JP2000118288A - Interior execution machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an interior execution machine capable of simplifying the handling operation of a worker and performing execution work within a short time in the execution work of a ceiling or an interior wall. SOLUTION: An interior execution machine is provided with a self-propelled traveling vehicle 2, linking mechanisms 6, 7, 8, 9, 10, 11 and 12 provided in the traveling vehicle so as to be rotated and elongated/contracted, a fine- adjusting mechanism 13 connected to the linking mechanisms to perform three- dimensional fine-adjustment, an interior execution attachment 14 connected to the fine-adjusting mechanism, a length measuring device 15 for measuring a distance between a surface executed in the interior part of the interior execution attachment and the same, and an image pickup device 15 for picking up the image of an article to be executed for the measuring of the executing position of the article. The article to be executed is transported and automatically stuck to the surface subjected to interior execution.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an interior construction machine, and more particularly to an interior construction machine capable of easily performing various interior construction works such as an inner wall and a ceiling of a building structure including a high-rise building from a general house. Related to construction machinery.

[0002]

2. Description of the Related Art Heretofore, interior construction work in a building structure largely depends on the labor of an operator. For example, the work of attaching a board to a ceiling or an inner wall is performed by two or more people, and one worker adjusts the board to a predetermined mounting position, and the other worker mounts the board on a wall with nails or screws. The method of fixing was taken. Such manual work puts a great burden on the worker and the work efficiency is not always good.

[0003] In recent years, with the progress of technology, a method has been proposed in which the above-mentioned interior work is automated using a machine instead of manual work. For example, a robot for interior work disclosed in Japanese Patent Application Laid-Open No. 3-96567 and Japanese Patent Application Laid-Open No. 3-119256 are disclosed.
According to the automatic board setting method disclosed in Japanese Patent Application Laid-Open Publication No. H10-163, a traveling table is provided with a handling table capable of turning and moving in a three-dimensional direction, and a suction pad for fixing a ceiling board and a screw fastening unit are provided on the handling table. A technique for automatically attaching a ceiling board to a predetermined position is disclosed. According to the ceiling board mounting apparatus disclosed in Japanese Patent Application Laid-Open No. 3-191173, a trolley that can move on the floor of a building, a first pedestal on which an operator can ride, and a first pedestal, A second table which can be moved up and down and is installed at an interval above the table, and is supported by the second table;
There is disclosed a ceiling board mounting apparatus for a ceiling including a support mechanism for horizontally supporting a ceiling board and a screwing machine for screwing the ceiling board supported by the support mechanism to a predetermined position. Furthermore, according to the ceiling and wall interior construction device and its attachment device of JP-A-8-4272,
A vertical rotation axis is arranged on a self-propelled trolley so that it can move up and down freely,
The vertical rotation axis supports a telescopic arm that can be swiveled up and down, and is attached via a vertical adjustment device, a horizontal adjustment device, and an XYZ-direction attitude fine adjustment device arranged in series at the tip of the arm. A device holding part is provided, and an interior construction accessory device detachably held by the holding part is provided to perform interior construction of a ceiling and a wall.

[0004]

However, the above prior arts, which are intended for the construction of ceilings and wall interiors, greatly reduce the labor of the operator, but have poor operability of the apparatus, and also have poor board operability. The time required for the sticking work was not much different from the time required for direct sticking by the operator. In addition, when the board is attached to a predetermined position, fine adjustment is required for the attachment, and automation of all of the steps requires an operating device and a position detecting device for it, which is very expensive and impractical. Was.

SUMMARY OF THE INVENTION In view of the above-mentioned various problems of the prior art, it is an object of the present invention to easily perform a handling operation by a worker in a ceiling and wall interior construction work, and to perform the construction work in a short time. It is an object of the present invention to provide an interior construction machine capable of performing the following.

[0006]

The present invention employs the following means in order to solve the above-mentioned problems.

A self-propelled traveling vehicle, a rotatable and extendable link mechanism provided on the traveling vehicle, a three-dimensional fine-adjustment mechanism connected to the link mechanism; Attachment for interior construction connected to the adjustment mechanism, and a length measuring device for measuring the distance between the interior construction attachment and the interior construction attachment to the interior construction attachment and the construction position for measuring the construction position of the workpiece An image pickup device for picking up an image of the work is provided, and the work is transported and automatically attached to a surface on which the interior is to be constructed.

