AU2021458928A1

AU2021458928A1 - Self-traveling robot transfer system and transfer robot for use in same

Info

Publication number: AU2021458928A1
Application number: AU2021458928A
Authority: AU
Inventors: Youta EMOTO; Haruhisa Inoue; Tatsuya Manabe
Original assignee: Ken Robotech Corp
Current assignee: Ken Robotech Corp
Priority date: 2021-08-03
Filing date: 2021-09-30
Publication date: 2024-02-01
Also published as: JP7182315B1; EP4382696A1; JP2023022774A; WO2023013086A1

Abstract

Provided are: a self-traveling robot transfer system in which, when a reinforcing rod binding self-traveling robot reaches, while self-traveling on a reinforcing rod as a traveling track, the vicinity of the end of the reinforcing rods, the self-traveling robot is caused to self-travel inversely on another reinforcing rod as a new traveling track without letting an operator lift the self-traveling robot, and consequently reiteration work by the self-traveling robot is achieved easily; and a transfer robot for use in the system. A self-traveling robot transfer system 100 is provided with: a transfer robot 110 for demountably mounting thereon a self-traveling robot which travels on a reinforcing rod as a traveling track; and a pair of traverse rails 120. The transfer robot is integrally formed from: a body unit 112 comprising body driving wheels which roll on the traverse rails, a body frame which moves on the traverse rails by the body driving wheels, and a traverse drive part which drives the body driving wheels; and a cart unit 111 comprising cart wheels which roll on the traverse rails, a cart frame which moves on the traverse rails by the cart wheels, and a mounting assist frame which transfer the self-traveling robot, in a manner as to be mountable and demountable, between a second reinforcing rod and the cart frame.

Description

SELF-PROPELLED ROBOT TRANSFER SYSTEM AND TRANSFER ROBOT USED IN THE SYSTEM

[Technical Field]

[0001] The present invention relates to a self-propelled robot transfer system and a transfer robot used in the system for traversing a reinforcing bar binding self propelled robot used in reinforcement works for placing concrete.

[Background Art]

[0002] Conventionally, as a reinforcing bar binding robot that moves on reinforcing bars as tracks, a reinforcing bar binding robot that detects reaching near the end of the reinforcing bars to automatically stop there and is moved manually between the reinforcing bars (see patent literature 1) and a reinforcing bar binding robot that includes a crawler mechanism with loading/unloading function (see patent literature 2) are known.

[Citation List]

[Patent Literature]

[0003]

[Patent Literature 1] JP 6633720 B

[Patent Literature 2] JP 2019-39174 A

[Summary of Invention]

[Technical Problem]

[0004] However, there are problems in which the reinforcing bar binding robot described in the patent literature 1 requires an operator to lift the reinforcing bar binding robot by himself and move the reinforcing bar binding robot between the reinforcing bars and the reinforcing bar binding robot described in patent literature 2 has a complicated structure and it is difficult to make adjustments for accurate crawling.

[0005] Therefore, the present invention solves the problems of the prior art as described above and the object of the present invention is to provide a self-propelled robot transfer system and a transfer robot used in the system with which, when the self-propelled robot reaches near the end of the second reinforcing bar while moving on the second reinforcing bar as a track, a loading/unloading assist frame of the transfer robot transfers the self-propelled robot between the second reinforcing bar and a bogie frame by loading/unloading the self-propelled robot and the transfer robot moves to another second reinforcing bar along a traverse rail in a state where the self-propelled robot is loaded on the bogie frame, so that the operator can move the self-propelled robot in the opposite direction using another second reinforcing bar as a new track without having to lift the self-propelled robot by himself, as a result of which, turnaround working of the self-propelled robot can be easily achieved.

[Solution to Problem]

[0006] In the invention according to claim 1, a self-propelled robot transfer system comprises: a transfer robot that can load and unload a self-propelled robot that moves on a plurality of second reinforcing bars as tracks, which are laid across a plurality of first reinforcing bars arranged in parallel on a working surface; and a pair of traverse rails arranged on the plurality ofsecond reinforcing bars in the longitudinal direction of the first reinforcing bars to move the transfer robot in the longitudinal direction of the first reinforcing bars, wherein the transfer robot is integrally composed of a main body unit, which includes a main body driving wheel that rolls on the traverse rail, a main body frame that is moved on the traverse rail by the main body driving wheel and a traverse drive section that drives the main body driving wheel, and a bogie unit, which is consist of bogie wheels that roll on the traverse rail, a bogie frame that is moved on the second traverse rail by the bogie wheels and a loading/unloading assist frame that can transfer the self-propelled robot between the second reinforcing bar and the bogie frame by loading/unloading the self-propelled robot. Thereby, the above-described problem can be solved.

[0007] In the invention according to claim 2, a transfer robot can load and unload a self-propelled robot that moves on a plurality of second reinforcing bars as tracks, which are laid across a plurality of first reinforcing bars arranged in parallel on a working surface, and is for a self-propelled robot transfer system that moves the self propelled robot along a pair of traverse rails arranged on the plurality of second reinforcing bars in the longitudinal direction of the first reinforcing bars, wherein the transfer robot is integrally composed of a main body unit, which includes a main body driving wheel that rolls on the traverse rail, a main body frame that is moved on the traverse rail by rolling of the main body driving wheel and a traverse drive section that drives the main body driving wheel, and a bogie unit, which is consist of bogie wheels that roll on the traverse rail, a bogie frame that is moved on the traverse rail by the bogie wheels and a loading/unloading assist frame that can transfer the self propelled robot between the second reinforcing bar and the bogie frame by loading/unloading the self-propelled robot. Thereby, the above-described problem can be solved.

[0008] In the invention according to claim 3, in addition to the configuration of the invention according to claim 2, the main body unit includes an operation communication section that communicates with the self-propelled robot, and a traverse control section that controls the traverse drive section in accordance with content of communication with the self-propelled robot. Thereby, the above-described problem can be further solved.

