors according to the image of the image display device 5 described later. As shown in FIG. 8, a connection frame 34 connected to the horizontal frame 21 is attached to the lower surface of the bottom unit 30.
　図４に示すように、逆円錐状カバー４０は、逆円錐状の中空体であり、下端部から上端部に向かう方向において径方向の寸法が徐々に大きくなっている。逆円錐状カバー４０の下端部は、底部ユニット３０の開口部３１に嵌合する嵌合部４１を備えている。また、逆円錐状カバー４０の上端部は、環状に広がるフランジ部４２を備えている。フランジ部４２には、フレーム構造体２０のアングルプレート２３を固定する固定孔４３が形成されている。 As shown in FIG. 4, the inverted conical cover 40 is an inverted conical hollow body, and its radial dimension gradually increases in the direction from the lower end to the upper end. The lower end of the inverted conical cover 40 includes a fitting portion 41 that fits into the opening 31 of the bottom unit 30. Further, the upper end portion of the inverted conical cover 40 is provided with a flange portion 42 extending in an annular shape. A fixing hole 43 for fixing the angle plate 23 of the frame structure 20 is formed in the flange portion 42.
　中間ユニット５０は、一対の縦フレーム２２の上端部に支持・固定されている。中間ユニット５０は、有頂筒状に形成され、中間ユニット５０の周面の正面側には、図１及び図４に示すように、カメラ５１及びスピーカー５２が設けられている。カメラ５１は、対象者とカメラ５１との間の距離を計測できる３Ｄカメラであり、物品展示ロボット１の周囲にどれくらい多くの人がいるかなども計測することができる。 The intermediate unit 50 is supported and fixed to the upper ends of the pair of vertical frames 22. The intermediate unit 50 is formed in a climax cylinder shape, and a camera 51 and a speaker 52 are provided on the front side of the peripheral surface of the intermediate unit 50 as shown in FIGS. 1 and 4. The camera 51 is a 3D camera that can measure the distance between the target person and the camera 51, and can also measure how many people are around the article display robot 1.
　また、物品展示ロボット１は、カメラ５１の撮影画像を解析して、対象者を顔認識し、対象者に近づいたり、対象者に合わせて向きを変えたりすることができる。スピーカー５２は、映像表示装置５の映像に合わせて音を流したり、また、音声で対象者に物品の説明などをしたりすることができる。中間ユニット５０の周面の背面側には、図２に示すように、非常停止スイッチ５７及び動作開始スイッチ５８が設けられている。 Further, the article display robot 1 can analyze the captured image of the camera 51 to recognize the target person's face, approach the target person, and change the direction according to the target person. The speaker 52 can play a sound in accordance with the image of the image display device 5, and can explain the article to the target person by voice. As shown in FIG. 2, an emergency stop switch 57 and an operation start switch 58 are provided on the back surface side of the peripheral surface of the intermediate unit 50.
　図４に示すように、中間ユニット５０の上面には、フレーム構造体２０の一対の縦フレーム２２を固定する固定孔５３が形成されている。また、中間ユニット５０の上面には、昇降機構７０が挿通して配置される挿通孔５４が形成されている。また、中間ユニット５０の上面には、映像表示装置５の配線などを通す配線孔５５が形成されている。さらに、中間ユニット５０の上面の外周縁には、保護カバー６の下端が係合する環状溝５６が形成されている。 As shown in FIG. 4, a fixing hole 53 for fixing the pair of vertical frames 22 of the frame structure 20 is formed on the upper surface of the intermediate unit 50. Further, an insertion hole 54 through which the elevating mechanism 70 is inserted is formed on the upper surface of the intermediate unit 50. Further, a wiring hole 55 through which the wiring of the image display device 5 or the like is passed is formed on the upper surface of the intermediate unit 50. Further, an annular groove 56 with which the lower end of the protective cover 6 is engaged is formed on the outer peripheral edge of the upper surface of the intermediate unit 50.
　このような中間ユニット５０の上面には、物品を配置する円板状のステージ４が設置されている。ステージ４の周囲は、有頂筒状のステージカバー６０によって覆われている。本実施形態のステージ４は、ステージカバー６０と一体に形成されている。ステージカバー６０の周面には、ステージ４に配置された物品を正面から視るための開口部６１が形成されている。開口部６１は、図５に示すように、正面視で上下方向に延びる略楕円状に形成されている。 A disk-shaped stage 4 on which articles are placed is installed on the upper surface of such an intermediate unit 50. The periphery of the stage 4 is covered with a climax cylindrical stage cover 60. The stage 4 of the present embodiment is integrally formed with the stage cover 60. An opening 61 for viewing the article arranged on the stage 4 from the front is formed on the peripheral surface of the stage cover 60. As shown in FIG. 5, the opening 61 is formed in a substantially elliptical shape extending in the vertical direction when viewed from the front.
　ステージカバー６０の内壁面のうち開口部６１と対向する部分には、映像表示装置５が支持されている。本実施形態の映像表示装置５は、プロペラディスプレイであり、ステージ４の背景にホログラムを形成することができる。ステージカバー６０の内壁面は、黒色とされている。これにより、映像表示装置５のホログラムとステージカバー６０の内壁面との間のコントラストを際立たせ、宙に浮いたような映像を作り出すことができる。なお、映像表示装置５は、液晶ディスプレイや有機ＥＬディスプレイなどであっても構わない。 The image display device 5 is supported on the portion of the inner wall surface of the stage cover 60 facing the opening 61. The image display device 5 of the present embodiment is a propeller display, and a hologram can be formed on the background of the stage 4. The inner wall surface of the stage cover 60 is black. As a result, the contrast between the hologram of the image display device 5 and the inner wall surface of the stage cover 60 can be emphasized, and an image as if floating in the air can be created. The video display device 5 may be a liquid crystal display, an organic EL display, or the like.
