CN216422550U - Transfer system for self-propelled robot and transfer robot used for same - Google Patents

Abstract

The utility model provides a from walking robot with moving system of carrying and moving robot that moves that is used for it, from walking robot with moving system of carrying (100) includes: a transfer robot (110) which can freely move on and off and which carries a self-walking robot that walks using the reinforcing steel bars as a walking track; and a pair of crossing rails (120), wherein the transfer robot (110) is integrally composed of a body unit (112) and a trolley unit (111), the body unit (112) comprises a body driving wheel rotating on the crossing rails, a body frame moving on the crossing rails through the body driving wheel and a crossing driving part for driving the body driving wheel, the trolley unit (111) comprises trolley wheels rotating on the crossing rails, a trolley frame moving on the crossing rails through the trolley wheels and a lifting auxiliary frame for freely lifting and transferring the self-walking robot between the second steel bars and the trolley frame.

Description

Transfer system for self-propelled robot and transfer robot used for same

Technical Field

The utility model relates to a move the year system and move the robot that moves that is used for making the reinforcement that is used for reinforcement engineering for concrete placement to cross (reverse) from walking the robot and moving from walking the robot.

Background

Conventionally, as a bar-binding robot that self-travels using bars as a travel track, there are known a device that automatically stops by detecting the arrival of a bar near a bar end portion and moves between bars by human power (see patent document 1) and a device that includes a crawling device having an ascending/descending function (see patent document 2).

(Prior art document)

(patent document)

Patent document 1: japanese patent No. 6633720

Patent document 2: japanese patent laid-open publication No. 2019-39174

SUMMERY OF THE UTILITY MODEL

(problem to be solved by the utility model)

However, the reinforcement bar binding robot described in patent document 1 has a problem that the construction of the robot itself becomes complicated and adjustment for performing accurate crawling is not easy, because the operator himself or herself needs to lift the reinforcement bar binding robot and move the reinforcement bar between the reinforcement bars.

Therefore, the present invention has been made to solve the problems of the prior art as described above, and an object of the present invention is to provide a transfer system for a self-propelled robot and a transfer robot used for the same, in which the self-propelled robot reaches near the end of a second reinforcing bar while traveling on a second reinforcing bar as a traveling rail, and since the transfer robot is freely moved between the second reinforcing bar and a carriage by an overhead frame of the transfer robot, and moves to other second reinforcing bars along a crossing rail in a state where the self-propelled robot is mounted on the carriage, the other second reinforcing bars are reversely moved as a new traveling rail, and the self-propelled robot is not lifted by an operator, and as a result, the turning back work of the self-propelled robot can be simply realized.

(measures taken to solve the problems)

A first aspect of the present invention is a transfer system for a self-propelled robot, including: a transfer robot that can freely move on and off, and that transfers a self-propelled robot that travels using, as a travel path, a plurality of second reinforcing bars laid so as to intersect a plurality of first reinforcing bars arranged in parallel on a construction surface; and a pair of transverse rails which are erected on the plurality of second reinforcing bars along the longitudinal direction of the first reinforcing bar and which move the transfer robot along the longitudinal direction of the first reinforcing bar, the transfer system for a self-propelled robot is characterized in that the transfer robot is integrally composed of a main body unit and a trolley unit, the body unit includes a body driving wheel rotating on the traverse rail, a body frame moving on the traverse rail by the body driving wheel, and a traverse driving part driving the body driving wheel, the carriage unit includes carriage wheels that rotate on the traverse rail, a carriage frame that moves on the second traverse rail via the carriage wheels, and a lifting support frame that can freely transfer the autonomous robot between the second reinforcing bar and the carriage frame.

A second aspect of the present invention is a transfer robot for a self-propelled robot that is capable of moving along a pair of traverse rails that are laid on a plurality of second reinforcing bars arranged in parallel on a construction surface so as to intersect the plurality of first reinforcing bars, while being freely carried on and off the self-propelled robot, the pair of traverse rails being provided with the plurality of second reinforcing bars as travel rails, the plurality of second reinforcing bars being laid so as to intersect the plurality of first reinforcing bars, the transfer robot being characterized in that the transfer robot is integrally configured by a body unit and a carriage unit, the body unit including a body drive wheel that rotates on the traverse rails, a body frame that moves on the traverse rails by rotation of the body drive wheel, and a traverse drive unit that drives the body drive wheel, and the carriage unit including carriage wheels that rotate on the traverse rails, a carriage unit that moves on the traverse rails, and a carriage unit that moves on the traverse rails, The above-described problems are solved by a carriage frame that moves on the cross rail via the carriage wheels, and a lifting auxiliary frame that can move the autonomous robot in a lifting/lowering manner between the second reinforcing bar and the carriage frame.

A third embodiment of the present invention is a utility model having a structure according to the utility model of the second embodiment, wherein the main body unit further includes: an operation communication unit that communicates with the autonomous robot; and a crossing control unit for controlling the crossing driving unit according to the communication content with the self-propelled robot, thereby solving the above-mentioned problems.

A fourth embodiment is a utility model based on the structure of the utility model according to the second or third embodiment, wherein the main body unit further includes: a second reinforcing bar detection sensor that detects a position of the second reinforcing bar on which the self-propelled robot travels; and an operation control unit for driving the traverse driving unit according to a signal from the second reinforcement detection sensor, thereby solving the above-described problems.

A fifth embodiment is a utility model based on the structures of the utility models according to the second to fourth embodiments, wherein the main body unit further includes: and a track end detection sensor for detecting an end of the crossing track, wherein the crossing control unit controls the crossing driving unit based on a signal from the track end detection sensor, thereby solving the above-described problem.

