JP2018105083A - Automatic steel roof installation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic steel roof installation device capable of reliably stopping at the roof end.SOLUTION: An automatic steel roof installation device which has, when regarded the elongated direction of a ridge-like angle portion of a steel roof B as a moving direction, and the horizontal direction which is orthogonal to the moving direction as a width direction, a pair of leg portions 1 straddling a ridge-like angle portion B2 of the steel roof B in the width direction, a base 21 supported by the pair of leg portions 1, a motor 5 mounted on the base 21, a pair of rollers 31, 32 provided on the undersurface of the base 21 to sandwich a side part B1 of the ridge-like angle portion from the width direction and driven by the motor 5, and a first optical sensor 6 which measures the presence of an object or distance to the object by the effect of electromagnetic wave. The first optical sensor 6 is oriented to the direction where there should be the ridge-like angle portion of the steel roof B straddled by the pair of leg portions 1, and is provided at least one of the end parts of both sides in the moving direction of the pair of leg portions 1.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a steel roof automatic construction apparatus used for construction of a steel roof.

  Up to now, the efficiency and safety of construction of steel roofs have been improved. For example, Patent Document 1 describes a tightening machine that can be easily attached to and detached from a hook-shaped mountain-shaped portion of a folded-plate roof and that is self-propelled in the front-rear direction. Further, the hose clamp described in Patent Document 2 is equipped with a roof end detection device. When the screw fastener reaches the leading end of the folded roof material, it is stopped after reverse feeding to ensure the safety of the operator and prevent the machine from falling.

JP 2011-236595 A JP 11-47853 A

  A steel roof automatic construction device that runs on the roof and automatically clamps, welds seams, or transports materials is effective in saving labor and maintaining processing quality. It is. On the other hand, it is also important for safety to stop at the edge of the roof while processing to the edge of the roof, and then retreat by an appropriate distance to the back of the roof and finally stop. However, Patent Document 2 does not disclose a configuration in which the processing machine is reliably stopped at the end of the roof. Then, the objective of this invention, ie, the technical subject which it is going to solve, is providing the steel roof automatic construction apparatus which can perform the stop in a roof edge part reliably.

  Therefore, in the configuration disclosed in claim 1, the direction in which the hook-shaped chevron of the steel roof extends in the long direction is referred to as a forward / backward direction, and the horizontal and orthogonal direction to the forward / backward direction is referred to as the width direction. A pair of legs straddling the bowl-shaped chevron of the steel roof in the width direction; a pedestal supported by the pair of legs; a motor placed on the pedestal; A pair of rollers that sandwich the side portion of the chevron from the width direction and driven by the motor, and a first optical sensor that measures the presence or absence of an object or the distance to the object by the action of electromagnetic waves, The first optical sensor is oriented in the direction in which the hook-shaped chevron of the steel roof straddling the pair of legs should be, and is provided at at least one end of both sides of the pair of legs in the advancing and retracting direction. By using a steel roof automatic construction device characterized by Issues were resolved.

  Further, in the steel roof automatic construction apparatus according to claim 1, wherein the configuration disclosed in claim 2 is at least some of the first optical sensors are directed to a space between the pair of legs, and The steel roof automatic construction apparatus is provided on at least one leg of the pair of legs, thereby solving the above problems.

  Further, in the steel roof automatic construction apparatus according to claim 1 or 2, the configuration disclosed in claim 3 is at least some of the first optical sensors between the legs of the pair of legs. The steel roof automatic construction device is provided on the lower surface of the support projecting in the advancing / retreating direction from near the center in the width direction or facing downward from the advancing / retreating direction, thereby solving the above problem. .

  The steel roof automatic construction apparatus according to claim 1, wherein at least some of the first optical sensors are directed to a space between the pair of legs, and the configuration disclosed in claim 4 is provided. At least some of the other first optical sensors provided on at least one leg of the legs are advanced and retracted from the width direction center between the legs of the pair of legs. The above-mentioned problems have been solved by providing a steel roof automatic construction device characterized in that the steel roof is provided on the lower surface of the support projecting over or downwardly from the forward / backward direction.

  6. The steel roof automatic construction apparatus according to claim 1, wherein the first optical sensor detects an object. The steel roof is automatically moved forward by driving the pair of rollers, and when the detection of the object by the first optical sensor is interrupted, the driving of the pair of rollers is stopped. By using construction equipment, the above problems were solved.

  The steel roof automatic construction apparatus according to any one of claims 1, 2, 3, or 4, wherein the first optical sensor detects an object. During this time, the pair of rollers are driven to advance, and when the detection of the object by the first optical sensor is interrupted, the pair of rollers is stopped and then the pair of rollers are reversed. The steel roof automatic construction apparatus is characterized in that the driving of the pair of rollers is stopped again after being operated and retracted by a predetermined distance, thereby solving the above problems.

