JP2023167608A - Self-propelled robot for seam joining - Google Patents

Abstract

To provide a lightweight, self-propelled robot that reliably performs seam joining work of folded-plate roofing materials by running by itself at high speed without causing abrasion damage to the folded-plate roofing materials.SOLUTION: A self-propelled robot 100 for seam-joining a folded tightening portion Ruc along the longitudinal direction of a folded-plate roofing material by a seam joining roller portion comprises a driving unit 130 equipped with at least: a support roller portion 133 that is rotatably arranged on a support substrate portion 122 and contacts an upright portion Ruv of the folded-plate roofing material R; a support motor portion 131 that drives the support roller portion; and the seam joining roller portion 136 that is rotatably arranged on an open-close substrate portion 123 and presses the folded tightening portion; and a seam joining motor portion 134 that drives the seam joining roller portion.SELECTED DRAWING: Figure 2

Description

The present invention relates to a self-propelled seam tightening robot that is electrically driven and self-propelled to tighten the seams of folded plate roofing materials.

Conventionally, electric sewage machines are equipped with a sewage support roller with a rotating shaft fixed to the frame, two pre-bending rollers placed before and after the roller, and an opening/closing side support plate that can be opened and closed with respect to the frame. It is equipped with a crimp roller with a rotating shaft fixed on the side and two pre-bending rollers placed before and after it, and an opening/closing side support plate is connected to the lower part of the deployable handle via a spring body and a link, and an external It is known that the power of a single electric motor rotated by electric power supplied from the motor is transmitted to a support roller and a seam tightening roller by converting the direction of the rotating shaft using a bevel gear (see Patent Document 1). ing.

Japanese Patent Application Publication No. 11-47853

However, the seam tightening machine described in Patent Document 1 is equipped with a heavy bevel gear for transmitting the power of a horizontally placed electric motor to a plurality of support rollers and a seam tightening roller whose rotating shafts are vertical. As a result, the weight of the entire seam tightening machine is large, which poses a problem in that it takes a lot of effort to install it on the folded plate roofing material.

In order to solve this problem, the present inventors independently drove the crimp roller and support roller using multiple motors to tighten the crimp of folded roofing materials without using heavy bevel gears. We have developed a new self-propelled seam tightening robot that is lightweight and can run at high speed.

According to this self-propelled seam tightening robot, in areas where hangers are placed between folded roofing materials, the thickness of the seam tightening portion is larger than in other areas. The rotational speed and circumferential speed of the support rollers that pinch the tightening part will temporarily decrease due to the temporary increase in torque, and the traveling speed of the entire self-propelled seam tightening robot will decrease, but Since the roller is not easily affected by the presence or absence of the hanger, the rotational speed and circumferential speed do not decrease. As a result, the seam tightening roller rotates at a circumferential speed that is higher than the rotation speed of the entire self-propelled robot for seam tightening, so the maximum diameter portion of the seam tightening roller is folded. The present inventors have newly discovered a phenomenon that causes scratches in the longitudinal direction on the seamed portions of sheet roofing materials.

Scratches on folded plate roofing materials look bad, and the surface needs to be painted to prevent rust, which increases the number of man-hours and costs.

Or, when the seam tightening work is performed and the seam tightening work is carried out by itself, the support roller and the seam tightening roller are pinching the seam tightening part, resulting in variations in the thickness of the seam tightening part due to the presence or absence of hangers. The present inventors have also newly discovered a phenomenon in which the entire self-propelled seam tightening robot, which is self-propelled at high speed, meanders and its traveling operation becomes unstable because the direction of the stress changes based on the stress.

Therefore, the present invention solves the problems of the prior art as described above, and also solves the problems newly discovered by the present inventors. That is, the first purpose of the present invention is to To provide a lightweight self-propelled siding robot capable of self-propelled at high speed and reliably performs siding work on folded-plate roofing materials without causing scratches on the sheet roofing materials.

A second object of the present invention is to provide a lightweight self-propelled siding robot that can stably move at high speed and reliably perform siding work on folded roofing materials.

In the invention according to claim 1, groove plate portions and mountain plate portions are arranged alternately, and a lower flap portion is provided on the top surface portion of the mountain plate portion on one end side. Folded plate roofing materials each having a top edge portion consisting of an upright portion, a flat portion continuous to the upright portion, and a seamed portion hanging down from the flat portion are arranged in parallel, and the folded plate roofing materials adjacent to each other are arranged in parallel. The groove plate portion of one of the folded plate roofing materials and the folded plate roofing material of the other plate straddle the gap tightening portion formed by engaging the lower edge portion and the upper edge of the plate roofing material. a traveling unit equipped with a caster section that travels on the groove plate section of the folded plate roofing material, an opening/closing base plate part which is disposed above the crimp part of the folded plate roofing material and pivoted to be able to be opened and closed; and the opening/closing base part part. a main body unit fixed to the upper part of the travel unit, the main body unit being rotatably disposed on the support base plate and abutting on the upright portion of the folded plate roofing material; a drive unit comprising at least a support roller section and a crimp roller section rotatably disposed on the opening/closing substrate section to press the seaming section; and a drive unit disposed on the main body unit to control the operation of the drive unit. A control unit, an opening/closing handle part pivotally fixed to the main unit so that it can be raised or folded freely, a link part integrally coupled to the opening/closing base plate part and pivotally fixed to the opening/closing handle part, and a serration operation are performed. The self-propelled seaming robot is equipped with an operation unit including a start switch for starting the seaming, and uses the seaming roller section to seam the seaming portion along the longitudinal direction of the folded plate roofing material, The above-mentioned problem is solved by the drive unit including a support motor section that drives the support roller section and a crimp motor section that drives the crimp roller section.

In addition to the structure of the invention according to claim 1, the invention according to claim 2 provides that the support roller portion includes a support roller configured by lining the surface of a cylindrical core material made of stainless steel with urethane rubber. The above-mentioned problem is solved by the seam tightening roller portion including a stainless steel disk-shaped seam tightening roller.

The invention according to claim 3 further solves the above-mentioned problem by, in addition to the structure of the invention according to claim 2, the support roller having a barrel shape.

The invention according to claim 4 is, in addition to the configuration of the invention according to claim 2 or 3, wherein the control unit controls the rotational speed of the support motor part to define the circumferential speed of the support roller. The method includes a motor driver section, and a crimp motor driver section that controls the rotational speed of the crimp motor to specify a circumferential speed of the crimp roller to a value smaller than a prescribed circumferential speed of the support roller. This further solves the above-mentioned problems.

In the invention according to claim 5, groove plate portions and mountain plate portions are arranged alternately, and a lower flap portion is provided on the top surface portion of the mountain plate portion on one end side. Folded plate roofing materials each having a top edge portion consisting of an upright portion, a flat portion continuous to the upright portion, and a seamed portion hanging down from the flat portion are arranged in parallel, and the folded plate roofing materials adjacent to each other are arranged in parallel. The groove plate portion of one of the folded plate roofing materials and the folded plate roofing material of the other plate straddle the gap tightening portion formed by engaging the lower edge portion and the upper edge of the plate roofing material. a traveling unit equipped with a caster section that travels on the groove plate section of the folded plate roofing material, an opening/closing base plate part which is disposed above the crimp part of the folded plate roofing material and pivoted to be able to be opened and closed; and the opening/closing base part part. a main body unit fixed to the upper part of the travel unit, the main body unit being rotatably disposed on the support base plate and abutting on the upright portion of the folded plate roofing material; At least a crimp roller part that is rotatably disposed on the support roller part and the opening/closing base plate part and presses the seaming part, and a drive motor part that drives the support roller part and the crimp roller part. a drive unit, a control unit disposed in the main unit to control the operation of the drive unit, an opening/closing handle part pivotally fixed to the main body unit so as to be freely tiltable, and an opening/closing base part integrally coupled to the opening/closing handle part; The operation unit includes a link part pivotally fixed to the opening/closing handle part and a start switch for starting the seam tightening work, and the seam tightening part is moved in the longitudinal direction of the folded plate roofing material by the seam tightening roller part. A self-propelled shim tightening robot that tightens shims along the side of the support substrate, the robot comprising: a front auxiliary roller section disposed at the forefront of the supporting substrate section and abutting against the upright portion of the folded plate roofing material; The above-mentioned problem is solved by providing an auxiliary roller unit including a rear auxiliary roller portion that is disposed at the rearmost portion and comes into contact with the upright portion of the folded plate roofing material.

According to the self-propelled seam tightening robot of the invention according to claim 1, the groove plate portions and the mountain plate portions are arranged alternately, and the lower seam portion is provided on the top surface portion of the mountain plate portion on one end side. Folded plate roofing materials are arranged in parallel on the top surface of the mountain plate portion on the other end side, each having an upper gap consisting of an upright portion, a flat portion continuous to this upright portion, and a seamed portion hanging down from this flat portion. The groove plate part of one folded plate roofing material and the folded plate part of the other folded plate roofing material are connected by straddling the seam tightening part formed by engaging the lower edge part and the upper edge part of mutually adjacent folded plate roofing materials. A traveling unit equipped with a caster part that travels on the groove board part of the sheet roofing material, an opening/closing base plate part that is arranged above the shim part of the folded roofing material and pivoted so as to be able to be opened and closed, and this opening/closing base part. a main body unit which is fixed to the upper part of the traveling unit, and a support roller part which is rotatably disposed on the support base plate part and comes into contact with the upright part of the folded plate roofing material; A drive unit including at least a crimp roller part that is rotatably arranged on the opening/closing board part and presses the seaming part, a control unit arranged in the main unit and controlling the operation of the drive unit, and a control unit in the main unit. The operating unit includes an opening/closing handle part which is pivotally fixed to be able to be raised or folded, a link part which is integrally connected to the opening/closing board part and pivotally fixed to the opening/closing handle part, and a start switch for starting the seam tightening work. As a result, the seam tightening roller part can not only tighten the seam while moving the seam part along the longitudinal direction of the folded plate roofing material, but also has the following structure unique to the present invention. The following effects unique to this can be achieved.

According to the self-propelled seam tightening robot of the invention according to claim 1, the drive unit includes a support motor section that drives the support roller section and a seam tightening motor section that drives the seam tightening roller section. This allows the support roller section and the crimp roller section to be driven independently by the support motor section and the crimp tightening motor section, making it possible to reduce the weight without using heavy bevel gears, and enable high-speed running. You can tighten the clasp while doing so.

