JP7327845B1 - Self-propelled robot for seam tightening - Google Patents

Abstract

The object of the present invention is to reliably carry out seam-fastening work up to the terminal end of a folded-plate roof material and to stop it reliably to prevent it from falling down, and to reliably prevent it from slipping down when working on an inclined roof board. To provide a self-propelled robot for seam tightening. A grooved plate portion and a mountain plate portion are alternately arranged, and a lower seam portion is formed on the top surface portion of the mountain plate portion on one end side and an upper seam portion is formed on the top surface portion of the mountain plate portion on the other end side. Folded-plate roof materials each having a seam portion are arranged in parallel to straddle a seam portion formed by engaging the lower seam portion and the upper seam portion of the mutually adjacent folded-plate roof materials. A traveling unit 110, a main unit 120, a drive unit, a control unit, an operation unit 150, and an upper seam portion that travels between the groove plate portion of one of the folded-plate roof materials and the groove plate portion of the other folded-plate roof material. Self-propelled seam tightening robot 100 equipped with a sensor unit 160 having an end sensor portion for detecting the end portion by being placed on a flat portion of the seam. [Selection drawing] Fig. 1

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a seam-fastening self-propelled robot that self-propelled and seams a seam-fastening portion of a folded-plate roof material by electric power.

Conventionally, as an electric seam tightening machine, a seam tightening support roller whose rotating shaft is fixed to the frame and two pre-bending rollers arranged in front and behind it are provided, and an opening and closing side support plate that can be opened and closed with respect to the frame Equipped with a seam roller with a rotating shaft fixed to it and two pre-bending rollers arranged in front and behind it. There is known a device in which the power of an electric motor rotated by electric power supplied from a roller is transmitted to each roller by changing the direction of the rotating shaft using a bevel gear (see Patent Document 1).

JP-A-11-47853

However, although Patent Document 1 discloses that when the tip of the folded-plate roof material is reached by a detection device, it is caused to travel in the opposite direction and automatically stop to eliminate the fear of falling, but the detection device does not provide the disclosure. It lacks reliability because the specific configuration and effects of are unknown. In addition, since the weight of the electric seam tightener as a whole is large, there is a danger that the machine will idle due to inertia and fall from the stop control to the actual stop. Furthermore, when performing seam tightening work on an inclined folded-plate roof material, there is a concern that if the stopped state is not properly maintained, it may slide down from the folded-plate roof material, leading to damage or an accident. In addition, because it is equipped with a bevel gear to transmit the power of the horizontally placed electric motor to multiple rollers whose rotating shafts are vertical, the overall weight of the seam tightener is heavy, so it is easy to fall off the folded plate roof material. Or the danger of slipping is great. Since the above-mentioned problems are inherent in the conventional technology, the operator is required to constantly monitor near the electric seam tightener and turn it on and off as necessary, which reduces work efficiency and reduces work efficiency. There was a problem of increased cost.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to solve the above-described problems of the prior art. To provide a seam tightening self-propelled robot capable of stopping to prevent falling and surely preventing sliding down when working on an inclined roof board.

In the invention according to claim 1, grooved plate portions and mountain plate portions are alternately arranged, and a lower seam portion is provided on the top surface portion of the mountain plate portion on one end side of the mountain plate portion on the other end side. Folded plate roofing materials each having an upper seam portion consisting of an upright portion, a flat portion continuing to the upright portion, and a seamed portion hanging down from the flat portion on the top surface portion are arranged in parallel and the folds adjacent to each other are arranged in parallel. The grooved plate portion of one of the folded-plate roof materials and the other of the folded-plate roof members straddles the seam portion formed by engaging the lower seam portion and the upper seam portion of the plate roof materials. an opening/closing base portion disposed above the seam portion of the folded-plate roof material and pivoted so as to be freely opened and closed; and the opening/closing base portion. a main body unit fixed to the upper part of the traveling unit, the main unit being rotatably disposed on the support base portion and abutting on the upright portion of the folded plate roof material. A drive comprising at least a seam tightening roller portion rotatably disposed on the support roller portion and the opening/closing base portion to press the seam portion, and a motor portion for driving the support roller portion and the seam tightening roller portion. a unit, a control unit arranged in the main body unit for controlling the operation of the drive unit, an opening/closing handle section pivotally fixed to the main body unit so as to be able to rise and fall, and the opening/closing handle integrally coupled to the opening/closing substrate section. At least an operation unit consisting of a link portion pivotally fixed to the upper seam portion and a start switch for starting seam tightening work, and an end sensor portion placed on the flat portion of the upper seam portion to detect the end portion. and a self-propelled robot for seam tightening , wherein the seam tightening roller portion seams the seamed portion along the longitudinal direction of the folded plate roof material, wherein the seam tightening roller portion However, it consists of a large seam roller, a medium pre-bending roller and a small pre-bending roller. A brake in which a roller, a middle pre-bending roller, and a small pre-bending roller are arranged in this order, and the driving unit abuts on the upright portion of the folded plate roof material at a position facing the small pre-bending roller of the support base portion. The provision of a braking portion having a shoe solves the aforementioned problems.

