JPH0520540B2 - - Google Patents

Description

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

[Conventional technology]

Architectural finishing work involves many types of work, including floor work, such as cleaning, removing concrete that has adhered to the finished surface (keren), and polishing the floor by applying wax to give it a shine. It consists of a large number of unit operations.
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 (touring).

[Problem that the invention seeks to solve]

However, when trying to further save labor in architectural finishing work, which consists of many unit tasks as described above, conventional thinking suggests that in order to implement robots, it is necessary to develop a large number of single-skilled robots that can handle each task. There was a huge economic problem. Furthermore, since it is a single-function machine, its application to each site is limited, the operating rate is not high, and it is difficult to recover the development investment.

The present invention is based on the above considerations, and includes:
The purpose of the present invention is to provide a split-type multifunctional robot that can be applied to a large number of tasks by configuring the robot separately into a mechanism that performs a specific task and a common mechanism that moves that mechanism.

[Means for solving problems]

To this end, the split-type multifunctional robot of the present invention
A split-type multifunctional robot that performs construction finishing work, including a control device with a control function, a traveling device with a movable function that has a power source and drive wheels and moves under the control of the control device, and a control device. The robot is divided into three devices, each consisting of a working device that is controlled by a device and performs finishing work, and a joining mechanism is used to mechanically combine and join the control device, traveling device, and working device. It is characterized by this.

[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 working devices that perform various finishing operations. Therefore, a joint mechanism having a common structure is used for each work device, and the work device is selected according to the needs of the finishing work and is connected to the control device and the traveling device. When a control device, a traveling device, and a working device are combined and joined together, each device is moved using a retractable moving means, and the devices are joined together using a joining means. 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 outline of the present invention, 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, 1 is a traveling device, 2, 21 to 23 are working devices, 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 portion, 10 is a fixing portion, 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 as shown in FIG.
It is composed of a working device 2 that performs various finishing operations, a control device 3 that has a control function, and a joining mechanism that joins each device. The robot of the present invention has a common control device and traveling device for various work devices, and can respond to many work purposes by selecting and combining the necessary work devices as appropriate depending on the finishing work. It is something.

Two 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 a joint method using a connecting pin 5. The joint method involves aligning the respective holes of the connecting tool 6 provided on one device and the connecting tool 7 provided on the other device to be joined, as shown in Fig. 2a, and inserting the connecting pin 5 (multiple (at each location), the devices are restrained in the front-rear, left-right, and up-down directions, and force is transmitted. The second method is a joint method using a toggle mechanism (buckle mechanism). In this joint method, as shown in FIG. 2b, 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 then tilting down the handle 8. It is. When moving the device alone, use retractable casters 11 for pushing by hand as shown in FIG. Adjust the brightness. Next, after each device is joined and integrated, when it is no longer needed, it is flipped up (or raised) in the direction of the arrow in the figure, thereby reducing the number of ground contact wheels of the integrated device as a whole. . Furthermore, in the joint method using the connecting pin 5 shown in FIG. 2a, bolt holes 6a and 7a for hole alignment are provided in the connecting tools 6 and 7, respectively, as shown in FIG. 2d,
If a bolsin (taper pin-shaped tool) is inserted to align the holes at the time of connection, connection using the connection pin 5 will be facilitated. In addition, since the connection itself is performed with a single bolt on one side, the connection work can be completed in a short time. There is also a joint method that uses an insertion structure consisting of a guide rail and a guide roller inserted into the guide rail to restrain both devices in the front-back and left-right directions. This joint method restrains both devices in the front, back, left and right directions by inserting the guide rollers on the other device along the guide rails on one device, but instead of the above joint method, It goes without saying that this joint method may also be adopted. 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, making it safer and reducing the workload. In addition, since each device is restrained in the front and rear, left and right, and up and down directions using the connecting pin 5 and toggle mechanism, there is no need to use special tools or make fine adjustments, making it quick and easy. can perform bonding work. Therefore, if each device is equipped with a standardized welding mechanism, it will be easy to operate and will not require special tools or adjustments, allowing anyone, not a skilled worker, to perform the welding work quickly and safely. .

