JPH1160191A - Automatic tatami spreading and storing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To spread and store a tatami quickly in a short time without using human labor, forming a guide ditch on a floor, and installing a large-size drive device below the floor. SOLUTION: An automatic conveyance bogie 19 and an automatic running bogie 6 are brought close mutually and run along magnetic guide passages 8a, 8b on a floor 3 in a hall. When a tatami 4 is utilized, the tatami 4 loaded on the automatic conveyance bogie 19 is absorbed and held by an absorbing device 16 of a working robot 9 loaded on the automatic running bogie 6 to automatically spread the tatami 4 on the floor 3 in the hall due to the operation of the working robot 9. After the tatami 4 is utilized, the tatami 4 spread on the floor 3 in the hall is absorbed and held by the absorbing device 16 to automatically load it on the automatic conveyance bogie 19 due to the operation of the working robot 9 for storage.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tatami automatic laying and storing apparatus for automatically laying tatami on a floor of a venue or automatically removing tatami from a floor of a venue and storing the tatami.

[0002]

2. Description of the Related Art Conventionally, for example, one hall such as a Budokan has been often used for various purposes as a venue for games of different kinds of sports. And, for example, if a Judo match is scheduled after the Kendo match ends, after the Kendo match ends, tatami mats will be laid on the floor of the venue to prepare for the Judo match. If a kendo game is scheduled after the end, the tatami mat laid on the floor of the venue is removed and stored in another place after the judo game to prepare for the kendo game.

[0003] The work of laying and storing the tatami mats performed at the time of the replacement of the game relies on a large number of persons such as persons involved and albiters, and currently requires a lot of labor and time.

[0004] By the way, although it is not used as a match venue as described above, when switching between a Japanese-style banquet hall and a Western-style banquet hall in a hotel or ryokan or the like,
There has been proposed a tatami mat automatic laying storage device which automatically lays and stores tatami mats (see Japanese Utility Model Publication No. 2523915). According to this, there is an advantage that the work of laying and storing the tatami can be quickly performed in a short time without manual operation.

[0005]

However, in the above publication, a plurality of tatami holders are hingedly connected so as to be foldable and expandable, and a guide member for guiding these tatami holders when folding and unfolding them is provided. Because it is arranged in the guide groove on the floor, in the state where the tatami holder is folded and stored at the end of the saloon for use as a Western-style banquet hall, the guide groove is exposed to the floor surface and is dangerous, Since this is covered and hidden by a separately prepared plate, it is very troublesome. Furthermore, a large-scale driving device for folding and unfolding the tatami holder must be installed under the floor, which complicates the underfloor structure.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to lay and store tatami mats without forming guide grooves on the floor or installing a large-scale driving device under the floor. Is performed promptly in a short time without manual operation.

[0007]

In order to achieve the above object, the present invention is characterized in that an automatic guided vehicle and a working robot are employed and effectively combined.

More specifically, the present invention is directed to a tatami automatic laying storage device for automatically laying tatami on a floor of a venue or automatically removing tatami from a floor of a venue and storing the tatami.
The following solution was taken.

That is, according to the first aspect of the present invention, there is provided an automatic traveling vehicle that travels on the floor of a venue along a magnetic guideway, and a work robot having a tatami holding means at an arm tip is mounted on the automatic traveling vehicle. . Further, at least one automatic transport vehicle that travels on the floor along the magnetic guideway and close to the automatic travel vehicle is provided, and a plurality of tatami mats are stacked and transported on the automatic transport vehicle in the vertical direction. When using the tatami mats, the tatami mats loaded on the automatic transport cart are held by the tatami holding means and automatically laid on the floor of the venue by the operation of the work robot. The tatami mat laid on the floor of the venue is held by the tatami holding means, and is automatically loaded and stored on the automatic transport trolley by the operation of the work robot.