According to a second aspect of the invention, in addition to the configuration of the first aspect, the support roller portion is composed of a plurality of support rollers having the same diameter, and the large seam-fastening roller and the pre-bending roller are provided. The aforementioned problems are solved by arranging the respective rotation shafts facing the middle rollers and on a straight line in the running direction.

The invention according to claim 3 is, in addition to the configuration of the invention according to claim 1 or claim 2 , when the control unit controls the motor to stop, the open/close handle is opened. The above-described problems are further solved by controlling the brake portion to release when the opening/closing handle portion is operated to close the brake portion.

The invention according to claim 4 is, in addition to the configuration of the invention according to claim 1 or claim 2 , when the control unit is in the closed position and the start switch is operated, release control of the brake unit and drive control of the motor unit, and control of stopping the motor unit and the brake when the end sensor unit detects the end portion when the motor unit is under drive control; The above-described problems are further solved by controlling the braking of the parts.

In the invention according to claim 5 , in addition to the configuration of the invention according to claim 1 or claim 2 , the sensor unit further includes a bumper sensor section that detects an obstacle in the traveling direction, and the control unit When the start switch is operated when the bumper sensor unit does not detect an obstacle, the brake unit is controlled to be in a released state and the motor unit is driven and controlled to drive and control the motor unit. In this case, when the bumper sensor section detects an obstacle, the brake section is controlled to brake and the motor section is controlled to stop, thereby further solving the above-described problems.

According to the seam tightening self-propelled robot of the present invention, the grooved plate portion and the mountain plate portion are alternately arranged, and the lower seam portion is formed on the top surface portion of the mountain plate portion on the one end side. Folded-plate roofing materials are arranged in parallel, each having an upper seam portion consisting of an upright portion, a flat portion continuing to the upright portion, and a seamed portion hanging down from the flat portion on the top surface of the mountain plate portion on the end side. The grooved plate portion of one folded plate roof material and the other folded plate straddle the seam portion formed by engaging the lower seam portion and the upper seam portion of the mutually adjacent folded plate roof materials. A traveling unit equipped with a caster portion that travels along the groove plate portion of the roof material, an opening/closing base portion that is arranged above the seam portion of the folded-plate roof material and is pivoted so that it can be freely opened and closed, and the opening/closing base portion. A body unit fixed to the upper part of the traveling unit with a support base portion fixed facing each other, a support roller portion rotatably arranged on the support base portion and in contact with the upright portion of the folded plate roof material, and opening and closing. A drive unit provided with at least a seam tightening roller portion that is rotatably arranged on the base portion and presses the seam tightening portion and a motor portion that drives the support roller portion and the seam tightening roller portion; A control unit that controls the operation of the unit, an open/close handle portion that is pivotally attached to the main unit, a link portion that is integrally connected to the open/close base plate portion and pivotally attached to the open/close handle portion, and a seam. By providing an operation unit consisting of a start switch for starting the tightening work, the seam tightening roller portion can self-travel along the longitudinal direction of the folded-plate roof material to tighten the seam. Alternatively, the following configuration specific to the present invention can provide the following effects specific to the present invention.

According to the seam tightening self-propelled robot of the invention according to claim 1 of the present invention, it is provided with a sensor unit having at least an end sensor portion that is placed on the flat portion of the upper seam and detects the end portion. As a result, it is possible to accurately determine the end position of seam tightening work by detecting the end portion of the flat portion adjacent to the seam portion, so that there is no uneven structure due to slight deformation or fixed parts in the folded plate roof material. Even if there is, the seamed portion can be securely tightened to the immediate vicinity of the end portion, and the seam automatically stops at the end position of the seam tightening work to prevent falling.

