JP2691485B2 - Position control device for refractory injection nozzle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position control device for a refractory injection nozzle for spraying a refractory onto a building beam or the like.

[0002]

2. Description of the Related Art In a high-rise building having a steel frame structure, a refractory made of rock wool and cement slurry is sprayed on the surface of a beam or the like, and the spraying is performed by a work robot running on the floor or the like. Is used.

Conventionally, when a refractory is sprayed on a sprayed object such as a beam with a step width of a working robot, the robot travels by operating a trolley operation panel. Move the dolly closer to the sprayed body.
At this time, the sensor provided at the tip of the arm of the work robot detects the distance between the refractory spray nozzle and the sprayed object, and stops the traveling carriage at the position where this distance reaches the set value. After that, the work robot is operated to spray the refractory material ejected from the nozzle onto the object to be sprayed with a constant width. Then, when the spraying of the refractory within the fixed width is completed, the traveling carriage is step-run along the longitudinal direction of the sprayed object by a fixed width, and the refractory is sprayed again on the sprayed object. .

[0004]

On the other hand, the straightness of the traveling carriage is limited to a positional accuracy of, for example, about 50 mm at 5 m. The reason for this is that the traveling carriage meanders due to the tire molding condition of the traveling carriage and the unevenness of the traveling floor surface. Therefore, such poor straightness of the traveling carriage adversely affects the spraying of the refractory. More specifically, in the conventional refractory injection device, the sensor only measures the initial distance between the nozzle and the object to be sprayed, and controls the work robot so that the distance between them is constant. Therefore, the straightness of the traveling carriage with respect to the beam, etc. is deviated,
That is, when the traveling carriage is stopped in a state of being inclined with respect to the beam or the like, even if the distance between the nozzle and the sprayed object is a predetermined value at the beginning, the spraying distance of the nozzle with respect to the spraying surface has a constant width. However, there is a problem that the refractory is sprayed unevenly. The present invention has been made in view of the above circumstances, and a position control device for a refractory injection nozzle capable of performing spraying with a constant quality even if a straight traveling defect occurs in a traveling carriage. The purpose is to provide.

[0005]

In order to achieve the above object, the present invention provides a work robot having a refractory injection nozzle, and the work robot at a constant spraying width along the longitudinal direction of the sprayed object. A self-propelled carriage for step-driving, a first sensor for detecting a distance between the nozzle and the sprayed body, and a second sensor for detecting a distance between the self-propelled carriage and the sprayed body, An arithmetic circuit for calculating the inclination angle of the self-propelled carriage with respect to the longitudinal direction of the sprayed body based on the distance data detected by the first and second sensors, and the inclination angle calculated by the arithmetic circuit. A control circuit for controlling the work robot by correcting the direction of the work robot with respect to the object to be sprayed, and changing the spraying trajectory of the nozzle based on the corrected distance data between the nozzle and the object to be sprayed. With And wherein the door.

Further, the present invention is characterized in that the first and second sensors are arranged in the longitudinal direction of the object to be sprayed so as to be separated from each other by a predetermined distance, and the distance between the two sensors is added as a parameter for tilt angle calculation. To do. Further, the present invention is characterized in that each of the first and second sensors is an ultrasonic sensor.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. FIG. 1 shows an overall configuration diagram including a nozzle position control system according to the present invention. In FIG. 1, 11 is a work robot for spraying refractory material,
The work robot 11 is installed on a self-propelled trolley 12. Further, the work robot 11 is the manipulator 1
1a and articulated arm 11b, and articulated arm 1
A nozzle 13 for spraying a refractory onto a building beam or the like is attached to the tip of 1b, and the nozzle 13 detects the distance between the nozzle 13 and the spraying surface of a beam 14, which is the object to be sprayed. The first ultrasonic sensor 15 is attached. The lifting self-propelled carriage 12 includes a lifting mechanism 16 and traveling wheels 1.
7 and an outrigger 18 for overturning prevention. Further, at the tip of a pole 20 provided on a handrail 19 surrounding the work robot 11, a second distance for detecting the distance between the self-propelled carriage 12 and the spray surface of the beam 14 is provided. The ultrasonic sensor 21 is attached.