(effects of the utility model)

According to a first aspect of the present invention, a transfer system for a self-propelled robot includes: a transfer robot that can freely move on and off, and that transfers a self-propelled robot that travels using, as a travel path, a plurality of second reinforcing bars laid so as to intersect a plurality of first reinforcing bars arranged in parallel on a construction surface; and a pair of traverse rails that are installed on the plurality of second reinforcing bars in the longitudinal direction of the first reinforcing bars and that move the transfer robot in the longitudinal direction of the first reinforcing bars, wherein the transfer robot is integrally configured by a body unit and a carriage unit, the body unit includes a body drive wheel that rotates on the traverse rails, a body frame that moves on the traverse rails by the body drive wheel, and a traverse driving unit that drives the body drive wheel, the carriage unit includes carriage wheels that rotate on the traverse rails, a carriage frame that moves on the traverse rails by the carriage wheels, and a carriage/descent assist frame that can move the self-propelled robot between the second reinforcing bars and the carriage frame, and when the self-propelled robot reaches the vicinity of the end of the second reinforcing bars while self-traveling on the second reinforcing bars as the travel rails, since the transfer robot is moved to the other second reinforcing bar along the traverse rail in a state where the transfer robot is mounted on the carriage, the other second reinforcing bar is reversely moved as a new traveling rail, and the worker does not have to lift the self-traveling robot by himself/herself, and as a result, the turning back operation of the self-traveling robot can be easily performed.

According to a second aspect of the present invention, there is provided a transfer robot for a self-propelled robot which can freely move on and off a self-propelled robot which travels along a pair of traverse rails each including a first traverse rail and a second traverse rail, the pair of traverse rails being laid on a plurality of second reinforcing bars arranged in parallel on a construction surface so as to intersect with the plurality of first reinforcing bars, and which moves along a longitudinal direction of the first reinforcing bars, the pair of traverse rails being configured by the first traverse rail and the second traverse rail, the transfer robot comprising a body unit and a carriage unit integrally, the body unit including a body driving wheel rotating on the traverse rail, a body frame moving on the traverse rail by rotation of the body driving wheel, and a traverse driving part for driving the body driving wheel, the carriage unit includes carriage wheels that rotate on the traverse rail, a carriage frame that moves on the traverse rail via the carriage wheels, and an auxiliary frame that can move on and off between the second reinforcing bar and the carriage frame to transfer the autonomous robot, so that when the autonomous robot reaches the vicinity of the end of the second reinforcing bar while traveling on the second reinforcing bar as a travel rail, the autonomous robot is transferred on the second reinforcing bar and the carriage frame so as to move on and off freely between the second reinforcing bar and the carriage frame by the auxiliary frame of the transfer robot, and the transfer robot moves to another second reinforcing bar along the traverse rail in a state where the autonomous robot is mounted on the carriage frame, and therefore, the other second reinforcing bar travels reversely as a new travel rail, and as a result, the autonomous robot can be turned back easily without being lifted up by an operator.

According to the transfer robot of the third embodiment, in addition to the effects exhibited by the utility model of the second embodiment, the following effects are exhibited, in which the main body unit includes: an operation communication unit that communicates with the autonomous robot; and a crossing control unit for controlling the crossing driving unit according to the content of communication with the autonomous robot, thereby, based on the communication between the self-walking robot and the transfer robot, the transfer robot automatically moves to the position corresponding to the second steel bar which the self-walking robot currently walks to meet, the self-walking robot automatically transfers from the second steel bar to the trolley frame, the transfer robot automatically moves to the position corresponding to the other second steel bar along the transverse rail, the self-walking robot automatically transfers from the trolley frame to the other second steel bar, therefore, the self-propelled robot that travels using the plurality of second reinforcing bars as the travel rails can be sequentially moved across the other second reinforcing bars by inputting the initial settings to the self-propelled robot and the transfer robot, and the self-propelled robot can travel on the entire construction surface automatically.

According to the transfer robot of the fourth embodiment, in addition to the effects exhibited by the utility model of the second or third embodiment, the following effects are exhibited in that the main body unit includes: a second reinforcing bar detection sensor that detects a position of a second reinforcing bar on which the self-propelled robot travels; and an operation control unit for driving the crossing driving unit based on a signal from the second steel bar detection sensor, thereby controlling the crossing movement along the crossing rail by the transfer robot based on the position of the second steel bar detected by the second steel bar detection sensor, so that the stop position of the transfer robot crossing toward the self-walking robot can be accurately positioned when transferring the self-walking robot, and the transfer auxiliary frame and the second steel bar can be accurately connected to prevent the self-walking robot from derailing when transferring the self-walking robot between the second steel bar and the carriage frame.

According to the transfer robot of the fifth embodiment, in addition to the effects of any one of the utility model embodiments of the second to fourth embodiments, the following effects are exhibited, in which the main body unit includes: and a track end detection sensor for detecting an end of the crossing track, wherein the crossing control unit controls the crossing drive unit based on a signal from the track end detection sensor, and the crossing control unit stops the crossing drive unit based on the arrival at the end of the crossing track detected by the track end detection sensor.

Drawings

Fig. 1 is a schematic view showing a transfer system for a self-propelled robot according to the present invention.

Fig. 2 is a schematic view showing a use state of the transfer system for the self-propelled robot of the present invention.

Fig. 3 is a schematic side view showing a non-mounted state of the self-propelled robot for the transfer robot of the present invention.

Fig. 4 is a schematic side view showing a mounting state of a self-propelled robot for a transfer robot according to the present invention.

Fig. 5 is a schematic plan view showing a state where the transfer robot of the present invention causes the self-propelled robot to perform the traversing movement.

Fig. 6 is a block diagram showing the structure of the transfer robot of the present invention.

Fig. 7 is a block diagram showing a configuration of a self-propelled robot to be operated in the transfer system for a self-propelled robot according to the present invention.

Fig. 8 is a schematic view showing a configuration of a transfer system for a self-propelled robot according to a first embodiment of the present invention.