The seam tightening roller portion is composed of a large seam tightening roller, a medium pre-bending roller, and a small pre-bending roller , and the rotation axes of the respective rollers are positioned on a straight line in the running direction. By arranging the medium rollers, the large seam-tightening rollers, the medium pre-bending rollers, and the small pre-bending rollers in this order, the folded-plate roof material The distance away from the seam tightening part is large, and regardless of whether the seam tightening work progresses forward or backward, the pre-bent small roller that is farthest from the seam tightening part is the seam tightening part first. The small pre-bending roller, the medium pre-bending roller, and the large seam-tightening roller come into contact with and press the seam portion in order to gradually tighten it. Even when the tightening portion protrudes outward, the seam tightening work can be performed smoothly and reliably without requiring an excessive bending force.

Further, the drive unit further comprises a brake part having brake shoes at positions facing the small pre-bending rollers of the support base part and respectively abutting against the upright parts of the folded-plate roof material, so that when the brakes are applied, the The brake shoes evenly contact the uprights at both the front and rear in the direction to ensure a reliable stop, and even if the contact is uneven, the pre-bent small rollers can be positioned at the front or rear in the direction of travel. By contacting and pressing against the seam tightening part, the seam tightening part is sandwiched together with the brake shoe to assist the braking action, so that the self-propelled robot for seam tightening can be stopped more reliably when the brake is applied, and when it is tilted. To reliably prevent a seam tightening self-propelled robot from slipping down even when seam tightening work is performed on a board roof material.

According to the self-propelled seam tightening robot of the invention according to claim 2 of the present invention, in addition to the effects of the invention according to claim 1, the support roller portion is composed of a plurality of support rollers having the same diameter. The large seam tightening roller and the pre-bending intermediate roller are opposed to each other, and their respective rotation axes are positioned on a straight line in the running direction. Evenly contacting and supporting the upright part of the folded-plate roof material, the seam portion is stably sandwiched between the support roller and seam tightening roller from both sides, and the direction of movement does not fluctuate during seaming work. can run stably without

According to the self-propelled seam tightening robot of the invention according to claim 3 , in addition to the effects of the invention according to claim 1 or claim 2 , when the control unit controls the motor portion to stop, When the opening/closing handle is operated to open, the brake is controlled to be released, and when the opening/closing handle is operated to close, the opening/closing substrate is closed by the closing operation of the opening/closing handle. When the seaming portion is pressed by the seaming roller portion, the braking state of the brake portion is maintained, and the open/close base portion is released by the opening operation of the opening/closing handle portion to separate the seaming roller portion from the seaming portion. Since the brake portion is released only when the opening/closing handle portion is closed, it is possible to reliably prevent the self-propelled seam tightening robot from falling or sliding down from the folded plate roof material. To easily move a self-propelled robot for seam tightening from a seam tightening section where seam tightening work is completed to a seam tightening section where seam tightening work is performed next only by opening an opening/closing handle section. can be done.

According to the self-propelled seam tightening robot of the invention according to claim 4 , in addition to the effects of the invention according to claim 1 or claim 2 , the control unit controls the opening/closing handle when the opening/closing handle is in the closed position. When the start switch is operated, the brake is released and the motor is driven and controlled, so that the brake is released only while the motor is being driven and controlled, ensuring safe and smooth seam tightening. be able to carry out

In addition, when the control unit controls the drive of the motor unit, when the end sensor unit detects the end portion, the motor unit is controlled to stop and the brake unit is controlled to brake, thereby performing seam tightening work accompanied by traveling. To surely prevent the self-propelled seam tightening robot from falling down, because when the self-propelled seam tightening robot inside reaches the vicinity of the terminal part, it immediately and surely stops by stopping the motor part and braking the brake part. Furthermore, even when the seam tightening operation is performed on the inclined folded plate roof material, the self-propelled seam tightening robot can be reliably prevented from slipping down after stopping.

According to the self-propelled seam tightening robot of the invention according to claim 5 , in addition to the effects of the invention according to claim 1 or claim 2 , the sensor unit is a bumper sensor that detects an obstacle in the traveling direction. Since the presence of a worker or other equipment in the direction of travel is detected by further providing the portion, seam tightening work that accompanies travel can be safely performed.

In addition, when the start switch is operated when the bumper sensor does not detect an obstacle, the control unit controls the release of the brake unit and controls the drive of the motor unit, so that when the start switch is operated Since seam tightening work involving running is started only when there is no worker or other equipment in the direction of travel, safety can be ensured at the start of seam tightening work.

