Patent Application
20250074479
The present invention relates to a self-propelled robot transfer system and a transfer robot used in the system for traversing a reinforcing bar binding self-propelled robot used in reinforcement works for placing concrete.
Conventionally, as a reinforcing bar binding robot that moves on reinforcing bars as tracks, a reinforcing bar binding robot that detects reaching near the end of the reinforcing bars to automatically stop there and is moved manually between the reinforcing bars (see patent literature 1) and a reinforcing bar binding robot that includes a crawler mechanism with loading/unloading function (see patent literature 2) are known.
However, there are problems in which the reinforcing bar binding robot described in the patent literature 1 requires an operator to lift the reinforcing bar binding robot by himself and move the reinforcing bar binding robot between the reinforcing bars and the reinforcing bar binding robot described in patent literature 2 has a complicated structure and it is difficult to make adjustments for accurate crawling.
Therefore, the present invention solves the problems of the prior art as described above and the object of the present invention is to provide a self-propelled robot transfer system and a transfer robot used in the system with which, when the self-propelled robot reaches near the end of the second reinforcing bar while moving on the second reinforcing bar as a track, a loading/unloading assist frame of the transfer robot transfers the self-propelled robot between the second reinforcing bar and a bogie frame by loading/unloading the self-propelled robot and the transfer robot moves to another second reinforcing bar along a traverse rail in a state where the self-propelled robot is loaded on the bogie frame, so that the operator can move the self-propelled robot in the opposite direction using another second reinforcing bar as a new track without having to lift the self-propelled robot by himself, as a result of which, turnaround working of the self-propelled robot can be easily achieved.
In the invention according to claim 1, a self-propelled robot transfer system comprises: a transfer robot that can load and unload a self-propelled robot that moves on a plurality of second reinforcing bars as tracks, which are laid across a plurality of first reinforcing bars arranged in parallel on a working surface; and a pair of traverse rails arranged on the plurality of second reinforcing bars in the longitudinal direction of the first reinforcing bars to move the transfer robot in the longitudinal direction of the first reinforcing bars, wherein the transfer robot is integrally composed of a main body unit, which includes a main body driving wheel that rolls on the traverse rail, a main body frame that is moved on the traverse rail by the main body driving wheel and a traverse drive section that drives the main body driving wheel, and a bogie unit, which is consist of bogie wheels that roll on the traverse rail, a bogie frame that is moved on the second traverse rail by the bogie wheels and a loading/unloading assist frame that can transfer the self-propelled robot between the second reinforcing bar and the bogie frame by loading/unloading the self-propelled robot. Thereby, the above-described problem can be solved.
In the invention according to claim 2, a transfer robot can load and unload a self-propelled robot that moves on a plurality of second reinforcing bars as tracks, which are laid across a plurality of first reinforcing bars arranged in parallel on a working surface, and is for a self-propelled robot transfer system that moves the self-propelled robot along a pair of traverse rails arranged on the plurality of second reinforcing bars in the longitudinal direction of the first reinforcing bars, wherein the transfer robot is integrally composed of a main body unit, which includes a main body driving wheel that rolls on the traverse rail, a main body frame that is moved on the traverse rail by rolling of the main body driving wheel and a traverse drive section that drives the main body driving wheel, and a bogie unit, which is consist of bogie wheels that roll on the traverse rail, a bogie frame that is moved on the traverse rail by the bogie wheels and a loading/unloading assist frame that can transfer the self-propelled robot between the second reinforcing bar and the bogie frame by loading/unloading the self-propelled robot. Thereby, the above-described problem can be solved.
In the invention according to claim 3, in addition to the configuration of the invention according to claim 2, the main body unit includes an operation communication section that communicates with the self-propelled robot, and a traverse control section that controls the traverse drive section in accordance with content of communication with the self-propelled robot. Thereby, the above-described problem can be further solved.
In the invention according to claim 4, in addition to the configuration of the invention according to claim 2 or 3, the main body unit includes a second reinforcing bar detection sensor that detects a position of the second reinforcing bar on which the self-propelled robot moves, and an operation control section that drives the traverse drive section in response to a signal from the second reinforcing bar detection sensor. Thereby, the above-described problem can be further solved.
