JP2020165266A - Board pasting method, board pasting device, and computer program - Google Patents

Abstract

To provide a computer program that reduces the work load when pasting a board at the board pasting position and improves work efficiency, work safety, and construction accuracy.SOLUTION: In a construction space WS including a construction area A that should be a wall surface W of a building and a stock area B in which a plurality of wall surface boards WB to be attached to the board pasting position of the construction area A are stacked, a robot device 101 including a robot hand 131 is installed. In the stock area B, the uppermost wall board WB is gripped as the first wall board WB by a gripping tool 133 provided on the robot hand 131, and is carried to the board sticking position and fixed. At this time, the arrangement position of the wall board WB is correctly determined based on the output signals of the three distance measuring instruments provided on the robot hand 131. The wall board WB is arranged and fixed one after another at a position determined with reference to the existing wall board WB.SELECTED DRAWING: Figure 1

Description

The present invention relates to a board sticking method for sticking a board to a construction area such as a wall surface of a building, a board sticking device, and a computer program for supporting the board sticking work.

In a relatively simple building such as a warehouse, a factory, or a prefabricated house, for example, a standardized wall board is fixed to a board mounting frame provided at a place where the wall should be formed to form the wall. There is something that I did. 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 interior work in which an interior material such as a ceiling board or a wall board is attached, although it is different from the wall board forming the exterior material. 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. This document describes not only ceiling boards but also devices and methods for work support for wall boards (decorative boards) (see paragraphs [0036] to [0038] of Document 1, FIG. 14).

If the interior construction device described in Patent Document 1 is used, the work becomes easier as compared with the case where all the work is performed manually, and effects such as improvement of work safety and shortening of work time can be expected. On the other hand, the technology described in this document is only work support, not a technology for automatically pasting boards. Further reduction of work load and improvement of work efficiency are required.

In this regard, Patent Document 2 discloses an interior construction machine that automates board pasting (paragraphs [0014] to [0026] of Document 2, FIGS. 1 to 4, 6 (a) (a). b) See). A telescopic arm that can finely adjust the XYZ axis is provided, and an attachment for interior work equipped with a suction pad for sucking the board and a screwing machine is attached to the tip of the arm to automate board pasting. It is a machine. This machine manually attaches the first board, and then automatically attaches the second and subsequent boards based on the position of the first board (see paragraph [0024]). A CCD camera provided in the attachment is used as a means for that purpose. The image taken by the CCD camera is processed by the image processing device and used as information indicating the reference position of the board to be attached next (see paragraphs [0020] and [0024]).

Japanese Patent Application Laid-Open No. 05-32145 Japanese Unexamined Patent Publication No. 2000-118288

The interior construction machine described in Patent Document 2 obtains the position data of the existing board by using the image taken by the CCD camera. However, if the board has a warp or an error in the depth direction, it is difficult to recognize such a phenomenon from the image taken by the camera.

Considering the above points, when trying to automate board pasting using a camera, it is difficult to obtain high construction accuracy, and good construction quality cannot be expected. Improvement is required.

An object of the present invention is to improve the construction accuracy when the board is automatically attached.

One aspect of the board attaching method of the present invention is an X-axis along the X-direction and a Y-axis along the Y-direction when the vertical direction of the measurement object is the X direction, the horizontal direction is the Y direction, and the depth direction is the Z direction. In the Z direction passing through the first position, which is the intersection of the above, the second position on the X-axis away from the first position, and the third position on the Y-axis away from the first position. The robot arm has a process of receiving output signals from three distance measuring instruments attached to the robot hand by aligning the optical axes on the Z axis along the Z axis, and the robot hand equipped with a gripping tool capable of gripping a flat plate. The X-axis and Y that maintain the parallelism in the Z direction of the robot hand based on the step of facing the gripping tool to the board sticking position having the base for sticking the board and the output signal of the distance measuring instrument. A step of obtaining the rotation angle around the axis and the rotation angle around the Z axis that maintains the parallelism in the XY direction of the robot hand, and storing them in the storage area as the attachment X angle, the attachment Y angle, and the attachment Z angle, respectively. Based on the output signal of the distance measuring instrument, the X-axis, Y-axis, and Z-axis coordinates of the robot hand when the board is attached to the base are obtained, and the attachment X coordinate, the attachment Y coordinate, and the attachment Z, respectively. It includes a step of storing the coordinates in a storage area.

