JP2706866B2 - Material supply control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for controlling a material supply source in accordance with a spraying operation of a working robot, such as when a refractory is sprayed on a steel frame or the like.

[0002]

2. Description of the Related Art In a high-rise building having a steel structure, a refractory in which rock wool and a cement slurry are mixed is sprayed on the surface of a beam or the like. A work robot that runs on its own is used. By the way, the spraying work robot and the plant equipment for supplying the refractory to the spraying work robot are installed at positions separated from each other, and the two are connected by piping. The pipe length varies depending on the construction site, but is generally about 50 to 150 m.

[0003] In addition, a method is adopted in which refractory is supplied from the plant equipment to the nozzle gun of the work robot during the spraying operation of the work robot, and the supply of the refractory is stopped when the work robot is not sprayed or stepped. ing. Furthermore, among the refractories, rock wool and the like solidifies with the passage of time, so at the time when the refractory blowing from the nozzle gun is completed, the inside of the pipe is set to an empty state in which all the refractory in the pipe has been sent out. It must be kept from being blocked by residual refractories. Conventionally, when controlling the supply of such refractories, the start timing of the spraying of the work robot and the end timing of the spraying of the work robot are visually measured to turn on the compressor, slurry pumping pump, rock wool spraying machine, etc. of the plant equipment. The control was turned off.

[0004]

However, in the conventional control method as described above, a person judges the start timing of spraying and the end timing of spraying while visually observing the operation status of the working robot for spraying. Since the on / off control of each part of the plant equipment is performed at this timing, the on / off control timing of the plant equipment is not constant, and there is an individual difference among operators, and the spraying tends to be uneven.

For example, if the on-timing of the plant is too early, the refractory is inadvertently ejected from the nozzle gun before the working robot enters the spraying posture, and if the on-timing is delayed, Then, a portion where the refractory is not sprayed occurs. Furthermore, if the off-timing of the plant is too early, there will be parts that cannot be sprayed due to insufficient refractories, and if the off-timing is delayed, extra refractories will be supplied. ,
There was a problem that refractory waste was increased.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has an object to automatically and optimally supply a material from a material supply source through a transport pipe in accordance with the movement of a work robot. It is intended to provide a source control device.

[0007]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a work robot for spraying a material by operating a nozzle on a sprayed object, and supplying a spray material to a nozzle of the work robot. A material supply source to be connected, a material transport pipe connecting the nozzle and the material supply source via a spray material pumping means, and the material transport based on a length of the material transport pipe and a pumping capacity of the pumping means. A first calculating means for obtaining a time ΔT required to fill the inside of the pipe with the spray material over the entire length; and automatically feeding the material pumping means at a timing earlier by the time ΔT from the start of spraying of the working robot. It starts and controls the supply of the spray material from the material supply source to the work robot side, and the remaining of the spray area of the object to be sprayed by the work robot is the total amount of the spray material in the transport pipe. Control means for stopping the supply of the material from the material supply source to the material pumping means at a timing coincident with that of the material supply source and controlling the material spraying material remaining in the material transporting pipe to be sent out.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a configuration diagram illustrating an example in which the present invention is applied to a refractory supply plant. In FIG. 1, 11
Is a work robot for spraying refractories, and this work robot 11 is installed on a self-propelled carriage 12. Further, the work robot 11 has a multi-joint arm 11b, and a nozzle 13 for spraying a refractory to a beam 10 of a building or the like is attached to a tip of the multi-joint arm 11b.

Reference numeral 14 denotes a refractory supply plant for supplying a refractory made of a mixture of rock wool and cement slurry to the nozzle 13 of the work robot 11,
The refractory supply plant 14 includes a rock wool feeder 15 that crushes rock wool and supplies a fixed amount of the rock wool, a blower 16 that pressure feeds rock wool supplied from the rock wool feeder 15 to the nozzle 13, and a cement slurry mixer 17. A slurry pump 18 for pumping the cement slurry from the cement slurry mixer 17 to the nozzle 13;
And an air compressor 19 for refractory injection. The rock wool feeder 15 and the nozzle 13 are connected by a relatively large rock wool transport pipe 20, and the slurry pump 18 and the nozzle 13 and the air compressor 19 and the nozzle 13 are relatively thin. They are connected by flexible hoses 21 and 22. In the middle of the hoses 21 and 22, a valve box 23 for opening and closing the path is provided.

