Cable routing robot

Abstract

To provide a robot for cable wiring, which is enabled to stably move on a ceiling panel and whose moving directions can be easily changed, in wiring a cable.SOLUTION: A robot for cable wiring is configured to move on a ceiling panel in a ceiling space to wire a cable, which comprises a robot main body Bd, a plurality of wheels WLf and WLr and a driving part. The wheels WLf and WLr comprise shafts and wheel main bodies. The robot for cable wiring is driven by friction force generated between outer peripheral surfaces of the wheel main bodies and the ceiling panel and by locking force generated between concave parts and protrusions which are formed on the outer peripheral surfaces of the wheel main bodies accompanying contact thereof with the protrusions on the ceiling panel, which enables the robot for cable wiring to stably move on the ceiling panel and can change moving directions of the robot for cable wiring easily. This enables the robot to pull a leading thread by sufficient pulling force.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a cable wiring robot. [Background technology]

[0002] Conventionally, in buildings such as office buildings, ceiling panels are arranged below a ceiling slab, and cables such as power cables for supplying power to air conditioning equipment, lighting equipment, communication equipment, etc. arranged in the room, and communication cables for transmitting and receiving various data, signals, etc. are laid between the ceiling panels and the ceiling slab, i.e., in the ceiling space.

[0003] When wiring the cable in the ceiling space, a worker stands on a work bench and feeds and wires the cable onto the ceiling panel through an opening formed in a predetermined position of the ceiling panel.

[0004] FIG. 2 is a diagram for explaining a conventional cable wiring method, FIG. 3 is a first diagram showing an example of the state of the ceiling space, and FIG. 4 is a second diagram showing an example of the state of the ceiling space.

[0005] In the figure, 11 is a ceiling slab, 12 is a ceiling panel as a moving surface, 14 is a ceiling space formed between the ceiling slab 11 and the ceiling panel 12, Hi (i=1, 2, ...) is an opening formed in a predetermined position of the ceiling panel 12, 16 is a ceiling board, 17 and 18 are lighting devices, 21 is a workbench, and 22 is a cable wired in the ceiling space 14. In this case, of the openings Hi, for example, opening H1 is formed by opening an inspection hatch formed in a predetermined position of the ceiling panel 12, opening H2 is formed by removing the ceiling board 16 and the lighting device 17 from the ceiling panel 12, and opening H3 is formed by removing the lighting device 18 from the ceiling panel 12.

[0006] When wiring the cable 22 in the ceiling space 14, a worker stands on the workbench 21, and by using, for example, a cable catcher 25 to grasp the cable 22 and move it in the direction of the arrow, inserts or pulls the cable 22 into the ceiling space 14, and wires it to air conditioning equipment, lighting devices 17, 18, communication equipment, etc.

[0007] However, in the above-described cable wiring method, if the distance to be wired for the cable 22 is long, not only must more openings Hi be formed in the ceiling panel 12, but the cable catcher 25 must be operated more frequently, making the wiring work cumbersome.

[0008] Therefore, a cable wiring robot has been provided which has a front wheel unit consisting of a pair of chain crawlers and a rear wheel unit consisting of a pair of chain crawlers, and is moved on the ceiling panel 12 by the propulsive force generated by the driving of each chain crawler, pulling a rope as a guide line, and wiring a cable 22 via the rope (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0009] [Patent Document 1] JP 2017-208903 A Summary of the Invention [Problem to be solved by the invention]

[0010] However, since the cable wiring robot has multiple protrusions formed on the surface of each chain crawler, it is not possible to stably move the cable wiring robot on the ceiling panel 12 or easily change the direction of movement.

[0011] That is, as shown in Figures 3 and 4, on the ceiling panel 12, there are various protrusions formed by protruding upward, such as ceiling fittings Ka for holding the ceiling panel 12, and ceiling parts such as air conditioning equipment and lighting devices 17, 18 arranged in the room, i.e., equipment ceiling part Kb.

[0012] For example, the ceiling fitting Ka is made of a plate material with a thickness Da of approximately 20 mm and a height Ha of approximately 60 mm, and is arranged to extend a predetermined length on the ceiling panel 12, while the equipment ceiling part Kb is made of a block with a height Hb of approximately 100 mm or 150 mm (100 mm in Figure 4) determined depending on the dimensions of the air conditioning equipment, lighting devices 17, 18, etc., and is arranged at a predetermined location on the ceiling panel 12.

[0013] When wiring the cable 22, the cable wiring robot needs to move over, detour around, and rotate over protrusions such as the ceiling fitting Ka and the equipment ceiling part Kb, as shown by the arrows in Figures 3 and 4. However, as the cable wiring robot moves, detours, rotates, etc., the convex portion formed on the surface of the chain crawler may get caught on the protrusions such as the ceiling fitting Ka, the equipment ceiling part Kb, etc., causing the chain crawler to stop moving.

[0014] In that case, the cable wiring robot cannot be stably moved on the ceiling panel 12, and the moving direction cannot be easily changed. Also, the rope cannot be pulled with sufficient pulling force.