One aspect of the board sticking device of the present invention is a gripping tool that is attached to a robot hand, grips a flat plate and sticks it to a board sticking base provided at a board sticking position, and a vertical direction of an object to be measured. Is the X direction, the horizontal direction is the Y direction, and the depth direction is the Z direction. The first position, which is the intersection of the X axis along the X direction and the Y axis along the Y direction, and the first position on the X axis. Attached to the robot hand with the optical axis aligned on the Z axis along the Z direction passing through the second position away from the position of 1 and the third position away from the first position on the Y axis. The three distance measuring instruments, the control unit that controls each unit, the means by which the control unit drives the robot hand to the robot arm and the gripper to face the board sticking position, and the control unit. Based on the output signal of the distance measuring instrument, the rotation angle around the X-axis and the Y-axis that keeps the parallelism of the robot hand in the Z direction and the rotation angle around the Z-axis that keeps the parallelism of the robot hand in the XY direction. And the means for storing the sticking X angle, the sticking Y angle, and the sticking Z angle in the storage area, respectively, and the control unit sticks the board to the base based on the output signal of the distance measuring instrument. The robot hand is provided with means for obtaining the X-axis, Y-axis, and Z-axis coordinates of the robot hand and storing them in the storage area as the pasted X coordinate, the pasted Y coordinate, and the pasted Z coordinate, respectively.

One aspect of the computer program of the present invention is a gripper that is attached to a robot hand, grips a flat plate, and is attached to a board-attaching base provided at a board-attaching position, and a vertical direction of an object to be measured. When the X direction and the horizontal direction are the Y direction and the depth direction is the Z direction, the first position which is the intersection of the X axis along the X direction and the Y axis along the Y direction and the first position on the X axis. It was attached to the robot hand with its optical axis aligned on the Z axis along the Z direction passing through the second position away from the position and the third position away from the first position on the Y axis. A function installed in a computer that controls each part of a board pasting device including three distance measuring instruments, the computer drives the robot hand to a robot arm, and the gripping tool faces the board pasting position. Based on the output signal of the distance measuring instrument, the rotation angle around the X-axis and the Y-axis that keeps the parallelism of the robot hand in the Z direction and the rotation angle around the Z-axis that keeps the parallelism of the robot hand in the XY direction. The robot hand when the board is attached to the base based on the function of saving in the storage area as the attachment X angle, the attachment Y angle, and the attachment Z angle, respectively, and the output signal of the distance measuring instrument. The X-axis, Y-axis, and Z-axis coordinates of the above are obtained, and the functions of saving the pasted X-coordinate, pasted Y-coordinate, and pasted Z-coordinate in the storage area are executed.

According to the present invention, when the board is attached to the construction area, the construction accuracy can be improved.

As one embodiment, a perspective view showing a board pasting device in use. The schematic diagram which shows the movable mode of a robot device from the side direction. A perspective view showing a robot hand positioned in a construction area. (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. The schematic diagram which shows the state transition of the robot arm which executes a fixed operation of a board.

An embodiment will be described with reference to the drawings. This embodiment is an application example to a board sticking method for sticking a wall board to a place to be a wall surface of a building, a board sticking device, and a computer program for supporting the board sticking work. Here, an example of handling a wall board as a board will be described, but the method, device, and computer program 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 apply.

The explanation will be given according to the following items.
1. 1. Outline configuration 2. Robot device 3. Control panel 4. Board pasting method and processing (1) Overview
(Measurement and storage of position data)
(Construction)
(2) Measurement and storage of position data
(A) Outline of processing
(Construction area)
(Stock area)
(B) Treatment in the construction area
(Overview)
(Setting the rotation angle)
(Coordinate setting)
(C) Processing in the stock area
(Overview)
(Setting the rotation angle)
(Coordinate setting)
(3) Construction
(A) Board pickup
(B) Board positioning
(C) Pasting the board
(D) Second and subsequent boards 5. Effect 6. Modification example

1. 1. Schematic configuration As shown in FIG. 1, in the present embodiment, the building itself is abstracted, and a scheme for attaching the wall surface board WB to the board mounting frame 1 installed at the place where the wall surface W should be is provided. introduce. The wall board WB has a structure forming an interior wall and has a flat plate shape.

