JP2006082178A - Outside wall surface working device for building - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an outside wall surface working device for a building capable of reducing load on an operator and facilitating movement of a work tool to a predetermined position by applying the weight of the work tool to the outside wall surface working device and also reducing movement of the center of gravity and inertia force caused by movement of a tool head. <P>SOLUTION: An outside wall surface working device 1 illustrated, detachably installed in a gondola cage 2A of a gondola device 2, includes an arm mechanism 30 driven by an arm driving mechanism 40 arranged on an upper part of a rear surface support column 12 of a fixing base part 10. The arm mechanism 30 is rockingly operated by a drive control of the arm driving mechanism 40 of a control device 90 with a tool unit supported on a tool head 50 at its top end, thus executing operations such as drilling and/or brushing an outside wall surface using the tool unit. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a gondola device in which a gondola cage is suspended and supported via a suspension rope member suspended from the upper part of a building so that the gondola cage is detachably attached to the wall surface of the building. The present invention relates to a building exterior wall work apparatus that can be automatically or semi-automatically performed.

  For work such as window cleaning and exterior wall maintenance inspections and repairs in buildings, the gondola cage was mounted using a gondola device that supported the suspension of the gondola cage so that it could be raised and lowered by a suspension rope suspended from the top of the building. An operator supports the electric tool and performs it manually.

In the case of relatively simple repetitive work such as window cleaning, an automatic window cleaning robot has been put into practical use, and as disclosed in Patent Document 1, it is versatile for work such as wall inspection and painting. A wall surface working robot having the above has also been proposed.
Japanese Patent No. 2646008

  However, it is extremely difficult to automate the work where the position of the worker is not constant and the work content is different for each part, such as wall surface repair work, and it is very difficult to rely on the manual work of the worker. I don't get it. For example, in the work of drilling a waterproofing agent injection hole in a deteriorated part of the wall surface with a drill, the load is heavy because the operator is carrying the weight of the tool (drill), and it is not fully automated. Therefore, there is a demand for an outer wall surface working device that can assist the worker and reduce the burden.

  In the above-described wall working robot, it is possible to perform various operations by changing a necessary tool at the tip of the working arm. However, the work must be remotely controlled by using the operating device to move the tool to the desired work position, except for work where the work position is fixed and the program can be operated. , Extremely troublesome, time consuming and unreasonable. Further, the module having the work arm moves along the slide base extending in the lateral direction of the gondola so that it moves in the horizontal direction (X-axis direction) (that is, the robot is an orthogonal coordinate system in the X-axis direction). Therefore, the movement of the center of gravity by the movement in the direction and the effect of inertia force are large, the gondola cage is shaken and the accuracy control is difficult, and there is also a safety problem.

  The present invention has been made in view of the above problems, and can reduce the burden on the operator by carrying the weight of the work tool and can easily move the tool to a desired position. An object of the present invention is to provide a building outer wall working device with small center of gravity movement and inertial force.

  A building exterior wall working apparatus according to the present invention that achieves the above-described object includes a fixed base that is detachably coupled and fixed to a gondola cage, and a vertical direction in a state where the fixed base is attached to the gondola cage. And a vertical movement drive mechanism for moving and driving the vertical movement member, and a horizontal movement orthogonal to the vertical direction by a base end swing shaft on the vertical movement direction member of the fixed base. An arm mechanism in which a second arm member is pivotally coupled to a tip of a first arm member pivotally supported in a plane so as to be swingable in a horizontal plane by a joint swing shaft; and the arm mechanism A tool head for mounting and supporting an arbitrary tool on a tool table swingably provided in the horizontal plane at the tip of the tool, and driving the arm mechanism to move the tool table in the horizontal plane. An arm driving mechanism, a control device that controls and drives the vertical movement driving mechanism and the arm driving mechanism and stores positional information of the tool head, and a control device provided in the tool head and controlled by the control device And manual operation input means for inputting information.

