JPS6279983A - Method of moving floor travelling type 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] 3. [Detailed Description of the Invention] (a) Fields of Application of Pγ Industry The present invention is applicable to complex equipment. :1 This is related to the 7'J method for easily moving cobots within the plant located in 1'1.

0) Conventional technology In plants that have complex equipment and work under adverse environmental conditions, such as atomic couplers and chemical plants, in recent years various types of bots have come to be used for maintenance and inspection work of the equipment. It's here. However, many of these facilities are designed and constructed to make it easier for humans to work with them. On the other hand, the robot's design 1 is as close to human motion as possible (
-14J Although attempts have been made to do so, there are certain limitations due to the inherent characteristics of the machine. In particular, for the body-stopping robot 1-, obstacles and moving surfaces are provided throughout the construction site.

For example, taking an example of an atomic couplant, FIG. 11 shows pocket J: sea urchin, stairs 1.1G, vertical walls 2, reversal landings 3, narrow passages 4 and other difficult passages or 7M 5 , piping 6, steps 7. There are obstacles everywhere.

For this reason, the robot is unable to reach the desired point, and the robot itself is unable to perform its excellent functions such as disassembly within 1 minute, hindering the mechanization and automation of plant maintenance work. There is.

In particular, in order to automate maintenance work, robots must overcome the need to climb stairs. The original purpose of robots is mainly to replace manual labor (manipulation), but if the robot is improved for this purpose, it will become complicated and become a puppet, and it will be able to run in other places (for example, hallways and entrances) within Plan 1. 11, it would have been a hindrance.

Q9 Problems to be solved by the invention The problems to be solved by the present invention are to be solved by making slight improvements to the existing robot A3 and equipment (to freely move around obstacles and difficult places in the plant). The object of the present invention is to obtain a method II capable of moving the robot 1 to a desired position.

(Q) The one-step method of the present invention for solving the problem is to install auxiliary wheels and Installing a wire winding machine, laying a guide rail across the travel obstacle or difficult point, placing the wire along the guide rail, leaving the starting end of the guide rail free and the terminal end of the rail. fixing the wire, engaging the auxiliary wheel with the guide rail by operating the bot itself, and fixing the free end of the wire X7 to the wire winding machine; driving the 9417 winding 1; Said guide rail
Problem 1- is solved by avoiding running the ('' bot).

The method of the present invention further includes installing a wire winding machine on the truck portion of the robot in a blunt that avoids equipment that is a traveling obstacle or difficult place for the floor-moving robot.
That is, a step board of a predetermined width is swingably provided across the running obstacle or the first stop, an e-cut wye 17 is placed on the step board, the starting end side of the step board is free, and the step board is Termination fl
and fixing the free end of the i12 wire to the wire winding machine by lowering the treadle and engaging the drive middle wheel on the treadle by operation of the robot itself. , the above-mentioned problem is solved by driving the wire winding machine and causing the treadle board F to travel.

(1-) Embodiment FIG. 10 shows an example of a 2+ body-stopping robot to which the present invention is directed against Mongolia. The floor-moving robot 10 is made up of a pan head 11, a manibulator 12, and a cart portion 13. robot 10
These are broadly classified into wheel type (A), crawler type (8), and multi-legged type (C) based on the difference in the drive mechanism of the trolley part 13 (which usually houses an artificial brain part, a robot part, etc.).

Wheeled robots 1 to 10 (A) are suitable for running on flat floors, but they are difficult to run on uneven floors. This robot is widely used because it has a wide range of motion and is economical. The crawler robot 10 (B) is
I can get over some steps, but I can't go up or down steep stairs. The multi-legged robot 10(C) can go up and down stairs with a gentle slope and step over low obstacles on the floor, but cannot climb stairs with a steep slope. Since this robot has legs 131 on the trolley portion 13, it is difficult to apply the method of the present invention, but it becomes possible by appropriately folding the legs 131.

The method of the present invention makes use of an artificial brain unit that has memory, discrimination, and instruction functions inherent in the robot, and a manibrator 12 that has advanced work functions.