According to the self-propelled seam tightening robot of the invention according to claim 2, in addition to the effects achieved by the invention according to claim 1, the support roller portion has a cylindrical core made of stainless steel whose surface is covered with urethane rubber. By providing the supporting roller configured as a lining, the supporting roller can be tightly rotated without slipping in close contact with the upright portion of the folded plate roofing material, and a free running speed can be ensured.

Alternatively, the seam tightening roller section is equipped with a stainless steel disk-shaped seam tightening roller, so that the seam tightening roller concentrates the squeezing force on the edge of the disk and tightens the folded plate roofing material. Since the seaming part is pressed, the seam tightening work can be performed reliably.

According to the self-propelled seam tightening robot of the invention according to claim 3, in addition to the effects achieved by the invention according to claim 2, the support roller has a barrel shape, so that the support roller and the folded plate The contact area with the roofing material is always on the line of force when the seam tightening roller presses the folded plate roofing material, and the seam tightening is the shortest distance between the support roller and the seam tightening roller. Since the folded plate roofing material is pinched by the gap size, the folded plate roofing material is pinched by the sealing roller and the support roller, and the sealing work can be performed reliably.

According to the self-propelled seam tightening robot of the invention according to claim 4, in addition to the effects achieved by the invention according to claim 2 or claim 3, the control unit controls the rotational speed of the support motor section to provide support. A support motor driver section that regulates the peripheral speed of the roller, and a seam tightening motor driver that controls the rotational speed of the seam tightening motor and regulates the circumferential speed of the large seam tightening roller to a value smaller than the specified peripheral speed of the support roller. Even if the rotational speed of the support roller decreases and the running speed of the entire sealing machine decreases in the area where the hanger is placed between the folded roofing materials, the To suitably perform cram tightening work without causing scratches on folded plate roofing materials by setting the circumferential speed of the crimp roller in advance to a value smaller than the specified circumferential speed of the support roller so that the circumferential speed does not become higher than necessary. I can do it.

According to the self-propelled seam fastening robot of the invention according to claim 5, the groove plate portions and the mountain plate portions are arranged alternately, and the lower seam portion is formed on the top surface of the mountain plate portion on one end side. A folded plate roofing material having an upper gap portion on the top surface of the mountain board portion on the other end side, each consisting of an upright portion, a flat portion continuous to the upright portion, and a seamed portion hanging down from the flat portion. The groove of one of the folded plate roofing materials straddles the gap tightening part formed by engaging the lower flap part and the upper gap part of the folded plate roofing materials arranged in parallel and adjacent to each other. A traveling unit including a caster portion that travels between a plate portion and the groove plate portion of the other folded plate roofing material, and a traveling unit disposed above the crimp portion of the folded plate roofing material and pivoted so as to be openable and closable. A main body unit is fixed to the upper part of the travel unit, and includes an opening/closing base plate part and a supporting base part fixed opposite to the opening/closing base part; Driving a support roller part that comes into contact with the upright part of the sheet roofing material, a crimp roller part that is rotatably arranged on the opening/closing base plate and presses the seam part, and a support roller part and the crimp roller part. a drive unit including at least a drive motor section, a control unit disposed on the main unit and controlling the operation of the drive unit, an opening/closing handle pivotally fixed to the main unit so as to be freely raised and folded, and the opening/closing handle The support roller part and the seam tightening roller part are provided with an operation unit consisting of a link part integrally connected to the base plate part and pivotally fixed to the opening/closing handle part, and a start switch for starting the seam tightening work. Since it is driven by a drive motor, it can be made lightweight without using a heavy bevel gear, and the seam tightening roller unit can tighten the seam while running the seaming part at high speed along the longitudinal direction of the folded plate roofing material. In addition, the following configuration unique to the present invention can provide the following effects unique to the present invention.

A front auxiliary roller part that is arranged at the forefront of the support base plate part and comes into contact with the upright part of the folded roofing material; a rear auxiliary roller part that is arranged at the last part of the support base part and comes into contact with the upright part of the folded roofing material; By being equipped with an auxiliary roller unit consisting of an auxiliary roller unit, the support roller and the seam tightening roller pinch the seam tightening part during self-propelled movement during the seam tightening work, thereby reducing the effects of changes in the thickness of the seam tightening part. In order to prevent the front auxiliary roller part and the rear auxiliary roller part from coming into contact with the upright part of the folded roofing material at the same time and meandering the entire self-propelled seam tightening robot, It is possible to maintain stable running operation.

FIG. 1 is a schematic diagram showing how the self-propelled crimp robot according to the present invention crams folded plate roofing material. FIG. 1 is an explanatory diagram showing the internal structure of a self-propelled seam tightening robot according to the present invention. A schematic explanatory diagram showing the relationship between the opening/closing handle portion and the seam tightening roller portion of the self-propelled seam tightening robot according to the present invention. FIG. 2 is a schematic enlarged view of the main parts when a self-propelled seam tightening robot according to the present invention is tightening a part where a hanger is not placed. FIG. 2 is a schematic enlarged view of the main part when the self-propelled seam tightening robot according to the present invention is tightening the part where the hanger is arranged. FIG. 1 is a schematic cross-sectional view showing the configuration of a drive unit of a self-propelled seam tightening robot according to the present invention. FIG. 2 is a schematic bottom view showing the configuration of the drive unit of the self-propelled serpentine robot according to the present invention. FIG. 1 is a functional block diagram showing the system configuration of a self-propelled seam tightening robot according to the present invention. FIG. 3 is a flow diagram showing the flow of control of the self-propelled seam tightening robot according to the present invention.

The present invention is applicable to any specific aspect of the invention, as long as it is capable of reliably carrying out the work of tightening the flaps of folded-plate roofing materials by moving stably and at high speed without causing scratches on the folded-plate roofing materials. Any embodiment may be used.

For example, the control unit of the present invention can be configured by a combination of relays, but it may also be configured to be controlled by a microcomputer.

Further, the front end sensor section and the rear end sensor section that constitute the sensor unit of the present invention include a bar-shaped part that projects diagonally downward and is biased downward by a spring, and a tip of this bar-shaped part that is rotatable about a horizontal axis. Any type of sensor can be used, not only the configuration consisting of a cylindrical part attached to the roof, but any sensor that can detect the end of the flat part of the folded plate roofing material and determine the end position of the shim tightening work. I don't mind.

The circumferential speed of the large seam tightening roller of the present invention is desirably set to a value smaller than the specified circumferential speed of the support roller, specifically, 97% or more and 99% or less. If it is greater than 99%, there is a risk that the large staking roller will scratch the folded roofing material when the rotation speed of the support roller decreases in the area where the hangers are placed, and if it is less than 97%, the hangers may be damaged. This is because there is a risk of scratches on the folded plate roofing material in areas where it is not placed. The peripheral speed of the large seam tightening roller is optimally set to 98% of the specified peripheral speed of the support roller.

Below, a self-propelled seam tightening robot 100 according to an embodiment of the present invention will be described based on FIGS. 1 to 8.
Here, FIG. 1 is a schematic diagram showing how the self-propelled siding robot according to the present invention shims folded plate roofing materials, and FIG. 2 is a schematic diagram showing the self-propelled siding robot according to the present invention. An explanatory diagram showing the internal structure, FIG. 3 is a schematic explanatory diagram showing the relationship between the opening/closing handle part and the seam tightening roller part of the self-propelled seam tightening robot according to the present invention, and FIG. 4A is a schematic explanatory diagram showing the relationship between the seam tightening roller part FIG. 4B is a schematic enlarged view of main parts when the self-propelled seam tightening robot is tightening a part where no hanger is placed, and FIG. 4B is a schematic enlarged view of the main part when the self-propelled seam tightening robot according to the present invention FIG. 5 is a schematic enlarged view of the main part when tightening the part where the hanger is arranged, and FIG. 6 is a schematic bottom view showing the configuration of the drive unit of the self-propelled robot for seam tightening according to the present invention, and FIG. 7 shows the system configuration of the self-propelled robot for seam tightening according to the present invention. The functional block diagram, FIG. 8, is a flowchart showing the flow of control of the self-propelled seam tightening robot according to the present invention.

Here, before explaining the details of the self-propelled seam tightening robot 100 according to the present embodiment, first, the folded plate roofing material R that is the object of the seam tightening work by the seam tightening self-propelled robot 100 will be explained. do.
As shown in FIGS. 2 and 3, the folded plate roofing material R is formed by alternately arranging groove plate parts Rb and mountain plate parts Rm, and the mountain plate part on one end side in the width direction of the folded plate roofing material R The top surface portion Rmt of Rm is provided with a lower edge portion Rd, and the top surface portion Rmt of the mountain plate portion Rm on the other end side in the width direction is provided with an upright portion Ruv, a flat portion Ruh continuous to this upright portion Ruv, and this flat portion Rm. Each has an upper flap Ru consisting of a seamed part Ru that hangs down from the part Ruh, and when constructing the roof of a building etc., a plurality of folded plate roofing materials R are arranged in parallel in the width direction, A lower seam Rd and an upper seam Ru of mutually adjacent folded plate roofing materials R are engaged with each other, and hangers H are interposed at required locations to form a seam tightening portion Rf.

Now, next, the configuration of the self-propelled seam tightening robot 100 according to this embodiment will be explained. The self-propelled roof tightening robot 100 is a robot that operates by receiving power from the outside through a power cord (not shown), and is formed by arranging a plurality of folded roofing materials R in parallel, as shown in FIG. The seam tightening part Rf is tightened while running on its own along the longitudinal direction of the folded plate roofing material, and as shown in FIGS. a main body unit 120 fixed to the upper part of the traveling unit 110, a drive unit 130 responsible for the power for the seam tightening work and travel of the self-propelled seam tightening robot 100, and a main body unit 120 in the main body unit 120. It has a control unit 140 that is arranged to control the operation of the drive unit 130, and further includes an operation unit 150 for instructing the self-propelled seam tightening robot 100 to operate, and a sensor unit 160 for detecting work conditions and the like. are doing.

As shown in FIGS. 2 and 3, the traveling unit 110 has a support leg 111 for standing upright and supporting the main body unit 120, and is fixed to the support leg 111 and straddles the seam part Rf. It is provided with caster parts 112 that run on one and the other groove plate parts Rb, respectively, and is movable along the longitudinal direction of the folded plate roofing material R by the caster parts 112.

The main unit 120 is fixed to the upper part of the support leg part 111 of the traveling unit 110, and is arranged above the casing part 121 that houses the drive unit 130 and the control unit 140, and the flap part Rf. It is equipped with an opening/closing board part 123 which is pivotally fixed to the opening/closing part 121 and a supporting board part 122 which is fixed to the housing part 121 facing the opening/closing board part 123. The surfaces are protected by an upper cover part 124 and front and rear cover parts 125, respectively.
Note that in FIG. 2, the upper cover part 124 and the front and rear cover parts 125 on the front side are removed to show the internal structure.