Fig. 9 is a schematic view showing a configuration of a transfer system for a self-propelled robot according to a second embodiment of the present invention.

Fig. 10A is a flowchart showing a flow of control in the first embodiment of the present invention.

Fig. 10B is a flowchart showing a flow of control in the first embodiment of the present invention.

Fig. 10C is a flowchart showing a flow of control in the first embodiment of the present invention.

Fig. 11A is a flowchart showing a flow of control in the second embodiment of the present invention.

Fig. 11B is a flowchart showing a flow of control in the second embodiment of the present invention.

Fig. 11C is a flowchart showing a flow of control in the second embodiment of the present invention.

Fig. 11D is a flowchart showing a flow of control in the second embodiment of the present invention.

Fig. 11E is a flowchart showing a flow of control in the second embodiment of the present invention.

(description of reference numerals)

100: a transfer system for a self-propelled robot; 110: a transfer robot; 111: a trolley unit;

111 a: a trolley wheel; 111 aa: a trolley drive wheel; 111 ab: a trolley driven wheel;

111 b: a transmission rod; 111 c: a bogie frame; 111 d: a lifting auxiliary frame;

111 da: a swinging base member; 111db of: a central rail portion;

111 dc: an auxiliary rail interval adjusting part; 111 dd: an ascending/descending auxiliary track section; 111 de: a reinforcement detection blocking part; 112: a body unit;

112 a: a body driving wheel; 112 b: a body frame; 112 c: a sensor section;

112 ca: a taking-off and landing auxiliary frame detection sensor; 112 cb: a second reinforcing bar detection sensor;

112 cc: a self-walking robotic sensor; 112 cd: a track end detection sensor; 112 d: a crossing drive section; 112 da: a drive motor; 112db of: a transmission belt; 112e, 112 e: a driving part of the lifting auxiliary frame; 112 g: an operation control section; 112 ga: an operation input unit; 112 gb: a crossing control unit; 112gc of 112 gc: a control part of the taking-in and landing auxiliary frame; 112 f: an operation communication unit; 120: traversing the track; 121: a first traverse rail; 122: a second traverse rail;

TR: a first reinforcing bar; LR: a second reinforcing bar;

r: self-walking robots (rebar tying self-walking robots); r10: a self-propelled sensor section;

r11: a self-propelled first steel bar detection sensor;

r12: a self-propelled side second steel bar detection sensor;

r20: a self-propelled side wheel; r30: a self-propelled side frame part; r40: a self-propelled side control unit;

r41: a self-propelled-side input section; r42: a self-propelled side travel control section;

r43: a binding machine control section; r50: a self-propelled side driving section;

r51: a self-propelled side travel driving section; r52: a binding machine driving part;

r60: a self-propelled communication unit; r70: a binding machine holding section; BD: a reinforcing steel bar binding machine.

Detailed Description

The utility model discloses a move and carry system for self-propelled robot as long as following, then its specific embodiment is not limited: a transfer system for a self-propelled robot, comprising: a transfer robot that can freely move on and off, and that transfers a self-propelled robot that travels using, as a travel path, a plurality of second reinforcing bars laid so as to intersect a plurality of first reinforcing bars arranged in parallel on a construction surface; and a pair of traverse rails that are installed on the plurality of second reinforcing bars in the longitudinal direction of the first reinforcing bar and that move the transfer robot in the longitudinal direction of the first reinforcing bar, wherein the transfer robot is integrally configured by a body unit and a carriage unit, the body unit includes body drive wheels that rotate on the traverse rails, a body frame that moves on the traverse rails by the body drive wheels, and a traverse driving section that drives the body drive wheels, the carriage unit includes carriage wheels that rotate on the traverse rails, a carriage frame that moves on the traverse rails by the carriage wheels, and a carriage/landing support frame that can move the self-propelled robot between the second reinforcing bars and the carriage frame, and thereby the self-propelled robot reverses the direction of the other second reinforcing bars as a new travel rail without the operator himself/herself lifting the self-propelled robot, as a result, the returning operation of the self-propelled robot can be easily achieved.

In addition, the transfer robot of the present invention is not limited to the following specific embodiments as long as it is: a transfer robot for a self-propelled robot which is capable of freely carrying a self-propelled robot which travels along a pair of traverse rails provided on a plurality of second reinforcing bars arranged in parallel on a construction surface and which travels along the longitudinal direction of the first reinforcing bars while being equipped with the plurality of second reinforcing bars as travel rails, characterized in that the transfer robot is integrally composed of a body unit and a carriage unit, the body unit is provided with a body drive wheel which rotates on the traverse rails, a body frame which moves on the traverse rails by the rotation of the body drive wheel, and a traverse drive section which drives the body drive wheel, the carriage unit is provided with carriage wheels which rotate on the traverse rails, a carriage frame which moves on the traverse rails by the carriage wheels, and a riding/lowering auxiliary frame which is capable of freely carrying the self-propelled robot between the second reinforcing bars and the carriage frame, thus, the self-propelled robot reversely travels with the other second reinforcing bars as a new travel path without the operator lifting the self-propelled robot by himself or herself, and as a result, the turning-back operation of the self-propelled robot can be easily performed.

For example, if the body unit of the transfer robot is disposed on the side of the carriage unit and the two body drive wheels are configured to rotate on the first transverse rail and the second transverse rail, if the carriage wheels are driven wheels that rotate on the first transverse rail and the second transverse rail, no transmission bar is required, and the driving force when the autonomous robot traverses is uniformly distributed to the transverse rails, so that the autonomous robot can stably traverse.

Further, the first cross rail and the second cross rail constituting a pair of the cross rails may be integrally formed by a spacing maintaining member to maintain a constant spacing.

Further, the transfer may be performed by a traversing device which is disposed on, for example, the deep side (inner side) of the construction surface by preparing only one set of transfer robot and traversing rail and performs the traversing on the near side by human power.