In the invention according to claim 5, in addition to the configuration of the invention according to claims 2 to 4, the main body unit includes a rail end detection sensor that detects an end of the traverse rail, and wherein the traverse control section controls a traverse drive section in response to a signal from the rail end detection sensor. Thereby, the above-described problem can be further solved.
According to a self-propelled robot transfer system according to claim 1 of the present invention, the self-propelled robot transfer system comprises: a transfer robot that can load and unload a self-propelled robot that moves on a plurality of second reinforcing bars as tracks, which are laid across a plurality of first reinforcing bars arranged in parallel on a working surface; and a pair of traverse rails arranged on the plurality of second reinforcing bars in the longitudinal direction of the first reinforcing bars to move the transfer robot in the longitudinal direction of the first reinforcing bars, wherein the transfer robot is integrally composed of a main body unit, which includes a main body driving wheel that rolls on the traverse rail, a main body frame that is moved on the traverse rail by the main body driving wheel and a traverse drive section that drives the main body driving wheel, and a bogie unit, which is consist of bogie wheels that roll on the traverse rail, a bogie frame that is moved on the traverse rail by the bogie wheels and a loading/unloading assist frame that can transfer the self-propelled robot between the second reinforcing bar and the bogie frame by loading/unloading the self-propelled robot. Thereby, when the self-propelled robot reaches near the end of the second reinforcing bar while moving on the second reinforcing bar as a track, the loading/unloading assist frame of the transfer robot can transfer the self-propelled robot between the second reinforcing bar and the bogie frame by loading/unloading the self-propelled robot and the transfer robot moves to another second reinforcing bar along the traverse rail in a state where the self-propelled robot is loaded on the bogie frame, so that the operator can move the self-propelled robot in the opposite direction using another second reinforcing bar as a new track without having to lift the self-propelled robot by himself, as a result of which, turnaround working of the self-propelled robot can be easily achieved.
According to a transfer robot according to claim 2 of the present invention, the transfer robot can load and unload a self-propelled robot that moves on a plurality of second reinforcing bars as tracks, which are laid across a plurality of first reinforcing bars arranged in parallel on a working surface, and is for a self-propelled robot transfer system that moves the self-propelled robot along a pair of traverse rails composed of the first traverse rail, which is arranged on the plurality of second reinforcing bars in the longitudinal direction of the first reinforcing bars, and the second traverse rail, wherein the transfer robot is integrally composed of a main body unit, which includes a main body driving wheel that rolls on the traverse rail, a main body frame that is moved on the traverse rail by rolling of the main body driving wheel and a traverse drive section that drives the main body driving wheel, and a bogie unit, which is consist of bogie wheels that roll on the traverse rail, a bogie frame that is moved on the traverse rail by the bogie wheels and a loading/unloading assist frame that can transfer the self-propelled robot between the second reinforcing bar and the bogie frame by loading/unloading the self-propelled robot. Thereby, when the self-propelled robot reaches near the end of the second reinforcing bar while moving on the second reinforcing bar as a track, the loading/unloading assist frame of the transfer robot transfers the self-propelled robot between the second reinforcing bar and the bogie frame by loading/unloading the self-propelled robot and the transfer robot moves to another second reinforcing bar along the traverse rail in a state where the self-propelled robot is loaded on the bogie frame, so that the operator can move the self-propelled robot in the opposite direction using another second reinforcing bar as a new track without having to lift the self-propelled robot by himself, as a result of which, turnaround working of the self-propelled robot can be easily achieved.
According to the transfer robot of the invention according to claim 3, in addition to the effect achieved by the invention according to claim 2, the main body unit includes an operation communication section that communicates with the self-propelled robot, and a traverse control section that controls the traverse drive section in accordance with content of communication with the self-propelled robot, and thereby based on the communication between the self-propelled robot and the transfer robot, the transfer robot automatically moves to a position corresponding to the second reinforcing bar on which the self-propelled robot is currently moving to pick up the self-propelled robot, the self-propelled robot is automatically transferred from the second reinforcing bar to the bogie frame, the transfer robot automatically moves to a position corresponding to another second reinforcing bar along the traverse rail, and the self-propelled robot is automatically transferred from the bogie frame to the another second reinforcing bar, so that the automatic operation can be realized in which the self-propelled robot that moves on the plurality of second reinforcing bars as tracks sequentially traverses other second reinforcing bars and moves over the entire working surface only by simply inputting the initial settings to the self-propelled robot and transfer robot.
