JP7269577B1 - Part mounting robot - Google Patents

Abstract

An object of the present invention is to reduce the number of man-hours for attaching a rod-shaped member to an embedded member. A member mounting robot (100) for mounting a rod-shaped member (6) to an embedded member (4) provided on a ceiling surface (1) has a carriage (10) capable of moving on a floor surface (2) and mounts the rod-shaped member (6) to the buried member (4). A member mounting portion 24, a rotating motor 22 that rotates the member mounting portion 24 about a support shaft 23, a distance sensor 51 that can detect the inclination of the embedded member 4, a carriage portion 10, the member mounting portion 24, and a rotation motor 22 that rotates the member mounting portion 24. and a control unit 50 that controls the operation of the movement motor 22 . The control unit 50 controls at least one of the rotation motor 22 and the carriage unit 10 so that the inclination of the rod-shaped member 6 held by the member attachment unit 24 substantially matches the inclination of the embedded member 4 detected by the distance sensor 51 . is operated, the member attachment portion 24 is operated so as to attach the rod-shaped member 6 to the embedded member 4 . [Selection drawing] Fig. 8

Description

The present invention relates to a member mounting robot.

Patent Literature 1 discloses a member attachment robot that attaches suspension bolts to embedded members provided on a ceiling surface.

JP 2017-110466 A

If the embedded member provided on the ceiling surface is an insert that is installed before pouring the concrete, if the insert is attached to the deck plate in advance, the flow of the concrete will occur when pouring the concrete on the deck plate. can cause the insert to tilt, and if the insert is pre-mounted in the plywood formwork, deformation of the formwork can cause the insert to tilt. In addition, when the embedded member provided on the ceiling surface is a post-installed anchor that is attached to the concrete ceiling surface after casting, if the hole for attaching the anchor is formed at an angle, the anchor is considered to be in an inclined state. Become.

If the embedded member is installed on the ceiling surface in such a tilted state, even if the hanging bolt is attached to the embedded member by a member attachment robot as described in Patent Document 1, the screw hole of the embedded member will not fit. The hanging bolt cannot be screwed in, resulting in work errors. Forcibly screwing the hanging bolt into the screw hole of the embedded member causes the screw to seize, making it impossible to install the hanging bolt properly. It becomes impossible to do it. For this reason, the worker has to re-perform the work of attaching the suspension bolt to the embedded member, and as a result, there is a risk that the number of man-hours required for the work will increase.

SUMMARY OF THE INVENTION An object of the present invention is to reduce the number of man-hours in the work of attaching a rod-shaped member to an embedded member provided on a ceiling surface.