[ example one ]

A transfer system for a self-propelled robot and a transfer robot according to a first embodiment of the present invention will be described below with reference to fig. 1 to 8 and fig. 10A to 10C.

Wherein, fig. 1 is a schematic view showing a transfer system for a self-propelled robot of the present invention, fig. 2 is a schematic view showing a use state of the transfer system for a self-propelled robot of the present invention, fig. 3 is a schematic side view showing a non-carrying state of the self-propelled robot for the transfer robot of the present invention, fig. 4 is a schematic side view showing a carrying state of the self-propelled robot for the transfer robot of the present invention, fig. 5 is a schematic top view showing a state where the transfer robot of the present invention makes the self-propelled robot traverse the movement, fig. 6 is a block diagram showing a structure of the transfer robot of the present invention, fig. 7 is a block diagram showing a structure of the self-propelled robot which becomes an object of operation by the transfer system for a self-propelled robot of the present invention, fig. 8 is a schematic view showing a constitution of the transfer system for a self-propelled robot in the first embodiment of the present invention, fig. 10A to 10C are flowcharts showing the flow of control in the first embodiment of the present invention.

As shown in fig. 1 to 6 and 8, a transfer system 100 for a self-propelled robot according to the present embodiment includes: a transfer robot 110 that can freely move on and off, and that carries a self-propelled robot R that travels using, as a travel path, a plurality of second reinforcing bars LR laid so as to intersect a plurality of first reinforcing bars TR arranged in parallel on a construction surface; and a pair of transverse rails 120 which are erected on the plurality of second reinforcing bars LR in the longitudinal direction of the first reinforcing bar TR and move the transfer robot 110 in the longitudinal direction of the first reinforcing bar TR.

The transfer robot 110 is integrally configured by a carriage unit 111 and a main body unit 112.

The carriage unit 111 includes the following components: a carriage wheel 111a including a carriage drive wheel 111aa and a carriage driven wheel 111ab that rotate on the cross rail 120; a transmission lever 111b that transmits the driving force from the body unit 112 to the carriage wheel 111 a; a carriage frame 111c that moves on the cross rail 120 by carriage wheels; and a lifting auxiliary frame 111d for transferring the self-walking robot R between the second reinforcing bar LR and the bogie frame 111c in a manner of lifting and lowering.

The boarding/alighting support frame 111d includes: a swing base member 111da having a pair of swing shaft portions; a central rail portion 111db fixed to the swing base member 111 da; an auxiliary track interval adjustment member 111dc fixed to the central track portion 111 db; a pair of ascending/descending auxiliary rail portions 111dd fixed to be adjustable in interval by the swinging base member 111da and the auxiliary rail interval adjustment member 111dc and having a reverse U-shaped cross section; and a reinforcement detection blocking portion 111de fixed to the central rail portion 111db and disposed between the pair of ascending and descending auxiliary rail portions 111 dd.

The swing base member 111da is pivotally fixed to the pair of swing shaft portions by a pair of bearing portions constituting the bogie frame 111 c. As a result, the swing shaft portion is positioned and arranged between the carriage wheels 111 a.

The body unit 112 includes the following components: a body drive wheel 112a that rotates on the cross rail 120; a body frame 112b that moves on the cross rail 120 by means of the body driving wheel 112 a; a sensor unit 112c that detects various states; a crossing driving part 112d for driving the main body driving wheel 112 a; a lifting auxiliary frame driving part 112e for driving the lifting auxiliary frame 111d between the lifting position and the carrying position; an operation control unit 112g that performs various controls; and an operation communication unit 112f that communicates with the autonomous robot R.

The sensor unit 112c includes: a boarding/alighting auxiliary frame detection sensor 112ca that detects whether the boarding/alighting auxiliary frame 111d is in a tilted boarding/alighting position or a horizontal mounting position; a second reinforcing bar detection sensor 112cb that detects the second reinforcing bar LR passing in the traverse movement; a self-walking robot sensor 112cc that detects whether the self-walking robot R is positioned on the front; and a rail end detection sensor 112cd that detects the end portion of the traverse rail 120 in the movement on the traverse rail 120.

The traverse driving section 112d includes a driving motor (motor) 112da that generates a driving force for the traverse movement and a transmission belt 112db that transmits the driving force to the main body driving wheel 112a, and further transmits the driving force to the carriage wheels 111a through the transmission lever 111 b.

Further, the operation control section 112g includes: an operation input unit 112ga for inputting various information such as a predetermined time period to an operator of the transfer system 100 for a self-propelled robot; a crossing control unit 112gb that controls to drive or stop the crossing driving unit 112d based on the communication with the self-propelled robot R and signals from the second rebar detection sensor 112cb and the rail end detection sensor 112 cd; and a boarding/alighting auxiliary frame control unit 112gc for controlling the switching of the boarding/alighting auxiliary frame 111d between the boarding/alighting position and the loading position by driving or stopping the boarding/alighting auxiliary frame driving unit 112 e.

The crossing rail 120 is composed of a first crossing rail 121 and a second crossing rail 122 disposed at an interval that allows the transfer robot 110 to be mounted thereon. The first and second cross rails 121 and 122 are bound to the first or second reinforcing bars TR or LR to be fixed.

When the autonomous robot R is operated using the transfer system 100 for an autonomous robot according to the present embodiment, first, the distance between the pair of the boarding/alighting auxiliary rail portions 111dd is adjusted in accordance with the laying interval of the second reinforcing bars LR. As shown in fig. 2 and 5, in the present embodiment, since the self-propelled robot R travels with the nth and (n + 2) th second reinforcements LR as the track, the interval between the pair of the boarding/alighting auxiliary track sections 111dd corresponds to twice the interval between the second reinforcements LR.

Specifically, when the central track portion 111db is disposed at a position corresponding to the n +1 th second reinforcement LR, the pair of entry/exit auxiliary track portions 111dd are fixed at positions corresponding to the n-th and n + 2-th second reinforcements LR, respectively, and are fixed to be parallel to the central track portion 111db, respectively.

