JP2774756B2 - Cleaning robot carrier safety device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a washing robot for preventing a rail of a washing place from being damaged when the washing robot is to be loaded from a washing place to a carrier bed of a carrier by an arm device attached to the carrying car. It is used in the field of transport vehicle safety devices.

[0002]

2. Description of the Related Art Conventionally, when a cleaning robot is to be loaded from a washing point to a carrier bed of a transport vehicle using an arm device attached to the transport vehicle, the arm device and the cleaning robot are locked by connecting pins, and the cleaning robot and the cleaning robot are connected to each other. After the engagement with the rail is released, the arm device is operated to load the vehicle onto the carrier.

[0003]

However, if the arm device is operated without forgetting the disengagement between the cleaning robot and the rail, the rail may be damaged by the cleaning robot. SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a safety device for a cleaning robot transporter that stops an arm device and prevents damage to a rail when trying to operate the arm device while forgetting to release the engagement between the cleaning robot and the rail. Is to provide.

[0004]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention relates to a cleaning device in which the tip of an arm device attached to a transport vehicle and a cleaning robot are connected by a connecting device, and the arm device is operated. In a cleaning robot transporter in which a robot is engaged with a rail at a predetermined cleaning location to perform cleaning, and is disengaged from the rail so that the robot can be loaded on a carrier bed, the connecting device is an arm device tip. Upper connecting piece swingably attached to the upper portion, a lower connecting piece connected to the upper connecting piece by a play portion comprising a long hole, and a slide pin inserted into the long hole, and the lower connecting piece and the cleaning robot The cleaning robot is provided with first detecting means for detecting engagement with the rail, and the connecting piece is provided with an upper part with respect to the lower connecting piece. Provided second detection means for detecting the upward movement of the connecting piece, respectively, is characterized in that further provided with arm devices increase stop means for stopping the rise of the arm unit by the detection of the respective detecting means.

[0005]

When the cleaning robot is to be loaded on the carrier bed from the rail at the washing point using the arm device attached to the carrier, first, the connection between the lower connecting piece at the front end of the arm device and the bracket of the cleaning robot. The pin is locked, and then the engagement between the cleaning robot and the rail is released to release the detection of the first detecting means. Thereafter, when the arm device is raised, the upper connecting piece moves upward with respect to the lower connecting piece. Then, the second detection means is detected, but since the detection of the first detection means is released, the arm device is lifted as it is, and the cleaning robot can be loaded from the rail at the cleaning point to the carrier of the transport vehicle. .

At this time, if the user forgets to release the engagement between the cleaning robot and the rail, the first detecting means is detected, and the raising of the arm device is stopped by the raising device of the arm device.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 3, reference numeral 1 denotes a carrier mounted on a vehicle body 3 of a cleaning robot carrier 2, and a cleaning robot 4 is mounted in the front-rear direction of the carrier 1. The cleaning robot 4 includes a robot main body 5 mounted on one side of the loading platform 1 and a robot auxiliary unit 6 mounted on the other end of the loading platform 1.

The robot auxiliary part 6 is connected to the upper part of the robot main body 5 so as to bend around a hinge 7 and extends above the robot main body 5 in the cleaning operation posture to be in the extended state. Is in a broken state. A cleaning brush 9 that moves up and down along a pair of left and right guide rails 8 is attached to a center portion of the robot body 5, and a generator 10 for driving the cleaning brush 9 is provided at a rear portion of the cleaning brush 9. Washing water tank 11 in front
Are provided, and the cleaning water in the cleaning water tank 11 is provided with a nozzle (not shown) mounted close to the cleaning brush 9.
Through the sound-insulating wall 12 such as a highway.

Reference numerals 27, 27 denote wheels provided at a lower portion of the robot body 5 and engaged with and disengaged from a lower rail 28 provided at a lower portion of the sound insulating wall 12. In the extended state of the washing operation posture, the robot auxiliary unit 6 extends above the robot body 5.
An extension guide rail 13 for extending the guide rails 8 of the robot body 5 upward so that the cleaning brush 9 located on the robot body 5 can move above the robot auxiliary unit 6;
The cleaning brush 9 rotates up and down along the guide rails 8, 8 of the robot body 5 and the extended guide rails 13, 13 of the robot auxiliary unit 6 while rotating, and cleans the sound insulation wall 12.

