JP2019188559A - Head device and blast device - Google Patents

Abstract

To provide a head device and a blast device, which can perform highly accurate work on a working surface.SOLUTION: A head device 100 includes: a base section 10 which is fixed to a tool in a state in which a working section projects to a first surface 11a side; a plurality of magnets 21 which are arranged on the first surface side of the base section; a plane movement section 30 which has a caster 31 arranged at a position projecting from the first surface of the base section and moves the base section on a working surface by the caster; a spherical bearing 40 which is mounted in the tool on a second surface 11b side of the base section; a linear movement section 50 which has a shaft member 51 which is fixed to an outer ring of the spherical bearing and extends in a linear axial direction crossing the second surface of the base section and a movable member 52 which linearly moves by being passed through in the axial direction and being guided in the axial direction by the shaft member; and a driving force transmission member 60 which is fixed to the movable member and is connected to a robot device 110 for moving the tool.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a head device and a blast device.

  The vacuum blasting apparatus removes a coating film or the like on the surface of the target surface by injecting an abrasive from the vacuum gun onto the target surface. In the vacuum blasting device, the vacuum is configured to collect the powder by sucking the target surface while spraying, for example, abrasives so that dust such as abrasives sprayed on the target surface and powder of the removed coating film does not scatter. A gun is used. Also, a configuration is known in which such a vacuum blasting device is mounted on a moving table, and the moving table is moved along a target surface by a remote operation of an operator or the like (see, for example, Patent Document 1).

JP 2002-66923 A

  In the vacuum blasting apparatus described above, in order to perform high-precision blasting, it is required to maintain the positional relationship between the vacuum gun and the target surface so as not to fluctuate. For this reason, for example, it is conceivable to detect the position of the vacuum gun using a plurality of sensors and perform position control and torque control of the vacuum gun or the moving table based on the detection result. However, in this case, the control configuration becomes complicated.

  The present invention has been made in view of the above, and an object of the present invention is to provide a head device and a blast device capable of performing high-precision work on a work surface without complicating the control configuration. To do.

  A head device according to the present invention is a head device that is attached to a tool having a working portion that performs work on a planar work surface, and is a plate shape having a parallel first surface and a second surface, A base portion fixed to the tool in a state in which the working portion protrudes on the first surface side; and a suction force on the working surface side with respect to the base portion, which is disposed on the first surface side of the base portion. And a caster disposed on the first surface side of the base portion at a position protruding from the first surface with respect to the working portion and the suction device, and the base by the caster A plane moving part for moving the part on the work surface, an inner ring having a spherical outer peripheral surface attached to the tool on the second surface side of the base part, and attached to the inner ring along the outer peripheral surface With a rotatable outer ring A spherical bearing having a shaft member extending in a linear axial direction that is fixed to the outer ring of the spherical bearing and intersects the second surface of the base portion, and is penetrated in the axial direction by the shaft member and is in the axial direction A linearly moving part having a movable member guided linearly, and a driving force transmitting member fixed to the movable member and connected to a robot apparatus for moving the tool.

  Therefore, when the driving force is transmitted from the robot device to the driving force transmitting member in the direction parallel to the first surface and the second surface, the driving force is transmitted to the tool via the linear moving portion and the spherical bearing. . This force enables the tool to move in a direction parallel to the first surface and the second surface. In addition, when the driving force is transmitted from the robot apparatus to the driving force transmitting member in a direction different from the direction parallel to the first surface and the second surface, the component in the direction orthogonal to the first surface and the second surface Is absorbed by the linear moving part. In addition, the rotational direction component is absorbed by the linear moving portion and the spherical bearing because the outer ring rotates along the spherical surface constituting the outer peripheral surface of the inner ring. Therefore, the force is suppressed from being transmitted to the tool. For this reason, it can suppress that a tool moves to the direction different from the direction parallel to a 1st surface and a 2nd surface, and can maintain the positional relationship of a working surface and a tool with high precision. This makes it possible to perform highly accurate work on the work surface without complicating the control configuration of the robot apparatus.

  Further, in the above head device, the tool may be a vacuum gun that injects an abrasive onto the work surface and sucks an object including the abrasive injected onto the work surface.

  Therefore, the positional relationship between the vacuum gun and the work surface can be maintained with high accuracy by the robot apparatus. As a result, it is possible to perform the grinding operation on the work surface with high accuracy.