　図４及び図７に示すように、昇降機構７０は、中間ユニット５０及びステージカバー６０に固定される固定部７１と、固定部７１に対して昇降する昇降部７２と、を備えている。昇降部７２は、一対の伸縮シャフト７３に支持されている。一対の伸縮シャフト７３は、図４に示すように、中間ユニット５０に形成された挿通孔５４、ステージ４に形成された挿通孔４ａ、及び、ステージカバー６０の上面に形成された挿通孔６２を挿通して配置されている。 As shown in FIGS. 4 and 7, the elevating mechanism 70 includes a fixing portion 71 fixed to the intermediate unit 50 and the stage cover 60, and an elevating portion 72 that moves up and down with respect to the fixing portion 71. The elevating portion 72 is supported by a pair of telescopic shafts 73. As shown in FIG. 4, the pair of telescopic shafts 73 have an insertion hole 54 formed in the intermediate unit 50, an insertion hole 4a formed in the stage 4, and an insertion hole 62 formed on the upper surface of the stage cover 60. It is inserted and arranged.
　図７に示すように、伸縮シャフト７３のスリーブ７５（外筒）の下端部は、リング部材７４を介して、中間ユニット５０の下面側に固定されている。スリーブ７５の上端部には、直動案内装置７６としてフランジ付きリニアブッシュが取り付けられている。直動案内装置７６は、スリーブ７５の内側に配置されたリニアシャフト８０を転がり案内する。リニアシャフト８０の上端部は、昇降部７２に固定されている。 As shown in FIG. 7, the lower end of the sleeve 75 (outer cylinder) of the telescopic shaft 73 is fixed to the lower surface side of the intermediate unit 50 via the ring member 74. A linear bush with a flange is attached to the upper end of the sleeve 75 as a linear motion guide device 76. The linear motion guide device 76 rolls and guides the linear shaft 80 arranged inside the sleeve 75. The upper end of the linear shaft 80 is fixed to the elevating part 72.
　図４に示すように、昇降部７２は、連結プレート７８に重なって配置されている。連結プレート７８は、一対の伸縮シャフト７３（スリーブ７５）の間を接続している。連結プレート７８の下面側には、一対のチャンネルプレート７９が固定されている。一対のチャンネルプレート７９は、ステージカバー６０の上面に形成された固定孔６３に固定されている。 As shown in FIG. 4, the elevating portion 72 is arranged so as to overlap the connecting plate 78. The connecting plate 78 connects between the pair of telescopic shafts 73 (sleeve 75). A pair of channel plates 79 are fixed to the lower surface side of the connecting plate 78. The pair of channel plates 79 are fixed to the fixing holes 63 formed on the upper surface of the stage cover 60.
　頂部キャップ９０は、昇降部７２に支持・固定されている。頂部キャップ９０は、有頂筒状に形成されている。頂部キャップ９０の上面には、昇降部７２を固定する固定孔９１が形成されている。頂部キャップ９０の周壁の内側には、保護カバー６が取り付けられている。これにより、頂部キャップ９０及び保護カバー６は、図１に示す、ステージカバー６０の開口部６１を閉塞する閉塞位置と、図３に示す、開口部６１を開放する開放位置との間で昇降することができる。 The top cap 90 is supported and fixed to the elevating part 72. The top cap 90 is formed in the shape of a top cylinder. A fixing hole 91 for fixing the elevating portion 72 is formed on the upper surface of the top cap 90. A protective cover 6 is attached to the inside of the peripheral wall of the top cap 90. As a result, the top cap 90 and the protective cover 6 move up and down between the closed position for closing the opening 61 of the stage cover 60 shown in FIG. 1 and the open position for opening the opening 61 shown in FIG. be able to.
　図１０は、本発明の実施形態における物品展示ロボット１の物品展示例を示す斜視図である。
　図１０に示すように、物品展示ロボット１のステージ４には、台座１０１を介して物品１００が配置されている。ステージ４は、ある程度の高さに配置されており、一般成人が屈むことなく物品１００を視ることができる。 FIG. 10 is a perspective view showing an example of displaying an article of the article displaying robot 1 according to the embodiment of the present invention.
As shown in FIG. 10, an article 100 is arranged on the stage 4 of the article display robot 1 via a pedestal 101. The stage 4 is arranged at a certain height so that a general adult can see the article 100 without bending down.
　映像表示装置５（図１０において不図示）は、ステージ４の背景に、映像２００を表示している。図１０に示す例では、ステージ４の背景に、物品１００のバーチャル映像２０１と、物品１００の広告宣伝映像２０２と、が表示されている。バーチャル映像２０１は、物品１００をホログラムで拡大表示したものである。広告宣伝映像２０２は、物品１００の商品名や値段などを表示したものである。 The video display device 5 (not shown in FIG. 10) displays the video 200 on the background of the stage 4. In the example shown in FIG. 10, a virtual image 201 of the article 100 and an advertising image 202 of the article 100 are displayed in the background of the stage 4. The virtual image 201 is an enlarged display of the article 100 with a hologram. The advertising video 202 displays the product name, price, and the like of the article 100.