The present invention is a member attachment robot that attaches a rod-shaped member having a threaded portion to an embedded member provided on a ceiling surface, and includes a carriage portion that can move on a floor surface and a support shaft that is parallel to the floor surface. a member mounting portion that is rotatably supported by the carriage as a member for holding the rod-shaped member and mounting the rod-shaped member to the embedded member; and rotating the member mounting portion about the support shaft. a driving unit, a detecting unit capable of detecting the inclination of the embedded member, and a control unit controlling operations of the carriage unit, the member mounting unit , and the driving unit; A distance detection unit capable of detecting a distance to the ceiling surface, wherein the control unit calculates a reference tilt angle from the distance to the ceiling surface detected by the distance detection unit, and calculates the reference tilt angle detected by the distance detection unit. A measured inclination angle is calculated from the distance to the embedded member, the difference between the reference inclination angle and the measured inclination angle is calculated as the inclination of the embedded member, and the inclination of the rod-shaped member held by the member mounting portion is calculated. actuates at least one of the drive section and the carriage section so as to substantially match the inclination of the embedded member, and then actuates the member attachment section to attach the rod-shaped member to the embedded member. The present invention also provides a member attachment robot that attaches a rod-shaped member having a threaded portion to an embedded member provided on a ceiling surface, and includes a carriage portion that can move on a floor surface and a support shaft that is parallel to the floor surface. a member mounting portion that is rotatably supported by the truck portion about the support shaft, holds the rod-shaped member, and mounts the rod-shaped member to the embedded member; a driving unit that moves the embedded member, a detecting unit that can detect the inclination of the embedded member, and a control unit that controls operations of the carriage, the member mounting unit, and the driving unit, a holding portion that holds a rod-shaped member; and an attachment operation portion that performs an operation for attaching the rod-shaped member held by the holding portion to the embedded member; and the control portion is held by the member attachment portion. At least one of the drive section and the carriage section is operated so that the inclination of the rod-shaped member substantially coincides with the inclination of the embedded member detected by the detection section, and then the rod-shaped member is attached to the embedded member. After actuating the member mounting portion to mount the rod-shaped member and actuating the mounting operation portion to mount the rod-shaped member to the inclined embedded member, the rod-shaped member is set substantially perpendicular to the ceiling surface. At least one of the drive section and the carriage section is operated so that a correction load for correction is applied to the rod-like member via the holding section. The present invention also provides a member attachment robot that attaches a rod-shaped member having a threaded portion to an embedded member provided on a ceiling surface, and includes a carriage portion that can move on a floor surface and a support shaft that is parallel to the floor surface. a member mounting portion that is rotatably supported by the truck portion about the support shaft, holds the rod-shaped member, and mounts the rod-shaped member to the embedded member; a driving unit that moves the embedded member, a detecting unit that can detect the inclination of the embedded member, and a control unit that controls operations of the carriage, the member mounting unit, and the driving unit, A sleeve capable of guiding the rod-shaped member toward the embedded member is provided, and the controller determines that the inclination of the rod-shaped member held by the member attachment unit is equal to the inclination of the embedded member detected by the detection unit. At least one of the drive section and the carriage section is operated so as to substantially match, and after it is determined that the sleeve has reached the vicinity of the embedded member, the rod-shaped member is attached to the embedded member. The member mounting portion is operated.

According to the present invention, it is possible to reduce the number of man-hours in the work of attaching the rod-shaped member to the embedded member provided on the ceiling surface.

FIG. 4 is an image diagram showing an image of work performed by the member mounting robot according to the embodiment of the present invention; 1 is a side view of a member mounting robot according to an embodiment of the present invention; FIG. FIG. 3 is a view showing part of the member mounting robot viewed from the direction indicated by arrow A in FIG. 2; 1 is a block diagram showing the configuration of an entire control system including a member mounting robot and a transport robot; FIG. FIG. 11 is a side view of a transport robot used with a member mounting robot; 4 is a flow chart showing a procedure of work performed by a member mounting robot; FIG. 4 is a diagram for explaining a method of detecting the inclination of an embedded member; It is the figure seen from the direction shown by arrow B of FIG. 7A. FIG. 10 is a diagram for explaining the operation of attaching the rod-shaped member to the embedded member; FIG. 6 is a flow chart showing details of some steps in the flow chart of FIG. 5; FIG. FIG. 10 is a diagram for explaining the operation of correcting the inclination of the rod-shaped member attached to the embedded member; FIG. 10 is a diagram for explaining a modification of the method of detecting the inclination of the embedded member; It is the figure seen from the direction shown by arrow C of FIG. 11A. FIG. 5 is a diagram for explaining a method of detecting the inclination of an embedded member when the end surface of the embedded member and the ceiling surface are substantially flush with each other; It is the figure seen from the direction shown by arrow D of FIG. 12A. FIG. 5 is a diagram for explaining a method of detecting the inclination of an embedded member when the end surface of the embedded member is not exposed from the ceiling surface; 13B is a view from the direction indicated by arrow E in FIG. 13A; FIG. It is a figure which shows the modification of the member attachment robot which concerns on embodiment of this invention. FIG. 11 is a side view of another modification of the member mounting robot according to the embodiment of the present invention; 16 is a view seen from the direction indicated by arrow F in FIG. 15; FIG. FIG. 17 is a view showing a cross section along line GG of FIG. 16, and is a view for explaining a structure for supplying rod-shaped members. FIG. 10 is a diagram for explaining a process of transferring the rod-shaped member to the member mounting portion; FIG. 19 is a diagram for explaining the process of transferring the rod-shaped member to the member mounting portion, and shows the process following FIG. 18 ; FIG. 20 is a diagram for explaining the process of transferring the rod-shaped member to the member mounting portion, and shows the process following FIG. 19; FIG. 21 is a diagram for explaining the process of transferring the rod-shaped member to the member mounting portion, and shows the process following FIG. 20;

A member mounting robot according to an embodiment of the present invention will be described below with reference to the drawings.