Furthermore, when the bumper sensor unit detects an obstacle while the motor unit is under drive control, the brake unit is brake-controlled and the motor unit is stopped. When there are workers or other equipment on the floor, the motor stops and brakes brake immediately and reliably, so safety can be ensured. It is possible to reliably prevent the self-traveling robot for seam tightening from slipping down after stopping even during tightening work.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram showing how a seam tightening self-propelled robot according to the present invention seams a folded-plate roof material. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory view showing the internal structure of a seam tightening self-propelled robot according to the present invention; Schematic explanatory view showing the relationship between the opening and closing handle portion and the seam tightening roller portion of the self-propelled seam tightening robot according to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic cross-sectional view showing the configuration of a drive unit of a seam tightening self-propelled robot according to the present invention; FIG. 2 is a schematic bottom view showing the configuration of the drive unit of the seam tightening self-propelled robot according to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a functional block diagram showing the system configuration of a seam tightening self-propelled robot according to the present invention; FIG. 4 is a flowchart showing the first half of the control of the self-propelled seam tightening robot according to the present invention; FIG. 4 is a flowchart showing the latter half of the control of the seam tightening self-propelled robot according to the present invention.

The present invention reliably performs seam-fastening work up to the terminal end of a folded-plate roof material and reliably stops the roofing material to prevent it from falling. Any specific embodiment may be used as long as it is possible.

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

In addition, the end sensor section of the present invention is composed of a rod-shaped portion projecting obliquely downward and biased downward by a spring, and a cylindrical portion attached to the tip of the rod-shaped portion so as to be rotatable about a horizontal axis. Any sensor may be used as long as it can detect the end portion of the flat portion of the folded-plate roof material and determine the end position of the seam tightening operation.

A self-propelled seam tightening robot 100 according to an embodiment of the present invention will be described below with reference to FIGS. 1 to 8. FIG.
Here, FIG. 1 is a schematic diagram showing how the seam tightening self-propelled robot according to the present invention seams a folded plate roof material, and FIG. FIG. 3 is an explanatory diagram showing the internal structure, FIG. 3 is a schematic explanatory diagram showing the relationship between the opening and closing handle portion and the seam tightening roller portion of the self-propelled seam tightening robot according to the present invention, and FIG. 5 is a schematic bottom view showing the configuration of the drive unit of the seam tightening self-propelled robot; FIG. FIG. 7 is a functional block diagram showing the system configuration of the seam tightening self-propelled robot according to the present invention. FIG. [FIG. 2] is a flowchart showing the latter half of the control of the self-propelled seam tightening robot according to the present invention;

Here, before explaining the details of the seam tightening self-propelled robot 100 according to the present embodiment, first, the folded plate roof material R to be seamed by the seam tightening self-propelled robot 100 will be explained. do.
As shown in FIGS. 2 and 3, the folded-plate roof material R is formed by alternately arranging grooved plate portions Rb and mountain plate portions Rm. The top surface portion Rmt of Rm is provided with a lower seam 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 with the upright portion Ruv, and the flat portion Ruh. An upper seam Ru consisting of a seamed part Ruc hanging down from the part Ruh is provided. A seam portion Rf is formed by engaging the lower seam portion Rd and the upper seam portion Ru of the mutually adjacent folded-plate roof materials R and interposing a hanger H at a required location.

Next, the configuration of the seam tightening self-propelled robot 100 according to the present embodiment will be described. The seam tightening self-propelled robot 100 is a robot that operates by receiving electric power from the outside through a power cord (not shown), and as shown in FIG. The seam-fastened portion Rf is seamed while self-traveling along the longitudinal direction of the folded-plate roof 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 of the self-propelled seam tightening robot 100 for seam tightening and running, and the main body unit 120 It has a control unit 140 arranged to control the operation of the drive unit 130, and further has an operation unit 150 for commanding the operation of the seam tightening self-propelled robot 100 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 support legs 111 for supporting the main body unit 120 in an upright position, and is fixed to the support legs 111 and straddles the seam portion Rf. Caster portions 112 are provided to run on one and the other of the grooved plate portions Rb, respectively, and the caster portions 112 allow the folded-plate roof material R to move along the longitudinal direction.

The main unit 120 is fixed to the upper portion of the support leg portion 111 of the traveling unit 110, and includes a housing portion 121 that houses the drive unit 130 and the control unit 140, and a housing portion 121 that is arranged above the seam portion Rf. An opening/closing substrate portion 123 pivoted to the portion 121 so as to be freely opened and closed, and a supporting substrate portion 122 fixed to the housing portion 121 facing the opening/closing substrate portion 123 are provided. The surfaces are protected by an upper cover portion 124 and front and rear cover portions 125, respectively.
2, the upper cover portion 124 and the front and rear cover portions 125 are removed to show the internal structure.