As shown in FIGS. 3 to 6, the drive unit 130 includes a support motor section 131, a support transmission section 132, and a support roller section 133 fixed to the support substrate section 122 of the main unit 120, as well as to the opening/closing substrate section. It is provided with a seam tightening motor section 134, a seam tightening transmission section 135, and a seam tightening roller section 136, and further includes a brake section 137.

The support motor section 131 is composed of a brushless motor and transmits rotational force to the support roller section 133 via the support transmission section 132.

As shown in FIG. 5, the support transmission section 132 is fixed to the main shaft 132a or the shaft 132b that is orthogonal to the support substrate section 122 by coupling the rotating shaft of the support motor section 131 to the main shaft 132a. They are arranged alternately on the upper surface side of the portion 122 and are rotatably fixed in a mutually interlocking state to sequentially transmit rotational force to the support large-diameter gears 132c and the support small-diameter gears 132d, both of which are spur gears. It becomes.

As shown in FIG. 6, the support roller part 133 is exposed and fixed to the lower surface side of the support base plate part 122 so as to rotate in conjunction with the support large-diameter gear 132c by the main shaft 132a or shaft 132b. It is composed of a plurality of support rollers 133a, 133b, and 133c with the same diameter, and their respective rotation axes are aligned in a straight line in the running direction at positions opposite to a large crimp roller 136a and a preliminary bending roller 136b, which will be described later. They are arranged so that they are lined up.

The support rollers 133a, 133b, and 133c all have a so-called barrel-shaped crown type, which is constructed by lining the surface of a cylindrical core material made of stainless steel with urethane rubber having a Shore A hardness of 90. , the maximum diameter is 62 mm.

Moreover, three presser rollers 133d that contact the flat portion Ruh of the seam tightening portion Rf from above are fixed to positions corresponding to the support rollers 133a, 133b, and 133c so as to be rotatable about a horizontal axis. Note that the rotational force of the support motor section 131 is not transmitted to the presser roller 133d.

The seam tightening motor section 134 is constituted by a brushless motor, and transmits rotational force to the seam tightening roller section 136 via a seam tightening transmission section 135. Note that the support motor section 131 and the crimp motor section 134 are collectively referred to as a drive motor section.

As shown in FIG. 5, the crimp transmission section 135 is fixed to the main shaft 135a or shaft 135b orthogonal to the opening/closing board section 123 by coupling the rotating shaft of the crimp motor section 134 to the main shaft 135a. large-diameter gears 135c and small-diameter gears 135d, both of which are spur gears, are arranged alternately on the upper surface side of the opening/closing base plate 123 and are rotatably fixed in a mutually interlocking state. The structure is such that rotational force is sequentially transmitted to the

As shown in FIG. 6, the seam tightening roller section 136 includes a large seam tightening roller 136a, a preliminary bending middle roller 136b, and a preliminary bending small roller 136c, which have different diameters.

As shown in FIGS. 4A and 4B, the crimp large roller 136a, the pre-bending middle roller 136b, and the pre-bending small roller 136c are all disc-shaped made of stainless steel, and are applied to the crimp portion Ruc of the folded plate roofing material R. The abutting circumferential portion has a tapered surface whose diameter increases toward the center in the thickness direction, and the maximum diameters are 75 mm, 67 mm, and 59 mm, respectively.

The crimp large roller 136a and the pre-bending middle roller 136b are exposed on the lower surface side of the opening/closing base plate 123 and rotated by the main shaft 135a or shaft 135b, respectively, in conjunction with the crimp large diameter gear 135c. On the other hand, the preliminary bending small roller 136c is exposed to the lower surface side of the opening/closing board section 123 by a shaft 135b and is fixed to be rotatable. is not transmitted.

The rotational axes of the large seam tightening roller 136a, the middle preliminary bending roller 136b, and the small preliminary bending roller 136c are arranged on a straight line in the running direction, and the small preliminary bending roller 136c, the middle preliminary bending roller 136b, and the large seam tightening roller 136a are arranged in a straight line in the running direction. , the middle pre-bending roller 136b, and the small pre-bending roller 136c are arranged in this order.

The pre-bending small roller 136c, the pre-bending middle roller 136b, and the crimp large roller 136a are separated from the crimp portion Rf of the folded plate roofing material R in this order by a large distance, and the direction of progress of the crimp tightening work is forward. Even when retracting, the preliminary bending small roller 136c that is farthest from the seam portion Rf first contacts the seaming portion Ruc and preliminarily presses and guides the seaming portion Ruc. The small bending roller 136c, the pre-bending middle roller 136b, and the large seam tightening roller 136a contact and press the seaming portion Ruc in this order to gradually tighten it, so even if the seaming portion Ruc protrudes outward, it will not be excessively large. To smoothly and reliably perform seam tightening work without requiring excessive bending force.

The brake section 137 includes a front brake 137F and a rear brake 137R, which are exposed on the lower side of the support substrate section 122 and are respectively disposed at positions facing the two preliminary bending small rollers 136c. The front brake 137F and the rear brake 137R are a front brake shoe 137Fb that is moved forward and backward by a front brake solenoid 137Fa and comes into contact with the upright portion Ruv of the folded plate roofing material R, and a front brake shoe 137Fb that is moved forward and backward by a rear brake solenoid 137Ra to touch the folded plate roof. A rear brake shoe 137Rb is provided which comes into contact with the upright portion Ruv of the material R.

The control unit 140 is arranged in the main body unit 120 as shown in FIG. 2, and is configured to control each part as shown in FIG. There is a travel stop control section 141 that controls whether to run or stop, a forward/backward control section 142 that controls switching the traveling direction between forward and backward, and a support motor driver section 143 that controls the rotation speed of the support motor section 131. and a seam fastening motor driver section 144 that controls the rotational speed of the seam fastening motor section 134.

Here, the support motor driver section 143 controls the support motor section 131 so that the circumferential speed of the support rollers 133a, 133b, and 133c in the portion where the hanger H is not arranged, that is, the specified circumferential speed, is 300 mm/sec. Control the rotation speed. On the other hand, the seam tightening motor driver section 144 operates the seam tightening motor so that the circumferential speed of the large seam tightening roller 136a is regulated to 294 mm/sec, which is 98% of the specified circumferential speed of the support rollers 133a, 133b, and 133c. The rotation speed of section 134 is controlled.

When the specified circumferential speed is set to 300 mm/sec, the circumferential speed of the support rollers 133a, 133b, and 133c temporarily decreases due to an increase in torque at the portion where the hanger H is arranged, and for example, Even if the speed decreases to 285 mm/sec, which is about 95%, the difference between the circumferential speed of the support rollers 133a, 133b, and 133c and the circumferential speed of the large sealing roller 136a is plus or minus 9 mm/sec ( 3% of the specified circumferential speed), it is possible to perform seam tightening work without causing scratches on the seamed portion Ruc of the folded plate roofing material R.

As shown in FIGS. 2 and 3, the operation unit 150 includes a fixed handle portion 151 that is fixed upright to the main unit 120, an opening/closing handle portion 152 that is pivotally fixed to the main unit 120 so as to be able to freely raise and lower, and an opening/closing board portion 123. It is provided with a link part 153 which is integrally coupled with the opening/closing handle part 152 and pivotally fixed to the opening/closing handle part 152, and an input part 154 for inputting an operation command to the self-propelled seam tightening robot 100.

The opening/closing handle part 152 is pivoted to a link part 153 by an operator who lowers it from the open position (two-dot chain line in FIG. 3) to the closed position (solid line in FIG. 3). The opening/closing base plate part 123 is fixed in the closed position in cooperation with the opening/closing base plate part 123.

Therefore, when the opening/closing board part 123 is fixed in the closed position, the crimp motor part 134, the crimp transmission part 135, and the crimp roller part 136 fixed to the opening/closing board part 123 are moved together with the opening/closing board part 123. By moving, the serging roller part 136 comes into contact with the seaming part Ruc of the serging part Rf of the folded plate roofing material R, and is fixed in a pressed position.

The input unit 154 includes a start switch 154a for inputting a start command to the self-propelled seam tightening robot 100, a stop switch 154b for inputting a stop command, and a direction changeover switch 154c for inputting a direction switching command. We are prepared.

The sensor unit 160 includes a front end sensor section 160F and a rear end sensor section 160R that respectively detect the end portion Rue of the flat portion Ruh of the folded plate roofing material R while moving forward or backward while performing the seam tightening work. ing.

The front end sensor section 160F and the rear end sensor section 160R are fixed to the lower side of the support substrate section 122 so as to be vertically swingable. As shown in FIGS. 1, 2, 5, and 6, the front end sensor portion 160F has a bar-shaped portion that projects obliquely forward and downward and is biased downward by a spring, and a horizontal axis centered at the tip of this bar-shaped portion. It consists of a cylindrical part that is rotatably attached to the Similarly, the rear end sensor section 160R is composed of a rod-shaped part that protrudes diagonally rearward and downward and is biased downward by a spring, and a cylindrical part that is rotatably attached to the tip of this rod-shaped part about a horizontal axis. has been done.

Therefore, when the self-propelled siding robot 100 is running while performing siding work, the front end sensor section 160F and the rear end sensor section 160R have their cylindrical portions connected to the flat portions of the folded plate roofing material R. Although it is placed on the Ruh and does not swing, when the self-propelled crimp tightening robot 100 reaches near the longitudinal end of the folded plate roofing material R, it swings downward due to the force of the spring. The terminal site Rue is detected by the following.

The auxiliary roller unit 170 includes a front auxiliary roller part 170F that is exposed on the lower side of the support base plate part 122, is disposed at the frontmost part of the support base base part 122, and comes into contact with the upright part Ruv of the folded plate roofing material R, and a support base base part. 122 and a rear auxiliary roller portion 170R that is placed at the rearmost portion of the roof member 122 and comes into contact with the upright portion Ruv of the folded plate roofing material R.

The front auxiliary roller section 170F and the rear auxiliary roller section 170R include a front auxiliary roller 170Fa and a rear auxiliary roller 170Ra, respectively, which have a crown-type so-called barrel shape. As shown in FIGS. 4A and 4B, the front auxiliary roller 170Fa and the rear auxiliary roller 170Ra are located approximately 1 mm apart from the upright portion Ruv of the folded roofing material R that the support rollers 133a, 133b, and 133c contact. It is located.

