JP2020165265A - Board palette and board pickup method - Google Patents

Abstract

To make a board immediately below less adhesive to a board picked up from a board palette.SOLUTION: A board palette 2 supports multiple stacked flat plate-like boards, for example, wall surface boards WB, by a board support section 23 disposed on a pallet base installed on an installation surface. Two opposing sides of the wall surface board WB are respectively supported by convex portions 30 disposed on the board support section 23. Accordingly, the lowermost wall board is held in a state where at least a part of the undersurface floats on the board support section 23. To pick up the wall surface board WB from the board palette 2, the uppermost wall surface board WB is held by a holding device 133 attached to a movable robot hand 131 of a robot device, and the holding device 133 holding the wall surface board WB is move up in a vertical direction.SELECTED DRAWING: Figure 15

Description

The present invention relates to a flat board, for example, a board pallet for holding a wall board to be attached to a place to be a wall surface of a building, and a board pick-up method for picking up a board from the board pallet.

In relatively simple buildings such as warehouses, factories, and prefabricated houses, for example, a standardized wall board is fixed to a board mounting frame provided at a place where the wall surface should be formed, and the wall surface is fixed. There is something that I tried to configure. The wall board is generally fixed to the board mounting frame by a craftsman or the like.

On the other hand, Patent Document 1 discloses an interior work apparatus for supporting an interior work for attaching an interior material such as a ceiling board or a wall surface board. This device loads the gypsum board, which is a ceiling board, at the position of the board stock, and supports the work while sucking and gripping the gypsum board with the suction pad provided on the attachment attached to the robot arm.

More specifically, work support is provided by the following procedure.
(1) The position of the suction pad with respect to the gypsum board is manually adjusted, and when the suction position is determined, the gypsum board is sucked and gripped by the suction pad (see paragraphs [0026] [0027] and [FIG. 7] of Document 1).
(2) After that, the reversing arm of the robot arm is inverted to turn the attachment upward, and the gypsum board is lightly brought into contact with the lightweight steel frame of the ceiling (see paragraphs [0028] and FIG. 9 of Document 1).
(3) Subsequently, after manually sliding the gypsum board until it comes into contact with the end face of the existing gypsum board, the attachment is raised by the vertical movement arm of the robot arm, and the gypsum board is firmly adhered to the lightweight steel frame on the ceiling ( (See paragraph [0029] [FIG. 10] of Document 1).
(4) Then, the screw fastening machine main body mounted on the moving frame of the robot arm is manually operated to perform the screw fastening work in the first row. When finished, the suction by the suction pad is released, the attachment is manually slid to perform the screwing work in the second row, and by repeating this, the entire surface of the gypsum board is screwed (paragraphs [0022] [0030] of Document 1). ] [0031] [FIG. 4] [FIG. 11]).

Japanese Patent Application Laid-Open No. 05-32145

In Patent Document 1, regarding the stock of gypsum board, "As shown in FIG. 5, the gypsum board B is loaded at the board stock position on the work scaffold 19. After the gypsum board B is loaded, as shown in FIG. The trolley 1 is operated, moved to the bottom of the ceiling position to be attached, and the attaching work is started "(see paragraph [0025] of Document 1).

That is, in Patent Document 1, a plurality of gypsum boards that are attracted and gripped by the suction pad of the robot arm are prepared, and are stacked and held at the board stock position.

When board-shaped boards such as gypsum board are stacked on the board pallet, the second board located directly below the top board when gripped by a gripping tool such as a suction pad provided on the robot arm. May stick to the top board and follow. In some cases, the third board also sticks to the second board and follows. Such sticking between boards occurs when the surfaces of the boards are in close contact with each other.

When two or three boards are stuck together and picked up, the second and third boards are carried to a height of several hundred millimeters along with the top board and may fall from that position. This can cause the next top board remaining on the board pallet to be misaligned or damaged.

An object of the present invention is to make it difficult for the board directly underneath to stick to the board picked up from the board pallet.

One aspect of the board pallet of the present invention is a pallet base portion installed on an installation surface, a board support portion provided on the pallet base portion and supporting a plurality of flat plates in a stacked state, and the boards. It is provided with a convex portion that supports each of the two opposite sides and keeps at least a part of the lower surface of the lowermost board on the board support portion in a floating state.

One aspect of the board pick-up method of the present invention is on a board pallet having a board support portion that supports a plurality of flat plates in a stacked state, with convex portions on the two opposite sides of the boards. It is supported by the board pallet by a step of supporting and maintaining at least a part of the lower surface of the lowermost board on the board support portion in a floating state, and a gripping tool attached to a movable robot hand of the robot device. It includes a step of gripping the uppermost board, and a step of raising the gripper holding the board in the vertical direction.

According to the present invention, when a board is picked up from the board pallet, it is possible to make it difficult for the board located directly under the picked-up board to stick.

As one embodiment, a perspective view showing a board pasting device in use. The perspective view which shows the board pallet. The side view. The perspective view which shows another form of a board pallet. The side view. A side view showing yet another form of the board pallet. The schematic diagram which shows the movable mode of a robot device from the side direction. Schematic diagram of the robot hand viewed from the bottom. Schematic diagram of the robot hand viewed from the side. The perspective view which shows the robot hand which holds a wall board. Block diagram of electrical connections in the control panel. A flowchart showing the flow of learning processing. A flowchart showing the flow of the pasting process of the first wall board. A flowchart showing the flow of the process of pasting the second and subsequent wall boards. The schematic diagram which shows the pickup operation of the wall board from a board pallet over time. The pick-up operation of the wall board is shown over time, (A) is a schematic diagram showing how the robot hand descends toward the wall board stacked on the board pallet, and (B) is a robot holding the wall board. The schematic diagram which shows how the hand rises. The schematic diagram which shows the state displacement of the robot device which executes the sticking operation of the first wall board. The schematic diagram which shows the state transition of the robot arm which executes the fixing operation of a wall board. A perspective view showing a robot hand positioned in a construction area as another embodiment of the board pasting device. (A) is a schematic diagram showing the relationship between the XYZ direction at the board pasting position and the installation position of the distance measuring instrument, and (B) is a schematic diagram showing the relationship between the XYZ direction in the stock area and the installation position of the distance measuring instrument. Block diagram of electrical connections in the control panel. The schematic diagram which shows the board pasting position in a construction area. A flowchart showing a flow of processing for measuring and storing position data (pasting position data, pickup position data). A flowchart showing the flow of acquisition processing of position data (pasting position data) in the construction area. The flowchart which shows the flow of the acquisition process of the position data (pickup position data) in a stock area. A flowchart showing the flow of the board pasting process.

An embodiment will be described with reference to the drawings.
This embodiment is an application example to a board pallet that supports a wall board to be attached to a place to be a wall surface of a building as a flat plate, and a board pick-up method for picking up a wall board from the board pallet. Here, an example of handling a wall board will be described, but the board pallet and the board pick-up method of the present embodiment are appropriately applied to all plate-like structures included in the category of "board" such as ceiling board and gypsum board. It is possible to do.
In the present embodiment, the board pallet and the board pick-up method will be described with the following items together with the board pasting method, the board pasting device, and the computer program supporting the board pasting work.
1. 1. Outline configuration 2. Board pallet 3. Robot device 4. Control panel 5. Board pasting method and processing (1) Robot device installation process (2) Mark coordinate point acquisition process (3) First wall board gripping process (4) First wall board picking process (5) 1 Recognition process of feature points of the first wall board (6) Arrangement process of the first wall board (7) Fixing process of the first wall board (8) Acquisition process of mark coordinate points (9) Second sheet (10) Pick-up process of the second wall board (11) Recognition process of feature points of the second wall board (12) Arrangement process of the second wall board (13) Two Eye wall board fixing process 6. Another embodiment of the board sticking device (1) Robot hand (2) Information processing device (3) Board sticking method and processing
(A) Overview
(Measurement and storage of position data)
(Construction)
(B) Measurement and storage of position data
(B) Outline of processing
(Construction area)
(Stock area)
(B) Treatment in the construction area
(Overview)
(Rotation angle setting process)
(Coordinate setting process)
(C) Processing in the stock area
(Overview)
(Rotation angle setting process)
(Coordinate setting process)
(C) Construction
(B) Board pickup
(B) Board positioning
(C) Pasting the board
(D) Second and subsequent boards 7. Effect (1) Prevention of sticking (2) Others 8. Modification example

1. 1. Schematic configuration As shown in FIG. 1, in the present embodiment, the building itself is abstracted, and the wall board WB is attached to the board mounting frame 1 installed at the place where the wall surface W should be. Among them, the board pallet and the board pickup method will be introduced.

The board mounting frame 1 is a frame body for mounting the wall surface board WB (see FIG. 17), and the wall surface board WB is attached in three columns and three rows. Such a board mounting frame 1 constitutes a construction area A that should be a wall surface W of a building.

Two board pallets 2 are provided in the vicinity of the construction area A. A plurality of wall board WBs to be attached to the board mounting frame 1 are stacked and stored in these board pallets 2. The two board pallets 2 are arranged in front of the construction area A and form the stock area B.

The space including the construction area A and the stock area B is the construction space WS.

The core of the board pasting device 11 is the robot device 101 installed in the construction space WS. The robot device 101 is based on a trolley 111 installed so as to straddle between a pair of board pallets 2 divided into two, and is mounted on a lifter 112 provided on the trolley 111. And the robot hand 131 are the main components. Therefore, the robot device 101 grips the wall surface board WB stored in the board pallet 2 by the robot hand 131 and attaches the wall board WB to the board mounting frame 1 one after another.

Another important component of the board affixing device 11 is the control panel 201. The control panel 201 controls the operation of the robot device 101. In the present embodiment, the control panel 201 is arranged at a position facing the board mounting frame 1 with the robot device 101 interposed therebetween, and is used for the operation of the operator H.

In FIG. 1, the large box-shaped one located near the worker H is the compressor C. The compressor C serves as a drive source such as a lifter 112 and a robot arm 121.

The board pasting device 11 of the present embodiment does not require the work of the worker H in the construction area A. Therefore, for safety, in order to keep the construction space WS in which the construction area A and the stock area B are arranged from entering, an enclosure 5 for supporting the bar 4 with a plurality of pylon 3 is provided. The enclosure 5 separates the space on the worker H side and the construction space WS.

2. Board pallet The wall board WB has a rectangular shape. Therefore, one of the pair of two sides facing each other is the long side, and the pair of the other two sides perpendicular to this is the short side. Three embodiments will be introduced with respect to the board pallet 2 in which a plurality of such wall board WBs are stacked and stocked. The first form shown in FIGS. 2 and 3, the second form shown in FIGS. 4 and 5, and the third form shown in FIG.

The support posture of the wall board WB is different between the first form and the second and third forms. The first embodiment positions the wall board WB in a horizontal state, and the second and third embodiments position the wall board WB in a state of being inclined with respect to a horizontal plane.

Although the second form and the third form are common in that the wall surface board WB is positioned so as to be inclined with respect to the horizontal plane, the angle of the board receiving frame 29, which will be described later, for abutting the end surface of the wall surface board WB is different. different. The second form determines the angle along the inclined end face of the inclined wall board WB, and the third form determines the angle of the board receiving frame 29 in the vertical direction.

(First form)
The first form of the board pallet 2 will be described with reference to FIGS. 2 and 3.