　例えば、バーチャル映像２０１が、物品１００を回転させる映像であれば、物品１００を実際に手に取ることなく、あらゆる角度から物品１００の形状を確かめることができる。さらに、手前の現実の物品１００を視れば実際の質感などが直ぐに分かる。このように、現実（リアル）の物品１００を配置するステージ４の背景に、仮想（バーチャル）の映像２００を表示することで、リアルとバーチャルとの複合的な広告宣伝効果が得られる。 For example, if the virtual image 201 is an image of rotating the article 100, the shape of the article 100 can be confirmed from all angles without actually picking up the article 100. Furthermore, if you look at the actual article 100 in the foreground, you can immediately see the actual texture and the like. In this way, by displaying the virtual image 200 on the background of the stage 4 in which the real article 100 is arranged, a combined advertising effect of real and virtual can be obtained.
　図１１は、本発明の実施形態における物品展示ロボット１の他の物品展示例を示す正面図である。
　図１１に示す例では、ステージ４の背景に、物品１００の装飾映像２０３が表示されている。なお、図１１に示す物品１００は、透明な台座１０１に支持されているが、細いワイヤーなどで吊下げられていても構わない。 FIG. 11 is a front view showing another article display example of the article display robot 1 according to the embodiment of the present invention.
In the example shown in FIG. 11, the decorative image 203 of the article 100 is displayed on the background of the stage 4. Although the article 100 shown in FIG. 11 is supported by the transparent pedestal 101, it may be hung by a thin wire or the like.
　物品１００は、正面視で、装飾映像２０３に重なって配置されている。このように、物品１００の背景として表示される装飾映像２０３を駆使することで、物品１００の強烈なイメージを打ち出すことが可能になる。そして、現実（リアル）の物品１００と、仮想（バーチャル）の映像２００を組み合わせることで、より深く対象者の興味・関心を引き付け、対象者の購買意欲などを刺激することができる。 The article 100 is arranged so as to overlap the decorative image 203 in front view. In this way, by making full use of the decorative image 203 displayed as the background of the article 100, it is possible to create a strong image of the article 100. Then, by combining the real article 100 and the virtual image 200, it is possible to deeply attract the interest and interest of the target person and stimulate the purchase motivation of the target person.
　続いて、上述した走行ユニット３の構成について、詳しく説明する。 Next, the configuration of the traveling unit 3 described above will be described in detail.
　図１２は、本発明の実施形態における走行ユニット３の正面側を示す斜視図である。図１３は、図９に示すＣ－Ｃ線に沿う断面矢視図である。図１４は、本発明の実施形態におけるフロントバンパー１２Ａの平面図である。図１５は、図９に示すＤ－Ｄ線に沿う断面矢視図である。図１６は、本発明の実施形態における転倒防止部材２４の作用を説明する図である。
　図１２に示すように、走行ユニット３は、４つの車輪１１を備える車体１０Ａを備えている。 FIG. 12 is a perspective view showing the front side of the traveling unit 3 according to the embodiment of the present invention. FIG. 13 is a cross-sectional arrow view taken along the line CC shown in FIG. FIG. 14 is a plan view of the front bumper 12A according to the embodiment of the present invention. FIG. 15 is a cross-sectional arrow view taken along the line DD shown in FIG. FIG. 16 is a diagram illustrating the operation of the fall prevention member 24 in the embodiment of the present invention.
As shown in FIG. 12, the traveling unit 3 includes a vehicle body 10A having four wheels 11.
　車体１０Ａは、上部が開口した平面視矩形の箱状に形成されている。車体１０Ａは、前後方向の長さが、左右方向の長さよりも長くなっている。車体１０Ａの外側面には、ホイールベース１１ａを介して４つの車輪１１が取り付けられている。車体１０Ａの内側面には、上述したフレーム構造体２０を車体１０Ａに連結する連結フレーム２６，２７，２８が、配置・固定されている。連結フレーム２６、２７、２８は、車体１０Ａの上部開口の内側に沿って枠状に配置・固定されている。 The vehicle body 10A is formed in the shape of a rectangular box in a plan view with an open upper part. The vehicle body 10A has a length in the front-rear direction longer than a length in the left-right direction. Four wheels 11 are attached to the outer surface of the vehicle body 10A via the wheelbase 11a. Connecting frames 26, 27, and 28 for connecting the above-mentioned frame structure 20 to the vehicle body 10A are arranged and fixed on the inner surface of the vehicle body 10A. The connecting frames 26, 27, and 28 are arranged and fixed in a frame shape along the inside of the upper opening of the vehicle body 10A.
