JP2013139703A - Asbestos containment working robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot system capable of performing efficient asbestos containment work by manpower saving and mechanization though it is simpler and lighter in constitution than conventional one.SOLUTION: The asbestos containment working robot system comprises: X-, Y-, and Z-shaft bodies installed on a steel bed of an elevator cage; a robot body having an arm sliding in a vertical direction with respect to the Z-shaft body and an injection nozzle at the tip of the arm; an asbestos containment agent storage tank and a feeding device for feeding the agent to the injection nozzle mounted on the cage; and a control section for performing drive control of the robot body. The robot body is provided with a shape measuring instrument for measuring a wall surface shape of an elevator shaft target area in advance and a distance measuring instrument for measuring the height position of an injection nozzle. The control section accumulates measurement results from the shape measuring instrument and determines an agent injection area/non-injection area of an object area, and controls rotation/stop of respective drive motors of the X- and Y-shaft bodies and the arm and injection/stop of the agent of the injection nozzle on the basis of data of an agent injection region and positional data from the distance measuring instrument during work.

Description

  The present invention relates to a robot for spraying a drug on asbestos coated on an inner wall surface of an elevator shaft to contain asbestos.

  Buildings that have been in construction for 20-30 years have become aging, and are often renewed or replaced around 25 years after construction. There are multiple elevators installed in the skyscraper, but the elevator renewal work requires about 6 months for each elevator, which is inconvenient for tenants.

  Some so-called shafts, which are elevator hoistways, have asbestos sprayed on their walls, beams, and columns in order to make this region a fire-proof section. In particular, asbestos is often used as a fire-resistant coating because many high-rise buildings built about 25 years ago have many steel structures.

  Therefore, during the elevator renewal work, work has been carried out to remove the sprayed asbestos so as not to touch the asbestos of the walls, beams and pillars of the elevator shaft and to suck asbestos suspended dust.

  Originally, it is desirable to remove such asbestos and perform appropriate treatment. However, in buildings where tenants are occupying, the asbestos surface is usually covered with chemicals instead of removal work due to concerns about construction period and cost increase. Increasingly, there is an increasing number of cases in which the work of containment to prevent the scattering of asbestos dust is selected.

  In the asbestos containment work, as with the removal work, measures are taken to isolate the work area with a plastic sheet, etc., so that the inside is in a negative pressure state and asbestos dust does not leak to the outside. Specifically, an isolation means equipped with a work stage for asbestos processing workers appearing outside the ceiling side of the elevator car and a cover around the elevator shaft, etc. is provided, and the operator is boarded on the stage. Are lifted and stopped intermittently, and a worker performs a containment operation of applying or spraying a treatment agent on the asbestos on the inner wall surface of the elevator shaft (see, for example, Patent Document 1).

  In this way, by continuously performing the asbestos containment process on the inner wall of the elevator shaft while raising and lowering the elevator, the construction period and the cost determined per elevator are significantly reduced compared to the asbestos removal work. it can.

JP 2009-263114 A

  However, even with such containment work, workers may be exposed to asbestos dust in the isolation area, which may increase health risks. In addition, in order to prevent contamination of asbestos dust outside the shaft when workers enter and leave the elevator shaft, it is necessary to provide security zones such as cleaning rooms, changing rooms, and front rooms at the entrance and exit. Work is more efficient when there are multiple, but in order to reduce the load on the workers on the stage above the elevator, the system configuration such as providing means such as suspending the stage from the upper beam is provided. It is complicated and complicated.

  Therefore, there is a need for a system that can eliminate the need for workers and mechanically perform asbestos processing on the inner wall surface of the elevator shaft. There has not yet been realized a system that can automatically and efficiently perform containment with sufficient accuracy.

  In view of the above problems, an object of the present invention is to provide a robot system that can perform an efficient asbestos containment operation by labor saving and mechanization while having a simpler and lighter configuration than conventional ones.