A member mounting robot 100 according to an embodiment of the present invention is an autonomous robot that does not require operation from the outside. As shown in FIG. It does the work. FIG. 1 is an image diagram showing an exaggerated image of the work performed by the member mounting robot 100 for easy understanding, and there are portions that differ from the actual size and ratio.

The ceiling surface 1 shown in FIG. 1 is the lower surface of a deck plate into which concrete has been poured, or the lower surface of a concrete slab after the plywood formwork has been removed. It is provided at a predetermined position.

The embedded member 4 is a member provided for attaching the rod-shaped member 6 to the ceiling surface 1, and is provided so that a female screw hole (not shown) into which the threaded portion of the rod-shaped member 6 is screwed is exposed on the ceiling surface 1. ing. Specifically, the embedded member 4 is an insert installed before pouring concrete or a post-installed anchor attached to concrete after pouring.

For example, if the ceiling surface 1 is the lower surface of a deck plate, an insert attached to a predetermined position of the deck plate before concrete is poured onto the deck plate may be used as the embedded member 4, or the deck plate After the concrete poured above hardens, it is driven into a hole formed by a drill in the lower surface of the deck plate, which will become the ceiling surface 1, and is mechanically fixed in the hole by opening the expansion part (not shown). An anchor may be used as the embedded member 4 .

Also, if the ceiling surface 1 is the lower surface of the concrete slab after the plywood formwork has been removed, there is an insert that is attached to the plywood formwork in place before the concrete is poured into the plywood formwork. It may be used as an embedded member 4, or it may be mechanically fixed in a hole drilled in the lower surface of the concrete slab that will be the ceiling surface 1 after the concrete placed in the plywood formwork hardens. An anchor may be used as the embedded member 4 . The construction anchor used as the embedded member 4 is not limited to one that is mechanically fixed in the hole, and is fixed in the hole by hardening the adhesive or the like filled in the hole. may

The inserts and post-installed anchors used as the embedded members 4 are designed so that at least a portion thereof is embedded and fixed in the concrete, and the lower ends thereof protrude from the ceiling surface 1 by a predetermined length. As a result, the female screw hole formed in the embedded member 4 is exposed on the ceiling surface 1 side, so that the rod-shaped member 6 can be attached to the ceiling surface 1 via the embedded member 4 . The embedded member 4 is not limited to an insert or a post-installed anchor, and may be any member having a configuration that allows the rod-shaped member 6 to be attached to the ceiling surface 1 by embedding and fixing at least a portion of the embedded member 4 to the ceiling surface 1. Any member may be used.

The rod-like member 6 is a fully threaded bolt, and is used, for example, as a hanging bolt for supporting a frame member that holds a ceiling panel, supporting an air conditioner main body or an air conditioning duct, or supporting a lighting device. . At the lower end of the rod-shaped member 6, an engaging portion (not shown) with which a tightening tool or the like can be engaged when the rod-shaped member 6 is screwed to the embedded member 4, for example, is larger than the root diameter of the male screw portion. A hexagonal head with a small outer diameter or a hexagonal hole may be provided.

As shown in FIG. 1 , the member mounting robot 100 receives from the transport robot 110 the rod-shaped member 6 transported by the transport robot 110 and attaches the received rod-shaped member 6 to the embedded member 4 provided on the ceiling surface 1 . The work of installing them sequentially is performed. The transport robot 110 is an autonomous robot that does not require external manipulation, like the member mounting robot 100 . One transportation robot 110 may be arranged for each member mounting robot 100 , or one transportation robot 110 may be arranged for a plurality of member mounting robots 100 .

The member mounting robot 100 and the transport robot 110 each have a carriage portion 10 having the same configuration. The member mounting robot 100 is configured by assembling the member mounting unit 20 to the carriage portion 10, and the transport robot 110 has a carriage. It is configured by assembling the transport unit 60 to the part 10 .