As shown in FIGS. 3 to 5, the drive unit 130 includes a support motor portion 131, a support transmission portion 132, and a support roller portion 133 fixed to the support substrate portion 122 of the main unit 120, and fixed to the opening/closing substrate portion. A seam tightening motor portion 134 , a seam tightening transmission portion 135 , a seam tightening roller portion 136 and a brake portion 137 are further provided.

The support motor section 131 transmits the rotational force to the support roller section 133 via the support transmission section 132 .

As shown in FIG. 4, the support transmission section 132 is fixed to a main shaft 132b or a shaft 132c perpendicular to the support substrate section 122 by coupling the rotating shaft of the support motor section 131 to a main shaft 132b through a coupling 132a. 132d and 132e, which are alternately arranged on the upper surface of the support base portion 122, are rotatably fixed in a state of being engaged with each other, and are formed of spur gears. It is configured to transmit

As shown in FIG. 5, the support roller portion 133 is exposed and fixed to the lower surface side of the support substrate portion 122 so as to rotate in conjunction with the support large-diameter gear 132d by the main shaft 132b or the shaft 132c. 133a, 133b, and 133c having the same diameter as each other. are arranged so as to line up with

At positions corresponding to the support rollers 133a, 133b, and 133c, three pressing rollers 133d are rotatably fixed about a horizontal axis to contact the flat portion Ruh of the seam portion Rf from above. Note that the rotational force of the support motor portion 131 is not transmitted to the pressing roller 133d.

The seam tightening motor portion 134 transmits the rotational force to the seam tightening roller portion 136 via the seam tightening transmission portion 135 . Note that the support motor portion 131 and the seam tightening motor portion 134 are collectively referred to as a motor portion.

As shown in FIG. 4 , the seam tightening transmission section 135 couples the rotation shaft of the seam tightening motor section 134 to a main shaft 135 b through a coupling 135 a to connect the main shaft 135 b or It is fixed to the shaft 135c and arranged alternately on the upper surface side of the opening/closing base plate portion 123. The seam large-diameter gear 135d and the seam are rotatably fixed in a mutually engaged state and both are spur gears. The rotation force is sequentially transmitted to the tightening small-diameter gear 135e.

As shown in FIG. 5, the seam tightening roller portion 136 is composed of a seam large roller 136a, a pre-bending medium roller 136b and a pre-bending small roller 136c having mutually different diameters. The large seam tightening roller 136a and the intermediate pre-bending roller 136b are exposed to the lower surface side of the opening/closing board portion 123 so as to rotate in conjunction with the seam large diameter gear 135d by the main shaft 135b or the shaft 135c. On the other hand, the pre-bending small roller 136c is exposed on the lower surface side of the opening/closing board portion 123 by the shaft 135c and is rotatably fixed. is not transmitted.

The rotating shafts of the large seam tightening roller 136a, the medium pre-bending roller 136b and the small pre-bending roller 136c are arranged on a straight line in the running direction, and the small pre-bending roller 136c, the medium pre-bending roller 136b and the large seam tightening roller 136a are arranged. , a middle pre-bending roller 136b, and a small pre-bending roller 136c.

The brake portion 137 is exposed on the lower side of the support substrate portion 122 and is composed of a front brake 137F and a rear brake 137R arranged at positions facing the two pre-bending small rollers 136c. The front brake 137F and the rear brake 137R are respectively moved forward and backward by the front brake solenoid 137Fa to contact the upright portion Ruv of the folded plate roof material R, and the front brake shoe 137Fb and the rear brake solenoid 137Ra are moved forward and backward to contact the upright portion Ruv of the folded plate roof. A rear brake shoe 137Rb abutting the upright portion Ruv of the material R is provided.

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

As shown in FIGS. 2 and 3, the operation unit 150 includes a fixed handle portion 151 fixed upright to the main body unit 120, an open/close handle portion 152 pivoted to the main unit 120 so that it can be raised and lowered, and an open/close base plate portion 123. It is provided with a link portion 153 which is integrally connected to the opening/closing handle portion 152 and pivotally fixed to the open/close handle portion 152 and an input portion 154 for inputting an operation command to the seam tightening self-propelled robot 100 .

The open/close handle portion 152 is rotatably pivoted by a link portion 153 that is rotatably fixed by an operator's operation of lowering it from the open position (two-dot chain line in FIG. 3) to the closed position (solid line in FIG. 3). to fix the opening/closing board portion 123 in its closed position.

