JPH0780140B2 - Self-propelled trolley for wall work - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a self-propelled trolley for wall surface work of a building, and more specifically, a work machine such as a work robot is suitable for a wall surface of a building. The present invention relates to a self-propelled trolley capable of arbitrarily controlling work to a work position.

(Prior Art) As a trolley for wall surface work for automatically performing wall surface work in a building, there has been conventionally proposed a trolley which is steered by front wheels or rear wheels for traveling.

(Problems to be solved by the invention) However, in the conventional trolley, it is often impossible to change the direction especially in a narrow place such as a corner portion of a wall surface.
It was not always possible to secure a good working position, and there was a blind spot in the wall work.

Therefore, there is a problem that the unfinished part remains on a part of the wall surface, and the unfinished part requires manual repair work.

The present invention has been devised in view of the above circumstances, and an object of the present invention is to automatically secure an optimum work position for wall surface work, eliminate a work blind spot even in a narrow place, and always perform a reliable work. It is an object of the present invention to provide a self-propelled trolley for wall surface work that can efficiently perform the above.

(Means for Solving the Problems) The present invention for achieving the above object will be described with reference to the drawings corresponding to the embodiments.

According to the present invention, a traveling chassis 11 having a circular shape in plan view capable of traveling and steering on a floor surface B in the X direction or the Y direction, or a two-dimensional direction in which these are combined, and a swivel arrangement on the traveling chassis 11. A swivel base 21 provided with a front edge portion 31 having a width substantially the same as the diameter of the traveling chassis 11, and a working machine which is movably held along the front edge portion 31 over substantially the entire width direction of the front edge portion 31. A workbench 41 to which 50 is mounted, travel control means (travel distance and direction center 15 and computer 67) for detecting travel distance and direction of the travel chassis 11 and controlling travel of the travel chassis 11, and Attitude control means for detecting the parallelism of the swivel base 21 with respect to the wall surface A and controlling the attitude of the swivel base (each wall surface distance sensor 32a, 32b, 33a, 33b and computer 6).
7) and at least.

(Operation) In the present invention, the traveling chassis 11 can be arbitrarily traveled on the floor surface B in the X direction or the Y direction, or in a two-dimensional direction in which these are combined. Since the swivel base 21 that holds the workbench 41 can swivel within an arbitrary angle range, the freedom of movement is improved by these traveling and swiveling operations, and the workable range can be effectively expanded.

Further, the traveling chassis 11 has traveling control means (a traveling distance and direction sensor) for controlling the traveling distance and direction on the floor B.
15 and a computer 67), and the swivel base 21 is provided with attitude control means (each wall surface distance sensor 32a, 32b, 33a, 33b and computer 67) for maintaining parallelism to the wall surface A.
In addition to improving the freedom of movement, it is possible to work in narrow areas. In addition, the swivel base 21 has a front edge portion 31 having a width substantially the same as the diameter of the traveling chassis 11, and the working machine 50 is movably held along the front edge portion 1 over substantially the entire length of the front edge portion 1. Therefore, even in the corner portion of the wall surface A, the traveling platform 11 is linearly run in parallel with the wall surface A, and the working machine 50 is swung.
By a simple operation of moving along the front edge 31 of the wall 21, even at the corners of the wall surface A, work such as painting is easily performed while maintaining a uniform distance to every corner.

(Example) Hereinafter, an example of the present invention is described based on an accompanying drawing.

FIG. 1 is a side view of a self-propelled trolley for wall work to which the present invention is applied, FIG. 2 is a plan view of the same, FIG. 3 is a block diagram of a control unit, and FIGS. 4 (a) to 4 (c). Shows an explanatory view of a traveling procedure of the self-propelled trolley, and in the embodiment, a work robot for painting is attached to the workbench.

In FIGS. 1 and 2, A indicates a wall surface of a building (a vertical wall surface for convenience of description) of a building which is a work target surface, and B indicates a floor surface (a horizontal floor surface for convenience of description). .