  The outer wall surface working device having such a structure is fixed to a gondola cage of a gondola device that supports the gondola cage so as to be lifted and lowered via a hanging rope member suspended from the upper part of the building by a fixed base. . An arbitrary work tool is mounted on the tool head in accordance with the work on the outer wall surface of the building, and the control device includes a vertical movement drive mechanism based on operation information input from manual operation input means provided on the tool head. The arm drive mechanism can be controlled and moved, and the tool head can be moved up and down by the vertical movement of the arm mechanism by the vertical movement drive mechanism, and the tool head can be moved back and forth and left and right by the drive of the arm mechanism by the arm drive mechanism. . Thus, the work on the outer wall surface can be performed by the work tool mounted on the tool head, and the tool head (that is, the work tool) is positioned at an arbitrary place on the outer wall surface and stored in the storage device of the control device. It is also possible to work by automatically moving the tool head based on the position information.

  In addition, the arm drive mechanism has a link arm member pivotally attached to an intermediate portion between the first arm member and the second arm member at the distal end, and the base ends of the link arm member pivot at an operation node. The first arm member, the second arm member, and the two link arm members form a parallel link, and move and guide the operation node in two directions orthogonal to each other in the horizontal plane. It is characterized by comprising a guide mechanism and movement drive means for moving and driving in the respective directions.

  In this configuration, the distal end of the second arm member is enlarged and moved in the same direction by the movement drive in the two orthogonal directions within the horizontal plane of the operation node by the movement driving means, and the tool head to be supported is moved within the horizontal plane. Can be located at any position.

  In addition, the first sprocket member fixed to the proximal end swing shaft and the second sprocket member having the same number of teeth fixed to the joint swing shaft are connected by a first chain member, and the joint A third sprocket member fixed to the swinging shaft and a fourth sprocket member having the same number of teeth fixed to the head swinging shaft are connected by a second chain member, and the above-mentioned arm mechanism is used. It is characterized by comprising tool posture holding means for holding the posture constant during movement of the tool table.

  In this configuration, the base end swing shaft and the head swing shaft are interlocked with each other while maintaining the same rotation angle by the first chain member and the second chain member, and the tool head swings the first arm member with respect to the fixed base. In addition, the posture is maintained regardless of the swing of the second arm member with respect to the first arm member.

  Further, it is characterized by comprising a tool swing drive means for rotationally driving the base end swing shaft and swinging the tool table via the tool posture holding means.

  In this configuration, the rotation of the base end swing shaft by the tool swing drive means is transmitted to the head swing shaft of the tool head via the tool posture holding means, and the tool base swings.

  According to the building outer wall surface working apparatus of the invention according to claim 1 of the present invention, it is fixed to a gondola cage of an existing gondola apparatus by a fixed base, and is operated by manual operation input means provided on the tool head. The vertical movement drive mechanism and the arm drive mechanism tool head can be driven via the control device to move the tool head up and down, front and rear, left and right. For this reason, it is extremely versatile. Since the arm mechanism bears the weight of the work tool attached to the tool head, the operator can easily work on the outer wall surface of the building with a small burden. Since the arm mechanism moves the tool head by swinging the first arm member in a horizontal plane with respect to the fixed base, the inertial force and the movement of the center of gravity due to the movement of the tool head are small, and the gondola cage swing is induced. Small and high precision control is possible. Further, the work can be automatically performed by moving the tool head (that is, the work tool) based on the position information stored in the storage device of the control device.

  According to the second aspect of the present invention, the first arm member, the second arm member, and the two link arm members form a parallel link, and the operation joint portion that is a connecting portion of the link arm member is horizontally disposed. By moving each of the tool heads in two directions orthogonal to each other in the plane, the amount of movement can be increased, and the tool head can be moved to any position in the horizontal plane in the front, rear, left and right directions. As a result, the tool head can be greatly moved with a small amount of operation, so that the entire structure can be made compact, and the movement of the operation node in the orthogonal coordinate direction directly corresponds to the movement of the tool head at a predetermined ratio. Therefore, it can be driven and controlled by the control information of the Cartesian coordinate system. For example, when automatic operation is performed by specifying the start point and end point of the tool head, complicated coordinate transformation (position information of the Cartesian coordinate system is usually performed like a general joint manipulator). Therefore, the motion control is very simple.