  The structure disclosed in claim 7 is a steel roof automatic construction apparatus according to any one of claims 1, 2, 3, 4, 5, or 6. A second optical sensor that measures the presence / absence of an object or a distance to the object by an action, and the second optical sensor is directed toward a forward direction end of at least one of the pair of legs. Further, the steel roof automatic construction apparatus is provided so as to be directed toward the retreat direction end of at least one leg of the pair of legs. did.

  The steel roof automatic construction apparatus according to claim 7, wherein the second optical sensor detects an obstacle within a predetermined distance in a forward direction by driving the pair of rollers. When detected, the steel roof automatic construction apparatus is characterized in that the driving of the pair of rollers is stopped, thereby solving the above-mentioned problem.

  The steel roof automatic construction apparatus according to claim 7, wherein the second optical sensor detects an obstacle within a predetermined distance in a forward direction by driving the pair of rollers. When detected, the drive of the pair of rollers is stopped, and then the pair of rollers is reversely operated to move backward by a predetermined distance, and then the drive of the pair of rollers is stopped again. The above problem was solved by using an automatic roof construction device.

  The configuration disclosed in claim 10 is changed to any one of claims 1, 2, 3, 4, 5, 6, 7, 8, or 9. In the steel roof automatic construction apparatus described above, the pair of rollers moves in any direction in the advancing and retreating direction while performing a tightening construction that tightens and connects the butted portions of the steel roof from both sides in the width direction. The above-described problem was solved by using the steel roof automatic construction apparatus as a feature.

  The configuration disclosed in claim 1 has an effect of reliably stopping the automatic steel construction apparatus at the roof end. The configuration disclosed in claim 2 has an effect of reliably detecting the roof edge. The configuration disclosed in claim 3 has an effect of reliably detecting the roof edge. The configuration disclosed in claim 4 has an effect of reliably detecting the roof edge under direct sunlight.

  The configuration disclosed in claim 5 has an effect of reliably stopping the automatic steel construction apparatus at the roof end. In the configuration disclosed in claim 6, the steel roof automatic construction apparatus can be surely stopped at the roof end and returned to the inside from the roof end as appropriate, so that it can be stopped. There is an effect that can be achieved. The configuration disclosed in claim 7 has an effect of being able to detect an obstacle on the roof.

  The configuration disclosed in claim 8 has an effect of avoiding the steel roof automatic construction apparatus from colliding with an obstacle on the roof. The configuration disclosed in claim 9 has an effect of preventing the steel roof automatic construction apparatus from being too close to the obstacle on the roof. The configuration disclosed in claim 10 has an effect of realizing a tightening machine that reliably stops at the end of the roof.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure of the steel roof automatic construction apparatus which concerns on embodiment of this invention, Comprising: (A) is a front view of the steel roof automatic construction apparatus, (B) is a left view of the steel roof automatic construction apparatus. (C) is a right side view of the steel roof automatic construction apparatus. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure of the steel roof automatic construction apparatus which concerns on 1st Embodiment of this invention, Comprising: (A1) is the left side of the steel roof automatic construction apparatus located in the place which is not the edge part of a steel roof (A2) is a front view of the steel roof automatic construction apparatus, (A3) is an enlarged view of the α region of (A2), and (B1) is the steel roof located near the end of the steel roof. A left side view of the automatic construction apparatus, (B2) is a front view of the steel roof automatic construction apparatus. These are figures of the steel roof automatic construction apparatus which concerns on 2nd Embodiment of this invention, Comprising: (A1) is the left side of the steel roof automatic construction apparatus located in the place which is not the edge part of a steel roof Figure, (A2) is a front view of the steel roof automatic construction apparatus, (A3) is an enlarged view of the β region of (A1), (A4) is an enlarged view of the γ region of (A2), and (B) is a steel roof. It is a left view of the same steel roof automatic construction apparatus located in the edge part vicinity. Is a diagram of a steel roof automatic construction apparatus according to the third embodiment of the present invention, 4 (A) is the steel roof automatic construction apparatus installed so as to straddle the hook-shaped chevron of the steel roof The right side view of the steel roof automatic construction device, showing the state in which the construction is carried out while moving in the forward direction, (B) is the steel roof where obstacles are detected in the forward direction It is a right view of an automatic construction apparatus. These are perspective views which show the state which is operating and operating several units | sets of the steel roof automatic construction apparatus which concerns on embodiment of this invention.