The self-propelled trolley for wall surface work 10 includes a traveling chassis 11 on which a traveling control is possible in a two-dimensional direction of an X direction parallel to the wall surface A and a Y direction orthogonal to the wall surface A, and on the traveling chassis 11. The swivel base 21 supported by the swivel base 21 and the work platform 41 held by the swivel base 21.
And a work robot 50 mounted on the workbench 41, and a control panel 60 for controlling each of these parts.

The swivel base 21 is pivotally supported by the traveling carriage 11 and is horizontally mounted 360
The work table 41 is held by the swivel base 21 so as to be movable in the X direction, and is arranged so as to be swivelable over an angle range of at least one degree.

The traveling chassis 11 has a circular shape in a plan view, and upper and lower chassis frames 12, 13 of which outer peripheral portions are formed on circular guide surfaces 12a, 13a.
have.

A plurality of traveling wheels 14 are arranged on the lower surface side of the lower chassis frame 13, and traveling and steering means such as a traveling motor and a steering motor (not shown) are provided for each traveling wheel 14, and the floor B
X direction or Y direction above, or a combination of these two
It is configured so that stable traveling and steering can be performed in the dimensional direction.

Further, on the lower surface side of the lower chassis frame 13, there is provided a travel distance and direction sensor 15 using a detection wheel 16 or the like which is lightly pressed against the floor surface B at all times, and this travel distance and direction sensor 15 is provided. Therefore, the traveling distance and the direction during traveling operation can be detected respectively.

In this case, the traveling distance and direction sensor 15 can detect the traveling distance and direction during traveling operation by using any one of the traveling wheels 14 as a reference.

The swivel base 21 is pivotally supported on the upper chassis frame 12 of the traveling chassis 11 by a vertical shaft 22, and has a cover 23 that covers the chassis apart from the chassis surface.

On the swivel base 21, a drive shaft 25 driven by a swivel motor 24 and a guide shaft 28 are vertically provided.

Drive wheels 26 and 27 are attached to the upper and lower portions of the drive shaft 25, respectively, and a guide wheel 29 that also serves as a turning angle sensor 30 is attached to the guide shaft 28.

Then, drive wheels 26, 27 to the circular guide surfaces 12a, 13a,
The guide shaft 29 is brought into pressure contact with each of the circular guide surfaces 12a, and the turning motor 24 is driven to rotate, whereby the traveling chassis
With respect to 11, the swivel base 21 can be freely swiveled over an arbitrary angular range, and the swivel angle can be detected by the swivel angle sensor 30 from the number of rotations of the guide wheel 29.

Regarding the turning angle sensor 30, in addition to using the guide wheel 27, the driving wheels 26 and 27 on the driving shaft 23 are appropriately used, or the turning base 21 and the traveling chassis 11 around the vertical axis 22 are used. It is possible to detect the turning angle at the time of turning operation from the relative angle with respect to.

A support plate 31a is suspended from and supported by a front edge portion 31 which is formed in a straight line shape and protrudes to the outside of the front side of the swivel base 21.
As shown in FIG. 2, 1 has a width substantially the same as the diameter of the traveling chassis 11.

Wall surface distance sensors 32a, 32b and 33a, 33b are arranged at the front edge and the side edge at the left and right ends of the support plate 31a, respectively.

According to the wall surface distance sensors 32a and 32b, the distance between the wall surface A and the wall surface A facing each other, and by extension, the swivel base for the wall surface A.
The parallelism of the front edge portion 31 of 21 is detected, and the wall surface distance sensors 33a and 33b detect the distance between the wall surface A and the side wall A. Then, the front edge portion 31 of the swivel base 21 with respect to the wall surface A corresponds to the position movement in the X direction or the Y direction accompanying the traveling and steering of the traveling chassis 11.
Parallelism is automatically maintained, and a collision with the side wall surface A is also automatically prevented, whereby the attitude control of the swivel base 21 itself according to the traveling movement of the traveling chassis 11 is performed. Is configured.

The work table 41 is held at the front edge portion 31 of the swivel table 21 so as to be movable in the X direction with the lower portion pivotally supported by the rod 42, in other words, over the entire width direction of the front edge portion 31. It is movably held and extends upright so as to extend like a pillar. Although illustration is omitted because it is not directly related to the gist of the present invention, it may be configured to be expandable / contractible in the Z direction if necessary. Further, the work table 41 itself may be formed to have the full width of the front edge portion 31 of the swivel table 21 in relation to the operation range of the work robot 50.