Numerals 29, 29 are provided on the upper part of the robot auxiliary part 6 so as to be movable up and down, and fixed lower rollers 51, 51 are provided.
And left and right movable rollers 52 and 52 and right roller 5
3 and 53.
Reference numeral 29 is adapted to be engaged with and disengaged from an upper rail 30 provided above the sound insulating wall 12. Reference numerals 54, 54 denote proximity switches which are first detecting means attached to the engagement / disengagement members 29, 29, and detect when the engagement / disengagement members 29, 29 are engaged with the upper rail 30.

Reference numerals 15 and 15 denote a pair of arm devices for unloading the cleaning robot 4 from the loading platform 1 and installing the cleaning robot 4 at a predetermined cleaning location on the surface of the sound insulating wall 12. Since the pair of arm devices 15 has the same structure, the rear arm device 15 will be described.

The rear arm device 15 pivotally supports a base on one side of a rear portion of the bed 1 on the robot body 5 side, and has a first arm 16 having a front portion located on the other side of the bed 1, and a first arm 16. A second arm 17 has a base portion pivotally supported at the tip of the arm 16 and the tip portion is positioned upward, and a third arm 18 having an intermediate portion pivotally supported at the tip of the second arm 17. , The first
The arm 16 is rotatable left and right by a first cylinder 19 provided between the carrier 1 and the first arm 16.
Is vertically rotatable by a second cylinder 20 provided between the first arm 16 and the second arm 17, and a third arm 18 is provided between the base of the second arm 17 and the third arm 18.
The cylinder 21 can be turned up and down.

Reference numeral 22 denotes a detachable connecting device provided between the tip of the third arm 18 and the robot main body 5.
2 is a third arm 18 as shown in detail in FIGS.
A connecting piece 23 pivotally supported at the tip of the robot body, a bracket 24 provided on the upper surface of the rear part of the robot body 5, and the connecting piece 23 and the bracket 24 are connected to each other. Connecting pin 25 made detachable
It is composed of

The connecting piece 23 includes an upper connecting piece 36 swingably attached to the tip of the third arm 18, a pair of long holes 37, 37 provided in the upper connecting piece 36,
It comprises a lower connecting piece 39 which can be moved up and down by play portions 50, 50 comprising a pair of slide pins 38, 38 inserted through 37. Reference numeral 40 denotes a limit switch which is a second detecting means attached to the lower connecting piece 39, and the upper connecting piece 36 in a state where the lower connecting piece 39 is stopped.
When the cleaning robot 4 is lifted, the lower surface of the operating piece 41 attached to the upper connecting piece 36 is brought into contact with the cleaning robot 4 to operate.

Reference numeral 55 denotes a limit switch, which is a third detecting means attached to the lower connecting piece 39, and operates when the lower connecting piece 39 and the bracket 24 are locked by the connecting pin 25. Reference numerals 42, 42 denote a pair of tension springs interposed between the upper connecting piece 36 and the lower connecting piece 39.

Reference numerals 26, 26 denote mounting members on which the cleaning brush 9 is mounted so as to be movable left and right, 31... Are outriggers provided on the front, rear, left and right sides of the loading platform 1, 32 and 32 are side gates,
Reference numeral 3 denotes a hood provided on the side gates 32, 32, and reference numeral 34 denotes a guardrail. Next, in FIG.
Is a controller of a microcomputer 46, a switch input section and an arm apparatus output section, which are incorporated in a control box 47 attached to one side of the rear end of the carrier 1.
The switch input unit 44 has a lift switch 49 for raising the arm devices 15 and 15 and a limit switch 40 which is activated when the cleaning robot 4 is lifted.
And a limit switch 55 that is activated when the connecting pin 25 is locked, and a proximity switch 54 that is activated when the engagement / disengagement member 29 is engaged with the upper rail 30. The device lifting stop means 48 operates.

A signal is output from the arm device output section 45 to the first cylinder 19 and the second cylinder 20. By the way, in the present embodiment, the cleaning robot 4 has two folds, but the same operation and effect can be obtained even if the cleaning robot 4 does not have two folds. The arm device 15 is connected to the first arm 15 and the second arm 15.
Although the arm 16 and the third arm 18 are
The connecting device 22 may be provided at the tip of the second arm 17 without the arm 18. Further, the elongated hole 37 and the operating piece 41 of the play portion 50 are connected to the upper connecting piece 36, and the slide pin 38 and the limit switch 40 are connected to the upper connecting piece 36. Although provided on the lower connecting piece 39, the elongated hole 37 and the operating piece 41 may be provided on the lower connecting piece 39, and the slide pin 38 and the limit switch 40 may be provided on the upper connecting piece 36.

