JP2010070172A - Ceiling space mobile robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a ceiling space mobile robot suitable for moving in a ceiling space having a metal fitting for a ceiling such as a metal fitting for a light ceiling or a metal fitting for an anchor bolt. <P>SOLUTION: In a ceiling space mobile robot 1 moved by rotation of a wheel 3, the wheel 3 is provided with a plurality of flexible and restorable spoke-shaped plate materials 31 radially arranged around a hub 30. When the metal fitting for a ceiling such as a metal fitting for a light ceiling or a metal fitting for an anchor bolt exists in the ceiling space, the spoke-shaped plate materials 31 catch a top face of the metal fitting for a ceiling space and lift an axle side up. Therefore, the ceiling space mobile robot 1 can move while getting over the metal fitting in the ceiling space. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a ceiling moving robot suitable for moving the ceiling, and more particularly, to a ceiling moving robot suitable for moving the ceiling on which a construction steel ceiling base material (light sky) is applied. .

  Conventionally, wiring work such as network cables and electrical equipment cables in the back of a ceiling of a building or a store is mostly performed manually by an operator entering the back of the ceiling through an inspection port after the ceiling is installed. However, since the back of the ceiling is a narrow environment, workability is extremely poor, and the ceiling board may be broken if the foot is removed. For this reason, the cable end is often grasped with a long rod-shaped tool and wired while being bridged between the inspection ports. However, when the distance between the inspection ports is long, workability is poor.

  On the other hand, as described in, for example, Patent Document 1, in recent years, development of a robot for searching for a person who is trapped in rubble at the time of a disaster such as an earthquake or a lifesaving robot, or a robot that performs other light work has been promoted. In addition, a crawler is employed in the underbody portion of the robot to enable movement on rough terrain.

Japanese Patent No. 3985870

  It is considered that the use of crawlers in the undercarriage part of the mobile robot in the ceiling is the most effective because of its small and high ability to get over obstacles. When actually applied, as shown in FIG. In addition, the uneven portions formed on the belt 101 of the crawler 100 are caught by ceiling back fittings such as the light ceiling fitting 102 and the anchor bolt fitting 103, which makes it impossible for the robot to move. Further, it has been found that if it is forcibly moved from this state, the ceiling bracket is deformed.

  Therefore, an object of the present invention is to provide an overhead ceiling mobile robot suitable for movement in an overhead ceiling environment where ceiling brackets such as light ceiling brackets and anchor bolt brackets are present.

  The overhead traveling mobile robot of the present invention is an overhead traveling mobile robot that moves by the rotation of a wheel, and the wheel is constituted by a plurality of spoke-like plate members having flexibility and resilience arranged radially around the hub. It is characterized by being made.

  According to the ceiling back mobile robot of the present invention, when a ceiling back bracket such as a light ceiling bracket or an anchor bolt bracket is present on the ceiling, the spoke-like plate material is placed forward in the traveling direction when the wheel rotates. Because it descends continuously from the bottom to the top, a spoke-like plate material hangs on the top surface of the ceiling bracket and lifts the axle side. Thereby, the ceiling back mobile robot can move over the ceiling bracket.

  On the other hand, the spoke-like plate material rises from the bottom to the upper side in the running direction, but when this spoke-like plate material is caught on the uneven part of the ceiling back bracket, the spoke-like plate material is deformed due to its flexibility. Then, it desorbs and returns to its original state due to its recoverability. Thereby, the ceiling back mobile robot can continue to move without being stacked on the uneven portion.

  Here, the spoke-like plate material has a deformation amount of the tip due to its own weight of 0.1 r or less with respect to the length r from the center of the wheel rotation axis to the tip of the spoke-like plate material, and the maximum drive torque on the wheel rotation shaft. It is desirable that the amount of deformation of the tip when the is applied is 0.3r or more. As a result, it is possible to obtain an overhead traveling mobile robot that is excellent in the ability to climb over the ceiling bracket and the non-stacking ability to the uneven portion.

  In addition, the spoke-like plate material desirably has a length r from the center of the rotation axis to the tip of the spoke-like plate material of a maximum rideable height / 1.4 or more. As a result, it is possible to secure a sufficient static frictional force for riding between the top surface of the ceiling back bracket and the tip of the spoke-like plate material.