In FIG. 1, reference numeral 24 denotes a plant control device for controlling the plant 14 and the valve box 23. The plant control device 24 includes a rock wool feeder 15, a slurry pump 18, an air compressor 1
9, the valve box 23 is connected to each other, and a program for controlling the rock wool feeder 15, the slurry pump 18, the air compressor 19 and the valve box 23, or the pipe length, the spray speed of the work robot, and the work robot blows a predetermined area. A memory 25 for storing data such as a spraying time required for applying, a pumping ability of a rock wool pumping blower, and spray pattern path data, and an input unit 26 for inputting a program and other data are connected. 27 is the work robot 11 and the self-propelled trolley 1
2 is connected to the robot control device 27 and the plant control device 24 so that data can be exchanged between the robot control device 27 and the plant control device 24.
A simple input unit 28 for giving a manual command to the work robot 11 and the self-propelled carriage 12 is connected.

FIG. 2 is a circuit diagram showing details of the valve box 23. As shown in FIG. In FIG. 2, reference numeral 231 denotes a pilot-operated switching valve interposed in the middle of a hose 21 connecting the slurry pump 18 and the nozzle 13.
A solenoid operated solenoid valve 232 that opens and closes the switching valve 231 is connected to the pilot pressure supply port 31. 233 is the air compressor 19 and the nozzle 1
A solenoid-operated solenoid-operated switching valve interposed in the middle of the hose 22 connecting the three
Is connected to the nozzle 13 when the solenoid is not excited, and is communicated to the solenoid valve 232 when the solenoid is excited. When the solenoid valve 232 is excited, the switching valve 231 is switched in the closing direction. . In the above embodiment, the plant 14 constitutes a spray material supply source, and the plant control device 24 and the memory 25 constitute first computing means and control means, respectively.

Next, the operation will be described. When the refractory is sprayed on the object to be sprayed, for example, the beam 10 by the work robot 11, first, the input unit 28 is operated.
An operation command signal is supplied from the robot control device 27 to the self-propelled carriage 12, and the self-propelled carriage 12 is moved to a spray position close to the beam 10. Thereafter, the elevating mechanism 12a is operated by a command from the input unit 28 to lift the working robot 11 up to a specified height, and the nozzle 13 is directly opposed to the spray surface of the beam. At this time, the distance data between the nozzle 13 and the beam 10 detected by an ultrasonic sensor (not shown) and the self-propelled vehicle 12 detected by a travel distance encoder (not shown) and the like.
Is moved back to the robot controller 27. Thereafter, when a plant start command is input from the input unit 26, the plant 14 starts operating and the work robot 11 also starts operating, so that the refractory is sprayed on the beam 10.

The actual spraying of the refractory on the beam 10 is
As shown in FIG. 1, the upper flange 10a and the upper web 10
b, the web lower portion 10c and the lower flange 10d (these may be collectively referred to as spraying portions 10a to 10d). The work robot 11 and the plant 14 are controlled according to the time chart shown in FIG. First, FIG. 3 will be described. FIG. 3A shows the operation timing of the working robot, and T1 to T4 are the total spraying operation time required for each spraying portion of the beam 10. α1 to α4 are the movement times required to move the nozzle 13 from the spray reference position to each spraying part start point, and β1 to β4 are the movement times of the nozzle 13 from the spraying end point of each spraying part to the spraying reference position. This is the moving time required to move. Note that these spraying operation times T1 to T4, and movement times α1 to α4, β1 to β
Numeral 4 is obtained in advance by experiment or calculation according to the type of the beam 10, and these data are stored in the internal storage device of the robot control device 27. Therefore,
If the type of the beam 10 is designated, the data of the spray pattern suitable for the beam 10 as shown in FIG. 3A is read out from the memory, and the robot is controlled according to the spray pattern data. .

FIG. 3B shows a rock wool feeder 15.
3 shows the operation timing. In FIG. 3B,
ΔT is a pumping time required for rock wool to be pumped from the rock wool feeder 15 to the nozzle 13 in the pipe 20. The pumping time ΔT is a pipe length of the pipe 20 and a pumping capacity data of the blower 16. Is calculated based on The on-time of the rock wool feeder 15 with respect to each of the spray portions 10a to 10d of the beam 10 is set as shown in FIG. 3B, and the length of the on-time is determined by each of the spray portions 10a.
It is equal to the actual spraying time obtained by subtracting the nozzle movement times α1 to α4 and β1 to β4 from the spraying operation times T1 to T4 of 10 to 10d.

FIG. 3C shows the operation timing of the slurry pump 18. In FIG. 3C, the time during which the slurry pump 18 is turned on in each of the spray sections 10a to 10d is calculated from T1 to T4, respectively, and the spray operation time T1 to T1 for each of the spray sections 10a to 10d.
From T4, the respective nozzle movement times α1 to α4, β1
It is equal to the actual spraying time minus β4.