　連結フレーム２６は、一対で設けられ、上述した固定フレーム２５の両端部に接続されている。一対の連結フレーム２６は、固定フレーム２５の両端部から前後方向に平行に延びている。一対の連結フレーム２６の両端部は、前後に配置された一対の連結フレーム２７に接続されている。本明細書では、一対の連結フレーム２７のうち、前方に配置された連結フレーム２７を第１連結フレーム２７Ａと言い、後方に配置された連結フレーム２７を第２連結フレーム２７Ｂと言う場合がある。第１連結フレーム２７Ａは、左右方向に延び、第１連結フレーム２７Ａの両端部が車体１０Ａ及び前輪のホイールベース１１ａにねじ止めされている。また、第２連結フレーム２７Ｂは、左右方向に平行に延びる連結フレーム２８と接続され、連結フレーム２８の両端部が車体１０Ａ及び後輪のホイールベース１１ａにねじ止めされている。 The connecting frames 26 are provided in pairs and are connected to both ends of the fixed frame 25 described above. The pair of connecting frames 26 extend in parallel in the front-rear direction from both ends of the fixed frame 25. Both ends of the pair of connecting frames 26 are connected to the pair of connecting frames 27 arranged in the front and rear. In the present specification, among the pair of connecting frames 27, the connecting frame 27 arranged in the front may be referred to as a first connecting frame 27A, and the connecting frame 27 arranged in the rear may be referred to as a second connecting frame 27B. The first connecting frame 27A extends in the left-right direction, and both ends of the first connecting frame 27A are screwed to the vehicle body 10A and the wheelbase 11a of the front wheels. Further, the second connecting frame 27B is connected to a connecting frame 28 extending in parallel in the left-right direction, and both ends of the connecting frame 28 are screwed to the vehicle body 10A and the wheelbase 11a of the rear wheels.
　図１２に示すように、車体１０Ａの前方には、上述したレーザーセンサ１３Ａなどを配置するフロントベース１０Ｂが設けられている。フロントベース１０Ｂには、上述したフロントバンパー１２Ａが変位自在に連結されている。フロントバンパー１２Ａは、図１３に示すように、ボールプレート１６を介して、前後左右を含む水平方向に変位自在にフロントベース１０Ｂに連結されている。また、フロントバンパー１２Ａは、バネ機構１７を介して、初期位置に戻るようにフロントベース１０Ｂに連結されている。 As shown in FIG. 12, a front base 10B on which the above-mentioned laser sensor 13A and the like are arranged is provided in front of the vehicle body 10A. The above-mentioned front bumper 12A is freely displaceably connected to the front base 10B. As shown in FIG. 13, the front bumper 12A is connected to the front base 10B via a ball plate 16 so as to be displaced in the horizontal direction including front, rear, left and right. Further, the front bumper 12A is connected to the front base 10B via a spring mechanism 17 so as to return to the initial position.
　フロントバンパー１２Ａは、図１４に示すように、第１水平部１２Ａ１、固定部１２Ａ２、垂直部１２Ａ３、第２水平部１２Ａ４、連結部１２Ａ５、及び、初期位置検出部１２Ａ６と、を備えている。第１水平部１２Ａ１には、上述したフロントカバー１２ａを位置決めする位置決め孔１２－１が形成されている。フロントカバー１２ａは、図１３に示すように、位置決め孔１２－１に挿入される位置決め突起１２ａ２を備えている。 As shown in FIG. 14, the front bumper 12A includes a first horizontal portion 12A1, a fixed portion 12A2, a vertical portion 12A3, a second horizontal portion 12A4, a connecting portion 12A5, and an initial position detecting portion 12A6. The first horizontal portion 12A1 is formed with a positioning hole 12-1 for positioning the front cover 12a described above. As shown in FIG. 13, the front cover 12a includes a positioning protrusion 12a2 to be inserted into the positioning hole 12-1.
　固定部１２Ａ２は、図１４に示すように、第１水平部１２Ａ１の前端縁に立設すると共に、左右方向に間隔をあけて一対で設けられている。固定部１２Ａ２には、フロントカバー１２ａを固定する固定孔１２－２が形成されている。垂直部１２Ａ３は、第１水平部１２Ａ１の後端縁から下方に垂設されている。垂直部１２Ａ３には、上述したバネ機構１７が接続される。 As shown in FIG. 14, the fixing portions 12A2 are erected on the front end edge of the first horizontal portion 12A1 and are provided in pairs at intervals in the left-right direction. The fixing portion 12A2 is formed with a fixing hole 12-2 for fixing the front cover 12a. The vertical portion 12A3 is vertically provided downward from the trailing end edge of the first horizontal portion 12A1. The above-mentioned spring mechanism 17 is connected to the vertical portion 12A3.
　第２水平部１２Ａ４は、垂直部１２Ａ３の下端から後方に延在している。連結部１２Ａ５は、第２水平部１２Ａ４の後端縁に、左右方向に間隔をあけて一対で設けられている。連結部１２Ａ５には、上述したボールプレート１６を連結する連結孔１２－３が形成されている。初期位置検出部１２Ａ６は、第２水平部１２Ａ４の後端縁に設けられると共に、一対の連結部１２Ａ５の間に配置されている。初期位置検出部１２Ａ６は、検出片１２－４が設けられている。検出片１２－４は、図１３に示すように、逆さＬ字状に形成されており、上下方向において光学センサ１５と対向している。 The second horizontal portion 12A4 extends rearward from the lower end of the vertical portion 12A3. The connecting portions 12A5 are provided on the trailing edge of the second horizontal portion 12A4 in pairs at intervals in the left-right direction. The connecting portion 12A5 is formed with a connecting hole 12-3 for connecting the ball plate 16 described above. The initial position detecting portion 12A6 is provided at the trailing end edge of the second horizontal portion 12A4 and is arranged between the pair of connecting portions 12A5. The initial position detection unit 12A6 is provided with a detection piece 12-4. As shown in FIG. 13, the detection pieces 12-4 are formed in an inverted L shape and face the optical sensor 15 in the vertical direction.