As shown in FIG. 2, the board pallet 2 includes a pallet base 22 installed on an installation surface via casters 21 (see FIG. 1), and in the present embodiment on a floor surface, and a plurality of pallet bases 22 are provided on the pallet base 22. A board support portion 23 is provided to support the wall surface boards WB in a stacked state.

The pallet base 22 is a frame body 25 having a frame structure in which a base frame 24 composed of a total of four metal prisms, two long and two short, is assembled in a rectangular shape. The rectangular shape of the frame body matches the rectangular shape of the wall surface board WB, and the shape and size of the pallet base 22 are set so as to substantially match the rectangular shape of the wall surface board WB.

Reinforcing plates 26 are attached to the four corners of the lower surface of the frame body 25. The reinforcing plate 26 is fixed across two right-angled base frames 24 to structurally reinforce the frame body 25 and increase its rigidity. A caster 21 (not shown in FIG. 2) is attached to the lower surface of the reinforcing plate 26.

As shown in FIGS. 2 and 3, the board support portion 23 includes three rod-shaped members spanning the opposite long sides of the frame body 25 as main elements. As the rod-shaped member, the support frame 27 made of a metal prism is adopted in this embodiment. These support frames 27 have a length substantially matching the short side of the wall surface board WB, and are bridged and fixed to the base frame 24 forming the long side of the frame body 25. The support frame 27 supports the wall surface board WB with an elongated upper surface. Therefore, the wall board WB is supported at three positions along the short side direction.

The pallet base 22 includes a board receiving frame 29. The board receiving frame 29 is fixed to one of the base frames 24 included in the pallet base 22, and extends upward in the vertical direction. The base frame 24 for fixing the board receiving frame 29 is one of the long sides of the frame body 25. Since the base frame 24 is arranged horizontally, the side surface of the board receiving frame 29 forms an angle of 90 ° with respect to the horizontal plane as shown in FIG. A total of two board receiving frames 29 are provided one at an intermediate position between the three support frames 27, and by extending upward, one side of the wall board WB on the long side is supported.

The board pallet 2 includes a convex portion 30 that supports the wall surface board WB on the board support portion 23. The convex portion 30 is a member having a cubic shape, and one is attached to each of the three support frames 27, for a total of six. In such an arrangement, the convex portion 30 supports the two sides of the wall surface board WB on the long side facing each other in a dot shape, and at least a part of the lower surface of the lowermost wall surface board WB on the board support portion 23. Keep floating.

Although the cube-shaped convex portion 30 is shown in FIG. 2, this shape merely exemplifies one form of the convex portion 30. As the shape of the convex portion 30, various shapes such as a hemispherical shape having a curved upper surface and a polygonal pyramid shape such as a triangular pyramid or a quadrangular pyramid can be adopted. Further, the convex portion 30 does not necessarily have to be provided directly on the support frame 27, and may be provided on the base frame 24 and penetrate the support frame 27, for example.

The wall board WB is supported on two sides on the long side, and is curved in a concave shape when viewed from the short side due to its own weight. The degree of curvature at this time depends on the strength of the wall surface board WB, and even if the amount is so small that it cannot be visually recognized with the naked eye, warpage always occurs as long as the two sides are supported. The height of the convex portion 30 is preferably, for example, 1 mm or more and 10 mm or less. By setting the height of the convex portion 30 to 1 mm or more, the wall surface board WB can be warped. By setting the height of the convex portion 30 to 10 mm or less, it is possible to avoid permanent deformation and cracking of the wall surface board WB.

The board pallet 2 configured as described above is a frame structure in which members made of a metal material as a whole are combined. Fixing between the members can be realized by various methods such as welding, riveting, and bonding. Of course, each of these members may be made of a non-metallic material such as carbon. For example, carbons can be firmly fixed by adhesion.

(Second form)
A second form of the board pallet 2 will be described with reference to FIGS. 4 and 5. The same parts as those in the first embodiment are indicated by the same reference numerals, and the description thereof will be omitted.

As shown in FIGS. 4 and 5, the board support 23 includes a structure for fixing the support frame 27 to the pallet base 22. In this fixing structure, one end of the support frame 27 is directly fixed to the frame 25, and the other end is fixed to the frame 25 via the spacer 28. The support frame 27 is fixed to a pair of base frames 24 forming the long sides of the frame body 25. As a result, the board support portion 23 is maintained in an inclined state with respect to the horizontal plane. Due to such a structure, the board support portion 23 is positioned at a higher position on the one end side fixed via the spacer 28 than on the one end side directly fixed to the pallet base 22. Therefore, the long side of the wall surface board WB supported by the board support portion 23 has a high place side and a low place side.

The inclination angle of the board support portion 23 is preferably 4 ° or more and 10 ° or less with respect to the horizontal plane. This is because if the inclination angle is smaller than 4 °, it becomes impossible to prevent the stacked wallboard boards WB from sticking to each other, and if the inclination angle is larger than 10 °, the center of gravity of the stacked wallboard boards WB is biased. This is because the wall boards WB cannot be supported in a stacked state.

Also in this embodiment, the fact that the support frame 27 is provided with the convex portion 30 is common to the board pallets 2 shown in FIGS. 2 and 3. A total of six convex portions 30, one at each end of the three support frames 27, have their upper surfaces parallel to the upper surface of the support frame 27.

The board receiving frame 29 of the present embodiment extends along a direction orthogonal to the three support frames 27 forming the board support portion 23. Therefore, as shown in FIG. 5, the angle formed by the surface of the support frame 27 and the side surface of the board receiving frame 29 is 90 °. The direction in which the board receiving frame 29 extends is the direction along the end surface of the wall surface board WB supported by the board support portion 23. Therefore, the end faces of the wall surface boards WB stacked on the board support portion 23 are all arranged and arranged in one surface including the board receiving frame 29.

(Third form)
A third form of the board pallet 2 will be described with reference to FIG. The same parts as those in the second embodiment are indicated by the same reference numerals, and the description thereof will be omitted.

The board receiving frame 29 does not necessarily have to be inclined with respect to the vertical plane, and may extend along the vertical plane. The board receiving frame 29 of this example is fixed so as to extend at a right angle to the upper surface of the base frame 24 forming the frame body 25 of the pallet base 22. Since the base frame 24 is arranged horizontally, the side surface of the board receiving frame 29 forms an angle of 90 ° with respect to the horizontal plane as shown in FIG. Therefore, the angle formed by the surface of the support frame 27 and the side surface of the board receiving frame 29 is less than 90 °. As a result, the end faces of the wall surface boards WB stacked on the board support portion 23 come into contact with the board receiving frame 29 in an inclined state, and are arranged so as to be offset from each other by the inclination.

3. 3. Robot device An embodiment of the robot device 101 will be described with reference to FIGS. 1 to 18.

As shown in FIGS. 1 and 7, the dolly 111 is a strong frame structure having a quadruped structure, and is made portable by wheels 113. A plurality of support legs 114 are also provided on the trolley 111 in addition to the wheels 113, and after the wheels 113 are installed at a desired location, the wheels 113 can be raised to enable stable installation by the support legs 114.

The trolley 111 is provided with a lifter 112 that can be raised and lowered at the center thereof, and the robot arm 121 is fixed to the lifter 112. The height of the robot arm 121 is changed according to the raising and lowering operation of the lifter 112. The lifter 112 has a slide moving structure, and is driven up and down by an air cylinder (not shown) to which air compressed by a compressor C (see FIG. 1) is sent. Therefore, the compressor C serves as a drive source PS for the lifter 112 (see FIG. 11).

The robot arm 121 whose height is changed according to the lifting operation of the lifter 112 has a 6-axis structure. It has a structure in which a plurality of links are connected by six joints 122a, 122b, 122c, 122d, 122e, 122f.

The first joint 122a is rotatably connected to the lifter 112 around a vertical axis and is responsible for turning the robot arm 121. The second joint 122b rotatably connects the link 123a around the horizontal axis and is responsible for moving the robot arm 121 in the front-rear direction. The third joint 122c rotatably connects the link 123b around the horizontal axis and is responsible for moving the robot arm 121 in the vertical direction. The fourth joint 122d rotatably connects the link 123c around an axis orthogonal to the joints 122b and 122c, and is responsible for rotating the robot arm 121. The fifth joint 122e rotatably connects the link 123d around an axis orthogonal to the joint 122d, and is responsible for bending the robot hand 131. The sixth joint 122f is rotatably connected to the robot hand 131 and is responsible for twisting the robot hand 131.

The robot arm 121 realizes various movable modes by adjusting the rotation angles of the six joints 122a to 122f.

As an example, in order to attach the wall board WB in three rows in the vertical direction, the robot arm 121 positions the robot hand 131 at three stages, and the wall board WB should be attached in the board mounting frame 1 in three columns and three rows in total. It is possible to position the robot hand 131 at several locations.

As another example, the robot hand 131 can be turned downward. This posture is the posture when the wall board WB is picked up from the board pallet 2.

As yet another example, as the posture when picking up the wall board WB, not only the robot hand 131 can be directed directly downward, but also the robot hand 131 can be slightly inclined with respect to the horizontal plane. This point will be described in detail later.

The angle adjustment of each part of the robot arm 121 is performed by actuators, speed reducers, encoders, and conduction mechanisms (all not shown) incorporated in the individual joints 122a, 122b, 122c, 122d, 122e, 122f, respectively. .. These actuators, speed reducers, encoders, and conduction mechanisms serve as a drive source PS (see FIG. 9) for the robot arm 121.

As shown in FIGS. 8 to 10, the robot hand 131 has various structures mounted on a rectangular frame 132. The mounted structures are a gripping tool 133 that sucks and grips the wall surface board WB, a camera 134, and a screw driving machine 135 as a fixing tool.

The gripping tool 133 sucks and grips the wall surface board WB by cup-shaped suction pads 137 provided at four corners of the frame 132 and six places in the central portion in the longitudinal direction. The gripper 133 mounts a vacuum generator 138 on the frame 132 in order to cause the suction pad 137 to have a suction action. The vacuum generator 138 is connected to each suction pad 137 via an air hose 139 to suck air. As a result, the vacuum generator 138 generates a negative pressure inside the suction pad 137 in which the opening portion is applied to the wall surface board WB, and exerts a suction force on the wall surface board WB. The suction pad 137 has a certain degree of flexibility, and when the wall board WB is sucked, the distance between the wall board WB and the frame 132 is changed.

The camera 134 is attached to the tip of the arm 140 that extends so as to protrude from the frame 132, and images the space in the direction in which the opening portion of the suction pad 137 faces.

The screw driving machine 135 launches screws (not shown) for fixing the wall surface board WB to the board mounting frame 1. A pair of screw driving machines 135 are provided, and extend from two corners on one end side of the frame 132 in a direction of expanding each other.

4. Control panel Control panel 201 will be described.

As shown in FIG. 11, the control panel 201 (see FIG. 1) that controls the operation of the robot device 101 includes an information processing device 211 that is a microcomputer. The core of the information processing device 211 is the information processing unit 232 including the CPU 231 that executes various arithmetic processes and centrally controls each unit. The information processing unit 232 is composed of an EEPROM 233, a RAM 234, and a clock circuit 235 connected to the CPU 231. The EEPROM 233 is a memory that fixedly stores various types of data, and stores, for example, a BIOS. The RAM 234 is a memory that temporarily stores various types of data in a rewritable manner, and is also used as a work area. The clock circuit 235 incorporates a crystal oscillator (not shown) and generates a clock signal for timing control.