  According to the third aspect of the present invention, the posture of the tool table can be kept constant regardless of the position of the tool head with a simple configuration without requiring any drive mechanism and drive control.

  According to the fourth aspect of the present invention, by rotating the base end swing shaft pivotally supported by the fixed base portion of the first arm member that is the base end of the arm mechanism by the tool swing drive means, The tool table can be swung. Thus, it is not necessary to provide the tool head with a tool swing driving means for swinging the tool table, and the whole can be made small and light by reducing the inertia weight.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
1 is a schematic perspective view of a structural example of an exterior wall surface working apparatus for a building according to the present invention, FIG. 2 is a plan view of a state of being mounted on a gondola cage, FIG. 3 is a rear view thereof, and FIG. It is AA sectional drawing.

  The illustrated outer wall surface working apparatus 1 includes an arm mechanism 30 that is driven by an arm driving mechanism 40 at the upper end portion of the back column 12 of the fixed base 10, and a gondola cage by a suspension wire 2 </ b> B suspended from the top of the building. Attached to a gondola cage 2A of a gondola apparatus 2 that is supported by hanging 2A so that it can be lifted and lowered. The arm mechanism 30 supports a tool unit (not shown) on the tool head 50 at the tip thereof, and is controlled by the control drive of the arm drive mechanism 40 by the control device 90 provided on the upper portion of the back column 12 as indicated by an imaginary line in FIG. As shown in the figure, the tool unit is oscillated to perform operations such as drilling and brushing on the outer wall surface of the building by the tool unit. Hereinafter, the details of each part will be described. In the description, in the state where the outer wall surface working device 1 is mounted on the gondola cage 2A suspended horizontally (upright state), the vertical direction is the Z-axis direction. The left-right direction of the gondola cage 2A in the horizontal plane orthogonal to the Z-axis is the X-axis direction, and the front-rear direction of the gondola cage 2A orthogonal to the Z-axis and the X-axis is the Y-axis direction.

  The fixed base 10 is formed in a side face shape L shape with a back column 12 standing on the back side of the lower substrate 11. Then, the lower substrate 11 is fastened to the bottom surface of the gondola cage 2A by a bolt via a stopper 3, and the back column 12 is fastened to the back of the gondola cage 2A by a bolt via a stopper 4. The back column 12 is fixed to the gondola cage 2A with the vertical (X-axis direction).

  The rear support column 12 is shown in FIG. 5, which is a longitudinal sectional view thereof, FIG. 6, which is a sectional view taken along line BB in FIG. 5, and FIG. 7A, which is a sectional view taken along line CC in FIG. As shown in FIG. 7B, a vertical movement drive mechanism 20 for moving the Z-axis movement base 22 as a vertical movement member up and down is provided, and the Z-axis movement base 22 is connected to the arm mechanism 30. The arm drive mechanism 40 is supported.

  The vertical movement drive mechanism 20 is fitted and supported by a pair of Z-axis guide rails 21 in the Z-axis direction provided on the back column 12 so that the Z-axis movement base 22 is slidably movable. A female screw 23A of the Z-axis drive ball screw 23 disposed between the Z-axis movement base 21 and the Z-axis drive motor 24 is connected to the Z-axis drive ball screw 23 via a timing belt & pulley 25. ing. As a result, the Z-axis movement base 22 is moved along the Z-axis guide rail 21 by the rotational drive of the Z-axis drive ball screw 23 by the Z-axis drive motor 24 (that is, moved up and down in the Z-axis direction). The Z-axis drive motor 24 is a position-controllable servomotor provided with an encoder, and is controlled and driven by the control device 90.