　光学センサ１５は、下方に向かって検出光を投光している。フロントバンパー１２Ａが初期位置にある場合、光学センサ１５は、検出片１２－４で反射した反射光を受光する。この構成によれば、フロントバンパー１２Ａが初期位置から変位し、光学センサ１５が検出片１２－４からの反射光を受光しなくなった場合、若しくは、反射光の光量が減少した場合、衝突が前側（フロントカバー１２ａ側）で生じたと判断することができる。
　なお、説明は割愛するが、リアバンパー１２Ｂにおいても同様の構成となっている。 The optical sensor 15 projects the detection light downward. When the front bumper 12A is in the initial position, the optical sensor 15 receives the reflected light reflected by the detection piece 12-4. According to this configuration, when the front bumper 12A is displaced from the initial position and the optical sensor 15 no longer receives the reflected light from the detection piece 12-4, or when the amount of reflected light decreases, the collision occurs on the front side ( It can be determined that it occurred on the front cover 12a side).
Although the explanation is omitted, the rear bumper 12B has the same configuration.
　図１２に示すように、転倒防止部材２４は、車体１０Ａの外側に突き出た位置において、上述した横フレーム２１の両端部に吊り下げられている。また、転倒防止部材２４は、図９に示すように、車体１０Ａの前後方向の中間位置において、左右方向に突き出た位置に一対で吊り下げられている。これら一対の転倒防止部材２４は、車体１０Ａの周囲を囲うカバー（フロントカバー１２ａ及びリアカバー１２ｂ）と、車体１０Ａとの間の隙間Ｓ１，Ｓ２に配置されている。なお、隙間Ｓ２には、２本のバッテリー１４が、車体１０Ａに対して左右方向に挿抜可能に配置されている。隙間Ｓ２に配置された転倒防止部材２４は、２本のバッテリー１４を挿抜する２つの挿抜経路Ｌの間の隙間に配置される。これにより、転倒防止部材２４と２本のバッテリー１４との干渉が抑制される。 As shown in FIG. 12, the fall prevention member 24 is suspended from both ends of the above-mentioned horizontal frame 21 at a position protruding to the outside of the vehicle body 10A. Further, as shown in FIG. 9, the fall prevention member 24 is suspended in pairs at a position protruding in the left-right direction at an intermediate position in the front-rear direction of the vehicle body 10A. These pair of fall prevention members 24 are arranged in the gaps S1 and S2 between the cover (front cover 12a and rear cover 12b) surrounding the vehicle body 10A and the vehicle body 10A. In the gap S2, two batteries 14 are arranged so that they can be inserted and removed in the left-right direction with respect to the vehicle body 10A. The fall prevention member 24 arranged in the gap S2 is arranged in the gap between the two insertion / removal paths L for inserting / removing the two batteries 14. As a result, the interference between the fall prevention member 24 and the two batteries 14 is suppressed.
　図１５に示すように、転倒防止部材２４は、車輪１１が接地する路面（図１５において２点鎖線で示す）に対して距離Ｄをあけて配置されている。つまり、転倒防止部材２４は、車体１０Ａの通常走行時には路面に接地しておらず、図１６に示すように、車体１０Ａが傾いたときに路面に接地する高さに設けられている。距離Ｄは、路面の状態（例えば、床面の凹凸度、絨毯の毛足の長さ、砂利道の砂利の大きさなど）に応じて適宜調節することが好ましい。なお、転倒防止部材２４の高さは、物品展示ロボット１の重心Ｇが、転倒防止部材２４よりも水平方向における外側に移動する前に、路面と接地するように、調節されているとよい。 As shown in FIG. 15, the fall prevention member 24 is arranged with a distance D from the road surface on which the wheel 11 touches the ground (indicated by a two-dot chain line in FIG. 15). That is, the fall prevention member 24 is not in contact with the road surface during normal traveling of the vehicle body 10A, and is provided at a height at which the vehicle body 10A is in contact with the road surface when the vehicle body 10A is tilted, as shown in FIG. The distance D is preferably appropriately adjusted according to the condition of the road surface (for example, the unevenness of the floor surface, the length of the fluff of the carpet, the size of the gravel on the gravel road, etc.). The height of the fall prevention member 24 may be adjusted so that the center of gravity G of the article display robot 1 comes into contact with the road surface before moving outward in the horizontal direction from the fall prevention member 24.
　転倒防止部材２４は、所謂ボールキャスタであって、車体１０Ａが傾いたときに路面に接地するボール２４Ａと、ボール２４Ａを回転自在に支持するホルダー２４Ｂと、を備えている。ホルダー２４Ｂは、横フレーム２１から垂設された垂設フレーム２４Ｃの下端に支持されている。垂設フレーム２４Ｃは、上述したフレーム構造体２０の各フレームと同様に、フレームの周面に断面略Ｔ字状の溝部（所謂Ｔスロット）が長手方向に延びるように形成されている。垂設フレーム２４Ｃの中央には、長手方向に延びる貫通孔２４Ｃ１が形成されている。 The fall prevention member 24 is a so-called ball caster, and includes a ball 24A that comes into contact with the road surface when the vehicle body 10A is tilted, and a holder 24B that rotatably supports the ball 24A. The holder 24B is supported by the lower end of the hanging frame 24C suspended from the horizontal frame 21. Similar to each frame of the frame structure 20 described above, the vertical frame 24C is formed so that a groove portion having a substantially T-shaped cross section (so-called T slot) extends in the longitudinal direction on the peripheral surface of the frame. A through hole 24C1 extending in the longitudinal direction is formed in the center of the vertical frame 24C.