The board mounting frame 1 is a frame body for mounting the wall surface board WB (see FIG. 6), and the wall surface board WB is attached in a plurality of columns and a plurality of rows. Such a board mounting frame 1 constitutes a construction area A that should be a wall surface W of a building. The board mounting frame 1 serves as a base for mounting the wall surface board WB. In the construction area A, the position where the wall surface board WB is attached is the board attachment position A1, and the position where the wall surface board WB is already attached is the existing board position A2 (see FIG. 6).

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 carriage 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 carriage 111. Is the main component. A robot hand 131 is attached to the robot arm 121. The robot device 101 moves the robot hand 131 by the robot arm 121, and supports the execution of various tasks by the robot hand 131. The robot hand 131 includes a gripping tool 133, grips the wall surface board WB stored in the board pallet 2 by the gripping tool 133, and attaches the wall board WB to the board mounting frame 1 one after another.

Another important component of the board sticking device 11 is a control panel 201 and an information processing device 211 included in the control panel 201. The control panel 201 controls the operation of the robot device 101. The information processing device 211 functions as a control unit and executes a board pasting process in cooperation with the robot device 101. The control panel 201 and the information processing device 211 are arranged in the box contents facing the board mounting frame 1 with the robot device 101 interposed therebetween, and are 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 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. Robot device The robot device 101 will be described.

As shown in FIGS. 1 and 2, the carriage 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. Therefore, the height of the robot arm 121 can be 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 AC (not shown) to which air compressed by the compressor C is sent. Therefore, the compressor C serves as a drive source PS for the lifter 112 (see FIG. 5).

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. 5) for the robot arm 121.

As shown in FIG. 3, the robot hand 131 has various structures mounted on the frame 132. The mounted structures are a gripping tool 133 that sucks and grips the wall board WB, three distance measuring instruments 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 four central portions 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 (not shown) 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 distance measuring instrument 134 will be described with reference to FIGS. 4A and 4B.

As the distance measuring instrument 134, 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 134 will be described.

The distance measuring instrument 134 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 134 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 134 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 134 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 one in which the optical axis is aligned on the Z-axis 303 passing through the first position 311 is aligned with the distance measuring instrument 134a, and the optical axis is aligned on the Z-axis 303 passing through the second position 312. Is referred to as a distance measuring instrument 134b, and a distance measuring instrument 134c whose optical axis is aligned on the Z axis 303 passing through the third position 313.

As shown in FIG. 4A, 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. 6), 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. 4B, when the object to be measured O is the highest wall board WB stacked in the stock area B, the X-axis 301 and the Y-axis 302 are in the horizontal direction, and the Z-axis 303 is in the vertical direction. Turn to the direction. This is because in the stock area B, the wall surface board WB is laid horizontally and placed on the board pallet 2.

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 134 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 134 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 134 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.

3. 3. Information processing device Information processing device 211 will be described.

As shown in FIG. 5, the information processing apparatus 211 is composed of 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 information processing device 211 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 as a drive source for the lifter 112 and a drive source PS including a plurality of actuators 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 distance measuring device 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 distance measuring instrument 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.

4. 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.

(1) 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 here mean the three axes of X-axis 301, Y-axis 302, and Z-axis 303 shown in FIGS. 4A and 4B, 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,
"(2) Measurement and storage of position data"
"(3) Construction"
It is divided into two items and explained step by step.

(2) Measurement and storage of position data As shown in FIG. 6, 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. 6, 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. 6, 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.

(A) Outline of treatment (construction area)
As shown in FIG. 7, 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. 3, for example. However, FIG. 3 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.

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.

(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 134 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 S101).

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 134. 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 sticking X angle, the sticking Y angle, and the sticking Z angle (steps S102 to 107).