[0009] In the invention according to claim 4, in addition to the configuration of the invention according to claim 2 or 3, the main body unit includes a second reinforcing bar detection sensor that detects a position of the second reinforcing bar on which the self-propelled robot moves, and an operation control section that drives the traverse drive section in response to a signal from the second reinforcing bar detection sensor. Thereby, the above-described problem can be further solved.

[0010] In the invention according to claim 5, in addition to the configuration of the invention according to claims 2 to 4, the main body unit includes a rail end detection sensor that detects an end of the traverse rail, and wherein the traverse control section controls a traverse drive section in response to a signal from the rail end detection sensor. Thereby, the above-described problemcan be further solved.

[Advantageous Effect of Invention]

[0011] According to a self-propelled robot transfer system according to claim 1 of the present invention, the self-propelled robot transfer system comprises: a transfer robot that can load and unload a self-propelled robot that moves on a plurality of second reinforcing bars as tracks, which are laid across a plurality of first reinforcing bars arranged in parallel on a working surface; and a pair of traverse rails arranged on the plurality of second reinforcing bars in the longitudinal direction of the first reinforcing bars to move the transfer robot in the longitudinal direction of the first reinforcing bars, wherein the transfer robot is integrally composed of a main body unit, which includes a main body driving wheel that rolls on the traverse rail, a main body frame that is moved on the traverse rail by the main body driving wheel and a traverse drive section that drives the main body driving wheel, and a bogie unit, which is consist of bogie wheels that roll on the traverse rail, a bogie frame that is moved on the traverse rail by the bogie wheels and a loading/unloading assist frame that can transfer the self-propelled robot between the second reinforcing bar and the bogie frame by loading/unloading the self-propelled robot. Thereby, when the self propelled robot reaches near the end of the second reinforcing bar while moving on the second reinforcing bar as a track, the loading/ unloading assist frame of the transfer robot can transfer the self-propelled robot between the second reinforcing bar and the bogie frame by loading/unloading the self-propelled robot and the transfer robot moves to another second reinforcing bar along the traverse rail in a state where the self-propelled robot is loaded on the bogie frame, so that the operator can move the self-propelled robot in the opposite direction using another second reinforcing bar as a new track without having to lift the self-propelled robot by himself, as a result of which, turnaround working of the self-propelled robot can be easily achieved.

[0012] According to a transfer robot according to claim 2 of the present invention, the transfer robot can load and unload a self-propelled robot that moves on a plurality of second reinforcing bars as tracks, which are laid across a plurality of first reinforcing bars arranged in parallel on a working surface, and is for a self-propelled robot transfer system that moves the self-propelled robot along a pair of traverse rails composed of the first traverse rail, which is arranged on the plurality of second reinforcing bars in the longitudinal direction of the first reinforcing bars, and the second traverse rail, wherein the transfer robot is integrally composed of a main body unit, which includes a main body driving wheel that rolls on the traverse rail, a main body frame that is moved on the traverse rail by rolling of the main body driving wheel and a traverse drive section that drives the main body driving wheel, and a bogie unit, which is consist of bogie wheels that roll on the traverse rail, a bogie frame that is moved on the traverse rail by the bogie wheels and a loading/unloading assist frame that can transfer the self-propelled robot between the second reinforcing bar and the bogie frame by loading/unloading the self-propelled robot. Thereby, when the self-propelled robot reaches near the end of the second reinforcing bar while moving on the second reinforcing bar as a track, the loading/ unloading assist frame of the transfer robot transfers the self-propelled robot between the second reinforcing bar and the bogie frame by loading/unloading the self-propelled robot and the transfer robot moves to another second reinforcing bar along the traverse rail in a state where the self-propelled robot is loaded on the bogie frame, so that the operator can move the self-propelled robot in the opposite direction using another second reinforcing bar as a new track without having to lift the self-propelled robot by himself, as a result of which, turnaround working of the self-propelled robot can be easily achieved.

[0013] According to the transfer robot of the invention according to claim 3, in addition to the effect achieved by the invention according to claim 2, the main body unit includes an operation communication section that communicates with the self propelled robot, and a traverse control section that controls the traverse drive section in accordance with content of communication with the self-propelled robot, and thereby based on the communication between the self-propelled robot and the transfer robot, the transfer robot automatically moves to a position corresponding to the second reinforcing bar on which the self-propelled robot is currently moving to pick up the self-propelled robot, the self-propelled robot is automatically transferred from the second reinforcing bar to the bogie frame, the transfer robot automatically moves to a position corresponding to another second reinforcing bar along the traverse rail, and the self-propelled robot is automatically transferred from the bogie frame to the another second reinforcing bar, so that the automatic operation can be realized in which the self-propelled robot that moves on the plurality of second reinforcing bars as tracks sequentially traverses other second reinforcing bars and moves over the entire working surface only by simply inputting the initial settings to the self-propelled robot and transfer robot.

[0014] According to the transfer robot of the invention according to claim 4, in addition to the effect achieved by the invention according to claim 2 or 3, the main body unit includes a second reinforcing bar detection sensor that detects a position of the second reinforcing bar on which the self-propelled robot moves, and an operation control section that drives the traverse drive section in response to a signal from the second reinforcing bar detection sensor, and thereby the traverse movement along the traverse rail by the transfer robot is controlled based on the position of the second reinforcing bar detected by the second reinforcing bar detection sensor, and thus when transferring a self-propelled robot, the stopping position of the transfer robot that traverses toward the self-propelled robot is accurately decided and when the self-propelled robot is transferred between the second reinforcing bar and the bogie frame, the loading/unloading assist frame and the second reinforcing bar are connected accurately, so that derailment of the self-propelled robot can be prevented.

[0015] According to the transfer robot of the invention according to claim 5, in addition to the effect achieved by the invention according to any one of claims 2 to 4, the main body unit includes a rail end detection sensor that detects an end of the traverse rail, and wherein the traverse control section controls a traverse drive section in response to a signal from the rail end detection sensor, and thereby the traverse control section stops the traverse drive section based on the rail end detection sensor detecting arrival at the end of the traverse rail, so that it is possible to prevent the main body driving wheel of the transfer robot from moving over the end of the traverse rail and derailing from the traverse rail.