An I / O 236 is connected to the information processing unit 232. An HDD 237, a display device 238, and an input device 239 are connected to the I / O 236, and parts of a drive system 241 that drives each part to control the posture of the robot device 101 and various operations mounted on the robot hand 131 are performed. The parts of the work system 251 to be executed are connected.

The HDD 237 stores a computer program for attaching to a board and related data, including an operating system. The operating system stored in the HDD 237 is transferred to the RAM 234 in whole or in part and copied when the information processing apparatus 211 is started. Further, the computer program for attaching the board and its related data stored in the HDD 237 are started up by the startup program, and then all or part of them are transferred to the RAM 234 and copied. Therefore, the CPU 231 executes various processing operations specified in the computer program copied to the RAM 234 according to the operating system stationed in the RAM 234.

The display device 238 is, for example, a liquid crystal display, an EL display, or the like that serves as a man-machine interface, and displays various data stored in the HDD 237.

The input device 239 is a pointing device such as a keyboard and a mouse that serves as a man-machine interface, and enables input of various information.

The control panel 201 exposes the display device 238 and the input device 239 to the outside (not shown in FIG. 1), and supports the provision of information and the input of information to the worker H.

The drive system 241 includes a compressor C that serves as a drive source PS for the lifter 112, and a drive source PS that includes a plurality of sets of actuators, a speed reducer, an encoder, and a conduction mechanism that serve as a drive source for the robot arm 121. In order to control the operation of these drive source PS, the drive system 241 is provided with a sensing device SD. That is, the drive system 241 drives the drive source PS while sensing with the sensing device SD under the control of the information processing unit 232, and controls the operation of the robot device 101.

However, the sensing device SD may not only have a structure for detecting a physical quantity in the real world, but may also have a structure for calculating and sensing the operation of the drive source PS.

The work system 251 includes each part mounted on the robot hand 131, that is, a vacuum generator 138, a camera 134, and a screw driving machine 135 that generate a suction force on the suction pad 137. The operation of the vacuum generator 138, the camera 134, and the screw driving machine 135 is controlled by the information processing unit 232.

Needless to say, all the units connected to the information processing unit 232 via the I / O 236 are digitally connected. For example, the vacuum generator 138 and the screw driving machine 135 are given a drive signal which is a digital signal, and the drive signal is interpreted inside these devices 138 and 135. The sensing device SD outputs the amount of change as an analog value, which is converted into a digital signal and input to the I / O 236.

5. Board pasting method and processing The board pasting method of the present embodiment is executed in cooperation with the processing by the information processing apparatus 211 provided in the control panel 201. The information processing device 211 causes the information processing unit 232 to execute the board sticking process according to the computer program for sticking the board stored in the HDD 237. Hereinafter, the board pasting method and processing will be described step by step.

(1) Robot device installation process The board attachment method begins with installing the robot device 101 in the construction space WS. As an example, the robot device 101 is located as shown in FIG. 1, that is, in front of the board mounting frame 1 which is the construction area A, and in the vicinity of the board pallet 2 which is the stock area B. Since two board pallets 2 are provided in the present embodiment, the robot device 101 is installed between the two board pallets 2.

Subsequently, as shown in FIG. 12, the learning process is executed. When the robot device 101 is installed in the construction space WS, the information processing device 211 of the control panel 201 that controls the operation of the robot device 101 does not recognize the positions of the construction area A and the stock area B. Therefore, it is necessary for the information processing device 211 to learn the approximate positions of the construction area A and the stock area B.

To execute the learning process, first, the robot hand 131 is moved to the construction area A according to the instruction from the input device 239 (step S11). This process is executed by the number input on the input device 239 or the GUI input linked with the display on the display device 238.

In step S11, the robot hand 131 is positioned at the lowest position on the left side of the board mounting frame 1 where the first wall board WB should be attached, and the suction pad 137 is made to face the position where the wall board WB is attached. ..

When the robot arm 121 is operated to move the robot hand 131, the board pasting device 11 traces the coordinates of the robot hand 131 by the sensing operation of the sensing device SD. That is, the coordinates of the robot hand 131, which changes from moment to moment, are sensed by the sensing device SD, and this is stored in a memory, for example, RAM 234 or EEPROM 233.

The CPU 231 of the information processing unit 232 stores the coordinates of the robot hand 131 positioned at the position where the first wall board WB is to be attached in the memory (step S12). Let M1 be the coordinate point data stored in this way.

If necessary, the CPU 231 may execute the processes of steps S11 and S12 not only at the sticking positions of one wall board WB but also at the sticking positions of all the second and subsequent wall board WBs. When the size of the wall board WB is known in advance, it is possible to calculate the sticking position of the second and subsequent wall board WBs by learning only the sticking position of the first wall board WB. is there. On the other hand, if such preparation is not made, or if the size of the wall board WB is known for the first time in the field, the processes of steps S11 and S12 are repeated to obtain all the wall board WBs. The coordinates of the robot hand 131 when facing the sticking position can be stored in the memory.

Subsequently, the CPU 231 positions the robot hand 131 in the stock area B, makes the gripping tool 133 face the wall surface board WB stored in the board pallet 2, and supports the process of acquiring the coordinates of the robot hand 131 at that time. (Steps S13 and S14).

During step S13, the CPU 231 moves the robot hand 131 to a position above the wall surface board WB stacked on the board pallet 2 installed in the stock area B in response to the instruction input from the input device 239. At this position, when the robot hand 131 is lowered as it is, the suction pad 137 is placed on the uppermost wall board WB whose height is lowered each time it is picked up without colliding with the board receiving frame 29 or the like of the board pallet 2. It is a position where it can be contacted. Before and after this, the CPU 231 controls the posture of the robot hand 131 so that the suction pad 137 faces downward.

Subsequent processing differs depending on the board pallet 2 used. There is a difference between the case where the board pallet 2 of the first form is used and the case where the board pallet 2 of the second or third form is used.

(When the board pallet of the first form is used)
The CPU 231 lowers the robot hand 131 in a straight vertical direction. The descending robot hand 131 will eventually bring the suction pad 137 into contact with the wall surface board WB stacked on the board pallet 2. This process is supported, for example, by inputting data to the input device 239.

(When a second or third form of board pallet is used)
It is basically the same as the above processing.
However, the board pallet 2 of the second or third form supports the wall surface board WB in an inclined state. Therefore, the robot hand 131 is adapted to the direction and angle of inclination of the wall board WB.

The process of step S13 is completed by bringing all the suction pads 137 into close contact with the wall surface board WB stacked on the board pallet 2 so that the wall surface board WB can be gripped by vacuum suction.

In step S13, the robot hand 131 descends from the position above the wall surface board WB stacked on the board pallet 2 installed in the stock area B (hereinafter referred to as “preparation position P1”) and is gripped by vacuum suction. It is positioned at a position where all the suction pads 137 are brought into close contact with the wall surface board WB (hereinafter referred to as "close position P2") in a possible state. At this time, since the CPU 231 recognizes the coordinates of the robot hand 131, it is possible to recognize all the coordinates on the movement locus of the robot hand 131. Therefore, the CPU 231 stores the coordinates of the robot hand 131 at the preparation position P1 and the close position P2 in the memory (step S14). Let M2 be the coordinate point data stored in this way.

The preparation position P1 and the close position P2 are shown in the left side view and the middle view in FIG. 15, and in FIG. 16 (A).

By the above processing, the processing of causing the information processing apparatus 211 to learn the approximate positions of the construction area A and the stock area B is completed.

(2) Acquisition process of mark coordinate points In this process, it is assumed that the construction area A to which the first wall board WB is attached is imaged by the camera 134 provided on the robot hand 131 and correctly arranged in the construction area A. The coordinate points of the marks M in the construction area A associated with the three feature points F of the wall board WB are estimated and stored.

In the present embodiment, the three feature points F are three of the four corners of the wall board WB (see the lower diagram in FIG. 17). This feature point F is also common to the second and subsequent wall board boards WB.

As shown in FIG. 13, in order to execute this step, the CPU 231 of the information processing unit 232 controls the drive system 241 and moves the robot hand 131 to the construction area A (step S101). The construction area A at this time is the lowest position on the left side of the board mounting frame 1 to which the first wall board WB should be attached. The CPU 231 can move the robot hand 131 to the construction area A by using the coordinate point data M1 (see step S12 in FIG. 12) stored in the memory area (the same applies hereinafter).

As a result, the robot device 101 is in a posture as shown in the upper part of FIG.

Therefore, the CPU 231 captures the construction area A with the camera 134 (step S102) and performs pattern matching (step S103). The pattern matching means matching for the mark M in the construction area A associated with the three feature points F of the wall board WB which is assumed to be correctly arranged in the construction area A. The information processing device 211 stores the data of the peripheral image of the mark M as sample data in, for example, HDD 237, and copies the sample data to a memory area such as RAM 234 or EEPROM 233. Therefore, in the captured image, the area that matches the sample data recorded in the memory area in this way is pattern-matched.

Regarding the mark M used for pattern matching, for example, the characteristic shape of the construction area A can be used as the mark M. Alternatively, when the construction area A does not have such a characteristic shape, a mark (not shown) previously attached to the construction area A can be used as the mark M.

When the CPU 231 recognizes the mark M by the pattern matching in step S103, the CPU 231 estimates its coordinates (step S104). Since the information processing device 211 traces the position of the robot hand 131 and recognizes its coordinate point, it is possible to estimate the coordinate point of the mark M from the coordinate point of the current position of the robot hand 131.

The CPU 231 stores the estimated coordinate point of the mark M in the memory (step S105). Let the coordinate point data stored in this way be M11.

(3) Gripping Step of the First Wall Board In this step, the robot hand 131 is moved to the stock area B, and the uppermost wall board WB is used as the first wall board WB to be gripped on the robot hand 131. Grip with tool 133.

As shown in FIG. 13, in order to execute this step, the CPU 231 of the information processing unit 232 controls the drive system 241 and moves the robot hand 131 above the stock area B (step S106). The CPU 231 can move the robot hand 131 to the stock area B by using the coordinate point data M2 (see step S14 in FIG. 12) stored in the memory area (the same applies hereinafter).

In the stock area B, the wall surface board WB is stored in the board pallet 2. Therefore, the CPU 231 takes an image of the wall surface board WB with the camera 134 (step S107), and grips the uppermost wall surface board WB with the gripper 133 (step S108).

The processing content after this differs depending on the board pallet 2 used. There is a difference between the case where the board pallet 2 of the first form is used and the case where the board pallet 2 of the second or third form is used. Hereinafter, the description will be described separately.

(When the board pallet of the first form is used)
FIG. 15 is a schematic view showing the pickup operation of the wall board WB over time. The left side view in FIG. 15 shows the robot hand 131 descending toward the wall surface board WB stacked on the board pallet 2, and the middle view in FIG. 15 shows the suction pad 137 of the lowered robot hand 131 at the top. The right side view in FIG. 15 shows how the robot hand 131 holding the wall surface board WB rises, respectively. The processing contents of steps S107 and S108 will be described with reference to FIG.

The CPU 231 that has executed the process of positioning the robot hand 131 at the preparation position P1 (step S106) captures the wall surface board WB with the camera 134 (step S107). Subsequently, the CPU 231 shifts to the process of step S108, determines the position of the uppermost wall board WB from the feature point F included in the captured image, and obtains the center position of the wall board WB. Then, the CPU 231 controls the drive source PS so as to align the center position of the robot hand 131 with the center position of the obtained wall surface board WB.