　転倒防止部材２４は、路面に対する高さを調節する高さ調節機構１１０を備えている。高さ調節機構１１０は、垂設フレーム２４Ｃの貫通孔２４Ｃ１に形成された雌ネジ部１１１と、ホルダー２４Ｂに接続され、雌ネジ部１１１に螺合する雄ネジ部１１２と、を備えている。雌ネジ部１１１に対する雄ネジ部１１２の螺入量を調節することにより、転倒防止部材２４の路面との間の距離Ｄを、路面の状態に合わせて調節することができる。 The fall prevention member 24 includes a height adjusting mechanism 110 that adjusts the height with respect to the road surface. The height adjusting mechanism 110 includes a female screw portion 111 formed in the through hole 24C1 of the vertical frame 24C, and a male screw portion 112 connected to the holder 24B and screwed into the female screw portion 111. By adjusting the screwing amount of the male screw portion 112 with respect to the female screw portion 111, the distance D between the fall prevention member 24 and the road surface can be adjusted according to the condition of the road surface.
　上記構成の走行ユニット３によれば、転倒防止部材２４が通常走行時には路面に接地しないため、車体１０Ａの重心が転倒防止部材２４に偏りにくくなり、車輪１１（駆動輪）の空転が発生し難くなる。また、車体１０Ａが絨毯などやわらかい路面上を移動する場合であっても、転倒防止部材２４が足を取られにくくなるので、駆動時間低下や、意図しない停止、転倒を防止することができる。さらに、図１６に示すように、想定外の衝撃で車体１０Ａが傾いた場合には、車体１０Ａの外側に突き出た位置において吊り下げられた転倒防止部材２４が路面に接地する。このため、車体１０Ａが転倒しようとする回転モーメントを転倒防止部材２４が十分に受けることができ、車体１０Ａの姿勢を通常走行時の姿勢に回復させることができる。 According to the traveling unit 3 having the above configuration, since the fall prevention member 24 does not touch the road surface during normal running, the center of gravity of the vehicle body 10A is less likely to be biased toward the fall prevention member 24, and the wheels 11 (driving wheels) are less likely to slip. Become. Further, even when the vehicle body 10A moves on a soft road surface such as a carpet, the fall prevention member 24 is less likely to be taken off, so that it is possible to prevent a decrease in driving time, an unintended stop, and a fall. Further, as shown in FIG. 16, when the vehicle body 10A is tilted due to an unexpected impact, the fall prevention member 24 suspended at a position protruding outside the vehicle body 10A touches the road surface. Therefore, the fall prevention member 24 can sufficiently receive the rotational moment when the vehicle body 10A is about to fall, and the posture of the vehicle body 10A can be restored to the posture during normal traveling.
　以上のように、本実施形態によれば、複数の車輪１１を備える車体１０Ａと、車体１０Ａの外側に突き出た位置において吊り下げられた転倒防止部材２４と、を備え、転倒防止部材２４は、車体１０Ａの通常走行時には路面に接地せず、車体１０Ａが傾いたときに路面に接地する高さに設けられている。この構成によれば、通常走行を妨げることなく車体１０Ａの転倒を防止できる走行ユニット３が得られる。また、この走行ユニット３を備える物品展示ロボット１によれば、ステージユニット２を備え、重心が高い物品展示ロボット１であっても通常走行を妨げることなく転倒を防止できる。 As described above, according to the present embodiment, the vehicle body 10A having a plurality of wheels 11 and the fall prevention member 24 suspended at a position protruding outside the vehicle body 10A are provided, and the fall prevention member 24 is provided. It is provided at a height at which the vehicle body 10A does not touch the road surface during normal traveling but touches the road surface when the vehicle body 10A tilts. According to this configuration, a traveling unit 3 capable of preventing the vehicle body 10A from tipping over without interfering with normal traveling can be obtained. Further, according to the article display robot 1 provided with the traveling unit 3, even an article displaying robot 1 provided with a stage unit 2 and having a high center of gravity can prevent a fall without hindering normal traveling.
　また、本実施形態では、転倒防止部材２４は、路面に対する高さを調節する高さ調節機構１１０を備える。この構成によれば、転倒防止部材２４の路面との間の距離Ｄを、路面の状態に合わせて調節することができる。 Further, in the present embodiment, the fall prevention member 24 includes a height adjusting mechanism 110 that adjusts the height with respect to the road surface. According to this configuration, the distance D between the fall prevention member 24 and the road surface can be adjusted according to the condition of the road surface.
