JP2009184811A - Unmanned spray robot device and unmanned spray method of asbestos processing solvent within elevator hall - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an unmanned spray robot device and an unmanned spray method of an asbestos processing solvent arranged within an elevator hall and performing unmanned spray work of the asbestos processing solvent in asbestos removal and containment work. <P>SOLUTION: In the spray robot device, a multiaxial joint robot 3 having a spray nozzle 4 at the tip and moving the nozzle 4 along a sprayed face and a moving device 2 for moving the robot 3 along the inner wall face of the elevator hall 100 on the outer periphery of an elevator car 1 are arranged within the elevator hall 100. The spray robot device is provided with a pressure pump 9 sending the asbestos processing solvent to the nozzle 4 and with control mechanisms (7, 8, 11, 15) for operating the robot 3, the moving device 2 and the pump 9 by a control program including the internal structure of the elevator hall 100 and the solvent spraying range as data. By using the spray robot device, unmanned solvent spray work within the elevator hall 100 is performed. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention is a technique of a robot apparatus and a method for unmannedly spraying an anti-scattering solvent or a containment solvent onto the asbestos during removal and containment of asbestos adhering to a wall surface or an elevator shaft in an elevator hall.

  Elevators installed throughout the country are operated by elevator shafts that use asbestos for 10% of the total installations. Asbestos fibers having a size of about 0.2 microns, when deteriorated and become dust, easily enter the elevator and adversely affect the user.

  Therefore, in general, deteriorated asbestos is subjected to dust scattering prevention processing mainly by a removal method and a containment method. The removal method is a method of removing deteriorated asbestos after carrying out anti-scattering curing by application of an anti-scatter agent, etc., and the containment method forms a coating film by the anti-scatter agent sprayed on the surface of the deteriorated asbestos. This is a method of enclosing degraded asbestos in a coating film.

  In many cases, the asbestos removal method and the containment method in the elevator hall are manually performed by workers. Workers should enter a poorly ventilated elevator hall after securing a working platform and wearing special equipment such as filter masks, tiepeck protective clothing, and shoe covers to prevent accidental suction of asbestos. And the worker must do the spray work of anti-scattering agent of asbestos while paying close attention to the erroneous suction of asbestos while exchanging the contaminated protective clothing many times while the body temperature is warm during the work Don't be. Therefore, the asbestos treatment work by hand is concerned about the health damage of workers due to the absorption of dust, the high cost of replacement of consumable equipment and the reduction of work efficiency.

As this type of prior art, there is an asbestos fiber scattering prevention method and a containment method shown in Patent Document 1 below. The following Patent Document 1 discloses a method for preventing scattering of asbestos fibers by spraying a finely water-soluble water-soluble binder to adhere to the surface of the asbestos fibers and easily solidifying at room temperature, and asbestos by spraying an inorganic coating agent. The containment method is described.
JP 2007-247240 A

  Patent Document 1 discloses a processing solvent for easily solidifying deteriorated asbestos, and there is a description that the spraying is performed unattended by employing a sprayer or a spray robot. However, Patent Document 1 does not disclose a specific configuration and a spraying method of a spraying device that can be placed in an elevator hall that is a special and closed space in which the elevator body moves up and down.

  Therefore, the present invention provides a specific unmanned spraying device and spraying method that can be placed in an elevator hall instead of a worker and can perform unmanned spraying of asbestos processing solvent in asbestos removal work and containment work. Unmanned spraying of asbestos processing solvent in the elevator hall to reduce the health of workers due to dust suction, increase the cost of replacing consumables for equipment, and expedite the processing of the asbestos A robot apparatus and a spraying method are provided.

  In order to achieve the above object, in claim 1, a multi-axis joint robot having a spray nozzle at a tip and moving the spray nozzle along a spray surface, and the multi-joint installed and attached to the outer periphery of an elevator car A moving device that moves the axial robot along the inner wall surface of the elevator hall, and a pressure feed pump that sends the asbestos treatment solvent to the spray nozzle, internal structure data of the elevator hall, and the data Based on the control program with spraying range data of the asbestos processing solvent based on the asbestos in the elevator hall by the unmanned spraying robot device having the control mechanism for operating the articulated robot, the moving device and the pressure feed pump Decided to spray.