[Brief Description of Drawings]

[0016] Fig. 1 is a schematic view showing a self-propelled robot transfer system of the present invention. Fig. 2 is a schematic view showing the using state of the self-propelled robot transfer system of the present invention. Fig. 3 is a schematic side view showing the state where the self-propelled robot is not loaded on the transfer robot of the present invention. Fig. 4 is a schematic side view showing the state where the self-propelled robot is loaded on the transfer robot of the present invention. Fig. 5 is a schematic plan view showing how the transfer robot of the present invention traverses the self-propelled robot. Fig. 6 is a block diagram showing the configuration of the transfer robot of the present invention. Fig. 7 is a block diagram showing the configuration of the self-propelled robot to be operated by the self-propelled robot transfer system of the present invention. Fig. 8 is a schematic diagram showing the configuration of the self-propelled robot transfer system in the example 1 of the present invention. Fig. 9 is a schematic diagram showing the configuration of the self-propelled robot transfer system in the example 2 of the present invention. Fig. 10A is a flow diagram showing the control flow in the example 1 of the present invention. Fig. 10B is a flow diagram showing the control flow in the example 1 of the present invention. Fig. 10C is a flow diagram showing the control flow in the example 1 of the present invention. Fig. 11A is a flow diagram showing the control flow in the example 2 of the present invention. Fig. 11B is a flow diagram showing the control flow in the example 2 of the present invention.

Fig. 11C is a flow diagram showing the control flow in the example 2 of the present invention. Fig. 11D is a flow diagram showing the control flow in the example 2 of the present invention. Fig. 11E is a flow diagram showing the control flow in the example 2 of the present invention.

[Description of Embodiments]

[0017] The specific embodiment of a self-propelled robot transfer system in the present invention may be arbitrary as long as a self-propelled robot transfer system comprises: a transfer robot that can load and unload a self-propelled robot that moves on a plurality of second reinforcing bars as tracks, which are laid across a plurality of first reinforcing bars arranged in parallel on a working surface; and a pair of traverse rails arranged on the plurality ofsecond reinforcing bars in the longitudinal direction of the first reinforcing bars to move the transfer robot in the longitudinal direction of the first reinforcing bars, wherein the transfer robot is integrally composed of a main body unit, which includes a main body driving wheel that rolls on the traverse rail, a main body frame that is moved on the traverse rail by the main body driving wheel and a traverse drive section that drives the main body driving wheel, and a bogie unit, which is consist of bogie wheels that roll on the traverse rail, a bogie frame that is moved on the traverse rail by the bogie wheels and a loading/unloading assist frame that can transfer the self-propelled robot between the second reinforcing bar and the bogie frame by loading/unloading the self-propelled robot, so that the operator can move the self-propelled robot in the opposite direction using another second reinforcing bar as a new track without having to lift self-propelled robot by himself, as a result of which turnaround working of the self-propelled robot can be easily achieved.

[0018] Further, the specific embodiment of a transfer robot in the present invention may be arbitrary as long as a transfer robot can load and unload a self-propelled robot that moves on a plurality of second reinforcing bars as tracks, which are laid across a plurality of first reinforcing bars arranged in parallel on a working surface, and is for a self-propelled robot transfer system that moves the self-propelled robot along a pair of traverse rails arranged on the plurality of second reinforcing bars in the longitudinal direction of the first reinforcing bars, wherein the transfer robot is integrally composed of a main body unit, which includes a main body driving wheel that rolls on the traverse rail, a main body frame that is moved on the traverse rail by rolling of the main body driving wheel and a traverse drive section that drives the main body driving wheel, and a bogie unit, which is consist of bogie wheels that roll on the traverse rail, a bogie frame that is moved on the traverse rail by the bogie wheels and a loading/unloading assist frame that can transfer the self-propelled robot between the second reinforcing bar and the bogie frame by loading/unloading the self propelled robot, so that the operator can move the self-propelled robot in the opposite direction using another second reinforcing bar as a new track without having to lift self-propelled robot by himself, as a result of which turnaround working of the self propelled robot can be easily achieved.

[0019] For example, if the configuration, in which the main body unit of the transfer robot is arranged next to the bogie unit, the two main body driving wheels roll on the first traverse rail and the second traverse rail and the bogie wheels are driven wheels that roll on the first traverse rail and the second traverse rail, is adopted, the transmission rod is not necessary, and stable traverse movement can be achieved since the driving force is distributed to the traverse rail in a well-balanced manner when the self-propelled robot traverses.

[0020]

Further, the pair of first traverse rail and second traverse rail constituting the traverse rail may be integrally formed by an interval distance maintaining member so as to maintain a constant interval distance therebetween.

[0021] Furthermore, only one set of a transfer robot and a traverse rail may be prepared and arranged, for example, on the back side of the working surface, and the traverse movement on the front side may be performed by a human-powered traverse movement device.

[Example 1]

[0022] Hereinafter, a self-propelled robot transfer system and a transfer robot according to the first example of the present invention are explained based on Figs. 1 to 8 and Figs. 10A to 10C.

[0023] Here, Fig. 1 is a schematic view showing the self-propelled robot transfer system of the present invention, Fig. 2 is a schematic view showing the using state of the self-propelled robot transfer system of the present invention, Fig. 3 is a schematic side view showing the state where the self-propelled robot is not loaded on the transfer robot of the present invention, Fig. 4 is a schematic side view showing the state where the self-propelled robot is loaded on the transfer robot of the present invention, Fig. 5 is a schematic plan view showing how the transfer robot of the present invention traverses the self-propelled robot, Fig. 6 is a block diagram showing the configuration of the transfer robot of the present invention, Fig. 7 is a block diagram showing the configuration of the self-propelled robot to be operated by the self-propelled robot transfer system of the present invention, Fig. 8 is a block diagram showing the configuration of the self-propelled robot transfer system in the example 1 of the present invention, and Figs. 10A to 10C are flow diagrams showing the control flow in the example 1 of the present invention.