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 the wall board WB is attached to the board attachment position A1 based on the output signal of the distance measuring instrument 134, and each of them is obtained. It is stored in a storage area such as RAM 234 as the paste X coordinate, the paste Y coordinate, and the paste Z coordinate (steps S108 to 110).
(Rotation angle setting process)

The CPU 231 that executes the processes of steps S102 to 107 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 S102), and then returns the robot hand 131 to the board pasting position A1 again (step S103).

At this time, the CPU 231 takes in the output signals of the two distance measuring instruments 134a and 134b (see FIG. 4) arranged in the X-axis direction, and recognizes the type of the detection target. The distance from the distance measuring instruments 134 (134a to 134c) 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, which has been moved toward the existing board position A2, to the board attachment position A1 again, the distance measuring instruments 134a to 134c 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 S104). 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 in step S104 is not always essential, and this process routine may be omitted. By omitting the process of step S104, 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 134a arranged in the X-axis direction. , 134b 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 134a and 134b crosses this step, the recognizable measurement distance changes depending on the output signal of at least one of the distance measuring instruments 134a and 134b, so that the CPU 231 detects the step. Can be done.

When the CPU 231 detects a step based on at least one of the two distance measuring instruments 134, for example, the output signal of the distance measuring instrument 134b, the CPU 231 stops the horizontal movement of the robot hand 131 and centers on 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 134a 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 temporarily 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 134a to 134c 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 134a and 134b arranged in the X-axis direction match (step S105). 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 134a and 134b 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 134a and 134b 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 134a and 134c arranged in the Y-axis direction match (step S106). 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 S107 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 134a and 134b 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 134a and 134b during the horizontal movement of the robot hand 131, for example, the output signal of the distance measuring device 134a, 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 134b 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 S107).

The process of obtaining the "pasting Y angle" (step S105), the process of obtaining the "pasting X angle" (step S106), and the process of obtaining the "pasting Z angle" (step S107) have been described above. In the implementation, the order of these processes is not limited to the above steps S105 to S107, and each step S105 to 107 can be replaced as appropriate.

(Coordinate setting process)
The CPU 231 that executes the processes of steps S108 to 110 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 134a and 134b in the attitude of the robot arm 121 in which the attachment Z angle is fixed. The Z coordinate is obtained (step S108). 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 134a and 134b 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 S109). 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 attachment Z angle is fixed, and outputs the two distance measuring instruments 134a and 134b 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 S110). 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 134. 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 134 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 S108), the process of obtaining the "paste Y coordinate" (step S109), and the process of obtaining the "paste X coordinate" (step S110) have been described above. In the implementation, the order of these processes is not limited to the above steps S108 to S110, and each step S108 to 110 can be replaced as appropriate.

(C) Processing in the stock area (overview)
As shown in FIG. 9, 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 S201).

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 134. 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 S202 to 204).

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 134, 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 RAM 234 (steps S205 to 207).

(Rotation angle setting process)
The CPU 231 that executes the processes of steps S202 to 204 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 S202). 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 134a and 134b 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 134a and 134b, 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 S203). 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 134a and 134c 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 134a and 134c, 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 S204). 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 134a and 134b 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 134a and 134b, for example, the distance measuring instrument 134a detects the end portion of the wall surface board WB, and the laser beam LB detecting the end portion thereof. Rotate the robot hand 131 around the optical axis of. Then, the CPU 231 refers to the output signal of the other distance measuring instrument 134b 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 S202), the process of obtaining the "grip X angle" (step S203), and the process of obtaining the "grip Z angle" (step S204) have been described above. At the time of implementation, the order of these processes is not limited to the above steps S202 to S204, and each step S202 to 204 can be replaced as appropriate.

(Coordinate setting process)
The CPU 231 that executes the processes of steps S205 to 207 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 134a and 134b in the posture of the robot arm 121 in which the grip Z angle is fixed. The Z coordinate is obtained (step S205). 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 134a and 134b 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 S206). 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 S207). 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 uppermost wall board WB are lined up on the Y-axis. Detection is performed using the output signals of the devices 134a and 134c. 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 S205), the process of obtaining the "grasping Y coordinate" (step S206), and the process of obtaining the "grasping X coordinate" (step S207) have been described above. In the implementation, the order of these processes is not limited to the above steps S205 to S207, and each step S205 to 207 can be replaced as appropriate.