  In the above head device, the vacuum gun has a supply pipe for supplying the abrasive and a recovery pipe for recovering the object, and a spring for hanging and supporting the supply pipe and the recovery pipe A balancer may be further provided.

  Accordingly, since the force applied to the vacuum gun from the supply pipe and the recovery pipe can be reduced, the vacuum gun can be moved with higher accuracy by the robot apparatus.

  In the head device described above, the work surface may include a magnetic body, and the attracting device may include a plurality of magnets disposed to face the work surface including the magnetic body.

  Accordingly, it is possible to generate an attracting force toward the work surface with respect to the base portion with a simple configuration.

  In the head device described above, the magnet may be attached to the base portion via an adjustment portion capable of adjusting a distance from the first surface.

  Therefore, the distance between the magnet and the work surface can be adjusted by adjusting the distance between the magnet and the first surface by the adjusting unit. For this reason, the strength of the magnetic force attracted by the work surface and the magnet can be easily adjusted.

  In the head device described above, the plane moving unit may include the casters at three locations.

  Accordingly, the base portion can be stably supported on the planar work surface by the three casters.

  The blasting apparatus according to the present invention includes a vacuum gun that injects a grinding material onto the work surface, and sucks an object including the abrasive material that is sprayed onto the work surface, a supply source of the grinding material, and the object And a head unit attached to the vacuum gun.

  Therefore, it is possible to provide a blasting device that can perform high-precision blasting on the work surface.

  According to the head device of the present invention, it is possible to perform highly accurate work on the work surface without complicating the configuration for controlling the position of the robot device.

FIG. 1 is a perspective view illustrating an example of a head device according to the present embodiment. FIG. 2 is a side view showing an example of the head device according to the present embodiment. FIG. 3 is a plan view showing an example of the head device according to the present embodiment. FIG. 4 is a perspective view schematically showing an example of how the head device and the vacuum blast device are used. FIG. 5 is a side view showing an example of a usage state of the head device. FIG. 6 is a side view showing an example of a usage state of the head device. FIG. 7 is a side view showing an example of a usage state of the head device. FIG. 8 is a side view showing an example of a usage state of the head device. FIG. 9 is a side view showing another example of the usage state of the head device. FIG. 10 is a side view illustrating another example of the usage state of the head device.

  Embodiments of a head device according to the present invention will be described below with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.

  FIG. 1 is a perspective view showing an example of a head device 100 according to the present embodiment. FIG. 2 is a side view showing an example of the head device 100 according to the present embodiment. FIG. 3 is a plan view showing an example of the head device 100 according to the present embodiment. The head device 100 shown in FIGS. 1 to 3 is attached to a vacuum gun 102 of a vacuum blast device 101, for example.

  In this embodiment, the vacuum gun 102 injects an abrasive onto the work surface S (see FIG. 2). Further, the vacuum gun 102 sucks an object such as a grinding material sprayed onto the work surface S or a coating film powder removed by the grinding material. In the present embodiment, the work surface S is planar, for example, and includes a magnetic material. As the work surface S, for example, a wall surface of a wall portion formed by including a magnetic material such as iron may be used. On the work surface S, for example, a coating film or the like is formed.

  In the present embodiment, directions in the figure will be described using an XYZ coordinate system. In the XYZ coordinate system, when the vacuum gun 102 to which the head device 100 is attached is disposed on the work surface S, a plane parallel to the work surface S is defined as an XY plane. One linear direction parallel to the XY plane is expressed as an X direction, and a direction orthogonal to the X direction on the XY plane is expressed as a Y direction. The direction perpendicular to the XY plane is denoted as the Z direction. Also, the direction around the X axis is denoted as the θX direction, the direction around the Y axis as the θY direction, and the direction around the Z axis as the θZ direction.

  The vacuum gun 102 in the present embodiment is an example of a tool that performs an operation of removing the coating film on the work surface S. The vacuum gun 102 has an injection suction part 102a as an operation part for injecting abrasive and sucking an object such as powder at an end in the −Z direction. The jet suction unit 102a has, for example, a cylindrical double tube structure. The jet suction unit 102a is configured to jet a grinding material from an inner pipe part and suck an object from a portion between the inner pipe part and the outer pipe part. In addition, the structure of the injection suction part 102a is not limited to the above, For example, a double pipe part may be other shapes, such as an ellipse and a polygon, and an inside pipe part and an outside pipe part may be The structure which injects a grinding material from the part in between, and attracts | sucks a target object from an inner side pipe part may be sufficient.