[Embodiment 1]
Based on FIG. 1, the steel roof automatic construction apparatus A which concerns on 1st Embodiment of this invention is demonstrated. The steel roof automatic construction apparatus A can automatically perform the tightening construction for connecting the butted portions of the steel folded plates, which are long bowl-shaped chevron portions. 1A is a front view of the steel roof automatic construction apparatus A, FIG. 1B is a left side view, and FIG. 1C is a right side view. For convenience of explanation, the direction in which the hook-shaped chevron of the steel roof extends in the long direction is referred to as the forward / backward direction, and the horizontal direction orthogonal to the forward / backward direction is referred to as the width direction.

<Configuration of steel roof automatic construction equipment A>
The steel roof automatic construction apparatus A has a pair of legs 1 configured to straddle the bowl-shaped chevron of the steel roof B in the width direction. The leg 1 includes a reference leg 11 and a movable leg 12. During the roof construction operation, the leg opening angle between the reference leg 11 and the movable leg 12 is fixed as shown in FIG. However, by operating the lever 13, the leg opening angle between the reference leg 11 and the movable leg 12 can be widened. In such a state that the steel roof is automatically spread, the steel roof automatic construction apparatus A can be installed or removed so as to straddle the long bowl-shaped chevron of the steel roof B.

  In addition, when the steel roof automatic construction apparatus A was straddled over the bowl-shaped chevron of the steel roof B and the leg angle between the reference leg 11 and the movable leg 12 was fixed, it was supported by the reference leg 11. The receiving roller 31 provided on the lower surface of the receiving pedestal 21 and the movable roller 32 provided on the lower surface of the movable pedestal 22 supported by the movable leg 12 firmly fix the top B2 of the bowl-shaped chevron of the steel roof B. Hold it. The top portion B2 of the bowl-shaped chevron portion of the steel roof is a connecting portion of the steel folded plates. This connection part is connected so that the connection part of one folded plate may wind up the connection part of the other folded plate. By clamping this portion between the receiving roller 31 and the movable roller 32, the folded plate is clamped at the connecting portion.

  Although not shown, the electric motor 5 is installed on the upper surface of the pedestal 21. The rotating shaft of the electric motor 5 drives the receiving roller 31 to rotate. Further, the rotating shaft of the electric motor 5 drives the movable roller 32 through a gear. However, the receiving roller 31 and the movable roller 32 rotate in opposite directions.

<Operation of steel roof automatic construction equipment A>
Since the receiving roller 31 and the movable roller 32 firmly sandwich the top B2 of the bowl-shaped chevron of the steel roof, when these rollers rotate, the steel roof automatic construction apparatus A itself makes the advance / retreat direction forward. Will move. That is, the receiving roller 31 and the movable roller 32 are firmly clamped at the top B2 of the bowl-shaped chevron of the steel roof, and the clamping operation is performed on that part. At the same time, the automatic steel roof construction apparatus A moves forward, and the area where the tightening work is performed expands with the movement.

  The steel roof automatic construction apparatus A advances while tightening along the top B2 of the bowl-shaped chevron of the steel roof B, and stops when it reaches the end of the steel roof. Further, when the rotation of the electric motor 5 is reversed, the receiving roller 31 and the movable roller 32 rotate in reverse directions. As a result, the steel roof automatic construction apparatus A moves backward along the apex B2 of the bowl-shaped chevron of the steel roof B and moves away from the end of the steel roof.

<First optical sensor>
In order to automatically advance, stop and retreat, the steel roof automatic construction apparatus A is provided with an optical sensor. An optical sensor is a sensor that measures the presence or absence of an object or the distance to the object by the action of electromagnetic waves. This optical sensor is used to detect a steel roof, and is referred to herein as a first optical sensor 6. As a specific example of the first optical sensor 6, an infrared distance sensor 61 is provided at the forward end of the reference leg 11. Since the leg 1 composed of the reference leg 11 and the movable leg 12 straddles the bowl-shaped chevron of the steel roof, if the infrared distance sensor 61 is provided so as to face between the reference leg 11 and the movable leg 12, Good.

  The infrared distance sensor 61 is provided with an infrared emitting part and a light receiving part in the same plane. When there is an object at a close distance from the emitting part, the emitted infrared ray is detected by the light receiving part. At this time, since the position of the received infrared rays is shifted according to the distance to the object, the distance can be measured based on the shift amount. This is a stereo distance sensor having a light emitting mechanism. Instead of the infrared distance sensor 61, a stereo camera type distance sensor using two cameras may be used, or a distance sensor that measures based on the arrival time of light such as TOF (Time Of Flight) may be used. Also good.

<Establishment of steel roof>
Based on FIG. 2, operation | movement of the infrared distance sensor 61 with which the steel roof automatic construction apparatus A was equipped is demonstrated. FIG. 2 (A1) is a left side view of the steel roof automatic construction apparatus A located at a location other than the end of the steel roof B. FIG. The infrared distance sensor 61 faces the side B1 of the bowl-shaped chevron of the steel roof. FIG. 2 (A2) is a front view of the steel roof automatic construction apparatus A located at a place that is not an end of the steel roof B. FIG. In particular, an infrared distance sensor 61 facing the side B1 of the bowl-shaped chevron of the steel roof is represented in the α region.