  (Action) The asbestos treatment solvent (anti-scattering agent) is removed by the articulated robot placed in the elevator hall on behalf of the worker and sprays it to the specified location by the spray nozzle provided at the tip. It is possible to perform the scattering prevention treatment and the containment treatment of the deteriorated asbestos before the construction method is performed unattended.

  That is, the joint drive of the articulated robot, the movement of the articulated robot, and the spraying operation of the solvent by the spray nozzle are the spray mechanism based on the internal structure data and the internal structure of the elevator hall input in advance by the control mechanism. In accordance with the control program having the coordinate data of the above, the articulated robot, the moving mechanism on which the articulated robot is mounted, and the solvent pump are automatically operated to automatically spray the asbestos processing solvent. Asbestos scattering prevention treatment can be performed unattended.

  In addition, the articulated robot is configured so that it can move along the inner wall of the elevator hall with a moving device, so the spraying range of the asbestos treatment solvent by the articulated robot is expanded, and the scattering prevention treatment of degraded asbestos is unattended and widespread. Can be done.

  In order to achieve the above object, according to claim 2, in the unmanned spraying robot for asbestos processing solvent in the elevator hall according to claim 1, an obstacle detection sensor is provided at the tip of the articulated robot.

(Operation) The articulated robot is automatically stopped by the control mechanism when the obstacle detection sensor detects the approach of the obstacle. Therefore, even when an unexpected obstacle occurs in the elevator hall, the articulated robot does not collide with the obstacle and is not damaged.

  In order to achieve the object, in the unmanned spraying method of asbestos processing solvent in the elevator hall according to claim 3, based on the internal structure data of the elevator hall and the spraying range data of the asbestos processing solvent based on the data. , A step of moving a moving device, which is installed on the outer periphery of the elevator car and attached with the articulated robot, along the wall surface of the elevator hall by a control mechanism programmed with a spraying range; and the joint of the articulated robot A step of driving and bringing the tip close to the asbestos spraying part in the elevator hall and a step of spraying the asbestos processing solvent to the asbestos in the elevator hall from the spray nozzle provided at the tip of the articulated robot.

(Operation) The asbestos treatment solvent (anti-scattering agent) is moved by the articulated robot in a wide range within the elevator hall by the moving device, and the spray nozzle at the tip automatically sprays on the deteriorated asbestos at a predetermined position. Therefore, the scattering prevention process performed before the implementation of the method for removing the deteriorated asbestos and the process of containing the deteriorated asbestos can be automatically performed unattended.

  According to the robot apparatus of claim 1, since the robot apparatus in the elevator hall automatically sprays the asbestos processing solvent, the necessity for the worker to enter the elevator hall is reduced. Reduced risk of bathing or inhaling. Therefore, it is possible to prevent the health hazard of workers due to suction of asbestos dust. In addition, the replacement cost of consumables such as protective clothing bathed in asbestos is reduced. Moreover, since the time for changing protective clothing is not required, the processing time of the asbestos is shortened.

  Further, according to the robot apparatus of the second aspect, since the necessity for maintenance due to breakage of the articulated robot is reduced, the efficiency of the unmanned spraying operation of the asbestos processing solvent is further improved.

  On the other hand, according to the unmanned spraying method of claim 3, since the worker can automatically perform the process of preventing the asbestos from scattering without entering the elevator hall, the worker sucks the deteriorated asbestos into the body. The occurrence of health damage can be prevented. The cost of replacing protective clothing contaminated with asbestos is reduced. In addition, since the time for changing protective clothing is not required, the processing time of the asbestos is shortened.

  Next, embodiments of the present invention will be described based on examples.

