JP2965053B2 - Arm support method for 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 method for supporting an arm provided on a spraying robot for spraying a refractory or the like and supporting a spray nozzle for spraying a coating material.

[0002]

2. Description of the Related Art For example, in a high-rise building having a steel structure, a refractory in which rock wool, cement slurry or the like is mixed is sprayed on an outer portion of an outer peripheral beam for supporting a ceiling slab or a floor slab. Conventionally, an operator rides on a gondola suspended from a ceiling slab or a floor slab, and holds and operates a spraying tool in front of an outer peripheral beam to spray refractory.

However, since it is difficult to move the gondola in the horizontal direction while suspended, the gondola is unsuitable for work performed while moving in the horizontal direction, such as when spraying a refractory on the outer peripheral beam. In addition, when refractory is sprayed by arranging the worker at the spraying point, floating dust generated at the time of spraying adheres to the worker and causes deterioration of the working environment, and in recent years, industrial robots have been used. The refractory is sprayed.

[0004]

When the refractory spraying operation is performed using the above-mentioned industrial robot, the robot is moved along the edge of the ceiling slab or the floor slab.
The refractory is blown out from the spray nozzle provided on the robot arm to the outer beam, etc., but if pillars are erected on the ceiling slab or floor slab, the pillars will hinder the robot's traveling and spray the refractory. Work may not be continued. In this case, it is conceivable to make the traveling robot travel so as to avoid the pillar material at the standing position of the pillar material. However, performing such an operation sequence is complicated in terms of control and configuration of the robot. Not preferred.

The present invention has been made by paying attention to the above-mentioned point, and when a pillar material which hinders the spraying robot traveling on the slab is installed on the slab, the pillar material is removed. An object of the present invention is to provide a method for supporting an arm of a spraying robot that can continue the spraying operation of a coating material such as a refractory material without running the robot so as to avoid it.

[0006]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a moving body moving on a slab along an edge of the slab, and a moving body which is located near the edge of the slab in the moving body. A spraying robot including an arm rotatably supported in a vertical plane and a spray nozzle supported by the arm and ejecting a coating material, wherein the arm is rotatably supported by the arm. A first arm extending from a body part, and a second arm extending from a tip of the first arm. When the coating material is sprayed, the first arm is supported in parallel with the slab. The second arm extends below the slab, and when the coating material is not sprayed, the first arm is placed on a frame of the moving body and the second arm is placed on the frame.
An arm extends upward on the frame.

Further, in the present invention, a caster is provided on the first arm, and the caster comes into contact with the slab at the time of spraying the coating material and rotates along the traveling direction of the moving body. Further, according to the present invention, a control box for accommodating a control system for controlling movement of the moving body on the slab is provided on the moving body, and the first arm controls the control when the coating material is not sprayed. It was placed on the box.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a side view showing an example of a schematic configuration of a spraying robot to which the method of the present invention is applied, and FIG. 1 shows a state during a spraying operation. In FIG. 1, 1 is a floor slab. This floor slab 1 is installed on each floor of a structure (not shown), and has an outer peripheral beam 2 of H steel or the like extending horizontally.
(Corresponding to the structural part below the slab). On an upper surface 12 near the edge 11 of the floor slab 1, a rail member 3 extending horizontally along the edge 11 is attached.

In FIG. 1, reference numeral 5 denotes a spray robot. The spray robot 5 includes a frame 51 (corresponding to a moving body), a first arm 52, a second arm 53, a slide member 54, an L-shaped frame 55, and a spray nozzle. 56
It has. The frame 51 travels along the edge 11 of the floor slab 1 in the horizontal direction.
A hinge 511 is provided on the portion of the frame 51 closer to the side. A guide roller 513 contacting one side of the rail member 3 is provided on the lower surface 512 of the frame 51.
A guide piece 514 in contact with the other side of the vehicle, and a driving wheel 5 for traveling.
15 is provided, and a control box 517 is provided on the upper surface 516. The control box 517 houses a control system (not shown) for controlling the driving of a rotary drive source (not shown) such as a motor for rotating the drive wheels 515.

The base end of the first arm 52 is supported by the frame 51 via a hinge 511, and the hinge 511 is rotatable in a vertical direction indicated by an arrow A in FIG. The proximal end of the second arm 52 is attached to the distal end of the first arm 53. In the state of the spraying operation shown in FIG. 1, the first arm 52 is supported in parallel with the floor slab 1, and the second arm 53 extends below the floor slab 1 from outside the end 11 of the floor slab 1. Will be issued. A free caster 522 is provided on the lower surface 521 of the first arm 52 facing the upper surface 12 of the floor slab 1 in the state shown in FIG.