  FIG. 2A3 is an enlarged view of the α region. Infrared rays 611 emitted from the emitting portion of the infrared distance sensor 61 provided on the reference leg 11 are reflected by the side B1 of the bowl-shaped chevron portion of the steel roof and received by the light receiving portion of the infrared distance sensor 61. The distance from the infrared distance sensor 61 to the side portion B1 of the bowl-shaped chevron of the steel roof is measured. In this case, it is determined that an object has been detected in a distance range sufficiently close to the infrared distance sensor 61 and that a steel roof is present there.

  FIG. 2 (B1) is a left side view of the steel roof automatic construction apparatus A located near the end of the steel roof B. FIG. The forward end of the reference leg 11 protrudes from the end of the steel roof B first. And the side part B1 of the bowl-shaped chevron part of a steel roof does not exist ahead of the surface with the emitting part and the light receiving part of the infrared distance sensor 61 provided on the reference leg 11.

  FIG. 2 (B2) is a front view of the steel roof automatic construction apparatus A located near the end of the steel roof B. FIG. The infrared ray 611 is not reflected by the side portion B1 of the bowl-shaped mountain portion of the steel roof B, and the infrared distance sensor 61 cannot detect an object within a predetermined distance. Under such circumstances, it is determined that the side portion B1 of the bowl-shaped chevron portion of the steel roof B does not exist in front of the infrared distance sensor 61.

  That is, the steel roof automatic construction apparatus A has been able to detect the side portion B1 of the hook-shaped chevron of the steel roof B so far, but the steel roof automatic construction apparatus A is made of steel as the steel roof automatic construction apparatus A moves. It is determined that the forward side end of the steel roof automatic construction apparatus A has reached the end of the steel roof B because the detection of the side B1 of the bowl-shaped chevron of the roof B is interrupted.

<Operation at the end of the steel roof of the automatic steel roof construction device A>
Next, the operation | movement in the edge part of the steel roof of the steel roof automatic construction apparatus A is demonstrated based on FIG. 2 (A1) and (B1). FIG. 2 (A1) is a case where the steel roof automatic construction apparatus A according to the first embodiment of the present invention is located at a location that is not an end of the steel roof B. At this time, the infrared distance sensor 61 detects the side portion B1 of the bowl-shaped chevron portion of the steel roof. Under this condition, the clamping operation is performed by rotating the receiving roller 31 and the movable roller 32 that sandwich the top B2 of the bowl-shaped chevron of the steel roof B in the opposite directions. At the same time, the steel roof automatic construction apparatus A advances by the rotation of the receiving roller 31 and the movable roller 32.

  Eventually, the steel roof automatic construction apparatus A will be located near the end of the steel roof B as shown in FIG. 2 (B1). As described above, at this time, the infrared distance sensor 61 does not detect the side portion B1 of the bowl-shaped chevron portion of the steel roof, so that the steel roof automatic construction apparatus A is positioned at the end of the steel roof B. Judge.

  Then, the power supply to the motor 5 driving the receiving roller 31 and the movable roller 32 is stopped. The motor 5 is actuated by an electromagnetic brake that stops rotation of the shaft when the power supply is stopped. That is, the steel roof automatic construction apparatus A automatically and reliably stops at the end portion of the steel roof B by the action of the infrared distance sensor 61 and the electromagnetic brake.

  Thereafter, electric power is supplied to the motor 5 so as to rotate in the opposite direction. With this power supply, the electromagnetic brake is released, and the receiving roller 31 and the movable roller 32 rotate in the opposite directions. By this operation, the automatic steel roof construction apparatus A moves backward and moves on the roof in a direction away from the end of the steel roof B. The power supply to the motor 5 is stopped at a predetermined distance, for example, about 2 meters backward, i.e., reversely fed.

  By stopping the electric power, the steel roof automatic construction apparatus A stops the backward movement. Due to this power stop, the electromagnetic brake of the motor 5 is applied. By the series of operations described above, the automatic steel roof construction apparatus A performs the tightening work over the entire one-shaped chevron of the steel roof B, and back feeds a predetermined distance from the end of the steel roof B. It will stop at the position.

  At the steel roof construction site, the steel roof automatic construction device A is installed so as to straddle the adjacent saddle-shaped chevron, and the joint of the folded plate roof, which is the next saddle-shaped chevron, is tightened. Continue to do. At this time, the tightening operation is performed in the opposite direction, that is, while retreating. Eventually, the end of the reference leg 11 on the receding side reaches the end on the opposite side of the steel roof.

