JP6683961B1 - Self-propelled work robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-propelled work robot which shortens repair time and improves work efficiency of repetitive work. A reinforcing bar binding robot (100) having a traveling carriage unit (200) traveling on a traveling surface and repeatedly performing a predetermined work by a reinforcing bar binding machine (BD), wherein the traveling carriage unit (200) is mounted on the traveling carriage unit (200). Power tool holding units 400L and 400R that detachably hold the binding machine BD, power tool operating units 500L and 500R that are mounted on the traveling carriage unit 200 to operate the reinforcing bar binding machine BD, and are mounted on the traveling carriage unit 200. The control unit 600 controls the traveling carriage unit 200 and the electric tool operation units 500L and 500R. [Selection diagram] Fig. 6

Description

  The present invention relates to a self-propelled work robot that carries an electric tool and performs a predetermined work.

When constructing a structure with reinforced concrete, the reinforcing bars are arranged in a grid before the concrete is poured into the formwork.
Then, a binding work is performed to bind the intersecting portions of the reinforcing bars with a binding line so that the reinforcing bars arranged in a grid shape do not move.
It can be said that this bundling work is a repetitive work because it is necessary to perform it at each intersection of the reinforcing bars provided at equal intervals.
This bundling work will increase dramatically as the number of reinforcing bars used increases.
Furthermore, in addition to performing the binding work outdoors in direct sunlight, the binding work is performed in a harsh environment such as on the scaffolding of unreliable and unstable rebars. There was room for improvement in the working environment of workers.

Therefore, in order to improve the working environment of workers who perform binding work, an automatic reinforcing rod binding robot capable of binding work while automatically traveling on a reinforcing bar plane has been devised (for example, Non-Patent Document 1).
This automatic reinforcing bar binding robot is movable in the front-rear direction and the left-right direction on the plane of the reinforcing bar and includes a reinforcing bar binding mechanism for binding the intersections of the reinforcing bars.

Toshiaki Ito, 3 others, “Development of automatic rebar binding robot-design and development of moving mechanism and binding mechanism”, Proceedings of Robotics and Mechatronics Lectures, Japan Society of Mechanical Engineers, published on November 25, 2017

  However, the reinforcing bar binding mechanism of the above automatic reinforcing bar binding robot is incorporated in the automatic reinforcing bar binding robot, and if there is a problem with the reinforcing bar binding mechanism, it is necessary to disassemble and repair the automatic reinforcing bar binding robot itself. It was not very efficient.

Therefore, the present invention is to solve the above-mentioned problems of the prior art, that is, an object of the present invention is to easily attach and detach an electric tool to and from a self-propelled work robot. To provide a self-propelled work robot in which dropping of an electric tool due to vibration generated during self-propelling is suppressed and work efficiency of repetitive work is improved.

The invention according to claim 1 is a self-propelled work robot that includes a traveling carriage unit that travels on a traveling surface, and that repeats a predetermined work with an electric tool having a grip and a trigger provided on the front side of the grip. The traveling carriage unit detachably holds the electric power tool, an electric tool holding unit that operates the electric power tool, a control unit that controls the traveling carriage unit and the electric power tool operating unit. A suspension member for holding the grip of the electric tool in a suspended state, and a rotation for laterally pressing the grip of the electric tool suspended by the suspension member. A drop-off prevention member, which prevents the power tool from falling off when the drop-off prevention member is closed and And attachable to the power tool in the open state of the stop member, Ri member der retractable, the electric tool holding unit, suppress the vertical rattling of the electric tool is formed above the suspension member The above-described problem is solved by having a positioning pin, and the vertical distance between the positioning pin and the suspension member being equal to the width of the grip of the electric power tool .

According to a second aspect of the invention, in addition to the configuration of the self-propelled work robot described in the first aspect, the fall prevention member is provided in a state in which the battery of the electric power tool is exposed , This is to further solve the above-mentioned problems.

According to a third aspect of the present invention, in addition to the configuration of the self-propelled work robot according to the first or second aspect, the electric tool holding unit includes a lock mechanism for fixing the closed state of the captive prevention member. By having it , the above-mentioned subject is solved further.

The invention according to claim 4, in addition to the configurations of the self-propelled working robot according to any one of claims 1 to 3, when the power tool holding unit, which holds the power tool By having the buffer member which contacts the electric power tool, the above-mentioned problems are further solved.

According to a fifth aspect of the present invention, in addition to the configuration of the self-propelled work robot according to any one of the first to fourth aspects, the traveling surface is a reinforcing bar arranged in a grid pattern. The power tool is a reinforcing bar binding machine to further solve the above-mentioned problems.