[0024] As shown in Figs. 1 to 6 and 8, a self-propelled robot transfer system 100 according to the present example comprises: a transfer robot 110 that can load and unload a self-propelled robot R that moves on a plurality of second reinforcing bars LR as tracks, which are laid across a plurality of first reinforcing bars TR arranged in parallel on a working surface; and a pair of traverse rails 120 arranged on the plurality of second reinforcing bars LR in the longitudinal direction of the first reinforcing bars TR to move the transfer robot 110 in the longitudinal direction of the first reinforcing bars TR.

[0025] The transfer robot 110 is integrally composed of a bogie unit 111 and a main body unit 112.

[0026] The bogie unit 111 is consist of bogie wheels 111a composed of a bogie driving wheel 111aa that rolls on the traverse rail 120 and bogie driven wheels 111ab, a transmission rod 111b that transmits the driving force from the main body unit 112 to the bogie wheel 111a, a bogie frame 111c that is moved on the traverse rail 120 by the bogie wheels, and a loading/unloading assist frame 111d that can transfer the self-propelled robot R between the second reinforcing bar LR and the bogie frame 111c by loading/unloading the self-propelled robot R.

[0027] The loading/unloading assist frame 111d includes a swing base member 111da having a pair of swing shafts, a center rail part 111db fixed to the swing base member 111da, and an assist rails interval distance adjustment member 111dc fixed to the center rail part 11db, a pair ofloading/unloading assist rail parts 111dd that has an inverted U-shaped cross section and is fixed by the swing base member 111da and the assist rails interval distance adjustment member 111dc so as to be adjustable in interval distance, and a reinforcing bar detection inhibiting part 111de that is fixed to the center rail part 111db and arranged between the pair of loading/unloading assist rail parts 111dd.

[0028] The swing base member 111da is swingably fixed at the pair of swing shafts by a pair of bearings constituting the bogie frame 111c. As a result, the swing shaft is positioned between the bogie wheels 111a.

[0029] The main body unit 112 is composed of a main body driving wheel 112a that rolls on the traverse rail 120, a main body frame 112b that is moved on the traverse rail 120 by the main body driving wheel 112a, a sensor section 112c that detects various conditions, a traverse drive section 112d that drives the main body driving wheel 112a, a loading/unloading assist frame drive section 112e that drives the loading/unloading assist frame 111d between the loading/unloading position and the loaded position, an operation control section 112g that performs various controls, and an operation communication section 112f that communicates with the self-propelled robot R.

[0030] Among the components described above, the sensor section 112c includes a loading/unloading assist frame detection sensor 112ca that detects whether the loading/unloading assist frame 111d is in a tilted loading/unloading position or a horizontalloaded position, a second reinforcing bar detection sensor 112cb that detects the second reinforcing bar LR over which the transfer robot 110 moves during traverse movement, a self-propelled robot sensor 112cc that detects whether the self propelled robot R is located in front of the transfer robot 110, and a rail end detection sensor 112cd that detects the end of the traverse rail 120 while the transfer robot 110 moves on the traverse rail 120.

[0031] Further, the traverse drive section 112d includes a drive motor 112da that generates driving force for traverse movement, and a transmission belt 112db that transmits the driving force to the main body driving wheel 112a to transmit the driving force to the bogie wheels 111a via the transmission rod 111b.

[0032] Furthermore, the operation control section 112g includes an operation input section 112ga that is used by an operator of the self-propelled robot transfer system 100 to input various information such as specified time, a traverse control section 112gb that controls to drive or stop the traverse drive section 112d in accordance with the content of communication with the self-propelled robot R and signals from the second reinforcing bar detection sensor 112cb and the rail end detection sensor 112cd, and a loading/unloading assist frame control section 112gc that control to drive or stop the loading/unloading assist frame drive section 112e and to switch the loading/unloading assist frame 111d between the loading/unloading position and the loaded position.

[0033] The traverse rail 120 is composed of a first traverse rail 121 and a second traverse rail 122 that are arranged at a distance from each other that allows the transfer robot 110 to be mounted thereon. The first traverse rail 121 and the second traverse rail 122 are bound and fixed to the first reinforcing bar TR or the second reinforcing bar LR.

[0034] In order to operate the self-propelled robot R using the self-propelled robot transfer system 100 of the present example, first, the interval distance between the pair ofloading/unloading assist rail parts 111dd is adjusted to the interval distance of the second reinforcing bars LR. In the present example, as shown in Figs. 2 and 5, since the self-propelled robot R moves on the nth and n+2th second reinforcing bars

LR as tracks, the interval distance between the pair of loading/unloading assist rail parts 111dd is set to twice the interval distance of the second reinforcing bars LR.

[0035] In particular, when the center rail part 111db is arranged at a position corresponding to the n+1th second reinforcing bar LR, the pair of loading/unloading assist rail parts 111dd are fixed at positions corresponding to the nth and n+2th second reinforcing bars LR respectively so as to be parallel to the center rail part 111db.

[0036] Next, the traverse rail 120 is laid near the end of the second reinforcing bar LR on which the self-propelled robot R moves, and is bound and fixed to the first reinforcing bar TR or the second reinforcing bar LR.

[0037] Then, the transfer robot 110 is mounted on the traverse rail 120. At this time, as shown in Figs. 2 to 5, the main body driving wheel 112a is arranged on the first traverse rail 121, the bogie wheels 111a are arranged on the second traverse rail 122, and, as shown in Fig. 3, the transfer robot 110 is positioned to a point where the loading/unloading assist frame 111d is in the tilted loading/unloading position and connected to the second reinforcing bar LR.

[0038] Next, the control frow of the self-propelled robot transfer system 100 of the present invention will be explained.

[0039] The self-propelled robot transfer system 100 according to the present example transfers one reinforcing bar binding self-propelled robot between the second reinforcing bars, which is the self-propelled robot R that moves on the second reinforcing bars LR. Thus, as shown in Fig. 8, since two sets of the transfer robot 110 and the traverse rail 120 are provided, they are distinguished by the symbols (A) and (B) for convenience.

[0040] Hereinafter, with reference to Figs. 10A to 10C, the control flow, in which the self-propelled robot R is operated by the self-propelled robot transfer system 100, and the operation of a transfer robot (A) 110 will be described.