When the self-propelled seam tightening robot 100 performs the seam tightening work while moving forward, the upright portion Ruv of the folded plate roofing material R on the front side in the direction of movement where the seam tightening by the large seam tightening roller 136a has not been completed. stands upright as a flat surface, whereas the upright portion Ruv on the rear side in the direction of travel after the seam tightening by the large seam tightening roller 136a has been completed bulges toward the side where the auxiliary roller unit 170 is arranged due to the bending moment. Curve into a shape.

Therefore, the rear auxiliary roller 170Ra is placed at a position where it just contacts the bulge of the curved upright portion Ruv on the rear side in the direction of travel. When the self-propelled seam tightening robot 100 performs the seam tightening work while retreating, the front-to-back relationship is reversed, and the front auxiliary roller 170Fa is placed in a position where it comes into contact with the bulging portion of the curved upright portion Ruv. This means that

If the auxiliary roller unit 170 is not provided, if the specified peripheral speed of the support rollers 133a, 133b, and 133c, that is, the self-propelled speed of the self-propelled seam tightening robot 100, is set to be greater than 275 mm/sec, the hanger H will be placed. However, if the auxiliary roller unit 170 is provided, the specified circumferential speed of the support rollers 133a, 133b, and 133c, that is, Even if the self-propelled speed of the self-propelled seam tightening robot 100 is set to, for example, 350 mm/sec, the self-propelled robot 100 can stably travel at high speed.

Next, a procedure for performing a seam tightening work on folded plate roofing material R using the self-propelled seam tightening robot 100 of this embodiment will be explained.

As shown in FIGS. 1 to 3, the worker arranges the plurality of folded roofing materials R in parallel so that the groove plate parts Rb and the peak plate parts Rm are arranged alternately, and A lower edge portion Rd provided on the top surface portion Rmt of the portion Rm, an upright portion Ruu provided on the top surface portion Rmt of the mountain plate portion Rm on the other end side, and a flat portion Ruh continuous to this upright portion Ruu. A seam tightening portion Rf is formed by engaging an upper seam portion Ru consisting of a seaming portion Ruc hanging down from this flat portion Ruh.

Next, the caster part 112 is placed on one groove plate part Rb and the other groove plate part Rb, straddling this seam tightening part Rf. At this time, as shown by the two-dot chain line in FIG. 3, the opening/closing handle part 152 is in the released position, and the link part 153 and the opening/closing board part 123 interlocked with the opening/closing handle part 152 are also in their respective released positions.

The support leg portion 111 is configured such that the height at which the main body unit 120 is attached can be adjusted so that the presser roller 133d just contacts the flat portion Ruh of the folded plate roofing material R from above.

Next, as shown by the solid lines in FIGS. 2 and 3, the opening/closing handle part 152 is operated to close and is brought down to the closed position, so that the link part 153 and the opening/closing board part 123 interlocked with the opening/closing handle part 152 are closed. Move it into position and fix it. At this time, the support roller part 133 rotatably fixed to the support base plate part 122 comes into contact with the upright part Ruv of the folded plate roofing material R, and the support roller part 133 rotatably fixed to the opening/closing base plate part 123 comes into contact with The seam tightening roller portion 136 is arranged to abut and press the seam tightening portion Ruc of the seam tightening portion Rf of the folded plate roofing material R.

At this time, as shown in FIGS. 4A and 4B, the support rollers 133a, 133b, and 133c are in contact with the upright portion Ruv of the folded plate roofing material R, respectively, and are supported by the large flap tightening roller 136a when viewed from the front. The distance from the rollers 133a, 133b, and 133c in the direction of the line of force becomes the crimp gap dimension g.

Since the support roller 136a has a barrel shape, it comes into contact with the folded plate roofing material R at its maximum radius, but as shown in FIG. Therefore, the gap size g is the shortest distance between the edge of the large gap tightening roller 136a and the maximum radius portion between the barrel-shaped support roller 133b, The pinching pressure between the roller 136a and the support roller 133b realizes reliable pressing against the seamed portion Ruc.

The system configuration and control flow of the self-propelled seam tightening robot 100 will be described below, mainly with reference to FIGS. 7 and 8.

The operator checks whether the opening/closing handle part 152 is lowered to the closed position (OP1), and the front end sensor part 160F and the rear end sensor part 160R are placed on the flat part Ruh of the folded plate roofing material R and raised. Check whether the condition is correct (OP2) and operate the start switch 154a (OP3).

As a result, the operation of the control unit 140 of the self-propelled seam tightening robot 100 that has been on standby starts (S1), and if the opening/closing handle part 152 is lowered, the process moves to S3, and if it has not, the process moves to OP1 (S2). ). Next, the state of the direction changeover switch 154c is confirmed, and if it has been operated and is in the ON state, the process moves to S10, whereas if it is OFF, the process moves to S4, where the forward/reverse control unit 142 controls the traveling direction to be forward ( S3).

In S4, if the front end sensor section 160F in the traveling direction detects the end portion Rue, the process moves to OP2, and if it has not detected it, the process moves to S5. The travel stop control unit 141 releases the front brake solenoid 137Fa and the rear brake solenoid 137Ra to release the front brake shoe 137Fb and the rear brake shoe 137Rb, which are in contact with and press the upright portion Ruv, to a released state, and The forward/backward control section 142 drives and controls the motor section, that is, the support motor section 131 and the crimp motor section 134 via the support motor driver section 143 and the crimp motor driver section 144 to drive them in the forward direction. The self-propelled seam tightening robot 100 performs the seam tightening work while moving forward on the folded plate roofing material R (S5). If the stop switch 154b is pressed during the seam tightening work, the process moves to S8 (S6). If the front end sensor unit 160F in the traveling direction detects the end portion Rue while traveling forward on the folded plate roofing material R while performing the seam tightening work, the process moves to S8, and if it has not detected it, the process moves to S5. Then, the serging work and forward running are continued (S7).

In S3, if the direction changeover switch 154c is operated and in the ON state, the process moves to S10, but in the steps from S10 to S13, the traveling direction is backward compared to the steps from S4 to S7, Since the front end sensor section 160F is simply replaced with the rear end sensor section 160R, detailed explanation will be omitted.

In S8, in response to the stop switch 154b being operated or the front end sensor section 160F or the rear end sensor section 160R detecting the end point Rue, the traveling stop control section 141 activates the front brake solenoid 137Fa and the rear brake solenoid 137Ra. The front brake shoe 137Fb and the rear brake shoe 137Rb are brought into contact with and pressed against the upright portion Ruv by braking control, and the forward/reverse control section 142 controls the motor via the support motor driver section 143 and the crimp motor driver section 144. That is, the support motor section 131 and the seam tightening motor section 134 are controlled to stop (S8), and the self-propelled seam tightening robot 100 stops its operation (S9).

In addition, when controlling the self-propelled robot 100 to stop, the control unit 140 releases the brake part 137 when the opening/closing handle part 152 is operated to open, thereby enabling the operator to carry the robot. When the closing operation is performed, the brake section 137 is brake-controlled to apply the brake and stand by.

Furthermore, when the opening/closing handle section 152 is in the closed position, the control unit 140 controls the release of the brake section 137 to enable the vehicle to travel when the start switch 154a is operated, and also controls the support motor section 131 and the gap tightener. The motor unit 134 is controlled to rotate at a preset speed, and when the end portion Rue is detected while the motor unit, that is, the support motor unit 131 and the crimp motor unit 134 are being driven, the brushless motor The support motor section 131 and the crimp motor section 134 are controlled to stop immediately, and the brake section is controlled to brake.

In the above flow, when the self-propelled robot 100 performs the seam tightening work on the seam tightening part Rf, if the front end sensor part 160F or the rear end sensor part 160R detects the end part Rue and stops, The seam tightening work has been completed up to the vicinity of the end portion Rue.

When the operator opens the opening/closing handle part 152 and raises it to the open position, the opening/closing board part 123 is interlocked and moves to the open position, so that the opening/closing board part 123 is rotatably fixed to the opening/closing board part 123. The tightening roller section 136 is released from contact with and pressure on the tightening portion Ruc of the folded plate roofing material R, and the support roller section 133 rotatably fixed to the support base plate section 122 is moved to the folded plate roofing material R. is released from abutment against the upright portion Ruv.

At this stage, the operator lifts the self-propelled seam tightening robot 100, moves it parallel to the adjacent seam tightening section Rf, switches the direction changeover switch 154c, and shifts to OP1.

According to the above-described flow, the self-propelled seam tightening robot 100 is made to move back and forth in a so-called ox plowing style, and sequentially performs the seam tightening work on the seam tightening portion Rf of the folded plate roofing material R. can be constructed.

100...Self-propelled robot for seam tightening 110...Traveling unit 111...Support leg portion 112...Caster portion 120...Main unit 121... ...Housing section 122...Support board section 123...Opening/closing board section 124...Top cover section 125...Front and rear cover section 130...Drive unit 131...Support motor section 132...Support transmission section 132a...Main shaft 132b...Shaft 132c...Support large diameter gear 132d...Support small diameter gear 133. ...Support roller parts 133a, 133b, 133c...Support roller 133d...Press roller 134...Seam tightening motor section 135...Seam tightening transmission section 135a...・Main shaft 135b...Shaft 135c...Seam tightening large diameter gear 135d...Seam tightening small diameter gear 136...Seam tightening roller portion 136a...Seam tightening large Roller 136b... Preliminary bending middle roller 136c... Preliminary bending small roller 137... Brake section 137F... Front brake 137Fa... Front brake solenoid 137Fb... Front brake shoe 137R. ... Rear brake 137Ra ... Rear brake solenoid 137Rb ... Rear brake shoe 140 ... Control unit 141 ... Travel stop control section 142 ... Forward/reverse control section 143 ... ... Support motor driver section 144 ... Clamping motor driver section 150 ... Operation unit 151 ... Fixed handle section 152 ... Opening/closing handle section 153 ... - Link section 154...Input section 154a...Start switch 154b...Stop switch 154c...Direction changeover switch 160...Sensor unit 160F...Front end sensor section 160R... Rear end sensor section 170... Auxiliary roller unit 170F... Front auxiliary roller section 170Fa... Front auxiliary roller 170R... Rear auxiliary roller section 170Ra... Rear auxiliary roller g......Folded plate roofing material Rb...Groove plate portion Rm...Top plate portion Rmt...・Top part Ru...Top seam Ruv...Upright part Ruh...Flat part Rue...Terminal part Ruc...Tightening part Rd... ...Lower seam Rb ...Groove plate section Rf ... Seam tightening section H ... Hangers

The present invention relates to a self-propelled seam tightening robot that is electrically driven and self-propelled to tighten the seams of folded plate roofing materials.