According to the self-propelled work robot of the invention according to claim 1, an electric tool holder for holding an electric tool having a traveling carriage unit traveling on a traveling surface, a grip, and a trigger provided on the front side of the grip. Since the unit, the power tool operating unit for operating the power tool, and the control unit for controlling the traveling carriage unit and the power tool operating unit are provided, the repetitive work for repeating the predetermined work is automated, and thus the repetitive work is performed. The number of personnel engaged in can be reduced.
In addition, since the electric tool holding unit detachably holds the electric tool, even if there is a problem with the electric tool, the repetitive work can be restarted by simply replacing the electric tool. The repair time of the self-propelled work robot can be shortened and the work efficiency of repetitive work can be improved as compared with the case where is provided as a dedicated unit.
Furthermore, since the power tool holding unit has a suspension member that holds the grip of the power tool in a suspended state, when the power tool is held by the self-propelled work robot, the power tool is used as a suspension member. Since it can be suspended, the electric tool can be easily attached to the self-propelled work robot.
Further, the power tool holding unit has the rotatable fall-off prevention member that presses the grip of the power tool suspended from the suspension member from the side, so that the fall-out prevention member always holds the power tool. As a result, it is possible to prevent the power tool from falling off due to vibration that occurs while the self-propelled work robot is self-propelled, and it is possible to realize automation of repetitive work for a long time.
Further, the fall prevention member is an openable / closable member that prevents the power tool from falling when the fall prevention member is closed and allows the power tool to be attached when the fall prevention member is open. Since it is easy to attach / detach to / from the electric tool holding unit, the usability of the self-propelled work robot can be improved.
Further, the power tool holding unit has a positioning pin formed above the suspension member to suppress vertical rattling of the power tool, and a vertical interval between the positioning pin and the suspension member is equal to that of the power tool. By making the width equal to the width of the grip, the position of the grip of the power tool can be fixed.

According to the self-propelled work robot of the invention according to claim 2, in addition to the effect of the self-propelled work robot of the invention according to claim 1, in the state where the fall prevention member exposes the battery of the power tool. Since it is provided, it is possible to replace the battery of the power tool without removing the fall prevention member, and it is not necessary to remove the power tool from the power tool holding unit when replacing the battery of the power tool. It is shortened and the efficiency of repetitive work by the self-propelled work robot can be improved.

According to the self-propelled work robot of the invention according to claim 3, in addition to the effect of the self-propelled work robot of the invention according to claim 1 or 2, the electric tool holding unit closes the fall prevention member. By having the lock mechanism that fixes the state, it is possible to reliably hold the power tool in the power tool holding unit while holding the power tool in the power tool holding unit. Both usability and reliability can be achieved.

According to the self-propelled working robot of the invention according to claim 4, in addition to the effect achieved by the self-propelled working robot of the invention according to any one of claims 1 to 3, the power tool holding unit, By having a buffer member that contacts the power tool when holding the power tool, even if the power tool is vigorously held by the power tool holding unit, the shock is absorbed by the power tool. It is possible to prevent damage to electric tools and self-propelled work robots.

According to the self-propelled work robot of the invention of claim 5 , in addition to the effect of the self-propelled work robot of the invention of any one of claims 1 to 4 , the traveling surface has a grid shape. Since the rebar is a rebar and the electric tool is a rebar binding machine, the work efficiency of rebar binding operation, which is repetitive work, can be improved.

The perspective view of a reinforcing bar binding machine. An enlarged view of the main part of the reinforcing bar binding machine. 1 is a perspective view of a reinforcing bar binding robot that is a first embodiment of the present invention. FIG. 3 is a plan view of the reinforcing bar binding robot shown in FIG. 2. FIG. 3 is a front view of an electric tool holding unit of the reinforcing bar binding robot shown in FIG. 2. FIG. 3 is a front view of an electric tool operation unit of the reinforcing bar binding robot shown in FIG. 2. The schematic diagram which shows the procedure which attaches a reinforcing bar binding machine to the reinforcing bar binding robot which is 1st Example of this invention. The schematic diagram which shows the procedure which attaches a reinforcing bar binding machine to the reinforcing bar binding robot which is 1st Example of this invention. The schematic diagram which shows the procedure which attaches a reinforcing bar binding machine to the reinforcing bar binding robot which is 1st Example of this invention. Sectional drawing in the state which attached the reinforcing bar binding machine to the binding machine holding unit seen from the IX-IX line of FIG. The top view of the reinforcing rod binding robot which is 2nd Example of this invention.

The present invention is a self-propelled work robot that includes a traveling carriage unit that travels on a traveling surface, and that repeats a predetermined work with an electric tool having a grip and a trigger provided on the front side of the grip. The unit is equipped with an electric tool holding unit that detachably holds an electric tool, an electric tool operating unit that operates an electric tool, a traveling carriage unit, and a control unit that controls the electric tool operating unit. The unit has a suspension member that holds the grip of the power tool in a suspended state, and a rotatable captive prevention member that laterally presses the grip of the power tool that is suspended by this suspension member. The prevention member prevents the power tool from falling off when the fall prevention member is closed and allows the power tool to be attached when the fall prevention member is open. Ri member Der equation, the power tool holding unit has a positioning pin formed on the upper suspension member suppress the vertical backlash of the power tool, vertical spacing between the positioning pin and the suspension member However, the width of the grip of the power tool is equal , and the power tool can be easily attached to and detached from the self-propelled work robot. Any specific embodiment may be used as long as it enhances the work efficiency.

