JPH04289085A - Traveling mechanism for working robot - Google Patents

Abstract

PURPOSE:To reduce waiting time of plural working robots and provide highly efficient work by hanging the robots from rails installed on a ceiling and enabling the robots to travel along the rails at the same time. CONSTITUTION:This traveling mechanism consists of plural traversing rails 4 for working installed in parallel so as to travel along traveling rails 3a, traversing rails 5 for carrying in and traversing rails 6 for returning which travel so as to be selectively-connected with respective ends of the traversing rails 4 for working, and working robots which travel circulatively with a traveling device 8 along the traversing rails 4 for working, the traversing rails 5 connected to the rails 4, and the traversing rails 6 for returning.

Description

[Detailed description of the invention]

0001

[Industrial Application Field] The present invention is a moving robot that is installed on a large roof for construction of a building and used for lifting, lowering, transporting, and installing materials such as reinforcing bars and formwork. Regarding the mechanism.

0002

[Prior Art] Robots for various tasks, such as plastering robots for floor concrete finishing, and interior/exterior wall panel erecting robots, have been developed to cope with the labor shortage in construction work and to improve productivity, safety, etc. Robots, concrete pouring robots, ceiling board pasting robots, rebar assembly robots, etc. have been developed. In order to efficiently perform work using such a work robot, the work robot is suspended from a rail installed at the top of a building, and the work robot, which runs along the rail, is made to perform work from the top of the building. 2. Description of the Related Art A movement mechanism for a so-called ceiling traveling type working robot has been provided.

0003

[Problems to be Solved by the Invention] However, with such a conventional working robot movement mechanism, it is only possible to move one working robot back and forth from a material supply position to a working position with respect to one traversing rail. As a result, there was a problem that work efficiency was extremely poor. In addition, a method has been proposed in which multiple work robots run on a single traversing rail, but in this case, it is necessary to extend the running rail or provide an evacuation path in the middle. There were issues such as the complicated structure and the risk of malfunction.

[0004] The present invention has been made in view of the above-mentioned conventional problems, and it allows a plurality of work robots to run simultaneously to perform work efficiently, and also to avoid waiting time when loading and unloading materials to work robots. The object of the present invention is to provide a movement mechanism for a working robot that can save time.

[0005]

[Means for Solving the Problems] A working robot movement mechanism according to the present invention includes a plurality of working transverse rails arranged in parallel so as to be movable along the traveling rails, and one end of each of these working transverse rails. A work robot is provided with a carry-in transverse rail and a return transverse rail that move so as to be selectively connected to the work rail, and the work robot moves along the carry-in transverse rail and the return return transverse rail connected to the work rail. The structure is such that it runs in circulation.

[0006]

[Operation] The carry-in traversal rail and the return traversal rail in the present invention are selectively attached to and separated from one end of each of the plurality of working traverse rails, and a plurality of transverse rails are connected to each other along each of the above-mentioned traversal rails connected to each other. To enable a working robot to run in a circular manner. Further, this working robot operates independently by receiving power and control signals for motive power through trolley wires arranged on each traversing rail.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the accompanying drawings.

In FIG. 1, 1 is a roof frame, 2 is a column installed near an existing structure A to support the periphery of the roof frame 1 and enable it to be raised, and 3 is a roof frame 1.
A control room R is installed on the main girder 3, which supports the main girder 3 via a truss or the like. 3a are running rails arranged parallel to each other at the bottom of the main girder 3 as shown in FIG.
A plurality of sets of books are arranged in parallel, and a plurality of work transverse rails are suspended by a traveling device 7 that runs on these traveling rails 3a, 5 is one end side of this work transverse rail 4 ( One or more carrying-in transverse rails 6 are suspended from a traveling device 7 running on a traveling rail 3a similar to the above so as to approach or separate from the work-use transverse rail 4 (material carrying side). One or more return transverse rails are suspended by a traveling device 7 running on the same traveling rail 3a as described above so as to approach or separate from the end side (return side).

Further, the traveling device 7 is shown in FIGS. 3 and 4.
As shown in the figure, it consists of a roller 7b that is vertically rotatably attached to a U-shaped frame 7a and runs along the running rail 3a, a motor 7c that drives this roller 7b, and a running brake 10. The working traverse rail 4 is supported at the bottom of the device 7. Further, the carry-in transverse rail 5 and the return transverse rail 6 are supported at the lower part of a slide rail 13 that slides them relative to the traveling device 7. 14 is a connecting member that connects each pair of traveling devices 7; 12 is a connecting member 1 that connects the slide rail 13;
4 and the traveling device 7, such as an electric cylinder. Note that this slide device 12
As shown in FIG. 3, the opposing positioning sensor 11
The amount of movement of each of the traversing rails 5, 6 is controlled based on the connection and separation signals between the working traversing rail 4 and each of the traversing rails 5, 6 detected by the controller. FIG. 5 shows a state in which the working transverse rail 4 and the carrying-in transverse rail 5 are joined by the slide device 12. Furthermore, in FIGS. 3 to 5, reference numeral 15 denotes a mounting plate installed between each pair of working transverse rails 4, to which power for power and control is supplied to the moving device described later through an insulating member. Trolley lines 21, 22 are laid along each of the traversing rails 4, 5, 6. In addition, in FIG. 1, reference numeral 8 denotes a moving device with a working robot 9 attached to its lower part, and 8a constitutes this moving device 8.
and a pair of frames that rotatably support the roller 8b as shown in FIG. 7, 8c is a motor that drives this roller 8b, 8d is a running brake that brakes roller 8b, and 8e
, 8f is a power receiving unit that receives power for motive power, power for control, etc. from each trolley 21, 22. The moving device 8 is also provided with a control panel 16 for instructing movement control of the moving device 8 and operation control of the working robot 9. The working robot 9 is configured to be applicable to lifting reinforcing bars, lifting materials such as floor slabs, and pouring concrete.