Conventionally, electric sewage machines are equipped with a sewage support roller with a rotating shaft fixed to the frame, two pre-bending rollers placed before and after the roller, and an opening/closing side support plate that can be opened and closed with respect to the frame. It is equipped with a crimp roller with a rotating shaft fixed on the side and two pre-bending rollers placed before and after it, and an opening/closing side support plate is connected to the lower part of the deployable handle via a spring body and a link, and an external It is known that the power of a single electric motor rotated by electric power supplied from the motor is transmitted to a support roller and a seam tightening roller by converting the direction of the rotating shaft using a bevel gear (see Patent Document 1). ing.

Japanese Patent Application Publication No. 11-47853

However, the seam tightening machine described in Patent Document 1 is equipped with a heavy bevel gear for transmitting the power of a horizontally placed electric motor to a plurality of support rollers and a seam tightening roller whose rotating shafts are vertical. As a result, the weight of the entire seam tightening machine is large, which poses a problem in that it takes a lot of effort to install it on the folded plate roofing material.

In order to solve this problem, the present inventors independently drove the crimp roller and support roller using multiple motors to tighten the crimp of folded roofing materials without using heavy bevel gears. We have developed a new self-propelled seam tightening robot that is lightweight and can run at high speed.

According to this self-propelled seam tightening robot, in areas where hangers are placed between folded roofing materials, the thickness of the seam tightening portion is larger than in other areas. The rotational speed and circumferential speed of the support rollers that pinch the tightening part will temporarily decrease due to the temporary increase in torque, and the traveling speed of the entire self-propelled seam tightening robot will decrease, but Since the roller is not easily affected by the presence or absence of the hanger, the rotational speed and circumferential speed do not decrease. As a result, the seam tightening roller rotates at a circumferential speed that is higher than the rotation speed of the entire self-propelled robot for seam tightening, so the maximum diameter portion of the seam tightening roller is folded. The present inventors have newly discovered a phenomenon that causes scratches in the longitudinal direction on the seamed portions of sheet roofing materials.

Scratches on folded plate roofing materials look bad, and the surface needs to be painted to prevent rust, which increases the number of man-hours and costs.

Or, when the seam tightening work is performed and the seam tightening work is carried out by itself, the support roller and the seam tightening roller are pinching the seam tightening part, resulting in variations in the thickness of the seam tightening part due to the presence or absence of hangers. The present inventors have also newly discovered a phenomenon in which the entire self-propelled seam tightening robot, which is self-propelled at high speed, meanders and its traveling operation becomes unstable because the direction of the stress changes based on the stress.

Therefore, the present invention solves the problems of the prior art as described above, and also solves the problems newly discovered by the present inventors. That is, the first purpose of the present invention is to To provide a lightweight self-propelled siding robot capable of self-propelled at high speed and reliably performs siding work on folded-plate roofing materials without causing scratches on the sheet roofing materials.

A second object of the present invention is to provide a lightweight self-propelled siding robot that can stably move at high speed and reliably perform siding work on folded roofing materials.

In the invention according to claim 1, groove plate portions and mountain plate portions are arranged alternately, and a lower flap portion is provided on the top surface portion of the mountain plate portion on one end side. Folded plate roofing materials each having a top edge portion consisting of an upright portion, a flat portion continuous to the upright portion, and a seamed portion hanging down from the flat portion are arranged in parallel, and the folded plate roofing materials adjacent to each other are arranged in parallel. The groove plate portion of one of the folded plate roofing materials and the folded plate roofing material of the other plate straddle the gap tightening portion formed by engaging the lower edge portion and the upper edge of the plate roofing material. a traveling unit equipped with a caster section that travels on the groove plate section of the folded plate roofing material, an opening/closing base plate part which is disposed above the crimp part of the folded plate roofing material and pivoted to be able to be opened and closed; and the opening/closing base part part. a main body unit fixed to the upper part of the travel unit, the main body unit being rotatably disposed on the support base plate and abutting on the upright portion of the folded plate roofing material; a drive unit comprising at least a support roller section and a crimp roller section rotatably disposed on the opening/closing substrate section to press the seaming section; and a drive unit disposed on the main body unit to control the operation of the drive unit. A control unit, an opening/closing handle part pivotally fixed to the main unit so that it can be raised or folded freely, a link part integrally coupled to the opening/closing base plate part and pivotally fixed to the opening/closing handle part, and a serration operation are performed. The self-propelled seaming robot is equipped with an operation unit including a start switch for starting the seaming, and uses the seaming roller section to seam the seaming portion along the longitudinal direction of the folded plate roofing material, The above-mentioned problem is solved by the drive unit including a support motor section that drives the support roller section and a crimp motor section that drives the crimp roller section.

In addition to the structure of the invention according to claim 1, the invention according to claim 2 provides that the support roller portion includes a support roller configured by lining the surface of a cylindrical core material made of stainless steel with urethane rubber. The above-mentioned problem is solved by the seam tightening roller portion including a stainless steel disk-shaped seam tightening roller.

The invention according to claim 3 further solves the above-mentioned problem by, in addition to the structure of the invention according to claim 2, the support roller having a barrel shape.

The invention according to claim 4 is, in addition to the configuration of the invention according to claim 2 or 3, wherein the control unit controls the rotational speed of the support motor part to define the circumferential speed of the support roller. The method includes a motor driver section, and a crimp motor driver section that controls the rotational speed of the crimp motor to specify a circumferential speed of the crimp roller to a value smaller than a prescribed circumferential speed of the support roller. This further solves the above-mentioned problems.

The invention according to claim 5 provides, in addition to the configuration of the invention according to claim 1 or claim 2, a front auxiliary member disposed at the foremost part of the support substrate part and abutting on the upright part of the folded plate roofing material. The above-mentioned problem is solved by providing an auxiliary roller unit consisting of a roller part and a rear auxiliary roller part that is disposed at the rearmost part of the support base plate part and comes into contact with the upright part of the folded plate roofing material. It is.

According to the self-propelled seam tightening robot of the invention according to claim 1, the groove plate portions and the mountain plate portions are arranged alternately, and the lower seam portion is provided on the top surface portion of the mountain plate portion on one end side. Folded plate roofing materials are arranged in parallel on the top surface of the mountain plate portion on the other end side, each having an upper gap consisting of an upright portion, a flat portion continuous to this upright portion, and a seamed portion hanging down from this flat portion. The groove plate part of one folded plate roofing material and the folded plate part of the other folded plate roofing material are connected by straddling the seam tightening part formed by engaging the lower edge part and the upper edge part of mutually adjacent folded plate roofing materials. A traveling unit equipped with a caster part that travels on the groove board part of the sheet roofing material, an opening/closing base plate part that is arranged above the shim part of the folded roofing material and pivoted so as to be able to be opened and closed, and this opening/closing base part. a main body unit which is fixed to the upper part of the traveling unit, and a support roller part which is rotatably disposed on the support base plate part and comes into contact with the upright part of the folded plate roofing material; A drive unit including at least a crimp roller part that is rotatably arranged on the opening/closing board part and presses the seaming part, a control unit arranged in the main unit and controlling the operation of the drive unit, and a control unit in the main unit. The operating unit includes an opening/closing handle part which is pivotally fixed to be able to be raised or folded, a link part which is integrally connected to the opening/closing board part and pivotally fixed to the opening/closing handle part, and a start switch for starting the seam tightening work. As a result, the seam tightening roller part can not only tighten the seam while moving the seam part along the longitudinal direction of the folded plate roofing material, but also has the following structure unique to the present invention. The following effects unique to this can be achieved.

According to the self-propelled seam tightening robot of the invention according to claim 1, the drive unit includes a support motor section that drives the support roller section and a seam tightening motor section that drives the seam tightening roller section. This allows the support roller section and the crimp roller section to be driven independently by the support motor section and the crimp tightening motor section, making it possible to reduce the weight without using heavy bevel gears, and enable high-speed running. You can tighten the clasp while doing so.

According to the self-propelled seam tightening robot of the invention according to claim 2, in addition to the effects achieved by the invention according to claim 1, the support roller portion has a cylindrical core made of stainless steel whose surface is covered with urethane rubber. By providing the supporting roller configured as a lining, the supporting roller can be tightly rotated without slipping in close contact with the upright portion of the folded plate roofing material, and a free running speed can be ensured.

Alternatively, the seam tightening roller section is equipped with a stainless steel disk-shaped seam tightening roller, so that the seam tightening roller concentrates the squeezing force on the edge of the disk and tightens the folded plate roofing material. Since the seaming part is pressed, the seam tightening work can be performed reliably.

According to the self-propelled seam tightening robot of the invention according to claim 3, in addition to the effects achieved by the invention according to claim 2, the support roller has a barrel shape, so that the support roller and the folded plate The contact area with the roofing material is always on the line of force when the seam tightening roller presses the folded plate roofing material, and the seam tightening is the shortest distance between the support roller and the seam tightening roller. Since the folded plate roofing material is pinched by the gap size, the folded plate roofing material is pinched by the sealing roller and the support roller, and the sealing work can be performed reliably.

According to the self-propelled seam tightening robot of the invention according to claim 4, in addition to the effects achieved by the invention according to claim 2 or claim 3, the control unit controls the rotational speed of the support motor section to provide support. A support motor driver section that regulates the peripheral speed of the roller, and a seam tightening motor driver that controls the rotational speed of the seam tightening motor and regulates the circumferential speed of the large seam tightening roller to a value smaller than the specified peripheral speed of the support roller. Even if the rotational speed of the support roller decreases and the running speed of the entire sealing machine decreases in the area where the hanger is placed between the folded roofing materials, the To suitably perform cram tightening work without causing scratches on folded plate roofing materials by setting the circumferential speed of the crimp roller in advance to a value smaller than the specified circumferential speed of the support roller so that the circumferential speed does not become higher than necessary. I can do it.

According to the self-propelled seam tightening robot of the invention according to claim 5, in addition to the effects achieved by the invention according to claim 1 or claim 2, the self-propelled robot is arranged at the frontmost part of the support substrate part to By providing an auxiliary roller unit consisting of a front auxiliary roller part that comes into contact with the upright part of the folded roofing material and a rear auxiliary roller part that is placed at the rearmost part of the support base plate part and comes into contact with the upright part of the folded plate roofing material, Even if the support roller and the seam tightening roller pinch the seam tightening part during self-propelled tightening work and may be affected by changes in the thickness of the seam tightening part, the front auxiliary roller part and Since the rear auxiliary roller portion simultaneously contacts the upright portion of the folded plate roofing material and prevents the entire self-propelled crimp tightening robot from meandering, it is possible to maintain stable running motion at high speed.