Next, details of the spraying operation will be described with reference to FIG. When the self-propelled carriage 12 including the work robot 11 is moved to a predetermined position with respect to the beam 10, the plant control device 24 and the robot control device 2
When 7 is initialized, first, the blower 16 and the compressor 19 are started by a start command from the plant control device 24, and an ON command signal is sent to the solenoid valve 232 and the solenoid switching valve 233 to excite each of them. . When the electromagnetic switching valve 233 is excited, the passage to the nozzle 13 is shut off, and at the same time, the passage to the electromagnetic valve 232 is opened. When the electromagnetic valve 232 is excited in this state, air pressure-fed from the compressor 19 through the electromagnetic switching valve 233 is applied to the switching valve 231 as pilot pressure through the electromagnetic valve 232, and the switching valve 231 is closed. Thus, the passage of the hose 21 connecting the slurry pump 18 and the nozzle 13 is shut off. After that, when the plant control device 24 reaches the time point t0 in FIG. 3 after the initialization, that is, the time point t0 which is ΔT time before the time point t1 at which the actual spraying of the upper flange 10a is started.
, An ON command is sent from the plant control device 24 to the rock wool feeder 15. As a result, the rock wool feeder 15 operates to supply a fixed amount of rock wool to the transport path. Rock wool sent out to the transport path is pressure-fed to the nozzle 13 through the pipe 20 by air from the blower 16. Then, when a time corresponding to ΔT elapses from the point in time t0, an OFF command is sent from the plant control device 24 to the switching valve operating solenoid valve 232 and the solenoid switching valve 233, and these valves are demagnetized to switch the switching valve 231 and the solenoid valve. The switching valve 233 is switched to the open state in FIG. At the same time, the slurry pump 18 is started from time t1.

When the slurry pump 18 is started, the cement slurry starts to be pumped to the nozzle 13 through the hose 21, and at the same time, the refractory consisting of the cement slurry and rock wool mixed in the nozzle 13 is sprayed by the air from the air compressor 19. It is jetted from the tip toward the upper flange 10a. At the same time, when the work robot 11 operates, the nozzle 13 is scanned in a predetermined spray pattern along the longitudinal direction of the beam 10 to spray refractory on the upper flange 10a.

On the other hand, as is apparent from FIG.
When a time (T1-α1-β1) corresponding to the actual spraying of the upper flange 10a has elapsed from the point in time t0, an off command is sent from the plant control device 24 to the rock wool feeder 15, whereby the rock wool feeder 15 outputs Stop supplying rock wool to the transportation route. Then, rock wool remaining in the pipe 20 is blown by the blower 16 into the nozzle 13.
In the direction of. At this time, the amount of rock wool remaining over the entire length in the pipe 20 depends on the rock wool feeder 15.
Corresponds to the amount of rock wool necessary for completely spraying the remaining spray area of the upper flange 10a after the off operation.

At the time point t2 when the spraying of the refractory onto the upper flange 10a is completed, an off command is given from the plant controller 24 to the slurry pump 18 and a switching command is given to the electromagnetic switching valves 233 and 232. . As a result, at the same time when the slurry pump 18 is stopped, the electromagnetic switching valve 233 is switched to switch the air compressor 1.
9 is applied as pilot pressure from the solenoid valve 232 to the switching valve 231 to operate the switching valve 231,
The passage of the hose 21 for supplying cement slurry is shut off. Thereafter, the work robot 11 moves the nozzle 13 from the spraying end point of the upper flange 10a to the spraying reference point, and waits for the next spraying of the upper web portion 10b. Further, at a time point ΔT before the time point t3 at which the actual spraying of the upper web portion 10b is started, an ON command is again given from the plant control device 24 to the rock wool feeder 15.
Thereby, when the rock wool feeder 15 is operated,
The empty pipe 20 is filled with rock wool up to the nozzle 13 during ΔT. Therefore, the upper web 1
At the same time as the start of the spraying to 0b, the rock wool can be mixed with the cement slurry from the nozzle 13 and jetted out.

When the nozzle 13 moves from the reference spraying point to the spraying start point at time t3 with respect to the upper web portion 10b, the switching valve 231 and the electromagnetic switching valve 233 are simultaneously activated when the slurry pump 18 is started again. At the same time, the working robot 11 starts the spraying operation and sprays the refractory on the upper web portion 10b. Less than,
By executing the same sequence operation as described above based on the times T3 and T4, the refractory is sprayed on the lower web portion 10c and the lower flange 10d.