  A brush portion 106 is attached to the spray suction portion 102 a of the vacuum gun 102. The brush portion 106 is arranged in an annular shape so as to surround the ejection suction portion 102a. The brush portion 106 is in a state where the positions of the tips are aligned over one round. The tip of the brush unit 106 is in contact with the work surface S.

  The vacuum gun 102 has an ejection side connection portion 102b and a suction side connection portion 102c. The injection side connection portion 102b is connected to a blast hose (supply pipe) 103 that supplies abrasive to the injection suction portion 102a. The suction side connection portion 102c is connected to a vacuum hose (recovery pipe) 104 that recovers powder or the like sucked from the jet suction portion 102a. The vacuum gun 102 has a cylindrical portion 102d. The cylindrical portion 102d is formed in a cylindrical shape, and connects between the ejection suction portion 102a and the ejection side connection portion 102b and the suction side connection portion 102c.

  In the present embodiment, the head device 100 is configured to be connected to the robot device 110. The robot device 110 moves the head device 100 based on a preset program or the like. For example, the robot apparatus 110 moves the head apparatus 100 and the vacuum gun 102 integrally on the work surface S by moving the head apparatus 100 arranged on the work surface S in at least one of the X direction and the Y direction.

  As shown in FIG. 1, the head device 100 includes a base unit 10, a suction device 20, a plane moving unit 30, a spherical bearing 40, a linear moving unit 50, and a driving force transmission member 60. . 1 and 2, the vacuum blast device 101 is used, that is, the spray suction portion 102 a of the vacuum gun 102 is opposed to the work surface S, and the tip of the brush portion 106 is in contact with the work surface S. The arrangement of the head device 100 in FIG.

  The base portion 10 includes a plate-like member 11 and a connecting member 12. The plate-like member 11 has, for example, a regular triangle shape, but is not limited to this shape, and may be a polygonal shape such as a quadrangle, or a shape such as a circle or an ellipse. The plate-like member 11 is formed using a resin material such as polycarbonate. For this reason, the plate-shaped member 11 is reduced in weight compared with the case where it forms using a metal material etc.

  The plate-like member 11 has a first surface 11a and a second surface 11b arranged in parallel. The head device 100 is used with the first surface 11a facing the work surface S. The plate-like member 11 is disposed so that the first surface 11a and the second surface 11b are parallel to the XY plane (a plane including the tip of the brush portion 106). The plate-like member 11 has a penetrating portion 11c (see FIG. 2) penetrating between the first surface 11a and the second surface 11b. The penetration part 11c is circular shape, for example. A vacuum gun 102 is disposed in the penetrating portion 11c. The vacuum gun 102 is disposed to penetrate between the first surface 11a and the second surface 11b. The spray suction part 102 a and the brush part 106 of the vacuum gun 102 are arranged on the first surface 11 a side of the plate-like member 11.

  The connecting member 12 connects the vacuum gun 102 and the plate-like member 11 with a fixing member such as a screw. The vacuum gun 102 and the plate-like member 11 are integrally fixed by the connecting member 12. Therefore, the position between the vacuum gun 102 and the plate-like member 11 is fixed in each of the X direction, the Y direction, the Z direction, the θX direction, the θY direction, and the θZ direction.

  The suction device 20 generates a suction force toward the work surface S with respect to the base unit 10. The adsorption device 20 includes a magnet 21 and a mounting part (adjusting part) 22. The magnet 21 is mounted on the first surface 11 a side of the plate-like member 11 by the mounting portion 22. A plurality of magnets 21 are arranged, for example, at the peripheral edge of the penetrating part 11c. In the present embodiment, a configuration in which eight magnets 21 are arranged at an equal pitch in the θZ direction is taken as an example, but the number and arrangement of the magnets 21 are not limited to this.

  The magnet 21 is attracted to the work surface S including a magnetic body by a magnetic force. Due to the magnetic force of the magnet 21, the plate member 11 and the vacuum gun 102 are attracted to the work surface S via the mounting portion 22. The mounting portion 22 can adjust the distance between the magnet 21 and the plate-like member 11. By adjusting the distance between the magnet 21 and the plate member 11 by the mounting portion 22, the distance between the magnet 21 and the work surface S is adjusted, and the force attracted to the work surface S is adjusted.