  In this case, an infrared distance sensor 62 is provided at the backward end of the reference leg 11 so that automatic stop and stop after advance are performed [FIG. 1 (B) and FIGS. 2 (A1) and (B1). ]]. The infrared distance sensor 62 is the same sensor as the infrared distance sensor 61. This is also provided at the end of the reference leg 11 on the receding side toward the side B1 of the bowl-shaped chevron of the steel roof. The infrared distance sensors 61 and 62 may be provided on the movable leg 12.

[Second Embodiment]
Next, a steel roof automatic construction apparatus A2 according to a second embodiment of the present invention will be described based on FIG. FIG. 3 (A1) is a left side view of the steel roof automatic construction apparatus A2 located at a location other than the end of the steel roof B, (A2) is a front view of the steel roof automatic construction apparatus A2, (A3) is an enlarged view of the β region of (A1), (A4) is an enlarged view of the γ region of (A2), and (B) is an automatic construction apparatus for steel roof A2 located near the end of the steel roof B. It is a left side view.

  The construction of the steel roof automatic construction apparatus A2 is the same as that of the first embodiment except for the infrared distance sensor 61 or 62. In order to detect the edge part of the steel roof B, the steel roof automatic construction apparatus A2 which concerns on 2nd Embodiment uses the infrared distance sensor 63. FIG. An extension support 632 is provided on the reference leg extension 111 integrated with the reference leg 11, and an infrared distance sensor 63 is installed on the lower surface of the extension support 632 [FIG. 3 (A3)]. .

  As shown by the broken line, the overhanging support 632 protrudes slightly diagonally upward, and the infrared distance sensor 63 can be provided from the advancing / retreating direction toward the downward direction rather than directly below. If it does in this way, steel roof automatic construction apparatus A2 can detect this edge part slightly before the edge part of steel roof B, and can stop the steel roof automatic construction apparatus A2. Further, the overhanging support 632 may be rotatably held by the reference leg extending portion 111 and the overhanging angle may be adjusted by an appropriate angle by screw tightening.

  In this way, the direction of the infrared distance sensor 63 can be appropriately adjusted from a downward direction to a slightly forward direction. Furthermore, if the overhanging support 632 can be folded until it comes close to the reference leg extending portion 111, the steel roof automatic construction apparatus A2 is compact and convenient for carrying and carrying. is there.

  The configuration described above is provided on the lower surface of the extension support 632 provided so as to protrude from the reference leg extending portion 111, which is a pair of legs, which is substantially the center in the width direction of the reference leg 11 and the movable leg 12. An infrared distance sensor 63 is provided. And the infrared distance sensor 63 is installed downward and looks down the shoulder-like part B3 of the bowl-shaped mountain-shaped part of the steel roof B.

  Alternatively, the infrared distance sensor 63 is provided on the lower surface of the overhanging support 632 provided so as to protrude obliquely upward from the reference leg extending portion 111, and the shoulder B3 of the bowl-shaped chevron of the steel roof B is provided. It looks down from the advancing / retreating direction toward the downward direction. The infrared distance sensor 63 itself has the same structure as the infrared distance sensor 61. On the surface facing the lower side of the infrared distance sensor 63, an emitting portion and a light receiving portion are provided.

  3 (A1), (A3), and (A4), the infrared sensor 63 provided downward on the lower surface of the overhanging support 632 has a bowl-shaped chevron of the steel roof B at a relatively short distance. This is opposed to the shoulder B3. Both sides of the apex B2 of the bowl-shaped chevron part of the steel roof B are substantially horizontal surfaces, and become shoulder-like parts B3 of the chevron chevron part of the steel roof B. The infrared rays 631 emitted from the emission part of the infrared sensor 63 are reflected here and received by the light receiving part. At this time, a relatively short distance is measured as the distance between the infrared sensor 63 and the shoulder B3 of the bowl-shaped chevron of the steel roof B. With this, it is determined that the steel roof B exists immediately below the infrared sensor 63.

  In the state shown in FIG. 3 (A1), since the infrared sensor 63 can detect the steel roof B, electric power is supplied to the motor 5. Then, since the motor 5 rotates the receiving roller 31 and the movable roller 32 in the forward direction, the steel roof automatic construction apparatus A2 moves forward while performing the tightening work. This operation is the same as in the first embodiment.

  The steel roof automatic construction apparatus A2 eventually reaches the end of the steel roof B as shown in FIG. At this time, there is no steel roof B directly under the infrared distance sensor 63. This is often the ground directly below the building. In such a case, since the infrared distance sensor 63 does not detect the steel roof B, it is determined that the steel roof automatic construction apparatus A2 has reached the end of the steel roof B. The subsequent stop and stop operation after retreat are the same as in the first embodiment.