For example, the power tool used in the present invention may be any one such as a reinforcing bar binding machine, a tacker, or a pin tacker (pin nailer) as long as it is a hand-held power tool that can be held by an operator and driven by a battery.
In particular, when a reinforcing bar binding machine is used as the power tool, “RB-440T” manufactured by Max Co., Ltd. is preferable.

For example, the traveling surface on which the self-propelled work robot of the present invention travels may be any surface as long as it corresponds to a predetermined work and an electric tool.
For example, when the electric tool is a reinforcing bar binding machine and the predetermined work is reinforcing bar binding work, the traveling surface is on a reinforcing bar arranged in a grid pattern.

<1. Outline of self-propelled robot for binding reinforcing bars, which is a first embodiment of the present invention>
Hereinafter, a reinforcing bar binding robot 100, which is a self-propelled work robot according to a first embodiment of the present invention, will be described with reference to FIGS. 1A to 5.
1A is a perspective view of a reinforcing bar binding machine, FIG. 1B is an enlarged view of a main part of the reinforcing bar binding machine, FIG. 2 is a perspective view of a reinforcing bar binding robot that is a first embodiment of the present invention, and FIG. 3 is a plan view of the reinforcing bar binding robot shown in FIG. 2, FIG. 4 is a front view of a binding machine holding unit of the reinforcing bar binding robot shown in FIG. 2, and FIG. 5 is a binding machine operation unit of the reinforcing bar binding robot shown in FIG. It is a front view.
Note that in FIG. 3, a part of the upper frame 213 and an upper surface of the housing 231 are omitted for convenience of description.

  The reinforcing bar binding robot 100 according to the first embodiment of the present invention uses the reinforcing bar binding machine BD mounted on the reinforcing bar binding robot 100 to perform a predetermined operation every time the vehicle travels on the reinforcing bars arranged in a grid pattern, which is a traveling surface, for a predetermined distance. It is a self-propelled work robot that performs the work of binding reinforcing bars.

<2. Overview of rebar binding machine ＞
First, a reinforcing bar binding machine BD mounted on a reinforcing bar binding robot 100 according to a first embodiment of the present invention will be described with reference to FIGS. 1A and 1B.
The reinforcing bar binding machine BD is an electric tool that an operator holds and uses, that is, a so-called hand-held electric tool. The reinforcing bar binding machine BD winds a binding wire around the intersection of the reinforcing bars and binds the intersection of the reinforcing bars with the binding wire.
This reinforcing bar binding machine BD includes a main body portion BM having a binding wire feeding mechanism and the like, a magazine holder MH extending from the front side of the main body portion BM and storing the binding wires together, and extended from the rear side of the main body portion BM. It has an existing grip BG and a battery BB detachably attached to the bottom of the grip BG.

  At the tip of the main body portion BM, an arm AM that gives a curl to the binding wire and a curl guide CG that guides the binding wire sent from this arm AM into the inside of the main body portion BM are provided.

A magazine cover MC which can be opened and closed is attached to the magazine holder MH.
By opening the magazine cover MC, the wire reel WR in which the wire is reeled is housed in the magazine holder MH.

As shown in FIG. 1B, a trigger BT is provided on the front side of the grip BG, and by pulling the trigger BT, the binding wire is extended from the arm AM.
Further, a gripping space A into which the operator's hand is inserted is formed between the grip BG and the magazine holder MH.

<3. Structure of Self-propelled Robot for Binding Reinforcing Bars that is First Embodiment of the Present Invention>
The structure of the reinforcing bar binding robot 100 according to the first embodiment of the present invention will be described with reference to FIGS.

  As shown in FIGS. 2 and 3, the reinforcing bar binding robot 100 includes a traveling carriage unit 200 that travels on reinforcing bars arranged in a grid pattern, a reinforcing bar detection unit that detects an end of the reinforcing bar in the traveling direction, and a reinforcing bar. An electric tool holding unit that holds the binding machine BD, an electric tool operation unit that operates the reinforcing bar binding machine BD, a control unit 600 that controls the traveling carriage unit 200, the binding machine operation unit 500, and the like, and a crossing portion of the reinforcing bars is detected. At least an intersection detection unit (not shown).

<3.1. Traveling truck unit>
First, the traveling carriage unit 200 will be described with reference to FIGS. 2 and 3.
The traveling carriage unit 200 includes a frame 210 to which various units of the reinforcing bar binding robot 100 are attached, drive wheels 220A and wheels 220B that come into contact with the reinforcing bars when traveling on the reinforcing bars arranged in a grid pattern, and the driving wheels. And a power generation mechanism 230 that drives 220A.