The present invention comprises a steel platform assembled on the outer top surface of an elevator car;
A pair of X-axis main bodies fixed in parallel on the left and right sides of the upper surface of the elevator on the steel table, and a horizontally extending guide rail formed between the pair of X-axis main bodies and formed in the X-axis main body A Y-axis main body that is slidably fitted at both ends, and a lower portion is slidable along a guide rail that extends in a horizontal direction perpendicular to the X-axis side guide rail formed on the Y-axis main body. A Z-axis main body mounted in a state orthogonal to the arm, an arm fitted and fixed slidably along a guide rail extending in the vertical direction formed on the Z-axis main body, and mounted on the tip of the arm An injection nozzle for injecting a drug for containing asbestos; a first drive motor for sliding the Y-axis body along the guide rail of the X-axis body; and the Z-axis body along the guide rail of the Y-axis body. A second drive motor for sliding; A third drive motor for sliding the arm along the axis body of the guide rail, and a robot body having a
A tank for storing the medicine, and a supply device for supplying the medicine from the tank to the injection nozzle, mounted in the elevator car;
A control unit for driving and controlling the robot body, and an asbestos containment work robot,
The robot body includes a shape measuring device that measures the wall shape of the asbestos containment area of the elevator shaft in advance, and a distance measuring device that measures the height position of the injection nozzle in the elevator shaft,
The control unit accumulates the measurement result of the shape of the elevator shaft wall surface by the shape measuring instrument, determines the drug injection region and the non-injection region of the measurement target region from the measurement result, and determines the determination during asbestos containment work. Based on the data on the medicine injection region and the position data from the distance measuring device, the rotation / stop control of the first, second and third drive motors and the injection / discharging of the medicine from the injection nozzle are performed. The stop is controlled via the supply device.

  Therefore, according to the system of the present invention having the above configuration, by controlling the injection and stop of the medicine from each drive motor and the injection nozzle by remote control by the control unit, the target wall surface of the elevator shaft, While keeping the spray nozzle at an appropriate distance from the wall surface according to the wall surface shape measured in advance, the spray nozzle is moved so as to scan the wall surface, and the asbestos containment chemical is efficiently sprayed only in the necessary area. Therefore, it is possible to save labor compared with the case where the chemical spraying is performed by the worker, and accordingly, complicated security means can be omitted, and the construction period can be shortened and the cost can be reduced.

  In addition, as a specific configuration example of the control unit, a significant shape is determined by determining feature points from a measurement unit that acquires information from a shape measuring instrument or a distance measuring instrument, and surface shape information generated from information from the shape measuring instrument. A discriminating unit that creates an injection scanning line path of the medicine, a robot control unit that issues a drive command to each drive motor of the robot body based on the ejection scanning line path from the discriminating unit, It is divided into other control units that perform control. These control units may be mounted together in a single device such as a computer, but may be separately mounted in a plurality of devices.

  In the spraying operation, the Y-axis main body is made parallel to the wall surface of the target region, and the Z-axis main body is slid along the guide rail of the Y-axis main body by the second drive motor, so that the spray nozzle facing the wall surface is Since the medicine moves in the horizontal direction while injecting the medicine, the horizontal movement injection is repeated by moving the arm, to which the injection nozzle is attached, by moving the arm along the guide rail of the Z-axis main body in the vertical direction by the third drive motor. The medicine can be sprayed onto the target region in a scanning line shape.

  Normally, the wall surface of the elevator shaft has a different uneven shape due to the presence of beams etc. depending on the position, and there are also drug spray prohibited areas such as wires and rails, but the shape of the wall surface is measured in advance. By storing the data in the control unit and determining the spray area and the spray-prohibited area from the shape, in the actual asbestos containment work, based on that data, the injection to the wall surface that will be the drug injection distance The first drive motor is controlled so that the distance between the nozzles is constant, and the Y-axis main body to which the Z-axis main body is fitted is slid along the guide rail of the X-axis main body toward or away from the wall surface. As the Z-axis main body moves along the guide rail of the Y-axis main body, it is possible to spray the medicine uniformly in the horizontal direction on the wall surface. At this time, by the control of the supply device from the control unit, the medicine injection from the nozzle can be stopped only while the injection nozzle moves in a section corresponding to the horizontal spraying prohibition region.

  As the wall surface shape measuring instrument, for example, a so-called three-dimensional data is obtained by combining the distance data of point groups obtained by scanning wall surface shape measuring points using a laser distance measuring device such as a laser range finder. A laser shape measuring instrument such as a three-dimensional laser scanner may be mounted. In addition, by setting the ground as the coordinate origin of the wall surface shape measurement, when the spraying operation of the asbestos containment drug is started based on the wall surface shape measurement data, if the height position of the spray nozzle from the ground is measured, Nozzle alignment is easy. At this time, for measuring the height of the injection nozzle, the wall surface shape measuring device may be used, or a laser range finder or the like may be mounted separately for measuring the height of the injection nozzle. Further, the wall shape measuring instrument is not limited to the above-described one, and for example, a depth sensor may be used.

