JP6638903B2 - Construction work robot - Google Patents

Description

  The present invention relates to a construction work robot used for construction work.

  2. Description of the Related Art Conventionally, in construction work, an operation of transporting a construction material to a predetermined mounting position or its vicinity has been indispensable. In general, such construction materials are transported using vehicles, trolleys, elevators, conveyors, or other means of transport.However, depending on the transport route to the installation location, workers can directly transport the materials, They may be transported using small vehicles. For example, when a ceiling board is attached to a base material in a building under construction, the ceiling board is loaded on a trolley or the like and transported to an installation position. At this time, if there are steps or slopes in the transport route, a force must be applied to the bogie to get over the steps or slopes, which is a burden on the operator. For this reason, there has been a demand for the development of a construction work robot capable of substituting or assisting a transport work by a worker.

  On the other hand, a multi-legged robot that can walk with many legs is known (for example, see Non-Patent Document 1). Non-Patent Document 1 discloses a slope working robot used in a slope reinforcing work, and includes a box-shaped main body, four legs having the same characteristics, an auxiliary moving crawler for moving the ground, and a traction assist wire. It has a winch for winding up the machine, a drilling mechanism, and an engine lift for keeping the engine horizontal. The robot also has a posture sensor for measuring the posture and the slope of the slope, and an optical system for measuring the terrain. The legs have an insect-type roll-pitch-pitch type of three degrees of freedom and are driven by hydraulic cylinders. According to this robot, the crawler moves the ground level from the transport truck to near the slope at the construction site, switches to walking when approaching the slope, shifts from flat to the slope, walks the slope, and drills Can be carried to the construction site, and the attitude of the drilling machine can be adjusted with legs to drill the slope.

Ryuichi Hodojima et al., "Development of TITAN XI, a quadruped walking type slope working robot", Journal of the Robotics Society of Japan, Vol.23 No.7, pp.847-857,2005

  The present invention has been made in view of the above, and an object of the present invention is to provide a construction work robot capable of substituting or assisting a transportation work by a worker.

  In order to solve the above-described problems and achieve the object, a construction work robot according to the present invention is a construction work robot including a multi-legged robot, and a carrier for mounting construction materials and equipment. And at least four legs supporting the carrier, a horizontal holding mechanism for maintaining a horizontal state of the carrier, a control mechanism for controlling the position of its own center of gravity so as to be able to go up and down on a step or on a slope, and controlling the posture of the legs. It is characterized by having.

  Further, another construction work robot according to the present invention, in the above-described invention, further comprises a wheel provided at a lower end of a leg, wherein the wheel is a wheel capable of turning and moving in an arbitrary direction, and an optional wheel without turning. It is characterized by comprising an omni wheel (registered trademark) or a mecanum wheel movable in a direction.

  Further, another construction work robot according to the present invention is characterized in that, in the above-described invention, a lifting mechanism for lifting and lowering the carrier is further provided.

  Further, another construction work robot according to the present invention is characterized in that, in the above-mentioned invention, a manipulator for mounting work and an end effector provided on the carrier are further provided.

  ADVANTAGE OF THE INVENTION According to the construction work robot which concerns on this invention, it is a construction work robot which consists of a multi-legged robot, Comprising: A loading platform for mounting construction equipment, at least four legs supporting a loading platform, and a loading platform. The equipment is equipped with a horizontal holding mechanism that maintains the horizontal state of the robot, and a control mechanism that controls the position of the center of gravity of the vehicle so as to be able to move up and down on a step or on a slope, and controls the posture of the legs. Can be replaced or assisted.

  Further, according to another construction work robot according to the present invention, a wheel provided at a lower end of a leg is further provided, and this wheel is a wheel that can turn and move in an arbitrary direction, and moves in an arbitrary direction without turning. Since it is made of a possible Omni Wheel (registered trademark) or Mecanum Wheel, it is possible to travel in all directions.

  Further, according to another construction work robot according to the present invention, since the lifting mechanism for raising and lowering the bed is further provided, it is possible to raise and lower the equipment loaded on the bed.

  Further, according to another construction work robot according to the present invention, since the robot further includes a mounting manipulator and an end effector provided on the loading platform, the material can be mounted at a predetermined position by the manipulator and the end effector. It has the effect of being able to.

FIG. 1 is a schematic perspective view showing an embodiment of a construction work robot according to the present invention. FIG. 2 is a schematic side view showing an embodiment of the construction work robot according to the present invention. FIG. 3 is a schematic side view showing an embodiment of the construction work robot according to the present invention. FIG. 4 is a schematic perspective plan view of a lower portion showing the embodiment of the construction work robot according to the present invention. FIG. 5 is a schematic side view showing another embodiment of the construction work robot according to the present invention. FIG. 6 is a schematic side view showing another embodiment of the construction work robot according to the present invention.