The frame 210 includes an I-shaped bottom frame 211 in a plan view, a vertical frame 212 connected to the bottom frame 211 and extending in the vertical direction, and an upper frame 213 extending in the front-rear direction connected to the upper ends of the vertical frames 212. Have
Further, two horizontal frames 213a extending in the left-right direction are attached to the bottom surface on the rear side of the upper frame 213.
In addition, in this embodiment, the cross-sectional shapes of these frames are all rectangular.

The drive wheels 220A are connected to the power generation mechanism 230 and are driven by the power generated by the power generation mechanism 230.
The drive wheel 220A includes a front drive wheel 221A provided in the front and a rear drive wheel 222A provided in the rear, and both have an H-shaped cross section.
This makes it difficult for the drive wheel 220A to be removed from the reinforcing bar.

  The wheel 220B includes a cylindrical front wheel 221B provided at the front and a cylindrical rear wheel 222B provided at the rear.

  The power generation mechanism 230 includes a rectangular parallelepiped casing 231 disposed in front of and between the bottom frame 211 and the upper frame 213, a conveyance motor 232 provided in the casing 231, and a conveyance motor 232 and the front. A transmission belt 233 that is hung on the drive wheels 221A and the rear drive wheels 222A to transmit the power of the carry motor 232 to the front drive wheels 221A and the rear drive wheels 222A, and an electric power is supplied to the carry motor 232 and the like provided in the housing 231. And a storage battery 234 for supplying.

<3.2. Rebar detection unit, control unit and intersection detection unit>
Next, the reinforcing bar detection unit, the control unit 600, and the intersection detection unit will be described based on FIGS. 2 and 3.
All of these three units are mounted on the frame 210.

  The rebar detection unit is a contact type detection unit, and includes a front rebar detection unit 300A arranged in front of the front drive wheel 221A and a rear rebar detection unit 300B arranged behind the rear drive wheel 222A.

  The control unit 600 is mounted on the rear side of the upper frame 213, and controls the input unit 610 for inputting the traveling state of the reinforcing bar binding robot 100, the transport motor 232 of the traveling carriage unit 200, the electric tool operating unit, and the like. And a control unit (not shown).

<3.3. Power tool holding unit>
Next, the electric tool holding unit will be described with reference to FIGS.

<3.3.1. Arrangement of power tool holding unit>
First, the arrangement of the electric tool holding unit will be described with reference to FIG.
Two electric tool holding units are provided in the reinforcing bar binding robot 100.
One of the electric tool holding units is a left binding machine holding unit 400L attached to the left upper frame 213, and the other is a right binding machine holding unit 400R attached to the right upper frame 213.

These electric tool holding units are mounted on the frame 210, as shown in FIG.
As a result, the reinforcing bar binding robot 100 can hold two reinforcing bar binding machines BD.

Further, the left binding machine holding unit 400L and the right binding machine holding unit 400R are arranged at positions symmetrical with respect to the center line L in the left-right direction of the reinforcing bar binding robot 100.
In addition, the left binding machine holding unit 400L and the right binding machine holding unit 400R are arranged such that the arrangement positions in the front-rear direction are the same.
As a result, a region surrounded by the arm AM of the reinforcing bar binding machine BD attached to the left binding machine holding unit 400L and the curl guide CG (left binding area XL) and the reinforcing bar binding machine attached to the right binding machine holding unit 400R. A region surrounded by the arm AM of the BD and the curl guide CG (right binding region XR) is located on the same straight line in a plan view, as shown in FIG.

<3.3.2. Structure of power tool holding unit>
Next, the structure of the electric tool holding unit will be described with reference to FIG.
The left binding machine holding unit 400L and the right binding machine holding unit 400R are similar in structure except for the disposition position. Therefore, the structure of the electric tool holding unit of the left binding machine holding unit 400L will be described below.

As shown in FIGS. 2 and 3, the left binding machine holding unit 400L is a flat base plate that is connected to the horizontal frame 213a and has an inverted L-shaped base 410 in a side view and a vertical surface 410a of the base 410. And 420.
Further, as shown in FIG. 4, the left binding machine holding unit 400L has a cushioning member 430, a suspension pin (suspension member) 440, and a positioning pin 450, which are attached to the base plate 420, respectively.
Further, the left binding machine holding unit 400L has a hinge 460, one end of which is attached to the upper portion of the base plate 420, a fall prevention cover (fall prevention member) 470 connected to the other end of the hinge 460, and the fall prevention cover 470. It has an engagement pin 480 that engages with, and a cover lock (lock member) 490 that fixes the position of the fall prevention cover 470.