Therefore, when the opening/closing board portion 123 is fixed to the closed position, the seam tightening motor portion 134, the seam tightening transmission portion 135, and the seaming roller portion 136 fixed to the opening/closing board portion 123 are As it moves, the seam tightening roller portion 136 comes into contact with the seam tightening portion Ruc of the seam tightening portion Rf of the folded-plate roof material R, and is fixed in a pressing arrangement.

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. I have.

The sensor unit 160 includes a bumper sensor section 161 consisting of a front bumper sensor 161F and a rear bumper sensor 161R for detecting obstacles in the direction of travel during forward or backward movement while performing seam fastening work, and a bumper sensor section 161 and a bumper sensor 161. An end sensor section 162 comprising a front end sensor 162F and a rear end sensor 162R for detecting the end portion Rue of the flat portion Ruh of the folded plate roof material R when moving forward or backward while performing fastening work is provided. .

As shown in FIGS. 2 and 5, the front bumper sensor 161F and the rear bumper sensor 161R are contact switches formed in the shape of horizontal rods, and are mounted on the front and rear ends of the main body unit 120 through the front and rear covers 125, respectively. is fixed to

The terminal end sensor portion 162 is fixed to the lower side of the support substrate portion 122 so as to be vertically swingable, and as shown in FIGS. and a cylindrical portion attached to the tip of the rod-like portion so as to be rotatable about a horizontal axis. Similarly, the rear end sensor 162R is composed of a rod-shaped portion projecting obliquely rearward and downward and biased downward by a spring, and a cylindrical portion attached to the tip of the rod-shaped portion so as to be rotatable about a horizontal axis. ing.

Therefore, the front end sensor 162F and the rear end sensor 162R are configured so that their cylindrical portions are positioned on the flat portion Ruh of the folded-plate roof material R when the seam tightening self-propelled robot 100 is traveling while performing seam tightening work. Although it is placed and does not swing, when the seam tightening self-propelled robot 100 reaches the vicinity of the longitudinal end of the folded plate roof material R, it swings downward due to the force of the spring. It detects the part Rue.

Next, a procedure for performing seam tightening work on the folded plate roof material R by the self-propelled seam tightening robot 100 of the present embodiment will be described.

As shown in FIGS. 1 to 3, the operator arranges a plurality of folded-plate roof materials R in parallel so that the grooved plate portions Rb and the mountain plate portions Rm are alternately arranged, and the mountain plate on one end side is arranged. A lower seam 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 continuing to the upright portion Ruu. A seam portion Rf is formed by engaging an upper seam portion Ru consisting of a seam portion Ruc hanging down from the flat portion Ruh.

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

The support leg portion 111 is configured so that the mounting height of the main unit 120 can be adjusted so that the pressing roller 133d just contacts the flat portion Ruh of the folded-plate roof material R from above.

Next, as shown by solid lines in FIGS. 2 and 3, the opening/closing handle portion 152 is closed and lowered to the closed position, and the link portion 153 and the opening/closing base portion 123 interlocked with the opening/closing handle portion 152 are closed. Move it into place and fix it. At this time, the support roller portion 133 rotatably fixed to the support substrate portion 122 contacts the upright portion Ruv of the folded-plate roof material R and is rotatably fixed to the opening/closing substrate portion 123. The seam tightening roller portion 136 is arranged to contact and press the seam tightening portion Ruc of the seam tightening portion Rf of the folded-plate roof material R. As shown in FIG.

Hereinafter, mainly with reference to FIGS. 6 to 8, the system configuration and control flow of the self-propelled seam tightening robot 100 will be described.

The operator confirms whether the open/close handle portion 152 is lowered to the closed position (OP1), confirms whether there is any contact with the bumper sensor portion 161 in the traveling direction (OP2), and confirms that the end sensor portion 162 is in the folded-plate roof material R. (OP3), and the start switch 154a is operated (OP4).

As a result, the operation of the control unit 140 of the self-propelled seam tightening robot 100 that has been on standby is started (S1). ). If the front bumper sensor 161F detects an obstacle, the process proceeds to OP1, and if not, the process proceeds to S4 (S3). If the rear bumper sensor 161R detects an obstacle, the process proceeds to OP1, and if not, the process proceeds to S5 (S4). Next, the state of the direction changeover switch 154c is checked, and if it is turned ON, the process proceeds to S13. S5).

