JPS6183766A - Split type multifunctional robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a split-type multifunctional robot that can automatically perform a plurality of different finishing tasks in architectural finishing work.

C. Conventional technology] Architectural finishing work includes only floor work, such as cleaning work, removing concrete that has adhered to the finished surface (keren), and polishing the floor by applying wax and polishing it (borinsoe). It consists of a large number of unit works performed by a large number of occupations.

There have been some examples of robots for building finishing work to save labor in building finishing work, but they all have processing mechanisms for specific tasks (for example, spraying fireproof coatings, cleaning, etc.) It was a single-function machine that added a movement function to the (Touring).

[Problem that the invention seeks to solve]

However, when trying to further reduce labor in architectural finishing work, which consists of a large number of unit tasks such as those mentioned above, conventional thinking suggests that in order to achieve robotization, it is necessary to develop a large number of single-skilled robots that can handle each task. There was a huge economic problem.

In addition, since it is a functional machine, the scope of application per site is limited, the operating rate is not high, and it is difficult to recover development investment.

The present invention is based on the above considerations, and consists of a robot that is divided into a mechanism that performs a specific task and a common mechanism that moves that mechanism, and is divided into a mechanism that can be applied to a large number of tasks. The purpose is to provide a type of multifunctional robot.

[Means for solving problems]

To this end, the split-type multi-functional robot of the present invention is a split-type multi-functional robot that performs construction finishing work, and has a control device with a control function, a power source, and drive wheels, and is controlled by the control device. The robot is divided into three devices: a traveling device with a movement function, and a working device that performs finishing work controlled by a control device, and a joint mechanism is used to mechanically connect the control device and the traveling device. The invention is characterized in that it is constructed so that the work device and the work device are combined and joined.

[Effect]

In the split-type multifunctional robot of the present invention, a traveling device and a control device are commonly used for a plurality of work devices that perform various finishing operations. Therefore, a joining mechanism having a common structure for each working device is used, and a working device is selected according to the needs of the finishing work and is connected to the control device and the traveling device. When combining and joining a control device, a traveling device, and a working device, each device is moved using a retractable moving means, and the devices are joined using a joining device.

The control device performs traveling control of the traveling device and control of the working device.

〔Example〕

Examples will be described below with reference to the drawings.

Fig. 1 is a diagram for explaining the present invention in detail, Fig. 2 is a diagram for explaining the joining mechanism, Fig. 3 is a diagram showing an example of the configuration of each device and the state in which they are joined, Fig. 4 5 is a diagram showing an example of how each device is connected, and FIG. 5 is a diagram for explaining the running mode. In the figure, ■ is a traveling device, 2.21 to 2
3 is a working device, 3 is a control device, 4 is a drive wheel, 5 is a connecting pin, 6.7.12.15 and 16 are connectors, 8 is a handle, 9 is a claw part, 10 is a fixed part, 11.13 .14 and 17 are retractable casters, 18 is a joining mechanism, and 19 is an ultrasonic sensor, respectively.

The split-type multifunctional robot of the present invention basically includes a traveling device 1 having a movement function, a working device 2 that performs various finishing operations, a control device 3 having a control function, and The robot of the present invention, which is composed of a joining mechanism that joins devices, has a common control device and traveling device for various work devices, and can select the necessary work device as appropriate depending on the finishing work. By combining them, they can be used for many purposes.

Three joint methods are used for the joining mechanism used to join and integrate the traveling device 1, the working device 2, and the control device 3. One of them is connecting pin 5
This is a joint method using In this joint method, as shown in FIG. 2fa1, the connecting pins 5 are inserted (multiple This is done at the points shown in Figure 3) to restrain the devices in the front-rear, left-right, and up-down directions, and to transmit force. The second is the toggle mechanism (
This is a joint method using a buckle mechanism. In this joint method, the devices are joined by hooking the claw portion 9 of the other device onto the fixing portion 10 of one device to be joined and tilting the handle 8 as shown in Fig. 2 tb+. . The third method is a joint method using retractable casters. This joint method is
When moving the device alone, use retractable casters 11 for pushing by hand as shown in Figure 2 te1, and set the height to a positional relationship that can be joined by the method shown in Figure 2 (al and in Figure 2). Adjustment 0Next, after joining and integrating each device, when it is no longer needed, flip it up (or raise it) in the direction of the arrow shown in the figure to minimize the number of ground contact wheels of the integrated device as a whole. It is something that makes you In addition, there is another joint method in which both devices are restrained in the front-back and left-right directions using an insertion structure consisting of a guide rail and a guide a-railer inserted into the guide rail. This joint method involves inserting a guide roller on the other device side along the guide rail on one device 2 side to restrain both devices in the front, back, left and right directions, but it is an alternative to the above joint method. It goes without saying that lever joint methods may be used, but these joint methods move each device so that it is always in contact with the floor, so there is no need for workers to lift each device, and it is safe. Work load is also reduced.