The CPU 231 that executes step S108 adjusts the center position of the robot hand 131 to the center position of the wall surface board WB, controls the drive source PS, and lowers the robot hand 131 to the close position P2. The downward direction is the vertical direction (see the middle view in FIG. 15).

When the lowered robot hand 131 reaches the wall surface board WB, the suction pad 137 included in the gripping tool 133 is brought into close contact with the wall surface board WB.

The CPU 231 then issues an operation command for the vacuum generator 138. In response to this, the vacuum generator 138 operates to evacuate the inside of the suction pad 137. As a result, the suction pad 137 is attracted to the wall surface board WB, and the wall surface board WB can be gripped by the robot hand 131. The center of the robot hand 131 is aligned with the center of the wall surface board WB.

(When the board pallet of the second form is used)
16 (A) and 16 (B) are schematic views showing the pickup operation of the wall board WB over time. FIG. 16A shows a state in which the robot hand 131 descends toward the wall surface board WB stacked on the board pallet 2, and FIG. 16B shows a state in which the robot hand 131 holding the wall surface board WB rises. Are shown respectively. The processing contents of steps S107 and S108 will be described with reference to FIGS. 16A and 16B.

Prior to the imaging process in step S107, the CPU 231 tilts the robot hand 131 located at the preparation position P1 according to the tilt direction and tilt angle of the wall surface boards WB stacked on the board pallet 2 (FIG. 16A). reference). The direction and angle at which the robot hand 131 should be tilted can be obtained, for example, by calculation based on the coordinate point data M2 stored in the memory in step S14 in FIG. As another example, such a calculation may be performed in advance, and the data of the direction and angle at which the robot hand 131 should be tilted may be included in the data M2. As yet another example, since the inclination angle of the wall surface board WB stacked on the board pallet 2 is known information from the beginning, the data of the inclination angle of the wall surface board WB should be stored in the data M2 in advance, for example. It may be.

After executing the process of tilting the robot hand 131, the CPU 231 takes an image of the wall surface board WB with the camera 134 (step S107). Subsequently, the CPU 231 shifts to the process of step S108, determines the position of the uppermost wall board WB from the feature point F included in the captured image, and obtains the center position of the wall board WB. Then, the CPU 231 controls the drive source PS so as to align the center position of the robot hand 131 with the center position of the obtained wall surface board WB.

The CPU 231 that executes step S108 adjusts the center position of the robot hand 131 to the center position of the wall surface board WB, controls the drive source PS, and lowers the robot hand 131 to the close position P2. The descending direction is the direction perpendicular to the wall surface board WB (see FIG. 16 (A)).

When the lowered robot hand 131 reaches the wall surface board WB, the suction pad 137 included in the gripping tool 133 is brought into close contact with the wall surface board WB. At this time, the CPU 231 stops driving the drive source PS based on the output signal of the pressure sensor 136, determines the position of the robot hand 131, and brings the suction pad 137 into close contact with the wall surface board WB at the optimum pressure.

The CPU 231 then issues an operation command for the vacuum generator 138. In response to this, the vacuum generator 138 operates to evacuate the inside of the suction pad 137. As a result, the suction pad 137 is attracted to the wall surface board WB, and the wall surface board WB can be gripped by the robot hand 131. The center of the robot hand 131 is aligned with the center of the wall surface board WB.

(4) Pick-up Step of First Wall Board This step is common regardless of which of the board pallets 2 of the first form, the second form, and the third form is used.

As shown in the right side view and FIG. 16B in FIG. 15, in this step, the first wall board WB gripped by the gripping tool 133 is picked up. The wall board WB is picked up by raising the robot hand 131 directly above in the vertical direction.

When the board pallet 2 of the first embodiment is used, the CPU 231 sends a drive signal to the drive source PS so that the robot hand 131 located at the close position P2 shown in the middle diagram in FIG. 15 rises straight in the vertical direction. Output (step S109). At this time, the robot hand 131 causes the gripping tool 133 to grip the uppermost wall surface board WB. Therefore, as the robot hand 131 rises, the top wall board WB also rises straight in the vertical direction.

When the board pallet 2 of the second form is used, the CPU 231 rotates the robot hand 131 located at the close position P2 shown in FIG. 16A to level the wall board WB gripped by the gripping tool 133. After that, the CPU 231 outputs a drive signal to the drive source PS so that the robot hand 131 rises straight in the vertical direction (step S109). As the robot hand 131 rises, the uppermost wall board WB gripped by the gripping tool 133 also rises straight in the vertical direction.

(5) Recognition Step of Feature Point of First Wall Board In this step, the first wall board WB gripped by the gripping tool 133 is imaged by the camera 134, and the position of the feature point F is recognized from the captured image. To do.

In order to execute this step, the CPU 231 of the information processing unit 232 controls the drive system 241 to make the uppermost wall board WB held vertically, and the camera 134 takes an image again (step S110). Then, the position of the feature point F is recognized from the imaged data, and the position data is stored in the memory (step S111). The position data stored in this way is referred to as M12.

At this time, the robot device 101 is in a posture as shown in the lower diagram in FIG.

(6) Arrangement Step of First Wall Board In this step, the robot hand 131 that grips the first wall board WB is moved to the construction area A, and the feature point F recognized as the coordinate point of the mark M to be stored. The first wall board WB is placed in the construction area A by aligning the positions of.

In order to execute this step, the CPU 231 of the information processing unit 232 controls the drive system 241 and moves the robot hand 131 holding the wall surface board WB to the construction area A (step S112).

Then, when arranging the wall board WB to be gripped in the construction area A, the CPU 231 stores the coordinate points of the mark M stored in the memory so that the feature point F can be aligned with the position of the mark M in the construction area A. The calculation for spatial movement that matches the data M11 (see step S105) and the position data M12 (see step S111) of the feature point F is executed (step S113).

Subsequently, the CPU 231 arranges the wall surface board WB at a position in the construction area A obtained by the calculation result in step S113 (step S114). As a result, the wall surface board WB is correctly arranged on the board mounting frame 1 without being displaced.

(7) Fixing Step of First Wall Board In this step, the first wall board WB arranged in the construction area A is placed in the construction area A by a screw driving machine 135 as a fixture provided on the robot hand 131. Fix it.

In order to execute this process, the CPU 231 of the information processing unit 232 drives the screw driving machine 135 (step S115). As a result, the wall surface board WB is screwed to the board mounting frame 1.

As shown in FIG. 18, when the wall surface board WB is screwed to the board mounting frame 1, it is temporarily fixed first. Temporary fixing is performed in a state where the wall surface board WB is pressed against the construction area A of the board mounting frame 1 by the robot hand 131 (see steps S114 to S116). After the temporary fixing, the CPU 231 moves the robot hand 131 and causes the screw driving machine 135 to screw the outer row OL. Then, the CPU 231 rotates the robot hand 131 by 90 °, and causes the screw driving machine 135 to screw the inner row IL. At this time, the inner row IL (1) is screwed, and then the inner row IL (2) is screwed.

(8) Acquisition process of mark coordinate points In this process, it is assumed that the construction area A to which the second wall board WB is attached is imaged by the camera 134 provided on the robot hand 131 and correctly arranged in the construction area A. The coordinate points of the landmarks M in the construction area A associated with the three feature points F of the wall board WB are estimated and stored in the memory.

In order to execute this step, the CPU 231 of the information processing unit 232 executes the same process as steps S101 to S105 in FIG. 13 and is assumed to be arranged at an adjacent position of the wall board WB that has already been fixed. The position of the mark M is acquired as the coordinate data M11.

(9) Gripping Step of Second Wall Board In this step, the robot hand 131 is moved to the stock area B, and the uppermost wall board WB is gripped by the gripping tool 133 as the second and subsequent wall board WBs. Similar to the above-mentioned "grasping step of the first wall board", the processing content in this step differs depending on the board pallet 2 used. There is a difference between the case where the board pallet 2 of the first form is used and the case where the board pallet 2 of the second or third form is used.

(When the board pallet of the first form is used)
As shown in FIG. 14, in order to execute this step, the CPU 231 of the information processing unit 232 controls the drive system 241 and moves the robot hand 131 above the stock area B (step S201).

In the stock area B, the wall surface board WB is stored in the board pallet 2. Therefore, the CPU 231 takes an image of the wall surface board WB with the camera 134 (step S202), and grips the uppermost wall surface board WB with the gripping tool 133 (step S203). That is, the vacuum generator 138 is operated, and the wall surface board WB is sucked by the suction pad 137 (see the state transition from the left side figure to the middle figure in FIG. 15). At this time, the CPU 231 estimates the position of the second and subsequent top wall board WBs based on the position determined for the first wall board WB with reference to the captured image, and is the center of the wall board WB. Find the position and grasp this center position.

(When a second or third form of board pallet is used)
It is basically the same as the above processing.
However, the CPU 231 also gives a control signal to the drive source PS for the second wall board WB as in the case of the first board, and controls the attitude of the robot hand 131. That is, the robot hand 131 is also tilted with respect to the horizontal plane in accordance with the tilt direction and tilt angle of the wall surface boards WB stacked on the board pallet 2 (see FIG. 16A).

(10) Pick-up process of the second wall board This step is the same as the above-mentioned "pick-up step of the first wall board", and is any of the first form, the second form, and the third form. It is common even when the board pallet 2 is used.

As shown in FIG. 16B, in this step, the second wall surface board WB gripped by the gripper 133 is picked up. The wall board WB is picked up by raising the robot hand 131 directly above in the vertical direction.

When the board pallet 2 of the first embodiment is used, the CPU 231 sends a drive signal to the drive source PS so that the robot hand 131 located at the close position P2 shown in the middle diagram in FIG. 15 rises straight in the vertical direction. Output (step S204). At this time, the robot hand 131 causes the gripping tool 133 to grip the uppermost wall surface board WB. Therefore, as the robot hand 131 rises, the top wall board WB also rises straight in the vertical direction.

When the board pallet 2 of the second form is used, the CPU 231 rotates the robot hand 131 located at the close position P2 shown in FIG. 16A to level the wall board WB gripped by the gripping tool 133. After that, the CPU 231 outputs a drive signal to the drive source PS so that the robot hand 131 rises straight in the vertical direction (step S109). As the robot hand 131 rises, the uppermost wall board WB gripped by the gripping tool 133 also rises straight in the vertical direction.

(11) Recognizing the Feature Points of the Second Wall Board In this step, the second and subsequent wall boards WB gripped by the gripping tool 133 are imaged by the camera 134, and the position of the feature points F is taken from the captured image. Recognize.

In order to execute this step, the CPU 231 of the information processing unit 232 controls the drive system 241 to make the uppermost wall board WB gripped vertically, and the camera 134 takes an image again (step S205). Then, the position of the feature point F is recognized from the imaged data, and the position data is stored in the memory (step S206). The position data stored in this way is referred to as M13.

At this time, the robot device 101 is in a posture as shown in the lower diagram in FIG.

(12) Arrangement Step of Second Wall Board In this step, the robot hand 131 that grips the second and subsequent wall board WBs is moved to the construction area A and placed at a position adjacent to the already fixed wall board WB. The position of the recognized feature point F is aligned with the coordinate point of the mark M assumed at the time of arrangement, and the second and subsequent wall board boards WB are arranged in the construction area A.

In order to execute this step, the CPU 231 of the information processing unit 232 controls the drive system 241 and moves the robot hand 131 holding the wall surface board WB to the construction area A (step S207).