[0015] An object of the present invention is to solve the problems associated with the conventional cable wiring robots and to provide a cable wiring robot which can be stably moved on a ceiling panel, can easily change its direction of movement, and can pull a cable with sufficient pulling force when wiring a cable. [Means for solving the problem]

[0016] The cable wiring robot of the present invention is adapted to run a guide line by moving forward above a ceiling panel in a ceiling space, and to generate tension in the guide line to pull and wire the cable.

[0017] The robot has a robot body, a plurality of wheels rotatably supported by the robot body, and a drive unit for rotating each of the wheels.

[0018] The robot body further includes a frame and legs connecting the frame to each of the wheels, and each of the wheels includes a shaft connected to the drive unit and a wheel body supported by the shaft and made of elastic foam.

[0019] The fishing line is connected to a predetermined position at the rear end of the frame, and the horizontal and vertical components of the tension generated in the fishing line cause the rotation axis of the rear wheel to receive a force in a direction pressing it against the ceiling panel, and the rotation axis of the front wheel to receive a force in a direction moving it away from the ceiling panel.The wheel is propelled by the frictional force generated between the outer peripheral surface of the wheel body and the ceiling panel, and by the locking force generated between a recess formed on the outer peripheral surface of the wheel body and the protrusion as a result of the wheel body coming into contact with the protrusion on the ceiling panel. Effect of the Invention

[0020] According to the present invention, the cable wiring robot is propelled by the frictional force generated between the outer peripheral surface of the wheel body and the ceiling panel, and by the locking force generated between the recess formed on the outer peripheral surface of the wheel body and the protrusion upon contact with the protrusion on the ceiling panel, so that the cable wiring robot can be moved stably on the ceiling panel and the direction of movement of the cable wiring robot can be easily changed.

[0021] In addition, the fishing line can be pulled with sufficient pulling force.

[0022] In addition, since the recesses are formed on the outer circumferential surface of the wheel body, the contact area between the protrusion and the wheel is increased, and the frictional force generated between the outer circumferential surface of the wheel body and the ceiling panel is increased, resulting in increased traction force. [Brief description of the drawings]

[0023] [Figure 1] FIG. 1 is a perspective view of a cable wiring robot according to a first embodiment of the present invention. [Diagram 2] FIG. 1 is a diagram for explaining a conventional cable wiring method. [Diagram 3] FIG. 1 is a first diagram showing an example of the state of the ceiling space. [Figure 4] FIG. 2 is a second diagram showing an example of the state of the ceiling space. [Diagram 5] FIG. 1 is a side view of a cable wiring robot according to a first embodiment of the present invention. [Figure 6] FIG. 1 is a front view of a cable wiring robot according to a first embodiment of the present invention. [Figure 7] FIG. 2 is a rear view of the cable wiring robot according to the first embodiment of the present invention. [Figure 8] 1 is a perspective view of a robot body according to a first embodiment of the present invention. FIG. [Figure 9] FIG. 2 is a perspective view showing an example of a set collar in the first embodiment of the present invention. [Figure 10] FIG. 2 is a diagram showing an arrangement of a motor in the first embodiment of the present invention. [Figure 11] FIG. 1 is a first diagram for explaining a method of assembling a wheel in a first embodiment of the present invention. [Figure 12] FIG. 2 is a perspective view of a shaft supporting the sponge tire in the first embodiment of the present invention. [Figure 13] FIG. 2 is a second diagram illustrating the method of assembling the wheel according to the first embodiment of the present invention. [Figure 14] FIG. 3 is a third diagram illustrating the method of assembling the wheel in the first embodiment of the present invention. [Figure 15]1 is a control block diagram of a robot control device according to a first embodiment of the present invention. [Figure 16] FIG. 2 is a first diagram for explaining an operation of the cable wiring robot in the first embodiment of the present invention. [Figure 17] FIG. 4 is a second diagram illustrating the operation of the cable wiring robot in the first embodiment of the present invention. [Figure 18] FIG. 11 is a third diagram illustrating the operation of the cable wiring robot according to the first embodiment of the present invention. [Figure 19] FIG. 1 is a perspective view of a robot body of a cable wiring robot with a lowered vehicle height according to a first embodiment of the present invention. [Figure 20] FIG. 11 is a rear view of a robot body according to a second embodiment of the present invention. [Figure 21] FIG. 11 is a front view of a sponge tire according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. In this case, a cable wiring robot that is moved on a ceiling panel and that wires cables in a ceiling space will be described.

[0025] FIG. 1 is a perspective view of a cable wiring robot in a first embodiment of the present invention, FIG. 5 is a side view of the cable wiring robot in the first embodiment of the present invention, FIG. 6 is a front view of the cable wiring robot in the first embodiment of the present invention, FIG. 7 is a rear view of the cable wiring robot in the first embodiment of the present invention, FIG. 8 is a perspective view of a robot body in the first embodiment of the present invention, and FIG. 9 is a perspective view showing an example of a set collar in the first embodiment of the present invention.