  The plane moving unit 30 moves the head device 100 in the X direction and the Y direction. The plane moving unit 30 has casters 31. At least three casters 31 are arranged on the first surface 11 a side of the plate-like member 11. Each of the three casters 31 is capable of rolling on the work surface S by making point contact with the work surface S at the end on the −Z side. Since the base part 10 is supported by the work surface S at three points by the three casters 31, it is possible to maintain a stable posture.

  The caster 31 is disposed between the first surface 11 a of the plate-like member 11 via a spacer 32. The spacer 32 may be replaceable with another spacer having a different length. For example, the three casters 31 are arranged at positions corresponding to the corners of the regular triangular plate-like member 11, but are not limited thereto, and may be arranged at other positions on the first surface 11 a side. Four or more casters 31 may be provided. The dimensions of the three casters 31 and the distance from the plate-like member 11 are set so that a plane including three points that make point contact with the work surface S is parallel to the XY plane.

  The spherical bearing 40 has an inner ring 41 and an outer ring 42. The inner ring 41 has a cylindrical shape and is fixed to the cylindrical portion 102 d of the vacuum gun 102. The inner ring 41 has a spherical outer peripheral surface 41a. The outer ring 42 has a cylindrical shape and is attached to the outer peripheral side of the inner ring 41. The outer ring 42 has a spherical inner peripheral surface 42a. The diameter of the inner peripheral surface 42 a of the outer ring 42 is equal to the diameter of the outer peripheral surface 41 a of the inner ring 41. The spherical bearing 40 is capable of rotating the outer ring 42 in the θX direction, the θY direction, and the θZ direction with respect to the inner ring 41 in a state where the inner peripheral surface 42 a of the outer ring 42 and the outer peripheral surface 41 a of the inner ring 41 are in contact with each other. On the other hand, relative movement of the spherical bearing 40 in the X direction, the Y direction, and the Z direction between the inner ring 41 and the outer ring 42 is restricted. The outer ring 42 has a flange portion 43 that protrudes to the outer peripheral side.

  The linear moving unit 50 includes a shaft member 51 and a linear bush (movable member) 52. The shaft member 51 has a columnar shape, for example, and is fixed to the flange portion 43. The shaft member 51 is arrange | positioned at four places surrounding the outer ring | wheel 42, for example. The four shaft members 51 extend in a linear axial direction that intersects the second surface 11b. In the present embodiment, the four shaft members 51 extend in a direction orthogonal to the second surface 11b, and are arranged so that the axial direction of the central axis is parallel to the Z direction. The shaft member 51 has a stopper 51a at the end on the + Z side. The stopper 51a has, for example, a rectangular plate shape, but is not limited to this shape. The stopper 51 a restricts the movement of the linear bush 52 to the + Z side, and prevents the linear bush 52 from coming off the shaft member 51.

  The linear bushing 52 has a cylindrical shape and is disposed in a state of being penetrated by each shaft member 51. Each linear bushing 52 has the same dimension in the axial direction of the central axis. The linear bush 52 is movable in the Z direction between the stopper 51 a and the flange portion 43 along the shaft member 51.

  The driving force transmission member 60 is connected to the arm 111 of the robot apparatus 110. As the driving force transmission member 60, for example, a plate-like member bent in an L shape is used. In addition, about the structure of the driving force transmission member 60, it is not limited to an L-shaped plate-shaped member, Other shapes may be sufficient. Further, the driving force transmission member 60 may have a configuration in which a plurality of members are connected.

  The driving force transmission member 60 has an arm connection portion 61 and a bush connection portion 62. The arm connection unit 61 is connected to the arm 111. The bush connection portion 62 is coupled to the four linear bushes 52 by a fixing member such as a screw. The bush connection portion 62 is integral with the four linear bushes 52. Therefore, the bush connection portion 62 is movable integrally with the four linear bushes 52 in the Z direction.

  The head device 100 may be configured to include a spring balancer 70 as shown in FIG. The spring balancer 70 suspends and supports the blast hose 103 and the vacuum hose 104. The spring balancer 70 reduces the force applied to the vacuum gun 102 from the blast hose 103 and the vacuum hose 104.

  FIG. 4 is a perspective view schematically showing an example of how the head device 100 and the vacuum blast device 101 are used. As shown in FIG. 4, the vacuum blast device 101 includes the vacuum gun 102, a supply source 107 for supplying an abrasive, a suction source 108 for performing suction, and the head device 100 according to the present embodiment. I have. The supply source 107 is connected to the injection side connection part 102 b of the vacuum gun 102 via the blast hose 103. The suction source 108 is connected to the suction side connection portion 102 c of the vacuum gun 102 via the vacuum hose 104. The supply source 107 and the suction source 108 are accommodated together in, for example, a housing (main body) 105, but are not limited thereto.