  Further, the spoke-like plate material according to the present invention is desirably 3 to 6, more preferably 4 or 5, to one of the wheels. When there are 3-6 spoke-like plate members for one of the wheels, it is possible to prevent other spoke-like plate members from getting in the way when getting over the ceiling-back bracket or detaching from the uneven part. It is possible to continue moving efficiently. In particular, when there are four or five spoke-like plate members for one wheel, the balance between the ability to get over the ceiling bracket, the ability to detach from the uneven parts, and smooth movement is well balanced and optimal. .

  In the case of two or less wheels per wheel, the vertical movement of the axle is too large even on a flat ground, making it difficult to get on the top surface of the ceiling bracket. In the case of three pieces, the ability to get over the ceiling / back bracket is high, but since the vertical movement is large, smooth movement cannot be achieved. On the other hand, in the case of seven or more sheets, when the ceiling back bracket overcoming is high, the ceiling back bracket is hung on the side surface before the top surface of the ceiling back bracket, and it is difficult to get over. In the case of six sheets, a smoother movement is possible, but the ability to get over the ceiling lining metal is inferior.

(1) A wheel composed of a plurality of spoke-like plate materials having flexibility and resilience arranged radially around the hub is moved while riding over the spoke-like plate material on the top surface of the ceiling back bracket. Thus, a ceiling-bottomed mobile robot suitable for movement in a ceiling-back environment that can continue to move without being stacked on the concavo-convex portion due to the flexibility and resilience of the spoke-like plate material can be obtained.

(2) The spoke-like plate material has a tip deformation amount of 0.1 r or less due to its own weight with respect to the length r from the center of the wheel rotation axis to the tip of the spoke-like plate material, and the maximum drive torque on the wheel rotation shaft. When the amount of deformation of the tip when 0.32 is applied is 0.3 r or more, an overhead traveling mobile robot excellent in the ability to get over the ceiling bracket and the non-stacking ability to the uneven portion can be obtained.

(3) The length of the spoke-shaped plate material from the center of rotation axis to the tip of the spoke-shaped plate material is the maximum rideable height / 1.4 or more, so that the top surface of the ceiling back bracket and the tip of the spoke-shaped plate material In the meantime, it is possible to secure a sufficient static frictional force for getting on, and it is possible to obtain an overhead mobile robot with excellent climbing ability.

(4) When there are 3 to 6 wheels for one wheel, it is possible to prevent other spoke-like plate materials from getting in the way when climbing over the ceiling bracket or detaching from the uneven portion. Thus, an overhead ceiling mobile robot can be obtained that is capable of continuing to move efficiently and that is optimal for movement in an overhead environment.

  FIG. 1 is a perspective view of a ceiling back mobile robot according to an embodiment of the present invention. Referring to FIG. 1, an overhead ceiling mobile robot 1 according to an embodiment of the present invention includes one wheel 3 at each of four corners of a vehicle body 2. Wheels 4 are respectively fixed to the front and rear wheels 3 of the vehicle body 2. The left and right wheels 3 of the vehicle body 2 are interlocked by a transmission mechanism 5 such that the front and rear wheels 3 can be synchronously transmitted, such as a toothed belt or a chain. One motor 6 is provided on each of the left and right wheels so that each of the left and right wheels 4 is driven separately.

  In addition, the vehicle body 2 includes a hook 7 for temporarily fixing a cable such as a network cable or an electric device cable wired on the back of the ceiling. Although not shown, the vehicle body 2 is equipped with a control device for remotely controlling the rotation of the motor 6 and a power source for operating the motor 6 and the control device.

  Each of the wheels 3 has five spoke-like plate materials 31 arranged at equal intervals around the hub 30. Each spoke-like plate material 31 is a flat rectangular flat plate, and is arranged radially about the rotation axis (axle) of the hub 30. Further, in the present embodiment, the main surface (widest surface) 31a of the spoke-like plate material 31 is arranged so as to be perpendicular to the rotation direction of the wheel 3, but in order to improve traveling stability, it is slightly increased. It is also possible to arrange with an inward angle of.