Then, when the wall board WB to be gripped is arranged in the construction area A, the feature point of the wall board WB to be gripped is at the position of the mark M assumed when the wall board WB is arranged at the position adjacent to the already fixed wall board WB. Make it possible to align the position of F. Therefore, the CPU 231 executes a calculation for spatial movement to match the coordinate point data M11 of the mark M stored in the memory with the position data M13 of the feature point F (see step S206) (step S208).

Subsequently, the CPU 231 arranges the wall surface board WB at a position in the construction area A obtained by the calculation result in step S208 (step S209). At this time, in order to eliminate the deviation from the first wall board WB that has already been constructed, the second wall board WB held by the robot hand 131 is moved toward the first wall board WB. You may slide it. As a result, the wall surface board WB is correctly arranged on the board mounting frame 1 without being displaced.

(13) Step of Fixing Second Wall Board In this step, the second and subsequent wall boards WB arranged in the construction area A are fixed to the construction area A with the screw driving machine 135.

In order to execute this process, the CPU 231 of the information processing unit 232 drives the screw driving machine 135 (step S210). As a result, the wall surface board WB is screwed to the board mounting frame 1.

As shown in FIG. 18, when the wall surface board WB is screwed to the board mounting frame 1, it is temporarily fixed first. Temporary fixing is performed in a state where the wall surface board WB is arranged in the construction area A of the board mounting frame 1 by the robot hand 131 (see step S209). After the temporary fixing, the CPU 231 moves the robot hand 131 and causes the screw driving machine 135 to screw the outer row OL. Then, the CPU 231 rotates the robot hand 131 by 90 °, and causes the screw driving machine 135 to screw the inner row IL. At this time, the inner row IL (1) is screwed, and then the inner row IL (2) is screwed.

In order to attach the third and subsequent wall board WBs to the construction area A of the board mounting frame 1, the processes of steps S201 to S212 may be repeated. At this time, in order to shift to the upper construction area A of the construction area A that has already been constructed, as an example, the construction may be performed again from the construction area A on the left side, or the construction area that was last constructed may be used. The construction may be performed from the construction area A immediately above A.

6. Another Embodiment of the Board Sticking Device 11 Another embodiment of the board sticking device 11 will be described with reference to FIGS. 19 to 26. The same parts as those of the above-described embodiment described with reference to FIGS. 1 to 18 are designated by the same reference numerals, and the description thereof will be omitted. In the description, the drawings in FIGS. 1 to 18 are also used as appropriate.

(1) Robot Hand As shown in FIG. 19, the robot hand 131 of the present embodiment does not include the camera 134, but instead includes the distance measuring instrument 401. The distance measuring instrument 401 will be described with reference to FIGS. 20A and 20B.
As the distance measuring instrument 401, a laser distance meter (also referred to as a laser range finder), a stereo camera, an ultrasonic sensor, or the like can be appropriately used. Hereinafter, an example using a laser range finder as the distance measuring instrument 401 will be described.

The distance measuring instrument 401 irradiates the measurement object O with the laser beam LB, receives the reflected light, and measures the distance to the measurement object. The distance measuring instrument 401 used may be of any type. Various types of distance measuring instruments can be used as long as they can measure a short distance of about several tens of mm to several hundreds of mm.

Here, the three-dimensional direction, axis, and position of the distance measuring instrument 401 with respect to the measurement object O are defined as follows. The vertical direction of the object O to be measured is the X direction, the horizontal direction is the Y direction, and the depth direction is the Z direction. The axis along the X direction is the X axis 301, the axis along the Y direction is the Y axis 302, and the axis along the Z direction is the Z axis 303. Then, the intersection of the X-axis 301 and the Y-axis 302 is from the first position 311 and the position away from the first position 311 on the X-axis 301 is from the second position 312 and from the first position 311 on the Y-axis 302. The distant position is the third position 313. Based on this premise, the distance measuring instrument 401 is attached to the robot hand with the optical axis L aligned on the Z axis 303 passing through the first position 311 and the second position 312 and the third position 313. There is.

For convenience of explanation, the optical axis is aligned on the Z-axis 303 passing through the first position 311 and the optical axis is aligned on the Z-axis 303 passing through the distance measuring instrument 401a and the second position 312. Is referred to as a distance measuring instrument 401b, and a distance measuring instrument 401c whose optical axis is aligned on the Z axis 303 passing through the third position 313.

As shown in FIG. 20 (A), when the object to be measured O is the base in the board attachment position A1 in the construction area A, that is, the board mounting frame 1 (see FIG. 22), the X-axis 301 is in the vertical direction and the Y-axis. The 302 and the Z-axis 303 face horizontally. This is because the board mounting frame 1 is erected vertically.

As shown in FIG. 20 (B), when the measurement object O is the uppermost wall board WB (see FIG. 1) stacked in the stock area B, the X-axis 301 and the Y-axis 302 are in the horizontal direction. The Z-axis 303 faces in the vertical direction. This is because in the stock area B, the wall surface board WB is laid down on the board pallet 2 in a state of being slightly inclined from the horizontal.

The size of the wall board WB is, for example, 1820 mm in length and 910 mm in width. The width of the board mounting frame 1 is also set to 910 mm accordingly. However, the board mounting frame 1 is composed of a plurality of lightweight steel frame materials 1S installed vertically with respect to one board pasting position A1. The lightweight steel frame material 1S is also called LGS (Light Gauge Steel).

The width of the wall board WB of 910 mm is determined by the arrangement interval of the two lightweight steel frame materials 1S on both ends. Therefore, the first position 311 and the third position 313 that define the separation distance of the optical axes L of the two distance measuring instruments 401 arranged in the Y-axis direction are arranged in the board mounting frame 1 by the width of the wall surface board WB. The position is set so that the laser beam LB emitted from the distance measuring instrument 401 interferes with the two lightweight steel frame materials 1S. Assuming that the lightweight steel frame 1S of the board mounting frame 1 has a width of, for example, 50 mm, the separation distance between the first position 311 and the third position 313, that is, two arranged in the Y-axis direction. The separation distance of the optical axis L of the distance measuring instrument 401 is in the range of 860 to 960 mm, for example, 885.5 mm.

The screw driving machine 135 launches screws (not shown) for fixing the wall surface board WB to the board mounting frame 1. A pair of screw driving machines 135 are provided, and extend from two corners on one end side of the frame 132 in a direction of expanding each other.

(2) Information Processing Device As shown in FIG. 21, the distance measuring instrument 401 is digitally connected to the work system 251 connected to the information processing device 211 configured by the microcomputer via the I / O 236. The distance measuring instrument 401 irradiates the object with the laser beam LB to measure the distance between the object and the object, and inputs the measurement result to the I / O 236 as a digital signal.

(3) Board pasting method and processing The board pasting method is executed in cooperation with the processing by the information processing apparatus 211. The information processing device 211 causes the information processing unit 232 to execute the board sticking process according to the computer program for sticking the board stored in the HDD 237.

(A) Outline The board pasting method begins with the appearance of the construction space WS and the installation of the robot device 101 in the construction space WS. The construction space WS is a space in which a plurality of wall board WBs stacked on the board pallet 2 are installed in the vicinity of the construction area A of the building in which the board mounting frame 1 is installed. As an example, the robot device 101 is installed in a place as shown in FIG. 1, that is, in front of the construction area A and in the vicinity of the board pallet 2 which is the stock area B.

The board sticking method is roughly described by driving the robot arm 121 of the robot device 101, gripping the uppermost wall surface board WB stacked on the board pallet 2 with the gripping tool 133 provided on the robot hand 131, picking it up, and performing the construction area. It is a method of carrying it to A and pasting it at the board pasting position A1. This method is roughly divided into two aspects. One is the measurement and storage of position data, and the other is construction.

(Measurement and storage of position data)
When the robot device 101 is installed in the construction space WS, not only the control panel 201 that controls the operation of the robot device 101, but also the information processing device 211 does not recognize the positions of the construction area A and the stock area B. Therefore, the information processing device 211 provides information on the board pasting position A1 in the construction area A where the board is to be actually pasted and the position data of the stock area B for picking up the uppermost wall board WB from the board pallet 2. It is necessary to give it to the processing device 211 and store it in storage.

In the aspect of measuring and storing the position data, the position data of the uppermost wall surface board WB stacked on the board pallet 2 to be given to the robot device 101 and the board pasting position A1 in the construction area A is measured, for example. It is saved in a memory such as RAM 234. The position data in this case are the rotation angles of the three axes of XYZ of the robot hand 131 and the coordinates of XYZ. The three axes of XYZ referred to here mean the three axes of X-axis 301, Y-axis 302, and Z-axis 303 shown in FIGS. 20A and 20B, and are referred to by the joints 122a to 122f of the robot arm 121. The meaning is different from the defined six axes.

Regarding the rotation angle and coordinates of the robot hand 131 that faces the gripping tool 133 to the board sticking position A1 in the construction area A, the sticking X angle, the sticking Y angle, the sticking Z angle, the sticking Z coordinate, the sticking X coordinate, and the sticking Y coordinate And save.

Regarding the rotation angle and coordinates of the robot hand 131 in which the gripping tool 133 faces the uppermost wall board WB in the stock area B, the gripping X angle, the gripping Y angle, the gripping Z angle, the gripping Z coordinate, the gripping X coordinate, and the gripping Measure and save the Y coordinate.

(Construction)
In the construction phase, the position data saved in the measurement and storage phase of the above position data is used to carry out the board pasting work on the construction area A.

Below, the details of the board pasting method and processing,
"(B) Measurement and storage of position data"
"(C) Construction"
It is divided into two items and explained step by step.

(B) Measurement and storage of position data As shown in FIG. 22, in order to measure position data in the construction area A, it is necessary to attach the wall surface board WB to a specific location of the board mounting frame 1.

It is the left side and the lower side of the board pasting position A1 to which the wall board WB is to be pasted that needs to be pasted. In the example shown in FIG. 22, the portion indicated by the circled numbers 1 to 9 is the board pasting position A1 in the construction area A. It occupies the area of nine sheets in three columns and three rows. The circled numbers 1 to 9 indicate the sticking order of the wall board WB.

It is the leftmost column and the bottom column of the board mounting frame 1 adjacent to the board sticking position A1 that the wall board WB needs to be stuck to the board sticking position A1. As shown in FIG. 22, a total of seven wall board WBs are attached to the leftmost column and the bottom column of the board mounting frame 1. In the present embodiment, the wall board WB previously attached in this way is referred to as an existing wall board WB1, and the position where the wall board WB is already installed is referred to as a board existing position A2. The existing wall board WB1 is attached to the board mounting frame 1 by hand, for example.

(B) Outline of treatment (construction area)
As shown in FIG. 23, the CPU 231 included in the information processing unit 232 of the information processing device 211 moves the robot hand 131 to the construction area A according to the instruction from the input device 239 (step S11). This process is executed by the number input on the input device 239 or the GUI input linked with the display on the display device 238. When the movement instruction of the robot hand 131 is input by the input device 239 or the GUI input, the information processing device 211 has an X-axis angle, a Y-axis angle, a Z-axis angle, and an X-axis coordinate according to the input. , Y-axis coordinates, and Z-axis coordinates are transmitted to the control panel 201 to operate the robot arm 121.

By this process, the gripping tool 133 attached to the robot hand 131 is in a state as shown in FIG. 22, for example. However, FIG. 22 shows a state in which the gripping tool 133 is accurately positioned at the board pasting position A1. In the process of step S11, the gripping tool 133 is moved to a more rough position with respect to the construction area A to be constructed.