　また、本実施形態では、転倒防止部材２４は、車体１０Ａが傾いたときに路面に接地するボール２４Ａ（球状部）を備える。この構成によれば、転倒防止部材２４が路面に接地した場合に、転倒防止部材２４が路面に沿って滑りやすくなる。これにより、車輪１１の駆動が妨げられにくくなり、車体１０Ａの転倒を防止できる。なお、転倒防止部材２４の下端部に滑りが生じる構成であれば、ボール２４Ａの代わりに半球状の物体（球状部）を転倒防止部材２４の下端部に固定する構成を採用してもよい。 Further, in the present embodiment, the fall prevention member 24 includes a ball 24A (spherical portion) that comes into contact with the road surface when the vehicle body 10A is tilted. According to this configuration, when the fall prevention member 24 touches the road surface, the fall prevention member 24 becomes slippery along the road surface. As a result, the driving of the wheels 11 is less likely to be hindered, and the vehicle body 10A can be prevented from tipping over. If the lower end of the fall prevention member 24 is slipped, a hemispherical object (spherical portion) may be fixed to the lower end of the fall prevention member 24 instead of the ball 24A.
　また、本実施形態では、転倒防止部材２４は、球状部を形成するボール２４Ａと、ボール２４Ａを回転自在に支持するホルダー２４Ｂと、を備える。本実施形態のようにボールキャスタを有する構成によれば、偏心車輪型のキャスタを有する構成に比べて、転倒防止部材２４の接地位置の変化を抑制できる。このため、車体１０Ａの転倒を効果的に防止することができる。 Further, in the present embodiment, the fall prevention member 24 includes a ball 24A forming a spherical portion and a holder 24B for rotatably supporting the ball 24A. According to the configuration having the ball casters as in the present embodiment, it is possible to suppress the change in the ground contact position of the fall prevention member 24 as compared with the configuration having the eccentric wheel type casters. Therefore, it is possible to effectively prevent the vehicle body 10A from tipping over.
　また、本実施形態では、車体１０Ａの周囲を囲うカバー（フロントカバー１２ａ及びリアカバー１２ｂ）を有し、転倒防止部材２４は、カバーと車体１０Ａとの間の隙間Ｓ１，Ｓ２に配置されている。この構成によれば、車体１０Ａの周囲を囲う円環状のカバーの内側に位置するデッドスペースを利用して、転倒防止部材２４を配置することができる。なお、カバーの形状は、車体１０Ａとカバーとの間のデッドスペースを利用して転倒防止部材２４を配置できる形状であれば、円環状に限らず、その形状は適宜変更可能である。 Further, in the present embodiment, the cover (front cover 12a and rear cover 12b) surrounding the vehicle body 10A is provided, and the fall prevention member 24 is arranged in the gaps S1 and S2 between the cover and the vehicle body 10A. According to this configuration, the fall prevention member 24 can be arranged by utilizing the dead space located inside the annular cover surrounding the vehicle body 10A. The shape of the cover is not limited to an annular shape as long as the fall prevention member 24 can be arranged by utilizing the dead space between the vehicle body 10A and the cover, and the shape can be appropriately changed.
　また、本実施形態では、車体１０Ａは、前後方向の長さが、左右方向の長さよりも長く、転倒防止部材２４は、車体１０Ａの前後方向の中間位置において、左右方向に突き出た位置に吊り下げられている。この構成によれば、車体１０Ａの転倒のなかでも特に発生し易い左右方向における転倒（横転）を、転倒防止部材２４によって防止することができる。 Further, in the present embodiment, the vehicle body 10A has a length in the front-rear direction longer than the length in the left-right direction, and the fall prevention member 24 is suspended at a position protruding in the left-right direction at an intermediate position in the front-rear direction of the vehicle body 10A. It has been lowered. According to this configuration, the fall prevention member 24 can prevent the vehicle body 10A from falling (rolling over) in the left-right direction, which is particularly likely to occur.
　また、本実施形態では、車輪１１は、メカナムホイールである。この構成によれば、メカナムホイールは、同じく全方向に移動可能なオムニホイールと比べて走行の安定性があるため、物品展示ロボット１のように背が高いロボットであっても安定した走行が可能となる。 Further, in the present embodiment, the wheel 11 is a Mecanum wheel. According to this configuration, the Mecanum wheel has more stable running than the omni wheel that can move in all directions, so that even a tall robot such as the article display robot 1 can run stably. It will be possible.
　また、本実施形態では、車体１０Ａに搭載され、ステージユニット２（対象物）を支持するフレーム構造体２０を備える。この構成によれば、ステージユニット２のような背が高い対象物を支持する場合であっても、転倒防止部材２４によって通常走行を妨げることなく車体１０Ａの転倒を防止できる。 Further, in the present embodiment, the frame structure 20 mounted on the vehicle body 10A and supporting the stage unit 2 (object) is provided. According to this configuration, even when a tall object such as the stage unit 2 is supported, the fall prevention member 24 can prevent the vehicle body 10A from falling without hindering normal running.
　以上、図面を参照しながら本発明の好適な実施形態について説明したが、本発明は上記実施形態に限定されるものではない。上述した実施形態において示した各構成部材の諸形状や組み合わせ等は一例であって、本発明の主旨から逸脱しない範囲において設計要求等に基づき種々変更可能である。 Although the preferred embodiment of the present invention has been described above with reference to the drawings, the present invention is not limited to the above embodiment. The various shapes and combinations of the constituent members shown in the above-described embodiments are examples, and various changes can be made based on design requirements and the like within a range that does not deviate from the gist of the present invention.