As shown in FIGS. 2 and 3, auxiliary wheels 131 and 13 are mounted on both sides of the platform 17 of the robot 10.
Install 2. The auxiliary wheel 131 is installed above the existing drive wheel 133 at a predetermined interval (the thickness of the flange of the guide rail 20, which will be described later). Attached near the axle gap.Auxiliary middle wheel 131, 1
32 is selectively driven from an existing power source (not shown). A wire winding machine 14 is mounted on the upper end of the truck section 13.

The wire winding machine 14 may be a conventional motor in which a winding drum 141 is rotated by a drive motor 142, as shown in FIGS. 4 and 5.

Next, as shown in Fig.
A guide rail 20 is laid across the tops of 1 and 2).

The guide rail 20 has a C-shaped cross section and is installed with the opening facing upward.

The state of engagement between each wheel 131, 132, 133 and the rail 20 is as shown in FIGS.
1 and 133 sandwich the flange portion of the rail 20 from above and below, and the wheel 132 pushes the end face of the flange portion.

If the space or passage in the plant is narrow, a guide rail narrower than the guide rail 20 shown in FIG. 1 may be used.
.

Since the guide rail has a narrow width, the drive middle wheel 13 is designed as shown in FIGS.
1 is not available. 43 and 7, respectively. J J: The auxiliary wheels 131 and 131a are provided on the bottom of the truck part 13, and the two wheels 131 and 131a are sandwiched between the wheels 131 and 131a (-1).

As shown in Fig. 1, Fig. 8 a3 and Fig. 9, for the stairs 1.13 and the monkey ladder 1c provided on the vertical wall 2, which are difficult to navigate, , a guide rail 20 with a C-shaped lateral surface as shown in FIG. 1 is laid. Furthermore, the wire 30 is distributed along the guide rail 20.

The upper end of the wire 30 is fixed to the -L step floor side, and the lower end becomes a free end and is suspended within the guide rail.

The above explanation has been made regarding the wheeled two-body stationary robot 10 (FIG. 10(A)), but other crawler two-body stationary robots 10 (FIG. 10(8)) or the multi-legged two-body stationary robot 10 (FIG. 10(8)) This can also be applied to the stop-type mouth bolt 1-10 (FIG. 10(C)). In this case, as shown in FIG. 6 and FIG.
, 131a may be attached. In the case of a multi-legged type, the legs 131 are foldable.

Roughly, install the power rail inside the guide rail 20 with number J1.
By providing TEPCO near the auxiliary wheels 131 and 132 of the 0-bot 10, it is possible to avoid charging the built-in parts of the robot while the robot 10 is running on the rails.

Furthermore, when the staircase 1 is narrow or relatively wide, the handrail 21 is fixed as shown in FIGS.
It is also possible to adopt a configuration in which a tread 22 of a predetermined width (preferably slightly smaller than approximately half the width of the stairs) is attached to the machine frame 23 in a swingable manner. A clasp 24 is rotatably attached to an appropriate position of a handrail 21 on the lower floor side. Place the clasp 24 on the handrail 21 on the -L step floor side (=j
It can also be placed on the floor side of the upper and lower tiers.

It may be attached to.

In the normal state 1.1, the footboard 22 is stood up and held on the handrail 21 with the clasp 24 (FIG. 12 (8)). When the clasp 24 is removed, the tread 22 is folded down and placed on the stairs (FIG. 12(B)).

It is preferable that appropriate grooves or irregularities be provided on the surface of the footboard 22 to prevent slipping.

If the stairs are good, move the tread 22 in the right direction (k
It may be divided into 6 parts and each part can be held with a clasp 24.

Furthermore, as shown in FIG.
may be fixed, and the clasp 24 may be engaged or disengaged by rotating the handle 260.

(F) Operation (1) of the method of the present invention will be explained with reference to the drawings.Specific equipment in the plant shown in FIG. P
4.

A case in which the bot 10 moves 1" between the desired positions of P5 will be explained.

Under normal conditions, the robot 10 moves to the working position P1 due to moving chips or obstacles. P2. ...Do not move between them. Therefore, for example, if it is necessary to move from work T, down purchase P1 to P5]]2 or from work position P3 to P5, travel 5
! A polypropylene guide rail 20 is laid at one location (1, 1C) as shown in FIG. 8 or 9.

