JP2691484B2 - Driving control method for refractory spray robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling control method for a refractory spray robot in which a robot carriage is continuously stepwise moved along the longitudinal direction of an object to be sprayed according to the spray width of the robot. .

[0002]

2. Description of the Related Art In a high-rise building having a steel frame structure, a refractory containing a mixture of rock wool and cement slurry is sprayed on the surface of a beam or the like. Further, for spraying such a refractory, an industrial robot is used from the viewpoints of protecting workers and the like from floating dust generated during spraying, and reducing the labor of workers. By the way, the width at which the robot can blow the steel frame such as a beam at a fixed position is limited to a range corresponding to the turning angle of the robot arm. Therefore, if the beam or the like is to be sprayed over its entire length, it is necessary to sequentially move the robot carriage along the longitudinal direction of the structure to be sprayed, such as the beam, by the amount corresponding to the spraying width of the robot.

Conventionally, in such a case, first, the keyboard on the robot control panel is operated to spray a width of, for example, 1.
Set 00 cm. Next, a manual digital switch (dip switch) provided on the trolley operation panel is operated to set a trolley movement amount (for example, 100 cm) corresponding to the spraying width. When the robot finishes spraying the refractory material onto the structure to be sprayed over the set spray width, the robot control panel sends an operation command to the carriage control unit, which causes the carriage control unit to operate and the carriage One step, that is, the amount corresponding to the spraying width, is moved along the longitudinal direction of the structure to be sprayed, and the robot is operated again to spray the refractory material to the unsprayed portion.

[0004]

However, in the conventional device as described above, since the movement amount corresponding to the spraying width of the robot must be set also on the side of the carriage control unit, the spraying width of the robot is Each time it is changed, the movement amount on the side of the trolley control unit must be changed and set, which makes the setting operation complicated, and there is a problem that a mistake in setting the movement amount with respect to the spray width easily occurs.

The present invention has been made in view of the above-mentioned circumstances, and does not require step amount setting on the side of a carriage control unit and simplifies the operation of setting data on a structure to be sprayed with a refractory material. An object of the present invention is to provide a travel control method for a robot.

[0006]

In order to achieve the above object, the present invention inputs data on a structure to be sprayed on a spray from an operation panel connected to a robot controller for controlling a refractory spray robot. Controlling the spraying robot based on spraying width data obtained from the sprayed structure data and the sprayable range of the refractory material of the spraying robot, and spraying the refractory material onto the sprayed structure. After the spraying, the running command generated from the robot control unit and the spraying width data are transmitted to the carriage control unit of the robot so that the robot self-moving carriage corresponds to the spraying width of the structure to be sprayed. When the self-propelled carriage is step-traveled in the longitudinal direction and the self-propelled carriage is step-traveled by an amount corresponding to the spraying width, a traveling end command generated from the carriage control unit is transferred to the robot control unit and is transmitted to the robot control unit. Digits so as to operate the robot again. Further, in the present invention, the operation panel is provided with respective selection buttons according to the size and type of the structure to be sprayed, and by operating these selection buttons, the command data of the spraying robot and the self-propelled carriage are displayed. It is automatically assigned.

[0007]

An embodiment of the present invention will be described below with reference to the drawings. In FIG. 1, 11 is a spraying robot,
This spray robot 11 is installed on a self-propelled carriage 12. The spray robot 11 has a manipulator 11a and an articulated arm 11b, and a nozzle 13 for spraying a refractory onto a beam of a building or the like is attached to the tip of the articulated arm 11b.

The robot controller 14 controls the spraying robot 11 based on the spraying pattern data and spraying width data stored in its internal memory or the like, and
It has a function of controlling data communication with the outside and is mainly composed of a microcomputer. Robot controller 1
The manipulator 11 a of the spraying robot 11 and the simple operation panel 15 are connected to 4. Simple operation panel 15
As shown in FIG. 2, a keyboard 15a for inputting data of an object to be sprayed, for example, data such as length, height, and spray width of the beam, and a size of the refractory spray beam, that is, a large beam or a middle beam. , Selection buttons 15b, 15c, 15d for selecting beam
And a selection button 15e for selecting the stiffener of the beam,
Side face and front face selection buttons 15f and 15g for selecting the horizontal face spray when the beam is laterally viewed from the side of the spraying robot 11 and the front face spraying when the beam is frontally positioned.
And a start button 15h and a stop button 15i of the spray robot 11 are provided respectively.

The robot controller 14 has an interface 16 defined by RS-232C for exchanging data with the outside.
Is provided, and this interface 16 is connected to the interface 18 of the carriage control unit 17. This interface 18 is also defined by RS-232C. The trolley control unit 17 automatically controls step traveling of the robot self-propelled trolley 12 along the longitudinal direction of the beam based on command data transmitted from the robot control unit 14. It also has the function of communicating. The robot self-propelled carriage 12 is provided with an encoder 19 for converting the travel distance thereof into a pulse signal, and a counter 20 for counting the pulse signal transmitted from the encoder 19 is connected to the encoder 19. It is designed to be taken into the section 17.

Next, the operation will be described. When the refractory is sprayed onto the beam of the building, first, the keyboard 15a on the simple operation panel 15 is operated to set the length of the beam or the spray width determined according to the length of the beam. Kind, that is, girder,
Input according to the middle beam and small beam, and input this to the robot controller 14
It is recorded in the internal memory of. In addition, when the length of the beam corresponding to the large beam, the middle beam, and the small beam is input, the blowing robot 11
The spraying width is automatically assigned according to the sprayable width of once. For example, if the total length of the beam is 1500 cm and the sprayable width of the robot 11 is 200 cm,
Allocate 200 cm of spray 7 times and 100 cm of spray 1 time.