FIG. 1 is a schematic diagram showing how the self-propelled crimp robot according to the present invention crams folded plate roofing material. FIG. 1 is an explanatory diagram showing the internal structure of a self-propelled seam tightening robot according to the present invention. A schematic explanatory diagram showing the relationship between the opening/closing handle portion and the seam tightening roller portion of the self-propelled seam tightening robot according to the present invention. FIG. 2 is a schematic enlarged view of the main parts when a self-propelled seam tightening robot according to the present invention is tightening a part where a hanger is not placed. FIG. 2 is a schematic enlarged view of the main part when the self-propelled seam tightening robot according to the present invention is tightening the part where the hanger is arranged. FIG. 1 is a schematic cross-sectional view showing the configuration of a drive unit of a self-propelled seam tightening robot according to the present invention. FIG. 2 is a schematic bottom view showing the configuration of the drive unit of the self-propelled serpentine robot according to the present invention. FIG. 1 is a functional block diagram showing the system configuration of a self-propelled seam tightening robot according to the present invention. FIG. 3 is a flow diagram showing the flow of control of the self-propelled seam tightening robot according to the present invention.

The present invention is applicable to any specific aspect of the invention, as long as it is capable of reliably carrying out the work of tightening the flaps of folded-plate roofing materials by moving stably and at high speed without causing scratches on the folded-plate roofing materials. Any embodiment may be used.

For example, the control unit of the present invention can be configured by a combination of relays, but it may also be configured to be controlled by a microcomputer.

Further, the front end sensor section and the rear end sensor section that constitute the sensor unit of the present invention include a bar-shaped part that projects diagonally downward and is biased downward by a spring, and a tip of this bar-shaped part that is rotatable about a horizontal axis. Any type of sensor can be used, not only the configuration consisting of a cylindrical part attached to the roof, but any sensor that can detect the end of the flat part of the folded plate roofing material and determine the end position of the shim tightening work. I don't mind.

The circumferential speed of the large seam tightening roller of the present invention is desirably set to a value smaller than the specified circumferential speed of the support roller, specifically, 97% or more and 99% or less. If it is greater than 99%, there is a risk that the large staking roller will scratch the folded roofing material when the rotation speed of the support roller decreases in the area where the hangers are placed, and if it is less than 97%, the hangers may be damaged. This is because there is a risk of scratches on the folded plate roofing material in areas where it is not placed. The peripheral speed of the large seam tightening roller is optimally set to 98% of the specified peripheral speed of the support roller.

Below, a self-propelled seam tightening robot 100 according to an embodiment of the present invention will be described based on FIGS. 1 to 8.
Here, FIG. 1 is a schematic diagram showing how the self-propelled siding robot according to the present invention shims folded plate roofing materials, and FIG. 2 is a schematic diagram showing the self-propelled siding robot according to the present invention. An explanatory diagram showing the internal structure, FIG. 3 is a schematic explanatory diagram showing the relationship between the opening/closing handle part and the seam tightening roller part of the self-propelled seam tightening robot according to the present invention, and FIG. 4A is a schematic explanatory diagram showing the relationship between the seam tightening roller part FIG. 4B is a schematic enlarged view of main parts when the self-propelled seam tightening robot is tightening a part where no hanger is placed, and FIG. 4B is a schematic enlarged view of the main part when the self-propelled seam tightening robot according to the present invention FIG. 5 is a schematic enlarged view of the main part when tightening the part where the hanger is arranged, and FIG. 6 is a schematic bottom view showing the configuration of the drive unit of the self-propelled robot for seam tightening according to the present invention, and FIG. 7 shows the system configuration of the self-propelled robot for seam tightening according to the present invention. The functional block diagram, FIG. 8, is a flowchart showing the flow of control of the self-propelled seam tightening robot according to the present invention.

Here, before explaining the details of the self-propelled seam tightening robot 100 according to the present embodiment, first, the folded plate roofing material R that is the object of the seam tightening work by the seam tightening self-propelled robot 100 will be explained. do.
As shown in FIGS. 2 and 3, the folded plate roofing material R is formed by alternately arranging groove plate parts Rb and mountain plate parts Rm, and the mountain plate part on one end side in the width direction of the folded plate roofing material R The top surface portion Rmt of Rm is provided with a lower edge portion Rd, and the top surface portion Rmt of the mountain plate portion Rm on the other end side in the width direction is provided with an upright portion Ruv, a flat portion Ruh continuous to this upright portion Ruv, and this flat portion Rm. Each has an upper flap Ru consisting of a seamed part Ru that hangs down from the part Ruh, and when constructing the roof of a building etc., a plurality of folded plate roofing materials R are arranged in parallel in the width direction, A lower seam Rd and an upper seam Ru of mutually adjacent folded plate roofing materials R are engaged with each other, and hangers H are interposed at required locations to form a seam tightening portion Rf.

Now, next, the configuration of the self-propelled seam tightening robot 100 according to this embodiment will be explained. The self-propelled roof tightening robot 100 is a robot that operates by receiving power from the outside through a power cord (not shown), and is formed by arranging a plurality of folded roofing materials R in parallel, as shown in FIG. The seam tightening part Rf is tightened while running on its own along the longitudinal direction of the folded plate roofing material, and as shown in FIGS. a main body unit 120 fixed to the upper part of the traveling unit 110, a drive unit 130 responsible for the power for the seam tightening work and travel of the self-propelled seam tightening robot 100, and a main body unit 120 in the main body unit 120. The control unit 140 is arranged to control the operation of the drive unit 130, and further includes an operation unit 150 for instructing the self-propelled seam tightening robot 100 to operate, and a sensor unit 160 for detecting work conditions, etc. There is.

As shown in FIGS. 2 and 3, the traveling unit 110 has a support leg 111 for standing upright and supporting the main body unit 120, and is fixed to the support leg 111 and straddles the seam part Rf. It is provided with caster parts 112 that run on one and the other groove plate parts Rb, respectively, and is movable along the longitudinal direction of the folded plate roofing material R by the caster parts 112.

The main unit 120 is fixed to the upper part of the support leg part 111 of the traveling unit 110, and is arranged above the casing part 121 that houses the drive unit 130 and the control unit 140, and the flap part Rf. It is equipped with an opening/closing board part 123 which is pivotally fixed to the opening/closing part 121 and a supporting board part 122 which is fixed to the housing part 121 facing the opening/closing board part 123. The surfaces are protected by an upper cover part 124 and front and rear cover parts 125, respectively.
Note that in FIG. 2, the upper cover part 124 and the front and rear cover parts 125 on the front side are removed to show the internal structure.

As shown in FIGS. 3 to 6, the drive unit 130 includes a support motor section 131, a support transmission section 132, and a support roller section 133 fixed to the support substrate section 122 of the main unit 120, as well as to the opening/closing substrate section. It is provided with a seam tightening motor section 134, a seam tightening transmission section 135, and a seam tightening roller section 136, and further includes a brake section 137.

The support motor section 131 is composed of a brushless motor and transmits rotational force to the support roller section 133 via the support transmission section 132.

As shown in FIG. 5, the support transmission section 132 is fixed to the main shaft 132a or the shaft 132b that is orthogonal to the support substrate section 122 by coupling the rotating shaft of the support motor section 131 to the main shaft 132a. They are arranged alternately on the upper surface side of the portion 122 and are rotatably fixed in a mutually interlocking state to sequentially transmit rotational force to the support large-diameter gears 132c and the support small-diameter gears 132d, both of which are spur gears. It becomes.

As shown in FIG. 6, the support roller part 133 is exposed and fixed to the lower surface side of the support base plate part 122 so as to rotate in conjunction with the support large-diameter gear 132c by the main shaft 132a or shaft 132b. It is composed of a plurality of support rollers 133a, 133b, and 133c with the same diameter, and their respective rotation axes are aligned in a straight line in the running direction at positions opposite to a large crimp roller 136a and a preliminary bending roller 136b, which will be described later. They are arranged so that they are lined up.

The support rollers 133a, 133b, and 133c all have a so-called barrel-shaped crown type, which is constructed by lining the surface of a cylindrical core material made of stainless steel with urethane rubber having a Shore A hardness of 90. , the maximum diameter is 62 mm.

Moreover, three presser rollers 133d that contact the flat portion Ruh of the seam tightening portion Rf from above are fixed to positions corresponding to the support rollers 133a, 133b, and 133c so as to be rotatable about a horizontal axis. Note that the rotational force of the support motor section 131 is not transmitted to the presser roller 133d.

The seam tightening motor section 134 is constituted by a brushless motor, and transmits rotational force to the seam tightening roller section 136 via a seam tightening transmission section 135. Note that the support motor section 131 and the crimp motor section 134 are collectively referred to as a drive motor section.

As shown in FIG. 5, the crimp transmission section 135 is fixed to the main shaft 135a or shaft 135b orthogonal to the opening/closing board section 123 by coupling the rotating shaft of the crimp motor section 134 to the main shaft 135a. large-diameter gears 135c and small-diameter gears 135d, both of which are spur gears, are arranged alternately on the upper surface side of the opening/closing base plate 123 and are rotatably fixed in a mutually interlocking state. The structure is such that rotational force is sequentially transmitted to the

As shown in FIG. 6, the seam tightening roller section 136 includes a large seam tightening roller 136a, a preliminary bending middle roller 136b, and a preliminary bending small roller 136c, which have different diameters.

As shown in FIGS. 4A and 4B, the crimp large roller 136a, the pre-bending middle roller 136b, and the pre-bending small roller 136c are all disc-shaped made of stainless steel, and are applied to the crimp portion Ruc of the folded plate roofing material R. The abutting circumferential portions have tapered surfaces whose diameter increases toward the center in the thickness direction, and the maximum diameters are 75 mm, 67 mm, and 59 mm, respectively.

The crimp large roller 136a and the pre-bending middle roller 136b are exposed on the lower surface side of the opening/closing base plate 123 and rotated by the main shaft 135a or shaft 135b, respectively, in conjunction with the crimp large diameter gear 135c. On the other hand, the preliminary bending small roller 136c is exposed to the lower surface side of the opening/closing board section 123 by a shaft 135b and is fixed to be rotatable. is not transmitted.

The rotational axes of the large seam tightening roller 136a, the middle preliminary bending roller 136b, and the small preliminary bending roller 136c are arranged on a straight line in the running direction, and the small preliminary bending roller 136c, the middle preliminary bending roller 136b, and the large seam tightening roller 136a are arranged in a straight line in the running direction. , the middle pre-bending roller 136b, and the small pre-bending roller 136c are arranged in this order.