  The vertical movement drive mechanism 20 includes a drive force reduction mechanism 26. In the driving force reduction mechanism 26, a wire 26 </ b> B wound around and energized with a predetermined force by a spring balancer 26 </ b> A disposed on the lower substrate 11 is wound on the upper side of the sheave 26 </ b> C disposed on the upper end portion of the back column 12. At the same time, the lower side of the sheave 26D attached to the female screw 23A of the Z-axis drive ball screw 23 is wound and arranged, and the tip thereof is coupled to the upper end portion of the back column 12. As a result, the sheave 26D of the Z-axis drive ball screw 23 becomes a moving pulley, and the sheave 26D (the female screw 23A of the Z-axis drive ball screw 23) is moved upward and biased by a force twice that of the winding force of the wire 26B by the spring balancer 26A. By appropriately setting the wire entrainment force of the spring balancer 2A, the weight of the Z-axis moving base 22 and the mechanism members (the arm mechanism 30 and the arm driving mechanism 40) to be supported by the Z-axis moving base 22 are offset and the low output Z-axis driving is performed. The motor 24 can also be smoothly moved up and down.

  As shown in FIG. 8 which is a plan view of the arm mechanism 30 and FIG. 9 which is a sectional view of the central axis, the base end of the arm mechanism 30 swings on a base end swing shaft 27 which is rotatably provided on the Z-axis movement base 22. The base end of the base arm 31 as the first arm member that is movably fitted and pivotally supported is swingable by the joint swing shaft 33 at the base end of the tip end arm 32 as the second arm member. In addition to being connected, an operation link mechanism 34 is provided. A head swing shaft 35 is provided at the tip of the tip arm 32 so as to penetrate in the Z-axis direction. Although not shown in FIG. 8, a tool base 51 and an operation unit 70 are fixed to the head swing shaft 35. A tool head 50 is configured.

  A base end swing shaft 27 that supports the base arm 31 so as to be swingable is rotatably provided on the Z-axis moving base 22, and a lower end of the base end swing shaft 27 rotates a tool base swing motor 28 as a tool swing drive means. It is connected to the shaft. A joint rocking shaft 33, which is a pivot shaft to the base arm 31 of the tip arm 32, is rotatable with respect to both the base arm 31 and the tip arm 32. The head swing shaft 35 of the tool head 50 is rotatable with respect to the distal end arm 32, and a tool base 51 is fixed to the upper end and an operation unit 70 is fixed to the lower end. The axial directions of the base end swing shaft 27, the joint swing shaft 33, and the head swing shaft 35 are set in the Z-axis direction. Therefore, the tool base of the base arm 31, the tip end arm 32, and the tool head 50 is set. 51 swings in a horizontal plane, whereby the tool head 50 at the tip of the tip arm 32 is moved by swinging the base arm 31 with respect to the Z-axis moving base 22 and swinging the tip arm 32 with respect to the base arm 31. It can be moved to any position in the horizontal plane (X-axis and Y-axis directions), and the tool base 51 of the tool head 50 can be swung in the horizontal plane.

  The operation link mechanism 34 includes a base operation arm 34A whose end is pivotally attached in the vicinity of the base end of the base arm 31 and a distal end operation arm 34B whose end is pivotally attached in the vicinity of the base end of the distal end arm 32. The free end is pivotally attached to form an operation section 34C. The length of the base arm 31: the distance from the base end swing shaft 27 to the pivot shaft of the base operation arm 34A with respect to A1: the ratio of A2: A1 / A2 and the length of the front end arm 32: joint swing with respect to B1 The distance from the shaft 33 to the pivot shaft of the tip end operation arm 34B: B2 ratio: B1 / B2 is set to be equal, and this is the enlargement ratio. Further, the length of the base operation arm 34A is equal to the distance from the joint swing shaft 33 to the pivot shaft of the tip operation arm 34B, and the length of the tip operation arm 34B is from the joint swing shaft 33 to the base operation arm 34A. Thus, the base arm 31 and the distal end operating arm 34B, and the distal end arm 32 and the base operating arm 34A are parallel to each other to form a parallel link.