Further, in the interior construction machine according to the first aspect, the link mechanism may include an arm attached via a turning mechanism that turns in a horizontal plane of the traveling vehicle and turns in a vertical plane. A telescopic arm which is connected to a distal end of the arm via a rotary mechanism that rotates in a vertical plane, and a rotary mechanism that rotates in a vertical plane at the distal end of the telescopic arm. It is characterized by having been done.

The interior construction machine according to any one of claims 1 and 2, wherein the interior construction attachment is detachably provided to the fine adjustment mechanism. I do.

Further, in the interior construction machine according to any one of claims 1 to 3, the interior construction machine uses the construction position of the work previously constructed as a reference position. The positioning of the next work piece is performed.

Further, in the interior construction machine according to any one of claims 1 to 4, the interior construction machine is a work piece constructed by manual operation of the interior construction machine. With the construction position of
It is characterized in that the next work piece is positioned.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS.

FIG. 1 is a side view showing the overall configuration of the interior construction machine according to the present embodiment and the working form thereof.

In the figure, 1 is an interior construction machine, 2 is a bogie of the interior construction machine 1, 3 is a floor surface, 4 is an engine for driving and driving the interior construction machine 1, and 5 is an interior construction machine. Wheels for traveling the machine 1, 6 is a horizontal rotating machine provided on the trolley 1 and capable of turning in the horizontal direction, 7 is provided on the horizontal rotating machine 6 and rotates the fixed arm 8 in a vertical plane A first vertical rotating machine, 8 is a fixed arm provided between the first vertical rotating machine 7 and the second vertical rotating machine 9, and 9 is a fixed arm 8.
A second vertical rotating machine provided at the upper end of the vertical rotating machine 10 for rotating the telescopic arm 10 in a vertical plane, a telescopic arm 10 provided between the second vertical rotating machine 9 and the third vertical rotating machine 11, and a telescopic arm 11 A third vertical rotator provided at the upper end of the arm 10 for rotating the second horizontal rotator 12 in a vertical plane; and a third vertical rotator 12 provided on the third vertical rotator 11 and perpendicular to the vertical plane. A second horizontal rotating machine provided rotatably, 13 is an XYZ fine movement adjusting machine provided on the second horizontal rotating machine 12 and capable of finely adjusting a position in a three-dimensional direction, and 14 is attached to a ceiling or a wall surface. Attachment for interior construction, which holds the board and has a sticking function. Reference numeral 15 denotes an attachment 14 for interior construction.
A length measuring device that is attached to a corner and measures the distance between the interior construction attachment 14 and the wall surface 16 and a CCD camera that is provided to measure the position of an existing board and a new board. Reference numeral 16 denotes a wall surface to which the board is attached. .

FIG. 2 is a view showing a detailed structure of the interior construction attachment 14. FIG. 2 (a) is a side view of the interior construction attachment 14, and FIG. 2 (b) is an arrow of FIG. 2 (a). It is the elevation view seen from A direction.

In these figures, reference numeral 17 denotes a plurality of suction pads provided for sucking and holding a board 19; and 18, a board 19 is fixed to a wall or the like after setting the board 19 at a predetermined position on the wall or the like. 140 is an attachment / detachment part provided for attaching / detaching the interior construction attachment 14 from the XYZ fine movement adjuster 13, and 19 is a board held by the suction pad 17. Show. In these figures, the same reference numerals as those shown in FIG. 1 indicate the same parts.

Here, the interior construction attachment 14 is connected to the XYZ fine movement adjuster 13 via the attaching / detaching portion 140, and the interior construction attachment can be replaced according to the size and type of the board.

FIG. 3 is a block diagram showing an outline of a control system of the interior construction machine 1.

Reference numeral 20 denotes an operation switch for operating the interior construction machine, reference numeral 21 denotes a control device of the interior construction machine 1, a ROM for storing a processing program and the like for performing interior construction, various measured data and the like. It comprises a RAM for storing various data and the like obtained as a result of the arithmetic processing, a central processing arithmetic unit for performing various arithmetic processing according to a processing program, and the like. Reference numeral 23 denotes a traveling device for traveling the interior construction machine 1 according to a control signal from the control device 21.