  1 to 4 show an embodiment of an unmanned spraying robot apparatus for asbestos processing solvent in an elevator hall according to the present invention. FIG. 1 is a perspective view illustrating the configuration of an unmanned spraying robot apparatus according to the present embodiment, FIG. 2 is a view of the apparatus according to the present embodiment as viewed from above an elevator car, and FIG. 3 is a general-purpose robot arm according to the present embodiment. FIG. 4 is a block diagram for explaining the control system of this embodiment.

  1 to 3, this embodiment will be described. First, a multi-stage automatic slider 2 is attached to the upper outside of an elevator car 1 that is suspended by a wire 1 a and moves up and down in the elevator hall 100. A robot arm 3 (multi-joint axis robot) is provided. The multistage automatic slider 2 is a moving device for the general-purpose robot arm 3, and the general-purpose robot arm 3 is mounted on a slide hawk 2b that slides horizontally on a fixed rail 2a fixed to the elevator car 1 by a slide motor (not shown). ing. The general-purpose robot arm 3 moves along the side wall 100a of the elevator hall by sliding the slide hawk 2b, and the base 3a is slidably attached to the slide hawk 2b, and slides horizontally on the slide hawk 2b. . Overrun detection sensors 16 (described later) are provided at both ends of the multistage automatic slider 2 so that the slide hawk 2b does not fall off the rail 2a.

  The fixed rail 2a is provided with guide holders 2e and 2f that sandwich a guide plate 2d extending in the vertical direction and in which a roller 2g rolls inward. When the elevator car 1 moves up and down in the elevator hall 100, the guide holder 2e, 2f and the roller 2g are in rolling contact with each other, and support the multi-stage automatic slider 2 and the general-purpose robot arm 3 when moving up and down. The combination of the multi-stage automatic slider 2 and the general-purpose robot arm 3 is set on the side wall 100a side of the upper surface of the car 1 in FIGS. 1 and 2, but another set (not shown) is also attached on the side wall 100c side. .

  As shown in FIG. 3, the general-purpose robot arm 3 includes a nozzle 4 (spraying nozzle) that sprays an asbestos anti-scattering agent on the tip, and an ultrasonic displacement sensor that prevents the tip of the arm 3 from colliding with an unexpected obstacle. 17, a horizontal rotation joint shaft 3 b that rotates relative to the base 3 a, and a plurality of rotation joint shafts (3 c to 3 g). Each joint shaft is automatically rotated by a rotation motor (not shown). It is a multi-joint robot arm, and by driving a plurality of joint axes, the nozzle 4 can be directed in a direction that is free of 360 degrees with respect to the spray target. A CCD camera 5 with illumination 6 for monitoring the work area is provided at the tip of the general-purpose robot arm 3.

  The moving device for the general-purpose robot arm 3 is not limited to the pair of multi-stage automatic sliders 2, and the base 3 a of the general-purpose robot arm 3 can slide on a circular rail fixed to the upper portion of the car 1. The solvent spraying operation may be performed in the direction of the inner wall 4 of the elevator hall 100 while the general-purpose robot arm 3 circulates on the circular rail. Further, the circular rail may be formed in a spiral shape upward, and the general-purpose robot arm 3 at the time of work may be raised while rotating. In addition, the number of joint axes of the multi-joint robot 3 is not limited to the number of embodiments, and is configured in consideration of the freedom of movement of the nozzle 4.

  In the elevator car 1, a general-purpose robot amplifier 7, a control panel 8, a pressure pump 9, a storage tank 10, and a computer 11 with a monitor are installed.

  The computer with monitor 11 is connected to the control panel 8 by a signal cable. A control panel 8 that receives power supply from a power source (not shown) is connected to a multi-stage automatic slider 2, nozzle 4, CCD camera 5, general-purpose robot amplifier 7 and cable 12 installed outside the elevator car 1, and provides control signals to each part. Send / receive and power supply. The general-purpose robot 3 is connected to the general-purpose robot amplifier 7 in the elevator car 1 by a cable 13 and receives a control signal and power supply via the amplifier 7. The nozzle 4 receives supply of the asbestos scattering prevention solvent from the tank pumping pump 9 through the supply hose 14. In FIG. 1, the through holes 1 b of the cables 12 and 13 and the hose 14 are opened toward the elevator hall, but this is tightly sealed so that asbestos does not enter the elevator car 1.