  In FIG. 4, a part of the configuration of the head device 100 is omitted. As shown in FIG. 4, the head device 100 is attached to the vacuum gun 102 by the connecting member 12. In the head device 100, the arm 111 of the robot device 110 is connected to the driving force transmission member 60. Note that the robot apparatus 110 is installed, for example, on the lifting platform 112. The lifting platform 112 has a moving mechanism such as wheels 112 a and is movable along a guide portion 113 laid on the floor portion F. The robot apparatus 110 is stably supported on the floor F via the elevator 112, the wheels 112a, and the guide 113.

  From this state, the three casters 31 are brought into contact with the work surface S of the wall portion W provided with a coating film on the surface formed of iron or the like. The wall portion W may be a wall portion having a large area, such as a wall portion of a main tower of a bridge. Then, the distance between the three casters 31 and the plate member 11 is adjusted, and the distance between the magnet 21 and the target surface is adjusted. Moreover, the blast hose 103 is connected to the injection side connection part 102b of the vacuum blast apparatus 101, and the vacuum hose 104 is connected to the suction side connection part 102c. At this time, the blast hose 103 and the vacuum hose 104 are suspended by the spring balancer 70. The spring balancer 70 is suspended from, for example, a preset wire 71 or the like. Thereby, it is possible to suppress the tensile force due to the weight of the blast hose 103 and the vacuum hose 104 and the pressing force due to the elasticity of the blast hose 103 and the vacuum hose 104 from being applied to the vacuum gun 102.

  Thereafter, the abrasive is supplied from the supply unit 107 of the vacuum blasting apparatus 101 to the vacuum gun 102, and the abrasive is sprayed from the vacuum gun 102. Further, suction is performed by the suction unit 108 of the vacuum blasting apparatus 101. Further, by controlling the robot device 110 and moving the arm 111 in the X direction, the Y direction, and the θZ direction, the driving force transmission member 60 of the head device 100 integrally with the arm 111 is moved in the X direction, the Y direction, and θZ. Move in each direction.

  The driving force transmission member 60 is provided integrally with the four linear bushes 52. Therefore, each linear bush 52 receives force in the X direction, the Y direction, and the θZ direction by the movement of the driving force transmission member 60. Here, each linear bush 52 is penetrated in the Z direction by the shaft member 51. Further, the shaft member 51 is fixed to the flange portion 43 of the spherical bearing 40. Therefore, the force applied to each linear bush 52 is transmitted to the shaft member 51, and is transmitted from the shaft member 51 to the cylindrical portion 102 d of the vacuum gun 102 via the flange portion 43, the outer ring 42 and the inner ring 41.

  The vacuum gun 102 is fixed to the base portion 10 by the connecting member 12. Therefore, the force transmitted to the vacuum gun 102 is transmitted to the base portion 10 to roll the caster 31. As the caster 31 rolls, the vacuum gun 102 can move in the X direction, the Y direction, and the θZ direction on the work surface S integrally with the base portion 10.

  By moving the arm 111 of the robot apparatus 110 in the X direction, the Y direction, and the θZ direction, the position of the vacuum gun 102 moves along the work surface S in the X direction, the Y direction, and the θZ direction. By this operation, the work surface S is polished by spraying the abrasive from the vacuum gun 102 while moving the position of the vacuum gun 102 on the work surface S. By moving the vacuum gun 102 by the robot apparatus 110, it is possible to improve the blasting accuracy and reduce the burden on the worker as compared with the case where the worker manually moves the vacuum gun 102.

  In this configuration, in order to perform high-precision blasting, it is required to maintain the positional relationship between the vacuum gun 102 and the work surface S so as not to fluctuate. More specifically, the positional relationship between the vacuum gun 102 and the work surface S in a direction different from the X direction, the Y direction, and the θZ direction, that is, the position in the Z direction, the θX direction, and the θY direction. It is required to keep the relationship unchanged.

  In the present embodiment, the head device 100 absorbs the deviation of the arm 111 when the arm 111 of the robot device 110 is displaced in the Z direction, the θX direction, and the θY direction with respect to the target position. The head device 100 maintains the positional relationship between the vacuum gun 102 and the work surface S in the Z direction, the θX direction, and the θY direction.