The board mounting frame 1 with which the gripping tool 133 is faced by the process of step S11 is a set, and in the present embodiment, the board mounting frame 1 to be constructed first of the nine-sheet set. The board mounting frame 1 is indicated by a circled number of "1" in FIG. 22.

Subsequently, the CPU 231 accurately obtains the sticking angle and the sticking coordinates of the robot arm 121 when the wall board WB is stuck to the board mounting frame 1 to be constructed first, and stores the robot arm 121 in the storage area (step S12). More specifically, the sticking angle is a sticking X angle, a sticking Y angle, and a sticking Z angle. More specifically, the pasting coordinates are the pasting X coordinate, the pasting Y coordinate, and the pasting Z coordinate. The storage area is, for example, RAM 234 or EEPROM 233. The process of step S12 will be described in detail based on the flowchart of FIG. 24.

(Stock area)
Subsequently, the CPU 231 positions the robot hand 131 in the stock area B, and supports a process of facing the gripping tool 133 with the wall surface board WB stored in the board pallet 2 (step S13). That is, according to the instruction from the input device 239, the robot hand 131 is moved to the stock area B, and the posture of the robot hand 131 is controlled so that the suction pad 137 faces directly downward.

Subsequently, the CPU 231 accurately obtains the gripping angle and the gripping coordinates of the robot arm 121 when gripping the uppermost wall surface board WB stacked in the stock area B, and stores the gripping coordinates in the storage area (step S14). More specifically, the gripping angle is a gripping X angle, a gripping Y angle, and a gripping Z angle. More specifically, the gripping coordinates are the gripping X coordinate, the gripping Y coordinate, and the gripping Z coordinate. The storage area is, for example, RAM 234 or EEPROM 233. The process of step S14 will be described in detail based on the flowchart of FIG.

The above is the outline of the process for measuring and storing the position data. Hereinafter, the measurement and storage of the position data of the robot arm 121 in the construction area A which is the board pasting position and the stock area B which is the board gripping position will be described in detail.

(B) Processing in the construction area The CPU 231 receives output signals from the three distance measuring instruments 401 attached to the robot hand 131, and executes the next process and processing.

(Overview)
As shown in FIG. 8, the CPU 231 sends a command to the control panel 201 that controls the robot device 101, drives the robot hand 131 with the robot arm 121, and attaches a board having a board attachment base, that is, a board attachment frame 1. The gripper 133 is made to face the position A1 (step S1101).

Subsequently, the rotation angle setting process of the robot hand 131 is performed. For this process, the CPU 231 determines the rotation angle around the X-axis 301 and the Y-axis 302 that maintain the parallelism in the Z direction of the robot hand 131 and the XY direction of the robot hand 131 based on the output signal of the distance measuring instrument 401. The rotation angle around the Z-axis 303 that maintains the parallelism is obtained. The obtained rotation angle is stored in a storage area such as RAM 234 as a sticking X angle, a sticking Y angle, and a sticking Z angle (steps S1102 to S1107).

Subsequently, the coordinate setting process of the robot hand 131 is performed. For this process, the CPU 231 obtains the coordinates of the X-axis, Y-axis, and Z-axis of the robot hand 131 when the wall board WB is attached to the board attachment position A1 based on the output signal of the distance measuring instrument 401, respectively. It is stored in a storage area such as RAM234 as the paste X coordinate, the paste Y coordinate, and the paste Z coordinate (steps S1108 to S1110).
(Rotation angle setting process)

The CPU 231 that executes the processes of steps S1102 to S1107 sends a command to the control panel 201 that controls the robot device 101, moves the robot hand 131 to a predetermined path by the robot arm 121, or changes the posture of the robot hand 131. To control.

First, the CPU 231 moves the robot hand 131 from the board pasting position A1 toward the board existing position A2 adjacent to the left side (step S1102), and then returns the robot hand 131 to the board pasting position A1 again (step S1103).

At this time, the CPU 231 takes in the output signals of the two distance measuring instruments 401a and 401b (see FIG. 22) arranged in the X-axis direction, and recognizes the type of the detection target. The distance from the distance measuring instruments 401 (401a to 401c) is detected longer when the laser beam LB is irradiating the board mounting frame 1 than when it is irradiating the existing wall board WB1. The detection target can be recognized by the difference in distance.

By returning the robot hand 131 that has been moved toward the existing board position A2 to the board attachment position A1 again, the distance measuring instruments 401a to 401c irradiate the board attachment frame 1 located at the board attachment position A1 with the laser beam LB. A possible state is secured.

Prior to setting the rotation angle, the CPU 231 temporarily corrects the angle around the Z axis of the robot hand 131 (step S1104). At the stage up to this point, all of the pasting X angle, the pasting Y angle, and the pasting Z angle have not been adjusted. Therefore, if the deviation of each angle is too large, the correct setting cannot be made. .. However, the provisional correction process of step S1104 is not always essential, and this process routine may be omitted. By omitting the process of step S1104, the time required for setting the rotation angle of the robot hand 131 can be shortened accordingly.

To temporarily correct the angle around the Z axis of the robot hand 131, the robot hand 131 is horizontally moved from the board pasting position A1 to the existing board position A2 adjacent to the board, and two distance measuring instruments 401a arranged in the X-axis direction. , 401b is performed by matching the detection position of the step detected by the output signal. This step is a step that occurs between the board mounting frame 1 in the board pasting position A1 and the existing wall board WB1 in the existing board position A2. When the laser beam LB irradiated by the distance measuring instruments 401a and 401b crosses this step, the recognizable measurement distance changes depending on the output signal of at least one of the distance measuring instruments 401a and 401b, so that the CPU 231 detects the step. Can be done.

When the CPU 231 detects a step based on the output signal of at least one of the two distance measuring instruments 401, for example, the distance measuring instrument 401b, the CPU 231 stops the horizontal movement of the robot hand 131 and centers the axis of the laser beam LB across the step. The robot hand 131 is rotated around the Z axis. In the process of this rotation, when the detection of the step is determined based on the output signal of another distance measuring instrument 401a arranged in the X-axis direction, the CPU 231 stops the rotation operation of the robot hand 131. As a result, the angle around the Z axis of the robot hand 131 is temporarily corrected.

After tentatively correcting the angle around the Z axis of the robot hand 131, the CPU 231 returns the robot hand 131 to a position where the distance measuring instruments 401a to 401c can irradiate the board mounting frame 1 located at the board attachment position A1 with the laser beam LB. .. In this state, the sticking Y angle, the sticking X angle, and the sticking Z angle of the robot hand 131 are set in order. The setting of the pasting Z angle executed here is this setting.

The CPU 231 rotates the robot hand 131 around the Y-axis to obtain a rotation angle at which the measurement distances based on the output signals of the two distance measuring instruments 401a and 401b arranged in the X-axis direction match (step S1105). This rotation angle is the rotation angle of the robot hand 131 with respect to the Y-axis 302 direction. The CPU 231 stores this angle as a "pasting Y angle" in a storage area such as a RAM 234.

Two types of methods can be appropriately adopted to determine the rotation angle of the robot hand 131. One method is a method obtained by calculation. Another method is a method obtained by measurement. The case of obtaining the "pasting Y angle" will be described in detail by taking as an example.

The method obtained by calculation is a method of calculating the rotation angle by calculation without actually rotating the robot hand 131. For example, the CPU 231 takes in the output signals of the two distance measuring instruments 401a and 401b arranged in the X-axis direction, and calculates the rotation angle of the robot hand 131 around the Y-axis where the measurement distances based on these output signals will match. Ask. The angle thus obtained is determined as the "pasting Y angle".

The method obtained by measurement is a method in which the robot hand 131 is actually rotated and the rotation angle at that time is actually measured. For example, the CPU 231 rotates the robot hand 131 around the Y axis and measures the rotation angle. At this time, the CPU 231 takes in the output signals of the two distance measuring instruments 401a and 401b arranged in the X-axis direction, and determines the rotation angle of the robot hand 131 when the measurement distances based on these outputs match as the "pasting Y angle". That's why.

The two types of methods for determining the rotation angle of the robot hand 131 are the same for the "pasting X angle", "pasting Z angle", "grasping Y angle", "grasping X angle", and "grasping Z angle" described later.

Next, the process of acquiring the "pasting X angle" and the like will be described.

The CPU 231 rotates the robot hand 131 around the X-axis to obtain a rotation angle at which the measurement distances based on the output signals of the two distance measuring instruments 401a and 401c arranged in the Y-axis direction match (step S1106). This rotation angle is the rotation angle of the robot hand 131 with respect to the X-axis 301 direction. The CPU 231 stores this angle as a "pasting X angle" in a storage area such as a RAM 234.

This setting of the sticking Z angle of the robot hand 131 in step S1107 is executed by using the same method as the above-mentioned provisional correction of the angle around the Z axis. The robot hand 131 is horizontally moved from the board pasting position A1 to the existing board position A2 adjacent to the left side, and the detection position of the step detected by the output signals of the two distance measuring instruments 401a and 401b arranged in the X-axis direction is determined. It is a method of adapting. At this time, the step is a step generated between the board mounting frame 1 in the board pasting position A1 and the existing wall board WB1 in the existing board position A2, as in the case of provisionally correcting the angle around the Z axis.

When the CPU 231 detects a step based on at least one of the two distance measuring instruments 401a and 401b during the horizontal movement of the robot hand 131, for example, the output signal of the distance measuring instrument 401a, the CPU 231 stops the horizontal movement of the robot hand 131 and steps. The robot hand 131 is rotated about the Z axis around the axis of the laser beam LB that crosses the above. In the process of this rotation, when the detection of the step is determined based on the output signal of another distance measuring instrument 401b arranged in the X-axis direction, the CPU 231 stops the rotation operation of the robot hand 131. The CPU 231 stores the rotation angle at this time as a "pasting Z angle" in a storage area such as a RAM 234 (step S1107).

The process of obtaining the "pasting Y angle" (step S1105), the process of obtaining the "pasting X angle" (step S1106), and the process of obtaining the "pasting Z angle" (step S1107) have been described above. In the implementation, the order of these processes is not limited to the above steps S1105 to S1107, and each step S1105 to S1107 can be replaced as appropriate.

(Coordinate setting process)
The CPU 231 that executes the processes of steps S1108 to S1110 sends a command to the control panel 201 that controls the robot device 101, moves the robot hand 131 to a predetermined path by the robot arm 121, or changes the posture of the robot hand 131. To control.

The CPU 231 is attached using the position and orientation of the robot hand 131 when the attachment Z angle is obtained, that is, the measurement distance based on the output signals of the distance measuring instruments 401a and 401b in the attitude of the robot arm 121 in which the attachment Z angle is fixed. The Z coordinate is obtained (step S1108). As an example, the pasted Z coordinate is obtained as a coordinate position obtained by adding the measurement distance based on the output signals of the distance measuring instruments 401a and 401b to the current Z coordinate of the robot arm 121.

The CPU 231 stores the coordinates thus obtained as "pasted Z coordinates" in a storage area such as RAM 234.

Subsequently, the CPU 231 obtains the pasted Y coordinate (step S1109). As a process for that purpose, the CPU 231 horizontally moves the robot hand 131 toward the existing board position A2 in the posture of the robot arm 121 in which the sticking Z angle is fixed, and outputs the two distance measuring instruments 401a and 401b arranged on the X-axis. Detects vertical steps based on the signal. The CPU 231 obtains the sticking Y coordinate using the coordinates of the robot arm 121 at the position where the step is detected. As an example, the pasted Y coordinate is obtained as the coordinate obtained by adding a known offset amount in the Y-axis direction to the coordinate of the robot arm 121 at the position where the step is detected.