Next, the cross rail 120 is laid near the end of the second reinforcement LR as the travel rail of the self-propelled robot R, and the second reinforcement LR is bound and fixed to the first reinforcement TR or the second reinforcement LR.

Then, the transfer robot 110 is mounted on the cross rail 120. At this time, as shown in fig. 2 to 5, the main body drive wheels 112a are disposed on the first cross rail 121, the carriage wheels 111a are disposed on the second cross rail 122, and the transfer robot 110 is positioned at a position connected to the second reinforcing bars LR in the inclined riding position of the riding auxiliary frame 111d as shown in fig. 3.

Next, a flow of control of the transfer system 100 for a self-propelled robot according to the present invention will be described.

The transfer system 100 for a self-propelled robot according to the present embodiment includes two sets of a transfer robot 110 and a cross rail 120 in order to transfer one reinforcing bar-bound self-propelled robot, which is a self-propelled robot R that travels using the second reinforcing bars LR as a travel rail, between the second reinforcing bars, as shown in fig. 8.

The flow of control and the operation of the transfer robot (a)110 when the self-propelled robot R is operated by the self-propelled robot transfer system 100 will be described below with reference to fig. 10A to 10C.

In the figure, SA01 to SA09, SB01 to SB09, and SR01 to SR22 respectively represent control steps.

First, the flow and operation of the control of the transfer robot (a)110 disposed on the depth side (back side) will be described.

In the initial state, the transfer robot (a)110 is disposed at a position on the left-hand side (the far left side) corresponding to the second reinforcement LR as the travel path of the autonomous robot on the traverse path (a) 120. The operator of the transfer system 100 for a self-propelled robot inputs a case where the transfer robot (a)110 is disposed on the deep side from the operation input unit 112 ga.

While the self-propelled robot R is traveling toward the near side, the ascending/descending auxiliary frame control unit 112gc drives the ascending/descending auxiliary frame driving unit 112e to make the ascending/descending auxiliary frame 111e horizontal, so that the transfer robot (a)110 is in a state of waiting for a new call (SA 01).

When the operation communication unit 112f of the transfer robot (a)110 receives the transfer robot call signal in the traveling direction transmitted in a state where the self-traveling robot R is turned back, self-traveling to the depth side, and stopped after a predetermined time has elapsed, the crossing control unit 112gb of the operation control unit 112g drives the drive motor 112da constituting the crossing drive unit 112d to cause the transfer robot (a)110 to perform crossing movement in the transverse direction along the first crossing rail 121(a) and the second crossing rail 122(a) (SA 02).

When the transfer robot (a)110 traverses in the lateral direction, the second reinforcing bar detection sensor 112cb detects the second reinforcing bar every time it passes over the second reinforcing bar, and therefore the stop position can be accurately determined based on the position of the second reinforcing bar LR.

As described later, the self-propelled robot R moves from the depth direction to the near side while performing the bar binding work, and then moves in the lateral direction by the transfer robot (B)110 by the same distance as the interval of the second bars, and further moves from the near side to the depth side while performing the bar binding work, and therefore the transfer robot (a)110 moves in the lateral direction by the same distance as the interval of the second bars, and is positioned on the front side of the self-propelled robot R which self-propels in the depth direction and stops after a predetermined time has elapsed.

Accordingly, the operation control part 112g starts driving of the driving motor 112da (SA 02). Then, when the self-walking robot sensor 112cc detects the self-walking robot R on the front side and the second reinforcing bar is detected by the second reinforcing bar detection sensor 112cb, control is performed to stop the driving of the motor 112da (SA 03). Further, there is input of a signal from the second rebar detection sensor 112cb once during this.

When the transfer robot (a)110 stops at a predetermined position, the ascending/descending auxiliary frame driving unit 112e is driven to incline the ascending/descending auxiliary frame 111d until the ascending/descending auxiliary frame detection sensor 112ca detects that the ascending/descending auxiliary frame 111d is at the ascending/descending position as shown in fig. 3, and then the operation communication unit 112f transmits a start permission signal to the self-traveling robot R (SA 04).

When the self-propelled robot R ascends along the pair of inclined lifting/lowering auxiliary rail portions 111dd and the center of gravity of the self-propelled robot R passes over the swing base member 111da, the whole of the lifting/lowering auxiliary frame 111d automatically rotates around the pair of swing shaft portions by the weight of the self-propelled robot R, and is separated from the second reinforcing bars LR and stably positioned at the horizontal mounting position, as shown in fig. 4. At this time, the lower end portions of the pair of entry and exit auxiliary track portions 111dd having the inverted U-shaped cross section jump up from the state of being engaged with the second reinforcing bars LR (fig. 3) to the state of being disengaged from the second reinforcing bars LR (fig. 4).

After the self-walking robot R has risen to the deepest part of the ascending/descending auxiliary frame 111d, has completed transferring and stopped, and the ascending/descending auxiliary frame 111d is separated from the second reinforcing bar LR, and has been stably mounted and held at the horizontal mounting position, when the ascending/descending auxiliary frame detection sensor 112ca detects that the ascending/descending auxiliary frame 111d has become horizontal, a mounting signal is input from the ascending/descending auxiliary frame detection sensor 112ca to the operation control unit 112 g.

When the mounting signal is input from the ascending/descending auxiliary frame detection sensor 112ca, the traversing control unit 112gb of the operation control unit 112g drives the driving motor 112da constituting the traversing driving unit 112d to cause the transfer robot (a)110 to traverse in the lateral direction along the traversing rail (a)120 as indicated by an arrow in fig. 5 (SA 05).