  Hereinafter, embodiments of a construction work robot according to the present invention will be described in detail with reference to the drawings. The present invention is not limited by the embodiment.

  As shown in FIGS. 1 and 2, a construction work robot 10 according to the present invention is a construction work robot composed of a multi-legged robot, and has a rectangular parallelepiped main body 12 and a construction equipment. A loading platform 14 for mounting the ceiling board 1 (for example, a plate material having a width of 90 cm, a vertical width of 180 cm, and a weight of about 10 kg), a horizontal holding mechanism 16 for maintaining a horizontal state of the loading platform 14, four legs 20, and a control mechanism 22 And

  The leg 20 has an upper leg 20A, a lower leg 20B, an indirect shaft portion 24 that rotatably connects the upper leg 20A and the lower leg 20B, and a fixing portion 26 that rotatably fixes the upper end of the upper leg 20A to the main body 12. The fixing portions 26 are provided at four corners on the lower surface of the main body 12.

  At the lower ends of the legs 20, wheels 18 (wheels) are provided, each of which can be turned in any direction. As shown in FIG. 4, the steering angle of the wheel 14 can be changed in any direction. Thus, the construction work robot 10 can travel and move on the floor surface in any direction obliquely forward, backward, left and right. The steering angle and the rotation speed of each wheel 18 are drive-controlled by the control mechanism 22. Note that, instead of the wheel 18, an omni wheel (registered trademark) or a mecanum wheel that can move in an arbitrary direction without turning may be used. In this case, the operation of each wheel may be controlled so that the construction work robot 10 can travel in any direction obliquely forward, backward, left and right.

  Further, in the present embodiment, the case where the wheel 18 is provided at the lower end of the leg 20 will be described as an example, but the present invention is not limited to this, and the lower end of the leg 20 has a wheel such as the wheel 18. It may be a configuration that does not.

  The posture of the leg 20 is controlled so that the construction work robot 10 can stably move up and down on the step and the slope S. This control is performed by controlling the drive of the upper leg 20A, the lower leg 20B, and the like via a hydraulic cylinder or the like (not shown) by a control mechanism 22 provided in the main body 12. As a specific method of controlling the legs 20, for example, a method similar to the above-described method of controlling the legs of the conventional multi-legged robot can be used.

  The horizontal holding mechanism 16 is for holding the horizontal state of the loading platform 14. In the present embodiment, the horizontal holding mechanism 16 includes a sensor (not shown) for detecting an inclination angle of the loading platform 14 from the horizontal, a leg 20, and a control mechanism 22. are doing. Of course, the configuration of the horizontal holding mechanism 16 is not limited to this, and may be configured by other known horizontal holding means. When the construction robot 10 traveling on the horizontal plane enters the slope S having the inclination angle θ (for example, θ = 30 degrees) as shown in FIG. 2, the inclination angle of the bed 12 changes from horizontal. When the sensor detects the change in the inclination angle, the control mechanism 22 adjusts the posture of the leg 20 and the position of the center of gravity of the construction work robot 10 as shown in the figure so that the bed 14 is kept horizontal. As a result, the loading platform 14 is maintained in a horizontal state, and the mounted ceiling board 1 does not slide off the loading platform 14. In this state, the control mechanism 22 drives and controls the wheel 18 so that the construction work robot 10 on which the ceiling board 1 is mounted can be transported up and down on the slope S.

  Here, as shown in FIG. 3, the control mechanism 22 can also control the construction work robot 10 so that the construction work robot 10 can go up and down the step G. When climbing the step G, one of the right and left wheels 18 of the leg 20 in the traveling direction is rotated in the traveling direction, and the posture of the corresponding leg 20 is adjusted to get over the step G. The postures of the other legs 20 maintain the current state. During this control, control is performed such that the horizontal state of the bed 14 is maintained based on the detection of a sensor (not shown). The other wheel 18 stops or maintains the current rotational speed and steering angle. As a result, one of the front wheels 18 gets over the step G. Similarly, the vehicle rides over the step G by controlling the posture of the other front leg 20 and the wheel 18. By controlling the postures of all the legs 20 and the wheels 18 according to the progress, the construction work robot 10 can get over the step G while maintaining the horizontal state of the carrier 14. Note that the same control can be performed when the construction work robot 10 goes down the step G.

  Therefore, according to the present embodiment, it is possible to use the construction work robot 10 to substitute or assist the work of transporting the equipment such as the ceiling board 1 by the worker.