  Similarly to the case of the first embodiment, the automatic steel roof construction device A2 according to the second embodiment is installed so as to straddle other adjacent hook-shaped chevron, and performs the tightening work while retreating. Eventually, the end of the reference leg 11 on the receding side reaches the end on the opposite side of the steel roof. In this case as well, an overhanging support 632 is provided on the reference leg extending portion 111 extended at the backward end portion of the reference leg 11 so that the automatic stop and the stop after the advance are performed, and the lower surface thereof has an infrared distance. The sensor 64 is installed in the downward direction or in the downward direction from the forward / backward direction. The infrared distance sensor 64 has the same structure as the infrared distance sensor 63.

  The steel roof automatic construction apparatus A2 may also include an infrared distance sensor 61 facing the side B1 of the bowl-shaped chevron of the steel roof B. Construction on steel roofs is often exposed to direct sunlight and its reflected light. The combined use of distance sensors with different directions such as the infrared distance sensor 61 and the infrared distance sensor 63 has an effect of reducing the influence of such direct sunlight and the reflected light.

  The outputs of the infrared distance sensor 61 directed to the side B1 of the bowl-shaped chevron of the steel roof B and the infrared distance sensor 63 directed to the shoulder B3 of the bowl-shaped chevron of the steel roof B are next You may make it detect the edge part of a steel roof in cooperation so that it may demonstrate. For example, the positional relationship between the infrared distance sensor 61, the infrared distance sensor 63, and the end B4 of the steel roof B in FIG. When the steel roof automatic construction apparatus A2 is away from the end B4 of the steel roof B, both the infrared distance sensor 61 and the infrared distance sensor 63 can detect the steel roof B [FIG. 3 (A). ]. However, as shown in FIG. 3B, when the steel roof automatic construction apparatus A2 approaches the end B4 of the steel roof B, first, the infrared distance sensor 63 is connected to the shoulder B3 of the steel roof B. Is not detected. Subsequently, the infrared distance sensor 61 does not detect the side B1 of the steel roof B.

  Based on the above, when both the infrared distance sensor 63 and the infrared distance sensor 61 detect the steel roof B, the steel roof automatic construction apparatus A2 moves forward. And the infrared distance sensor 63 does not detect the steel roof B, and the infrared distance sensor 61 detects the steel roof B. Sometimes, the steel roof automatic construction apparatus A2 is the end B4 of the steel roof B. It is determined that the vehicle has reached the position, temporarily stops, and after a predetermined distance, the vehicle stops again.

  The sensors except for the case where the infrared distance sensor 63 and the infrared distance sensor 61 both detect the steel roof B and the case where the infrared distance sensor 63 detects the steel roof B while the infrared distance sensor 63 is not detected. It can be judged as an erroneous determination, and the steel roof automatic construction apparatus A2 can be urgently stopped or prevented from being newly started.

[Third Embodiment]
<Second optical sensor>
Based on FIG. 4 (A) and (B), the steel roof automatic construction apparatus A3 which concerns on 3rd Embodiment of this invention is demonstrated. In addition to the structure and the first optical sensor 6 shown in the first embodiment or the second embodiment, the automatic steel roof construction apparatus A3 is used to determine whether there is an obstacle in the forward or backward direction. Two optical sensors 7 are provided. As shown in FIGS. 4 (A) and (B), the second optical type is provided at the forward end and the backward end of the movable leg 12 of the automatic steel roof construction apparatus A3 according to the third embodiment, respectively. Infrared distance sensors 71 and 72 as the sensor 7 are provided.

  The infrared distance sensor 71 is provided at the forward end of the movable leg 12 in the forward direction. This is to determine the presence or absence of an obstacle within a predetermined range in the forward direction when the steel roof automatic construction apparatus A3 moves forward. Further, the infrared distance sensor 72 is provided at the backward end portion of the movable leg 12 in the backward direction. This is to determine the presence or absence of an obstacle within a predetermined range in the direction of retreat when the steel roof automatic construction apparatus A3 retreats.

<Description of operation>
Next, based on FIG. 4, operation | movement of steel roof automatic construction apparatus A3 is demonstrated. FIG. 4 (A) shows a state in which the steel roof automatic construction apparatus A3 installed so as to straddle the saddle-shaped chevron of the steel roof B is performing the tightening construction while moving in the forward direction. It is a right view of roof manufacturing automatic construction apparatus A3. An infrared distance sensor 71 is provided at the forward end of the movable leg 12 in the forward direction. The infrared distance sensor 71 emits infrared light 711 forward.