  In the system of the present invention, the work process moves to the work position by raising and lowering the elevator, and the work process in which the area above the ceiling of the car at that time is blown into the target area section for each elevator stop floor is simple. In this case, it is efficient if the vertical movement range along the guide rail of the Z-axis main body of the arm is set to be substantially equivalent to the height of one section.

  However, it is difficult to make the vertical width of the section as a substantial spraying area completely continuous between the upper and lower floors, and a remaining spray area is generated between the sections. Therefore, this area may be compensated by performing a blowing operation at the same time when the elevator moves to the next floor.

  In addition, the shape of the elevator shaft wall surface in the area to be sprayed is measured in advance before the actual asbestos containment spraying work, and the wall surface shape measurement is a method in which only the wall surface shape of the section is measured immediately before the work on each floor. Any of the methods of measuring the wall surface shape of the entire height region of the elevator shaft over the entire floor at once can be adopted.

  When working with conventional industrial robots, when moving the tip of the arm along a predetermined path to an object of a specific shape, the person moves the tip of the robot arm in advance. The robot motion can be created by teaching the start / stop timing of the work while observing the positional relationship with the robot, and the single motion taught can be repeated, but in the present invention, the elevator shaft Because the operation is automatically generated according to the shape data of the target wall area at each height obtained in advance after grasping the shape of the wall surface in advance using a measuring device, Since there is no need for manual teaching work, the work efficiency is greatly improved.

  In addition, if a supply device including a tank containing a drug and a pump for supplying the drug from the tank to the robot main body is arranged in the elevator car, the supply pipe can be short and efficient drug supply can be performed. At this time, the drug stored in the tank can be operated as long as it can store at least the drug spraying area divided for each stop floor of the elevator, and the elevator can be lowered to easily replenish the drug. Even if the tank contains chemicals for a plurality of compartments, it does not exceed the passenger load limit of a normal elevator and the burden is small.

  This robot main body is a simple member necessary for moving the spray nozzle in a scanning line so as to face the wall surface of the target area, mainly an XYZ three-axis main body and an arm and a drive motor for moving each axis and arm. Since the configuration is such that a small motor with low output is sufficient for driving each axis and arm, the load on the robot body can be suppressed to a much lower level than when the worker is working. Further, the robot body can be easily attached manually to a steel table temporarily installed on the elevator car without using a lifting machine or the like. Therefore, there is no need to prepare a dedicated moving device, etc., and the elevator car to be replaced can be used.In addition, a person is placed on the outside upper part of the elevator car during wall surface shape measurement in advance and during actual drug spraying work. There is no need to board for a long time. Moreover, since the installation work itself can be performed efficiently in a short time, the load on the elevator ceiling surface can be reduced.

  In addition, it is desirable that the robot body is provided with an imaging device that captures an asbestos containment target area and transmits a video signal of a captured moving image to a monitor provided in the control unit. Thereby, since the spraying state to the target area | region of the chemical | medical agent for asbestos containment can be confirmed, if there exists an insufficiency area | region etc., it will become easy to repeat spraying later and to complete sufficient spraying.

  In addition, if the spray nozzle is swung in the vertical and vertical directions during horizontal movement injection, the injection area can be given a vertical width, so that the spray area in a single horizontal movement can be made larger, and Since it is possible to evenly apply medicines to the upper and lower surfaces of structures such as beams on the wall of the elevator shaft, further efficient medicine spraying can be performed. In this case, the injection nozzle is mounted via a rotation axis along the long axis of the arm, and the rotation nozzle is rotated by a fourth drive motor, thereby swinging the injection nozzle in the elevation direction within a predetermined angle range. The configuration to be moved is simple.

  In addition, the injection nozzle is attached to the injection nozzle via an adjustment mechanism that is fixed so that the injection direction axis can be changed to an arbitrary angle within a predetermined angle range with respect to the arm. It is good also as a structure which can be fixed to this angle. If the angle in the vertical direction is changed, the drug spraying area can be increased only in the height direction by the area corresponding to the angle range after the change, so if the angle is adjusted as necessary, such as the shape of the target wall surface Good.