Also, due to the connection and 75 and toggle mechanism, front and rear, left and right,
Because it is a method that restrains each device in the vertical direction,
Bonding work can be easily performed in a short time without the need for special tools or fine adjustments. Therefore, if each device is provided with a standardized joining mechanism, it will be easy to operate, and no special tools or adjustments will be required, thereby increasing skill.

As shown in FIG. 3, the traveling device 1 is equipped with a drive wheel 4, a joint a side such as a connector 12, and retractable casters 13, as well as a power source such as a battery or a gasoline engine, and a drive motor. be. As shown in FIG. 3 fc1, the control device 3 is equipped with a connecting mechanism such as a connector 16 and retractable casters 17, as well as various sensors necessary for running such as a direction sensor, an obstacle detection sensor, and a distance sensor, and a micro combination. The eight working devices 2 are configured to process signals from the various sensors mentioned above using a micro combinator, and also control starting and stopping of the working devices 2 all at once.
Figure 3 (b1 Retractable casters = 14 as shown)
, connector 15 and other joining mechanisms, and is equipped with only the functions necessary to process a specific task, and its control is based on the original I'
This is carried out by the control device 3 as ll.

Examples of work to be performed include floor cleaning, scrubbing, polishing, waxing, and terrazzo polishing, and it goes without saying that equipment with a structure and shape suitable for each processing function must be prepared.

FIG. 3 +d+ shows a state in which the devices shown in FIGS. 3 fat to 3 +c+ are joined by a joining mechanism.

FIG. 4 shows an example of joining each device.

FIG. 4 (al selects the cleaning device as the working device 21,
This shows an example in which this is connected between the traveling device 1 and the control device 3, and FIG.
Figure 4 (C1
1 shows an example in which a volisochet device is selected as the working device 23, and this is connected to the rear of the traveling device 1, and the control device 3 is connected to the front of the traveling device 1. In addition, FIG. 4 [d+ is a plan view of the joining example shown in FIG. It is attached at the position marked Δ.When joining each device, the space required for changing direction can be reduced by placing the working device further in the direction of travel than the traveling device and placing the drive wheel 9 at the rear. can.

Travel control for the traveling device is performed by the control device, and in this traveling control, there is control of starting and stopping in a straight line in the front and rear directions, and control of a rotation traveling mode as shown in FIG. a1 A mode (-
Wheel drive, -shaft stop, Fig. 5 fb) A mode in which the two driving wheels 4 are driven at different rotational speeds in2 as shown in the figure to rotate the steering wheel, and furthermore, as shown in Fig. 5 As shown in the FCI diagram, the direction is changed by driving the two drive wheels 4 at different rotation speeds and rotation directions, such as a mode in which the two drive wheels 4 are rotated on the spot by driving the two drive wheels 4 in opposite rotation directions. There are various rotation modes. In this case, the rotation speed ratio and the like are set depending on the characteristics of each work device, work requirements, and the like.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, since the traveling device for moving the working device and the control device for controlling the working device and the traveling device are used in common, the operating rate can be increased. . In addition, since the traveling device, control device, and work device are joined using a standardized joining means, even when adding equipment for processing new work to the system, only the work device needs to be prepared, and the shape and size of the design There are few restrictions, and the range of applications can be expanded easily and inexpensively.As it is easy to assemble and disassemble, there is no need for heavy equipment during relocation or setup, and the effort required is small. Since the method is simple, even non-skilled workers can easily and quickly assemble and disassemble it.

