JP2808022B2 - Automatic board setting method - Google Patents

Description

The present invention relates to a method for automatically setting a board, for example, for automatically fastening a ceiling board or a wall board of a building.

[Prior Art] Conventionally, for example, the fastening work of a ceiling board B shown in FIG. 12 and the fastening work of a wall board B shown in FIG.
The worker held the screwdriver directly in his hand and fastened it with a screw, and the worker also stapled the stapler in his hand with a staple. No.
Fig. 14 shows a standard fastening structure for ceiling boards. In this figure, D is a lightweight steel frame, B is a gypsum board, S is a screw, F is a decorative board, and T is a staple.

[Problems to be Solved by the Invention] However, the fastening work of the ceiling board or the wall board is an upward work at a high position, so the working posture is bad and heavy labor, and there is a risk of falling from the scaffold,
There has been a problem that the working environment is poor such as the number of screw fastenings is large and the fatigue is severe.

The present invention has been made to solve the above-mentioned conventional problems, and an object of the present invention is to provide an automatic board setting method capable of setting a ceiling board or a wall board with high accuracy and efficiency. To provide.

[Means for Solving the Problems] According to the automatic board setting method of the present invention, a handling table is mounted on a freely movable carriage so as to be capable of turning, X-direction movement, Y-direction movement, and Z-direction movement. After fixing the board on the table, first move the handling table in the Z direction to approach a fastening frame such as a lightweight steel frame adjacent to the existing board, and then turn the handling table to remove the board. Making the board parallel to the existing board, then moving the handling table in the X direction to make contact along the side edges of the board, and moving the handling table in the Y direction to move the board into the existing board Is arranged so as to be aligned with a predetermined fastening position along the side edge.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

In FIG. 1, reference numeral 1 denotes a bogie, which runs on four independent drive wheels 3 which are driven to rotate by a drive motor 2. The driving direction of the drive wheel 3 can be freely changed by the steering device 4. 5 is a leveling jack,
The level of the cart 1 is adjusted. 6 is an auxiliary wheel.

A lifting arm 7 has a two-stage telescopic slide structure, and expands and contracts in a vertical direction (Z direction) by a built-in hydraulic cylinder or the like.

An X-direction slide table 8 is attached to the top of the lifting arm 7.

The X-direction slide table 8 has a rotary arm 9
Is installed. The rotary arm 9 has a vertical axis (Z
Around the direction axis).

A Y-direction slide table 10 is attached to the top of the rotary arm 9.

A handling table 11 is provided on the Y-direction slide table 10. On the upper surface of the handling table 11, a suction pad 12 is provided. The adsorption pad
12 is attached to the lower surface of the ceiling board B placed on this,
This is securely held and fixed. 13 is a pressing roller, and 14 is a position detection sensor.

Reference numeral 15 denotes a screw fastening unit, as shown in an enlarged manner in FIG. 2, a base frame 15a and the base frame 15a.
A screw tightening body 15c that slides up and down by an air cylinder 15b, and an air hose 15d that supplies a screw to a tip driving portion of the screw tightening machine body 15c. The base frame 15a moves along a rail 11a provided on the handling table 11. The movement of the base frame 15a is performed by a driving unit 11b such as a ball screw or a rack and pinion. The screw tightener body 15c tightens the screw by rotation by an electric motor. A potentiometer 15e is integrally attached to the side of the tip driving portion of the screwing machine main body 15c. When retracted to the same level position as the tip of the machine body 15c, the screwing machine body 15c stops moving forward.

Reference numeral 16 denotes a screw tightening position detecting sensor comprising a high-frequency oscillation type proximity sensor, which is a lightweight steel frame D on the back of the ceiling board B.
The position and width of are detected from below.

Referring again to FIG. 1, a screw feeder 17 accommodates a large number of screws,
Supply screws one by one to d.

The truck 1 includes a compressor 18 and a hydraulic unit 19.
Is provided, and serves as a power source for the driving device of each device described above. 20 is a control device, 21 is a receiver tank.