First, the member mounting robot 100 will be described with reference to FIGS. 2 is a side view of the member mounting robot 100, and FIG. 3 is a diagram showing a part of the member mounting robot 100, mainly the member mounting unit 20, viewed from the direction indicated by the arrow A in FIG. 4 is a block diagram showing the configuration of the entire control system including the member mounting robot 100 and the transport robot 110. As shown in FIG.

As shown in FIGS. 2 and 3, the member mounting robot 100 includes a carriage portion 10 that can move on the floor surface 2, and a member mounting portion that holds the rod-shaped member 6 and mounts the rod-shaped member 6 to the embedded member 4. 24, a rotation motor (driving unit) 22 that rotates the member mounting portion 24 around the support shaft 23, a control unit 50 that controls the operation of the truck portion 10, the member mounting portion 24, and the rotation motor 22; Prepare. In addition, the member mounting unit 20 is configured by a mechanism other than the carriage portion 10 .

The carriage portion 10 is a traveling device capable of self-propelled on the floor surface 2 in all directions. and a battery (not shown) that supplies power to the pair of motors (not shown). By separately driving the pair of wheels 14 in this manner, the truck section 10 can turn on the spot. The battery provided on the carriage 10 is also used as a power supply source for supplying power to the member mounting unit 20 .

As a configuration for rotating the carriage portion 10 on the spot, instead of the pair of wheels 14, for example, a configuration including a three-wheeled omni wheel or a four-wheeled mecanum wheel may be adopted. A configuration may be employed in which a plurality of rotatable spherical bodies function as drive wheels in contact with the floor surface 2 . From the viewpoint of work efficiency, it is preferable that the carriage 10 can turn on the spot. A possible general traveling device may be used.

The truck portion 10 is provided with a support 12 extending upward from the body portion 11 and a truck-side flange portion 13 provided at the upper end of the support 12 for attaching the member mounting unit 20 to the truck portion 10. . The member attachment unit 20 is attached to the carriage-side flange portion 13 via an installation plate 21 which will be described later. Although the support 12 shown in FIG. 2 is simply a columnar member, it may be configured to be vertically extendable.

Further, the carriage unit 10 is provided with an information acquisition device (imaging unit) 15 capable of acquiring information around the carriage unit 10 . The information acquisition device 15 is an omnispherical or semi-spherical camera capable of capturing an image around the carriage 10 and above the carriage 10 . The image picked up by the information acquisition device 15 is sent to the control unit 50 and used to identify the self-position of the truck unit 10 and detect obstacles. As the information acquirer 15, instead of the camera, or in addition to the camera, a three-dimensional range sensor such as a laser scanner capable of detecting distances in all directions, a so-called 3D-LiDAR (light detection and ranging) sensor. may be used.

As shown in FIGS. 2 and 3, the member mounting portion 24 of the member mounting unit 20 mounted on the carriage portion 10 is a flat plate-shaped arm plate that is rotatably supported by a turning motor 22 via a support shaft 23. 25, a holding portion 32 provided on one flat surface 25a of the arm plate 25 to hold the rod-shaped member 6 along the arm plate 25, and an operation of attaching the rod-shaped member 6 held by the holding portion 32 to the embedded member 4. a mounting operation portion 26; a guide sleeve (sleeve) 45 for guiding the rod-shaped member 6 held by the holding portion 32 to the embedded member 4; and an electric cylinder 40 that can be moved toward and away from.

The holding portion 32 has a fixed block 33 formed with a U-shaped groove 33a in which the rod-shaped member 6 is accommodated, and a rotating block 34 rotatably attached to the fixed block 33 via a pin member 34a. . The fixing block 33 is fixed to the arm plate 25 so that the direction in which the U-shaped groove 33 a is formed is along the longitudinal direction of the arm plate 25 .