The interior construction attachment 14 processes the measured values measured by the length measuring device 15 and controls the control device 21.
Measurement processing device 141, an image processing device 142 for processing an image captured by the CCD camera 15 and outputting the processed image to the control device 21, and a suction device for operating the suction pad 17 based on a control signal from the control device 21. Apparatus 1
43, screw driving machine 1 according to a control signal from control device 21
8 is provided with a screw driving device 144 for operating.

The manipulator unit 22 includes various types of rotating machines 6 to 7, 9, 11 to 12, an XYZ fine movement adjusting machine 13,
Motor drivers 221 to 227 for driving motors provided on the telescopic arm 10 and the like are provided.
7 is controlled and each motor is controlled. The operation of each motor is converted into an encoder signal, detected, and feedback-controlled by the control device 21.

Next, a procedure for attaching a board by the interior construction machine 1 according to the present embodiment will be described with reference to FIGS.
This will be described with reference to FIG.

FIG. 4 shows eight boards (1) to
FIG. 8 is a diagram for explaining the attachment of (8), and FIG.
(A) shows the wall 1 by CCD cameras 15-1 to 15-4 attached to the four corners of the interior construction attachment 14.
FIG. 5B is a diagram showing an imaging state of the boards (1) and (8) attached to the CCD camera 6, and FIG.
FIG. 9 is a diagram showing an image pickup state of boards (1) and (8) by the following.

First, the interior construction machine 1 is manually operated to operate the suction pad 17 of the interior construction attachment 14.
FIG. 4 shows the first board (1) sucked and transported by
On the board (1). The second and subsequent boards are automatically attached based on the position of the board (1) attached to the first board. The reference position information is stored in the control device 21. The second board (8)
5 (a) by the interior construction machine 1.
As shown in the figure, the second board (8) sucked and transported in the same manner as the first board (1) is attached to the CCD camera 15
-1 and the position of the board (1) already pasted by the CCD camera 15-3 is compared with the position of the board (8) to be newly pasted as a reference position.
The first board (1) is attached adjacent to the right side in the figure.
FIG. 5B is an enlarged view of a captured image of the CCD camera 15-1 at this time. Next, when attaching the third board (7), the attachment position of the second board (8) is stored as reference position information, and the CCD camera is attached in the same manner as the attachment of the second board (8). The board (8) imaged by the CCD board 15-3 and the CCD camera 15-4 is used as a reference position, and the position of the board (7) to be newly attached is compared with the position of the board (7) to be newly attached. Adhere adjacent. Similarly, as shown in FIG. 4, the fourth board (2), the fifth board (3), the sixth board (6), the seventh board (5), and the eighth board To the wall 16 in the order of the board (4).

Next, a processing procedure of the interior construction in the operation switch 20 and the control device 21 shown in FIG. 3 will be described with reference to a flowchart shown in FIG.

First, in step 1, the order of attaching the boards, for example, board (1) → board (8) → board (7) → board (2) → board (3) → board (6) → Input the setting conditions such as the order of the board (5) → the board (4) and the gap distance between the boards to be attached. Next, in step 2, the control device 21 determines whether the operation switch 20 has been turned on for manual operation or automatic operation. As described above, first, the first board (1)
Is manually operated, so the operation switch 2
Since 0 is input to the manual operation side, it is determined as NO,
Further, YES is determined in step 3. In step 4, the board (1) is manually moved to the wall 1
Attach to 6. In step 5, the pasting position of the board (1) becomes the reference position of the second board (8).
To memorize. When the attaching of the first board (1) is completed and the attaching by the automatic operation of the second and subsequent boards is instructed from the operation switch 20, YES is determined in step 2. In step 6, it is determined whether or not the board position information serving as the reference position is stored. If not, the board position information is stored through the processing from step 2 to step 5. Next, in step 7, it is determined whether or not the board attaching position is within the range of extension of the arm of the interior construction machine 1. If it is out of the range, the setting condition in step 1 is changed, or the interior construction machine 1 is run to adjust the position. If YES is determined in step 7, the interior construction machine 1 sucks the board from the board storage and transports it to the wall surface 16. At the board attachment position, the CCD camera 15
The position of the board is adjusted by adjusting the position with the XYZ fine movement adjuster 13 while calculating the image data taken from -1 to 15-4. In step 9, it is determined whether the board has reached a predetermined attachment position. The process of step 9 is repeated until a predetermined attachment position is reached. When the predetermined position is reached, in step 10, the screw driving machine 18
The board is stuck on the wall surface 16 by the above. Next, in step 11, the position of the board to be pasted is stored as board position information in order to be used as a reference position for the next board pasting. In step 12, it is determined whether or not the predetermined number of boards set in step 1 have been attached. When the tensioning is completed, the interior finishing process is terminated in step 13, and if not, the process from step 8 is repeated.

