Self-propelled robot

Abstract

To provide a self-propelled robot that prevents derailment even if traveling at a position where an interval between rails or the height or width of the rails themselves are offset from a predetermined value.SOLUTION: Provided is a self-propelled robot 100 in which at least one of a driven wheel part 150 and a driving wheel part 120 includes a derailment prevention plate 160 which includes a slit hole 160d directed in a longitudinal direction, which is supported by an axle portion extending through this slit hole 160d in a manner movable up / down and rotatably, and which is suspended downward from a first rail LR.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a self-propelled robot having a derailment prevention function, and more particularly to a self-propelled robot having a derailment prevention function when traveling along a rail made of multiple reinforcing bars laid in a lattice pattern on a construction surface. [Background technology]

[0002] Conventionally, a self-propelled robot that runs on rails made of multiple reinforcing bars laid in a grid pattern on a construction surface is known to be equipped with multiple wheel units arranged in parallel facing the direction of travel, and a control unit that controls the running motion of these wheel units (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6633720 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-mentioned conventional self-propelled robots that use rebars as rails had a risk of derailing when traveling in places where the spacing between the rebars deviates from a specified value, or where multiple rebars are tied together at joints and the height or width of the rail changes discontinuously and deviates from the specified value.

[0005] Therefore, the present invention is intended to solve the problems of the prior art as described above. In other words, the object of the present invention is to provide a self-propelled robot that will not derail even when traveling through areas where the spacing between the rails or the height or width of the rails themselves deviates from a specified value. [Means for solving the problem]

[0006] The invention of claim 1 solves the above-mentioned problem by providing a self-propelled robot equipped with a running wheel unit that runs on the first rail of a lattice-like rail consisting of a plurality of first rails laid in parallel at equal intervals in a first direction of a construction surface and a plurality of second rails extending in a second direction intersecting the first rails and laid overlapping below the first rails, wherein the anti-derailing plate journaled on the axle portion of the running wheel unit has a slit hole portion that allows the anti-derailing plate to be displaced freely in the running direction and slidable in the vertical direction relative to the axle portion, and has a plate dimension that allows it to hang down to a position below the first rail even in a swinging and / or sliding state at the slit hole portion.

[0007] The invention of claim 2 further solves the above-mentioned problem by, in addition to the configuration of the invention of claim 1, the anti-derailment plate being composed of a plate main body portion arranged opposite each of the left and right side surfaces of the wheel portion of the running wheel section, and a plate leg portion extending radially outward beyond the wheel portion and bent inward. Effect of the Invention

[0008] According to the self-propelled robot of the invention of claim 1 of the present invention, the anti-derailment plate supported on the axle portion of the running wheel portion has a slit hole portion that allows the anti-derailment plate to be freely displaced in the running direction and freely slidable in the vertical direction relative to the axle portion. Therefore, when an abnormal running state occurs in which the position of the first rail moves left or right from the center of the wheel portion, the first rail and the inner surface of the anti-derailment plate come into contact with each other, generating a restoring force in a direction returning them to their normal relative positions, thereby restoring the self-propelled robot to its normal running state and preventing derailment of the self-propelled robot.

[0009] In addition, because the plate dimensions are such that it hangs down to a position below the first rail even when in a swinging and / or sliding state in the slit hole portion, the anti-derailment plate swings in the opposite direction to the running direction to escape every time it comes into contact with the second rail, so that it can perform its derailment prevention function without interfering with the second rail and without impeding running.Furthermore, when the anti-derailment plate is facing diagonally forward and hits the second rail in front of it that it should next come into contact with, the anti-derailment plate slides backward along the longitudinal direction of the slit hole portion through which the axle portion passes to release external stress, thereby preventing derailment due to the lifting up of at least one of the driven wheel portion and driving wheel portion that make up the running wheel portion.