The pre-bending small roller 136c, the pre-bending middle roller 136b, and the crimp large roller 136a are separated from the crimp portion Rf of the folded plate roofing material R in this order by a large distance, and the direction of progress of the crimp tightening work is forward. Even when retracting, the preliminary bending small roller 136c that is farthest from the seam portion Rf first contacts the seaming portion Ruc and preliminarily presses and guides the seaming portion Ruc. The small bending roller 136c, the pre-bending middle roller 136b, and the large seam tightening roller 136a contact and press the seaming portion Ruc in this order to gradually tighten it, so even if the seaming portion Ruc protrudes outward, it will not be excessively large. To smoothly and reliably perform seam tightening work without requiring excessive bending force.

The brake section 137 includes a front brake 137F and a rear brake 137R, which are exposed on the lower side of the support substrate section 122 and are respectively disposed at positions facing the two preliminary bending small rollers 136c. The front brake 137F and the rear brake 137R are a front brake shoe 137Fb that is moved forward and backward by a front brake solenoid 137Fa and comes into contact with the upright portion Ruv of the folded plate roofing material R, and a front brake shoe 137Fb that is moved forward and backward by a rear brake solenoid 137Ra to touch the folded plate roof. A rear brake shoe 137Rb is provided which comes into contact with the upright portion Ruv of the material R.

The control unit 140 is arranged in the main body unit 120 as shown in FIG. 2, and is configured to control each part as shown in FIG. There is a travel stop control section 141 that controls whether to run or stop, a forward/backward control section 142 that controls switching the traveling direction between forward and backward, and a support motor driver section 143 that controls the rotation speed of the support motor section 131. and a seam fastening motor driver section 144 that controls the rotational speed of the seam fastening motor section 134.

Here, the support motor driver section 143 sets the circumferential speed of the support rollers 133a, 133b, and 133c in the region where the hanger H is not arranged, that is, the specified circumferential speed, to 300 mm/sec. control the rotation speed. On the other hand, the seam tightening motor driver section 144 operates the seam tightening motor so that the circumferential speed of the large seam tightening roller 136a is regulated to 294 mm/sec, which is 98% of the specified circumferential speed of the support rollers 133a, 133b, and 133c. The rotation speed of the section 134 is controlled.

When the specified circumferential speed is set to 300 mm/sec, the circumferential speed of the support rollers 133a, 133b, and 133c temporarily decreases due to an increase in torque at the portion where the hanger H is arranged, and for example, Even if the speed decreases to 285 mm/sec, which is about 95%, the difference between the circumferential speed of the support rollers 133a, 133b, and 133c and the circumferential speed of the large sealing roller 136a is plus or minus 9 mm/sec ( 3% of the specified circumferential speed), it is possible to perform seam tightening work without causing scratches on the seamed portion Ruc of the folded plate roofing material R.

As shown in FIGS. 2 and 3, the operation unit 150 includes a fixed handle portion 151 that is fixed upright to the main unit 120, an opening/closing handle portion 152 that is pivotally fixed to the main unit 120 so as to be able to freely raise and lower, and an opening/closing board portion 123. It is provided with a link part 153 which is integrally coupled with the opening/closing handle part 152 and pivotally fixed to the opening/closing handle part 152, and an input part 154 for inputting an operation command to the self-propelled seam tightening robot 100.

The opening/closing handle part 152 is pivoted to a link part 153 by an operator who lowers it from the open position (two-dot chain line in FIG. 3) to the closed position (solid line in FIG. 3). The opening/closing base plate part 123 is fixed in the closed position in cooperation with the opening/closing base plate part 123.

Therefore, when the opening/closing board part 123 is fixed in the closed position, the crimp motor part 134, the crimp transmission part 135, and the crimp roller part 136 fixed to the opening/closing board part 123 are moved together with the opening/closing board part 123. By moving, the serging roller part 136 comes into contact with the seaming part Ruc of the serging part Rf of the folded plate roofing material R, and is fixed in a pressed position.

The input unit 154 includes a start switch 154a for inputting a start command to the self-propelled seam tightening robot 100, a stop switch 154b for inputting a stop command, and a direction changeover switch 154c for inputting a direction switching command. We are prepared.

The sensor unit 160 includes a front end sensor section 160F and a rear end sensor section 160R that respectively detect the end portion Rue of the flat portion Ruh of the folded plate roofing material R while moving forward or backward while performing the seam tightening work. ing.

The front end sensor section 160F and the rear end sensor section 160R are fixed to the lower side of the support substrate section 122 so as to be vertically swingable. As shown in FIGS. 1, 2, 5, and 6, the front end sensor portion 160F has a bar-shaped portion that projects obliquely forward and downward and is biased downward by a spring, and a horizontal axis centered at the tip of this bar-shaped portion. It consists of a cylindrical part that is rotatably attached to the Similarly, the rear end sensor section 160R is composed of a rod-shaped part that protrudes diagonally rearward and downward and is biased downward by a spring, and a cylindrical part that is rotatably attached to the tip of this rod-shaped part about a horizontal axis. has been done.

Therefore, when the self-propelled siding robot 100 is running while performing siding work, the front end sensor section 160F and the rear end sensor section 160R have their cylindrical portions connected to the flat portions of the folded plate roofing material R. Although it is placed on the Ruh and does not swing, when the self-propelled crimp tightening robot 100 reaches near the longitudinal end of the folded plate roofing material R, it swings downward due to the force of the spring. The terminal site Rue is detected by the following.

The auxiliary roller unit 170 includes a front auxiliary roller part 170F that is exposed on the lower side of the support base plate part 122, is disposed at the frontmost part of the support base base part 122, and comes into contact with the upright part Ruv of the folded plate roofing material R, and a support base base part. 122 and a rear auxiliary roller portion 170R that is placed at the rearmost portion of the roof member 122 and comes into contact with the upright portion Ruv of the folded plate roofing material R.

The front auxiliary roller section 170F and the rear auxiliary roller section 170R include a front auxiliary roller 170Fa and a rear auxiliary roller 170Ra, respectively, which have a crown-type so-called barrel shape. As shown in FIGS. 4A and 4B, the front auxiliary roller 170Fa and the rear auxiliary roller 170Ra are located approximately 1 mm apart from the upright portion Ruv of the folded roofing material R that the support rollers 133a, 133b, and 133c contact. It is located.

When the self-propelled seam tightening robot 100 performs the seam tightening work while moving forward, the upright portion Ruv of the folded plate roofing material R on the front side in the direction of movement where the seam tightening by the large seam tightening roller 136a has not been completed. stands upright as a flat surface, whereas the upright portion Ruv on the rear side in the direction of travel after the seam tightening by the large seam tightening roller 136a has been completed bulges toward the side where the auxiliary roller unit 170 is arranged due to the bending moment. Curve into a shape.

Therefore, the rear auxiliary roller 170Ra is placed at a position where it just contacts the bulge of the curved upright portion Ruv on the rear side in the direction of travel. When the self-propelled seam tightening robot 100 performs the seam tightening work while retreating, the front-to-back relationship is reversed, and the front auxiliary roller 170Fa is placed in a position where it comes into contact with the bulging portion of the curved upright portion Ruv. This means that

If the auxiliary roller unit 170 is not provided, if the specified peripheral speed of the support rollers 133a, 133b, and 133c, that is, the self-propelled speed of the self-propelled seam tightening robot 100, is set to be greater than 275 mm/sec, the hanger H will be placed. However, if the auxiliary roller unit 170 is provided, the specified circumferential speed of the support rollers 133a, 133b, and 133c, that is, Even if the self-propelled speed of the self-propelled seam tightening robot 100 is set to, for example, 350 mm/sec, the self-propelled robot 100 can stably travel at high speed.

Next, a procedure for performing a seam tightening work on folded plate roofing material R using the self-propelled seam tightening robot 100 of this embodiment will be explained.

As shown in FIGS. 1 to 3, the worker arranges the plurality of folded roofing materials R in parallel so that the groove plate parts Rb and the peak plate parts Rm are arranged alternately, and A lower edge portion Rd provided on the top surface portion Rmt of the portion Rm, an upright portion Ruu provided on the top surface portion Rmt of the mountain plate portion Rm on the other end side, and a flat portion Ruh continuous to this upright portion Ruu. A seam tightening portion Rf is formed by engaging an upper seam portion Ru consisting of a seaming portion Ruc hanging down from this flat portion Ruh.

Next, the caster part 112 is placed on one groove plate part Rb and the other groove plate part Rb, straddling this seam tightening part Rf. At this time, as shown by the two-dot chain line in FIG. 3, the opening/closing handle part 152 is in the released position, and the link part 153 and the opening/closing board part 123 interlocked with the opening/closing handle part 152 are also in their respective released positions.

The support leg portion 111 is configured such that the height at which the main body unit 120 is attached can be adjusted so that the presser roller 133d just contacts the flat portion Ruh of the folded plate roofing material R from above.

Next, as shown by the solid lines in FIGS. 2 and 3, the opening/closing handle part 152 is operated to close and is brought down to the closed position, so that the link part 153 and the opening/closing board part 123 interlocked with the opening/closing handle part 152 are closed. Move it into position and fix it. At this time, the support roller part 133 rotatably fixed to the support base plate part 122 comes into contact with the upright part Ruv of the folded plate roofing material R, and the support roller part 133 rotatably fixed to the opening/closing base plate part 123 comes into contact with The seam tightening roller portion 136 is arranged to abut and press the seam tightening portion Ruc of the seam tightening portion Rf of the folded plate roofing material R.

At this time, as shown in FIGS. 4A and 4B, the support rollers 133a, 133b, and 133c are in contact with the upright portion Ruv of the folded plate roofing material R, respectively, and are supported by the large flap tightening roller 136a when viewed from the front. The distance from the rollers 133a, 133b, and 133c in the direction of the line of force becomes the crimp gap dimension g.

Since the support roller 136a has a barrel shape, it comes into contact with the folded plate roofing material R at its maximum radius, but as shown in FIG. Therefore, the serging gap dimension g is the shortest distance between the edge of the large serging roller 136a and the barrel-shaped support roller 133b, and the distance between the large serging roller 136a and the supporting roller 133b is the shortest distance. The pinching pressure realizes reliable pressing against the seamed portion Ruc.

The system configuration and control flow of the self-propelled seam tightening robot 100 will be described below, mainly with reference to FIGS. 7 and 8.