(3) 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. 10, 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 and arranged at the board pasting position A1 to which the wall board WB is to be pasted (step S304).

(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.

As shown in FIG. 11, 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 board WB is pressed against the board mounting frame 1 by the robot hand 131 and arranged (see steps S304 to S306). 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 surface boards WB stacked on the board pallet 2 decreases as the wall surface boards WB are 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. 6 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.

5. Effect According to the present embodiment, when the wall board WB is attached to the construction area A, the work requiring manpower is significantly reduced, so that the work load can be reduced and the work efficiency can be improved.

Since work in high places is not required, work safety can be improved.

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

6. Deformation example Various deformations and changes are allowed 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 26 Reinforcing plate 27 Support frame 28 Spacer 29 Board receiving frame 101 Robot Device 111 Cart 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 Distance measuring instrument (laser range finder)
135 Screw driving machine (fixing tool)
137 Suction pad 138 Vacuum generator 201 Control panel 211 Information processing device (control unit)
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 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 OL Outer row O Measurement target PS Drive source SD sensing device W wall surface WB wall surface board (board)
WS construction space

Claims (18)

When the vertical direction of the measurement object is the X direction, the horizontal direction is the Y direction, and the depth direction is the Z direction, the first position, which is the intersection of the X axis along the X direction and the Y axis along the Y direction, and X Align the optical axis on the Z-axis along the Z-direction that passes through the second position on the axis away from the first position and the third position on the Y-axis away from the first position. The process of receiving output signals from three distance measuring instruments attached to the robot hand,
A step of driving the robot hand to which a gripping tool capable of gripping a flat plate-shaped board is attached by a robot arm and facing the gripping tool at a board sticking position having a base for sticking the board.
Based on the output signal of the distance measuring instrument, the rotation angle around the X-axis and the Y-axis that keeps the parallelism of the robot hand in the Z direction and the rotation angle around the Z-axis that keeps the parallelism of the robot hand in the XY direction. And the process of saving in the storage area as the pasting X angle, pasting Y angle, and pasting Z angle, respectively.
Based on the output signal of the distance measuring instrument, the X-axis, Y-axis, and Z-axis coordinates of the robot hand when the board is attached to the base are obtained, and the attachment X-coordinate, the attachment Y-coordinate, and the attachment Z are obtained, respectively. The process of saving as coordinates in the storage area,
How to attach the board. A step of rotating the robot hand around the X-axis and obtaining a rotation angle at which the measurement distances based on the output signals of the two distance measuring instruments arranged in the Y-axis direction match as the pasted X-angle.
A step of rotating the robot hand around the Y-axis and obtaining a rotation angle at which the measurement distances based on the output signals of the two distance measuring instruments arranged in the X-axis direction match as the pasting Y-angle.
The board sticking method according to claim 1. In the posture of the robot arm in which the sticking X angle and the sticking Y angle are determined, the robot hand is moved toward the board existing position adjacent to the board sticking position, and the board sticking position and the existing board are brought into contact with each other. The process of detecting the step between them based on the output signal of one of the two distance measuring instruments arranged on the same axis, and
The movement of the robot hand is stopped at a position where the one distance measuring instrument detects the step, the robot hand is rotated around the optical axis of the laser beam that detects the step, and in the process, the robot hand is on the same axis. The step of obtaining the position where the distance measuring instrument on the other side of the line detects the step as the pasting Z angle, and
The board sticking method according to claim 2. A claim comprising a step of obtaining a coordinate position obtained by adding a measurement distance based on an output signal of the distance measuring instrument to the current Z coordinate of the robot arm as the pasted Z coordinate in the posture of the robot arm in which the pasted Z angle is determined. Item 3. The board pasting method according to item 3. Based on the output signals of the two distance measuring instruments in which the robot hand is moved toward the existing position of the board in the posture of the robot arm in which the attachment Z angle is fixed, and the steps in the vertical direction are arranged on the same axis. And the process of detecting