[0010] According to the self-propelled robot of the invention of claim 2 of the present invention, in addition to the effects achieved by the invention described in claim 1, the anti-derailment plate is composed of a plate main body portion arranged opposite to each other on both the left and right sides of the wheel portion of the running wheel portion, and a plate leg portion extending more outer than the wheel portion and bent inward. Therefore, when an abnormal running state occurs in which the driven wheel portion or driving wheel portion that constitutes the running wheel portion lifts off the first rail, or the relative position between the first rail and the driven wheel portion or driving wheel portion moves in the left-right direction, the first rail comes into contact with the inner surface of one of the anti-derailment plates arranged on both the left and right sides, generating a restoring force in a direction returning the first rail to the normal relative position, and the relative movement in the left-right and up-down directions is limited to a specified range. Therefore, even in an abnormal running state in which derailment in either the left or right direction may occur, the self-propelled robot can be restored to a normal running state and derailment of the self-propelled robot can be prevented. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic perspective view showing a self-propelled robot of the present invention traveling on a lattice rail. [Diagram 2] FIG. 2 is a schematic side view showing the self-propelled robot of FIG. 1 traveling on a lattice guideway. [Figure 3A] FIG. 4 is a schematic side view showing the configuration of a driven wheel portion of the present invention. [Figure 3B] FIG. 3B is a schematic front view showing the configuration of the driven wheel portion of FIG. 3A. [Figure 4] FIG. 4 is a schematic front view showing a state in which the driven wheel portion of the present invention runs on a lattice rail. [Diagram 5] FIG. 4 is a schematic side view showing a state in which the driven wheel portion of the present invention runs on a lattice rail. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] The present invention relates to a self-propelled robot equipped with a running wheel unit that runs on a first rail of a lattice-like rail consisting of a plurality of first rails laid in parallel at equal intervals in a first direction of a construction surface and a plurality of second rails extending in a second direction intersecting the first rails and laid overlapping below the first rails, wherein the anti-derailing plate journaled on the axle portion of the running wheel unit has a slit hole portion that allows the anti-derailing plate to be displaced freely in the running direction and slidable in the vertical direction relative to the axle portion, and the slit hole portion has a plate dimension that allows the plate to hang down to a position below the first rail even when in a swinging and / or sliding state, so that derailment can be prevented even if there is an inconvenience in the installation spacing of the rails or the installation height of the rails or the width of the rails.The specific embodiment of the present invention is not limited to any one as long as it is possible to prevent derailment even if there is an inconvenience in the installation spacing of the rails or the installation height of the rails or the width of the rails.

[0013] That is, the shape of the derailment prevention plate may be a diamond shape, a teardrop shape, a bell shape, an anchor shape, a cross shape, etc., in addition to a vertically elongated kite shape.

[0014] In addition, the anti-derailment plates may be placed on only all or some of the wheel portions of the driven wheel portions that constitute the running wheel portion, but in addition, they may also be placed on all or some of the wheel portions of the driving wheel portions that constitute the running wheel portion, or they may be placed on only all or some of the wheels of the driving wheel portions that constitute the running wheel portion.

[0015] Furthermore, it is desirable to arrange the anti-derailment plates in pairs facing each other on both the left and right sides of the wheel portion, but they may be arranged on only one of the left or right sides of the wheel portion so as to abut against the first rail in the event of abnormal running.

[0016] The first and second rails constituting the lattice rail of the present invention can be made from deformed steel bars of various thicknesses, but can also be made from any other rigid, long body that can be run on by wheels, such as round bars or scaffolding pipes. EXAMPLES

[0017] A self-propelled robot 100 for rebar binding, which is an embodiment of the present invention, will be described below with reference to Figures 1 to 5. Here, Figure 1 is a schematic perspective view showing how the self-propelled robot of the present invention travels on a lattice rail, Figure 2 is a schematic side view showing how the self-propelled robot of Figure 1 travels on the lattice rail, Figure 3A is a schematic side view showing the configuration of the driven wheel unit of the present invention, Figure 3B is a schematic front view showing the configuration of the driven wheel unit of Figure 3A, Figure 4 is a schematic front view showing how the driven wheel unit of the present invention travels on the lattice rail, and Figure 5 is a schematic side view showing how the driven wheel unit of the present invention travels on the lattice rail.