The traveling device 1 is equipped with a drive wheel 4, a connecting mechanism such as a coupling member 12, and a retractable caster 13, as shown in FIG. 3a, as well as a power source such as a battery or a gasoline engine, and a drive motor. It is. As shown in FIG. 3c, the control device 3 is equipped with a connecting mechanism such as a connector 16 and a retractable caster 17, as well as various sensors necessary for running, such as a direction sensor, an obstacle detection sensor, and a distance sensor. It is equipped with a microcomputer, and is configured to process signals from the various sensors mentioned above and also control the starting, stopping, etc. of the working device 2 all at once. As shown in FIG. 3b, the work device 2 is equipped with a connecting mechanism such as retractable casters 14 and a connector 15, and is equipped with only the functions necessary to process a specific work, and its control is basically This is performed by the control device 3 as follows. Examples of tasks include floor cleaning, scrubbing, polishing, waxing, etc.
There is terrazzo polishing, etc., and it goes without saying that equipment with a structure and shape suitable for each processing function is prepared. FIG. 3d shows a state in which the devices shown in FIGS. 3a to 3c are joined by a joining mechanism. In addition, if the running surface such as the floor or road surface is not flat, some wheels may float, so even if there are ups and downs on the running surface, the wheels of each device will follow this and will not float. In order to do this, as shown in FIG. 3e, it is preferable to join each device only on the lower side (joint part A) and to make the joining surfaces of each device have slopes B and C. In this way, if the joint A is joined with a single bolt as shown in Figure 2 d, even if there is a difference in height due to the slope of the running surface, each device can be fixed as shown in Figure 3 f. The posture can be maintained parallel to the running surface, and strain on the joint A can be prevented.

FIG. 4 shows an example of joining each device.
FIG. 4a shows an example in which a cleaning device is selected as the working device 21 and is connected between the traveling device 1 and the control device 3, and FIG. 4b shows an example in which a cleaning device is selected as the working device 22. This is an example in which a polishing device is selected as the working device 23 and is connected between the traveling device 1 and the control device 3. In FIG. This shows an example in which the control device 3 is connected to the front of the traveling device 1. Further, FIG. 4d is a plan view of the joining example shown in FIG. 4a, and shows an example of a mounting device for the ultrasonic sensor 19. In addition, the ultrasonic sensor 19
are attached as a pair (upper and lower) at the positions marked △ in the figure. When joining each device, in particular, by providing the working device in the direction of travel relative to the traveling device and placing the drive wheels 9 at the rear, the space required for changing direction can be reduced.

Travel control for the traveling device is performed by the control device, and in addition to starting and stopping the vehicle in a straight forward and backward direction, the traveling control includes control in a rotating traveling mode as shown in FIG. 5, for example. In other words, as shown in _FIG . ), a mode in which the two driving wheels 4 are driven at different rotational speeds n ₁ and n ₂ as shown in FIG. 5b, and rotated by turning the steering wheel; Direction change can be achieved by driving the two drive wheels 4 at different rotational speeds and rotational 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 rotational directions. There are various rotation running modes. In this case, the rotation speed ratio and the like are set depending on the characteristics of each work device, the required conditions of the work, 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. Furthermore, since it is easy to assemble and disassemble, there is no need for heavy equipment during relocation or setup changes, and the effort required is reduced. In particular, since the joining method is simple, even unskilled workers can easily assemble and disassemble it in a short time.
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 or improving a certain device more efficient. Go to, and
By increasing the degree of completeness of each component, the reliability of the entire system can also be increased.

[Brief explanation of the drawing]

Fig. 1 is a diagram for explaining the outline of the present invention, 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. DESCRIPTION OF SYMBOLS 1... Traveling device, 2, 21 to 23... Working device, 3... Control device, 4... Driving wheel, 5... Connecting pin,
6, 7, 12, 15 and 16...Connector, 8...Handle, 9...Claw part, 10...Fixing part, 11, 13, 14
and 17... retractable caster, 18... joining mechanism, 19... ultrasonic sensor.

Claims (1)

[Scope of Claims] 1. A split-type multifunctional robot that performs building cleaning and construction finishing work, which has a control device with a control function, a power source, and drive wheels, and moves under the control of the control device. The robot is divided into three devices: a traveling device with a movement function to perform finishing work, and a working device that performs finishing work controlled by a control device. A split-type multifunctional robot characterized by being configured so that it can be combined and joined with a working device. 2 As a joining mechanism, a joining means is provided that uses a connecting pin or a toggle mechanism to restrain each device such as a control device, a traveling device, and a working device, and when each device is moved, it is grounded to the floor and each device is 2. The split-type multifunctional robot according to claim 1, wherein each device is equipped with a retractable moving means made of casters that is retracted upward from the floor surface after the space is joined.