  The computer 11 is installed with a control program having the internal structure data of the elevator hall 100 inputted in advance, the coordinate data of the spraying range where the degraded asbestos exists based on the internal structure, and the coordinate data of the direction in which the nozzle is directed. The multi-stage automatic slider 2 and the general-purpose robot arm 3 move along the coordinate range instructed by the control program while directing the tip of the nozzle 4, and the nozzle 4 sprays a solvent according to the movement range. The computer 11 with the monitor 15 including the control program, the control panel 8 and the amplifier 7 constitute a control mechanism of the automatic spray robot apparatus of the present case.

  A monitoring person is arranged in front of the monitor 15 of the computer 11 in the elevator car 1. The monitoring person isolated from the elevator hall 100 inputs the start signal of the control program, and when the spraying robot apparatus operates abnormally, the inside of the elevator hall 100 is visually observed by an error message or the image of the CCD camera 5. And correct the operation.

  In addition, you may arrange | position the pump 10 and the tank 10 which stored the asbestos scattering prevention agent outside the elevator car 1. FIG. Moreover, the monitor 15 may improve the operativity by the said monitoring staff by using a touch panel.

  Next, the control and operation of the unmanned spraying robot for the asbestos scattering inhibitor in this embodiment will be described with reference to FIG. The computer 11 and the control panel 8 are turned on to supply power to each part of the apparatus. The pressure pump 9 receives power supply from the control panel 8 and pressure-feeds asbestos anti-scattering solvent to the supply hose 14. The control panel 8 transmits an operation start signal to the multistage automatic slider 2 and the general-purpose robot amplifier 7 based on a control program installed in the computer 11. A slide motor for the slide hawk 2b, a slide motor for the base 3a of the general-purpose robot arm 3, and each drive motor for driving the joints of the general-purpose robot arm 3 (none of which are shown) include a control panel 8 and an amplifier 7 Drive the drive start signal, slide the slide fork 2b, slide the general-purpose robot arm 3 relative to the fork 2b, rotate each rotary joint shaft (3b-3g), and set the nozzle 4 in the control program. The drive is stopped in a state where the actuator is moved to the coordinates of the initial position shown and is opposed to the inner wall of the elevator hall 100 or the elevator shaft (not shown) that requires solvent spraying.

  After the movement of the nozzle 4 is completed, the control panel 8 transmits a nozzle opening signal to an opening / closing motor (not shown) of the nozzle 4 so that the asbestos scattering prevention solvent is sprayed. At the same time, the control panel 8 sends drive signals to the joint drive motor of the general-purpose robot arm 3 and the slide motor of the base 3a, and moves the nozzle 4 along the designated coordinate range of the control program indicating a predetermined spray range. The nozzle 4 sprays the solvent in a range where the nozzle 4 reaches by joint driving of the general-purpose robot arm 3 and horizontal sliding of the base 3a.

The nozzle 4 sprays the solvent onto the entire inner wall 100a of the elevator hall 100 and the half surfaces of 100b and 100d (see symbol P in FIG. 4). The other general-purpose robot arm (not shown) sprays on the opposite side of the facing inner walls 100c, 100b, and 100d. When the moving rail of the base 3a of the general-purpose robot arm 3 is formed in a circular shape or a spiral shape, a single general-purpose robot arm can perform a solvent spraying operation on all four surfaces from the inner walls 100a to 100d.

  Based on the control program, the control panel 8 sends a command to the open / close motor to fully close the nozzle 4 when the spraying of the solvent is completed within the range in which the nozzle 4 can reach (see symbol P in FIG. 4). At the same time, a command is sent to the drive motor of the slide hawk 2b, and the general-purpose robot arm 3 is moved greatly by sliding the slide hawk 2b. Thereafter, the control panel 8 repeats opening / closing of the nozzle 4 and driving of the general-purpose robot arm 3 again.