  5 and 6 are side views showing an example of the usage state of the head device 100. FIG. 5 and 6 show the state of the head device 100 when the arm 111 is displaced in the Z direction. As shown in FIG. 5, when the arm 111 is displaced in the −Z direction, a force in the −Z direction is applied to the driving force transmission member 60. In the present embodiment, the driving force transmission member 60 is provided integrally with the linear bush 52, and the linear bush 52 is movable in parallel with the shaft member 51 in the Z direction. Therefore, the driving force transmission member 60 moves integrally with the linear bush 52 in the −Z direction. As shown in FIG. 6, when the arm 111 is shifted in the + Z direction, the driving force transmission member 60 moves in the + Z direction integrally with the linear bush 52.

  Thus, when the arm 111 shifts in the Z direction, the shift is absorbed by the linear bush 52 moving in the Z direction. Therefore, when the arm 111 is displaced in the Z direction, transmission of force in the Z direction to the vacuum gun 102 is suppressed, and the positional relationship between the vacuum gun 102 and the work surface S is maintained.

  7 and 8 are side views showing an example of the usage state of the head device 100. FIG. 7 and 8 show the state of the head device 100 when the arm 111 is displaced in the θY direction. As shown in FIG. 7, when the arm 111 is shifted in one direction in the θY direction (counterclockwise direction in FIG. 7), a force is applied to the driving force transmission member 60 in one direction in the θY direction. In the present embodiment, the driving force transmission member 60 is provided integrally with the outer ring 42 of the spherical bearing 40 via the shaft member 51 and the flange portion 43, and the outer ring 42 is rotatable along the outer peripheral surface 41 a of the inner ring 41. . Therefore, the driving force transmission member 60 moves integrally with the outer ring 42 in one of the θY directions. Further, as shown in FIG. 8, when the arm 111 is shifted to the other side in the θY direction (clockwise direction in FIG. 8), the driving force transmission member 60 moves integrally with the outer ring 42 to the other side in the θY direction.

  Thus, when the arm 111 is displaced in the θY direction, the shift is absorbed by the outer ring 42 moving in the θY direction. Therefore, when the arm 111 is displaced in the θY direction, the transmission of the θY force to the vacuum gun 102 is suppressed, and the positional relationship between the vacuum gun 102 and the work surface S is maintained.

  The same applies when the arm 111 is displaced in the θX direction. That is, when the arm 111 is displaced in the θX direction, the shift is absorbed by the outer ring 42 moving in the θX direction. Therefore, when the arm 111 is displaced in the θX direction, transmission of force in the θX direction to the vacuum gun 102 is suppressed, and the positional relationship between the vacuum gun 102 and the work surface S is maintained.

  FIG. 9 is a side view showing another state of the head device 100. In the state shown in FIG. 9, the spacer 32 having a longer length in the Z direction is applied compared to the above states. Thus, the distance between the first surface 11a of the base portion 10 and the work surface S can be adjusted by adjusting the length of the spacer 32 in the Z direction.

  For example, when the head device 100 is attached, the distance from the first surface 11 a of the base portion 10 to the tip of the brush portion 106 may differ depending on the individual vacuum gun 102. In this case, it is necessary to adjust the distance between the first surface 11a and the work surface S so that the brush unit 106 contacts the work surface S in an appropriate state. In the present embodiment, the distance between the first surface 11a of the base portion 10 and the work surface S can be appropriately adjusted by adjusting the length of the spacer 32 in the Z direction.

  FIG. 10 is a side view illustrating another example of the usage state of the head device 100. In the state shown in FIG. 10, the distance between the magnet 21 and the work surface S is larger than in each of the above states. Thus, by adjusting the distance between the magnet 21 and the first surface 11a by the mounting portion 22, the strength of the magnetic force attracted between the work surface S and the magnet 21 can be easily adjusted.

  For example, the spray pressure and suction pressure of the abrasive sprayed from the spray suction unit 102 a may vary depending on the individual vacuum gun 102. In that case, for example, it is necessary to adjust the strength of the magnetic force attracting the work surface S and the magnet 21 so that the caster 31 is not easily separated from the work surface S. In the present embodiment, by adjusting the distance between the magnet 21 and the first surface 11a, the strength of the magnetic force attracted between the work surface S and the magnet 21 can be appropriately adjusted.