[0026] In the figure, reference numeral 31 denotes a cable wiring robot, Bd denotes the main body of the cable wiring robot 31, that is, the robot main body, and WLf, WRf, WLr, and WRr denote wheels rotatably supported by the robot main body Bd.

[0027] The wheel WLf is disposed on the front left side, the wheel WRf on the front right side, the wheel WLr on the rear left side, and the wheel WRr on the rear right side of the cable wiring robot 31. The pair of wheels WLf, WRf constitute a front drive unit 35, and the pair of wheels WLr, WRr constitute a rear drive unit 36.

[0028] The robot body Bd also includes a frame Fr having a rectangular shape, a top panel Pt supported by the frame Fr, the front drive unit 35 that rotates each of the wheels WLf, WRf at the front end of the cable wiring robot 31 to generate a driving force, the rear drive unit 36 ​​that rotates each of the wheels WLr, WRr at the rear end of the cable wiring robot 31 to generate a driving force, and legs st that connect the frame Fr to each of the wheels WLf, WRf, WLr, WRr.

[0029] A rear panel Pr is installed between legs st connecting the frame Fr and each wheel WLr, WRr, and a connector Cn is disposed on the rear panel Pr for connecting cables Cbr for supplying data and power which connect the robot body Bd to a controller Ctr (FIG. 15) described later.

[0030] The frame Fr consists of a left vertical frame LFu, a right vertical frame RFu, a front horizontal frame FFt that connects the front end of the left vertical frame LFu to the front end of the right vertical frame RFu on the front side of the cable wiring robot 31, and a rear horizontal frame BFt that connects the rear end of the left vertical frame LFu to the rear end of the right vertical frame RFu on the rear side of the cable wiring robot 31.

[0031] The left vertical frame LFu and the right vertical frame RFu have a rectangular columnar shape, and four holes h1 to h4 are formed at a predetermined interval from the front end to the rear end of the left vertical frame LFu and the right vertical frame RFu. The front horizontal frame FFt and the rear horizontal frame BFt have a cylindrical shape, and the front horizontal frame FFt is fixed by pressing both ends into the holes h1 of the left vertical frame LFu and the right vertical frame RFu, and the rear horizontal frame BFt is fixed by pressing both ends into the holes h4 of the left vertical frame LFu and the right vertical frame RFu.

[0032] The top panel Pt is erected by a left vertical frame LFu and a right vertical frame RFu a predetermined amount above the frame Fr, and for this purpose, pins P are formed in the vicinity of holes h2, h3 in the left vertical frame LFu and the right vertical frame RFu, and the corners of the top panel Pt are fixed to each pin P.

[0033] At a predetermined location of the robot body Bd, in this embodiment, on the top panel Pt, an LED 38 as a lighting device for illuminating the area around the cable wiring robot 31, and cameras 43, 44 as imaging devices for photographing the area in front and behind the cable wiring robot 31 are attached.

[0034] In order to check the situation in the dark ceiling space 14 (Fig. 2), if the LED 38 is used to illuminate the area around the cable wiring robot 31 and the cameras 43, 44 are used to photograph protrusions such as the ceiling fitting Ka (Fig. 3) and the equipment ceiling part kb (Fig. 4), if the distance between the LED 38 and the protrusion is short, the illuminated light will be too strong, making the photographed image of the protrusion unclear and making it difficult to recognize the protrusion. In this embodiment, the LED 38 emits light toward the ceiling slab 11 (Fig. 2), and the area around the cable wiring robot 31 is illuminated by indirect lighting caused by the light reflected from the ceiling slab 11, so the illuminated light is not too strong, the photographed image of the protrusion is clear, and the protrusion can be easily recognized.

[0035] Further, a carabiner 46 is attached to a predetermined location of the robot body Bd, which in this embodiment is the rear horizontal frame BFt of the frame Fr, as a connection aid, and a rope 48 (FIG. 16) as a guide line, which will be described later, is connected via the carabiner 46. Therefore, the cable wiring robot 31 can be moved above the ceiling panel 12, the rope 48 can be routed via the carabiner 46, and the cable 22 (FIG. 2) can be pulled and wired via the rope 48.

[0036] In this embodiment, the frame Fr and the legs st are connected to each other at a predetermined angle. To this end, each leg st is fixed to the frame Fr, the front drive unit 35, and the rear drive unit 36 ​​by a set collar Sa serving as a fixing member and a connector, so as to form the predetermined angle.

[0037] In this embodiment, a split-type set collar as shown in Figure 9 is used for each set collar Sa, and the front horizontal frame FFt and rear horizontal frame BFt and the legs st are fixed by split-type set collars with a smaller diameter, and each axle Sh of the front driving unit 35 and the rear driving unit 36 ​​and the legs st are fixed by split-type set collars with a larger diameter.

[0038] The set collar Sa includes a nip 51 serving as a first clamping portion having a semi-cylindrical shape, a nip 52 serving as a second clamping portion having an approximately semi-cylindrical shape, and a hexagonal bolt 53 serving as a fixing member for clamping the nips 51 and 52.