Therefore, when the drive wheel 515 rotates, the frame 51 is guided by the rail member 3 by the contact of the guide roller 513 and the guide piece 514 with the rail member 3, whereby the frame 51 is moved to the edge 11 of the floor slab 1. It runs along the horizontal direction. At the same time, the free casters 522 of the first arm 52 slidably contact the upper surface 12 of the floor slab 1, and the first arm 52 runs integrally with the frame 51.

A slide member 54 is attached to the second arm 53 so as to be slidable in the direction in which the second arm 53 extends. The slide member 54 is provided with a motor 541 and a rotating shaft 543, and one piece of the L-shaped frame 55 is connected to the rotating shaft 543. L-shaped frame 55
A spray nozzle 56 is attached to the other piece so as to be rotatable in the direction of arrow B in FIG. Shaft 542 of motor 541
When the motor 541 rotates when the slide member 54 is located at the lower end of the second arm 53, the rotation of the shaft 542 is transmitted to the rotation shaft 543 via the belt 57. Transmitted, and thus L
The mold frame 55 turns in the direction of arrow C in FIG.

In the spraying robot 5 according to the present embodiment, the frame 51 and the first arm 52 are reciprocated in the horizontal direction along the edge 11 of the floor slab 1 by a predetermined width by the rotation of the driving wheels 515. At the same time, the slide member 54 is slid in the vertical direction along the second arm 53 so that the refractory material ejected from the spray nozzle 56 is removed from the web 21 of the outer peripheral beam 2 and the upper and lower flanges 22 and 23.
Is sprayed in a zigzag shape over the area of the predetermined width. After spraying the refractory material onto the area of the predetermined width of the outer peripheral beam 2, the drive wheels 515 are rotated to move the frame 51 horizontally along the edge 11 of the floor slab 1 by the predetermined width. As described above, while the frame 51 is reciprocated at a predetermined width, the slide member 54 is slid up and down along the second arm 53 to perform a refractory spraying operation.

By the way, as shown in FIG.
When the first and first arms 52 approach the columns 7 erected at predetermined intervals on the upper surface 12 of the floor slab 1, the columns 7 hinder the movement of the frame 51 and the first arms 52,
The spray nozzle 56 cannot face the outer peripheral beam 2 region H near the column 7 shown in FIG. 3, and the refractory material cannot be sprayed on the outer peripheral beam 2 in this region H.

Therefore, in the spraying robot 5 of this embodiment, when the frame 51 and the first arm 52 approach the column to some extent, the motor 541 is rotated to move the L-shaped frame 55 from the direction shown by the solid line in FIG. It is turned 180 ° in the direction shown by the imaginary line in the figure, and the second arm 5 is turned as shown in FIG.
The L-shaped frame 55 extending to the right of FIG. 3 is extended to the left of the second arm 53 as shown in FIG. And
As shown in FIG. 4, the L-shaped frame 55 is
Peripheral beam 2 that cannot be reached when it extends to the right of
With the spray nozzle 56 facing the area H, the operation of spraying the refractory material on this area is performed.

Further, as described above, the frame 51 and the first arm 52 approach the column 7, and
When the first arm 52 is moved, the first arm 52 interferes with the column 7 and the frame 51 and the first arm 52
Cannot move to the opposite side, and the spraying operation of the refractory material cannot be continued. Therefore, in the spraying robot 5 of the present embodiment, when the frame 51 and the first arm 52 approach the column 7, the spraying operation of the refractory material is temporarily stopped, and the first arm is driven by driving a drive source (not shown) or manually. 52 is rotated 180 ° in the direction of arrow A from the state shown in FIG.

As a result, as shown in FIG.
The first arm 52 is mounted on a control box 517 provided on the upper surface 516 of the
1, the first arm 52 does not interfere with the column 7. Therefore, the frame 51 is run in the state shown in FIG.
After passing through the standing position of the column 7, the first arm 52 is again rotated by 180 ° in the direction of arrow A, and the first arm 52 and the second arm 53 are returned to the state shown in FIG. The operation of spraying the refractory material on the outer beam 2 on the opposite side is restarted.

As described above, in the spraying robot 5 of the present embodiment, the hinge 511 is provided on the frame 51 moving along the edge 11 of the floor slab 1 at a position near the edge 11 of the floor slab 1. The base end of the first arm 52 is rotatably supported on the frame 51 in the vertical direction via the hinge 511, and the second arm 53 is attached to the tip of the first arm 52. L-shaped frame 5
5, a spray nozzle 56 was provided.