Wall surface distance sensors 43a and 43b are arranged at both upper and lower ends of the operating table 41. Then, based on the distance to the wall surface detected by each of the wall surface distance sensors 43a, 43b, the working table 41 is connected to the rod by the verticality adjusting cylinder 44 arranged at the lower end portion.
By swinging around 42 as a fulcrum, the parallelism with respect to the wall surface A is automatically adjusted, and an appropriate working position is secured with respect to the wall surface A in accordance with the traveling movement of the traveling chassis 11 and the attitude control operation of the swivel base 21. .

The work robot 50 for wall coating has an application roller 51 and a pressing cylinder 52 to which paint is automatically supplied.

The work robot 50 is mounted movably in the Z direction on the front surface side of the operating table 41, and presses the coating roller 51 by a pressing cylinder 52 so as to contact the wall surface A with a predetermined pressure. Here, although not shown in the drawings because it is not directly related to the gist of the present invention, for example, a moving means in the Z direction on the workbench 41 or a Y device.
Various means necessary for painting work are provided for each, including means for moving in the direction.

The control board 60 is mounted on the swivel base 21, and as shown in FIG.
A block 61 for drive control for the self-propelled carriage 10,
And a drive control block 62 for the wall coating work robot 50.

The block 61 includes a traveling motor drive circuit 63a, a steering motor drive circuit 63b, a turning motor drive circuit 63c, a traveling distance and direction sensor detection circuit 64a, a turning angle sensor detection circuit 64b, and wall surface distance sensor detection circuits 64c to 64f. , Interface
A computer 67 for controlling each of these circuits through 65 is provided, and drive control in each part, that is, traveling control of the traveling chassis 11 and attitude control of the swivel base 21 including the operating base 41 can be arbitrarily and automatically performed. I am trying.

Further, in the block 62, an X-axis driver 68a, a Y-axis driver 68b, a Z-axis driver 68c, a workbench angle detection circuit 69a, and a workbench angle adjustment valve operation circuit 69b are provided corresponding to the function of the work robot 50 to be applied. A pressure cylinder adjusting valve operating circuit 70, a paint adjusting valve operating circuit 71, each wall distance sensor detecting circuit 72a,
72b and a computer 74 for controlling these circuits through the interface 73 are provided so as not to hinder the intended painting work. Then, each of these blocks 61, 62 is controlled from the outside by wireless or wire.

Since the present embodiment is configured as described above, with respect to the traveling chassis 11, the X direction or the Y direction on the horizontal floor B, or a two-dimensional combination of these, on the horizontal floor B, based on a command command from the outside wireless or wired. It is possible to arbitrarily and automatically perform stable traveling and steering in any direction.

In addition, the swivel base 21 is mounted on the traveling chassis 11 in a state where the operating base 41 is held in a horizontal direction.
Since you can freely turn over an angle range of 360 degrees or more,
By the traveling control operation of the traveling chassis 11 and the attitude control operation of the swivel base 21 as described above, the operating table 41 is always operated so as to occupy an appropriate working position on the wall surface A at all times.
By the work robot 50 mounted on the wall surface, the painting work on the wall surface A can be easily and surely executed.

Next, referring to FIGS. 4 (a) to 4 (c), the control operation in this embodiment will be described more specifically with a focus on the operating state at the corner portion of the wall surface A, which is a particularly narrow working portion. Describe.

In the traveling chassis 11, the wall surface A based on the distance data with the wall surface A detected by the wall surface distance sensors 32a, 32b and 33a, 33b provided on the front edge portion 31 of the swivel base 21 is used as a reference.
On the other hand, at parallel positions spaced apart by a certain distance, the vehicle is made to travel in a substantially constant distance in the X direction while correcting the deviation in the Y direction. Similarly, the swivel base 21 and the operating base 41 maintain the parallelism with the wall surface A as accurately as possible. During this time, the work robot 50 causes the wall surface A on one side to be coated to reach the corner (FIG. 4 (a)).