[0039] A notch 51n for accommodating a head 53h of a hexagonal bolt 53 is formed on the outer peripheral surface of the nip 51, and a through hole 51h for passing the hexagonal bolt 53 from the notch 51n to a surface 51s facing the nip 52 is formed. Also, a mounting surface 52a for mounting the leg st to the set collar Sa is formed on the outer peripheral surface of the nip 52, and a screw hole 52h for screwing the hexagonal bolt 53 is formed from the mounting surface 52a to a surface 52s facing the nip 51. Also, a pair of holes h11, h12 for press-fitting the leg st is formed on the mounting surface 52a.

[0040] By passing the front cross frame FFt and the axle Sh between the nips 51, 52 and tightening the nips 51, 52 with a hexagonal bolt 53 with the mounting surface 52a perpendicular to the direction in which the leg st extends, the leg st can be fixed at any angle relative to the front cross frame FFt.

[0041] Similarly, by passing the rear cross frame BFt and the axle Sh between the nips 51, 52 and tightening the nips 51, 52 with a hex bolt 53 with the mounting surface 52a perpendicular to the direction in which the leg st extends, the leg st can be fixed at any angle relative to the rear cross frame BFt and the axle Sh.

[0042] In this manner, in this embodiment, the leg st is fixed to the frame Fr via the set collar Sa, so that by loosening the nips 51, 52, rotating the set collar Sa relative to the front horizontal frame FFt and the rear horizontal frame BFt, and then tightening the nips 51, 52, the leg st can be fixed at any angle relative to the front horizontal frame FFt and the rear horizontal frame BFt, and the cable wiring robot 31 can be moved above the ceiling panel 12 at a height according to the width of the ceiling space 14.

[0043] Incidentally, the cable wiring robot 31 includes motors MLf, MRf, MLr, MRr as drive units described later for the wheels WLf, WRf, WLr, WRr in order to rotate the wheels WLf, WRf, WLr, WRr.

[0044] FIG. 10 is a diagram showing an arrangement of a motor in the first embodiment of the present invention.

[0045] In the figure, st is a leg, Sa is a set collar, Sh is an axle, MLf, MRf, MLr, and MRr are motors, and Sh1 is the output shaft of each motor MLf, MRf, MLr, and MRr.

[0046] In this embodiment, the wheels WLf, WRf, WLr, and WRr (FIG. 1) are rotated by driving motors MLf, MRf, MLr, and MRr, respectively, and the cable wiring robot 31 is moved in a four-wheel drive system.

[0047] In the front drive unit 35, the motors MLf, MRf are housed in the axle Sh that connects the wheels WLf, WRf, and in the rear drive unit 36, the motors MLr, MRr are housed in the axle Sh that connects the wheels WLr, WRr. To this end, slits SL are formed by cutting slots into both ends of the axle Sh, and the motors MLf, MRf, MLr, MRr are inserted from both ends of the axle Sh, and a set collar Sa is attached to the axle Sh, thereby fixing the motors MLf, MRf, MLr, MRr in the axle Sh.

[0048] In this embodiment, the motors MLf, MRf, MLr, and MRr are housed in the axles Sh, lowering the position of the center of gravity of the cable wiring robot 31. In addition, the motors MLf, MRf, MLr, and MRr are provided on the wheels WLf, WRf, WLr, and WRr, respectively, so that the load of the robot body Bd can be distributed.

[0049] Therefore, the cable wiring robot 31 can be prevented from falling over, and the cable wiring robot 31 can be moved in a stable manner.

[0050] Moreover, since the motors MLf, MRf, MLr, and MRr are surrounded by the axle Sh and are not exposed to the outside of the axle Sh, the motors MLf, MRf, MLr, and MRr will not be damaged by hitting any protrusions when the cable wiring robot 31 moves.

[0051] Furthermore, in this embodiment, the motors MLf, MRf, MLr, and MRr are disposed coaxially with the wheels WLf, WRf, WLr, and WRr, respectively, so that the driving force generated when the motors MLf, MRf, MLr, and MRr are driven can be directly transmitted to the wheels WLf, WRf, WLr, and WRr. Therefore, not only can the propulsive force of the cable wiring robot 31 be increased, but the motors MLf, MRf, MLr, and MRr can be made smaller, and the cable wiring robot 31 can be made smaller.

[0052] Incidentally, if the wheels WLf, WRf, WLr, and WRr are made of a hard material, the surfaces of the wheels WLf, WRf, WLr, and WRr are likely to slip on protrusions on the ceiling panel 12, reducing the gripping force. In addition, if multiple protrusions are formed on the surfaces of the wheels WLf, WRf, WLr, and WRr, the protrusions may get caught on the protrusions, causing the wheels WLf, WRf, WLr, and WRr to lift off the ceiling panel 12, as well as causing the cable wiring robot 31 to fall over.

[0053] In this embodiment, therefore, the main body of the wheels WLf, WRf, WLr, WRr, i.e., the wheel main body, is made of a soft elastic foam formed by foaming a resin material, in this embodiment a sponge tire 60 (Figure 11) made of sponge, which will be described later.

[0054] In this embodiment, a closed-cell foam made of closed cells is used as the foam.