  As shown in FIG. 3, the vertical surface 410a of the base 410 is inclined toward the center line L in the left-right direction in a plan view, and the distance between the left and right vertical surfaces 410a is narrowed toward the front.

Since the base plate 420 is attached to the vertical surface 410a of the base portion 410, the base plate 420 provided on the left binding machine holding unit 400L is also inclined toward the center line L in the left-right direction, and left and right toward the front. The distance between the base plates 420 is narrowed.
Therefore, hereinafter, on the base plate 420, as shown in FIG. 3 and the like, the direction toward the center line L is referred to as the “center side”, and the direction away from the center line L is referred to as the “far side”.
Further, as shown in FIG. 3 and the like, of the directions orthogonal to the “center side” and the “far side”, the direction toward the center line L is “inside”, and the direction away from the center line L is “outside”. Call.

The cushioning member 430 is a resin member, and contacts the reinforcing bar binding machine BD when the reinforcing bar binding machine BD is mounted.
The cushioning member 430 has a rectangular upper cushioning member 431 that comes into contact with the grip BG of the reinforcing bar binding machine BD, and a rectangular shape that is provided below the upper cushioning member 431 and comes into contact with the magazine holder MH of the reinforcing bar binding machine BD. The lower buffer member 432.

  The suspension pins 440 are members that hold the reinforcing bar binding machine BD in a suspended state when the reinforcing bar binding machine BD is attached, and two suspension pins 440 are attached to the base plate 420.

The positioning pins 450 are members that position the reinforcing bar binding machine BD by preventing the reinforcing bar binding machine BD from rattling in the vertical direction when the reinforcing bar binding machine BD is mounted, and two positioning pins 450 are attached to the base plate 420.
The two positioning pins 450 are provided above the suspension pin 440.
The vertical distance between the positioning pin 450 and the suspension pin 440 is substantially equal to the width of the grip BG of the reinforcing bar binding machine BD.

The fall prevention cover 470 is a member that presses the reinforcing bar binding machine BD, and is rotatable in the vertical direction by a hinge 460.
Here, the state in which the fall prevention cover 470 is rotated above the base plate 420 so that the reinforcing bar binding machine BD can be attached is defined as an "open state", and the fall prevention cover 470 is rotated below the base plate 420 to engage. A state in which the pin 480 is engaged is defined as a “closed state”.
The captive cover 470 is made of resin and has a cover-side cushioning member 471 on the surface facing the reinforcing bar binding device BD when the cap 470 is rotated downward in a state where the reinforcing pin binding device BD is suspended. have.

The cover lock 490 is a member attached to the captive cover 470, and has a knob 491 exposed to the outside, an engagement hole 492 that engages with the engagement pin 480, and a lock mechanism 493.
In this cover lock 490, by rotating the knob 491, the lock mechanism 493 can be operated to fix the engagement state of the cap 470 and the engagement pin 480.

<3.4. Electric tool operation unit>
Next, the electric tool operating unit will be described based on FIG. 3 and FIG.

<3.4.1. Arrangement of power tool operating unit>
First, the arrangement of the electric tool operating unit will be described with reference to FIG.
Two power tool operating units are provided in the reinforcing bar binding robot 100, similarly to the power tool holding unit.
One of the power tool operating units is a left binding machine operating unit 500L attached to the left upper frame 213, and the other is a right binding machine operating unit 500R attached to the right upper frame 213.

These electric tool operating units are mounted on the frame 210, as shown in FIG.
As a result, the reinforcing bar binding robot 100 can operate the two reinforcing bar binding machines BD.

<3.4.2. Structure of power tool operating unit>
Next, the structure of the power tool operating unit will be described with reference to FIG.
The left binding machine operation unit 500L and the right binding machine operation unit 500R are similar in structure only in the disposition position, and therefore, the structure of the left binding machine operation unit 500L will be described below.

  The left binding machine operation unit 500L includes a drive motor 510 (see FIG. 3) provided on the vertical surface 410a of the left binding machine holding unit 400L and a vertical direction provided on the center side of the vertical surface 410a of the left binding machine holding unit 400L. And a drive rack 520 that moves on a rail 411 extending to the.

A drive gear 511 is attached to the tip of the drive motor 510, and the drive gear 511 also rotates as the drive motor 510 rotates.
It should be noted that the drive motor 510 is provided inside the vertical surface 410a of the left binding machine holding unit 400L as shown in FIG. 3, and the drive gear 511 is as shown in FIG. It is provided outside 410a.

The drive rack 520 is a member that meshes with the drive gear 511, and moves up and down on the rail 411 as the drive gear 511 rotates.
On this drive rack 520, a coupling plate 521 for mounting the base plate 420 of the left binding machine holding unit 400L, a trigger drive arm 522 for operating the trigger BT of the reinforcing bar binding machine BD, and a rail of the left binding machine holding unit 400L. A slider 523 that engages with 411 is attached.
The coupling plate 521 and the trigger drive arm 522 are attached to the outside of the drive rack 520, and the slider 523 is attached to the inside of the drive rack 520.