In this embodiment, since the previous board pasting position data is used as reference data for the next pasting position, accumulation of error data relating to positioning correction accompanying the board pasting operation can be prevented.

[0028]

According to the present invention, the interior construction attachment is provided with a length measuring device and an image pickup device, and the workpiece is transported and automatically attached to the surface to be interior-constructed. Thus, the interior construction can be performed quickly without manual intervention.

Further, since the attachment for the interior construction is provided detachably with the fine adjustment mechanism, the attachment for the interior construction can be easily replaced according to the type and size of the work.

Further, since the next work piece is positioned using the work position of the work piece previously constructed as a reference position, error data relating to the positioning correction accompanying the work of attaching the work piece is performed. Accumulation can be prevented.
In addition, since the position of the work to be installed, which was initially constructed by manual operation of the interior construction machine, was used as the reference position, the subsequent work is automatically positioned, so all positioning is automated. Computation processing becomes simpler than that, and the construction work is sped up.

[Brief description of the drawings]

FIG. 1 is an interior construction machine 1 according to an embodiment of the present invention.
FIG. 2 is a side view showing the overall configuration of the device and its working form.

FIG. 2 is a side view and a sectional view showing a detailed configuration of the interior construction attachment 14 according to the present embodiment.

FIG. 3 is a block diagram showing an outline of a control system of the interior construction machine 1 according to the embodiment.

FIG. 4 is a diagram for explaining the attachment of eight boards (1) to (8) to a wall surface 16 by the interior construction machine 1 according to the present embodiment.

FIG. 5 shows CCD cameras 15-1 to 15-1 attached to four corners of the interior construction attachment 14 according to the present embodiment.
It is a figure which shows the imaging state of the boards (1) and (8) attached to the wall surface 16 by 5-4.

FIG. 6 is a flowchart showing a processing procedure of interior construction in the operation switch 20 and the control device 21 according to the present embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Interior construction machine 2 Bogie 5 Wheel 6 1st horizontal rotating machine 7 1st vertical rotating machine 8 Fixed arm 9 2nd vertical rotating machine 10 Telescopic arm 11 3rd vertical rotating machine 12 2nd horizontal rotating machine 13 XYZ fine movement adjuster 14 Attachment for interior construction 140 Attachment / detachment part 15 Length measuring device and CCD camera 17 Suction pad 18 Screw driving machine 20 Operation switch 21 Control device

Claims (5)

[Claims] 1. A self-propelled traveling vehicle, a rotatable and extendable link mechanism provided on the traveling vehicle, a fine adjustment mechanism connected to the link mechanism and capable of fine adjustment in a three-dimensional direction, Attachment for interior construction connected to the fine adjustment mechanism, and a length measuring device for measuring the distance between the interior construction attachment and the interior construction attachment to the interior construction attachment, and for measuring the construction position of the workpiece. And an image pickup device for picking up an image of the work, wherein the work is carried and automatically attached to a surface on which the work is to be carried out. 2. The arm according to claim 1, wherein the link mechanism is provided with an arm attached via a turning mechanism that turns in a horizontal plane of the traveling vehicle and turns in a vertical plane, and is perpendicular to a tip of the arm. The telescopic arm is configured to include a telescopic arm that can be extended and retracted and that is connected to the distal end of the telescopic arm by a pivoting mechanism that pivots in a vertical plane. Interior construction machinery. 3. The method according to claim 1, wherein
The interior construction machine according to any one of claims 1 to 3, wherein the interior construction attachment is detachably provided to the fine adjustment mechanism. 4. The method according to claim 1, wherein
The interior construction machine according to any one of claims 1 to 3, wherein the interior construction machine positions the next workpiece based on a construction position of the workpiece previously constructed as a reference position. 5. The method according to claim 1, wherein
In one claim, the interior construction machine is characterized in that, based on a construction position of the construction object constructed by manual operation of the interior construction machine as a reference position, the next construction object is positioned. Construction machinery.