  Further, if the angle can be changed in the horizontal direction, for example, the width of a section that is the target area of the elevator shaft wall surface is larger than the length of the arm, and the drug spraying area cannot cover the full width area of the shaft wall surface. However, this can be dealt with by changing the angle of the injection nozzle on the horizontal plane without changing the length of the arm. Since such adjustment and change of the angle of the injection nozzle may be performed before actual work, it is not necessary to provide a complicated mechanism mechanically, and a configuration that can be changed manually is sufficient.

  Further, the number of spray nozzles is not limited to one. For example, if the arm is composed of one long member extending in the horizontal direction apart from each other about the Z-axis main body, and the spray nozzles are respectively attached to both ends thereof, the spray target region If one section corresponds to the left and right areas with each spray nozzle, the amount of movement along the guide rail of the Y-axis body of the Z-axis body is kept smaller than when spraying with one spray nozzle. Can efficiently spray over a wide area.

  Moreover, it is good also as an arm structure which can change the distance space | interval of the injection nozzle of both sides according to the left-right width of a target area | region. This consists of two long members that are coupled to each other so that they can move relative to each other along the parallel direction, and if an injection nozzle is attached to the outer end of each of these long members, the arm is long. The distance between the spray nozzles can be changed as a substantial arm length by relative movement between the scale members.

  The control unit may be installed on the ground. However, if the control unit is installed in an elevator car and operated by an operator in the elevator car, the system can be easily constructed. Further, as described above, since the robot body and the supply device are configured to be relatively light, even if an operator gets in the car, the influence of the load on the elevator is small.

  In addition, what is necessary is just to set suitably the injection pressure from an injection nozzle, and the injection distance to a target surface within the range which the spraying to asbestos becomes favorable according to the chemical | medical agent to be used. In addition, depending on the determined spray pressure and the actual spray width determined by the spray distance, the horizontal movement speed of the Z-axis main body and the vertical movement direction of the arm are also appropriately determined, so that the upper and lower scanning lines Avoid gaps that are not sprayed between them.

  Also, take measures to prevent the sprayed medicine around the spray nozzle from adhering to the robot body, and in particular to prevent the medicine from entering and fixing inside the drive system and adversely affecting its driveability. It is desirable to keep it.

  For example, it is preferable to provide an air ejection mechanism that forms an air curtain in a region where it is desired to prevent the adhesion of the medicine, and the control section controls the air ejection / stop driving in synchronization with the ejection of the asbestos-contained medicine from the ejection nozzle. As an area for forming the air curtain, first, there is an area around the injection nozzle where the medicine easily rebounds. To prevent the medicine from adhering to the robot body in this area, the air nozzle that injects air in the vicinity of the injection nozzle Should be provided. Due to the jet air from the air nozzle, an air curtain is formed around the jet nozzle, and it is possible to prevent the drug from adhering to the arm surface and entering the drug into the drive system of the rotary shaft and the Z-axis main body.

  In addition, it is desirable to form an air curtain that prevents adhesion and entry of medicines to the drive system regions of the X-axis main body and the Y-axis main body. A steel pipe slit nozzle is provided in parallel along the length region, and air may be injected from each slit nozzle so as to cover the X and Y axis main bodies.

  The air supply to these injection nozzles and the slit nozzles can be easily performed from the same supply source in synchronism with the injection of the medicine by the control of the injection / stop driving by the control unit.

  Furthermore, when each guide rail and each motor are covered with a housing, if the air purge mechanism for increasing the internal pressure by supplying air to the inside of the housing in a hermetically sealed state is further provided, Can be prevented more reliably. The air supply source for the air purge can be made common with the air source of the air ejection mechanism for the air curtain.

  According to the asbestos containment work robot system of the present invention, what is mounted on the outer upper surface of the elevator car is mainly an XYZ-axis robot that moves an injection nozzle for spraying a containment medicine. Compared with the case where the spraying work is carried out by a worker on a conventional elevator car, labor saving, mechanization, and reduction of the load are made. There is an effect that efficient asbestos containment work becomes possible.