A step of obtaining the coordinates obtained by adding a known offset amount in the Y-axis direction to the coordinates of the detection position of the step as the pasted Y coordinate.
The board sticking method according to claim 4. The robot hand is moved toward the existing position of the board in the posture of the robot arm in which the sticking Z angle is fixed, and the step in the horizontal direction is detected based on the output signal of the distance measuring instrument arranged on the same axis. And the process to do
A step of obtaining the coordinates obtained by adding a known offset amount in the X-axis direction to the coordinates of the detection position of the step as the pasted X coordinate, and
The board sticking method according to claim 4 or 5. A step of driving the robot hand with the robot arm and making the gripping tool face the top-level boat stacked in the stock area.
Based on the output signal of the distance measuring instrument with the gripper facing the uppermost board, the rotation angles around the X-axis and the Y-axis that maintain parallelism in the Z direction of the robot hand, and the above. A step of obtaining a rotation angle around the Z axis that maintains parallelism in the XY direction of the robot hand, and storing the grip X angle, the grip Y angle, and the grip Z angle in the storage area, respectively.
Based on the output signal of the distance measuring instrument with the gripper facing the top-level board, the X-axis, Y-axis, and Z-axis directions of the robot hand when gripping the top-level board. And the step of obtaining the coordinates of and saving them in the storage area as the grip X coordinate, the grip Y coordinate, and the grip Z coordinate, respectively.
The board sticking method according to any one of claims 1 to 6, wherein the board is attached. A step of rotating the robot arm around the X-axis and obtaining a rotation angle at which the measurement distances based on the output signals of the two distance measuring instruments arranged in the Y-axis direction match as the gripping X-angle.
A step of rotating the robot arm around the Y-axis and obtaining a rotation angle at which the measurement distances based on the output signals of the two distance measuring instruments arranged in the X-axis direction match as the gripping Y-angle.
The board sticking method according to claim 7. The robot hand is moved in the Y-axis direction in the posture of the robot arm in which the gripping X angle and the gripping Y angle are determined, and the output signal of the distance measuring instrument of one of the two arranged on the X-axis is used. Based on the process of detecting the edge of the top board,
The movement of the robot hand is stopped at a position where one of the distance measuring instruments detects the end of the board, and the robot hand is rotated around the optical axis of the laser beam that detects the end. A step of determining the position where the other distance measuring instrument arranged on the X-axis detects the end of the uppermost board as the gripping Z angle.
The board sticking method according to claim 8. The measurement distance based on the output signal of the distance measuring instrument is obtained from the posture of the robot arm in which the grip Z angle is determined, and the coordinate position obtained by adding the obtained measurement distance to the current Z-axis coordinates of the robot arm is the grip. The board pasting method according to claim 9, further comprising a step of obtaining Z coordinates. The board sticking method according to claim 10, further comprising a step of obtaining the coordinates obtained by adding a known offset amount in the Y-axis direction to the coordinates of the robot arm when the grip Z angle is obtained as the grip Y coordinates. The robot hand is moved in the X-axis direction in the posture of the robot arm in which the gripping Z angle is fixed, and in the process, the end of the uppermost board is detected based on the output signal of the distance measuring instrument. Process and
A step of obtaining the coordinates obtained by adding a known offset amount in the X-axis direction to the coordinates of the detection position at the end of the uppermost board as the grip X coordinates.
The board sticking method according to claim 11. The robot arm is driven according to the data of the grip X angle, the grip Y angle, the grip Z angle, the grip Z coordinate, the grip X coordinate, and the grip Y coordinate stored in the storage area, and the robot arm is driven. The process of making the gripper face the upper surface of the uppermost board,
The process of causing the gripper to grip the top board, and
A step of driving the robot arm and picking up the top-level board gripped by the gripper from the stock area.
The board sticking method according to any one of claims 7 to 12, wherein the board is attached. The robot arm is driven according to the data of 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 stored in the storage area. The process of positioning the board gripped by the gripper at the board pasting position, and
A step of driving a fixture provided on the robot hand and attaching the board positioned at the board attachment position to the base.