In S6, if the forward end sensor 162F detects the end portion Rue, the process proceeds to OP3, and if not detected, the process proceeds to S7. The travel stop control unit 141 controls the release of 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, into a released state. The forward/backward control unit 142 drives and controls the motor unit, that is, the support motor unit 131 and the seam tightening motor unit 134 via the support motor driver unit 143 and seam tightening motor driver unit 144 to drive in the forward direction. The seam tightening self-propelled robot 100 performs seam tightening work while traveling forward on the folded plate roof material R (S7). If the stop switch 154b is pressed during the seam tightening operation, the process proceeds to S11 (S8). Further, when the front bumper sensor 161F or the rear bumper sensor 161R detects an obstacle during the seam tightening operation, the process proceeds to S11 (S9). If the front end sensor 162F in the traveling direction detects the end portion Rue while traveling forward on the folded plate roof material R while performing seam fastening work, the process proceeds to S11, and if not detected, the process proceeds to S7. The seam tightening work and forward traveling are continued (S10).

In S5, if the direction changeover switch 154c has been operated and is in the ON state, the process proceeds to S13. Since the front end sensor 162F only replaces the rear end sensor 162R, detailed description is omitted.

In S11, the stop switch 154b is operated, and the front bumper sensor 161F or the rear bumper sensor 161R detects an obstacle, or the front end sensor 162F or the rear end sensor 162R detects the end portion Rue. The stop control unit 141 brake-controls the front brake solenoid 137Fa and the rear brake solenoid 137Ra to bring the front brake shoe 137Fb and the rear brake shoe 137Rb into contact with and press the upright portion Ruv. The motor unit, that is, the support motor unit 131 and the seam tightening motor unit 134 are controlled to stop via the unit 143 and seam tightening motor driver unit 144 (S11), and the seam tightening self-propelled robot 100 stops its operation. (S12).

When the open/close handle portion 152 is opened while the self-propelled robot 100 is controlled to stop, the control unit 140 releases the brake portion 137 to enable the operator to carry the open/close handle portion 152 . is operated to close, the braking portion 137 is brake-controlled to apply the brake and stand by.

Further, when the open/close handle portion 152 is in the closed position, the control unit 140 releases the brake portion 137 to enable traveling when the start switch 154a is operated. The motor unit 134 is driven and controlled, and when the end sensor unit 162 detects the end portion Rue when the motor unit, ie, the support motor unit 131 and the seam tightening motor unit 134 are driven, the motor unit, ie, the support motor unit 131 Also, the seam tightening motor section 134 is controlled to be stopped, and the brake section is brake-controlled.

Further, the control unit 140 controls the brake portion 137 to be released when the start switch 154a is operated when the bumper sensor portion 161 does not detect an obstacle, and the support motor portion 131 and the seam tightening motor portion 134 to drive and control the support motor portion 131 and the seam tightening motor portion 134, when the bumper sensor portion 161 detects an obstacle, the brake portion 137 is brake-controlled and the motor portion, that is, the support motor portion, is controlled. The motor unit 131 and the seam tightening motor unit 134 are controlled to be stopped.

In the above flow, if the self-propelled robot 100 for seam tightening performs the seam tightening operation on the seam tightening portion Rf, when the front end sensor 162F or the rear end sensor 162R detects the end portion Rue and stops, the seam is stopped. The tightening work is completed up to the vicinity of the end portion Rue.

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

At this stage, the operator lifts up the seam tightening self-propelled robot 100 and moves it parallel to the adjacent seam tightening portion 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 caused to reciprocate in a so-called cattle plowing system, and the seam tightening operation for the seam tightening portion Rf of the folded plate roof material R is sequentially performed, and the roof of the building or the like is performed. can be configured.