[0018] <Configuration of self-propelled robot> 1 to 5, self-propelled robot 100 according to this embodiment comprises a number of first rails LR laid in parallel at equal intervals in a first direction, and a number of second rails TR laid below the first rails LR, extending in a second direction intersecting the first rails LR, and travels along the first rails LR on a lattice-like rail R disposed on spacers S arranged in a matrix on the construction surface. Therefore, in this specification, the first direction is referred to as the "front-rear direction" and the second direction is referred to as the "left-right direction."

[0019] Self-propelled robot 100 comprises a robot body 110, a drive wheel unit 120 that is arranged at the bottom of robot body 110 and forms part of a running wheel unit that runs in a first direction, a drive unit 130 that is arranged within robot body 110 and drives drive wheel unit 120, a control unit 140 that is arranged within robot body 110 and controls drive unit 130, and two pairs of driven wheel units 150 (front and rear) that form part of the running wheel unit.

[0020] The robot body 110 is configured to have various functions according to the purpose of the activity that the robot 100 performs while traveling on the lattice track R, and in this embodiment, it is equipped with an electric rebar tying machine BM to automatically tie the rebars that make up the lattice track R.

[0021] The drive wheel unit 120 is equipped with two wheels, one front and one rear, which are arranged in the left and right central portion of the robot body 110 facing in the direction of travel and travel on a common first rail LR, and an axle portion which pivots these two wheels so that they can roll freely and are oriented in the left and right directions.

[0022] The drive unit 130 includes a conveyor motor and a transmission belt (not shown). The drive force of the conveyor motor, which operates with power supplied from a power source (not shown), is transmitted to the drive wheel unit 120 via the transmission belt.

[0023] Control unit 140 is composed of a CPU, memory, etc. that operates on power supplied from a power source (not shown), and is configured to load various programs and data stored in memory, for example, ROM, into RAM and execute the various programs to control the drive operation of drive unit 130, and ultimately to control the running operation of self-propelled robot 100.

[0024] Control unit 140 has a power switch portion 141, an input instruction portion 142, and a start button portion 143, and is configured so that the operator of self-propelled robot 100 can select the direction of travel of self-propelled robot 100, for example "forward" or "reverse" after turning on the power, and then instructs self-propelled robot 100 to start traveling. Control unit 140 controls the driving operations related to forward movement, reverse movement, and stopping in drive unit 130 in accordance with the operator's instructions.

[0025] <Configuration of driven wheel> As shown in Figures 3A to 5, the driven wheel section 150, which constitutes part of the running wheel section, comprises four wheel sections 151 that run in the forward / backward direction along the first rail LR on the lattice rail R, an axle section 152 that pivots each of the four wheel sections 151 so that they can roll freely and is oriented in the left / right direction, four pairs of fork sections 153 that fixedly support both ends of the axle section 152, four top plate sections 154 that fix the four pairs of fork sections 153 in an opposing arrangement, and a pair of derailment prevention plates 160 that are respectively positioned on the left and right sides of each wheel section 151, between the wheel section 151 and the pair of fork sections 153.

[0026] The tread surface that comes into contact with the first rail LR when the wheel portion 151 is running has a shape in which the radius decreases toward the center in the left-right direction, as shown in Figures 3B and 4, and is configured in the shape of a circular V-groove made up of a pair of tapered surfaces.

[0027] The axle portion 152 is oriented in the left-right direction, penetrates the center of the wheel portion 151 in the thickness direction thereof, and pivots the wheel portion 151 rotatably via a bearing (not shown).

[0028] As shown in FIG. 3B, the pair of fork portions 153 are arranged opposite each other so as to cover the wheel portion 151 from both the left and right sides, and are fixed to the top plate portion 154 with both ends of the axle portion 152 fixed and supported.

[0029] Since this top plate portion 154 is fixed to the lower part of the robot body 110, the driven wheel portion 150 is configured as a so-called fixed caster.