  The spoke-like plate material 31 is configured to have flexibility and restorability. For example, the plate material itself can be formed of a soft resin, or the flexible portion can be formed of an elastic member such as a spring. The overhead mobile robot 1 according to this embodiment has, as traveling environment conditions, an obstacle height (height to be overcome) h <60 mm, a pulling force <1.0 kg, a minimum suspension bolt interval (minimum width to pass). ) It is assumed that W> 600 and the upper minimum height (upper gap to be passed) H> 500 mm due to piping or the like.

Under this traveling environment condition, the spoke-like plate material 31 has a width in the axle direction (hereinafter referred to as “spoke width”) w = 30 mm, and a radial length from the axle center to the tip of the spoke-like plate material 31. (Hereinafter referred to as “spoke length”.) R = 90 mm. Further, the total length L _R of the overhead mobile robot 1 is 450 mm, the total width W _R is 350 mm, and the total height H _R is 180 mm.

  FIG. 2 is an explanatory diagram showing a state of wiring work in the ceiling space using the ceiling mobile robot 1 of FIG. In the example shown in FIG. 2, the ceiling back mobile robot 1 having the above-described configuration is used to bridge the pilot cable C from the inspection port A to the inspection port B provided on the ceiling. In this ceiling space, there are a ceiling beam D formed by a light sky, a suspension bolt E of the ceiling beam D, and an obstacle F such as a lighting fixture.

  An operator attaches a pilot cable C to the hook 7 of the backside mobile robot 1, puts the backside mobile robot 1 into the space behind the ceiling through the inspection port A, and remotely controls the suspension bolt E, obstacle F, etc. Travel to Inspection B while avoiding At this time, the speed of the two motors 6 is individually controlled to move the vehicle body 2 back and forth and change the direction. There is a ceiling beam D in the middle of the traveling route of the ceiling back mobile robot 1, but the ceiling back mobile robot 1 moves while getting over the ceiling beam D.

  FIG. 3 is an explanatory diagram showing a state in which the wheels 3 of the ceiling back mobile robot 1 get over the ceiling beam D. As shown on the left side of FIG. 3, the spoke-like plate material 31 of the wheel 3 of the ceiling back mobile robot 1 is elastically deformed when it contacts the top surface of the ceiling beam D forward in the traveling direction during rotation, and the tip portion of the spoke-like plate material 31 is ceiling-mounted. It is hung on the top surface of the beam D, and the hub 30, that is, the axle side is lifted with this tip portion as a fulcrum. When the wheel 3 rotates as it is, the wheel 3 gets over the ceiling beam D with the tip portion of the spoke-like plate material 31 as a fulcrum, so that the mobile robot 1 can continue traveling.

  On the other hand, as shown on the right side of FIG. 3, when the anchor fitting G of the suspension bolt E is present on the moving path of the spoke-like plate material 31 of the wheel 3, the spoke-like plate material 31 is elastically deformed when contacting the anchor fitting G. And desorb. Therefore, the ceiling back mobile robot 1 can continue traveling without being stacked on the uneven portion of the anchor fitting G.

  Further, in the present embodiment, five spoke-like plate materials 31 are provided for one of the wheels 3, but it is possible to use four. In addition, it is also possible to use three for one of the wheels 3. In this case, the ability to get over the ceiling / back bracket is increased, but the vertical movement of the axle is increased even on a flat ground, so that smooth movement cannot be achieved. On the other hand, it is possible to use six sheets. In this case, the vertical movement becomes smaller, so smoother movement is possible, but when the ceiling bracket that gets over is high, it will be hooked on the side before the top of the ceiling bracket, and it is difficult to get over Become.

  First, we verified the number of spoke-like plates and the ability to overcome them. FIG. 4 shows an example in which the riding capacity is compared when the number of spoke-like plate members is 1 to 5. In addition, by selecting an appropriate surface material such as a rubber sheet on the surface of the spoke-like plate material, there is sufficient friction between the spoke-like plate material and the stepped surface of the ground (ceiling back surface) and ceiling ceiling bracket top surface. To do. As shown in FIG. 4A, in the case of one spoke-like plate material, h (maximum ride height) was about 0.45d (d: wheel radius × 2). Further, as shown in FIG. 4B, when two spoke-shaped plate members were used, h≈0.9d (d: wheel diameter). Similarly, as shown in (c), (d), and (e) in the figure, when the number of spoke-like plate members is 3, 4, and 5 respectively, h≈0.7d, 0.6d, and 0.55d. Met.