[0055] Next, a method for assembling the wheels WLf, WRf, WLr, and WRr will be described. Note that since the wheels WLf, WRf, WLr, and WRr all have the same structure, only the wheel WLr will be described.

[0056] Figure 11 is a first figure for explaining the method of assembling a wheel in the first embodiment of the present invention, Figure 12 is an oblique view of a shaft supporting a sponge tire in the first embodiment of the present invention, Figure 13 is a second figure for explaining the method of assembling a wheel in the first embodiment of the present invention, and Figure 14 is a third figure for explaining the method of assembling a wheel in the first embodiment of the present invention.

[0057] In the figure, WLr is a wheel, which is attached to the output shaft Sh1 of the motor MLr (Figure 10) and comprises a shaft 61 connected to the motor MLr, a sponge tire 60 supported by the shaft 61, and a tack 63 as an attachment jig for fixing the sponge tire 60 to the shaft 61.

[0058] The sponge tire 60 has a cylindrical shape, and is formed with a through hole h20 in the center for passing the shaft 61 through. The foam constituting the sponge tire 60 is made of a porous material, and has countless fine air bubbles formed therein. When an external force is applied, each air bubble is compressed, and the sponge tire 60 is deformed.

[0059] In order to protect the surface of the sponge tire 60, an end face 60s and an outer circumferential face 60t of the sponge tire 60 are provided with a rubber coating.

[0060] The shaft 61 includes a cylindrical shaft portion 61s and a flange portion 61f formed at the rear end of the shaft portion 61s, and the output shaft Sh1 is press-fitted into a hole (not shown) formed in the shaft portion 61s and fixed to the shaft 61. In addition, a plurality of screw holes h21, h22 (two in this embodiment) for fixing the tack 63 to the shaft 61 are formed at the front end of the shaft portion 61s.

[0061] The tack 63 has an outer diameter larger than the outer diameter of the shaft portion 61s of the shaft 61, and comprises a flat cover 63a having a circular shape, and a plurality of pins 63p, in this embodiment four, formed protruding from the flat cover 63a, and a plurality of holes h31, h32, in this embodiment two, are formed in the flat cover 63a in correspondence with the screw holes h21, h22 for fixing the tack 63 to the shaft 61.

[0062] When assembling the wheel WLr, first, the shaft 61 is attached to the output shaft Sh1 of the motor MLr, and the sponge tire 60 is attached to the shaft 61 so that the shaft portion 61s is inserted into the through hole h20, and pressed against the flange portion 61f.

[0063] Next, as shown in FIG. 13, the tack 63 is attached to the sponge tire 60 by inserting the pins 63p of the tack 63 into four pin holes (not shown) that are formed in advance around the through hole h20 in the sponge tire 60.

[0064] Next, the screws bt1 and bt2 are inserted into the holes h31 and h32 formed in the flat cover 63a, and are screwed into the screw holes h21 and h22 of the shaft 61 as shown in FIG.

[0065] The sponge tire 60 is sandwiched between the flange portion 61f and the flat cover 63a to restrict its axial movement, and is locked by the pin hole and the pin 63p to restrict its circumferential movement. Therefore, the driving force generated by the motor MLr can be reliably transmitted to the wheel WLr.

[0066] In addition, when the sponge tire 60 comes into contact with a protrusion as the cable wiring robot 31 moves, each air bubble in the sponge tire 60 is compressed, the outer peripheral surface 60t of the sponge tire 60 is deformed, a recess is formed in the outer peripheral surface 60t, and the sponge tire 60 and the protrusion are engaged with each other.

[0067] Therefore, the cable wiring robot 31 is propelled by the frictional force generated between the outer peripheral surface 60t of the sponge tire 60 and the ceiling panel 12, and the engaging force generated between the recesses formed in the outer peripheral surface 60t of the sponge tire 60 and the protrusions, so that the cable wiring robot 31 can be moved stably when climbing over protrusions on the ceiling panel 12, can be moved around the protrusions, can be rotated on the protrusions, and the direction of movement of the cable wiring robot can be easily changed.

[0068] Also, the rope 48 can be pulled with sufficient pulling force.

[0069] In addition, since recesses are formed on the outer peripheral surface 60t of the sponge tire 60, the contact area between the protrusion and the sponge tire 60 increases, and the frictional force generated between the outer peripheral surface 60t of the sponge tire 60 and the ceiling panel 12 increases. As a result, the traction force can be increased.

[0070] Furthermore, since a recess is formed on the outer peripheral surface 60t of the sponge tire 60, the contact area between the sponge tire 60 and the protrusion becomes larger, and the frictional force generated between the outer peripheral surface 60t of the sponge tire 60 and the ceiling panel 12 becomes larger.

[0071] Moreover, not only are no convex parts formed on the surface of the sponge tire 60, but the sponge tire 60 is also deformed to match the shape of the protrusion, so that the wheels WLf, WRf, WLr, and WRr do not get caught on the protrusion as the cable wiring robot 31 moves.

[0072] Next, a robot control device for operating the cable wiring robot 31 will be described.