  However, since there is nothing that reflects the infrared ray 711 in the front, the infrared distance sensor 71 cannot measure the distance. In such a case, it is determined that there is no obstacle within a predetermined distance in the direction in which the automatic steel roof construction apparatus A3 moves forward. At this time, electric power is supplied to the motor 5. Then, when the receiving roller 31 (not shown) and the movable roller 32 are driven by the motor 5, the steel roof automatic construction apparatus A3 advances while performing the tightening work.

  An operator may be working on the steel roof B. And as shown in FIG.4 (B), the steel roof automatic construction apparatus A3 moves forward, and approaches the said worker. In this case, the infrared ray 711 emitted from the emission unit of the infrared distance sensor 71 is reflected by, for example, the worker C and received by the light receiving unit of the infrared distance sensor 71.

  The infrared distance sensor 71 measures the distance to the worker C by receiving the reflected infrared light. As a result, if the distance between the steel roof automatic construction apparatus A3 and the worker C is within a predetermined distance, the power supply to the motor 5 is stopped, and the steel roof automatic construction apparatus A3 is also stopped. By such an operation of the steel roof automatic construction apparatus A3, a collision with the worker C can be avoided.

  It is assumed that the steel roof automatic construction apparatus A3 performs the above operation and stops immediately behind the worker C. Even so, there is a possibility that the worker C who does not notice this will come back and collide with the steel roof automatic construction apparatus A3. Therefore, the steel roof automatic construction apparatus A3 can stop after detecting an obstacle and then retreat by a predetermined distance and stop again.

  In order to realize such an operation, after detecting an obstacle and stopping, electric power in the direction opposite to that at the time of forward movement is applied to the motor 5 to cause the steel roof automatic construction apparatus A3 to move backward. And the electric power supply to the motor 5 may be stopped again at the place where the predetermined distance is retreated, and the steel roof automatic construction apparatus A3 may be stopped.

  The steel roof automatic construction apparatus A3 may perform the tightening work while retreating. In order to avoid a collision with an obstacle in this case, an infrared distance sensor 72 is provided at the backward end portion of the movable leg 12 so as to be directed in the backward direction. The infrared distance sensors 71 and 72 described above may be provided at both ends of the reference leg 11 in the advancing / retreating direction.

  The infrared distance sensors 61 to 64 and the infrared distance sensors 71 and 72 as examples of the first optical sensor 6 and the second optical sensor 7 have been described as the same infrared distance sensor. However, it is not necessary to configure them all with the same type of infrared distance sensor. What is necessary is just to select suitably, considering the characteristic of each optical sensor, ie, directivity, and measurement range. Examples of the optical sensor include a stereo camera type distance sensor, a TOF, and a laser range finder in addition to those described above.

  The embodiments of the present invention have been described above. FIG. 5 is a diagram showing an example in which the steel roof automatic construction apparatus according to the embodiment of the present invention is operated. The steel roof automatic construction apparatus mentioned in the embodiment is a tightening construction machine. However, a pair of legs straddling the bowl-shaped chevron of the steel roof in the width direction, a pedestal supported by the pair of legs, a motor mounted on the pedestal, and a lower surface of the pedestal, the bowl-shaped It has a basic structure having a pair of rollers driven by the motor, sandwiching the side of the chevron from the width direction, and the optical sensor is in the direction in which the saddle chevron of the steel roof should exist As long as the steel roof automatic construction device is directed and provided at at least one end on both sides of the pair of legs in the advancing and retreating direction, it is not limited to a tightening construction machine. If it takes the above-mentioned basic composition, a claw demolition machine, a seam welding machine, a roof carriage, a roof inspection robot after construction, etc. are also within the scope of the present invention.

  The first optical sensor includes an emitting part and a light receiving part, and when the reflected wave of the electromagnetic wave emitted from the emitting part is detected by the light receiving part, it is determined that the steel roof as an object exists. Even when the detection of the reflected wave by the light receiving unit is interrupted, it is determined that the end of the steel roof is present as the end of the object. good. The second optical sensor includes an emitting unit and a light receiving unit, and when the reflected wave of the electromagnetic wave emitted from the emitting unit is detected by the light receiving unit, it is determined that an obstacle exists. A steel roof automatic construction apparatus may be configured.

  The first optical sensor is a distance sensor, and when the first optical sensor detects an object within a predetermined distance range, it is determined that the steel roof as an object exists. When the object detection within the predetermined distance range is interrupted by the first optical sensor, it is determined that the end portion of the steel roof as the object end portion is present. An automatic roof construction apparatus may be configured. Moreover, you may comprise the steel roof automatic construction apparatus characterized by determining with an obstruction existing when a 2nd optical sensor detects an object within the predetermined distance range.