With the above arrangement, in the first aspect of the present invention, each of the automatic traveling vehicle and the automatic transporting vehicle approaches and travels along the floor of the venue along the magnetic guideway, that is, is guided to the magnetic guideway. When using the tatami mats, the tatami mats loaded on the automatic transport trolley are held by the work robot of the automatic trolleys and automatically laid on the floor of the venue by the operation, while the tatami mats are used. After that, the tatami mat laid on the floor of the venue is held by the tatami holding means of the automatic traveling vehicle, and is automatically loaded and stored on the automatic transporting vehicle by the operation.

Therefore, the tatami mats are laid and stored automatically and quickly in a short time without manual operation.

Further, as the magnetic guide path for guiding the automatic traveling vehicle and the automatic transporting vehicle as described above, a guiding coil is buried in the floor of the venue, or a magnetic material such as silver paper is adhered to the floor surface. Therefore, it is not necessary to form a guide groove on the floor as in the conventional publication,
The floor surface may remain flat. Therefore, there is no danger due to the guide groove being exposed on the floor. In addition, since there is no guide groove, there is no need to cover the guide groove, and no extra work is required. Furthermore, there is no need to install a large-scale drive device under the floor for folding and unfolding the tatami holder as in the conventional publication, and the underfloor structure is simplified.

According to a second aspect of the present invention, in the first aspect of the invention, the automatic transport vehicle is caused to travel in a state of being connected in series or parallel with the automatic traveling vehicle.

According to the above configuration, the positional relationship between the automatic traveling vehicle (work robot) and the automatic transporting vehicle is embodied.

According to a third aspect of the present invention, in the first aspect of the present invention, the arm of the work robot is configured to be able to move up and down in a vertical direction and to be rotatable in a horizontal plane. Further, the tatami holding means is attached to the lower end of the rod extending downward from the tip of the arm so as to be able to change the posture in a horizontal plane.

According to the third aspect of the present invention, the structure and operation of the work robot are embodied.

According to a fourth aspect of the present invention, in the first aspect of the present invention, the tatami holding means is constituted by a suction device for sucking and holding the tatami from above.

According to the above construction, the structure and function of the tatami holding means are embodied.

[0019]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 6 shows a case where a hall such as a Budokan is used as a venue 1 for a judo match. A large number of spectator seats 2 are provided on four sides inside the venue 1, and a plurality of tatami mats 4 are laid in the center of a floor 3 surrounded by the spectator seats 2 to form a rectangular competition area 5. The venue 1 is used not only for a judo match but also for a variety of other sports matches. For example, when used as a venue for a kendo match, the tatami mats forming the competition area 5 are used. 4 to floor 3
To remove it from.

The tatami mat 4 is laid on the floor 3 or the tatami mat 4 is
The automatic tatami mat storage device A according to the embodiment of the present invention shown in FIGS.

The automatic laying and storing apparatus A includes an automatic traveling vehicle 6, on which the arrangement of the tatami mats 4 constituting the competition area 5 of the venue 1, the order of arranging the tatami mats 4, and the like. A control device (not shown) that teaches the operation for that
, And magnetic sensors 7a are provided at two locations on the back and front. On the other hand, floor 3 of venue 1
, A magnetic guideway 8a is formed corresponding to the traveling track of the automatic traveling vehicle 6. The magnetic guide path 8a may be formed by burying a guide coil in the floor 3 of the venue 1 or by bonding a magnetic material such as silver paper to the surface of the floor 3. In this example, the former induction coil is employed. The magnetic sensor 7a is connected to the magnetic guide path 8
By detecting a, the automatic traveling vehicle 6 is guided on the floor 3 of the venue 1 along the magnetic guiding path 8a, and automatically travels unattended.