[0030] As shown in FIG. 3A, the anti-derailment plate 160 is composed of a long, kite-shaped plate-like member as a whole, and as shown in FIG. 3B, it is bent at a bending angle θ of approximately 30 degrees with respect to the plate main body portion 160a at a bending portion 160b toward the plate leg portion 160c.

[0031] The plate main body 160a of the derailment prevention plate 160 has a slit hole 160d oriented in the longitudinal direction, and the axle portion 152 penetrates this slit hole 160d, and is supported so as to be able to slide freely along the longitudinal direction of the slit hole 160d and to be able to swing freely around the axle portion 152.

[0032] The derailment prevention plates 160 are arranged in pairs on both the left and right sides of the wheel portion 151 and on the inside of the pair of fork portions 153 so as to be freely swingable opposite each other, and are configured so that bending at bending portion 160b causes each of the plate legs 160c to face inward, i.e., so that the distance between the pair of derailment prevention plates 160 is smallest at the plate legs 160c.

[0033] Therefore, when no external force is applied due to contact with the second rail TR, the derailment prevention plate 160 is supported by the axle portion 152 at the uppermost end portion of the slit hole portion 160d, and hangs down with the plate leg portion 160c downward due to its own weight, so that the longitudinal direction of the derailment prevention plate 160 is vertical.

[0034] Further, the contact edge portion 160e of the derailment prevention plate 160 has a straight or smoothly curved shape, and the derailment prevention plate 160 has a tapered shape at the contact edge portion 160e.

[0035] <Prevention of derailment by anti-derailment plates> When the self-propelled robot 100 travels in the forward / backward direction on the first rail LR, as shown in Figures 2, 4 and 5, the driving wheel section 120 and the driven wheel section 150 are placed on the first rail LR, and the plate leg section 160c of the derailment prevention plate 160 is lower than the wheel section 151 and lower than the bottom part of the first rail LR, that is, hanging down to a position lower than the top part of the second rail TR.

[0036] When the self-propelled robot 100 starts automatic traveling in response to input instructions from the operator and travels normally in the forward and backward directions on the first rail LR, the driven wheel portion 150 rolls on the first rail LR in the center of the V-groove on its tread, as shown in (a) of Figure 4.

[0037] Figure 4 shows the relative positional relationship between the driven wheel unit 150 and a single first rail LR, and illustrates both the case where the position of the driven wheel unit 150 changes relative to the first rail LR and the case where the position of the first rail LR changes relative to the driven wheel unit 150.

[0038] For example, at a construction site or the like, if the first rail LR is made of reinforcing bars and the spacing between the multiple first rails LR on which the driven wheel section 150 runs is partially deviated from a specified value, or if two reinforcing bars are tied together in parallel and stacked vertically or horizontally, causing the height or width of the first rail LR to change discontinuously, the relative positional relationship between the first rail LR and the driven wheel section 150 will change, resulting in an abnormal running condition in which the driven wheel section 150 lifts off the first rail LR or the position of the first rail LR moves left and right from the center of the V-groove of the wheel section 151, resulting in a derailment.

[0039] In this embodiment, the anti-derailment plate 160 is configured so that the bending angle θ at each bending portion 160b is set to 30 degrees, and the pair of plate legs 160c each face inward, i.e., the distance between the pair of anti-derailment plates 160 becomes smaller toward the plate legs 160c. Therefore, during such abnormal running, as shown in Figure 4(b), the first rail LR and the inner surfaces of the anti-derailment plate 160 abut against each other, and a restoring force is generated that pushes them back to their normal relative positions.

[0040] Due to this action, as shown in (c) of Figure 4, the relative movement between the driven wheel portion 150 and the first rail LR in the left-right and up-down directions is limited within a predetermined range, and the self-propelled robot 100 naturally returns to a normal running state, thereby preventing derailment of the self-propelled robot 100.

[0041] <Prevention of interference with derailment prevention plates> When the self-propelled robot 100 travels forward and backward on the first rail LR, as shown in (a) of Figure 5, the driven wheel portion 150 is placed on the first rail LR, and the plate leg portion 160c of the derailment prevention plate 160 is lower than the wheel portion 151 and lower than the bottom part of the first rail LR, that is, hanging down to a position lower than the top part of the second rail TR.