[0041] SA01 to SA09, SB1 to SB09, and SR01 to SR22 in the figures indicate control steps.

[0042] First, the control flow and the operation of the transfer robot (A) 110 arranged on the back side will be explained. In the initial state, the transfer robot (A) 110 is arranged on a traverse rail (A) 120 at a position on the left back side corresponding to the second reinforcing bar LR on which the self-propelled robot R moves. The operator of the self-propelled robot transfer system 100 inputs from the operation input section 112ga that the transfer robot (A) 110 is arranged on the back side.

[0043] While the self-propelled robot R moves forward, the transfer robot (A) 110 is in a state of waiting for a new call, in which the loading/unloading assist frame control section 112gc drives the loading/unloading assist frame drive section 112e to keep the loading/unloading assist frame 1e in a horizontal state (SA01)

[0044] When the operation communication section 112f of the transfer robot (A) 110 receives a moving direction transfer robot call signal that is transmitted in a state where the self-propelled robot R stops in a specified time after the self-propelled robot R turns around and moves backwards, the traverse control section 112gb of the operation control section 112g drives the drive motor 112da constituting the traverse drive section 112d to traverse the transfer robot (A) 110 in the lateral direction along the first traverse rail 121 (A) and the second traverse rail 122 (SA02).

[0045] During the traverse movement in the lateral direction, each time the transfer robot (A) 110 moves over the second reinforcing bar, the second reinforcing bar detection sensor 112cb detects the moving over event. Thus, the stopping position can be determined accurately based on the positions of the second reinforcing bar LR.

[0046] Here, as will be described later, after the self-propelled robot R moves from the back side to the front side while binding reinforcing bars, the self-propelled robot R is moved the same distance as the interval distance between the second reinforcing bars in the lateral direction by a transfer robot (B) 110, and the self-propelled robot R further moves from the front side to the back side while binding reinforcing bars. Thus, the transfer robot (A) 110 traverses in the lateral direction the same distance as the interval distance between the second reinforcing bars, thereby the transfer robot (A) 110 is in front of the self-propelled robot R that is stopped in the specified time after the self-propelled robot R moves backwards.

[0047] Then, the operation control section 112g starts driving the drive motor 112da (SA02). After that, when the self-propelled robot sensor 112cc detects the self propelled robot R in front thereof and the second reinforcing bar detection sensor 112cb detects the second reinforcing bar, the drive motor 112da is controlled to be stopped (SA03). During this operation, the signal from the second reinforcing bar detection sensor 112cb is input once.

[0048] When the transfer robot (A) 110 stops at a predetermined position, as shown in Fig. 3, the loading/unloading assist frame drive section 112e is driven to tilt the loading/unloading assist frame 111d until the loading/unloading assist frame detection sensor 112ca detects that the loading/unloading assist frame 111d is at the loading/unloading position. After tilting the loading/unloading assistance frame 111d, the operation communication section 112f transmits a moving permission signal to the self-propelled robot R (SA04).

[0049] When the self-propelled robot R moves up the pair of tilted loading/unloading assist rail parts 111dd and the center of gravity of the self-propelled robot R exceeds the swing base member 111da, as shown in Fig. 4, due to the weight of the self propelled robot R, the entire loading/unloading assist frame 111d automatically swings around the pair of swing shafts, and the entire loading/unloading assist frame 111d separates from the second reinforcing bar LR and becomes stable in a horizontal loaded position. At this time, the lower end portions of the pair of loading/unloading assist rail parts 111dd having an inverted U-shaped cross section move up, and the state changes from the engaging state with the second reinforcing bar LR (Fig. 3) to the disengaging state from the second reinforcing bar LR (Fig. 4).

[0050] After the self-propelled robot R moves up to the innermost part of the loading/unloading assist frame 111d and is completely transferred and stops, and the loading/unloading assist frame 111d separates from the second reinforcing bar LR and becomes in a state where the self-propelled robot R is stably loaded and held in a horizontal loaded position, when the loading/unloading assist frame detection sensor 112ca detects that the loading/unloading assist frame 1e is in a horizontal state, a loaded signal is input from the loading/unloading assist frame detection sensor 112ca to the operation control section 112g.

[0051] When the loaded signal is input from the loading/unloading assist frame detection sensor 112ca, the traverse control section 112gb ofthe operation control section 112g drives the drive motor 112da constituting the traverse drive section 112d, and, as shown by the arrow in Fig. 5, the transfer robot (A) 110 traverses in the lateral direction along the traverse rail (A) 120 (SA05).

[0052] At this phase, the self-propelled robot R has finished binding the four mutually adjacent second reinforcing bars. Therefore, in a state where the self propelled robot R is loaded on the bogie unit 111 of the transfer robot (A) 110, in order to move to the second reinforcing bars LR where the reinforcing bars is to be bound next, it is necessary to traverse a distance three times the interval distance between the second reinforcing bars.

[0053] Therefore, the operation control section 112g of the transfer robot (A) 110 starts driving the drive motor 112da (SA05), and after that, when the self-propelled robot sensor 112cc detects the self-propelled robot R in front thereof and the second reinforcing bar detection sensor 112cb detects the second reinforcing bar LR, the operation control section 112g control to stop the drive motor 112da (SA06). during this operation, the detection signal from the second reinforcing bar detection sensor 112cb is input three times.

[0054] When the self-propelled robot R starts moving and the center of gravity of the self-propelled robot R exceeds the swing base member 111da, due to the weight of the self-propelled robot R, the entire loading/unloading assist frame 111d automatically swings around the pair of swing shafts and is tilted and is connected to the second reinforcing bar LR and becomes stable in a robot loading/unloading position. At this time, the lower end portions of the pair of loading/unloading assist rail parts llldd having an inverted U-shaped cross section move down, and the pair of loading/unloading assist rail parts llldd is in engaging state with the second reinforcing bar LR again.

[0055] Since the transfer robot (A) 110 traversed along the traverse rail 120 a distance three times the interval distance between the second reinforcing bars LR, the lower end portions of the pair of loading/unloading assist rail parts llldd engage with the n+3th and n+5th second reinforcing bars LR, which are the third second reinforcing bars LR from the nth and n+2th second reinforcing bars LR respectively, on which the self-propelled robot R moved before being transferred to the bogie unit 111.