DESCRIPTION OF SYMBOLS 100... Self-propelled robot for seam tightening 110... Traveling unit 111... Support leg part 112... Caster part 120... Main unit 121...Case part 122...Supporting board part 123...Opening/closing board part 124...Upper cover part 125...Front and back cover part 130... Drive unit 131 Support motor section 132 Support transmission section 132a Coupling 132b Main shaft 132c Shaft 132d Support large gear 132e・Support small-diameter gear 133 Supporting roller portions 133a, 133b, 133c Supporting roller 133d Pressing roller 134 Seam tightening motor portion 135 Seam tightening transmission Portion 135a... Coupling 135b... Main shaft 135c... Shaft 135d... Sewing large diameter gear 135e... Sewing small diameter gear 136... Sewing roller part 136a. Seam tightening large roller 136b Preliminary bending medium roller 136c Preliminary bending small roller 137 Brake portion 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 unit 142 Forward/backward control unit 143 ..Supporting motor driver unit 144..Seam tightening motor driver unit 150..Operation unit 151..Fixed handle unit 152..Opening and closing handle unit 153.. Link section 154 Input section 154a Start switch 154b Stop switch 154c Direction switch 160 Sensor unit 161 Bumper sensor Part 161F... Front bumper sensor 161R... Rear bumper sensor 162... End sensor part 162F... Front end sensor 162R... Rear end sensor R... Folded plate Roof material Rb... Groove part Rm... Mountain plate part Rmt... Top surface part Ru... Top seam part Ruv...・・・Upright portion Ruh・・・・・・・・Flat portion Rue・・・・Terminal portion Ruc・・・・Seam tightening portion Rd・・・・Lower seam Rb・・・・・・・・・Groove part Rf・・・・・・Seam tightening part H・・・・・・Suspension

Claims (5)

A groove plate portion and a mountain plate portion are alternately arranged, and a lower seam portion is formed on the top surface portion of the mountain plate portion on one end side, and an upright portion and the upright portion are formed on the top surface portion of the mountain plate portion on the other end side. folded-plate roof materials each having an upper seam portion consisting of a flat portion continuous with a flat portion and a seamed portion hanging down from the flat portion are arranged in parallel and the lower seam portions of the mutually adjacent folded-plate roof materials are arranged in parallel. and the upper seam portion, straddling the seam portion formed by engaging the grooved plate portion of one of the folded-plate roof materials and the grooved plate portion of the other folded-plate roof material. A traveling unit having casters, an opening/closing base plate disposed above the seam portion of the folded-plate roof material and pivoted so as to be freely opened and closed, and a supporting base fixed opposite to the opening/closing base plate. a main body unit fixed to the upper part of the traveling unit, a supporting roller portion rotatably disposed on the supporting substrate portion and in contact with the upright portion of the folded plate roof material, and the opening and closing substrate portion. a drive unit provided with at least a seam tightening roller portion that is rotatably arranged to press the seam portion and a motor portion that drives the support roller portion and the seam tightening roller portion; A control unit for controlling the operation of the drive unit, an opening/closing handle pivoted to the main body unit so as to be able to rise and fall, and a link integrally coupled to the opening/closing base plate and pivoted to the opening/closing handle. and an operation unit consisting of a start switch for starting the seam tightening work, and a sensor unit having at least a terminal sensor portion that is placed on the flat portion of the upper seam portion and detects the terminal end portion. A self-propelled seam tightening robot that seams the seamed portion along the longitudinal direction of the folded plate roof material by means of a tightening roller unit,
The seam tightening roller portion is composed of a large seam tightening roller, a middle pre-bending roller, and a small pre-bending roller, and the rotation axes of the respective rollers are positioned on a straight line in the running direction. The rollers are arranged in the order of rollers, seam tightening large rollers, pre-bending medium rollers, and pre-bending small rollers.
The driving unit is characterized by comprising a brake section having a brake shoe contacting the upright portion of the folded plate roof material at a position facing the small preliminary bending roller of the support base section. Self-propelled robot for tightening. The support roller portion is composed of a plurality of support rollers having the same diameter, and is opposed to the large seam tightening roller and the pre-bending intermediate roller, and the rotation shafts of the rollers are positioned on a straight line in the running direction. The self-propelled robot for seam tightening according to claim 1, characterized in that When the control unit is controlling the motor to stop, the control unit releases the brake when the open/close handle is operated to open, and releases the brake when the open/close handle is operated to close. 3. The seam tightening self-propelled robot according to claim 1 or 2, wherein braking control is performed. When the start switch is operated when the open/close handle portion is in the closed position, the control unit controls the release of the brake portion and controls the drive of the motor portion to drive and control the motor portion. 3. The seam tightening self according to claim 1 or 2, wherein when the end sensor unit detects the end portion in a case, the motor unit is controlled to stop and the brake unit is controlled to brake. running robot. The sensor unit further comprises a bumper sensor section that detects obstacles in the direction of travel,
When the start switch is operated when the bumper sensor section does not detect an obstacle, the control unit controls the brake section to a released state and drives and controls the motor section to operate the motor section. 3. The motor according to claim 1 or 2, wherein when the bumper sensor unit detects an obstacle during drive control, braking control is performed on the brake unit and stop control is performed on the motor unit. Self-propelled robot for tightening.