According to the transfer robot of the invention according to claim 4, in addition to the effect achieved by the invention according to claim 2 or 3, the main body unit includes a second reinforcing bar detection sensor that detects a position of the second reinforcing bar on which the self-propelled robot moves, and an operation control section that drives the traverse drive section in response to a signal from the second reinforcing bar detection sensor, and thereby the traverse movement along the traverse rail by the transfer robot is controlled based on the position of the second reinforcing bar detected by the second reinforcing bar detection sensor, and thus when transferring a self-propelled robot, the stopping position of the transfer robot that traverses toward the self-propelled robot is accurately decided and when the self-propelled robot is transferred between the second reinforcing bar and the bogie frame, the loading/unloading assist frame and the second reinforcing bar are connected accurately, so that derailment of the self-propelled robot can be prevented.
According to the transfer robot of the invention according to claim 5, in addition to the effect achieved by the invention according to any one of claims 2 to 4, the main body unit includes a rail end detection sensor that detects an end of the traverse rail, and wherein the traverse control section controls a traverse drive section in response to a signal from the rail end detection sensor, and thereby the traverse control section stops the traverse drive section based on the rail end detection sensor detecting arrival at the end of the traverse rail, so that it is possible to prevent the main body driving wheel of the transfer robot from moving over the end of the traverse rail and derailing from the traverse rail.
The specific embodiment of a self-propelled robot transfer system in the present invention may be arbitrary as long as a self-propelled robot transfer system comprises: a transfer robot that can load and unload a self-propelled robot that moves on a plurality of second reinforcing bars as tracks, which are laid across a plurality of first reinforcing bars arranged in parallel on a working surface; and a pair of traverse rails arranged on the plurality of second reinforcing bars in the longitudinal direction of the first reinforcing bars to move the transfer robot in the longitudinal direction of the first reinforcing bars, wherein the transfer robot is integrally composed of a main body unit, which includes a main body driving wheel that rolls on the traverse rail, a main body frame that is moved on the traverse rail by the main body driving wheel and a traverse drive section that drives the main body driving wheel, and a bogie unit, which is consist of bogie wheels that roll on the traverse rail, a bogie frame that is moved on the traverse rail by the bogie wheels and a loading/unloading assist frame that can transfer the self-propelled robot between the second reinforcing bar and the bogie frame by loading/unloading the self-propelled robot, so that the operator can move the self-propelled robot in the opposite direction using another second reinforcing bar as a new track without having to lift self-propelled robot by himself, as a result of which turnaround working of the self-propelled robot can be easily achieved.
Further, the specific embodiment of a transfer robot in the present invention may be arbitrary as long as a transfer robot can load and unload a self-propelled robot that moves on a plurality of second reinforcing bars as tracks, which are laid across a plurality of first reinforcing bars arranged in parallel on a working surface, and is for a self-propelled robot transfer system that moves the self-propelled robot along a pair of traverse rails arranged on the plurality of second reinforcing bars in the longitudinal direction of the first reinforcing bars, wherein the transfer robot is integrally composed of a main body unit, which includes a main body driving wheel that rolls on the traverse rail, a main body frame that is moved on the traverse rail by rolling of the main body driving wheel and a traverse drive section that drives the main body driving wheel, and a bogie unit, which is consist of bogie wheels that roll on the traverse rail, a bogie frame that is moved on the traverse rail by the bogie wheels and a loading/unloading assist frame that can transfer the self-propelled robot between the second reinforcing bar and the bogie frame by loading/unloading the self-propelled robot, so that the operator can move the self-propelled robot in the opposite direction using another second reinforcing bar as a new track without having to lift self-propelled robot by himself, as a result of which turnaround working of the self-propelled robot can be easily achieved.