Now, assuming that the beam for spraying the refractory material is a girder, a girder selection button 15b on the simple operation panel 15 is selected.
Press to select the spray data for the girder. Further, one of the buttons 15f and 15g is pressed to select the horizontal spraying or the front spraying. Then, the start button 15h is pressed to start the spray robot 11.
When the spraying robot 11 starts, the manipulator 11a and the multi-joint arm 11b operate based on the input spraying width data or the spraying width data allocated from the beam total length to move the nozzle 13 to the spraying surface of the beam. At the same time as it is shaken in the lateral direction, the refractory is jetted from the nozzle 13 and sprayed on the beam. At the same time, based on the spray pattern data, the nozzle 1 is set so that the spray surface of the beam faces from the upper part to the lower part.
3 is scanned in a zigzag pattern and a refractory is sprayed.

When the spraying of the refractory material to the first allocation area is completed by the above-mentioned operation, a traveling command is sent from the robot control unit 14 to the carriage control unit 17 through the interface 18, and at the same time, the robot is operated. Movement data corresponding to the spray width is also transmitted to the carriage control unit 17. When the trolley control unit 17 receives the traveling command, it gives a start command to the self-propelled carriage 12 to cause the self-propelled carriage 12 to travel in the longitudinal direction of the beam. When the self-propelled carriage 12 starts traveling, the encoder 19 operates to generate a pulse signal according to the traveling distance, and the pulse signal is sequentially counted by the counter 20. Then, the carriage control unit 17 determines whether or not the count value of the counter 20 has reached a movement amount corresponding to a preset spraying width. When it is determined that the count value has reached the preset movement amount, the carriage control unit 17 transfers a travel end command to the robot control unit 14. When the robot control unit 14 receives the traveling end command, the spray robot 11 operates again to spray the refractory on the next spray area. Thereafter, by repeating the same operation, the refractory material is sprayed over the entire length of the beam.

As described above, in this embodiment, beam data such as the spray width and the beam length is input using the simple operation panel 15 of the robot controller 14, and the spray width obtained from the beam data is input. By transmitting the step travel data corresponding to the above to the carriage control unit 17, the self-propelled carriage is caused to travel in steps every time the robot 11 finishes spraying, so that the beam data is only input on the robot control unit side, Along with this, the input operation of the beam data is simplified, and it is possible to eliminate the data input error as in the conventional case. In addition, by operating the selection switch provided on the simple operation panel 15,
The spraying width corresponding to the beam size and the step traveling suitable for this can be automatically performed, and the data setting operation of the spraying robot can be further simplified.

In the above embodiment, the spraying of the refractory material on the beam has been described, but the present invention is not limited to this and can be similarly applied to members such as columns and floors.

[0015]

As described above, according to the present invention, the data of the structure to be sprayed is input from the operation panel connected to the robot control unit for controlling the robot for spraying the refractory, and the structure to be sprayed is input. Based on the spray width data obtained from the data of the structure and the sprayable range of the refractory material of the spraying robot, the spraying robot is controlled to spray the refractory material onto the structure to be sprayed, and the spraying is performed. After completion, the robot control unit generates a running command and spraying width data to the carriage control unit of the robot to make the robot self-moving carriage step-travel in the longitudinal direction of the structure to be sprayed by the amount corresponding to the spraying width. When the self-propelled carriage is step-traveled by the amount corresponding to the spray width, the traveling end command generated from the carriage control unit is transferred to the robot control unit so that the spray robot is operated again. , Data relating to the blasting structure requires only to enter the robot controller side, the input operation of the data is simplified accordingly. In addition, the operation panel is provided with each selection button according to the size and type of the structure to be sprayed, and by operating these selection buttons, the command data for the spray robot and the self-propelled carriage are automatically assigned. By doing so, the data setting operation of the spraying robot can be further simplified.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a spraying robot traveling control device to which a method of the present invention is applied.

FIG. 2 is a plan view of a simple operation panel in the present embodiment.

[Explanation of symbols]

 11 spraying robot 12 self-propelled carriage 13 nozzle 14 robot controller 15 simple operation panel 16, 18 interface 17 carriage controller 19 encoder 20 counter

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Keio Sawada 4-6-15 Sendagaya, Shibuya-ku, Tokyo Fujita Co., Ltd. (72) Ryoji Yoshitake 4-6-15 Sendagaya, Shibuya-ku, Tokyo Fujita Co., Ltd. (56) Reference JP-A-4-258468 (JP, A) JP-A-61-270499 (JP, A) JP-A-5-25925 (JP, A) JP-A-51-52471 (JP, A)

Claims (2)

(57) [Claims] 1. Data of a structure to be sprayed relating to spraying is input from an operation panel connected to a robot control section for controlling a robot to spray the refractory, and the data of the structure to be sprayed and the structure of the spraying robot. Based on the spray width data obtained from the refractory sprayable range data, the spray robot is controlled to spray the refractory onto the structure to be sprayed, and the robot controller generates the spray after the spray is finished. The traveling command and the spray width data are transmitted to the carriage control unit of the robot to cause the robot self-propelled carriage to step travel in the longitudinal direction of the structure to be sprayed by the amount corresponding to the spray width, and the self-propelled carriage sprays. When a step travel corresponding to the width is performed, a travel end command generated from the carriage control unit is transferred to the robot control unit so that the spray robot is operated again. Travel control method of the refractory spraying robot, characterized. 2. The size of the structure to be sprayed on the operation panel,
The fireproofing machine according to claim 1, wherein each selection button corresponding to the type is provided, and by operating these selection buttons, command data of the spray robot and the self-propelled carriage are automatically assigned. A traveling control method for a spray robot.