A, A2, A3 ... Steel roof automatic construction equipment, B ... Steel roof,
B1 ... the side of the hook-shaped chevron of the steel roof, B2 ... the top of the hook-shaped chevron of the steel roof,
B3 ... Shoulder-like portion of the hook-shaped chevron of the steel roof, B4 ... End of the steel roof, C ... Human or obstacle,
DESCRIPTION OF SYMBOLS 1 ... Leg, 11 ... Reference | standard leg, 111 ... Reference | standard leg extension part, 12 ... Movable leg, 13 ... Lever,
2 ... pedestal, 21 ... receiving pedestal, 22 ... movable pedestal, 3 ... roller, 31 ... receiving roller,
32 ... movable roller, 41 ... guide receiving roller, 42 ... guide movable roller, 5 ... motor,
6 ... 1st optical sensor, 61, 62, 63, 64 ... Infrared distance sensor,
611, 631 ... infrared rays, 632 ... overhang support, 7 ... second optical sensor,
71, 72 ... Infrared distance sensor, 711 ... Infrared ray.

Claims (10)

  The direction in which the saddle-shaped chevron of the steel roof extends in the long direction is referred to as the forward / backward direction, and the horizontal and perpendicular direction to the forward / backward direction is referred to as the width direction. A pair of legs straddling the width direction, a pedestal supported by the pair of legs, a motor mounted on the pedestal, and a lower surface of the pedestal, and sandwiching a side portion of the bowl-shaped chevron from the width direction A pair of rollers driven by the motor, and a first optical sensor that measures the presence or absence of an object or a distance to the object by the action of electromagnetic waves, the first optical sensor comprising the pair of legs The steel roof automatic construction characterized in that the saddle-shaped chevron of the steel roof straddling is oriented in a direction to be present and is provided at at least one end of both sides of the pair of legs in the advancing and retreating direction. apparatus.   2. The automatic steel roof construction apparatus according to claim 1, wherein at least some of the first optical sensors are directed to a space between the pair of legs and provided on at least one leg of the pair of legs. Steel roof automatic construction equipment, characterized by   3. The automatic steel roof construction apparatus according to claim 1, wherein at least some of the first optical sensors are supported between the two legs of the pair of legs so as to protrude in the forward / backward direction from the vicinity of the center in the width direction. A steel roof automatic construction apparatus, which is provided on a lower surface of a tool downward or downward from the advancing / retreating direction.   2. The automatic steel roof construction apparatus according to claim 1, wherein at least some of the first optical sensors are directed to a space between the pair of legs and provided on at least one leg of the pair of legs. Among the other first optical sensors, at least some of the first optical sensors are directed downward on the lower surface of the support member projecting in the forward / backward direction from the center in the width direction between the legs of the pair of legs. Or the steel roof automatic construction apparatus characterized by being provided toward the downward direction from the said advancing / retreating direction.   5. The steel roof automatic construction apparatus according to claim 1, wherein the first optical sensor detects an object while the pair of the pair of steel roofs is automatically detected. An automatic steel roof construction apparatus, which advances by driving a roller and stops driving the pair of rollers when detection of the object by the first optical sensor is interrupted.   5. The steel roof automatic construction apparatus according to claim 1, wherein the first optical sensor detects an object while the pair of the pair of steel roofs is automatically detected. When the object is detected by the first optical sensor, the driving of the pair of rollers is stopped, and then the pair of rollers is reversely operated to move backward by a predetermined distance. A steel roof automatic construction apparatus characterized in that the driving of the pair of rollers is stopped again later.   In the steel roof automatic construction apparatus according to any one of claims 1, 2, 3, 4, 5, or 6, the presence or absence of an object or an object by an action of electromagnetic waves. A second optical sensor for measuring a distance; the second optical sensor is provided in a forward direction at an end portion of at least one leg of the pair of legs; and the pair of legs A steel roof automatic construction apparatus, characterized in that the steel roof automatic construction apparatus is provided in a backward direction at an end of the at least one leg in the backward direction.   In the steel roof automatic construction apparatus according to claim 7, when the second optical sensor detects an obstacle within a predetermined distance in a forward direction by driving the pair of rollers, A steel roof automatic construction device characterized in that the driving of the roller is stopped.   In the steel roof automatic construction apparatus according to claim 7, when the second optical sensor detects an obstacle within a predetermined distance in a forward direction by driving the pair of rollers, An automatic steel roof construction apparatus, wherein driving of the rollers is stopped, and thereafter, the pair of rollers are reversely operated to move backward by a predetermined distance, and then the driving of the pair of rollers is stopped again.   In the steel roof automatic construction apparatus according to any one of claims 1, 2, 3, 4, 5, 6, 7, 8, or 9. The steel roof automatic construction device, wherein the pair of rollers moves in either the forward or backward direction while performing the tightening operation of tightening and connecting the butted portions of the steel roof from both sides in the width direction .

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