[0042] Therefore, when the driven wheel portion 150 runs on the first rail LR, the contact edge portion 160e of the derailment prevention plate 160 repeatedly comes into contact with the second rail TR.

[0043] The plate main body 160a has a slit 160d oriented in the longitudinal direction of the derailment prevention plate 160. The axle portion 152 penetrates the slit 160d and is supported so as to be able to slide freely along the longitudinal direction of the slit 160d and to be able to swing freely around the axle portion 152. Therefore, as shown in FIG. 5(b), each time the abutment edge portion 160e of the derailment prevention plate 160 comes into contact with the second rail TR (dash-dotted line), the entire derailment prevention plate 160 swings away in the direction opposite to the traveling direction.

[0044] Due to this action, the derailment prevention plate 160 does not interfere with the second rail TR, and can perform its derailment prevention function without interfering with running.

[0045] The anti-derailment plate 160 has a contact edge portion 160e located below it which has a straight line or a smoothly curved shape that convex outward, and further has a tapered shape at the contact edge portion 160e, so that when it comes into contact with the second rail TR, it swings smoothly while abutting against the second rail TR.

[0046] As shown in (c) of Figure 5, when the driven wheel portion 150 further advances and passes the position where the plate leg portion 160c abuts the second rail TR (dashed line), the second rail TR no longer supports the weight of the derailment prevention plate 160, so that the derailment prevention plate 160 separates from the second rail TR and swings, returning to a hanging state under its own weight.

[0047] Furthermore, when the anti-derailment plate 160 swings diagonally forward after detaching from the second rail TR and the plate leg 160c, rather than the contact edge portion 160e, hits the next forward second rail TR with which it is to make contact, the anti-derailment plate 160 slides rearward along the slit hole portion 160d through which the axle portion 152 passes to release the external stress, so that no abnormal upward force is applied to the axle portion 152, and derailment due to the driven wheel portion 150 lifting up is prevented.

[0048] The pair of derailment prevention plates 160 are each configured so that the bending angle θ at the bending portion 160b is set to 30 degrees, and the pair of plate legs 160c each face inward, i.e., the distance between the pair of derailment prevention plates 160 becomes smaller toward the plate legs 160c. Therefore, the relative distance between the pair of derailment prevention plates 160 and the second rail TR is smallest at the position where they leave the second rail TR, thereby maximizing the derailment prevention effect. [Explanation of symbols]

[0049] 100 Self-propelled robot 110 Robot body 120 Drive wheel section 130 Drive unit 140... Control unit 141 Power switch part 142 Input instruction part 143 Start button area 150... Driven wheel section 151...Wheel part 152...Axle part 153 Fork part 154 Top plate part 160... Anti-derailment plate 160a Plate body part 160b...Bending part 160c···Plate legs 160d...Slit hole 160e...Abutting side part θ...Bending angle R... Lattice rail R... Lattice rail LR...First rail TR...Second rail S...Spacer BM Electric rebar tying machine

Claims

1. A self-propelled robot is provided with a wheel unit that travels on the first rails of a lattice-like rail structure, the wheel unit being made of a plurality of first rails that are laid in parallel at equal intervals in a first direction of a construction surface, and a plurality of second rails that extend in a second direction intersecting the first rails and are laid under the first rails, the wheel unit being made of a wheel unit that travels on the first rails of the lattice-like rail structure. A self-propelled robot characterized in that a derailment prevention plate journaled to the axle portion of the running wheel portion has a slit hole portion that enables the derailment prevention plate to be displaced freely in the running direction and slidable in the vertical direction relative to the axle portion, and the plate has a plate dimension that allows it to hang down to a position below the first rail even when in a swinging and / or sliding state in the slit hole portion.

2. 2. The self-propelled robot according to claim 1, characterized in that the anti-derailment plate is composed of a plate main body portion arranged opposite each of the left and right side surfaces of the wheel portion of the running wheel section, and a plate leg portion extending radially outwardly of the wheel portion and bent inward.

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