The operation of the present invention having the above-described structure will now be described. The cleaning robot 4 is mounted in the front-rear direction of the bed 1, the robot body 5 is located on one side of the bed 1, and the robot auxiliary part 6 is located on the other side of the bed 1 and is folded in two around the hinge 7. The connecting devices 22, 22 between the front portions of the third arms 18, 18 of the arm devices 15, 15 and the front and rear portions of the robot body 5 are connected by connecting pins 25, 25, and the limit switch 55 is It is working.

In this state, the cleaning robot 4 is transported to the work site. At the work site, first, the top 33 is removed, and then the left side gate 32 is rotated downward, and then the outriggers 31 are set and the washing robot carrier 2 is slightly lifted. Next, the third switch 21, 21 is contracted by pressing the up switch 49, and the third arm 18, 1
The cleaning robot 4 is lifted with the leading end of 8 being moved from position a to position b.

At this time, the limit switches 40, 40 are operated by the operation pieces 41, 41, but the engagement / disengagement members 29, 29 are operated.
Since the proximity switches 54, 54 do not operate, the arm device ascent / stop means 48 does not operate. Thereafter, the first cylinders 19, 19 are extended to rotate the first arms 16, 16 to the left, and the tip of the third arms 18, 18 is moved from the position "b" to the position "c" to unload the cleaning robot 4 from the loading platform 1 to a predetermined position. Close to the washing point.

Next, the first cylinders 19, 19 and the second cylinders 20, 20 are both extended to form the first arms 16, 16.
Is rotated to the left, the second arms 17, 17 are rotated upward, and the cleaning robot 4 is moved horizontally with the leading ends of the third arms 18, 18 at positions d to d from position c. Next, the first cylinders 19, 19
And the second cylinders 20 and 20 are contracted to rotate the first arms 16 and 16 to the left.
The cleaning robot 4 is vertically moved by moving the tip of the third arm 18, 18 from the d position to the e position, and the wheels 27, 27 of the cleaning robot 4 are moved to the lower rail 28 of the sound insulation wall 12.
Put on top.

Next, the robot auxiliary unit 6 is rotated upward about the hinge 7 to bring the cleaning robot 4 into the extended state, and then the engaging and disengaging members 29, 29 of the robot auxiliary unit 6 are raised to lower the roller 51, 51 is brought into contact with the upper rail 30 and the left roller 5
The right and left rollers 52 and 53 are moved to the left and the left and right rollers 53 and 53 are brought into contact with the upper rail 30, and the engaging and disengaging members 29 and 29 are engaged with the upper rail 30 of the sound insulating wall 12.

Next, the connecting pins 25 of the connecting devices 22
25, the coupling devices 22, 22 are released, and the arm devices 15, 15 are returned to their original positions. Thereafter, the generator 10 is driven to spray cleaning water from the cleaning water tank 11 from the nozzle onto the sound insulating wall 12, and the cleaning brush 9 is moved to the left side with respect to the mounting members 26, 26 to contact the sound insulating wall 12. The cleaning is performed by rotating the cleaning brush 9 up and down along the guide rails 8 and 8 of the robot body 5 and the extended guide rails 13 and 13 of the robot auxiliary unit 6.

When the cleaning of one cleaning location is completed, the rotation of the cleaning brush 9 is stopped, and then the cleaning brush 9 is moved to the right side to drive the wheels 27, 27 and to disengage the member 29,
29 is guided by the upper rail 30, the cleaning robot 4 is moved to the next cleaning location, and the same is repeated. When the cleaning operation is completed, the arm devices 15 and 15 are brought into the two-dot chain line state in FIG.
After inserting the lock members 5 and 25 into the locked state, the engaging and disengaging members 29 and 29 of the robot auxiliary unit 6 are lowered to separate from the upper rail 30, and then the robot auxiliary unit 6 is turned downward to be folded into two. Then, the cleaning robot 4 is returned to the original position on the carrier 1 by performing the reverse operation.