The operator checks whether the opening/closing handle part 152 is lowered to the closed position (OP1), and the front end sensor part 160F and the rear end sensor part 160R are placed on the flat part Ruh of the folded plate roofing material R and raised. Check whether the condition is correct (OP2) and operate the start switch 154a (OP3).

As a result, the operation of the control unit 140 of the self-propelled seam tightening robot 100 that has been on standby starts (S1), and if the opening/closing handle part 152 is lowered, the process moves to S3, and if it has not, the process moves to OP1 (S2). ). Next, the state of the direction changeover switch 154c is confirmed, and if it has been operated and is in the ON state, the process moves to S10, whereas if it is OFF, the process moves to S4, where the forward/reverse control unit 142 controls the traveling direction to be forward ( S3).

In S4, if the front end sensor section 160F in the traveling direction detects the end portion Rue, the process moves to OP2, and if it has not detected it, the process moves to S5. The travel stop control unit 141 releases the front brake solenoid 137Fa and the rear brake solenoid 137Ra to release the front brake shoe 137Fb and the rear brake shoe 137Rb, which are in contact with and press the upright portion Ruv, to a released state, and The forward/backward control section 142 drives and controls the motor section, that is, the support motor section 131 and the crimp motor section 134 via the support motor driver section 143 and the crimp motor driver section 144 to drive them in the forward direction. The self-propelled seam tightening robot 100 performs the seam tightening work while moving forward on the folded plate roofing material R (S5). If the stop switch 154b is pressed during the seam tightening work, the process moves to S8 (S6). If the front end sensor unit 160F in the traveling direction detects the end portion Rue while traveling forward on the folded plate roofing material R while performing the seam tightening work, the process moves to S8, and if it has not detected it, the process moves to S5. Then, the serging work and forward running are continued (S7).

In S3, if the direction changeover switch 154c is operated and in the ON state, the process moves to S10, but in the steps from S10 to S13, the traveling direction is backward compared to the steps from S4 to S7, Since the front end sensor section 160F is simply replaced with the rear end sensor section 160R, detailed explanation will be omitted.

In S8, in response to the stop switch 154b being operated or the front end sensor section 160F or the rear end sensor section 160R detecting the end point Rue, the traveling stop control section 141 activates the front brake solenoid 137Fa and the rear brake solenoid 137Ra. The front brake shoe 137Fb and the rear brake shoe 137Rb are brought into contact with and pressed against the upright portion Ruv by braking control, and the forward/reverse control section 142 controls the motor via the support motor driver section 143 and the crimp motor driver section 144. That is, the support motor section 131 and the seam tightening motor section 134 are controlled to stop (S8), and the self-propelled seam tightening robot 100 stops its operation (S9).

In addition, when controlling the self-propelled robot 100 to stop, the control unit 140 releases the brake part 137 when the opening/closing handle part 152 is operated to open, thereby enabling the operator to carry the robot. When the closing operation is performed, the brake section 137 is brake-controlled to apply the brake and stand by.

Furthermore, when the opening/closing handle section 152 is in the closed position, the control unit 140 controls the release of the brake section 137 to enable the vehicle to travel when the start switch 154a is operated, and also controls the support motor section 131 and the gap tightener. The motor unit 134 is controlled to rotate at a preset speed, and when the end portion Rue is detected while the motor unit, that is, the support motor unit 131 and the crimp motor unit 134 are being driven, the brushless motor The support motor section 131 and the crimp motor section 134 are controlled to stop immediately, and the brake section is controlled to brake.

In the above flow, when the self-propelled robot 100 performs the seam tightening work on the seam tightening part Rf, if the front end sensor part 160F or the rear end sensor part 160R detects the end part Rue and stops, The seam tightening work has been completed up to the vicinity of the end portion Rue.

When the operator opens the opening/closing handle part 152 and raises it to the open position, the opening/closing board part 123 is interlocked and moves to the open position, so that the opening/closing board part 123 is rotatably fixed to the opening/closing board part 123. The tightening roller section 136 is released from contact with and pressure on the tightening portion Ruc of the folded plate roofing material R, and the support roller section 133 rotatably fixed to the support base plate section 122 is moved to the folded plate roofing material R. is released from abutment against the upright portion Ruv.

At this stage, the operator lifts the self-propelled seam tightening robot 100, moves it parallel to the adjacent seam tightening section Rf, switches the direction changeover switch 154c, and shifts to OP1.

According to the above-described flow, the self-propelled seam tightening robot 100 is made to move back and forth in a so-called ox plowing style, and sequentially performs the seam tightening work on the seam tightening portion Rf of the folded plate roofing material R. can be constructed.

100...Self-propelled robot for seam tightening 110...Traveling unit 111...Support leg portion 112...Caster portion 120...Main unit 121... ...Housing section 122...Support board section 123...Opening/closing board section 124...Top cover section 125...Front and rear cover section 130...Drive unit 131 ...Support motor section 132...Support transmission section 132a...Main shaft 132b...Shaft 132c...Support large diameter gear 132d...Support small diameter gear 133... ...Support roller parts 133a, 133b, 133c...Support roller 133d...Press roller 134...Seam tightening motor section 135...Seam tightening transmission section 135a... Main shaft 135b...Shaft 135c...Flash tightening large diameter gear 135d...Flash tightening small diameter gear 136...Flash tightening roller portion 136a...Flash tightening large roller 136b...Preliminary bending middle roller 136c...Preliminary bending small roller 137...Brake section 137F...Front brake 137Fa...Front brake solenoid 137Fb...Front brake shoe 137R... ...Rear brake 137Ra...Rear brake solenoid 137Rb...Rear brake shoe 140...Control unit 141...Travel stop control section 142...Forward/reverse control section 143... ... Support motor driver section 144 ... Sewing motor driver section 150 ... Operation unit 151 ... Fixed handle section 152 ... Opening/closing handle section 153 ... Link section 154...Input section 154a...Start switch 154b...Stop switch 154c...Direction changeover switch 160...Sensor unit 160F...Front end sensor section 160R ... Rear end sensor section 170 ... Auxiliary roller unit 170F ... Front auxiliary roller section 170Fa ... Front auxiliary roller 170R ... Rear auxiliary roller section 170Ra ... Rear auxiliary roller g ......Folded plate roofing material Rb...Groove plate portion Rm...Top plate portion Rmt... Top part Ru...Top seam Ruv...Upright part Ruh...Flat part Rue...Terminal part Ruc...Tightening part Rd... ...Lower seam section Rb...Groove plate section Rf...Seam tightening section H...Hipper

Claims (5)

Groove plate portions and mountain plate portions are arranged alternately, and a lower flap portion is formed on the top surface of the mountain plate portion on one end side, and an upright portion is formed on the top surface portion of the mountain plate portion on the other end side. The lower seam portions of the folded plate roofing materials adjacent to each other are arranged in parallel, each having an upper seam portion consisting of a flat portion continuous to the flat portion and a seamed portion hanging from the flat portion. and the upper flap part to straddle the grooved part of one of the folded plate roofing materials and the groove plate part of the other folded plate roofing material. A traveling unit equipped with a caster part, an opening/closing base plate part arranged above the crimp part of the folded plate roofing material and pivotally fixed to be able to open and close freely, and a support base part fixed opposite to the opening/closing base part. A main body unit fixed to the upper part of the travel unit, a support roller part rotatably disposed on the support base plate part and abutting the upright part of the folded plate roofing material, and a support roller part fixed to the upper part of the traveling unit; a drive unit including at least a crimp roller part that is rotatably arranged and presses the seaming part; a control unit that is arranged in the main unit and controls the operation of the drive unit; An operation unit consisting of an opening/closing handle part which is pivotally fixed to be able to be raised or folded, a link part which is integrally connected to the opening/closing board part and pivotally fixed to the opening/closing handle part, and a start switch for starting the seam tightening work. A self-propelled seam-fastening robot comprising: a seam-fastening robot that uses the seam-fastening roller section to seam the seam-fastening portion along the longitudinal direction of the folded plate roofing material,
A self-propelled seam tightening robot, wherein the drive unit includes a support motor section that drives the support roller section and a seam tightening motor section that drives the seam tightening roller section. The support roller portion includes a support roller configured by lining the surface of a cylindrical core material made of stainless steel with urethane rubber,
2. The self-propelled seam tightening robot according to claim 1, wherein the seam tightening roller section includes a seam tightening roller made of stainless steel and configured in a disc shape. 3. The self-propelled seam tightening robot according to claim 2, wherein the support roller has a barrel shape. The control unit includes a support motor driver section that controls the rotational speed of the support motor section to determine the circumferential speed of the support roller, and a support motor driver section that controls the rotational speed of the crimp motor to determine the circumferential speed of the crimp roller. 4. The self-propelled seam tightening robot according to claim 2, further comprising a seam tightening motor driver section that defines the peripheral speed of the support roller to a value smaller than a specified circumferential speed of the support roller. Groove plate portions and mountain plate portions are arranged alternately, and a lower flap portion is formed on the top surface of the mountain plate portion on one end side, and an upright portion is formed on the top surface portion of the mountain plate portion on the other end side. The lower seam portions of the folded plate roofing materials adjacent to each other are arranged in parallel, each having an upper seam portion consisting of a flat portion continuous to the flat portion and a seamed portion hanging from the flat portion. and the upper flap part to straddle the grooved part of one of the folded plate roofing materials and the groove plate part of the other folded plate roofing material. A traveling unit equipped with a caster part, an opening/closing base plate part arranged above the crimp part of the folded plate roofing material and pivotally fixed to be able to open and close freely, and a support base part fixed opposite to the opening/closing base part. A main body unit fixed to the upper part of the travel unit, a support roller part rotatably disposed on the support base plate part and abutting the upright part of the folded plate roofing material, and a support roller part fixed to the upper part of the traveling unit; a drive unit provided with at least a crimp roller part that is rotatably disposed to press the seam part, and a drive motor part that drives the support roller and the crimp roller part; A control unit that controls the operation of the drive unit, an opening/closing handle portion pivotally fixed to the main body unit so as to be freely tiltable, and an opening/closing handle portion integrally coupled to the opening/closing base plate portion and pivotally fixed to the opening/closing handle portion. For seam tightening, comprising an operation unit consisting of a link part and a start switch for starting the seam tightening work, and for tightening the seam part along the longitudinal direction of the folded plate roofing material using the seam tightening roller part. A self-propelled robot,
A front auxiliary roller part is arranged at the most forward part of the support base plate part and comes into contact with the upright part of the folded plate roofing material; A self-propelled robot for tightening seams, characterized in that it is equipped with an auxiliary roller unit consisting of a rear auxiliary roller part that comes into contact with the auxiliary roller unit.