For this reason, the second arm 53 is rotated as shown in FIG. 5, and the first arm 52 is placed on the control box 517 provided on the upper surface 516 of the frame 51.
By extending the second arm 53 upward on the frame 51, the first arm 52 can be prevented from interfering with the column 7 when the frame 51 approaches the standing position of the column 7, It is possible to cause the frame 51 to pass through the standing portion of the column 7 and perform the operation of spraying the refractory material on the outer peripheral beam 2 on the side opposite to the column 7.

In this embodiment, the edge 11 of the floor slab 1
A rail member 3 is provided on an upper surface 12 close to the floor, and the frame 51 is guided by the rail member 3 so as to travel on the upper surface 11 of the floor slab 1. The L-shaped angle material of the attached concrete stopper may be used as a traveling guide of the frame 51, or the frame 51 may be moved without using the traveling guide. Further, in the present embodiment, the frame 5 is used during the spraying operation.
1 reciprocates horizontally at a predetermined width along the edge 11 of the floor slab 1, but the second arm 53 is moved to the first arm 52, or the first arm 52 is moved to the frame 51. On the other hand, the second arm 53 can be slid in the direction along the running direction of the frame 51,
Alternatively, the spray nozzle 56 may be moved in the horizontal direction during the spraying operation by sliding the first arm 52 with respect to the frame 51.

Further, in this embodiment, the L-shaped frame 55
Is pivotable in a vertical plane that intersects with the horizontal plane on which the floor slab 1 extends, but may be pivotable in a horizontal plane parallel to the horizontal plane on which the floor slab 1 extends. in addition,
In this embodiment, the web 21 and the upper and lower flanges 2
Although the description has been made by taking a spraying robot that sprays a refractory material on the members 2 and 23 as an example, a spraying robot that sprays on other members such as columns, walls, and floors, and a spraying robot other than the refractory material that sprays paint, for example, Needless to say, the method of the present invention can be applied to this.

[0022]

As described above, according to the present invention, the moving body that moves on the slab along the edge of the slab is located at a position near the edge of the slab and extends from the moving body location. 1
An arm is rotatably supported in a vertical plane, a second arm is extended from a tip of the first arm, and a spray nozzle for ejecting a coating material is supported by the second arm.
When the coating material is sprayed, the first arm is supported in parallel with the slab, and the second arm extends below the slab. When the coating material is not sprayed, the first arm is placed on the frame of the moving body. And the second arm is extended upward on the frame. Therefore, when a pillar material that hinders the spraying robot traveling on the slab is provided on the slab, this pillar is used. The spraying operation of the coating material such as the refractory material can be continued without running the robot so as to avoid the material.

[Brief description of the drawings]

FIG. 1 is a side view showing an example of a schematic configuration of a spraying robot to which the method of the present invention is applied.

FIG. 2 is a front view of the spraying robot shown in FIG.

FIG. 3 is an explanatory diagram illustrating an operation of spraying a refractory material by the spray robot shown in FIG. 1;

FIG. 4 is an explanatory diagram illustrating a spraying operation of a refractory material by the spraying robot shown in FIG. 1;

FIG. 5 is an explanatory diagram illustrating a state in which the spraying robot shown in FIG. 1 avoids interference with a pillar.

[Explanation of symbols]

 Reference Signs List 1 floor slab (slab) 11 floor slab edge 5 spraying robot 51 frame (moving body) 517 control box 52 first arm 522 free caster 53 second arm 56 spray nozzle

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁶ , DB name) B05B 12/00 B05D 1/02

Claims (3)

(57) [Claims] A moving body that moves on the slab along an edge of the slab; an arm rotatably supported in a vertical plane at a position near the edge of the slab in the moving body; A spraying robot comprising a spray nozzle supported by the arm and spraying a coating material, wherein: a first arm extending from the movable body where the arm is rotatably supported; and a first arm. And a second arm extending from the tip of the slab. When the coating material is sprayed, the first arm is supported in parallel with the slab, and the second arm extends below the slab. When the coating material is not sprayed, the first arm is placed on the frame of the moving body, and the second arm is extended upward on the frame. Arm supporting method for spraying robot. 2. The spraying device according to claim 1, wherein a caster is provided on the first arm, and the caster contacts the slab when the coating material is sprayed and rotates along the traveling direction of the moving body. Robot arm support method. 3. A control box for accommodating a control system for controlling the movement of the moving body on the slab is provided on the moving body, and the first arm is provided with the control box when the coating material is not sprayed. The method for supporting an arm of a spraying robot according to claim 1 or 2, which is mounted on the arm.