In FIG. 1, reference numeral 22 denotes a control circuit for controlling the work robot 11 and the elevating self-propelled carriage 12. The control circuit 22 has a control program for causing the work robot 11 to perform a spraying operation, and spraying of the beam 14. A memory 23 for storing spray pattern path data and the like for the surface, a program, data such as pattern path data and the work robot 11, and an input unit 24 for inputting a manual command to the elevating self-propelled carriage 12 are connected. Also, the first
The second ultrasonic sensors 15 and 21 are connected to A / D converters 25 and 26 that convert the distance signals output from the second ultrasonic sensors 15 and 21 into digital values. The digital signals output from the A / D converters 25 and 26 are input to the arithmetic circuit 27 that calculates the inclination angle Δθ (see FIG. 2) of the self-propelled carriage 12 with respect to the longitudinal direction of the beam 14, and further the arithmetic circuit 27. The calculated value of is output to the control circuit 22. Also,
The digital signal from the A / D converter 25 is supplied to the control circuit 2
It is designed to be directly incorporated into 2.

Next, the operation of this embodiment configured as described above will be described. Beam 14 by work robot 11
At the time of spraying the refractory material to the elevator, by operating a joystick (not shown) or the like provided in the input unit 24, an operation command signal is sent to the elevating self-propelled carriage 12 through the control circuit 22, and the traveling wheels 17 are moved. By driving, the elevating self-propelled carriage 12 is moved to the spraying position of the refractory. afterwards,
The lifting mechanism 16 is manually operated to lift up the work robot 11 to a designated height. As a result, the nozzle 13 of the work robot 11 faces the spraying surface of the beam 14, and the first and second ultrasonic sensors 15 and 21 also face the spraying surface of the beam 14.

In this state, the ultrasonic sensors 15 and 21 are set to the operation mode, and the ultrasonic sensors 15 and 21 are respectively set.
The ultrasonic waves having different frequencies are emitted from the beam toward the beam 14 and the ultrasonic wave reflected from the beam 14 is received to detect the distance between the ultrasonic sensors 15 and 21 and the beam 14. The detected distance signal is converted into a digital amount by each of the A-D converters 25 and 26, and then input to the arithmetic circuit 27 and at the same time, the A-D converter 25.
The digital signal from is also input to the control circuit 22. The arithmetic circuit 27 executes the arithmetic operation shown by the following equation to thereby elevate the self-propelled carriage 1 for the spraying surface of the beam 14 in the longitudinal direction.
The tilt angle Δθ of 2 is calculated. Δθ = tan ⁻¹ {(A1−B1) − (A2−B2)} / C where A1 is that the self-propelled trolley 12 is parallel to the spray surface of the beam 14 as shown in FIG. Is the distance between the second ultrasonic sensor 21 and the spray surface when
Is the distance between the first ultrasonic sensor 15 and the spray surface.
Further, A2 is a distance between the second ultrasonic sensor 21 and the spraying surface when the self-propelled trolley 12 is tilted with respect to the spraying surface of the beam 14 as shown in FIG. 2B. , B2 indicate the distance between the first ultrasonic sensor 15 and the spray surface. C indicates the distance between the first ultrasonic sensor 15 and the second ultrasonic sensor 21.

Here, as shown in FIG. 2A, when the lifting self-propelled carriage 12 is parallel to the spraying surface of the beam 14,
The calculation result in the calculation circuit 27 becomes zero. In contrast,
As shown in FIG. 2B, when the lifting self-propelled carriage 12 is tilted with respect to the spraying surface of the beam 14, the calculation result in the calculation circuit 27 is the tilt angle Δθ calculated by the above formula. . When the calculated tilt angle Δθ is taken into the control circuit 22, a tilt correction value corresponding to the calculated tilt angle Δθ is calculated, and the work robot 11 is controlled based on this correction value, for example, the first axis of the robot is changed to Δ. Correct the direction by the amount corresponding to θ.