When the cleaning robot 4 is to be detached from the cleaning location, the engaging members 29, 29 are moved to the upper rail 3
0, the lift switch 49 is pressed to reduce the size of the first cylinders 19, 19,
0, 20 are extended, and the first arms 16, 16 are turned to the right,
The second arm 17, 17 is rotated upward, and the third arm 18,
When the fore end portion 18 is shifted from the e position to the d position, if the lifting switch 49 is pressed while the engagement members 29 and 29 are engaged without forgetting to be disengaged from the upper rail 30, first, the upper connecting piece 36, 36 are raised by the length of the elongated holes 37... While pulling the tension springs 42.
The actuating pieces 41, 41 abut against the limit switches 40, 40 to operate the limit switches 40, 40, which enter the switch input section 44. The switch input section 44 has already received the signal from the up switch 49 and the connection pin 25. , 25, and signals from the proximity switches 54, 54 which are activated when the engaging / disengaging members 29, 29 are engaged with the upper rail 30. The reduction of the first cylinders 19 and the extension of the second cylinders 20 are stopped by the arm device raising and stopping means 48 inside.

As a result, the lifting of the arm devices 15, 15 is stopped, and damage to the upper rail 30 by the engaging / disengaging members 29, 29 is prevented.

[0027]

As described above, according to the present invention, when an attempt is made to load a washing robot from a washing point to a carrier of a transport vehicle with an arm device, the arm device is forgotten to release the engagement between the washing robot and the rail. Even when it is operated, the upper connecting piece is raised by the play portion to operate the second detecting member, and the first detecting member is activated when the second detecting means and the cleaning robot are engaged with the rail.
Since the arm device lifting / stopping device stops the raising of the arm device by the operation with the detecting device, damage to the rail by the cleaning robot is prevented.

[Brief description of the drawings]

FIG. 1 is a rear view of a cleaning robot carrier.

FIG. 2 is a side view of the cleaning robot carrier, omitting a side gate and a top.

FIG. 3 is an unloading state diagram of the transport robot cleaning robot.

FIG. 4 is a detailed cross-sectional view of the connecting device.

FIG. 5 is a sectional view taken along line AA of FIG. 4;

6 is a sectional view taken along the line BB of FIG. 5;

FIG. 7 is a system schematic diagram of the safety device of the present invention.

FIG. 8 is a block diagram of the safety device of the present invention.

FIG. 9 is a flowchart of the safety device of the present invention.

[Explanation of symbols]

 DESCRIPTION OF REFERENCE NUMERALS 1 loading platform 2 cleaning robot carrier 4 cleaning robot 15 arm device 22 connecting device 23 connecting piece 24 bracket 25 connecting pin 30 rail (upper rail) 36 upper connecting piece 37 long hole 38 slide pin 39 lower connecting piece 40 second detecting means ( Limit switch) 48 arm device ascent / stop means 50 play section 54 first detection means (proximity switch)

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Toshiro Hata 6-1-45, Koshienguchi, Nishinomiya-shi, Hyogo Prefecture Inside the Far East Development Industry Co., Ltd. No. Far East Development Industry Co., Ltd. (72) Inventor Seiji Honda 6-1-145 Koshienguchi, Nishinomiya City, Hyogo Prefecture Inside Far East Development Industry Co., Ltd. (72) Inventor Yoshimasa Kawakita 12 Nishikicho, Naka-ku, Yokohama City, Kanagawa Prefecture Heavy Industries, Ltd. Yokohama Works (72) Inventor Yoshiaki Hoshino 12, Nishiki-cho, Naka-ku, Yokohama-shi, Kanagawa Prefecture Mitsubishi Heavy Industries, Ltd. Yokohama Works Examiner Hisao Suzuki (58) Field surveyed (Int.Cl. ⁶ , DB name) ) B66C 23/00-23/94 B08B 13/00

Claims (1)

(57) [Claims] 1. A cleaning device, comprising: a front end of an arm device attached to a transport vehicle and a cleaning robot connected by a connecting device; and the cleaning device is engaged with a rail at a predetermined cleaning location by operating the arm device. In addition, in the washing robot transporter that is disengaged from the rail and can be loaded on the carrier of the transporter, the connecting device includes an upper connecting piece swingably attached to the arm device tip, and The upper connecting piece is composed of a long hole, a lower connecting piece connected by a play portion consisting of a slide pin inserted through the long hole, and a connecting pin that can be inserted and removed between the lower connecting piece and a bracket of the cleaning robot, The cleaning robot includes first detection means for detecting engagement with the rail, and the connection piece includes second detection means for detecting upward movement of the upper connection piece with respect to the lower connection piece. A safety device for a washing robot carrier, further comprising an arm device ascent stop means for stopping the ascent of the arm device upon detection of each of the detection means.