[0073] FIG. 15 is a control block diagram of the robot control device in the first embodiment of the present invention.

[0074] In the figure, 70 is a robot control device, 31 is a cable wiring robot, Ctr is a controller as an operating device that allows an operator to control the cable wiring robot 31 below the ceiling panel 12 (Figure 2), and Cbr is a cable that connects the robot body Bd and the controller Ctr.

[0075] Further, reference numeral 72 denotes a drive side control section serving as a first control section for carrying out overall control of the robot main body Bd.

[0076] The drive-side control unit 72 turns on the LEDs 38 to illuminate the periphery of the cable wiring robot 31, and causes the camera 43 to take an image of the area in front of the cable wiring robot 31 and the camera 44 to take an image of the area behind the cable wiring robot 31. The drive-side control unit 72 also drives the motors MLf, MLr, MRf, and MRr to rotate the wheels WLf, WLr, WRf, and WRr.

[0077] Reference numeral 74 denotes an operating side control unit serving as a second control unit for controlling the entire controller Ctr, 76 denotes an operating unit operated by an operator to move the robot body Bd forward or backward, and 78 denotes a monitor serving as a display unit for displaying images captured by the cameras 43, 44.

[0078] The operating unit 76 includes a lever La as a first operating unit for driving the motors MLf, MLr in the forward direction or the reverse direction, and a lever Lb as a second operating unit for driving the motors MRf, MRr in the forward direction or the reverse direction.

[0079] Further, reference numeral 81 denotes a commercial power source of AC 100 [V], and reference numeral 82 denotes a power supply unit that converts AC 100 [V] to DC 13.5 [V]. The operation side control section 74 supplies DC 13.5 [V] to the operation section 76 and the monitor 78 .

[0080] In addition, the operation side control unit 74 sends AC100 [V] and DC13.5 [V] to the drive side control unit 72 via the cable Cbr, and the drive side control unit 72 supplies AC100 [V] to the motors MLf, MLr, MRf, and MRr, and supplies DC13.5 [V] to the LED 38 and the cameras 43 and 44.

[0081] The operating side control unit 74 then sends information when the operator operates the operating unit 76 to the driving side control unit 72 to control the cable wiring robot 31, and displays the information received from the driving side control unit 72 on the monitor 78.

[0082] Therefore, the operator can view an image of the front of the cable wiring robot 31 displayed on the monitor 78 and operate the levers La and Lb to drive the motors MLf, MLr, MRf, and MRr in the forward direction to move the cable wiring robot 31 forward, or view an image of the rear of the cable wiring robot 31 displayed on the monitor 78 and operate the levers La and Lb to drive the motors MLf, MLr, MRf, and MRr in the reverse direction to move the cable wiring robot 31 backward. Also, the operator can view images of the front and rear of the cable wiring robot 31 displayed on the monitor 78 and operate the levers La and Lb to drive the motors MLf, MLr in the forward direction and the motors MRf, MRr in the reverse direction to change the movement direction of the cable wiring robot 31 to the right, or drive the motors MLf, MLr in the reverse direction and the motors MRf, MRr in the forward direction to change the movement direction of the cable wiring robot 31 to the left.

[0083] Next, the operation of the cable wiring robot 31 when it is moved on the ceiling panel 12 will be described.

[0084] FIG. 16 is a first diagram for explaining the operation of the cable wiring robot in the first embodiment of the present invention, FIG. 17 is a second diagram for explaining the operation of the cable wiring robot in the first embodiment of the present invention, and FIG. 18 is a third diagram for explaining the operation of the cable wiring robot in the first embodiment of the present invention.

[0085] In the figure, 12 is a ceiling panel, 31 is a cable wiring robot, Fr is a frame, st is a leg, Wf is a front wheel consisting of wheels WLf and WRf (Figure 1), Wr is a rear wheel consisting of wheels WLr and WRr, 60 is a sponge tire, axf is the rotation axis of the front wheel Wf, axr is the rotation axis of the rear wheel Wr, K is a protrusion, and 48 is a rope.

[0086] When the motors MLf, MRf, MLr, and MRr (FIG. 10) are driven in the forward direction and the front wheel Wf and rear wheel Wr are rotated in the forward direction, the cable wiring robot 31 is moved forward.

[0087] At this time, tension Tr is generated in the rope 48, which generates a horizontal component force Trh and a vertical component force Trv of the tension Tr at the rear end of the frame Fr, and a force Mg is applied to the center of gravity of the cable wiring robot 31, so that a force Fz1 is generated on the rotation axis axf of the front wheel Wf in a direction away from the ceiling panel 12, and a force Fz2 is generated on the rotation axis axr of the rear wheel Wr in a direction pressing it against the ceiling panel 12.

[0088] Therefore, if a sponge tire 60 were not used as the wheel body, the front wheel Wf would be prone to lifting, and would ride over a protrusion K as shown in FIG. 16, and move in the direction of arrow A, while the rear wheel Wr would be less prone to lifting, and would have difficulty moving in the direction of arrow B as shown in FIG. 17.