  In the operation link mechanism 34 having such a configuration, when the operation node 34C, which is a pivot point of the base operation arm 34A and the tip operation arm 34B, is moved in a horizontal plane, the base arm 31 and the tip arm 32 swing. Then, the distal end (tool head 50) of the distal end arm 32 is enlarged and moved at the aforementioned magnification. That is, by moving the operation node 34C of the operation link mechanism 34 in two directions orthogonal to each other in the horizontal plane, the movement amount is enlarged, and the tool head 50 is moved to any position in the horizontal plane in the front, rear, left, and right directions. be able to. As a result, the tool head 50 can be greatly moved with a small amount of operation of the operation node 34C, so that the entire drive system can be configured compactly, and the movement of the operation node 34C in the orthogonal coordinate direction remains as it is. Can be driven and controlled by orthogonal coordinate system control information, and when the tool head 50 is moved to a desired position, the orthogonal coordinate system position information is converted into joint angle coordinate system control information. This eliminates the need for complicated coordinate conversion, and makes motion control extremely simple.

  In addition, the arm mechanism 30 includes a tool posture holding mechanism 60 that holds the swing posture of the tool base 51 of the tool head 50. As shown in FIG. 9, the tool posture holding mechanism 60 has a base sprocket 61 as a first sprocket member fixed to the base end swing shaft 27, and a joint swing that connects the base arm 31 and the tip arm 32. A joint first sprocket 62 as a second sprocket member fixed to the lower end of the moving shaft 33 is connected by a base arm chain 63 as a first chain member wound between the two, and the joint rocks. A joint second sprocket 64 as a third sprocket member fixed to the upper end of the moving shaft 33 and a head as a fourth sprocket member fixed to a head swing shaft 35 connecting the tool head 50 to the tip arm 32. The sprocket 65 is configured to be linked by a tip end arm chain 66 as a second chain member hung between the two, The number of teeth of the sprocket 61 and 62 are equal, also the number of teeth of the sprocket 64 and 65 are set to be equal.

  The tool posture holding mechanism 60 servo-locks the above-described tool base swing motor 28 connected to the base end swing shaft 27 to fix the base end swing shaft 27 so as not to rotate. The joint first sprocket 62 fixed to the joint rocking shaft 33 by rocking rotates at the same angle to the opposite side, and the head sprocket 65 fixed to the head rocking shaft 35 by rocking the tip arm 32 is reversed. As a result, the posture of the tool base 51 (and an operation unit 70 described later) mounted on the head swing shaft 35 is always kept constant regardless of the swing state of the arm mechanism 30. It will be drunk. Thus, even if the tool head 50 moves in a horizontal plane, the supporting tool unit does not change its posture, and the workability is good in order to maintain the same posture with respect to the outer wall surface of the building that is the work target. On the other hand, by rotating the base end swing shaft 27 by the tool base swing motor 28, the tool base 51 of the tool head 50 can be swung. According to this, since the tool base swing motor 28 that swings and drives the tool base 51 (the tool unit supported by the tool base 51) is not supported at the tip of the arm mechanism 30, the support weight of the arm mechanism 30 and the inertia weight when swinging. By reducing this, the entire mechanism can be reduced in size and weight. The tool base swing motor 28 is a servo motor capable of position control provided with an encoder, and is controlled and driven by a control device 90.

  The arm drive mechanism 40 is a cross-sectional view of the Z-axis moving base 22 taken along the center axis of the base end swing shaft 27 in FIGS. As shown in FIG. 12 (A) and FIG. 12 (B), which is a sectional view taken along the line G-G, the arm mechanism 30 is swung by an X-axis direction drive mechanism 40X and a Y-axis direction drive mechanism 40Y. The operation base 43 is configured to move and drive in the X-axis direction by the X-axis direction drive mechanism 40X and to move and drive in the Y-axis direction by the Y-axis direction drive mechanism 40Y.