For example, if the configuration, in which the main body unit of the transfer robot is arranged next to the bogie unit, the two main body driving wheels roll on the first traverse rail and the second traverse rail and the bogie wheels are driven wheels that roll on the first traverse rail and the second traverse rail, is adopted, the transmission rod is not necessary, and stable traverse movement can be achieved since the driving force is distributed to the traverse rail in a well-balanced manner when the self-propelled robot traverses.
Further, the pair of first traverse rail and second traverse rail constituting the traverse rail may be integrally formed by an interval distance maintaining member so as to maintain a constant interval distance therebetween.
Furthermore, only one set of a transfer robot and a traverse rail may be prepared and arranged, for example, on the back side of the working surface, and the traverse movement on the front side may be performed by a human-powered traverse movement device.
Hereinafter, a self-propelled robot transfer system and a transfer robot according to the first example of the present invention are explained based on
Here,
As shown in
The transfer robot 110 is integrally composed of a bogie unit 111 and a main body unit 112.
The bogie unit 111 is consist of bogie wheels 111a composed of a bogie driving wheel 111aa that rolls on the traverse rail 120 and bogie driven wheels 111ab, a transmission rod 111b that transmits the driving force from the main body unit 112 to the bogie wheel 111a, a bogie frame 111c that is moved on the traverse rail 120 by the bogie wheels, and a loading/unloading assist frame 111d that can transfer the self-propelled robot R between the second reinforcing bar LR and the bogie frame 111c by loading/unloading the self-propelled robot R.
The loading/unloading assist frame 111d includes a swing base member 111da having a pair of swing shafts, a center rail part 111db fixed to the swing base member 111da, and an assist rails interval distance adjustment member 111dc fixed to the center rail part 11db, a pair of loading/unloading assist rail parts 111dd that has an inverted U-shaped cross section and is fixed by the swing base member 111da and the assist rails interval distance adjustment member 111dc so as to be adjustable in interval distance, and a reinforcing bar detection inhibiting part 111de that is fixed to the center rail part 111db and arranged between the pair of loading/unloading assist rail parts 111dd.
The swing base member 111da is swingably fixed at the pair of swing shafts by a pair of bearings constituting the bogie frame 111c. As a result, the swing shaft is positioned between the bogie wheels 111a.
The main body unit 112 is composed of a main body driving wheel 112a that rolls on the traverse rail 120, a main body frame 112b that is moved on the traverse rail 120 by the main body driving wheel 112a, a sensor section 112c that detects various conditions, a traverse drive section 112d that drives the main body driving wheel 112a, a loading/unloading assist frame drive section 112e that drives the loading/unloading assist frame 111d between the loading/unloading position and the loaded position, an operation control section 112g that performs various controls, and an operation communication section 112f that communicates with the self-propelled robot R.
Among the components described above, the sensor section 112c includes a loading/unloading assist frame detection sensor 112ca that detects whether the loading/unloading assist frame 111d is in a tilted loading/unloading position or a horizontal loaded position, a second reinforcing bar detection sensor 112cb that detects the second reinforcing bar LR over which the transfer robot 110 moves during traverse movement, a self-propelled robot sensor 112cc that detects whether the self-propelled robot R is located in front of the transfer robot 110, and a rail end detection sensor 112cd that detects the end of the traverse rail 120 while the transfer robot 110 moves on the traverse rail 120.
Further, the traverse drive section 112d includes a drive motor 112da that generates driving force for traverse movement, and a transmission belt 112db that transmits the driving force to the main body driving wheel 112a to transmit the driving force to the bogie wheels 111a via the transmission rod 111b.
Furthermore, the operation control section 112g includes an operation input section 112ga that is used by an operator of the self-propelled robot transfer system 100 to input various information such as specified time, a traverse control section 112gb that controls to drive or stop the traverse drive section 112d in accordance with the content of communication with the self-propelled robot R and signals from the second reinforcing bar detection sensor 112cb and the rail end detection sensor 112cd, and a loading/unloading assist frame control section 112gc that control to drive or stop the loading/unloading assist frame drive section 112e and to switch the loading/unloading assist frame 111d between the loading/unloading position and the loaded position.