It is a schematic block diagram of the robot main body installed on the elevator car of the robot system for asbestos containment work by one Embodiment of this invention, (a) is a front view, (b) is a side view. It is the schematic plan view which looked at the robot main body of FIG. 1 from upper direction, (a) Robot main body whole view, (b) is the fragmentary top view of an arm part. FIG. 3 is a partial side view of the injection nozzle shown in FIG. It is a schematic diagram which shows the whole structure of this system. It is PP sectional drawing of FIG. 2 which shows the injection nozzle part by which the air nozzle was provided in the vicinity. It is a schematic piping diagram which shows the fluid supply system of the asbestos containment chemical | medical agent and air of this system. It is a block diagram which shows the control system of this system.

  1 to 7 show an asbestos containment robot system according to an embodiment of the present invention. In this system, a robot main body 10 is installed on a steel base 3 temporarily installed on the outer upper surface 2 of the elevator car 1, and this robot main body 10 is mainly parallel to the left and right sides of the upper surface of the elevator on the steel base 3. A pair of X-axis main bodies 4 fixed to each other, and both ends slidably fit along a horizontally extending guide rail formed on the X-axis main body 4 between the pair of X-axis main bodies 4 The Y-axis main body 5 and the Y-axis main body 5 are orthogonal to the Y-axis main body 5 so that the lower portion is slidable along the horizontal guide rail that is orthogonal to the X-axis side guide rail formed on the Y-axis main body 5. The basic structure includes a Z-axis main body 6 mounted in a state and an arm 7 slidably fitted and fixed along a guide rail formed in the Z-axis main body 6 and extending in the vertical direction.

  In addition, it is desirable to provide a level adjustment means so that it can cope with the case where the installation surface of the robot body 10 of the steel table 3 is not horizontal. In the present embodiment, a jack bolt 22 is interposed between the lower end mounting portion of the X-axis main body 4 and the level is adjusted when the robot main body 10 is installed by the jack bolt 22.

  The arm 7 is composed of two long members (7a, 7b) which are coupled to each other so as to be movable relative to each other in a parallel direction, and the injection nozzle 8 for injecting the asbestos-containing medicine includes these long members. (7a, 7b) is attached to the outer front end via a rotating shaft 9 along the longitudinal direction of the member. In other words, in the present embodiment, the arm 7 has its length, that is, the tip of both ends, by relatively moving two long members (7a, 7b) extending horizontally in opposite directions around the Z-axis body 6. The distance interval between the injection nozzles 8 can be changed. Further, by rotating the rotary shaft 9, the spray nozzles 8 are respectively swung in the vertical and vertical directions.

  With the configuration of the arm 7 and the two injection nozzles 8 described above, the medicine spraying area in one horizontal movement of the injection nozzle 8 can be given a width in the vertical direction, and this can be performed while moving in the vertical direction. Two drug sprayable areas 30a and 30b are obtained, respectively, and the total drug sprayable area can be set more broadly and efficiently with respect to the horizontal movement distance of the X-axis body 4 along the Y-axis body 5.

  Further, a first drive motor 4M that slides the Y-axis body 5 along the guide rail of the X-axis body 4, and a second drive motor 5M that slides the Z-axis body 6 along the guide rail of the Y-axis body 5 A third drive motor 6M that slides the arm 7 in the vertical direction along the guide rail of the Z-axis body 6 and a fourth drive motor 9M that rotates the rotary shaft 9 about the axis are provided. These drive motors are low-power small motors of 80 W or less. As motor types, those conventionally used in orthogonal robots such as stepping motors and linear motors can be adopted, and no special dedicated motor is required. In this embodiment, a simple ball screw mechanism is used as the drive mechanism in the X, Y, and Z axial directions.

  Also, means for preventing the sprayed medicine from the spray nozzles 8 from adhering to the periphery of the robot body 10 and, in particular, preventing the medicine from entering and fixing inside the drive system to adversely affect the drive performance. It is desirable to take In this embodiment, an air ejection mechanism for forming an air curtain in the region where the adhesion of the medicine is to be prevented is provided. First, as shown in FIG. 5, an air nozzle 18 for injecting air is provided in the vicinity of the injection nozzle 8 as a means for preventing the drug from adhering to the apparatus around the injection nozzle 8 where the drug is most likely to rebound. Due to the jet air from these air nozzles 18, an air curtain is formed around the jet nozzle 8, and it is possible to prevent the drug from adhering to the surface of the arm 7 and entering the drive system of the rotary shaft 9 and the Z-axis main body 6.