[0089] In order to make it easier to lift the rear wheel Wr, it is possible to change the structure of the cable wiring robot 31 by moving the position of the center of gravity forward or by moving the attachment point of the rope 48 forward. However, in that case, the change in the position of the center of gravity would reduce the functionality of the cable wiring robot 31 or make the cable wiring robot 31 larger.

[0090] It is also possible to form a convex portion on the outer circumferential surface of the rear wheel Wr and to lift the rear wheel Wr by catching the convex portion on a protrusion K, but in that case, as the cable wiring robot 31 moves, the rear wheel Wr may get caught on the protrusion, causing the cable wiring robot 31 to fall over. Moreover, it is necessary to align the position of the convex portion with the position of the protrusion K, and to align the positions of the convex portions of the left and right wheels WLr and WRr of the rear wheel Wr, making it difficult to lift the rear wheel Wr.

[0091] In contrast, in this embodiment, a sponge tire 60 is used as the wheel body, so when the sponge tire 60 abuts against the projection K, the air bubbles are compressed, a recess is formed in the outer circumferential surface 60t of the sponge tire 60, and a part of the projection K is taken into the sponge tire 60. Therefore, since the sponge tire 60 and the projection K are sufficiently engaged with each other, when the cable wiring robot 31 is moved forward, as shown in Fig. 18, the front wheel Wf can be moved in the direction of arrow C without riding on the projection K, and the rear wheel Wr can be moved in the direction of arrow D without riding on the projection K.

[0092] As described above, in this embodiment, the cable wiring robot 31 is propelled by the frictional force generated between the outer peripheral surface 60t of the sponge tire 60 and the ceiling panel 12, and the engagement force generated between the recess formed in the outer peripheral surface 60t (Figure 11) of the sponge tire 60 upon contact with the protrusion K on the ceiling panel 12, so that not only does the sponge tire 60 not float off the ceiling panel 12 as the cable wiring robot 31 moves, but the cable wiring robot 31 also does not tip over.

[0093] As a result, it is possible to stably move the cable wiring robot 31 on the ceiling panel 12 and easily change the moving direction of the cable wiring robot 31. In addition, the pulling performance of the rope 48 can be improved.

[0094] Incidentally, since there are narrow areas in the ceiling space 14, it is desirable to change the vehicle height of the cable wiring robot 31 according to the size of the ceiling space 14.

[0095] To this end, in this embodiment, as described above, by rotating the set collar Sa (Figure 8), the legs st can be placed at any angle relative to the front horizontal frame FFt and the rear horizontal frame BFt, and the cable wiring robot 31 can be moved above the ceiling panel 12 at a height according to the size of the ceiling space 14. However, if the angle of the legs st is changed to lower the vehicle height of the cable wiring robot 31, the length of the cable wiring robot 31 will increase.

[0096] Therefore, in this embodiment, the vehicle height of the cable wiring robot 31 can be lowered without increasing the length of the cable wiring robot 31.

[0097] FIG. 19 is a perspective view of a robot body of a cable wiring robot with a lowered vehicle height according to the first embodiment of the present invention.

[0098] In the figure, Bd is the robot body, Fr is the frame, LFu is the left vertical frame, RFu is the right vertical frame, FFt is the front horizontal frame, Pt is the top panel, P is the pin, st is the leg, Sa is the set collar, Sh is the axle, and MRf and MRr are the motors.

[0099] In this embodiment, the legs st are attached to the frame Fr at a plurality of points in the moving direction of the cable wiring robot 31.

[0100] In Figures 1 and 8, the front horizontal frame FFt is press-fitted into holes h1 formed in the left vertical frame LFu and the right vertical frame RFu, and the rear horizontal frame BFt is press-fitted into hole h4.

[0101] In contrast to this, as shown in Figure 19, by pressing the front horizontal frame FFt into hole h2 and pressing the rear horizontal frame BFt into hole h3, the leg st is made parallel to the left vertical frame LFu and the right vertical frame RFu, and the vehicle height of the cable wiring robot 31 can be lowered without increasing the length of the cable wiring robot 31.

[0102] Incidentally, when moving the cable wiring robot 31 on the ceiling panel 12, in order to further prevent the cable wiring robot 31 from coming into contact with a protrusion K or the like and falling over, it is preferable to lower the position of the center of gravity of the cable wiring robot 31.

[0103] Next, a second embodiment of the present invention in which the position of the center of gravity is lowered will be described. Note that the same reference numerals are given to the same structures as in the first embodiment, and the effects of the invention resulting from the same structures are the same as those in the first embodiment.

[0104] FIG. 20 is a rear view of the robot body in the second embodiment of the present invention.

[0105] In the figure, Bd is the robot body, Sh is the axle, and Sa is a set collar which serves as a fixing member for attaching the leg st of the axle Sh and also as a connector.

[0106] In this embodiment, a set collar Sax is attached as a weight adjacent to the set collar Sa at a predetermined location of the axle Sh, in this embodiment, at a location close to each of the wheels WLf, WRf, WLr, and WRr. This allows each of the wheels WLf, WRf, WLr, and WRr to be reliably grounded.