As shown in FIGS. 2 and 3, a work robot 9 is mounted on the automatic traveling vehicle 6. The work robot 9 includes a pole-shaped main body 10 erected on the self-propelled carriage 6, and an elevating frame 11 is horizontally protruded from the main body 10. An elevating device (not shown) composed of a ball screw and the like provided in the inside thereof is adapted to ascend and descend in a vertical direction. A base end of an arm 12 is rotatably connected to the end of the lifting frame 11, and a first motor 13 is installed at this connection portion. And the arm 1
Numeral 2 is configured to be rotatable in a horizontal plane around the axis θ1 by the activation of the first motor 13 and is configured to be able to move up and down together with the elevating frame 11. Further, the upper end of the arm 12 is connected to the upper end of a rod 14 extending downward.
5 are installed. Then, the rod 14 is
The motor 15 is configured to be rotatable around the axis θ2 by activation. At the lower end of the rod 14, a suction device 16 as tatami holding means is fixed.
Are six suction pads 1 connected to a negative pressure source (not shown).
7 is attached to a rectangular frame 18, and each suction pad 1
The tatami 4 is sucked and held from above by pressing the inside of the tatami 4 against the tatami 4 and applying a negative pressure to the inside. Thus, the suction device 16 is attached to the lower end of the rod 14 so that the posture of the suction device 16 can be changed in a horizontal plane by the activation of the second motor 15. The operation of the work robot 9 is also controlled based on data previously taught to the control device.

Further, the automatic tatami mat storage device A is shown in FIG.
As shown in FIG. 5 and also in FIG. 5, an automatic transport vehicle 19 for loading and transporting a plurality of tatami mats 4 in the vertical direction separately from the automatic transport vehicle 6 is provided. A control device (not shown) cooperating with the control device of the carriage 6 is built in, and magnetic sensors 7b are laid at two locations on the front and rear sides of the back surface. On the other hand, the above venue 1
A magnetic guide path 8b is formed on the floor 3 corresponding to the running track of the automatic carrier 19 described above. This magnetic guideway 8b
Similarly to the magnetic guideway 8a on the side of the automatic traveling vehicle 6, if the guide coil is buried in the floor 3 of the hall 1 or formed by bonding a magnetic material such as silver paper to the surface of the floor 3, etc. Often, also in this example, the former induction coil is employed. The magnetic sensor 7b is connected to the magnetic guide path 8b.
, The automatic transport vehicle 19 is guided along the magnetic guideway 8b along the floor 3 of the venue 1 and the automatic traveling vehicle 6
, And automatically travels unattended, and transports the loaded tatami mats 4. 2 to 5, an electromagnetic induction path 8 including an induction coil buried in the floor 3.
a and 8b are omitted.

When the venue 1 is used as a judo venue, that is, when the tatami mat 4 is used, the automatic traveling cart 6 and the automatic transport cart 19 loaded with the tatami mat 4 are moved to the guidance area 5 of the venue 1. The automatic traveling vehicle 6 and the automatic transport vehicle 19 are stopped at predetermined positions while being guided by the magnetic guide paths 8a and 8b, and the tatami mat 4 loaded on the automatic transport vehicle 19 is stopped.
Are held one by one by the suction pad 17 of the suction device 16 of the automatic traveling vehicle 6 running in parallel, and the tatami mat 4 held by suction is moved from the state of the solid line in FIG. 1 to the state of the virtual line in FIG. The floor 3 of the venue 1 is moved by lifting and lowering and turning.
Laying automatically. On the other hand, when the venue 1 is used as a judo venue and then used as a venue for kendo, for example,
In other words, after using the tatami mat 4, the automatic traveling vehicle 6 and the empty automatic transportation vehicle 19 are moved to the guidance area 5 of the hall 1, and these automatic traveling vehicles 6 and the automatic transportation vehicle 19 are both moved along the magnetic guiding paths 8a and 8b. The vehicle is stopped at a predetermined position while being guided by an automatic traveling vehicle 6 running in parallel with the tatami mat 4 laid on the floor 3 of the venue 1.
1 is held by suction pads 17 of the suction device 16 of FIG.
The robot is moved to the state indicated by the solid line by the raising and lowering and turning operations of the work robot 9, and is automatically loaded on the automatic carrier 19 and stored.