  Furthermore, as shown in FIG. 6, steel pipe slit nozzles (19a, 19b) for forming an air curtain that prevents the adhesion of medicines to the X-axis body 4 and the Y-axis body 5 are provided along the guide rails. It was juxtaposed over its length region in parallel. The air jetted from each slit nozzle (19a, 19b) so as to cover the X-axis body 4 and the Y-axis body 5 forms a drug adhesion preventing air curtain.

  Air is supplied to the air nozzle 18 and the slit nozzles (19a, 19b) from the air source A in the supply device 11 installed in the elevator car 1 to the inside of the relay panel 20 installed on the outer upper surface 2 of the elevator car. The air hose H passes through the regulator R. In addition, the air supply operation is performed in synchronization with the injection of medicine by drive control by an operation from the control unit 12 to the supply device 11.

  In the case where the medicine injection from the two injection nozzles 8 is not performed at the same time but is performed by switching from one injection nozzle to the other, it is efficient to perform the air injection from the air nozzle 18 by switching from one to the other. Therefore, it is preferable to use a mechanism capable of switching the air supply. In this case, for example, it is easy to supply air via the electromagnetic switching valve SOL. In other words, the electromagnetic switching valve SOL may be switched so that the three flow path connection states of the simultaneous supply state to the two air nozzles 18 and the supply state to any one of the two air nozzles 18 can be selected.

  Further, in order to more strictly prevent the drug from entering each drive system, the housings in which the drive systems of the X-axis main body 4, the Y-axis main body 5, and the Z-axis main body 6 are enclosed have a sealed structure and are provided in the respective housings. Air was supplied from the air introduction part 21 through an air hose to increase the internal pressure of the housing and perform air purge.

  The air supply to the air introduction part 21 for air purging is also simple if it is configured to be performed via the same relay panel 20 from the same air source A in the supply device 11 used for forming the air curtain. When the air purge is performed in synchronization with the medicine spraying operation by the injection nozzle 8, the air supply operation is also controlled by the control unit 12 so as to be synchronized with the medicine injection. Alternatively, the air purge may be set to start before the start of medicine injection so as to increase the internal pressure in the housing in advance.

  The spraying chemical for containing asbestos is supplied from the tank T built in by driving the pump P of the supply device 11 via the supply device 11 installed in the elevator car 1 to the relay panel 20 installed on the elevator car. To the two injection nozzles 8. As shown in FIG. 7, the drive control of the drive motors of the supply device 11 and the robot body 10 is performed along the control system by the operation of the operator at the control unit 12 installed in the car 2.

  The robot body 10 is equipped with a shape measuring instrument for measuring the shape of the elevator shaft wall for containing asbestos. The shape of the robot body 10 is measured in advance, and the result is stored in the control unit 12. A medicine spraying area and a non-spraying area are determined from the measurement result of the wall surface shape. Therefore, before actual work, based on these data, each drive motor is controlled so that the spray nozzle 8 always keeps a certain distance against the irregularities on the wall surface to perform uniform medicine spraying. In addition, it is possible to create an operation program for controlling the supply device 11 so as to stop the injection of the medicine in the horizontal section corresponding to the non-spraying area. By driving this system in accordance with this, a good medicine spraying operation can be efficiently performed. Can proceed.

  If the robot main body 10 is further equipped with a monitoring camera 13, it is possible to remotely confirm the asbestos state of the target wall surface before the containment work at the same time when measuring the wall shape in advance, and during and after the work. The asbestos condition of the target wall surface can also be visually confirmed. As the monitoring camera 13, a plurality of relatively small and light cameras may be mounted and visually confirmed from a plurality of angular directions. Thereby, not only the whole area | region of a target wall surface can be covered but the drive condition of the robot main body 10 including the chemical | medical agent injection condition of the injection nozzle 8 can also be grasped | ascertained visually.