A trigger drive pin 522a that comes into contact with the trigger BT of the reinforcing bar binding machine BD is provided at an end portion on the center side of the trigger drive arm 522, and a rotation shaft 522b is provided at an end portion on the far side of the trigger drive arm 522. Has been.
As a result, the trigger drive arm 522 is rotatable with respect to the drive rack 520.

  When the base plate 420 is attached to the coupling plate 521 of the drive rack 520, the trigger drive pin 522a is formed in the center side of the base plate 420 and is inserted into an opening 421 extending in the vertical direction as shown in FIG. .

Further, as shown in FIG. 5, the left binding machine operation unit 500L has a U-shaped pin receiver 530 in a front view at the center-side bottom portion of the vertical surface 410a of the left binding machine holding unit 400L.
The pin receiver 530 is a member that comes into contact with the trigger drive pin 522a when the drive rack 520 descends in the vertical direction.

<4. Reinforcement binding machine installation procedure and holding>
Next, a mounting procedure and holding of the reinforcing bar binding machine BD will be described based on FIGS. 6 to 9.
6 to 8 are schematic views showing a procedure for attaching the reinforcing bar binding machine to the reinforcing bar binding robot according to the first embodiment of the present invention, and FIG. 9 shows the binding machine holding unit viewed from the line IX-IX in FIG. It is a sectional view in the state where the rebar binding machine was attached.

<4.1. Reinforcing bar binding machine installation procedure>
First, the mounting procedure of the reinforcing bar binding machine BD will be described with reference to FIGS. 6 to 8.
When the reinforcing bar binding machine BD is attached to the reinforcing bar binding robot 100, first, as shown in FIG. 6, the fall prevention cover 470 is opened from the base plate 420 as described above.

In this state, as shown in FIG. 6, the reinforcing bar binding machine BD is inserted into the binding machine holding unit 400 so that the suspension pin 440 and the trigger drive pin 522a are inserted into the gripping space A of the reinforcing bar binding machine BD.
As a result, as shown in FIG. 7, the reinforcing bar binding machine BD is suspended on the suspension pins 440, the position of the grip BG is fixed by the positioning pins 450, and the reinforcing bar binding machine BD is held by the binding machine holding unit 400.

Next, the fall prevention cover 470 is rotated downward to be in the above-mentioned closed state.
At this time, the engagement pin 480 inserts the engagement hole 492 of the cover lock 490 attached to the drop-out prevention cover 470.
As a result, the state shown in FIG. 8 is achieved, and the reinforcing bar binding machine BD is unlikely to fall off from the electric tool holding unit (the left binding machine holding unit 400L, the right binding machine holding unit 400R).

Next, the knob 491 of the cover lock 490 is rotated to activate the lock mechanism 493.
As a result, the engagement state between the captive cover 470 and the engagement pin 480 is fixed, and the closed state is fixed.
As described above, the attachment of the reinforcing bar binding machine BD to the electric tool holding unit is completed.

<4.2. Reinforcing bar binding machine>
Next, the holding of the reinforcing bar binding machine BD in a state where the reinforcing bar binding machine BD is attached to the electric tool holding unit will be described based on FIG. 9 and the like.
As shown in FIG. 9, in the closed state, the grip BG of the reinforcing bar binding machine BD is clamped by the upper cushioning member 431 of the binding machine holding unit 400 and the cover-side cushioning member 471 of the fall prevention cover 470.
Further, the magazine holder MH of the reinforcing bar binding machine BD is also clamped by the lower cushioning member 432 and the fall prevention cover 470.

Further, as shown in FIG. 2, in the state in which the reinforcing bar binding machine BD is attached to the electric tool holding unit, the fall prevention cover 470 does not cover the battery BB of the reinforcing bar binding machine BD.
That is, the battery BB of the reinforcing bar binding machine BD is exposed when the reinforcing bar binding machine BD is attached to the electric tool holding unit.

<5. Binding operation>
Next, an outline of the reinforcing bar binding operation by the reinforcing bar binding robot 100 equipped with the reinforcing bar binding machine BD will be described with reference to FIG.

When the reinforcing bar binding is performed, the reinforcing bar binding machine BD is moved to a state in which the arm AM of the reinforcing bar binding machine BD and the curl guide CG do not come into contact with the reinforcing bar, and the reinforcing bar binding robot 100 runs on the reinforcing bar.
Then, the reinforcing bar binding robot 100 stops traveling on the reinforcing bar when the binding area of the left and right reinforcing bar binding machines BD coincides with the intersection of the reinforcing bars.