Reference numeral A denotes a board truck, which is a device for stacking a large number of ceiling boards and sending them one by one to the interior construction robot R. The board truck A mainly includes a carriage unit 22, a lift unit 23, and a board storage unit 24. The carriage unit 22 is connected to the carriage 1 by a connecting rod 22a, and moves following the robot R.

Next, the work of fastening the ceiling board by the apparatus of the above embodiment will be described.

First, as shown in FIG. 3, first, a lightweight steel frame D is attached to the insert buried under the ceiling foundation via a suspension bolt C to complete the ceiling frame, and obstacles on the floor surface E are removed. The ceiling board B, the interior construction robot R and the board truck A are carried in and assembled, and the ceiling board B is loaded on the board truck A. In this case, since the board accommodating portion 24 of the board truck A is set sideways and loaded, the loading operation can be performed easily.

Next, the board track A is connected to the robot R and moved to the position where the ceiling board B is attached, and as shown in FIG. Accommodation
The uppermost ceiling board B loaded on 24 is laterally fed by a slide cylinder and a feed roller 24a with a drive motor, and is guided to a predetermined position on the handling table 11 to be set.

When the ceiling board B is set on the handling table 11, the suction pad 12 is operated to suck and fix the lower surface of the ceiling board B.

Next, as shown in FIG. 5, the lifting arm 7 is extended and the lifting arm 11 is raised. At this time, since the suction pad 12 is provided with a spring in the axial direction thereof, when the ceiling board B comes into contact with the lightweight steel frame D on the ceiling surface, the suction pad 12 shrinks and the limit switch mounted on the spring is mounted. Is activated, and the operation of the lifting arm 7 is stopped.

Subsequently, the position detection sensor 14 on the handling table 11 slides in the Y direction, and the position of the ceiling board B,
The position of the lightweight steel frame D, the position of the adjacent ceiling board B already pasted, and the like are detected. Note that a photoelectric sensor or the like may be used as the sensor. The position detection sensor 14
The positional relationship between the existing ceiling board B and the suctioned ceiling board B detected by the above is calculated, and from the result, first, the suctioned ceiling board B is moved to the rotary arm 9.
Is rotated as shown in FIG. 6 so as to be parallel to the existing ceiling board B as shown by a virtual line.

Next, the ceiling board B is moved by the X-direction slide table 8.
Is moved in the X direction as shown in FIG. 7, and the long sides of both ceiling boards B are brought into contact with each other as shown by a virtual line.
Subsequently, the Y-direction slide table 10 is operated to
As shown in the figure, the positioning of the ceiling board B in the short side direction is performed. The positioning is performed by a method based on the above calculation result, a method based on torque detection of a ball screw drive motor of the slide table 10 by pressing, a method based on a shaft sensor incorporated in the rotary arm 9, or the like.

When the ceiling board B is set at a predetermined position, the first row of screws along the long side of the existing ceiling board B is tightened by the screw tightening unit 15. (See FIG. 9) As shown in FIG. 10 (A), when the screw tightening position detecting sensor 16 is moved together with the screw tightening unit 15, the position and width of the lightweight steel frame D on the back of the ceiling board B are changed. The detection waveform of the sensor 16 is output as shown in FIG.

Therefore, every time this output waveform is detected, the horizontal feed mechanism of the screw tightening unit 15 is stopped to perform screw tightening.

As for the screw tightening operation, when the screw tightening machine main body 15c is advanced toward the ceiling board B while tightening the screw, the potentiometer 15e retracts accordingly, and as shown in FIG. When the head of the screw S and the lower surface of the ceiling board B are aligned, the screwing unit 15 stops moving forward. Therefore, even if the ceiling board B is made of a soft material such as a plaster board, the screw heads can be securely aligned without cutting into or protruding from the board surface.

When the tightening of one row of screws is completed, the suction pad 12 is released from suction, and the suction pad 12 is retracted. In addition, the adsorption pad
12, a Z-direction slide cylinder is mounted. At this time, the ceiling board B is pressed by the pressing roller 13 on the handling table 11 so as to be in close contact with the surface of the lightweight steel frame D. The pressing roller 13 also has a built-in spring.