  In the X-axis direction drive mechanism 40X, an X-axis movement base 42X is slidably moved and supported by an X-axis guide rail 41X in the X-axis direction provided on the Z-axis movement base 22 via a support bracket 22A. At the same time, the female screw of the X-axis drive ball screw 43X arranged in parallel with the X-axis guide rail 41X is fixed to the X-axis movement base 42X, and the X-axis drive ball screw 43X and the X-axis drive motor 44X connect the timing belt & pulley 45X. The X-axis movement base 42X is moved along the X-axis guide rail 41X (in the X-axis direction) by the rotation of the X-axis drive ball screw 43X by the X-axis drive motor 44X. . The X-axis drive motor 44X is a position-controllable servomotor provided with an encoder, and is controlled and driven by the control device 90.

  The Y-axis direction drive mechanism 40Y is fitted and supported by the Y-axis guide rail 41Y in the Y-axis direction provided on the X-axis movement base 42X so that the operation base 43 can be slidably moved. A female screw of a Y-axis drive ball screw 43Y arranged in parallel is fixed to the operation base 43, and the Y-axis drive ball screw 43Y and the Y-axis drive motor 44Y are connected via a timing belt & pulley 45Y. The operation base 43 is moved and driven along the Y-axis guide rail 41Y (in the Y-axis direction) by the rotation of the Y-axis drive ball screw 43Y by the motor 44Y. The Y-axis drive motor 44Y is a position-controllable servomotor provided with an encoder, and is controlled and driven by the control device 90.

  As described above, the operation base 43 includes the operation shaft 43A in the Z-axis direction, and the operation shaft 43A is slidably fitted to the operation node 34A of the operation link mechanism 34 of the arm mechanism 30.

  In the arm drive mechanism 40 configured as described above, the operation base 43 is moved in the Y-axis direction by the Y-axis direction drive mechanism 40Y, and the X-axis movement base 42X is moved in the X-axis direction by the X-axis direction drive mechanism 40X. Is moved in the X-Y axis direction, and the operation mechanism 34A of the operation link mechanism 34 is moved to operate the arm mechanism 30.

  In the tool head 50, as shown in a plan view in FIG. 13A and a cross-sectional view in FIG. 13B, a head swing shaft 35 in the Z-axis direction vertically penetrates the tip of the tip arm 32 of the arm mechanism 30. A tool base 51 is provided at the upper end of the head swing shaft 35 and an operation unit 70 as manual operation input means is provided at the lower end.

  The tool base 51 is configured by fixing brackets 51B having fixing screws 51C at both left and right ends to a rear end side of a support plate 51A having a predetermined thickness and a predetermined width fixed to the head swing shaft 35 with fixing bolts 51D. Has been. The bracket 51B has an L-shaped cross section, and the horizontal plate portion is brought into contact with the back surface of the support plate 51A, and the fixing bolt 51D penetrating the horizontal plate portion and the support plate 51A from the lower side to the upper surface side of the support plate 51A. The circular nut 51E is screwed and fixed. A total of three fixing bolts 51D are disposed in the center and the left and right, and a circular nut 51E screwed into the two on the left and right serves as a positioning pin for the tool unit 80 described later. The fixing screw 51C is provided through the plate surface of the rising plate portion of the bracket 51B at a right angle.

  On the other hand, the tool unit mounted on the tool table 51 includes a fixed base 83 on the lower surface of a unit base 82 that supports the electric drill 81, as shown in a side view of a drill unit 80 as an example in FIG. Then, the support plate 51A is mounted via the fixed base 83.