The traverse rail 120 is composed of a first traverse rail 121 and a second traverse rail 122 that are arranged at a distance from each other that allows the transfer robot 110 to be mounted thereon. The first traverse rail 121 and the second traverse rail 122 are bound and fixed to the first reinforcing bar TR or the second reinforcing bar LR.
In order to operate the self-propelled robot R using the self-propelled robot transfer system 100 of the present example, first, the interval distance between the pair of loading/unloading assist rail parts 111dd is adjusted to the interval distance of the second reinforcing bars LR. In the present example, as shown in
In particular, when the center rail part 111db is arranged at a position corresponding to the n+1th second reinforcing bar LR, the pair of loading/unloading assist rail parts 111dd are fixed at positions corresponding to the nth and n+2th second reinforcing bars LR respectively so as to be parallel to the center rail part 111db.
Next, the traverse rail 120 is laid near the end of the second reinforcing bar LR on which the self-propelled robot R moves, and is bound and fixed to the first reinforcing bar TR or the second reinforcing bar LR.
Then, the transfer robot 110 is mounted on the traverse rail 120. At this time, as shown in
Next, the control frow of the self-propelled robot transfer system 100 of the present invention will be explained.
The self-propelled robot transfer system 100 according to the present example transfers one reinforcing bar binding self-propelled robot between the second reinforcing bars, which is the self-propelled robot R that moves on the second reinforcing bars LR. Thus, as shown in
Hereinafter, with reference to
SA01 to SA09, SB01 to SB09, and SR01 to SR22 in the figures indicate control steps.
First, the control flow and the operation of the transfer robot (A) 110 arranged on the back side will be explained.
In the initial state, the transfer robot (A) 110 is arranged on a traverse rail (A) 120 at a position on the left back side corresponding to the second reinforcing bar LR on which the self-propelled robot R moves. The operator of the self-propelled robot transfer system 100 inputs from the operation input section 112ga that the transfer robot (A) 110 is arranged on the back side.
While the self-propelled robot R moves forward, the transfer robot (A) 110 is in a state of waiting for a new call, in which the loading/unloading assist frame control section 112gc drives the loading/unloading assist frame drive section 112e to keep the loading/unloading assist frame 111e in a horizontal state (SA01)
When the operation communication section 112f of the transfer robot (A) 110 receives a moving direction transfer robot call signal that is transmitted in a state where the self-propelled robot R stops in a specified time after the self-propelled robot R turns around and moves backwards, the traverse control section 112gb of the operation control section 112g drives the drive motor 112da constituting the traverse drive section 112d to traverse the transfer robot (A) 110 in the lateral direction along the first traverse rail 121 (A) and the second traverse rail 122 (SA02).
During the traverse movement in the lateral direction, each time the transfer robot (A) 110 moves over the second reinforcing bar, the second reinforcing bar detection sensor 112cb detects the moving over event. Thus, the stopping position can be determined accurately based on the positions of the second reinforcing bar LR.
Here, as will be described later, after the self-propelled robot R moves from the back side to the front side while binding reinforcing bars, the self-propelled robot R is moved the same distance as the interval distance between the second reinforcing bars in the lateral direction by a transfer robot (B) 110, and the self-propelled robot R further moves from the front side to the back side while binding reinforcing bars. Thus, the transfer robot (A) 110 traverses in the lateral direction the same distance as the interval distance between the second reinforcing bars, thereby the transfer robot (A) 110 is in front of the self-propelled robot R that is stopped in the specified time after the self-propelled robot R moves backwards.
Then, the operation control section 112g starts driving the drive motor 112da (SA02). After that, when the self-propelled robot sensor 112cc detects the self-propelled robot R in front thereof and the second reinforcing bar detection sensor 112cb detects the second reinforcing bar, the drive motor 112da is controlled to be stopped (SA03). During this operation, the signal from the second reinforcing bar detection sensor 112cb is input once.