In this state, the drive motor 510 of the power tool operating unit (the left binding machine operating unit 500L, the right binding machine operating unit 500R) is driven to move the drive rack 520 engaged with the drive gear 511 along the rail 411. By lowering the drive rack 520, the base plate 420 mounted on the coupling plate 521 of the drive rack 520 also lowers.
Therefore, the reinforcing bar binding machine BD descends toward the intersection of the reinforcing bars.

When the drive rack 520 descends to some extent, the trigger drive pin 522a of the electric tool operating unit contacts the pin receiver 530.
When the drive rack 520 is further lowered in this state, the position of the trigger drive pin 522a is changed because the pivot shaft 522b is provided in the trigger drive arm 522 and the opening 421 is provided in the base plate 420. Only the driving rack 520 and the base plate 420 are lowered without being moved.
By this operation, the trigger BT is pulled, and the crossing portion of the reinforcing bars is bound.

  Since the intersections of the reinforcing bars with respect to the running direction are provided at equal intervals, this binding operation is performed every time the reinforcing bar binding robot 100 travels at predetermined equal intervals.

<6. Effect of this embodiment>
According to the reinforcing bar bundling robot 100 of the present embodiment described above, it is possible to automate the repetitive work in which the predetermined work is repeated, so that it is possible to reduce the number of personnel engaged in the repetitive work.
Furthermore, even if there is a problem with the rebar tying machine BD, which is a hand-held power tool, repetitive work can be restarted simply by replacing the rebar tying machine BD. As compared with the automatic reinforcing bar binding robot, the repair time of the reinforcing bar binding robot 100 can be shortened, and the work efficiency of repetitive work can be improved.

  Further, when the reinforcing bar binding machine BD is held by the reinforcing bar binding robot 100, it is only possible to suspend the reinforcing bar binding machine BD on the suspension pin 440 which is a suspension member, so that the reinforcing bar binding machine BD can be simply and easily installed in the reinforcing bar binding robot 100. Can be installed.

  Further, since the fall prevention cover 470, which is a fall prevention member, constantly presses the reinforcing bar binding machine BD, the reinforcing bar binding machine BD is prevented from falling off due to vibration that occurs while the reinforcing bar binding robot 100 is self-propelled. The automation of repetitive work can be realized for a long time.

  Further, the battery of the reinforcing bar binding machine BD can be replaced without removing the cap 470, and when the battery of the reinforcing bar binding machine BD is replaced, the reinforcing bar binding machine BD is moved to the electric tool holding unit (left binding machine holding unit 400L, right side). Since it is not necessary to remove the binding machine holding unit 400R), the battery replacement time can be shortened and the efficiency of repetitive work by the reinforcing bar binding robot 100 can be improved.

  Further, in addition to facilitating attachment / detachment of the reinforcing bar binding machine BD to / from the electric tool holding unit, the reinforcing bar binding machine BD is securely held on the electric tool holding unit while the reinforcing bar binding machine BD is held on the electric tool holding unit. Since this is possible, both usability and reliability of the reinforcing bar binding robot 100 can be achieved.

  Further, even if the reinforcing bar binding machine BD is vigorously held by the electric tool holding unit, since the shock absorbing member 430 absorbs the impact of the reinforcing bar binding machine BD, damage to the reinforcing bar binding machine BD and the reinforcing bar binding robot 100 is prevented. You can

Next, a reinforcing bar bundling robot 100A that is a second embodiment of the present invention will be described with reference to FIG. 10 that is a second embodiment of the present invention.
FIG. 10 is a plan view of a reinforcing bar binding robot according to a second embodiment of the present invention.
Note that the reinforcing bar binding robot 100A of the second embodiment is one in which the position of the binding machine holding unit in the reinforcing bar binding robot 100 of the first example is changed to change the arrangement position of the reinforcing bar binding machine. Since it is common to the reinforcing bar binding robot 100 of the first embodiment, detailed description of common items will be omitted, and only the common two hundreds of the last two digits will be given.

  As shown in FIG. 10, the rebar binding robot 100A of the second embodiment also has two electric tool holding units.

One of the electric tool holding units is a left binding machine holding unit 400L attached to the left rear side in plan view, as in the reinforcing bar binding robot 100 of the first embodiment.
The other of the electric tool holding units is a right binding machine holding unit 400R attached to the front of the right side in plan view, unlike the reinforcing bar binding robot 100 of the first embodiment.
Also in the reinforcing bar binding robot 100A of the second embodiment, the area (left binding area XL) surrounded by the arm AM of the reinforcing bar binding machine BD attached to the left binding machine holding unit 400L and the curl guide CG, and the right binding. An area (right binding area XR) surrounded by the arm AM of the reinforcing bar binding machine BD attached to the machine holding unit 400R and the curl guide CG is located on the same straight line in a plan view.

  By arranging the electric tool holding unit in this way, the magazine covers MC of the two reinforcing bar binding machines BD face outward, and while the two reinforcing bar binding machines BD are held by the electric tool holding unit, It is possible to replace the wire reel WR.