[0056] When the transfer robot (A) 110 stops at a predetermined position, the operation communication section 112f transmits a moving permission signal to the self-propelled robot R (SA07).

[0057] When the self-propelled robot R gets off the loading/unloading assist frame 11e and moves, the operation communication section 112f inputs to the operation control section 112g that the strength of the signal transmitted from the self propelled robot R has decreased, and it is confirmed that the self-propelled robot R moves (SA08).

[0058] Thereafter, the loading/unloading assist frame drive section 112e is driven until the loading/unloading assist frame detection sensor 112ca detects that the loading/unloading assist frame 111d is in the loaded position to make the loading/unloading assist frame 111d in a horizontal state, and then the transfer robot (A) is in a new call waiting state (SA09), which is in a loop returning to the repeat start point in Fig. 10A.

[0059] To briefly summarize the relationship between the distance of the traverse movement of the transfer robot (A) 110 and the loading/unloading of the self propelled robot R as explained above, (1) the traverse movement to right a distance three times the interval distance between the two reinforcing bars LR in a state where the self-propelled robot R is loaded, and (2) the traverse movement to right a distance equal to the interval distance between the second reinforcing bars LR in a state where the self-propelled robot R is not loaded are repeated.

[0060] Next, the control flow of the transfer robot (B) 110 arranged on the front side will be explained. In the initial state, the transfer robot (B) 110 is arranged at an arbitrary position on a traverse race (B) 120. The operator of the self-propelled robot transfer system 100 inputs from the operation input section 112ga that the transfer robot (B) 110 is arranged on the front side.

[0061] SB01 to SB09 of the control flow of the transfer robot (B) 110 are respectively the same as SA01 to SA09 of the control flow of the transfer robot (A) 110 except for the following points, thus detailed explanation will be omitted.

[0062] One of the differences from the control flow of the transfer robot (A) 110 is that, since the transfer robot (B) 110 starts traverse movement from an arbitrary initial position, the distance of the first traverse movement in SB03 depends on the initial position.

[0063] Further, from the second traverse movement, the transfer robot (A) 110 traverses the self-propelled robot R in the lateral direction by a distance three times the interval distance between the second reinforcing bars. Therefore, since the distance of traverse movement from the second traverse movement in SB03 is three times the interval distance between the second reinforcing bars LR, the signal from the second reinforcing bar detection sensor 112cb is input three times until the traverse movement is stopped.

[0064] On the other hand, the self-propelled robot R, which moves forward along the second reinforcing bars LR, performed binding operations on every other two second reinforcing bars LR. Therefore, the distance that the transfer robot (B) 110 traverses to the second reinforcing bar LR, at which the next reinforcing bar binding work is to be performed, in a state where the self-propelled robot R is loaded on the bogie unit 111, is the same distance as the interval distance between the second reinforcing bars.

[0065] Therefore, at SB06, by the time the self-propelled robot sensor 112cc detects the self-propelled robot R in front thereof and the second reinforcing bar detection sensor 112cb detects the second reinforcing bar LR to control to stop the drive motor 112da, the detection signal from the second reinforcing bar detection sensor 112cb is input only once.

[0066] To briefly summarize the relationship between the distance of the traverse movement of the transfer robot (B) 110 and the loading/unloading of the self propelled robot R as explained above, (1) the traverse movement to right the same distance equal to the interval distance between the second reinforcing bars LR in a state where the self-propelled robot R is loaded and (2) the transverse movement to right a distance three times the interval distance between the second reinforcing bars LR in a state where the self-propelled robot R is not loaded are repeated.

[0067] Finally, in the self-propelled robot transfer system 100 of the present example, the configuration, control flow and operation of the self-propelled robot R to be operated will be explained.

[0068] The self-propelled robot R is a reinforcing bar binding self-propelled robot, and, as shown in Figs. 2 to 5 and 7, is composed of a self-propelled side sensor section R10 composed of various sensors including a self-propelled side first reinforcing bar detection sensor R11 and a self-propelled side second reinforcing bar detection sensor R12, a self-propelled side frame part R30 that is moved by the rolling of self-propelled wheels R20, a self-propelled side control section R40 that includes a self-propelled side input section R41, a self-propelled side movement control section R42 and a binding machine control section R43 and performs various controls, a self-propelled side drive section R50 that includes a self-propelled side movement drive section R51 that drives the self-propelled wheels R20, a binding machine drive section R52 that drives a reinforcing bar binding machine BD, a self-propelled side communication section R60 that communicates with the transfer robot 110, and a binding machine holding section R70 that holds the reinforcing bar binding machine BD.

[0069] As shown in Figs. 2 to 5, this self-propelled robot R is moved by the self propelled wheels R20 using the nth second reinforcing bar LR and the n+2th second reinforcing bar LR from the left as tracks, and by bringing the self-propelled side second reinforcing bar detection sensor R12 into contact with the n+1th second reinforcing bar LR, the presence of the second reinforcing bar LR is detected to automatically control the forward movement, backward movement and stop movement. In addition, the self-propelled side first reinforcing bar detection sensor R11, which is movable up and down with respect to the main body of the self propelled robot R, magnetically detects that the first reinforcing bar TR exists directly below and within a predetermined distance while the self-propelled robot R is moving, and automatically performs operations of binding the intersection of the first reinforcing bar TR and the second reinforcing bar LR.

[0070] First, the operator of the self-propelled robot transfer system 100 inputs a specified time corresponding to the length of the second reinforcing bar LR on the working surface of reinforcing bars from a self-propelled side input section R41 (SR01).

[0071] The self-propelled robot R moves forward along the second reinforcing bar LR (SR02), repeats the binding operation to the reinforcing bars (SRO3), and stops the movement and the binding operation after a specified time has elapsed (SR04). After that, a moving direction transfer robot call signal is transmitted to the transfer robot B (SR05), and upon receiving the moving permission signal, the self-propelled robot R resumes movement (SR06), performs binding operations (SR07), and moves up the loading/unloading assist rail part 111dd and stops after complete loading on the transfer robot B (SR08).