1: Elevator car 2: Elevator car outer upper surface 3: Steel base 4: X-axis body 5: Y-axis body 6: Z-axis body 7: Arm 8: Injection nozzle 9: Rotating shafts 4M, 5M, 6M, 9M: Motor 20: Drug sprayable area 10: Robot main body 11: Supply device 12: Control unit 13: Monitoring camera 18: Air nozzle 19a, 19b: Steel pipe slit nozzle 20: Relay panel 21: Air introduction unit 22: Jack bolt T: Drug tank P : Liquid pressurizing pump SOL: Electromagnetic switching valve A: Air source R: Regulator H: Air hose

Claims (10)

A steel platform assembled on the outer top surface of the elevator car;
A pair of X-axis main bodies fixed in parallel on the left and right sides of the upper surface of the elevator on the steel table, and a horizontally extending guide rail formed between the pair of X-axis main bodies and formed in the X-axis main body A Y-axis body that is slidably fitted at both ends, and a Y-axis that is slidable at a lower portion along a guide rail that extends in a horizontal direction perpendicular to the X-axis side guide rail formed on the Y-axis body. A Z-axis main body mounted perpendicular to the main body, an arm slidably fitted along a guide rail extending in the vertical direction formed on the Z-axis main body, and an arm mounted on the tip of the arm An injection nozzle for injecting asbestos containment medicine, a first drive motor for sliding the Y-axis body along the guide rail of the X-axis body, and the Z-axis body along the guide rail of the Y-axis body A second drive motor for sliding A third drive motor for sliding the arm along the serial Z axis body of the guide rail, and a robot body having a
A tank for storing the medicine, and a supply device for supplying the medicine from the tank to the injection nozzle, mounted in the elevator car;
A control unit for driving and controlling the robot body, and an asbestos containment work robot,
The robot body includes a shape measuring device that measures the wall shape of the asbestos containment area of the elevator shaft in advance, and a distance measuring device that measures the height position of the injection nozzle in the elevator shaft,
The control unit accumulates the measurement result of the shape of the elevator shaft wall surface by the shape measuring instrument, determines the drug injection region and the non-injection region of the measurement target region from the measurement result, and determines the determination during asbestos containment work. The rotation / stop control of the first, second, and third drive motors and the medicine injection / stop from the injection nozzle based on the data of the medicine injection area and the position data from the distance measuring device The asbestos containment work robot system characterized in that control is performed via the supply device.   2. The robot body according to claim 1, wherein the robot body includes an imaging device that captures an asbestos containment target area and transmits a video signal of a captured moving image to a monitor provided in the control unit. Asbestos containment robot system.   The injection nozzle is attached to the tip of the arm via a rotation axis along the long axis of the arm, and the injection nozzle is rotated around the axis of the arm by rotating the rotation axis. The asbestos containment according to claim 1 or 2, further comprising a fourth drive motor that swings in a vertical and vertical direction, wherein the control unit controls rotation / stop of the fourth drive motor. Robot system for work.   The injection nozzle is attached to the arm via an adjustment mechanism in which an injection direction axis with respect to the arm is fixed so as to be changeable to an arbitrary angle within a predetermined angle range. The asbestos containment robot system described in 2.   The said arm consists of one elongate member extended in the horizontal direction which leaves | separates mutually centering | focusing on the said Z-axis main body, The injection | spray nozzle is each mounted | worn with the both ends. The asbestos containment work robot system according to any one of the above.   The arm is composed of two long members that are coupled to each other so as to be movable relative to each other in a parallel direction, and the distance between the spray nozzles mounted on the outer ends of the long members is as follows. The asbestos containment work robot system according to any one of claims 1 to 4, wherein the robot system can be changed by the relative movement.   The said control part is installed in the said elevator car, The robot system for asbestos containment work of any one of Claims 1-6 characterized by the above-mentioned.   An air ejection mechanism that forms an air curtain that prevents the asbestos containment medicine ejected from the ejection nozzle from adhering to the robot body is further provided, and the air ejection mechanism ejects the medicine from the ejection nozzle by the control unit. The asbestos containment robot system according to any one of claims 1 to 7, wherein air ejection / stop driving is controlled in synchronization with the asbestos containment robot system.   The asbestos containment robot system according to any one of claims 1 to 8, further comprising an air purge mechanism for supplying air into a housing surrounding each guide rail and each motor of the robot body.   The said robot main body was equipped with the imaging device which image | photographs the video signal of the moving image currently image | photographed to the monitor provided in the said control part while image | photographing asbestos containment object area | region. The asbestos containment work robot system according to claim 1.

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