When the transfer robot (A) 110 stops at a predetermined position, as shown in
When the self-propelled robot R moves up the pair of tilted loading/unloading assist rail parts 111dd and the center of gravity of the self-propelled robot R exceeds the swing base member 111da, as shown in
After the self-propelled robot R moves up to the innermost part of the loading/unloading assist frame 111d and is completely transferred and stops, and the loading/unloading assist frame 111d separates from the second reinforcing bar LR and becomes in a state where the self-propelled robot R is stably loaded and held in a horizontal loaded position, when the loading/unloading assist frame detection sensor 112ca detects that the loading/unloading assist frame 111e is in a horizontal state, a loaded signal is input from the loading/unloading assist frame detection sensor 112ca to the operation control section 112g.
When the loaded signal is input from the loading/unloading assist frame detection sensor 112ca, the traverse control section 112gb of the operation control section 112g drives the drive motor 112da constituting the traverse drive section 112d, and, as shown by the arrow in
At this phase, the self-propelled robot R has finished binding the four mutually adjacent second reinforcing bars. Therefore, in a state where the self-propelled robot R is loaded on the bogie unit 111 of the transfer robot (A) 110, in order to move to the second reinforcing bars LR where the reinforcing bars is to be bound next, it is necessary to traverse a distance three times the interval distance between the second reinforcing bars.
Therefore, the operation control section 112g of the transfer robot (A) 110 starts driving the drive motor 112da (SA05), and after that, when the self-propelled robot sensor 112cc detects the self-propelled robot R in front thereof and the second reinforcing bar detection sensor 112cb detects the second reinforcing bar LR, the operation control section 112g control to stop the drive motor 112da (SA06). during this operation, the detection signal from the second reinforcing bar detection sensor 112cb is input three times.
When the self-propelled robot R starts moving and the center of gravity of the self-propelled robot R exceeds the swing base member 111da, due to the weight of the self-propelled robot R, the entire loading/unloading assist frame 111d automatically swings around the pair of swing shafts and is tilted and is connected to the second reinforcing bar LR and becomes stable in a robot loading/unloading position. At this time, the lower end portions of the pair of loading/unloading assist rail parts 111dd having an inverted U-shaped cross section move down, and the pair of loading/unloading assist rail parts 111dd is in engaging state with the second reinforcing bar LR again.
Since the transfer robot (A) 110 traversed along the traverse rail 120 a distance three times the interval distance between the second reinforcing bars LR, the lower end portions of the pair of loading/unloading assist rail parts 111dd engage with the n+3th and n+5th second reinforcing bars LR, which are the third second reinforcing bars LR from the nth and n+2th second reinforcing bars LR respectively, on which the self-propelled robot R moved before being transferred to the bogie unit 111.
When the transfer robot (A) 110 stops at a predetermined position, the operation communication section 112f transmits a moving permission signal to the self-propelled robot R (SA07).
When the self-propelled robot R gets off the loading/unloading assist frame 111e and moves, the operation communication section 112f inputs to the operation control section 112g that the strength of the signal transmitted from the self-propelled robot R has decreased, and it is confirmed that the self-propelled robot R moves (SA08).
Thereafter, the loading/unloading assist frame drive section 112e is driven until the loading/unloading assist frame detection sensor 112ca detects that the loading/unloading assist frame 111d is in the loaded position to make the loading/unloading assist frame 111d in a horizontal state, and then the transfer robot (A) is in a new call waiting state (SA09), which is in a loop returning to the repeat start point in
To briefly summarize the relationship between the distance of the traverse movement of the transfer robot (A) 110 and the loading/unloading of the self-propelled robot R as explained above, (1) the traverse movement to right a distance three times the interval distance between the two reinforcing bars LR in a state where the self-propelled robot R is loaded, and (2) the traverse movement to right a distance equal to the interval distance between the second reinforcing bars LR in a state where the self-propelled robot R is not loaded are repeated.
Next, the control flow of the transfer robot (B) 110 arranged on the front side will be explained.
In the initial state, the transfer robot (B) 110 is arranged at an arbitrary position on a traverse race (B) 120. The operator of the self-propelled robot transfer system 100 inputs from the operation input section 112ga that the transfer robot (B) 110 is arranged on the front side.