  As described above, the head device 100 according to the present embodiment is a working unit that performs the work of injecting the abrasive onto the planar work surface S including the magnetic body and sucking the object including the abrasive. The head device 100 is attached to a vacuum gun 102 having a certain brush portion 106, and is a plate-like shape having parallel first surface 11a and second surface 11b, and the brush portion 106 protrudes toward the first surface 11a. The base portion 10 fixed to the vacuum gun 102, the plurality of magnets 21 arranged on the first surface 11a side of the base portion 10, and the brush portion 106 and the magnet 21 on the first surface 11a side of the base portion 10. A caster 31 arranged at a position protruding from the first surface 11a, and a plane moving unit 30 for moving the base unit 10 on the work surface S by the caster 31, and a first of the base unit 10 A spherical bearing 40 having an inner ring 41 having a spherical outer peripheral surface 41a attached to the vacuum gun 102 on the surface 11b side, an outer ring 42 attached to the inner ring 41 and rotatable along the outer peripheral surface 41a, and a spherical bearing 40 A shaft member 51 which is fixed to the outer ring 42 and extends in the linear axial direction intersecting the second surface 11b of the base portion 10, and a linear bush which is penetrated by the shaft member 51 in the axial direction and linearly moved while being guided in the axial direction. 52, and a driving force transmission member 60 fixed to the linear bush 52 and connected to the robot apparatus 110 for moving the vacuum gun 102.

  Therefore, when the driving force is transmitted from the robot apparatus 110 to the driving force transmitting member 60 in a direction parallel to the first surface 11 a and the second surface 11 b, the driving force is transmitted via the linear moving unit 50 and the spherical bearing 40. Is transmitted to the vacuum gun 102. This force enables the vacuum gun 102 to move in a direction parallel to the first surface 11a and the second surface 11b. When the driving force is transmitted from the robot apparatus 110 to the driving force transmission member 60 in the Z direction, θX direction, and θY direction, the components in the Z direction are absorbed by the linear moving unit 50. In addition, the components in the θX direction and the θY direction are absorbed by the linear moving unit 50 and the spherical bearing 40 because the outer ring 42 rotates along the spherical surface constituting the outer peripheral surface 41 a of the inner ring 41. Therefore, transmission of the force to the vacuum gun 102 is suppressed. For this reason, it can suppress that the vacuum gun 102 moves to a Z direction, (theta) X direction, and (theta) Y direction, and can maintain the positional relationship of the working surface S and the vacuum gun 102 with high precision. This makes it possible to perform highly accurate work on the work surface S without complicating the control configuration of the robot apparatus 110. For example, for a work surface S having a large area such that the length of at least one side exceeds several meters, such as a wall of a main tower of a bridge, the length of at least one side exceeds 10 m. High-precision work can be stably performed on the work surface S having an area.

  In the head device 100 according to the present embodiment, the tool may be a vacuum gun 102 that injects an abrasive onto the work surface S and sucks an object including the abrasive injected onto the work surface S. Accordingly, the robot apparatus 110 can maintain the positional relationship between the vacuum gun 102 and the work surface S with high accuracy. Thereby, it is possible to perform the grinding operation on the work surface S with high accuracy.

  In the head device 100 according to the present embodiment, the vacuum gun 102 includes a blast hose 103 for supplying an abrasive and a vacuum hose 104 for collecting an object, and the blast hose 103 and the vacuum hose 104 are suspended. A spring balancer 70 may be further provided. Therefore, since the force applied to the vacuum gun 102 from the blast hose 103 and the vacuum hose 104 can be reduced, the vacuum gun 102 can be moved with higher accuracy by the robot apparatus 110.

  In the head device 100 according to the present embodiment, the magnet 21 is mounted on the base portion 10 via the mounting portion 22 that can adjust the distance from the first surface 11a. Therefore, the distance between the magnet 21 and the work surface S can be adjusted by adjusting the distance between the magnet 21 and the first surface 11 a by the mounting portion 22. For this reason, the strength of the magnetic force attracted by the work surface S and the magnet 21 can be easily adjusted.

  In the head device 100 according to the present embodiment, the plane moving unit 30 may have casters 31 arranged at three locations. Accordingly, the base portion 10 can be stably supported on the planar work surface S by the three casters 31.