When a series of spraying sequence operations shown in FIG. 3 is completed, a step command is given from the robot controller 27 to the self-propelled carriage 12. Then, the self-propelled carriage 12 travels a predetermined amount of steps along the longitudinal direction of the beam 10 and stops. Thereafter, the refractory is sequentially blown to the upper flange 10a, the upper web portion 10b, the upper web portion 10b, the lower web portion 10c, and the lower flange 10d of the beam 10 according to the time chart shown in FIG.

As described above, in the present embodiment, the actual spraying time for the upper flange 10a, the upper web 10b, the lower web 10c, and the lower flange 10d of the beam 10 and the travel time α1 of the nozzle from the spray reference position to the spray start point.
α4 and the moving time β from the spray end point to the spray reference position
1 to β4, the rock wool feeder 15 is turned on and off.
The off-timing and the on / off timing of the slurry pump 18 are automatically set, and the plant 14 is automatically controlled based on the on / off timing. In addition to automatically supplying the optimum amount of refractory from the plant without any excess or shortage of spraying, the refractory can be sprayed to the beams uniformly, and the refractory is not wasted. In addition, when supplying rock wool, a control method in which a required amount of rock wool is supplied to the upper flange, upper web, lower web and lower flange of the beam 10 before the actual spraying time and stopped before the spraying ends. When the spraying of each spraying part is completed, no rock wool is present in the pipe 20 at the time when the spraying of each spraying part is completed. Therefore, the inside of the pipe is blocked by the rock wool or the rock wool adheres to the pipe inner wall. It is possible to prevent the refractory spraying from being impaired due to a decrease in the rock wool transport capacity of the piping.

Although the supply control of the refractory has been described in the above embodiment, the present invention is not limited to this. For example, it is needless to say that the present invention can be applied to the supply control of paints and other materials that easily block the inside of the pipe. Further, the material supply mechanism is not limited to the one described in the above embodiment.

[0024]

As described above, according to the present invention, the material pumping means is activated at a timing ΔT earlier than the time required for filling the material in the transport pipe from the time when the spraying of the working robot is started. Controlling the supply of the material from the supply source to the work robot side, and from the material supply source to the material pumping means at a timing at which the remaining of the spray area of the sprayed object by the work robot matches the total amount of the sprayed material in the transport pipe. Control to stop the material supply and feed out the remaining material in the material transport pipe, so that the material from the material supply source can be automatically and optimally supplied through the transport pipe according to the spraying operation of the work robot. At the same time, the operation timing of starting and stopping the supply of the material from the material supply source can be automatically and accurately set.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram showing one embodiment of the present invention.

FIG. 2 is a circuit diagram showing details of a valve box in the embodiment.

FIG. 3 is a time chart for explaining operations of a work robot and a plant.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 Working robot 12 Self-propelled trolley 13 Nozzle 14 Refractory supply plant 15 Rock wool feeder 16 Blower 17 Mixer 18 Slurry pump 19 Air compressor 20 Transport piping 21, 22 Hose 24 Plant control device 25 Memory 27 Robot control device

Claims (3)

(57) [Claims] 1. A work robot that sprays a material by operating a nozzle on an object to be sprayed, a material supply source that supplies a material to be sprayed to a nozzle of the work robot, and a work supply source between the nozzle and the material supply source. A material transporting pipe connected via a spraying material pumping means, and a material required to fill the entire length of the material transporting pipe with the spraying material based on the length of the material transporting pipe and the pumping capacity of the pumping means. A first calculating means for obtaining a time ΔT; and automatically starting the material pumping means at a timing earlier by the time ΔT from the start of spraying of the work robot to send the sprayed material from the material supply source to the work robot. Supply control, and the material pressure from the material supply source is adjusted at a timing when the remaining of the spray area of the object to be sprayed by the work robot matches the total amount of the sprayed material in the transport pipe. Controller of the material source, characterized in that it comprises a control means for controlling to feed the spraying material remaining material supply to the unit to stop and material transport in a pipe, a. 2. The spraying material is a refractory made of rock wool and cement slurry, wherein the material supply source includes a rock wool feeder and a cement slurry mixer, and the pumping means includes a transportation pipe. A blower that supplies rock wool to the nozzle from a rock wool feeder, and a slurry pump that supplies cement slurry from a cement slurry mixer to the nozzle via a hose. 2. The control device for a material supply source according to claim 1, further comprising an air compressor for injecting the material into the material supply source. 3. The rock wool feeder is started at a timing ΔT earlier than the start of spraying of the work robot to supply the rock wool to the work robot and spray the object to be sprayed by the work robot. The rock wool feeder is stopped at a timing when the remainder of the area matches the total amount of sprayed material in the transport pipe, and the rock wool remaining in the transport pipe is pressure-fed by the blower. A control device for a material supply source according to claim 2.