The CPU 231 stores the coordinates thus obtained as "pasted Y coordinates" in a storage area such as RAM 234.

Subsequently, the CPU 231 obtains the pasted X coordinate (step S1110). As a process for that purpose, the CPU 231 vertically moves the robot hand 131 toward the existing board position A2 (movement in the X-axis direction) in the posture of the robot arm 121 in which the attachment Z angle is fixed, and moves the robot hand 131 on the side close to the existing board position A2. The step in the horizontal direction is detected by using the output signal of the distance measuring instrument 401. At this time, as an example, the CPU 231 drives and controls the robot hand 131 so as to rotate it 90 degrees in the counterclockwise direction, and uses the output signals of the two distance measuring instruments 401 that are originally arranged on the X-axis in the horizontal direction. Detect steps. The CPU 231 obtains the sticking X coordinate using the coordinates of the robot arm 121 at the position where the step is detected. As an example, the pasted X coordinate is obtained as the coordinate obtained by adding the known offset amount in the X-axis direction to the coordinate of the robot arm 121 at the position where the step is detected.

The CPU 231 stores the coordinates thus obtained as "pasted X coordinates" in a storage area such as RAM 234.

The process of obtaining the "paste Z coordinate" (step S1108), the process of obtaining the "paste Y coordinate" (step S1109), and the process of obtaining the "paste X coordinate" (step S1110) have been described above. At the time of implementation, the order of these processes is not limited to the above steps S1108 to S1110, and each step S1108 to S1110 can be replaced as appropriate.

(C) Processing in the stock area (Overview)
As shown in FIG. 25, the CPU 231 sends a command to the control panel 201 that controls the robot device 101, drives the robot hand 131 by the robot arm 121, and is the uppermost wall surface stacked on the board pallet 2 in the stock area B. The gripping tool 133 is made to face the board WB (step S1201).

Subsequently, the rotation angle setting process of the robot hand 131 is performed. For this process, the CPU 231 determines the rotation angle around the X-axis 301 and the Y-axis 302 that maintain the parallelism in the Z direction of the robot hand 131 and the XY direction of the robot hand 131 based on the output signal of the distance measuring instrument 401. The rotation angle around the Z-axis 303 that maintains the parallelism is obtained. The obtained rotation angles are stored in a storage area such as RAM 234 as the grip X angle, the grip Y angle, and the grip Z angle (steps S1202 to S1204).

Subsequently, the coordinate setting process of the robot hand 131 is performed. For this process, the CPU 231 obtains the X-axis, Y-axis, and Z-axis coordinates of the robot hand 131 when picking up the wall surface board WB from the board pallet 2 based on the output signal of the distance measuring instrument 401, and grips each of them. The X coordinate, the grip Y coordinate, and the grip Z coordinate are stored in a storage area such as the RAM 234 (steps S1205 to S1207).

(Rotation angle setting process)
The CPU 231 that executes the processes of steps S1202 to S1204 sends a command to the control panel 201 that controls the robot device 101, moves the robot hand 131 to a predetermined path by the robot arm 121, or changes the posture of the robot hand 131. To control.

The CPU 231 rotates the robot arm 121 around the Y axis as a process for obtaining the gripping Y angle (step S1202). As a result, the robot hand 131 also rotates around the Y-axis, and the relationship between the measurement distances of the two distance measuring instruments 401a and 401b arranged in the X-axis direction changes. The CPU 231 refers to two measurement distances based on the output signals of these distance measuring instruments 401a and 401b, and when they match, the rotation of the robot arm 121 is stopped, and the rotation angle at this time is recognized as the gripping Y angle. ..

The CPU 231 stores the rotation angle thus obtained as a "grasping Y angle" in a storage area such as the RAM 234.

Subsequently, the CPU 231 rotates the robot arm 121 around the X axis as a process of obtaining the gripping X angle (step S1203). As a result, the robot hand 131 also rotates around the X-axis, and the relationship between the measurement distances of the two distance measuring instruments 401a and 401c arranged in the Y-axis direction changes. The CPU 231 refers to two measurement distances based on the output signals of these distance measuring instruments 401a and 401c, and when they match, the rotation of the robot arm 121 is stopped, and the rotation angle at this time is recognized as the gripping X angle. ..

The CPU 231 stores the rotation angle thus obtained as a "grasping X angle" in a storage area such as a RAM 234.

Subsequently, the CPU 231 moves the robot hand 131 in the Y-axis direction in the posture of the robot arm 121 in which the grip X angle and the grip Y angle are determined as a process for obtaining the grip Z angle (step S1204). While the robot hand 131 is moving, the CPU 231 detects the end of the uppermost wall board WB based on the output signals of the two distance measuring instruments 401a and 401b arranged on the X-axis. The CPU 231 stops the movement of the robot hand 131 at a position where one of the two distance measuring instruments 401a and 401b, for example, the distance measuring instrument 401a detects the end of the wall board WB, and the laser beam LB that detects the end. The robot hand 131 is rotated around the optical axis of. Then, the CPU 231 refers to the output signal of the other distance measuring instrument 401b arranged on the X-axis, and recognizes the position where the laser beam LB crosses the end portion of the uppermost wall board WB as the gripping Z angle.

The CPU 231 stores the rotation angle thus obtained as a "grasping Z angle" in a storage area such as a RAM 234.
The process of obtaining the "grip Y angle" (step S1202), the process of obtaining the "grip X angle" (step S1203), and the process of obtaining the "grip Z angle" (step S1204) have been described above. In the implementation, the order of these processes is not limited to the above steps S1202 to S1204, and each step S1202 to S1204 can be replaced as appropriate.

(Coordinate setting process)
The CPU 231 that executes the processes of steps S120 to S1207 sends a command to the control panel 201 that controls the robot device 101, moves the robot hand 131 to a predetermined path by the robot arm 121, or changes the posture of the robot hand 131. To control.

The CPU 231 grips using the position and posture of the robot hand 131 when the grip Z angle is obtained, that is, the measurement distance based on the output signals of the distance measuring instruments 401a and 401b in the posture of the robot arm 121 in which the grip Z angle is fixed. The Z coordinate is obtained (step S1205). As an example, the gripping Z coordinate is obtained as a coordinate position obtained by adding the measurement distance based on the output signals of the distance measuring instruments 401a and 401b to the current Z coordinate of the robot arm 121.

The CPU 231 stores the coordinates thus obtained as "grasping Z coordinates" in a storage area such as RAM 234.

The CPU 231 obtains the grip Y coordinate based on the coordinates of the robot arm 121 when the grip Z angle is obtained (step S1206). As an example, the gripping Y coordinate is obtained as a coordinate position obtained by adding a known offset amount in the Y-axis direction to the coordinates of the robot arm 121 when the gripping Z angle is obtained.

The CPU 231 stores the coordinates thus obtained as "grasping Y coordinates" in a storage area such as RAM 234.

Subsequently, the CPU 231 obtains the gripping X coordinate (step S1207). As a process for that purpose, the CPU 231 moves the robot hand 131 in the X-axis direction in the posture of the robot arm 121 in which the gripping Z angle is fixed, and measures two distances in which the ends of the top wall board WB are lined up on the Y-axis. The detection is performed using the output signals of the devices 401a and 401c. The CPU 231 obtains the grip X coordinate using the coordinates of the robot arm 121 at the position where the end portion of the wall surface board WB is detected. As an example, the gripping X coordinate is obtained as the coordinate obtained by adding a known offset amount in the X-axis direction to the coordinate of the robot arm 121 at the position where the end portion of the wall surface board WB is detected.

The CPU 231 stores the coordinates thus obtained as "grasping X coordinates" in a storage area such as RAM 234.

The process of obtaining the "grasping Z coordinate" (step S1205), the process of obtaining the "grasping Y coordinate" (step S1206), and the process of obtaining the "grasping X coordinate" (step S1207) have been described above. In the implementation, the order of these processes is not limited to the above steps S1205 to S207, and each step S1205 to S1207 can be replaced as appropriate.

(C) Construction In the construction phase, the wall board WB is picked up from the stock area B and carried to the construction area A to carry out the board pasting work by using the position data measured and saved as described above. The measured and stored position data are two groups of data stored in a storage area such as RAM 234. The position data of one group is the position data used for picking up the wall board WB (hereinafter referred to as "pickup position data"), and the position data of the other group is the position data used for pasting the wall board WB. (Hereinafter referred to as "pasting position data").

Pickup position data is
-Gripping X angle, gripping Y angle, gripping Z angle-grasping X coordinate, gripping Y coordinate, gripping Z coordinate.

The pasting position data is
-Paste X angle, paste Y angle, paste Z angle-Paste X coordinate, paste Y coordinate, paste Z coordinate.

(A) Board pickup As shown in FIG. 26, the CPU 231 of the information processing unit 232 controls the drive source PS according to the pickup position data stored in the storage area of the RAM 234, and moves the robot arm 121 to the stock area B. (Step S301). As a result, the robot hand 131 faces the uppermost wall board WB stacked on the board pallet 2.

Subsequently, the CPU 231 drives the vacuum generator 138 to attract the wall surface board WB to the suction pad 137 of the robot hand 131 and grip it (step S302).

Subsequently, the CPU 231 controls the drive source PS according to the sticking position data while the robot hand 131 holds the uppermost wall board WB, and moves the robot arm 121 to the board sticking position A1 (step S303). .. At this time, the computer program for attaching the board is described so as to cause the robot arm 121 to raise the robot arm 121, and accordingly, the robot hand 131 rises from the position where the uppermost wall board WB is gripped. As a result, the top wall board WB is picked up from the stock area B.

(B) Board positioning When the CPU 231 controls the drive source PS according to the sticking position data and executes the process of step S303 to move the robot arm 121 to the board sticking position A1, the wall board WB gripped by the robot hand 131 is released. It is carried to the construction area A, and is positioned at the board pasting position A1 where the wall board WB is to be pasted and faces each other.

The suction pad 137 is a bellows type and has a play of about several mm in the pressing direction against the mating member. Therefore, even if the wall board WB is slightly pressed, the difference can be absorbed. As a result, the wall surface board WB is correctly arranged in the board mounting frame 1 located at the board pasting position A1 without being displaced.

(C) Attaching the board The CPU 231 drives the screw driving machine 135 (step S305). As a result, the wall surface board WB is screwed to the board mounting frame 1.

When screwing the wall surface board WB to the board mounting frame 1, temporarily fix it first (see FIG. 18 of the first embodiment). Temporary fixing is performed in a state where the wall board WB is pressed against the board mounting frame 1 by the robot hand 131 and arranged (see step S304). After the temporary fixing, the CPU 231 moves the robot hand 131 and causes the screw driving machine 135 to screw the outer row OL. Then, the CPU 231 rotates the robot hand 131 by 90 °, and causes the screw driving machine 135 to screw the inner row IL. At this time, the inner row IL (1) is screwed, and then the inner row IL (2) is screwed.

(D) In the second and subsequent board stock areas B, the height of the wall board WB stacked on the board pallet 2 decreases as the wall board WB is picked up. Therefore, the computer program for attaching the board is described so as to correct the pickup position data every time one wall board WB is picked up. The correction at this time is to lower the board gripping position of the robot hand 131 in the Z direction by the thickness of the wall board WB without changing the posture of the robot hand 131, that is, the pickup position data, that is, the gripping X angle. It is performed by changing the values of the gripping Y angle, the gripping Z angle / gripping X coordinate, the gripping Y coordinate, and the gripping Z coordinate.