　１…物品展示ロボット、２…ステージユニット、３…走行ユニット、１０Ａ…車体、１１…車輪（メカナムホイール）、１２ａ…フロントカバー（カバー）、１２ｂ…リアカバー（カバー）、２０…フレーム構造体、２４…転倒防止部材、２４Ａ…ボール（球状部）、２４Ｂ…ホルダー、１００…物品、１１０…高さ調節機構、Ｓ１…隙間、Ｓ２…隙間 1 ... article display robot, 2 ... stage unit, 3 ... traveling unit, 10A ... car body, 11 ... wheel (mechanum wheel), 12a ... front cover (cover), 12b ... rear cover (cover), 20 ... frame structure, 24 ... Fall prevention member, 24A ... Ball (spherical part), 24B ... Holder, 100 ... Article, 110 ... Height adjustment mechanism, S1 ... Gap, S2 ... Gap

Claims (9)

  1. 　複数の車輪を備える車体と、
    　前記車体の外側に突き出た位置において吊り下げられた転倒防止部材と、を備え、
    　前記転倒防止部材は、前記車体の通常走行時には路面に接地せず、前記車体が傾いたときに路面に接地する高さに設けられている、走行ユニット。     A car body with multiple wheels and
    A fall prevention member suspended at a position protruding to the outside of the vehicle body is provided.
    The fall prevention member is a traveling unit provided at a height at which the vehicle body does not touch the road surface during normal traveling but touches the road surface when the vehicle body tilts.
  2. 　前記転倒防止部材は、路面に対する高さを調節する高さ調節機構を備える、請求項１に記載の走行ユニット。 The traveling unit according to claim 1, wherein the fall prevention member includes a height adjusting mechanism for adjusting the height with respect to the road surface.
  3. 　前記転倒防止部材は、前記車体が傾いたときに路面に接地する球状部を備える、請求項１または２に記載の走行ユニット。 The traveling unit according to claim 1 or 2, wherein the fall prevention member includes a spherical portion that comes into contact with the road surface when the vehicle body is tilted.
  4. 　前記転倒防止部材は、
    　前記球状部を形成するボールと、
    　前記ボールを回転自在に支持するホルダーと、を備える、請求項３に記載の走行ユニット。     The fall prevention member is
    The ball forming the spherical portion and
    The traveling unit according to claim 3, further comprising a holder that rotatably supports the ball.
  5. 　前記車体の周囲を囲うカバーを有し、
    　前記転倒防止部材は、前記カバーと前記車体との間の隙間に配置されている、請求項１～４のいずれか一項に記載の走行ユニット。     It has a cover that surrounds the vehicle body and has a cover.
    The traveling unit according to any one of claims 1 to 4, wherein the fall prevention member is arranged in a gap between the cover and the vehicle body.
  6. 　前記車体は、前後方向の長さが、左右方向の長さよりも長く、
    　前記転倒防止部材は、前記車体の前後方向の中間位置において、左右方向に突き出た位置に吊り下げられている、請求項１～５のいずれか一項に記載の走行ユニット。     The vehicle body has a length in the front-rear direction longer than a length in the left-right direction.
    The traveling unit according to any one of claims 1 to 5, wherein the fall prevention member is suspended at a position protruding in the left-right direction at an intermediate position in the front-rear direction of the vehicle body.
  7. 　前記車輪は、メカナムホイールである、請求項１～６のいずれか一項に記載の走行ユニット。 The traveling unit according to any one of claims 1 to 6, wherein the wheel is a Mecanum wheel.
  8. 　前記車体に搭載され、対象物を支持するフレーム構造体を備える、請求項１～７のいずれか一項に記載の走行ユニット。 The traveling unit according to any one of claims 1 to 7, which is mounted on the vehicle body and includes a frame structure for supporting an object.
  9. 　請求項１～８のいずれか一項に記載の走行ユニットと、
    　前記走行ユニットに支持され、物品を展示するステージユニットと、を備える、物品展示ロボット。     The traveling unit according to any one of claims 1 to 8 and the traveling unit.
    An article display robot including a stage unit that is supported by the traveling unit and displays articles.
PCT/JP2021/029601 2020-09-03 2021-08-11 Travel unit and article display robot WO2022050010A1 (en)

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JP2020148145A JP2022042658A (en) 2020-09-03 2020-09-03 Traveling unit and article display robot
JP2020-148145 2020-09-03

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Citations (5)

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JPS641676A (en) * 1987-06-23 1989-01-06 Yamaha Motor Co Ltd Motorcycle
JP2005280387A (en) * 2004-03-26 2005-10-13 Denso Corp Safety traveling device for motorcycle
JP2006053731A (en) * 2004-08-11 2006-02-23 Yaskawa Electric Corp Attitude holding/turnover prevention device for mobile body
JP2010076630A (en) * 2008-09-26 2010-04-08 Toshiba Corp Mobile truck
JP2019198945A (en) * 2018-05-18 2019-11-21 トヨタ自動車株式会社 Holding apparatus, container provided with tag, object holding program, and object holding method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS641676A (en) * 1987-06-23 1989-01-06 Yamaha Motor Co Ltd Motorcycle
JP2005280387A (en) * 2004-03-26 2005-10-13 Denso Corp Safety traveling device for motorcycle
JP2006053731A (en) * 2004-08-11 2006-02-23 Yaskawa Electric Corp Attitude holding/turnover prevention device for mobile body
JP2010076630A (en) * 2008-09-26 2010-04-08 Toshiba Corp Mobile truck
JP2019198945A (en) * 2018-05-18 2019-11-21 トヨタ自動車株式会社 Holding apparatus, container provided with tag, object holding program, and object holding method

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