  The technical scope of the present invention is not limited to the above-described embodiment, and appropriate modifications can be made without departing from the spirit of the present invention. For example, in the above embodiment, the case where the head device 100 is attached to the vacuum blast device 101 has been described as an example, but the present invention is not limited to this. The head device 100 may be used by being attached to another tool that performs work on a planar work surface, such as a power brush device, a laser blast device, an electromagnetic induction heating device, a welding device, or a thermal spraying device. Even in such a case, by moving the tool via the head device 100 by the robot device 110, the work accuracy can be improved and the burden on the worker can be reduced compared to the case where the worker manually moves the tool. .

  In the above-described embodiment, the configuration in which the robot apparatus 110 includes the arm 111 and moves the head apparatus 100 via the arm 111 is described as an example. However, the present invention is not limited to this. The robot device 110 may have a configuration different from the arm 111 as long as the head device 100 is moved based on a preset program or the like. For example, the robot apparatus 110 may have a configuration including a flat plotter that moves the head apparatus 100 in the X direction and the Y direction. In this case, the head device 100 can be attached to the moving member of the flat plotter.

  Moreover, in the said embodiment, the work surface S is a plane containing a magnetic body, the adsorption | suction apparatus 20 has the magnet 21, and the magnetic force produced between the magnet 21 and the work surface S containing a magnetic body is made into adsorption power. Although the configuration has been described as an example, the configuration is not limited thereto, and other configurations may be used as long as the base portion 10 generates a suction force toward the work surface S side. For example, the suction device 20 is a suction device that sucks the work surface S, and the suction force of the suction device may be used as the suction force.

DESCRIPTION OF SYMBOLS 10 Base part 11 Plate-shaped member 11a 1st surface 11b 2nd surface 11c Penetrating part 12 Connecting member 20 Adsorption device 21 Magnet 22 Mounting part 30 Plane moving part 31 Caster 32 Spacer 40 Spherical bearing 41 Inner ring 41a Outer surface 42 Outer ring 42a Inner circumference Surface 43 Flange portion 50 Linear movement portion 51 Shaft member 51a Stopper 52 Linear bush 60 Driving force transmission member 61 Arm connection portion 62 Bush connection portion 70 Spring balancer 71 Wire 100 Head device 101 Vacuum blast device 102 Vacuum gun 102a Injection suction portion 102b Injection Side connection part 102c Suction side connection part 102d Cylindrical part 103 Blast hose 104 Vacuum hose 105 Case 106 Brush part 107 Supply source 108 Suction source 110 Robot device 111 Arm S Work surface W Wall part

Claims (7)

A head device attached to a tool having a working unit for working on a planar work surface,
A base portion having a parallel first surface and a second surface, and a base portion fixed to the tool in a state where the working portion protrudes on the first surface side;
A suction device disposed on the first surface side of the base portion and generating a suction force toward the work surface side with respect to the base portion;
The caster is disposed on the first surface side of the base portion and at a position protruding from the first surface relative to the working portion and the suction device, and the base portion is placed on the working surface by the caster. A plane moving part to be moved;
A spherical bearing having an inner ring attached to the tool and having a spherical outer peripheral surface on the second surface side of the base portion; and an outer ring attached to the inner ring and rotatable along the outer peripheral surface;
A shaft member that is fixed to the outer ring of the spherical bearing and extends in a linear axial direction intersecting the second surface of the base portion, and is linearly penetrated by the shaft member in the axial direction and guided in the axial direction. A linear moving part having a movable member that moves;
And a driving force transmission member fixed to the movable member and connected to a robot device for moving the tool. The head device according to claim 1, wherein the tool is a vacuum gun that injects abrasives onto the work surface and sucks an object including the abrasives injected onto the work surface. The vacuum gun has a supply pipe for supplying the abrasive and a recovery pipe for recovering the object,
The head device according to claim 2, further comprising a spring balancer that suspends and supports the supply pipe and the recovery pipe. The work surface includes a magnetic material,
The head device according to any one of claims 1 to 3, wherein the attraction device includes a plurality of magnets arranged to face the work surface including the magnetic body. The head device according to claim 4, wherein the magnet is attached to the base portion via an adjustment unit capable of adjusting a distance from the first surface. The head device according to any one of claims 1 to 5, wherein the plane moving unit includes the casters arranged at three locations. A vacuum gun for injecting a grinding material onto the work surface and sucking an object including the abrasive material sprayed onto the work surface;
A main body having a supply source of the abrasive and a suction source for sucking the object;
A blasting device comprising: the head device according to any one of claims 1 to 6, which is attached to the vacuum gun.

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