[Cobot 1 to 10 travels to the lower end of the rail 20, operates the manibulator 12, and connects the free end of the wire 30 to the wire! It is fixed to the winding drum 141 of the winding machine 14. Then,
The robot itself is operated to engage the auxiliary wheels 131 and 132 with the rails 20, drive the wire winder 14, and wind the wire 30 onto the drum 141. When winding the wire, the 1" pot is attached to the rail 20 by 11".

After the robot 10 finishes turning over the rail 20, the robot 10 moves to the rail 2.
0, the wire winding lever 14 is reversed, and the wire 30
is let out from the drum 141, and the free end of the I-wire 30 is removed from the drum by the manibulator 12.

1. When lowering the rail 20 41. ■--The above operation can be performed in reverse.

Next, a case where a tread 22 as shown in FIG. 12 is installed on the stairs 1 will be explained. Under normal conditions, when the bamboo stick falls ν1 steps, the treadle 22 is in an upright position, as shown in FIG. 12 (^).

If robot 1-10 needs to walk down stairs 1, [
1 bot 10 approaches the stair 1, operates its own manibukolator 12 to remove the clasp 24, and moves the tread 22 as shown in FIG.
Fold it down as shown in step B) and place the tread 22 on the stairs.

L] As mentioned above, the bot 10 can wind up the wire 30 and travel from 4K to the 4fi 22, and can freely lower the cargo down the stairs. In this case, since the auxiliary wheel tit cannot be used, the drive wheel 133 is used.

To go to L1, Shun, who has finished the necessary work, operates the manibulator 12 to raise the treadle 22 to its original state.
Add 11 to the clasp 24.

Such an operation of the robot 10 may be performed either on the lower floor side of the stairs or on the first floor side.

(G) Effects According to the present invention, it is possible to easily move the robot to a desired position by making slight improvements to existing robots and equipment. All movement operations are performed by the robot itself, which saves space.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram showing the method of the present invention. FIG. 2 is a side view of a wheeled stationary robot to which the method of the present invention is applied. Third
The figure is viewed from the line ■-■ in Figure 2] A front view of the pot. FIG. 1 is a front view of the wire winding machine. FIG. 5 is a side view taken along the v-v line in FIG. 4. Figure 6 is a side view of a 1'' pot suitable for narrow guide rails. FIG. 7 is a front view of the Hohola seen from the VW-■ line in FIG. 53. FIG. 8 and FIG. 9 are explanatory diagrams showing the method of the present invention. FIG. 10 shows an example of a robot to which the present invention is applied. Figure 11 [Obstacles and obstacles in the plant? An explanatory diagram of 19 places. FIG. 12 is an explanatory diagram showing another method of the present invention. FIG. 13 is a side view taken along the xm-xm line in FIG. 12. FIG. 14 is a partial perspective view showing a modification of the receiving method shown in FIG. 12. 10: Go to body stop! [1 Bottle 11: Pan head 12: Manibobcolator 13: Carriage part 14: Wire winder 131: 132
: Auxiliary middle wheel 133: Drive wheel 20: Guide rail 21: Handrail 22: Step board 23: Machine frame 24: Clasp 25:
Connecting rod 2: Handle 30: Wire Patent applicant Director of Industrial Technology Figure 1 Figure 3 Figure 8 Figure 9 Diagram n

Claims (2)

[Claims] (1) Providing auxiliary wheels and a wire winder on the cart of the robot in a plant that has equipment that is an obstacle or difficult place for the floor-moving robot;
Laying a guide rail across the traveling obstacle or difficult place, arranging a wire along the guide rail, leaving the starting end of the guide rail free and fixing the end end of the rail, and controlling the robot itself. Therefore, engaging the auxiliary wheel with the guide rail and fixing the free end of the wire to the wire winder, and driving the wire winder to make the robot run on the guide rail. A method of moving a floor-moving robot consisting of: (2) In a plant that has equipment that is an obstacle or difficult place for a floor-moving robot, a wire winder is installed on the robot's truck, and a wire winding machine of a predetermined width is provided to cross over the obstacle or difficult place. The treadle is swingable,
arranging a wire along the treadboard, freeing the starting end of the treadboard and fixing the terminal end of the treadboard, and collapsing the treadboard by operating the robot itself to engage the driving wheels on the treadboard; and fixing the free end of the wire to the wire winding machine, and driving the wire winding machine to make the robot run on the treadle.