  In the above embodiment, as shown in FIG. 5, the manipulator 28 for the mounting operation is installed on the main body 12 or the carrier 14 via the pedestal 32, and the end effector 30 is detachably attached to the tip of the manipulator 28. It is also possible to provide a ceiling board 1 for mounting work. In this case, after the ceiling board 1 is sucked and held by the end effector 30, the end effector 30 may be moved closer to a base material (not shown) by controlling the attitude of the manipulator 28. Then, a manipulator 34 separately provided on the pedestal 32 may be operated to strike a screw on the ceiling board 1 and attach it to the base material. These controls may be performed by the control mechanism 22. Further, instead of using the separate manipulator 34, an operator may ride on the carrier 14 to perform screw driving. At the time of such an attaching operation, a moment acts to rotate the carrier 14 in accordance with the attitude of the manipulator 28 and the like and the position where the operator is on board. Therefore, a sensor for detecting such a moment may be provided, and the posture of the leg 20 or the like may be controlled based on the detection of the sensor to secure the stability of the carrier 14 during operation.

  In the above embodiment, as shown in FIG. 6, a lifting mechanism 36 for lifting and lowering the loading platform 14 may be further provided. By doing so, the ceiling board 1 loaded on the loading platform 14 or the ceiling board 1 sucked and held by the end effector 30 at the end of the manipulator 28 is moved up and down to a high position (for example, about 5 m from the floor surface) so that the worker cannot reach. , The workable range is expanded. As the elevating mechanism 36, for example, a pantograph type as shown in the figure may be used, or another type such as a hydraulic type may be used.

  Further, in the above embodiment, the case where the construction material to be placed on the cargo bed is a ceiling board has been described as an example, but the present invention is not limited to this. For example, a configuration may be adopted in which materials such as ceiling suspension bolts and dry-type refractory covering materials and equipment such as work tools are transported. In this case, the same operation and effect as described above can be achieved.

  As described above, according to the construction work robot according to the present invention, a construction work robot including a multi-legged robot, and a carrier for mounting construction materials and equipment, at least supporting the carrier. The worker is provided with four legs, a horizontal holding mechanism for maintaining the horizontal state of the loading platform, and a control mechanism for controlling the position of the center of gravity of the vehicle so as to be able to ascend and descend on a step or a slope and controlling the posture of the legs. Can substitute or assist the work of transporting materials and equipment.

  Further, according to another construction work robot according to the present invention, a wheel provided at a lower end of a leg is further provided, and this wheel is a wheel that can turn and move in an arbitrary direction, and moves in an arbitrary direction without turning. It consists of a possible Omni Wheel® or Mecanum Wheel so that it can travel in all directions.

  Further, according to another construction work robot according to the present invention, since the lifting mechanism for raising and lowering the bed is further provided, the equipment loaded on the bed can be moved up and down.

  Further, according to another construction work robot according to the present invention, since the robot further includes a mounting manipulator and an end effector provided on the loading platform, the material can be mounted at a predetermined position by the manipulator and the end effector. it can.

  As described above, the construction work robot according to the present invention is useful for a construction work robot for labor saving and labor saving of the construction work, and in particular, the construction material is attached to a predetermined mounting position or its vicinity. Suitable for carrying work.

1 ceiling board (materials and equipment)
DESCRIPTION OF SYMBOLS 10 Construction work robot 12 Main body 14 Loading bed 16 Horizontal holding mechanism 18 Wheel (wheel)
Reference Signs 20 leg 20A upper leg 20B lower leg 22 control mechanism 24 indirect shaft part 26 fixing part 28, 34 manipulator 30 end effector 32 pedestal 36 elevating mechanism G step S slope

Claims (4)

A construction work robot comprising a multi-legged robot,
A loading platform for loading construction equipment,
At least four legs supporting the carrier,
A horizontal holding mechanism for holding the horizontal state of the carrier,
Controlling the position of the center of gravity of itself to be able to go up and down on a step or on a slope, with a control mechanism that controls the posture of the legs ,
Each of the four legs has an upper leg, a lower leg, an indirect shaft portion that rotatably connects the upper leg and the lower leg, and a fixing portion that rotatably fixes the upper end of the upper leg to the loading platform. construction work robot where the lower leg is characterized that you have bent in the longitudinal direction inside the bed by indirect shank with.   The vehicle further comprises a wheel provided at a lower end of the leg, the wheel being a wheel that can be turned in any direction without turning, an Omni Wheel (registered trademark) or a Mecanum wheel that can be moved in any direction without turning. The construction work robot according to claim 1, wherein:   The construction work robot according to claim 1 or 2, further comprising an elevating mechanism for elevating and lowering the carrier.   The construction work robot according to any one of claims 1 to 3, further comprising a mounting manipulator and an end effector provided on the carrier.

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