The position of the rotation block 34 is determined by a servomotor (not shown) whose operation is controlled by the control unit 50 to close and open the U-shaped groove 33a, that is, a state in which the rod-shaped member 6 can be held and a position in which the rod-shaped member 6 can be held. can be changed to an acceptable state. Specifically, when the rod-shaped member 6 is attached to the embedded member 4, the rotation block 34 is held at a position that closes the U-shaped groove 33a. is held at a position where the U-shaped groove 33a is opened. Note that FIG. 3 shows a state where the rotation block 34 is in a position to open the U-shaped groove 33a.

A plurality of holding portions 32 are provided at predetermined intervals along the longitudinal direction of the arm plate 25 . In the example shown in FIG. 3, the holding portions 32 are provided at two locations, but may be provided at three or more locations.

The attachment operation part 26 includes an electric motor 27 that rotates the rod-shaped member 6 when the rod-shaped member 6 is screwed to the embedded member 4 , a socket 28 attached to a rotation shaft 27 a of the electric motor 27 , and an arm plate 25 extending along the length of the arm plate 25 . an electric slide 30 for moving the electric motor 27 along a rail 31 formed along a direction.

The socket 28 covers the lower end of the rod-shaped member 6 and can grip the outer peripheral surface of the lower end of the rod-shaped member 6. For example, the socket 28 is rotated to grip the outer peripheral surface of the rod-shaped member 6. protrudes radially inward. If an engaging portion such as a hexagonal hole is provided at the lower end of the rod-shaped member 6, the socket 28 is provided with an uneven portion that can be engaged with the engaging portion.

The electric motor 27 and the electric slide 30 are controlled by the controller 50 so as to screw the rod-shaped member 6 gripped by the socket 28 to the embedded member 4 . These specific operations will be described in detail later in the explanation of the method of attaching the rod-shaped member 6 to the embedded member 4 .

The guide sleeve 45 is a member provided to reliably guide the rod-shaped member 6 with respect to the embedded member 4 when screwing the rod-shaped member 6 to the embedded member 4, and as shown in FIG. It has a through hole 46 through which the rod-shaped member 6 held by the portion 32 can be inserted.

Also, the guide sleeve 45 is divided into two members 45a and 45b with a plane passing through the central axis of the through hole 46 as a dividing plane, and these members 45a and 45b are connected via a hinge.

One member 45a of the two members 45a and 45b is fixed to a plate 43 provided at the tip of a rod portion 42 of the electric cylinder 40, which will be described later. The other member 45b is configured to be displaceable between a position in contact with the one member 45a and a position away from the one member 45a by a servomotor (not shown) whose operation is controlled by the control unit 50 with the hinge as the center of rotation. It has become.

Specifically, the position of the other member 45b is held at a position abutting against the one member 45a when the rod-shaped member 6 is attached to the embedded member 4, and when the rod-shaped member 6 is replenished from the transport robot 110, the position of the other member 45b is maintained. is held at a position away from one member 45a. In addition, FIG. 3 shows a state in which the other member 45b is located away from the one member 45a.

The through hole 46 of the guide sleeve 45 can guide the rod-shaped member 6 toward the accommodation hole 46a that can accommodate a part of the embedded member 4 provided in the ceiling surface 1 and the embedded member 4 that is accommodated in the accommodation hole 46a. and a guide hole 46b.

As shown in FIG. 3, the accommodation hole 46a is formed so as to open on the side opposite to the arm plate 25, and has an inner diameter larger than the outer diameter of the embedded member 4 protruding from the ceiling surface 1. It has a shape that gradually expands in diameter toward the open end. The guide hole 46b is formed to open on the side of the arm plate 25, has an inner diameter smaller than the inner diameter of the accommodation hole 46a and larger than the outer diameter of the rod-shaped member 6, and gradually expands toward the open end. It has a shape that expands in diameter.

In other words, the inner peripheral surface of the accommodation hole 46a is formed in a tapered shape so as to facilitate accommodation of the embedded member 4 protruding from the ceiling surface 1, and the inner peripheral surface of the guide hole 46b is formed so as to accommodate the rod-like member 6. is tapered in order to easily guide the . The through hole 46 is formed by communicating the housing hole 46a and the guide hole 46b thus formed.