FIG. 2C shows a state in which the work robot 11 has its direction corrected. Then, at this time, the first ultrasonic sensor 15 detects the distance B3 between the spraying surfaces of the nozzle 13 and the beam 14, and the distance data is fed back to the control circuit 22 to change the spraying trajectory of the nozzle 13. To do. As a result, the spraying quality of the refractory on the spraying surface by the nozzle 13 is kept constant even if the self-propelled trolley 12 stops in a state of facing the spraying surface of the beam 14 at an angle.

As described above, in this embodiment, the distance data detected by the first and second ultrasonic sensors 15 and 21 and both ultrasonic sensors after the step traveling of the elevating self-propelled carriage 12 with a constant spray width. The inclination angle Δθ is calculated based on the distance data between the two, the orientation of the work robot 11 with respect to the spraying surface is corrected according to this Δθ, and the distance between the nozzle 13 and the beam spraying surface after the orientation correction is calculated. Since the spraying trajectory is fed back to the spraying control data to change the spraying trajectory of the nozzle 13, the straight traveling defect occurs in the self-propelled trolley 12 that travels stepwise with a constant spraying width along the longitudinal direction of the beam 14. However, it is possible to spray a refractory of constant quality without being affected by this.

[0014]

As described above, according to the present invention, after stepping the work robot self-propelled carriage along the body to be sprayed, between the nozzle and the body to be sprayed and between the body to be sprayed and the self-propelled carriage. The distance is detected by each sensor, the tilt angle of the self-propelled carriage with respect to the sprayed object is calculated based on each distance data, and the orientation of the work robot with respect to the sprayed object is corrected according to this tilt angle. Since the distance data between the nozzle and the object to be sprayed is fed back to the spraying control data to change the spraying trajectory of the nozzle, even if the self-propelled carriage that travels in steps has a poor straightness, It is possible to spray refractory material of constant quality without being affected by it.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram showing one embodiment of the present invention.

2A to 2C are explanatory views showing an operation state at the time of orientation correction in the present embodiment.

[Explanation of symbols]

 11 Work Robot 12 Self-propelled Cart 13 Nozzle 14 Beam 15 First Ultrasonic Sensor 21 Second Ultrasonic Sensor 22 Control Circuit 25, 26 AD Converter 27 Arithmetic Circuit

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Keio Sawada 4-6-15 Sendagaya, Shibuya-ku, Tokyo Fujita Co., Ltd. (72) Ryoji Yoshitake 4-6-15 Sendagaya, Shibuya-ku, Tokyo Fujita Co., Ltd. (56) Reference JP-A-4-258468 (JP, A) JP-A-61-270499 (JP, A) JP-A-5-25925 (JP, A) JP-A-51-52471 (JP, A)

Claims (3)

(57) [Claims] 1. A work robot having a refractory injection nozzle, a self-propelled carriage that causes the work robot to travel stepwise along a longitudinal direction of a sprayed object at a constant spraying width, the nozzle and the sprayed object. A first sensor for detecting the distance between the attached bodies, a second sensor for detecting the distance between the self-propelled carriage and the body to be sprayed, and distance data detected by the first and second sensors. An arithmetic circuit for calculating an inclination angle of the self-propelled carriage with respect to the longitudinal direction of the sprayed object based on the operation circuit, and a direction of the work robot with respect to the sprayed object is corrected according to the inclination angle calculated by the arithmetic circuit. In addition, a control circuit for controlling the work robot by changing the spray trajectory of the nozzle based on the distance data between the nozzle and the sprayed object after the orientation correction, and Position control device Place. 2. The first and second sensors are arranged in the longitudinal direction of the object to be sprayed apart from each other by a predetermined distance, and the distance between the two sensors is added as a parameter for tilt angle calculation. Item 1. A position control device for a refractory injection nozzle according to Item 1. 3. The position control device for a refractory injection nozzle according to claim 1, wherein the first and second sensors are ultrasonic sensors.