Here, conventionally, it is difficult to change the direction of the trolley itself in a narrow portion such as a corner portion where the two wall surfaces A intersect each other. Although it could not be done, in this embodiment, at the time of finishing the painting work up to the corner portion on the side of the one wall surface A,
By utilizing the traveling operation of the traveling chassis 11 in the X direction and the Y direction, first, for example, after slightly retreating from the corner position in the diagonal direction for one day, the swivel base 21 is attached to the adjacent wall surface A. Pivot until they are parallel, and then move forward again diagonally in the backward direction.

That is, the swivel base 21 is returned to the corner position while swiveling in response to the next work (FIG. 4 (b)), and thereafter, the painting work on the adjacent wall surface A is performed in the same manner as described above ( As shown in FIG. 4 (c), the work blind spot at the narrow corner position, which has been impossible in the past, is eliminated in this way, and reliable work can always be performed efficiently and easily.

In the embodiment, as an example of a work machine that can be controlled from the outside, a case in which a work robot for wall coating is applied is described, but the work robot is not necessarily limited to such a work robot, and other Needless to say, various types of working machines may be similarly applied.

(Effects of the Invention) As is apparent from the above description, according to the present invention, the operation is performed by the traveling operation of the traveling chassis in an arbitrary direction and the swiveling operation of the swivel supporting the operating platform within an arbitrary angle range. The degree of freedom can be dramatically improved and the work range can be effectively expanded.In addition, the parallelism of the workbench with respect to the wall surface can be easily maintained by the traveling control of the traveling chassis and the attitude control of the swivel base. Since this working table can be secured at an appropriate work position, work blind spots are eliminated even in narrow areas on the wall surface, and reliable wall surface work can be performed efficiently, and at the same time, the work load of the work robot mounted on the work table is reduced. Can be significantly reduced,
This work robot has excellent advantages such that the mechanical structure of the work robot can be simplified and the work robot becomes economical.

[Brief description of drawings]

Fig. 1 is a side view of a self-propelled trolley for wall surface work, Fig. 2 is the same plan view, Fig. 3 is a block diagram of a control unit, and Fig. 4 (a).
7A to 7C are explanatory views of the traveling procedure of the upper self-propelled carriage. In the drawing, A is a wall surface, B is a floor surface, 10 is a self-propelled carriage, and 11
Is a traveling chassis, 14 is a traveling wheel, 15 is a traveling distance sensor, 16 is a detection wheel, 21 is a swivel base, 30 is a swivel angle sensor, 32a, 32b, 33
a and 33b are wall distance sensors, 41 is a workbench, 43a and 43b are wall distance sensors, 44 is a vertical adjustment cylinder, 50 is a work robot, 51 is a coating roller, 52 is a pressing cylinder, 60 is a control panel,
61 and 62 are control blocks, and 67 and 74 are computers.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Seiichi Shibayama 4-6-15 Sendagaya, Shibuya-ku, Tokyo Fujita Industries Co., Ltd. (72) Inventor Taro Okamoto 4-6-15 Sendagaya, Shibuya-ku, Tokyo Within Jita Industry Co., Ltd. (72) Inventor Kiyoshi Daine 4-6-15 Sendagaya, Shibuya-ku, Tokyo Within Fujita Industry Co., Ltd. (56) Reference JP 59-227373 (JP, A) 123597 (JP, U)

Claims (3)

[Claims] 1. A traveling chassis having a circular shape in plan view capable of traveling and steering on a floor surface in the X direction or the Y direction, or in a two-dimensional direction in which these are combined, and a swivel disposed on the traveling chassis. A swivel base having a front edge portion having a width substantially the same as the diameter of the traveling chassis; and a work platform on which a working machine is mounted so as to be movable along the front edge portion over substantially the entire width direction of the front edge portion. Traveling control means for detecting traveling distance and direction of the traveling carriage to control traveling of the traveling carriage, and attitude control means for detecting parallelism of the swivel with respect to a wall surface and controlling attitude of the swivel, A self-propelled trolley for wall surface work characterized by comprising at least. 2. A self-propelled trolley for wall surface work according to claim 1, further comprising means for holding the work table parallel to the wall surface. 3. The self-propelled trolley for wall surface work according to claim 1 or 2, wherein the work machine is a work robot for painting.