A plurality of guide sleeves 45 having the above shape are prepared in advance with different combinations of diameters of the accommodating hole 46a and the diameter of the guide hole 46b. They are exchanged accordingly.

The electric cylinder 40 is an extension mechanism having a cylinder portion 41 and a rod portion 42, and is fixed to the other flat surface 25b of the arm plate 25 so as to extend and retract along the longitudinal direction of the arm plate 25. As shown in FIG. A plate 43 to which a guide sleeve 45 is fixed is provided at the tip of the rod portion 42 protruding from the cylinder portion 41 . Therefore, by extending and contracting the electric cylinder 40 , the guide sleeve 45 can be brought closer to the ceiling surface 1 or separated from the ceiling surface 1 .

The rotation motor 22 that rotates the member mounting portion 24 having the above configuration about the support shaft 23 is mounted via the installation plate 21 while the support shaft 23 as the output shaft extends parallel to the floor surface 2 . is fixed to the carriage-side flange portion 13 of the carriage portion 10 . The amount of rotation of the rotation motor 22, that is, the inclination of the arm plate 25 is detected by a built-in angle sensor (not shown).

In this manner, the member attachment portion 24 is supported by the carriage portion 10 so as to be rotatable about the support shaft 23 parallel to the floor surface 2 .

In addition to the above mechanisms, the member mounting robot 100 further includes a distance sensor (detection unit) 51 capable of detecting the inclination of the embedded member 4 and an upper imaging unit 52 capable of grasping the position of the embedded member 4 .

The distance sensor 51 is a camera-incorporated laser displacement sensor and is fixed to the plate 43 together with the guide sleeve 45 . As described above, the distance sensor 51 is arranged at a position relatively close to the embedded member 4 and the ceiling surface 1, thereby functioning as a distance detection unit capable of accurately detecting the distance to the embedded member 4 and the ceiling surface 1. do.

The distance detected by the distance sensor 51 is sent to the control unit 50 and is mainly used for detecting the inclination of the embedded member 4 as described later.

The upper imaging unit 52 is a camera installed so as to image the ceiling surface 1 side, and is fixed to the installation plate 21 together with the rotating motor 22 . In order to bring the upper imaging unit 52 closer to the embedded member 4, for example, the upper imaging unit 52 may be fixed to the installation plate 21 via a vertically extendable support, or the upper imaging unit may be attached to the plate 43 together with the distance sensor 51. 52 may be fixed. By bringing the upper imaging section 52 closer to the embedded member 4 as necessary, the position of the embedded member 4 can be grasped more accurately by the upper imaging section 52 .

The image captured by the upper imaging section 52 is sent to the control section 50 and mainly used to accurately move the member mounting robot 100 below the embedded member 4 as described later. Note that if the position of the embedded member 4 to which the rod-shaped member 6 is to be attached can be sufficiently grasped by the information acquisition device 15 provided on the carriage 10, the upper imaging unit 52 may not be provided. good.

As shown in FIG. 4, the control unit 50 combines the data acquired by the distance sensor 51, the upper imaging unit 52, and the information acquisition device 15 with the data related to the work area such as BIM (Building Information Modeling) read in advance. Based on this, the operation of the truck portion 10, the member mounting portion 24, and the rotation motor 22 is controlled. Specific control performed by the control unit 50 will be described in detail in the description of the method for attaching the rod-shaped member 6 to the embedded member 4, which will be described later.

Specifically, the control unit 50 is composed of a microcomputer having a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and an I/O interface (input/output interface). be. The RAM stores data for CPU processing, the ROM stores CPU control programs and the like in advance, and the I/O interface is used to input/output information to/from devices and detectors connected to the control unit 50 . The control section 50 may be composed of a plurality of microcomputers, and may be provided in each of the member mounting unit 20 and the carriage section 10, for example.

Further, as shown in FIG. 4, the control unit 50 issues work instructions to the member mounting robot 100 and the transport robot 110, and transmits and receives data to and from an external server 120 that monitors the work status. A communication unit 50a is provided for the purpose. The communication unit 50a may be a general wireless communication device capable of transmitting data via an Internet line, or may be a short-range wireless communication device such as BLE (Bluetooth (registered trademark) Low Energy) or Wi-Fi (registered trademark). It may be a communication device. The communication unit 50 a is also used when communicating with the control unit 90 of the transport robot 110 .