SB01 to SB09 of the control flow of the transfer robot (B) 110 are respectively the same as SA01 to SA09 of the control flow of the transfer robot (A) 110 except for the following points, thus detailed explanation will be omitted.
One of the differences from the control flow of the transfer robot (A) 110 is that, since the transfer robot (B) 110 starts traverse movement from an arbitrary initial position, the distance of the first traverse movement in SB03 depends on the initial position.
Further, from the second traverse movement, the transfer robot (A) 110 traverses the self-propelled robot R in the lateral direction by a distance three times the interval distance between the second reinforcing bars. Therefore, since the distance of traverse movement from the second traverse movement in SB03 is three times the interval distance between the second reinforcing bars LR, the signal from the second reinforcing bar detection sensor 112cb is input three times until the traverse movement is stopped.
On the other hand, the self-propelled robot R, which moves forward along the second reinforcing bars LR, performed binding operations on every other two second reinforcing bars LR. Therefore, the distance that the transfer robot (B) 110 traverses to the second reinforcing bar LR, at which the next reinforcing bar binding work is to be performed, in a state where the self-propelled robot R is loaded on the bogie unit 111, is the same distance as the interval distance between the second reinforcing bars.
Therefore, at SB06, by the time the self-propelled robot sensor 112cc detects the self-propelled robot R in front thereof and the second reinforcing bar detection sensor 112cb detects the second reinforcing bar LR to control to stop the drive motor 112da, the detection signal from the second reinforcing bar detection sensor 112cb is input only once.
To briefly summarize the relationship between the distance of the traverse movement of the transfer robot (B) 110 and the loading/unloading of the self-propelled robot R as explained above, (1) the traverse movement to right the same distance equal to the interval distance between the second reinforcing bars LR in a state where the self-propelled robot R is loaded and (2) the transverse movement to right a distance three times the interval distance between the second reinforcing bars LR in a state where the self-propelled robot R is not loaded are repeated.
Finally, in the self-propelled robot transfer system 100 of the present example, the configuration, control flow and operation of the self-propelled robot R to be operated will be explained.
The self-propelled robot R is a reinforcing bar binding self-propelled robot, and, as shown in
As shown in
First, the operator of the self-propelled robot transfer system 100 inputs a specified time corresponding to the length of the second reinforcing bar LR on the working surface of reinforcing bars from a self-propelled side input section R41 (SR01).
The self-propelled robot R moves forward along the second reinforcing bar LR (SR02), repeats the binding operation to the reinforcing bars (SR03), and stops the movement and the binding operation after a specified time has elapsed (SR04). After that, a moving direction transfer robot call signal is transmitted to the transfer robot B (SR05), and upon receiving the moving permission signal, the self-propelled robot R resumes movement (SR06), performs binding operations (SR07), and moves up the loading/unloading assist rail part 111dd and stops after complete loading on the transfer robot B (SR08).
When the self-propelled robot R moves up the pair of tilted loading/unloading assist rail parts 111dd, as shown in
Further, when the self-propelled robot R moves up the pair of tilted loading/unloading assist rail parts 111dd, as shown in
When the loading/unloading assist frame 111d becomes stable in the horizontal loaded position, since the distance from the self-propelled side first reinforcing bar detection sensor R11 of the self-propelled robot R to the first reinforcing bar TR is sufficiently long, the first reinforcing bar TR is not detected, and the self-propelled robot R does not perform a binding operation.
When the loading/unloading assist frame 111d swings to the horizontal loaded position and the self-propelled robot R moves to the innermost part of the loading/unloading assistance frame 111d, as shown in
After that, upon receiving the moving permission signal transmitted from the transfer robot B, the self-propelled robot R changes the moving direction (SR09), reads and sets the specified time that has been input and recorded in advance (SR10), and moves down the loading/unloading assist rail part 111dd to move backward (SR11).
When the self-propelled robot R moves down the pair of tilted loading/unloading assist rail parts 111dd, since the self-propelled side second reinforcing bar detection sensor R12 in the moving direction of the self-propelled robot R detects the center rail part 111db instead of the second reinforcing bar LR, the self-propelled robot R automatically continues moving.