  The state of the spray area in front of the nozzle 4 is captured as a video signal by the CCD camera 5 with illumination 6, processed by the image controller 18, and displayed on the monitor 15 of the computer 11.

  When the control panel 8 receives a detection signal from the overrun detection sensor 16 provided on both sides of the multistage automatic slider 2 and detects that the slide hawk 2b has been slid out of the predetermined slide range on the fixed rail 2a. Then, a signal is sent to each drive source of the robot apparatus of the present embodiment to stop the drive. Further, the control panel 8 has an ultrasonic displacement sensor 17 provided at the tip of the general-purpose robot arm 3 such that the distance between the tip of the robot and the workpiece (unexpected obstacle) in the elevator hall 100 is shorter than a predetermined length. In this case, the driving of each driving source is stopped to avoid a collision. The monitoring personnel visually check the error message and the image of the CCD camera 5, manually operate the computer 11, correct the operating states of the slide hawk 2b and the general-purpose robot arm 3, and restart the control program. The sensor 17 is not limited to the ultrasonic sensor and can be substituted as long as it is an obstacle detection sensor that can detect the proximity of the robot tip and the workpiece.

  The control panel 8 stops the driving of all the parts after finishing the spraying to all the spraying ranges where the nozzle 4 reaches the inner wall (or elevator shaft) of the elevator hall 100 around the robot apparatus of the present embodiment. . The computer 11 completes the execution of the control program, shifts to an operation input waiting state by the monitoring personnel, and the unattended automatic spraying process of the asbestos processing solvent by the robot apparatus of the present embodiment is finished once.

  Thereafter, the monitoring staff raises and lowers the elevator car 11, moves the robot apparatus of the present embodiment to the next spraying range, repeats the spraying work by starting the control program again, and asbestos scattering prevention agent in the vertical direction of the elevator hall 100 Go ahead with automatic spraying work.

  According to the present embodiment, the robot apparatus automatically performs the solvent spraying operation in the elevator hall 100, and the worker monitors the operation inside the elevator car 1 isolated from the elevator hall 100. As a result, harmful effects caused by exposure to asbestos on the human body are prevented.

It is a perspective view explaining the structure of the unmanned spray robot apparatus of a present Example of a present Example. It is the figure which looked at the apparatus of a present Example from the upper direction of the elevator car. It is composition explanatory drawing of the general purpose robot arm of a present Example of a present Example. It is a block diagram explaining the control system of a present Example.

Explanation of symbols

1 Elevator car 2 Multistage automatic slider 3 General-purpose robot arm 4 Spray nozzle 7 General-purpose robot amplifier (control mechanism)
8 Control panel (control mechanism)
9 Pressure pump 11 Computer (control mechanism)
15 Monitor (control mechanism)
17 Ultrasonic displacement sensor (obstacle sensor)

Claims (3)

A multi-axis joint robot comprising a spray nozzle at the tip and moving the spray nozzle along the spray surface;
A moving device that is installed on the outer periphery of the elevator car and moves the attached articulated robot along the inner wall surface of the elevator hall, is arranged in the elevator hall,
A pressure-feed pump for feeding the asbestos-treating solvent to the spray nozzle;
A control mechanism for operating the articulated robot, the moving device, and the pump by the control program including the internal structure data of the elevator hall and the spray range data of the asbestos processing solvent based on the data,
An unmanned spraying robot for asbestos processing solvent in an elevator hall.   2. The unmanned spraying robot for an asbestos processing solvent in an elevator hall according to claim 1, wherein the articulated robot is provided with an obstacle detection sensor at the tip. Based on the internal structure data of the elevator hall and the spray range data of the asbestos processing solvent based on the data, a control mechanism programmed with the spray range was installed on the outer periphery of the elevator car, and an articulated robot was attached. A step of moving a moving device along a wall surface of the elevator hall; a step of driving a joint of the articulated robot; and a step of bringing the tip of the joint into an asbestos spraying section in the elevator hall; Spraying the asbestos in the elevator hall from the spray nozzle provided at the tip of the
An unmanned spraying method for an asbestos treatment solvent in an elevator hall.

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