Furthermore, since each device is configured independently, the order in which each device is combined can be changed as appropriate depending on the work content, making development activities such as adding new functions and improving devices more efficient. Moreover, by increasing the degree of completeness of each component, the reliability of the entire system can also be increased.

[Brief Description of the Drawings] Figure 1 is a diagram for explaining the present invention in detail, Figure 2 is a diagram for explaining the joining mechanism, and Figure 3 is an example of the configuration of each device and the state in which they are joined. FIG. 4 is a diagram showing an example of how each device is connected, and FIG. 5 is a diagram for explaining the running mode. 1... Traveling device, 2. 21 to 23... Working device, 3... M control device, 4... Drive wheel, 5... Connecting pin, 6.7.12.15 and 16.・・Connector, 8・・
・Handle, 9...claw part, IO...fixing part, 111
3.14 and 17... retractable casters, 18...
・Joining mechanism, 19...Ultrasonic sensor. Patent Applicant Shimizu Corporation Patent Attorney Yoshige Abe Ryu Abe 5 Contents and Procedures for Figure Amendment Principal Author Author (spontaneous) September 30, 1985 2. Title of Invention Split Multi-Functional Robot 3. Amendment Patent applicant address: 2-16-1 Kyobashi, Chuo-ku, Tokyo Name (229) Shimizu Corporation Representative: Teruzo Yoshino 4 Agent address: 3 Ueno, Taito-ku, Tokyo 17-9-6, Subject of amendment The scope of claims in the specification and detailed description of the invention can be found in Bill 7. %I fear and architectural finishing work 1,
The claims of the specification are amended as follows. (1) A split-type multi-functional robot that performs finishing work on Dansuizachido construction, which has a control device with a control function, a power source, and a drive shaft, and moves under the control of the control device. Ropo-7 is divided into three devices, consisting of a traveling device with a moving function and a working device that performs finishing work controlled by a control device, and is mechanically connected to the control device using a joining mechanism. A split-type multifunctional robot characterized by being configured to combine and connect devices and working devices. (2) The joining mechanism uses connecting pins and toggle mechanisms to connect each of the control device, traveling device, and working device. Claim (1) characterized in that the device is provided with a joining means for restraining the device on the tray, and a retractable moving device provided in each device and used when moving each device alone. 2. On page 2 of the specification, lines 4 to 6, "The present invention is a split-type multi-functional robot that can automatically perform a plurality of different finishing tasks in architectural finishing work.""It is related to robots." should be corrected as follows. This invention relates to a split-type multifunctional robot that can automatically perform multiple different tasks. ” 3. Insert the following sentence between “mono desu.” and “nao,” in the second line of page 7 of the specification. [Furthermore, in the joint method using the connecting pin 5 shown in FIG. By inserting a (tapered pin-shaped tool) to align the holes, the connection using the connecting pin 5 becomes easier.Also, by making the connection itself with a single bolt on one side, the connection work can be completed in a short time. 4. “Figure 3 (dl
It is. Add the following sentence after ``. ``Also, if the running surface such as the floor or road surface is not flat, some wheels may float, so even if the running surface is uneven, the wheels of each device may follow this and float. In order to prevent this, it is recommended to connect each device only on the lower side (joint part A) and to make the joint surfaces of each device have slopes B and C, as shown in Fig. 3, te1. In this way, if the joint part A is joined with a single bolt as shown in Figure 2 (d+) mentioned earlier, even if the height difference due to the slope of the running surface is It is possible to maintain the posture of each device parallel to the running surface, and it is possible to prevent stress from being applied to joint part A.'' 5. Correct Figures 2 and 3 as shown in the attached drawings. . Above Figure 2

Claims (2)

[Claims] (1) A split-type multifunctional robot that performs construction finishing work, which is equipped with a control device with a control function, a driving device that has a power source and drive wheels, and has a movement function that moves under the control of the control device. The robot is divided into three devices: , and a work device that performs finishing work controlled by a control device, and a joining mechanism is used to mechanically combine and join the control device, traveling device, and work device. A split-type multifunctional robot characterized by its configuration. (2) The joining mechanism uses connecting pins and toggle mechanisms to connect the control device, traveling device, and work device to the front, back, left, and right.
Claim (1) characterized in that the device comprises a joining means for restraining the vertical direction, and a retractable moving means provided in each device and used when moving each device alone. A split-type multifunctional robot.