If the CPU 231 controls the drive source PS according to the description of the computer program for attaching the board, even if the height of the wall board WB stacked on the board pallet 2 becomes low, the robot hand 131 can be used. It faces the top wall board WB at a height and posture that can always be grasped.

In the construction area A, the portion indicated by the circled numbers 1 to 9 in FIG. 22 is the board pasting position A1. The wall board WB is attached to the board attachment position A1 in the order of 1 to 9. Therefore, the computer program for pasting the board calculates the pasting position data, that is, the pasting X angle, pasting Y angle, pasting Z angle / pasting X coordinate, pasting Y coordinate, and pasting Z coordinate every time one wall board WB is pasted. change. The value changed at this time is that each time one wall board WB is attached to the board attachment position A1, the destination of the robot hand 131 that grips the picked up wall board WB is switched to the board attachment position A1 in the next order. The value.

If the CPU 231 controls the drive source PS according to the description of the computer program for sticking the board, the wall board WB is stuck one after another at the board sticking position A1 in the order of 1 to 9 in FIG. ..

To change the pickup position data and the attachment position data by the computer program for attaching the board, as an example, the position data is measured every time one wall board WB is picked up from the board pallet 2 and attached to the board attachment position A1, and the RAM 234 is used. It is executed by rewriting the data to be stored in the storage area such as the data after the measurement.

7. Effect (1) Prevention of sticking The board pallet 2 of the present embodiment is provided on the pallet base 22 installed on the installation surface and the pallet base 22, and is supported in a state where a plurality of flat plate-shaped wall board WBs are stacked. A convex portion 30 that supports the board support portion 23 and the two side surfaces of the wall surface board WB facing each other, and keeps at least a part of the lower surface of the lowermost wall surface board WB floating on the board support portion 23. And have.

In the board pick-up method of the present embodiment, on the board pallet 2 having the board support portion 23 that supports a plurality of flat plate-shaped wall board WBs in a stacked state, the two side surfaces of the wall board WB facing each other are set. A step of supporting each by a convex portion and maintaining at least a part of the lower surface of the lowermost wall surface board WB on the board support portion 23 in a floating state, and a gripping tool attached to the movable robot hand 131 of the robot device 101. At 133, a step of gripping the uppermost wall surface board WB supported by the board pallet 2 and a step of raising the gripping tool 133 gripping the wall surface board WB in the vertical direction are provided.

In such a configuration, when the gripping tool 133 of the robot hand 131 that grips the wall surface board WB is raised in the vertical direction, it is difficult for the wall surface board WB directly under the wall board WB to be attached to the wall surface board WB gripped by the gripping tool 133. be able to.

The wall board WB directly underneath the wall board WB gripped by the gripping tool 133 is less likely to be attached to the wall board WB because the two sides of the wall board WB facing each other are supported by the convex portions 30 to support the board. It is presumed that this is because at least a part of the lower surface of the lowermost wall board WB is maintained in a floating state on the portion 23. Due to such support, the wall surface board WB is warped and its shape is curved in a concave shape, so that air enters between the wall surface board WB to be picked up and the wall surface board WB immediately below the wall board WB, which causes sticking. It is estimated that the vacuum between them will be broken.

In the case of the board pallets 2 of the second and third forms, not only the wall surface board WB is supported by the convex portion 30, but also the stacked wall surface boards WB are inclined with respect to the horizontal plane. It is presumed that this is one of the factors that suppress sticking. With such an inclined arrangement, when the top wall board WB is picked up in the vertical direction, a slight positional deviation may occur in the surface direction between the wall board WB to be picked up and the wall board WB immediately below it. This is because it is presumed that there is no such thing. It is presumed that such a misalignment causes air to enter between the wall board WB to be picked up and the wall board WB immediately below it, and break the vacuum state between the two, which causes sticking.

The inventors of this application have experimentally verified such a sticking-suppressing effect.
The experiment was carried out by preparing three prototypes (prototypes 1, 2, 3) and one comparative example.
Prototype 1 is a configuration example shown in FIGS. 4 and 5 in which the support frame 27 is tilted by 4 degrees. The board receiving frame 29 was arranged in an inclined manner.
Prototype 2 is a configuration example shown in FIG. 6 in which the support frame 27 is tilted by 4 degrees. The board receiving frame 29 was arranged along the vertical direction.
The prototype 3 is a configuration example shown in FIGS. 4 and 5 in which the support frame 27 is tilted by 5 degrees. The board receiving frame 29 was arranged in an inclined manner.
In the comparative example, the board support portion 23 is not tilted, that is, the tilt angle of the board support portion 23 is set to 0 degrees.

As a result, the following experimental results were obtained.
-Prototype 1 (convex + tilt angle 4 degrees, board receiving frame tilt): Evaluation C
-Prototype 2 (convex + tilt angle 4 degrees, board receiving frame vertical): Evaluation C
-Prototype 3 (convex + tilt angle 5 degrees, board receiving frame tilt): Evaluation B
-Comparative example (tilt angle 0 degrees): Evaluation D
The following is assumed as the evaluation.
A: There is almost no sticking of two sheets. Even if it occurs, the lower board falls from a height of about 10 mm. B: Two sheets are stuck together to some extent. The lower board drops from a height of about 10 to 20 mm. C: A few sheets are stuck 20 to 40%. The lower board falls from a height of several tens of mm D: Frequent sticking. The lower board falls from a high place.

In the case of the above evaluations A, B, and C, the position of the next top-level board remaining on the board pallet 2 is not displaced or damaged. Therefore, if the results of these evaluations A, B, and C are obtained, even if the evaluation is C, it can be considered as a tentatively acceptable product.

On the other hand, in the case of evaluation D, the sticking wall board WB may fall from a high place, and in this case, the position of the next top board remaining on the board pallet 2 may shift. , It will be damaged. Therefore, the product that resulted in evaluation D is a rejected product.

The board support portion 23 exhibiting the effects as described above can be easily configured by a plurality of rod-shaped members supporting the wall surface board WB, for example, a support frame 27 made of a metal prism.

(2) Others According to the present embodiment, when the wall board WB is attached to the construction area A, the work that requires manpower is significantly reduced, so that the work load can be reduced and the work efficiency can be improved. ..

Moreover, since work in a high place is not required, work safety can be improved.

Further, since the work of positioning the wall surface board WB in the construction area A does not require manual labor, the construction accuracy can be improved.

According to the present embodiment, since at least three corners of the wall board WB are treated as feature points F, the shape of the feature points F can be made clear and misrecognition can be less likely to occur, and a separate intention. It is possible to eliminate the trouble of providing specific feature points.

Further, when the shape of the board mounting frame 1 provided in the construction area A is recognized as the mark M, it is possible to eliminate the trouble of separately providing a mark intentionally.

Further, when the mark attached to the construction area A is recognized as the mark M, the mark M is clear and erroneous recognition can be less likely to occur.

According to the present embodiment, the wall surface boards WB stacked in the stock area B are imaged by the camera 134, the position of the uppermost wall surface board WB is determined from the feature points F included in the captured image, and the gripper 133. Since it is gripped with, the wall board WB can be accurately gripped at a desired position.

Further, based on the position determined for the first wall board WB, the position of the second and subsequent top wall boards WB is estimated and gripped by the gripping tool 133, so that the processing speed can be increased. Can be planned.

8. Deformation example Various deformations and changes are allowed in the implementation.

For example, in each of the above embodiments, a configuration example in which the wall surface board WB is supported in a dot shape by the convex portion 30 has been introduced, but the wall board WB may be supported in a linear shape in the implementation.

The pallet base 22 or the board support 23 constituting the board pallet 2 is not a simple one such as a rod-shaped member, but may be realized by a stronger and more rigid material and structure.

As the tilt angle of the board support portion 23, experimental examples of 4 degrees and 5 degrees were introduced in the present embodiment, but it is also possible to set the tilt angle to be smaller or larger in the practice.

The support frame 27 may be fixed to the pair of base frames 24 forming the short sides of the frame 25, instead of the sides of the pair of base frames 24 forming the long sides of the frame 25. The number of the support frames 27 is not limited to three, and may be four or more. As the number of support frames 27 increases, the warpage of the wall board WB is further reduced.

The number of board receiving frames 29 is not limited to two, and may be three or more. By increasing the number of board receiving frames 29, it is possible to load a larger number of wall surface boards WB on the board pallet 2.
Any other modifications or changes can be made in the implementation.

1 Board mounting frame 1S Lightweight steel frame 2 Board pallet 3 Pylon 4 bar 5 Enclosure 11 Board pasting device 21 Caster 22 Pallet base 23 Board support 24 Base frame 25 Frame body 26 Reinforcing plate 27 Support frame 28 Spacer 29 Board receiving frame 30 Convex Part 101 Robot device 111 Dolly 112 Lifter 113 Wheel 114 Support leg 121 Robot arm 122a to 122f Joint 123a to 123d Link 131 Robot hand 132 Frame 133 Grip device 134 Camera 135 Screw driving machine (fixing tool)
137 Suction pad 138 Vacuum generator 139 Air hose 140 Arm 201 Control panel 211 Information processing device 231 CPU
232 Information processing unit 233 EEPROM
234 RAM
235 Clock circuit 236 I / O
237 HDD
238 Display device 239 Input device 241 Drive system 301 X-axis 302 Y-axis 303 Z-axis 311 First position 312 Second position 313 Third position 401 Distance measuring instrument (laser rangefinder)
A Construction area A1 Board pasting position A2 Board existing position B Stock area C Compressor F Feature point H Worker IL Inner row L Optical axis LB Laser light M Mark O Measurement target OL Outer row P1 Preparation position P2 Close position PS drive Source SD sensing device W wall surface WB wall surface board (board)
WS construction space

Claims (10)

The pallet base installed on the installation surface and
A board support portion provided on the pallet base and supporting a plurality of flat plates in a stacked state,
A convex portion that supports the two opposite sides of the board and keeps at least a part of the lower surface of the lowermost board on the board support portion in a floating state.
Board pallet with. The convex portion supports the long side of the board having a rectangular shape.
The board pallet according to claim 1. The board support portion has a plurality of rod-shaped members that support the board.
The convex portion is arranged on the upper surface of the rod-shaped member.
The board pallet according to claim 1 or 2. The protrusions support the board in dots.
The board pallet according to any one of claims 1 to 3. The board support portion supports a plurality of stacked boards in an inclined state with respect to a horizontal plane.
The board pallet according to any one of claims 1 to 4. The board support includes a board receiving frame that supports the lower side of the board lowered by inclination.
The board pallet according to any one of claims 1 to 5. The board receiving frame is arranged along a direction orthogonal to the inclination direction of the board support portion.
The board pallet according to claim 6. The board receiving frame is arranged along the vertical direction.
The board pallet according to claim 6. On a board pallet having a board support portion that supports a plurality of flat plates in a stacked state, the two opposite sides of the board are supported by convex portions, respectively, and the lowest position on the board support portion. A step of maintaining at least a part of the lower surface of the board in a floating state, and
The process of gripping the top-level board supported by the board pallet with a gripping tool attached to the movable robot hand of the robot device, and
A step of raising the gripper that grips the board in the vertical direction, and
How to pick up a board with. The board is placed on the board support portion in an inclined state with respect to a horizontal plane.
The board pick-up method according to claim 9.

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