[0107] Therefore, the gripping force of the wheels WLf, WRf, WLr, and WRr can be increased, and even if the position of the center of gravity of the cable wiring robot 31 is lowered, the cable wiring robot 31 can be moved in a more stable manner.

[0108] Incidentally, if the sponge tire 60, which is the wheel body, is twisted when the moving direction of the cable wiring robot 31 is changed, the sponge tire 60 may be damaged or come off the shaft 61 (FIG. 12).

[0109] Next, a third embodiment of the present invention will be described, which prevents the sponge tire 60 from being damaged or coming off the shaft 61. The same reference numerals are given to components having the same structure as in the first embodiment, and the effects of the invention resulting from having the same structure are the same as those in the first embodiment.

[0110] FIG. 21 is a front view of a sponge tire in the third embodiment of the present invention.

[0111] In the figure, 60 is a sponge tire, and 63 is a tack used as a mounting jig.

[0112] In this embodiment, a tire cover 66 is attached to an end surface 60 s of the sponge tire 60 .

[0113] In this case, even if an external force is applied to the sponge tire 60 when changing the moving direction of the cable wiring robot 31, the external force is received by the tire cover 66, so that the sponge tire 60 does not deform and it is possible to prevent the sponge tire 60 from being twisted. Therefore, the sponge tire 60 is not damaged or comes off the shaft 61 (FIG. 12), so that the durability of the cable wiring robot 31 can be improved.

[0114] In this embodiment, a rope 48 serving as a guide line is connected to the cable wiring robot 31 via a carabiner 46 serving as a connection aid, and a cable 22 is further connected to the end of the rope 48. The rope 48 is pulled by moving the cable wiring robot 31 to wire the cable 22. However, it is also possible to connect the cable 22 directly to the cable wiring robot 31 via the carabiner 46, and wire the cable 22 by moving the cable wiring robot 31.

[0115] The present invention is not limited to the above-described embodiments, and various modifications are possible based on the spirit of the present invention, and are not to be excluded from the scope of the present invention. [Explanation of symbols]

[0116] 12 Ceiling Panel 14 Ceiling space 22 Cable 31 Cable Wiring Robot 60 Sponge Tire 60t outer surface 61 Shaft Bd Robot Body K protrusion Ka Ceiling bracket Kb equipment ceiling part MLf, MRf, MLr, MRr motors WLf, WRf, WLr, WRr Wheels

Claims

1. A cable wiring robot that advances on a ceiling panel in a ceiling space to lay a guide line and generate tension in the guide line to pull and wire a cable, The robot body, A plurality of wheels rotatably supported by the robot body; A drive unit that rotates each of the wheels, the robot body includes a frame and legs connecting the frame to each of the wheels; Each of the wheels includes a shaft connected to the drive unit and a wheel body supported by the shaft and made of an elastic foam material; the cable wiring robot is characterized in that the cable is connected to a predetermined position at the rear end of the frame, and the horizontal and vertical components of the tension generated in the cable cause the rotation shaft of the rear wheel to receive a force in a direction pressing it against the ceiling panel and the rotation shaft of the front wheel to receive a force in a direction moving away from the ceiling panel, and the cable wiring robot is propelled by a frictional force generated between the outer peripheral surface of the wheel body and the ceiling panel, and by a locking force generated between a recess formed on the outer peripheral surface of the wheel body and the protrusion as a result of the wheel body coming into contact with the protrusion.

2. The cable wiring robot according to claim 1 , wherein the foam body is formed by foaming a resin material.

3. 3. The cable wiring robot according to claim 2, wherein the wheel body is a sponge tire made of sponge.

4. The cable wiring robot according to claim 3 , wherein the wheel body is coated with a rubber material.

5. The drive unit is provided for each of the wheels, The cable wiring robot according to any one of claims 1 to 4, wherein the shaft is attached to an output shaft of each of the drive parts.

6. A cable wiring robot as described in any one of claims 1 to 5, wherein the frame and each of the legs are connected to form a predetermined angle.

7. The cable wiring robot according to claim 6 , wherein the legs are attached to the frame at a plurality of points in a moving direction of the cable wiring robot.

8. The left and right wheels are connected by an axle via the shaft, The cable wiring robot according to any one of claims 1 to 7, wherein the drive unit is housed within the axle.

9. The cable wiring robot according to claim 8, which relies on claim 7, wherein the frame, the axle and each of the legs are connected by a connector so as to be rotatable relative to one another.

10. 10. The cable wiring robot according to claim 8, wherein a weight is provided at a predetermined location of the axle.

11. The cable routing robot according to claim 10 , wherein the weights are disposed adjacent to each of the wheels.

12. The cable wiring robot according to any one of claims 1 to 11, wherein a tire cover is attached to an end face of the wheel body to prevent twisting of the wheel body.

13. The cable wiring robot according to any one of claims 1 to 12, wherein a lighting device that emits light toward a ceiling slab and an imaging device that captures images of the surroundings are disposed at predetermined locations on the robot body.

Images