The board sticking method according to any one of claims 1 to 12, wherein the board is attached. A gripping tool that is attached to the robot hand, grips a flat board, and is attached to the board attachment base provided at the board attachment position.
When the vertical direction of the measurement object is the X direction, the horizontal direction is the Y direction, and the depth direction is the Z direction, the first position, which is the intersection of the X axis along the X direction and the Y axis along the Y direction, and X Align the optical axis on the Z-axis along the Z-direction that passes through the second position on the axis away from the first position and the third position on the Y-axis away from the first position. Three distance measuring instruments attached to the robot hand,
A control unit that controls each unit and
A means for the control unit to drive the robot hand to the robot arm and face the gripping tool to the board sticking position.
Based on the output signal of the distance measuring instrument, the control unit keeps the X-axis and the rotation angle around the Y-axis that keep the parallelism in the Z direction of the robot hand, and Z that keeps the parallelism in the XY direction of the robot hand. A means for obtaining the rotation angle around the axis and storing it in the storage area as the attachment X angle, the attachment Y angle, and the attachment Z angle, respectively.
Based on the output signal of the distance measuring instrument, the control unit obtains the X-axis, Y-axis, and Z-axis coordinates of the robot hand when the board is attached to the base, and attaches X-coordinates and paste Y, respectively. Coordinates and means to save as pasted Z coordinates in the storage area,
A board pasting device equipped with. A means for the control unit to drive the robot hand to the robot arm and face the gripping tool to the uppermost boat stacked in the stock area.
Rotation around the X-axis and Y-axis that maintains parallelism in the Z direction of the robot hand based on the output signal of the distance measuring instrument when the control unit faces the gripper on the uppermost board. A means for obtaining an angle and a rotation angle around the Z axis that maintains parallelism in the XY direction of the robot hand, and storing the grip X angle, the grip Y angle, and the grip Z angle in the storage area, respectively.
The X-axis and Y-axis of the robot hand when the control unit grips the top-level board based on the output signal of the distance measuring instrument when the gripper faces the top-level board. And means for obtaining the coordinates in the Z-axis direction and storing them in the storage area as the grip X coordinate, the grip Y coordinate, and the grip Z coordinate, respectively.
15. The board affixing device according to claim 15. A gripping tool that is attached to the robot hand, grips a flat board, and is attached to the board attachment base provided at the board attachment position.
When the vertical direction of the measurement object is the X direction, the horizontal direction is the Y direction, and the depth direction is the Z direction, the first position, which is the intersection of the X axis along the X direction and the Y axis along the Y direction, and X Align the optical axis on the Z-axis along the Z-direction that passes through the second position on the axis away from the first position and the third position on the Y-axis away from the first position. Three distance measuring instruments attached to the robot hand,
Installed on a computer that controls each part of the board pasting device,
A function of driving the robot hand to the robot arm and making the gripping tool face the board pasting position.
Based on the output signal of the distance measuring instrument, the rotation angle around the X-axis and the Y-axis that keeps the parallelism of the robot hand in the Z direction and the rotation angle around the Z-axis that keeps the parallelism of the robot hand in the XY direction. And the function to save in the storage area as the paste X angle, paste Y angle, and paste Z angle, respectively.
Based on the output signal of the distance measuring instrument, the X-axis, Y-axis, and Z-axis coordinates of the robot hand when the board is attached to the base are obtained, and the attachment X coordinate, the attachment Y coordinate, and the attachment Z, respectively, are obtained. A function to save as coordinates in the storage area,
A computer program that runs. On the computer
A function of driving the robot hand with the robot arm and having the gripper face the uppermost boat stacked in the stock area.
Based on the output signal of the distance measuring instrument when the gripper is made to face the uppermost board, the rotation angles around the X-axis and the Y-axis that maintain parallelism in the Z direction of the robot hand, and the robot. A function to obtain a rotation angle around the Z axis that maintains parallelism in the XY direction of the hand and save it as a grip X angle, a grip Y angle, and a grip Z angle in the storage area, respectively.
Based on the output signal of the distance measuring instrument when the gripping tool is made to face the top-level board, the X-axis, Y-axis, and Z-axis directions of the robot hand when gripping the top-level board A function to obtain coordinates and save them in the storage area as grip X coordinates, grip Y coordinates, and grip Z coordinates, respectively.
17. The computer program according to claim 17.

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