As described above, in this embodiment, since the automatic traveling vehicle 6 and the automatic transporting vehicle 19 are caused to travel while being guided along the magnetic guide paths 8a and 8b, the tatami mat 4 can be moved without manual operation. It can be laid and stored automatically and quickly in a short time.

Further, since the traveling of the automatic traveling vehicle 6 and the automatic transporting vehicle 19 is performed by the magnetic guiding action as described above, it is not necessary to form a guide groove on the floor 3 or cover the guide groove. It is convenient because there is no danger due to the groove and no extra work to cover the guide groove. Further, since the tatami mats 4 are loaded and transported on the automatic carrier trolley 19, it is not necessary to install a large-scale driving device for folding and unfolding the tatami holding body below the floor 3 as in the prior art example, The structure can be simplified.

In this embodiment, the automatic trolley 6 and the automatic transport trolley 19 constitute one set, and the tatami automatic laying and storing apparatus A is constructed. Requires a large number of tatami mats 4
If the automatic trolley 6 and the two automatic transport trolleys 19 constitute one set and the tatami mat automatic laying storage device A is configured, the tatami mat 4 can be laid and stored efficiently.

In this embodiment, the case where the automatic transport vehicle 19 travels in parallel with the automatic traveling vehicle 6 has been described. However, there is no problem if the automatic transport vehicle 19 travels in series with the automatic traveling vehicle 6.

[0030]

As described above, according to the present invention, the automatic traveling vehicle having the working robot and the automatic transporting vehicle on which the tatami are loaded run along the magnetic guiding path, so that the tatami can be manually operated. It can be laid and stored automatically and quickly in a short time. In addition, since the truck is driven by the magnetic induction as described above, danger due to the presence of the guide groove on the floor and extra work for covering and hiding the guide groove can be eliminated. Furthermore, since the tatami mats are loaded and transported on the automatic transport trolley, a large-scale driving device, which has been conventionally required, does not need to be under the floor, and a simple underfloor structure can be realized.

[Brief description of the drawings]

FIG. 1 is a plan view of a tatami automatic laying storage device.

FIG. 2 is a side view of the automatic traveling vehicle.

FIG. 3 is a front view of the automatic traveling vehicle.

FIG. 4 is a side view of the automatic transport vehicle.

FIG. 5 is a front view of the automatic transport vehicle.

FIG. 6 is a plan view of a judo venue.

[Explanation of symbols]

 Reference Signs List 1 venue 3 floor 4 tatami 6 automatic traveling trolley 8a, 8b magnetic guideway 9 work robot 12 arm 14 rod 16 adsorption device (tatami holding means) 19 automatic transport trolley A automatic tatami laying storage device

Claims (4)

[Claims] 1. An automatic traveling vehicle traveling on a floor of a venue along a magnetic guideway, a work robot mounted on the automatic traveling vehicle, and having a tatami holding means at an end of an arm; At least one automatic transport vehicle that travels in close proximity to the automatic travel vehicle, and loads and transports a plurality of tatami mats in the vertical direction. When using the tatami mats, While the tatami mat is held by the tatami holding means and automatically laid on the floor of the venue by the operation of the work robot, after using the tatami mat,
A tatami automatic laying and storing apparatus, wherein a tatami mat laid on a floor of a hall is held by the tatami holding means, and is automatically loaded and stored on an automatic transport trolley by operation of a work robot. 2. The automatic tatami laying storage device according to claim 1, wherein the automatic transport vehicle runs close to the automatic traveling vehicle in a series state or a parallel state. Storage device. 3. The tatami automatic laying and storing apparatus according to claim 1, wherein the arm of the working robot is configured to be able to move up and down in a vertical direction and to be rotatable in a horizontal plane. An automatic tatami laying storage device, which is attached to a lower end of a rod extending downward from a tip so as to be able to change a posture in a horizontal plane. 4. The automatic tatami mat storage device according to claim 1, wherein the tatami holding means is a suction device that sucks and holds the tatami mat from above.