  As shown in FIG. 15A which is a plan view corresponding to the cross section GG in FIG. 14 and a side view thereof which is shown in FIG. 15B, the fixing base 83 has fitting grooves 83A on the lower surfaces of both side edges. A fixed female screw 83B is formed on the rear end face, and a trapezoidal positioning notch 83C having a tapered side at a predetermined angle and extending to the opening side is formed on the rear end edge. . The fixed base 83 is drawn to the rear end side by a fixing screw 51C that is fitted to the support plate 51A (that is, the tool table 51) with fitting grooves 83A fitted to both side edges of the support plate 51A and screwed to the fixing female screw 83B. The left and right circular nuts 51E (shown by broken lines in FIG. 15) abut on the side and bottom corners of the positioning notch 83C to be positioned and fixed to the support plate 51A (that is, the tool table 51). .

  Note that a cable or the like for supplying power to the drive source of the tool unit 80 is routed inside the base arm 31 and the tip arm 32 of the arm mechanism 30 to the tool head 50.

  The operation unit 70 has a rectangular casing shape with an operation panel 71 on the back surface, and a jog lever switch 72 on the bottom surface.

  The operation panel 71 is provided with a position storage switch 71A that issues a storage command for the position control information of each control motor at that time. The jog lever switch 72 outputs the direction and the operation amount of the jog lever 72A inverted in the XY axis direction as movement operation information in the XY axis direction, and a seesaw switch provided in the jog lever 72A. The operation information 72B is output as movement operation information in the Z-axis direction. The switches provided on the operation panel 71 and operation information of the jog lever switch 72 are input to the control device 90.

  Since the operation unit 70 is fixed to the head swing shaft 35 of the tool head 50 as described above, the positional relationship with the tool base 51 is also changed by the swing of the tool base 51 (tool unit) with respect to the tip end arm 32. In the basic posture in which the tool unit faces the work target plane (outer wall surface of the building) orthogonal to the Y axis without changing, the operation direction of the jog lever switch 72 of the operation unit 70 in the XY axis direction is Since the actual X-Y axis directions can be matched, the workability is extremely good.

  The control device 90 is constituted by a microcomputer 91 having a storage device. As shown in FIG. 16 which is a block configuration diagram, the control device 90 is input based on input information from the operation unit 70 and via an external input device 92. Based on the programmed program, the Z-axis drive motor 24 of the vertical movement drive mechanism 20, the tool base swing motor 28 of the arm mechanism 30, the X-axis drive motor 44X of the X-axis direction drive mechanism 40X of the arm drive mechanism 40, the arm drive. The Y-axis drive motor 44Y of the Y-axis direction drive mechanism 40Y of the mechanism 40 is controlled and driven to move the tool head 50 in the X-Y axis direction (move in a horizontal plane) and move in the Z-axis direction.

  Thereby, the tool unit 80 supported by the tool head 50 can be moved automatically, semi-automatically and manually, and work can be performed on the outer wall surface of the building.

  That is, based on a program input from the external input device 92, the control device 90 can automatically move the tool head 50 (tool unit 80) to perform full-automatic work, and the operator can operate the operation unit 70. After the jog lever switch 72 is operated, the tool head 50 (tool unit 80) is positioned at the start point of the work and the position information is stored. Then, the position information is stored at the end position and the position information is stored. It can also be made semi-automatic to move between end points based on a program and work. The movement path of the tool head 50 can be memorized (so-called taught) by the operator operating the jog lever switch 72 of the operation unit 70 to actually move the tool unit 80.

  Furthermore, an operator who has boarded the gondola cage 2A operates the jog lever switch 72 of the operation unit 70 to move the tool head 50 in the XYZ axis direction (front / rear / left / right / up / down) via the control device 90. And can work with the tool unit 80. Thus, by operating the operation unit 70 located immediately below the tool unit 80, the tool unit 80 supported by the arm mechanism 30 is moved with an extremely light operation force as if it is supported by the operator. It is something that can be worked on.

  In addition, this invention is not limited to the said structural example, It can change suitably.