When the self-propelled robot R moves down the pair of tilted loading/unloading assist rail parts 111dd, since the self-propelled side first reinforcing bar detection sensor R11 of the self-propelled robot R comes into contact with the reinforcing bar detection inhibiting part 111de of the loading/unloading assist frame 111d and is pushed up, detection of the first reinforcing bar TR is prevented and the binding operation is not performed.
When the self-propelled robot R moves further and reaches a position where the self-propelled side first reinforcing bar detection sensor R11 is no longer in contact with the reinforcing bar detection inhibiting part 111de of the loading/unloading assistance frame 111d, since the self-propelled side first reinforcing bar detection sensor R11 lowers to its original position, the self-propelled robot R can detect the first reinforcing bar TR and resumes the reinforcing bar binding operation (SR12).
Then, the movement and binding operation are stopped when a specified time has elapsed (SR13). After that, moving direction transfer robot call signal is transmitted to transfer robot B (SR14), and upon receiving the moving permission signal, the self-propelled robot R resumes movement (SR15), performs binding operations (SR16), and stops after loading on the transfer robot A (SR17).
After that, upon receiving the moving permission signal transmitted from the transfer robot A, the self-propelled robot R changes the moving direction (SR18), reads and sets the specified time that has been input and recorded in advance (SR19), and starts moving forward (SR20) and repeats the reinforcing bar binding operations (SR21). When the specified time has elapsed, the movement and binding operation are stopped (SR22). Thereafter, this flow is in a loop returning to the repeat start point in
Hereinafter, a self-propelled robot transfer system and a transfer robot according to a second example of the present invention will be explained with reference to
Here,
The control flow of the self-propelled robot transfer system 100 of the present example will be explained.
The self-propelled robot transfer system 100 according to the present example includes two sets of the transfer robot 110 and the traverse rail 120 as shown in
Hereinafter, with reference to
In the figures, SA01 to SA7, SB01 to SB17, SI01 to SI21, and SII0 to SII17 indicate control steps.
First, the control flow and the operation of the transfer robot 110(A) arranged on the back side will be explained.
In the initial state, the transfer robot 110(A) is arranged on the traverse rail 120(A) on the left back side at a position corresponding to the second reinforcing bar LR on which the self-propelled robot R moves. The operator of the self-propelled robot transfer system 100 inputs from the operation input section 112ga that the transfer robot (A) 110 is arranged on the back side.
While the self-propelled robot R moves forward, the transfer robot (A) 110 is in a state of waiting for a new call, in which, the loading/unloading assist frame control section 112gc drives the loading/unloading assist frame drive section 112e to keep the loading/unloading assist frame 111e in a horizontal state (SA01).
SA02 to SA09, which are the control flow of the transfer robot 110(A) shown in
One of the differences from the control flow of the transfer robot 110(A) in the example 1 is that since there are two self-propelled robots R to be operated, in SA02 and SA03, the transfer robot 110(A) receives the moving direction transfer robot call signal transmitted by the self-propelled robot R(2) and traverses to the front of the self-propelled robot R(2).
Further, as shown in
Since the control flow is different from that of example 1 in the above points, the distance of traverse movement of the transfer robot (A) 110 is different from that in the example 1.
The control flow of the transfer robot 110(A) is in a loop that returns from SA17 in
Next, the control flow of the transfer robot (B) 110 will be explained. SB01 to SB17, which are the control flow of the transfer robot (B) 110 shown in
The difference from the control flow of the transfer robot 110(A) is that since there are two self-propelled robots R to be operated, in SB02 and SB03, the transfer robot 110(A) receives the moving direction transfer robot call signal transmitted by the self-propelled robot R(1) and traverses to the front of the self-propelled robot R(1), and at SB10 and SB11, the self-propelled robot R(1) receives the moving direction transfer robot call signal transmitted by the self-propelled robot R(2) and traverses to the front of the self-propelled robot R(2).
The configuration, control flow and operation of the self-propelled robot R(1) and the self-propelled robot R(2) are the same as those of self-propelled robot R, thus detailed explanations is omitted.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2021-127836 | Aug 2021 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2021/036170 | 9/30/2021 | WO |