At this stage, the self-walking robot R completes the banding work for four second reinforcing bars adjacent to each other. Therefore, the transfer robot (a)110 needs to traverse a distance three times the distance of the second bar to be moved in order to move the second bar LR to be subjected to the next bar binding work in a state where the self-walking robot R is mounted on the carriage unit 111.

Therefore, the operation controller 112g of the transfer robot (a)110 starts driving the driving motor 112da (SA05), and then, when the self-walking robot sensor 112cc detects the front self-walking robot R and the second reinforcement bar detection sensor 112cb detects the second reinforcement bar LR, controls to stop driving the motor 112da (SA 06). Further, there are three inputs of the detection signal from the second reinforcement detection sensor 112cb during this period.

When the self-walking robot R starts walking and the center of gravity of the self-walking robot R goes over the swing base member 111da, the whole of the auxiliary frame 111d is rotated around the pair of swing shaft portions by the weight of the self-walking robot R, and is connected to the second reinforcing bars LR so as to be stably positioned at the inclined robot ascending and descending position. At this time, the lower end portions of the pair of ascending/descending auxiliary rail portions 111dd having the inverted U-shaped cross section descend to be again joined to the second reinforcing bars LR.

The transfer robot (a)110 moves across the crossing rail 120 by a distance three times the distance between the second bars LR, whereby the lower end portions of the pair of ascending/descending auxiliary rail portions 111dd are engaged with the third bars LR, i.e., the n +3 th and n +5 th second bars LR, starting from the n-th and n + 2-th second bars LR traveling before the transfer robot R transfers the second bars LR to the carriage unit 111.

When the transfer robot (a)110 stops at the predetermined position, the operation communication unit 112f transmits a start permission signal to the self-moving robot R (SA 07).

When the autonomous robot R moves while descending along the ascending/descending auxiliary frame 111d, the intensity of the signal transmitted from the autonomous robot R is input from the operation communication unit 112f to the operation control unit 112g and is decreased, and it is confirmed that the autonomous robot R has moved (SA 08).

Then, the ascending/descending auxiliary frame driving unit 112e is driven until the ascending/descending auxiliary frame detection sensor 112ca detects that the ascending/descending auxiliary frame 111d is at the mounting position, so that the ascending/descending auxiliary frame 111d is in a horizontal state, and then a state of waiting for a new call is made (SA09), and a cycle is performed to return to the repeat start point of fig. 10A.

To briefly summarize the above-described relationship between the distance of the traverse movement of the transfer robot (a)110 and the mounting/non-mounting of the self-propelled robot R, the operation (1) of the rightward traverse movement by three times the interval of the second reinforcement bars LR in the mounted state of the self-propelled robot R and the operation (2) of the rightward traverse movement by the same distance as the interval of the second reinforcement bars LR in the non-mounted state of the self-propelled robot R are repeated.

Next, a flow of control of the transfer robot (B)110 disposed on the near side will be described.

The transfer robot (B)110 is disposed at an arbitrary position on the traverse rail (B)120 in the initial state. The operator of the transfer system 100 for a self-propelled robot inputs a case where the transfer robot (B)110 is disposed on the near side from the operation input unit 112 ga.

The control flow of the transfer robot (B)110 is the same as the control flow of the transfer robot (a)110 at SB01 to SB09, respectively, as SA01 to SA09, except for the following points, and therefore, detailed description thereof is omitted.

One of the differences from the flow of control of the transfer robot (a)110 is that the transfer robot (B)110 starts traversing from an arbitrary initial position, and therefore the distance of the first round of traversing in SB03 depends on the initial position.

After the second round, the transfer robot (a)110 moves the self-propelled robot R transversely by a distance three times the distance of the second reinforcement bar. Therefore, since the distance of the second and subsequent traverse in SB03 becomes three times the interval of the second reinforcing bars LR, the signal from the second reinforcing bar detection sensor 112cb is input three times and stopped.

On the other hand, the self-propelled robot R that travels to the near side along the second reinforcing bars LR performs binding work on the two second reinforcing bars LR with one reinforcing bar interposed therebetween with respect to the arranged second reinforcing bars LR. Therefore, the transfer robot (B)110 moves the self-traveling robot R on the carriage unit 111 in a traversing manner until the distance to the second bar LR to be subjected to the next bar binding operation is the same distance as the distance between the second bars.

Therefore, in SB06, the detection signal from the second reinforcing bar detection sensor 112cb is input only once until the self-walking robot sensor 112cc detects the front self-walking robot R and the second reinforcing bar detection sensor 112cb detects the second reinforcing bar LR to perform control to stop the driving of the motor 112 da.

To briefly summarize the above-described relationship between the distance of the traversing movement of the transfer robot (B)110 and the mounting/non-mounting of the self-propelled robot R, the operation (1) of the rightward traversing movement by the same distance as the interval of the second reinforcing bars LR in the mounted state of the self-propelled robot R and the operation (2) of the rightward traversing movement by three times the interval of the second reinforcing bars LR in the non-mounted state of the self-propelled robot R are repeated.

Finally, the configuration, the flow of control, and the operation of the autonomous robot R to be operated in the transfer system 100 for the autonomous robot according to the present embodiment will be described.

The self-walking robot R is a reinforcement bar binding self-walking robot, and comprises the following components as shown in figures 2 to 5 and 7: a self-traveling side sensor unit R10 including various sensors including a self-traveling side first rebar detection sensor R11 and a self-traveling side second rebar detection sensor R12; a self-traveling side frame part R30 that moves by the rotation of the self-traveling side wheel R20; a self-traveling-side control unit R40 including a self-traveling-side input unit R41, a self-traveling-side travel control unit R42, and a binder control unit R43 for controlling the respective units; a self-traveling-side driving unit R50 including a self-traveling-side traveling driving unit R51 that drives the self-traveling-side wheel R20 and a binding machine driving unit R52 that drives the reinforcing bar binding machine BD; a self-traveling communication unit R60 that communicates with the transfer robot 110; and a binding machine holding portion R70 that holds the reinforcing bar binding machine BD.