It is a schematic perspective view of one structural example of the outer wall surface working apparatus of the building which concerns on this invention. It is a top view in the state where the outer wall surface working device is mounted on the gondola cage. It is a rear view of the state where the outer wall surface working device is mounted on the gondola cage. It is AA sectional drawing of FIG. It is a longitudinal cross-sectional view of a back support | pillar. It is BB sectional drawing of FIG. (A) is CC sectional drawing of FIG. 5, (B) is DD sectional drawing of FIG. It is a top view of an arm mechanism. It is a central axis sectional view of an arm mechanism. It is sectional drawing in the central axis of the base end rocking | fluctuation axis | shaft of a Z-axis movement base. It is EE sectional drawing of FIG. (A) is FF sectional drawing of FIG. 10, (B) is the GG sectional drawing. (A) is a plan view of the tool head, and (B) is a sectional view thereof. It is a side view of a drill unit as a tool unit. (A) is a top view of the fixed base corresponding to the cross section GG of FIG. 14, (B) is the side view. It is a block block diagram of a control apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Outer wall surface working apparatus 2 Gondola apparatus 2A Gondola cage 10 Fixed base 20 Vertical movement drive mechanism 22 Z-axis movement base (vertical movement member)
27 Base end swing shaft 28 Tool base swing motor (tool swing drive means)
30 Arm mechanism 31 Base arm (first arm member)
32 Tip arm (second arm member)
33 Joint rocking shaft 34 Operation link mechanism 34C Operation node 35 Head rocking shaft 40 Arm drive mechanism 50 Tool head 51 Tool stand 60 Tool posture holding mechanism 61 Base sprocket (first sprocket member)
62 Joint first sprocket (second sprocket member)
63 Base arm chain (first chain member)
64 Joint second sprocket (third sprocket member)
65 Head sprocket (fourth sprocket member)
66 Tip arm chain (second chain member)
70 Operation unit 80 Tool unit 90 Control device

Claims (4)

A fixed base detachably coupled to the gondola cage;
A vertically moving member provided on the fixed base so as to be movable in a vertical direction in a state where the fixed base is mounted on a gondola cage;
A vertical movement drive mechanism for moving and driving the vertical movement member;
The second arm member is pivoted at the distal end of the first arm member pivotally supported by the vertical movement member of the fixed base so as to be swingable in a horizontal plane perpendicular to the vertical direction by the proximal swing shaft. An arm mechanism that is pivotably connected in the horizontal plane by a shaft;
A tool head that mounts and supports an arbitrary tool on a tool base that is swingable in the horizontal plane by a head swing shaft at the tip of the arm mechanism;
An arm driving mechanism for driving the arm mechanism to move the tool table in the horizontal plane;
A control device comprising a storage device for controlling and driving the vertical movement drive mechanism and the arm drive mechanism and storing position information of the tool head;
Manual operation input means provided in the tool head for inputting control information to the control device;
An exterior wall surface working apparatus for a building, characterized by comprising:   In the arm drive mechanism, a link arm member is pivotally attached at the tip between the first arm member and the second arm member, and the base ends of the link arm member are pivotally connected by an operation node. The first arm member, the second arm member, and the two link arm members form a parallel link, and the guide mechanism moves and guides the operation node in two directions orthogonal to each other in the horizontal plane. And an exterior wall surface working device for a building according to claim 1, comprising: and a driving means for moving in each direction.   The first sprocket member fixed to the base end swing shaft and the second sprocket member having the same number of teeth fixed to the joint swing shaft are connected by the first chain member, and the joint swing The tool base by the action of the arm mechanism, wherein a third sprocket member fixed to a shaft and a fourth sprocket member having the same number of teeth fixed to the head swing shaft are connected by a second chain member. 3. The building outer wall surface working device according to claim 1, further comprising a tool posture holding means for holding the posture constant during movement of the building. 4. The apparatus according to claim 3, further comprising a tool swing driving unit that rotationally drives the base end swing shaft and swings the tool table via the tool posture holding unit. Building exterior wall work equipment.

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