Next, the handling table 11 is moved in the X direction by a predetermined amount (for the screwing pitch) by the X-direction slide table 8, and the second row of screws is again tightened by the screw tightening unit 15. The movement of the handling table 11 and the screw tightening operation by the screw tightening unit 15 are repeated, and the entire surface of the ceiling board B is screwed.

When the screwing operation is completed, the position detection sensor 14 is operated to detect the position of the lightweight steel frame D. At this time, the handling table 11 detects the position of the lightweight steel frame D in a state where the handling table 11 is at the foremost position. This detected value is stored as direction control information of the main body for setting the next ceiling board B.

Next, the lifting arm 7 is lowered, and the X-direction slide table 8 and the Y-direction slide table 10 are operated to return the handling table 11 to the original position.

According to the information obtained by the position detection sensor 14, the truck 1
Of the ceiling board B while controlling the steering device 4
Forward by the same distance (for example, 910 mm) as the short side length of.

The above operation is repeated, and the attaching work is performed until the ceiling board B stacked on the board track A disappears.

Although the above description relates to the example of the attachment of the ceiling board as an example, the screw fastening unit 15 can be used for fastening a decorative board by replacing the screw fastening unit 15 with a stepper.

[Effects of the Invention] The handling table is turned on a movable cart, and X
Directional movement, Y-direction movement, and Z-direction movement, and a board is fixed on the handling table. First, the handling table is moved in the Z-direction, such as a light steel frame adjacent to the existing board. Approaching the fastening frame, then swiveling the handling table to make the board parallel to the existing board, and then moving the handling table in the X direction to make contact along the side edges of the board. Further, since the handling table is moved in the Y direction so that the board is aligned with a predetermined fastening position while being along the side edge of the existing board, the ceiling board and the wall board can be precisely adjusted. In addition, it can be set efficiently.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an embodiment of an interior construction robot and a board truck having a board fastening device for carrying out the method of the present invention, FIG. 2 is an enlarged view of a main part, and FIGS.
FIG. 11 is a work explanatory view for sequentially explaining the fastening work of the ceiling board by the robot and the board fastening device of the above embodiment, and FIGS. 12 to 14 are explanatory views of the prior art. 1 ... trolley, 2 ... drive motor, 3 ... drive wheel, 4 ...
Steering device, 5 ... Leveling jack, 6 ...
Auxiliary wheels, 7 Lifting arm, 8 X-direction slide table, 9 Rotary arm, 10 Y-direction slide table, 11 Handling table, 12
… Suction pad, 13… Pressing roller, 14… Position detection sensor, 15… Screw fastening unit, 15a …… Base frame, 15b …… Air cylinder, 15c …… Screw tightening machine body,
15d …… Air hose, 15e …… Potentiometer, 16…
... Screw tightening position detection sensor, 17 ... Screw feeder, 18 ... Compressor, 19 ... Hydraulic unit, 20 ...
Control device, 21 ... Receiver tank, 22 ... Bogie part, 23
... lift section, 24 board storage section, A ... board truck, B ... ceiling board, C ... hanging bolt, D ... light steel frame, E ... floor surface, R ... interior construction robot.

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Hiroshi Kusaka 2-30-21-202, Katsuradai, Midori-ku, Yokohama-shi, Kanagawa Prefecture (56) References Japanese Utility Model 1-119733 (JP, U) Field (Int.Cl. ⁶ , DB name) E04F 21/18 E04G 21/16

Claims (1)

(57) [Claims] 1. A handling table is mounted on a movable carriage so as to be capable of turning, X-direction movement, Y-direction movement and Z-direction movement, and a board is fixed on the handling table. Is moved in the Z direction to approach a fastening frame such as a lightweight steel frame adjacent to the existing board, and then the handling table is turned to make the board parallel to the existing board. Is moved in the X direction to make contact along the side edge of the board, and furthermore, the handling table is moved in the Y direction, and the board is moved to the predetermined fastening position along the side edge of the existing board. An automatic setting method of a board, characterized in that the board is aligned.