[0072] When the self-propelled robot R moves up the pair of tilted loading/unloading assist rail parts 111dd, as shown in Fig. 4, since the self-propelled side first reinforcing bar detection sensor R11 of the self-propelled robot comes into contact with the reinforcing bar detection inhibiting part 111de of the loading/unloading assist frame 111d and is pushed up, the detection of the first reinforcing bar TR is prevented and the binding operation of the reinforcing bars does not performed.

[0073] Further, when the self-propelled robot R moves up the pair of tilted loading/unloading assist rail parts 111dd, as shown in Fig. 4, since the self-propelled second reinforcing bar detection sensor R72 on the forward side detects the center rail part 111db instead of the second reinforcing bar LR, the self-propelled robot R automatically continues moving forward.

[0074] When the loading/unloading assist frame 111d becomes stable in the horizontal loaded position, since the distance from the self-propelled side first reinforcing bar detection sensor R11 of the self-propelled robot R to the first reinforcing bar TR is sufficiently long, the first reinforcing bar TR is not detected, and the self-propelled robot R does not perform a binding operation.

[0075] When the loading/unloading assist frame 111d swings to the horizontal loaded position and the self-propelled robot R moves to the innermost part of the loading/unloading assistance frame 111d, as shown in Fig. 4, since there is no longer an object to be detected by the self-propelled side second reinforcing bar detection sensor R12 in the forward movement direction of the self-propelled robot R, the self propelled robot R ends the forward movement and automatically stops.

[0076] After that, upon receiving the moving permission signal transmitted from the transfer robot B, the self-propelled robot R changes the moving direction (SR09), reads and sets the specified time that has been input and recorded in advance (SR10), and moves down the loading/unloading assist rail part 111dd to move backward (SR11).

[0077] When the self-propelled robot R moves down the pair of tilted loading/unloading assist rail parts 111dd, since the self-propelled side second reinforcing bar detection sensor R12 in the moving direction of the self-propelled robot R detects the center rail part 111db instead of the second reinforcing bar LR, the self-propelled robot R automatically continues moving.

[0078] When the self-propelled robot R moves down the pair of tilted loading/unloading assist rail parts 111dd, since the self-propelled side first reinforcing bar detection sensor R11 of the self-propelled robot R comes into contact with the reinforcing bar detection inhibiting part 111de of the loading/unloading assist frame 111d and is pushed up, detection of the first reinforcing bar TR is prevented and the binding operation is not performed.

[0079] When the self-propelled robot R moves further and reaches a position where the self-propelled side first reinforcing bar detection sensor R11 is no longer in contact with the reinforcing bar detection inhibiting part 111de of the loading/unloading assistance frame 111d, since the self-propelled side first reinforcing bar detection sensor R11 lowers to its original position, the self-propelled robot R can detect the first reinforcing bar TR and resumes the reinforcing bar binding operation (SR12).

[0080] Then, the movement and binding operation are stopped when a specified time has elapsed (SR13). After that, moving direction transfer robot call signal is transmitted to transfer robot B (SR14), and upon receiving the moving permission signal, the self-propelled robot R resumes movement (SR15), performs binding operations (SR16), and stops after loading on the transfer robot A (SR17).

[0081] After that, upon receiving the moving permission signal transmitted from the transfer robot A, the self-propelled robot R changes the moving direction (SR18), reads and sets the specified time that has been input and recorded in advance (SR19), and starts moving forward (SR20) and repeats the reinforcing bar binding operations (SR21). When the specified time has elapsed, the movement and binding operation are stopped (SR22). Thereafter, this flow is in a loop returning to the repeat start point in Fig. 10A.

[Example 2]

[0082] Hereinafter, a self-propelled robot transfer system and a transfer robot according to a second example of the present invention will be explained with reference to Figs. 1 to 7, 9 and 11A to 11E. Here, Fig. 9 is a schematic diagram showing the configuration of the self propelled robot transfer system according to the second example of the present invention, and Figs. 11A to 11E are flow diagrams showing the control flow in the second example of the present invention.

[0083] The control flow of the self-propelled robot transfer system 100 of the present example will be explained.

[0084] The self-propelled robot transfer system 100 according to the present example includes two sets of the transfer robot 110 and the traverse rail 120 as shown in Fig. 9 in order to perform the operation of transferring two reinforcing bar binding self propelled robots, each serving as the self-propelled robot R that moves on the second reinforcing bars LR as tracks, between the second reinforcing bars. Thus, for convenience, the self-propelled robots R are marked with symbols (1) and (2) to distinguish them, and the transfer robot and the traverse rail are distinguished with symbols (A) and (B).

[0085] Hereinafter, with reference to Figs. 11A to 11E, the control flow and the operation of the transfer robot (A) when operating self-propelled robots R(1) and R(2) using the self-propelled robot transfer system 100 will be explained.

[0086] In the figures, SA01 to SA7, SB01 to SB17, SI01 to S121, and SII0 to S1117 indicate control steps.

[0087] First, the control flow and the operation of the transfer robot 110(A) arranged on the back side will be explained.

[0088] In the initial state, the transfer robot 110 (A) is arranged on the traverse rail 120 (A) on the left back side at a position corresponding to the second reinforcing bar LR on which the self-propelled robot R moves. The operator of the self-propelled robot transfer system 100 inputs from the operation input section 112ga that the transfer robot (A) 110 is arranged on the back side.

[0089] While the self-propelled robot R moves forward, the transfer robot (A) 110 is in a state of waiting for a new call, in which, the loading/unloading assist frame control section 112gc drives the loading/unloading assist frame drive section 112e to keep the loading/unloading assist frame 1e in a horizontal state (SA01).

[0090] SA02 to SA09, which are the control flow of the transfer robot 110(A) shown in Figs. 11A to 11C, are the same as SA02 to SA09 in Figs. 10A to 10C showing the control flow of the transfer robot 110(A) in the example 1 except for the following points, thus detailed explanation will be omitted.