<Modification>
Although the embodiments of the present invention have been described above, the present invention is not limited to the above.

  For example, in the above-described embodiment, the frame is a combination of four frames, but it may be integrally molded from the beginning.

  For example, the number of drive wheels and the number of wheels are not limited to those in the above-described embodiments.

For example, in the above-described embodiment, the reinforcing bar detection unit is provided in front of and behind the drive wheel, but it may be provided in only one of the front and the rear.
In addition, the reinforcing bar detection unit may be provided in front of and behind the wheel, or may be provided in front of and behind the drive wheel and the wheel.
Also in this case, the reinforcing bar detection unit may be provided on only one side.

  For example, in the above-described embodiment, the columnar suspension pin was used as the suspension member, but the suspension member is not limited to the pin, and any shape may be used as long as the reinforcing bar binding machine can be suspended. Good.

100, 100A ... Rebar binding robot (self-propelled work robot)

200 ... Traveling carriage unit 210 ... Frame 211 ... Bottom frame 212 ... Vertical frame 213 ... Top frame 213a ... Horizontal frame 220A ... Drive wheel 221A ... Front drive wheel 222A ... rear drive wheels 220B ... wheels 221B ... front wheels 222B ... rear wheels 230 ... power generation mechanism 231 ... housing 232 ... transport motor 233 ... transmission belt 234 ...・ Battery

300A ・ ・ ・ Front rebar detection unit (rebar detection unit)
300B ・ ・ ・ Rear reinforcing bar detection unit (reinforcing bar detection unit)

400L ・ ・ ・ Left side binding machine holding unit (electric tool holding unit)
400R ・ ・ ・ Right side binding machine holding unit (electric tool holding unit)
410 ... Base 410a ... Vertical surface 411 ... Rail 420 ... Base plate 421 ... Opening 430 ... Buffer member 431 ... Upper buffer member 432 ... Lower buffer member 440 ... Suspension pin (suspension member)
450 ・ ・ ・ Positioning pin 460 ・ ・ ・ Hinges 470 ・ ・ ・ Dropout prevention cover (Dropout prevention member)
471 ... Cover side cushioning member 480 ... Engaging pin 490 ... Cover lock (lock member)
491 ... Knob 492 ... Engagement hole 493 ... Lock mechanism

500L ・ ・ ・ Left side binding machine operation unit (power tool operation unit)
500R ・ ・ ・ Right side binding machine operation unit (power tool operation unit)
510 ... drive motor 511 ... drive gear 520 ... drive rack 521 ... coupling plate 522 ... trigger drive arm 522a ... trigger drive pin 523 ... slider 530 ... pin receiver

600 ... Control unit 610 ... Input section

BD: Reinforcing bar binding machine (hand-held electric tool)
BM ・ ・ ・ Main body BB ・ ・ ・ Battery BT ・ ・ ・ Trigger BG ・ ・ ・ Grip AR ・ ・ ・ Arm CG ・ ・ ・ Curl guide MC ・ ・ ・ Magazine cover MH ・ ・ ・ Magazine holder WR ・ ・ ・ Wire reel A: Gripping space

L ・ ・ ・ Center line in the left-right direction XL ・ ・ ・ Left binding area XR ・ ・ ・ Right binding area

Claims (5)

A self-propelled work robot that includes a traveling carriage unit that travels on a traveling surface, and that repeats a predetermined work with an electric tool having a grip and a trigger provided on the front side of the grip,
The traveling carriage unit includes an electric tool holding unit that detachably holds the electric tool, an electric tool operating unit that operates the electric tool, and a control unit that controls the traveling carriage unit and the electric tool operating unit. Equipped with,
The electric tool holding unit holds a suspension member for holding the grip of the electric tool in a suspended state, and a rotatable fall-off preventing member for laterally pressing the grip of the electric tool in a state of being suspended by the suspension member. Has and
It said stopper member is a freely attached to the electric tool in the open state of the stopper member prevents the falling off of the power tool in the closed state of the stopper member, Ri member der retractable,
The power tool holding unit has a positioning pin formed above the suspension member to suppress vertical play of the power tool,
A self-propelled work robot , wherein a vertical gap between the positioning pin and the suspension member is equal to a width of a grip of the electric tool .   The self-propelled work robot according to claim 1, wherein the fall prevention member is provided in a state where the battery of the electric tool is exposed.   The self-propelled work robot according to claim 1 or 2, wherein the electric tool holding unit has a lock mechanism for fixing the closed state of the drop-out prevention member.   The self-propelled device according to any one of claims 1 to 3, wherein the power tool holding unit has a cushioning member that comes into contact with the power tool when holding the power tool. Work robot. The running surface is a reinforcing bar arranged in a lattice,
The self-propelled work robot according to any one of claims 1 to 4 , wherein the electric power tool is a reinforcing bar binding machine.