Next, the operation will be explained. First, in controlling the movement of the work robot 9,
The return transverse rails 6 are made to run on the traveling rails 3a and are arranged opposite to each end of the desired working transverse rails 4. Movement of these traversing rails 5, 6 is performed automatically by wired or wireless means or manually. In order to do this automatically, moving means and movement control means for the movement are provided on each of the traversing rails 4, 5, and 6, and each of these means operates according to commands from the control room R. . On the other hand, at this time, each transverse rail 4, 5
From each positioning sensor 11 facing each other on , 6,
Data such as the above-mentioned facing situation and facing distance are output,
Based on this data, a control device (not shown) controls the operation of the slide device 12 so that it comes into contact with each end face of the working transverse rail 4, each of the transverse rails 5 and 6 facing each other. In this way, each traversing rail 4, 5, 6 comes into contact. Next, by wireless communication from the control room R, a command is given to the control panel 16 to cause the moving device 8 and the working robot 9 to travel. As a result, the moving device 8 to which the working robot 9, which has finished its work while being on the working rail 4 for example, is attached, travels in the direction of the arrow P and transfers onto the adjacent loading rail 5. The carrying-in transverse rail 5 on which the moving device 8 is mounted is connected to the slide device 12.
As a result of the operation, the rail moves away from the working transverse rail 4, further travels on the traveling rail 3a in the direction of the arrow Q, reaches the position of another working transverse rail 4, and brings their end surfaces into contact as described above. Stop at a position. Upon this stop, the moving device 8 starts moving, transfers to the other working transverse rail 4, and moves along the same in the direction of arrow R to the working position.

At this position, the working robot 9 performs work such as unloading a suspended load, and after completing the work, the work robot 9 moves from the other working traversing rail 4 to the return traversing rail 6 that is in contact with this as described above. Transfer to it as shown by arrow S. here,
This return transverse rail 6 separates from the working transverse rail 4, moves on the traveling rail 3a, and reaches the position of the first working transverse rail 4. Further, as described above, the return transverse rail 6 on the traveling rail 3a contacts the end surface of the first working transverse rail 4, and the moving device 8 on the return transverse rail 6 Transfer to the transverse rail 4 in the direction of arrow T. As a result, the moving device 8 returns to its original position, and here the working robot 9 is again allowed to unload materials, and by the same operation as described above, the moving device 8 returns to the unloading position on the other working transverse rail 4. Materials can be transported to. That is, the moving device 8 circulates the working robot 9 along each of the traversing rails 4, 5, and 6, and can continuously carry out materials transportation and other operations while changing positions.

As a result, by appropriately adjusting the connection timing of each of the above-mentioned traversing rails 4, 5, and 6 and the operation timing of the working robot 9, a plurality of moving devices and the working robot 9 can be operated without interfering with each other. The movement can be controlled continuously. In addition, each of the above-mentioned transverse rails 4,
When 5 and 6 are separated from each other, each trolley wire is connected or disconnected at the same time, but by laying such a trolley wire, it is possible to avoid connecting cables to each moving device 8, and to connect multiple moving devices 8. This has the advantage of enabling simultaneous movement and simplifying equipment.

[0013]

[Effects of the Invention] As described above, according to the present invention, a plurality of working transverse rails are movably arranged in parallel along a traveling rail, and a plurality of working transverse rails are selectively connected to one end of each of these working transverse rails. The robot is provided with a carry-in traverse rail and a return traverse rail that move as if to move, and the work robot is made to circulate along the work rail and the carry-in traverse rail and the return traverse rail connected to the work rail. With this configuration, multiple work robots can be run simultaneously and continuously on each traversing rail, and the waiting time when loading and unloading materials by work robots can be significantly reduced. This has the practical effect of improving work efficiency.

[Brief explanation of the drawing]

FIG. 1 is a front view showing a movement mechanism of a working robot according to an embodiment of the present invention.

FIG. 2 is a plan view showing the arrangement relationship between traveling rails and traversing rails in FIG. 1;

FIG. 3 is a front view taken along line A-A in FIG. 4 showing an enlarged main part of the working and carrying-in traverse rails in FIG. 1;

FIG. 4 is a side view showing the carrying-in transverse rail along line BB in FIG. 3;

FIG. 5 is a front view showing the positioning state of the traveling device in FIG. 3;

FIG. 6 is a front view showing a moving device to which a working robot is attached.

7 is a side view of the moving device shown in FIG. 6. FIG.

[Explanation of symbols]

3a　Traveling rail 4 Traversing rail for work 5 Traverse rail for loading 6 Traverse rail for return 9 Work robot 8. Mobile device 21 Trolley wire 22 Trolley wire

Claims (2)

[Claims] 1. A plurality of work transverse rails movably arranged in parallel along a running rail, a loading transverse rail that moves to be selectively connected to one end of each of these work transverse rails, and A moving mechanism for a working robot, comprising: a return traversing rail; and a working robot that circulates by a moving device along the working traversing rail, the carrying-in traversing rail, and the return traversing rail connected thereto. 2. The robot according to claim 1, wherein a trolley wire for supplying electric power and control power to the working robot is installed on the working traversing rail, the carry-in traversing rail, and the return traversing rail. Movement mechanism of working robot.