[0091] One of the differences from the control flow of the transfer robot 110(A) in the example 1 is that since there are two self-propelled robots R to be operated, in SA02 and SA03, the transfer robot 110(A) receives the moving direction transfer robot call signal transmitted by the self-propelled robot R(2) and traverses to the front of the self-propelled robot R(2).

[0092] Further, as shown in Figs. 11D and 11E, SA10 to SA17 correspond to SA02 to SA09 in Figs. 10A to 10C showing the control flow of the transfer robot 110(A) in the example 1. However, at SA10 and SAl, the transfer robot 110(A) receives the moving direction transfer robot call signal transmitted by the self-propelled robot R(1) and traverses to the front of the self-propelled robot R(1).

[0093] Since the control flow is different from that of example 1 in the above points, the distance of traverse movement of the transfer robot (A)110 is different from that in the example 1.

[0094] The control flow of the transfer robot 110(A) is in a loop that returns from SA17 in Fig. 11E to the repeat start point in Fig. 11A.

[0095] Next, the control flow of the transfer robot (B) 110 will be explained. SB01 to SB17, which are the control flow of the transfer robot (B) 110 shown in Figs. 11A to 11E, are the same as SA01 to SA17, which are the control flow of the transfer robot 110 (A), except for the following points. Thus, detailed explanation will be omitted.

[0096] The difference from the control flow of the transfer robot 110(A) is that since there are two self-propelled robots R to be operated, in SB02 and SB03, the transfer robot 110(A) receives the moving direction transfer robot call signal transmitted by the self-propelled robot R(1) and traverses to the front of the self-propelled robot R(1), and at SB10 and SB11, the self-propelled robot R(1) receives the moving direction transfer robot call signal transmitted by the self-propelled robot R(2) and traverses to the front of the self-propelled robot R(2).

[0097] The configuration, control flow and operation of the self-propelled robot R(1) and the self-propelled robot R(2) are the same as those of self-propelled robot R, thus detailed explanations is omitted.

[Reference Signs List]

[0098] 100 self-propelled robot transfer system 110 transfer robot 111 bogie unit 111a bogie wheel lllaa bogie driving wheel llab bogie driven wheel 1l1b transmission rod 111c bogie frame 111d loading/unloading assist frame 111da swing base member 111db center railpart llldc assist rails interval distance adjustment member llldd loading/unloading assist rail part 111de reinforcing bar detection inhibiting part 112 main body unit 112a main body driving wheel 112b main body frame 112c sensor section 112ca loading/unloading assist frame detection sensor 112cb second reinforcing bar detection sensor 112cc self-propelled robot sensor 112cd rail end detection sensor 112d traverse drive section 112da drive motor 112db transmission belt 112e loading/unloading assist frame drive section

112g operation control section 112ga operation input section 112gb traverse control section 112gc loading/unloading assist frame control section 112f operation communication section 120 traverse rail 121 first traverse rail 122 second traverse rail TR first reinforcing bar LR second reinforcing bar R self-propelled robot (reinforcing bar binding self-propelled robot) R10 self-propelled side sensor section R11 self-propelled side first reinforcing bar detection sensor R12 self-propelled side second reinforcing bar detection sensor R20 self-propelled wheel R30 self-propelled side frame part R40 self-propelled side control section R41 self-propelled side input section R42 self-propelled side movement control section R43 binding machine control section R50 self-propelled side drive section R51 self-propelled side movement drive section R52 binding machine drive section R60 self-propelled side communication section R70 binding machine holding section BD reinforcing bar binding machine

Claims

Claims

[Claim 1] A self-propelled robot transfer system comprising: a transfer robot that can load and unload a self-propelled robot that moves on a plurality of second reinforcing bars as tracks, which are laid across a plurality of first reinforcing bars arranged in parallel on a working surface; and a pair of traverse rails arranged on the plurality of second reinforcing bars in the longitudinal direction of the first reinforcing bars to move the transfer robot in the longitudinal direction of the first reinforcing bars, wherein the transfer robot is integrally composed of a main body unit, which includes a main body driving wheel that rolls on the traverse rail, a main body frame that is moved on the traverse rail by the main body driving wheel and a traverse drive section that drives the main body driving wheel, and a bogie unit, which is consist of bogie wheels that roll on the traverse rail, a bogie frame that is moved on the traverse rail by the bogie wheels and a loading/unloading assist frame that can transfer the self-propelled robot between the second reinforcing bar and the bogie frame by loading/unloading the self-propelled robot.
[Claim 2] a transfer robot that can load and unload a self-propelled robot which moves on a plurality of second reinforcing bars as tracks, which are laid across a plurality of first reinforcing bars arranged in parallel on a working surface, and that is for a self propelled robot transfer system that moves the self-propelled robot along a pair of traverse rails arranged on the plurality of second reinforcing bars in the longitudinal direction of the first reinforcing bars, wherein the transfer robot is integrally composed of a main body unit, which includes a main body driving wheel that rolls on the traverse rail, a main body frame that is moved on the traverse rail by rolling of the main body driving wheel and a traverse drive section that drives the main body driving wheel, and a bogie unit, which is consist of bogie wheels that roll on the traverse rail, a bogie frame that is moved on the traverse rail by the bogie wheels and a loading/unloading assist frame that can transfer the self-propelled robot between the second reinforcing bar and the bogie frame by loading/unloading the self-propelled robot.
[Claim 3] The transfer robot according to claim 2, wherein the main body unit includes an operation communication section that communicates with the self-propelled robot, and a traverse control section that controls the traverse drive section in accordance with content of communication with the self-propelled robot.
[Claim 4] The transfer robot according to claim 2 or 3, wherein the main body unit includes a second reinforcing bar detection sensor that detects a position of the second reinforcing bar on which the self-propelled robot moves, and an operation control section that drives the traverse drive section in response to a signal from the second reinforcing bar detection sensor.
[Claim 5] The transfer robot according to any one of claims 2 to 4, wherein the main body unit includes a rail end detection sensor that detects an end of the traverse rail, and wherein the traverse control section controls the traverse drive section in response to a signal from the rail end detection sensor.