As shown in fig. 2 to 5, the self-propelled robot R travels on the self-propelled wheel R20 with the nth second reinforcement LR and the (n + 2) th second reinforcement LR from the left as rails, and the self-propelled second reinforcement detection sensor R12 detects the presence of the second reinforcement LR by coming into contact with the (n + 1) th second reinforcement LR, thereby automatically controlling the forward movement, the backward movement, or the stop. Further, the operation of binding the intersection portion between the first reinforcing bar TR and the second reinforcing bar LR is automatically performed by magnetically detecting the presence of the first reinforcing bar TR directly below and within a predetermined distance during traveling by the self-propelled first reinforcing bar detection sensor R11 that can be moved up and down with respect to the main body of the self-propelled robot R.

First, the operator of the transfer system 100 for a self-propelled robot inputs a predetermined time corresponding to the length of the second reinforcing bars LR on the reinforcing bar installation surface from the self-propelled side input unit R41 (SR 01).

The self-propelled robot R repeats the binding operation for the reinforcing bars (SR03) while moving in the near direction along the second reinforcing bars LR (SR02), and stops the movement and binding operation when a predetermined time has elapsed (SR 04). Then, a traveling direction transfer robot call signal is transmitted to the transfer robot B (SR05), and when the departure permission signal is received, the movement is resumed (SR06), the binding operation is performed (SR07), the vehicle ascends along the ascending/descending auxiliary rail unit 111dd, and when the vehicle is completely mounted on the transfer robot B, the vehicle stops (SR 08).

When the self-propelled robot R ascends along the pair of inclined ascending and descending auxiliary rail portions 111dd, the self-propelled first reinforcement detection sensor R11 of the self-propelled robot R abuts on the reinforcement detection blocking portion 111de of the ascending and descending auxiliary frame 111d and is pushed upward, and therefore the detection of the first reinforcement TR is blocked and the reinforcement binding operation is not performed.

When the self-propelled robot R ascends along the pair of inclined ascending/descending auxiliary rail portions 111dd, the self-propelled second reinforcement detection sensor R12 in the advancing direction continues the automatic advancement because it detects the central rail portion 111db instead of the second reinforcement LR, as shown in fig. 4.

When the boarding/alighting support 111d is stably positioned at the horizontal mounting position, the distance from the self-traveling-side first reinforcement detection sensor R11 of the self-traveling robot R to the first reinforcement TR is sufficiently large, and therefore the first reinforcement TR is not detected, and the self-traveling robot R does not perform the binding operation.

When the ascending/descending auxiliary frame 111d is rotated to the mounting position in the horizontal state and the self-propelled robot R travels to the deepest part of the ascending/descending auxiliary frame 111d, as shown in fig. 4, the object detected by the self-propelled second reinforcement detection sensor R12 in the traveling direction of the self-propelled robot R is not present, and therefore the self-propelled robot R finishes traveling and automatically stops.

When the start permission signal transmitted from the transfer robot B is received, the traveling direction is switched (SR09), a predetermined time period previously input and stored is read and set (SR10), and the transfer robot moves in the depth direction by descending along the ascending/descending auxiliary track unit 111dd (SR 11).

When the self-propelled robot R descends along the pair of inclined ascending/descending auxiliary rail portions 111dd, the self-propelled side second reinforcement detection sensor R12 in the traveling direction of the self-propelled robot R detects the central rail portion 111db instead of the second reinforcement LR, and thus the self-propelled robot R continues its automatic traveling.

When the self-propelled robot R descends along the pair of inclined ascending and descending auxiliary rail portions 111dd, the self-propelled first reinforcement detection sensor R11 of the self-propelled robot R abuts on the reinforcement detection blocking portion 111de of the ascending and descending auxiliary frame 111d and is pushed upward, and therefore the detection of the first reinforcement TR is blocked and the binding operation is not performed.

When the self-propelled robot R further travels and the self-propelled first reinforcement detection sensor R11 reaches a position where it does not abut against the reinforcement detection blocking part 111de of the ascending/descending auxiliary frame 111d, the self-propelled first reinforcement detection sensor R11 descends to the original position, and therefore the self-propelled robot R can detect the first reinforcement TR and resume the reinforcement binding operation (SR 12).

When a predetermined time has elapsed, the movement and binding operation are stopped (SR 13). Then, a traveling direction transfer robot call signal is transmitted to the transfer robot B (SR14), and when the departure permission signal is received, the movement is resumed (SR15), the banding operation is performed (SR16), and when the transfer robot B is mounted on the transfer robot a, the banding operation is stopped (SR 17).

When the start permission signal transmitted from the transfer robot a is received, the traveling direction is switched (SR18), a predetermined time which is input and stored in advance is read and set (SR19), traveling in the forward direction is started (SR20), and the reinforcement bar binding operation is repeated (SR 21). When a predetermined time has elapsed, the movement and binding operation are stopped (SR 22). Then, the loop returns to the repeat start point of fig. 10A.

[ example two ]

A transfer system for a self-propelled robot and a transfer robot according to a second embodiment of the present invention will be described below with reference to fig. 1 to 7, 9, and 11A to 11E.

Fig. 9 is a schematic view showing a configuration of a transfer system for a self-propelled robot according to a second embodiment of the present invention, and fig. 11A to 11E are flowcharts showing a flow of control according to the second embodiment of the present invention.

A flow of control of the transfer system 100 for a self-propelled robot according to the present embodiment will be described.

In order to transfer two reinforcing bar-tied self-traveling robots, which are self-traveling robots R that travel on the second reinforcing bars LR as travel rails, between the second reinforcing bars, the transfer system 100 for a self-traveling robot according to the present embodiment includes two sets of combinations of transfer robots 110 and transverse rails 120, as shown in fig. 9, and therefore, the self-traveling robots R are distinguished by adding marks (1) and (2) for convenience, and the transfer robots and the transverse rails are distinguished by adding marks (a) and (B).