  As a result, it was found that when the number of spoke-like plate members is two, the height of the board is highest, and the height that can be picked up becomes lower as the number of sheets increases. However, if the number of sheets decreases, the amount of vertical movement of the axle increases and smooth movement cannot be achieved. Therefore, 4 to 5 sheets is optimal for practical use. When the number of spoke-like plate members is 4 to 5, the length r from the rotation axis center to the tip of the spoke-like plate member is the maximum rideable height / 1.4 or more.

  Further, as a result of comparing the riding ability with other types of conventional wheels, it was 0.3d to 0.2d for a normal wheel and 0.5d to 0.3d for a crawler. In this example, it was 0.7d to 0.55d in 3 to 5 sheets, and it was confirmed that the wheel-carrying ability of the spoke-like plate material in this example was the most excellent.

  Next, the elastic properties and non-stacking ability of the spoke-like plate material were verified. FIG. 5 shows the state of the wheels when overcoming an obstacle. As shown in FIG. 5, in order to support the weight of the overhead mobile robot when getting over, the elastic characteristics are set so that the amount of deformation is small with respect to the force F1 corresponding to the weight. As a result, overcoming obstacles was smoothly realized when the deformation amount of the tip due to its own weight was 0.1 r or less with respect to the length r from the center of the wheel rotation axis to the tip of the spoke-like plate material.

  FIG. 6 shows an example of stacking on an obstacle and an example of avoiding a stack state. As shown in FIG. 6, in a situation where the spoke-like plate material 31 of the wheel is caught by the obstacles 50 and 51 and stacked, the spoke-like plate material 31 is sufficiently deformed to avoid the stuck state by elastic deformation. Apply a proper driving torque. At this time, avoidance of the obstacles 50 and 51 was smoothly realized when the amount of deformation at the tip of the spoke-like plate material 31 was 0.3 r or more.

  The ceiling back mobile robot of the present invention is useful as an apparatus for performing wiring work by moving the ceiling back of a building or a store.

It is a perspective view of a ceiling back mobile robot in an embodiment of the invention. It is explanatory drawing which shows the mode of the wiring operation | work in the ceiling space using the ceiling back mobile robot of FIG. It is explanatory drawing which shows a mode that the wheel of a ceiling back mobile robot gets over a ceiling beam. It is a figure which shows the example which compared the boarding ability at the time of making the number of sheets of a spoke-shaped board material into 1-5 sheets. It is a figure which shows the mode of the wheel at the time of getting over an obstacle. It is a figure which shows the example which stacks on an obstruction, and the example which avoids a stack state. It is explanatory drawing which shows the conventional crawler type | mold mobile robot.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Underfloor mobile robot 2 Car body 3 Wheel 30 Hub 31 Spoke-like board material 4 Wheel 5 Transmission mechanism 6 Motor 7 Hook

Claims (4)

An overhead movement robot that moves by the rotation of wheels,
The above-mentioned wheel is an overhead mobile robot, which is composed of a plurality of spoke-like plate materials having flexibility and resilience arranged radially around a hub.   The spoke-like plate member has a tip deformation amount of 0.1 r or less due to its own weight with respect to a length r from the wheel rotation axis center to the tip of the spoke-like plate member, and a maximum driving torque on the wheel rotation shaft. The ceiling back mobile robot according to claim 1, wherein the amount of deformation of the tip when acting is 0.3 r or more.   3. The ceiling movement according to claim 1, wherein the spoke-like plate material has a length r from the rotation axis center to the tip of the spoke-like plate material of a maximum rideable height / 1.4 or more. robot.   4. The overhead traveling mobile robot according to claim 1, wherein the number of the spoke-shaped plate members is 3 to 6 for one of the wheels. 5.

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