The flow of control when the autonomous robots R (1) and (2) are operated by the autonomous robot transfer system 100 and the operation of the transfer robot (a) will be described below with reference to fig. 11A to 11E.

In the figure, SA01 to SA7, SB01 to SB17, SI01 to SI21, and SII01 to SII17 respectively represent the control steps.

First, the flow and operation of the control of the transfer robot 110(a) disposed on the depth side will be described.

In the initial state, the transfer robot 110(a) is disposed at a position on the left-hand side of the traverse rail 120(a) corresponding to the second reinforcement LR as the travel rail of the autonomous robot R. The operator of the transfer system 100 for a self-propelled robot inputs a case where the transfer robot (a)110 is disposed on the deep side from the operation input unit 112 ga.

While the self-propelled robot R is moving in the near direction, the ascending/descending auxiliary frame control unit 112gc drives the ascending/descending auxiliary frame driving unit 112e to make the ascending/descending auxiliary frame 111e horizontal, so that the transfer robot 110(a) waits for a new call (SA 01).

The SA02 to SA09, which are the flow of control of the transfer robot 110(a) shown in fig. 11A to 11C, are the same as the SA02 to SA09 of fig. 10A to 10C, which show the flow of control of the transfer robot 110(a) in the first embodiment, except for the following points, and therefore, detailed description thereof is omitted.

One of the differences from the flow of control of the transfer robot 110(a) in the first embodiment is that two self-traveling robots R to be operated are provided, and therefore in SA02 and SA03, the self-traveling robot R (2) is traversed to move to the front of the self-traveling robot R (2) upon receiving a traveling direction transfer robot call signal transmitted from the self-traveling robot R (2).

As shown in fig. 11D and 11E, SA10 to SA17 correspond to SA02 to SA09 in fig. 10A to 10C showing the flow of control of the transfer robot 110(a) in the first embodiment, but in SA10 and SA11, the transfer robot call signal in the traveling direction transmitted from the self-walking robot R (1) is received and the transfer robot traverses to the front of the self-walking robot R (1).

In the above points, the control flow differs from that of the first embodiment, and thus the distance of the traverse movement of the transfer robot (a)110 differs from that of the first embodiment.

The flow of control of the transfer robot 110(a) is a loop from SA17 in fig. 11E back to the repetition start point in fig. 11A.

Next, a flow of control of the transfer robot (B)110 will be described. SB01 to SB17, which are flows of control of the transfer robot (B)110 shown in fig. 11A to 11E, are the same as SA01 to SA17, which are flows of control of the transfer robot 110(a), respectively, except for the following points, and therefore, detailed description thereof is omitted.

The difference from the flow of control of the transfer robot 110(a) is that: since there are two self-traveling robots R to be operated, in SB02 and SB03, the self-traveling robot R (1) moves across to the front of the self-traveling robot R (1) in response to the traveling direction transfer robot call signal transmitted from the self-traveling robot R (1), and in SB10 and SB11, the self-traveling robot R (2) moves across to the front of the self-traveling robot R (2) in response to the traveling direction transfer robot call signal transmitted from the self-traveling robot R (2).

The configuration, control flow, and operation of the autonomous robot R (1) and the autonomous robot R (2) are the same as those of the autonomous robot R, and therefore, detailed description thereof is omitted.

Claims (5)

1. A transfer system for a self-propelled robot, comprising: a transfer robot that can be loaded with a self-propelled robot that travels using, as a travel path, a plurality of second reinforcing bars laid so as to intersect a plurality of first reinforcing bars arranged in parallel on a construction surface; and a pair of transverse rails which are erected on the plurality of second reinforcing bars in the longitudinal direction of the first reinforcing bar and which move the transfer robot in the longitudinal direction of the first reinforcing bar, wherein the transfer system for a self-propelled robot is characterized in that,

the transfer robot is integrally configured by a body unit including body drive wheels that rotate on the cross rail, a body frame that moves on the cross rail by the body drive wheels, and a cross drive unit that drives the body drive wheels, and a carriage unit including carriage wheels that rotate on the cross rail, a carriage frame that moves on the cross rail by the carriage wheels, and a carriage auxiliary frame that transfers the autonomous robot so as to be able to move between the second reinforcing bar and the carriage frame.

2. A transfer robot for a self-propelled robot which can freely move on and off a self-propelled robot which travels using as a travel rail a plurality of second reinforcing bars laid so as to intersect a plurality of first reinforcing bars laid in parallel on a construction surface, and which moves the self-propelled robot along a pair of traverse rails laid on the plurality of second reinforcing bars in a longitudinal direction of the first reinforcing bars, the transfer robot being characterized in that,

the transfer robot is integrally configured by a body unit including a body drive wheel rotating on the cross rail, a body frame moving on the cross rail by rotation of the body drive wheel, and a cross drive unit driving the body drive wheel, and a carriage unit including carriage wheels rotating on the cross rail, a carriage frame moving on the cross rail by the carriage wheels, and an auxiliary frame for transferring the autonomous robot between the second reinforcing bar and the carriage frame so as to be able to move in and out.

3. A transfer robot according to claim 2,

the body unit includes: an operation communication unit that communicates with the autonomous robot; and a crossing control unit that controls the crossing driving unit according to the content of communication with the autonomous robot.

4. A transfer robot according to claim 2,

the body unit includes: a second reinforcing bar detection sensor that detects a position of the second reinforcing bar on which the self-propelled robot travels; and an operation control part which drives the crossing driving part according to a signal from the second steel bar detection sensor.

5. A transfer robot according to claim 3,

the body unit includes: a track end detection sensor that detects an end of the crossing track,

the traverse control section controls the traverse driving section in accordance with a signal from the rail end detection sensor.

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