Next, the transport robot 110 that transports the rod-shaped member 6 will be described with reference to FIGS. 4 and 5. FIG. FIG. 5 is a side view of the transport robot 110. FIG.

As shown in FIG. 5 , the transport robot 110 includes a carriage 10 that can move on the floor 2 , a holding plate 70 that can hold a plurality of rod-like members 6 , and a holding plate 70 that is placed on the carriage 10 . a stand portion 62 provided in the stand portion 62, a delivery mechanism 80 that grips the rod-shaped member 6 held by the holding plate 70 and delivers it to the member mounting robot 100, and a control portion 90 that controls the operation of the carriage portion 10 and the delivery mechanism 80. , provided. Note that the transport unit 60 is configured by a mechanism other than the carriage portion 10 .

The carriage portion 10 has the same configuration as the carriage portion 10 of the member mounting robot 100, and thus the description thereof is omitted.

The holding plate 70 is a substantially U-shaped plate-like member as shown in FIG. and a plurality of holding portions 74 provided on the pair of flat plate portions 72 and 73, respectively.

The gripping portion 74 has a groove capable of gripping the rod-shaped member 6, and the portion provided with the groove is formed of an elastic member such as resin or rubber. By providing the same number of gripping portions 74 on the pair of flat plate portions 72 and 73, the plurality of rod-shaped members 6 are held by the holding plate 70 so as to bridge the pair of flat plate portions 72 and 73. be able to.

The stand portion 62 has an installation plate 64 attached to the carriage-side flange portion 13 , a support 63 extending upward from the installation plate 64 , and a hook portion 65 fixed to the support 63 .

The hook portion 65 has a shape capable of supporting the flat plate portions 72 and 73 of the holding plate 70 placed on the stand portion 62 from below. In other words, the holding plate 70 can be attached to and detached from the hook portion 65 of the stand portion 62 .

The transfer mechanism 80 includes a rail member 81 fixed perpendicular to the support column 63, a transfer section 82 movable along the rail member 81, and a transfer section 82 (not shown) that moves the transfer section 82 along the rail member 81. a motorized slide;

The transfer part 82 is operable to remove one rod-shaped member 6 out of the plurality of rod-shaped members 6 held by the holding plate 70 from the gripping part 74 and transfer the removed rod-shaped member 6 to the member mounting robot 100. configuration.

Specifically, the transfer portion 82 includes a holding portion 83 capable of holding the rod-shaped member 6 by magnetic force, an actuator (not shown) for moving the holding portion 83 in a direction to remove the rod-shaped member 6 from the holding plate 70 , and a rail member 81 . A rotation motor (not shown) is provided for horizontally rotating the holding portion 83 together with the actuator with the side as the center of rotation. Note that the holding portion 83 may hold the rod-shaped member 6 by elastic force, like the holding portion 74 of the holding plate 70 .

In this manner, the transport robot 110 stores the plurality of rod-shaped members 6 along the vertical direction, and transfers the stored rod-shaped members 6 along the vertical direction to the member mounting robot 100 as they are. It has a configuration that allows For this reason, compared to the case where the rod-shaped member 6 is stored in the transport robot 110 in a state along the horizontal direction, for example, the operation for transferring the rod-shaped member 6 to the member mounting robot 100 is simplified, and the transportation is simplified. By suppressing the width of the robot 110 from increasing, it is possible to prevent the work of the member mounting robot 100 from being hindered by the transport robot 110 .

Further, since the holding plate 70 holding the plurality of rod-shaped members 6 is detachable from the stand portion 62, the rod-shaped members 6 can be replenished to the transport robot 110 by exchanging the holding plate 70. can be easily done.

The transport robot 110 further includes a side imaging section 91 capable of grasping the position of the holding section 32 of the member mounting robot 100 in addition to the above mechanisms.

The side imaging unit 91 is a camera installed so as to be capable of imaging the member mounting robot 100 and is fixed to the rail member 81 . The position where the side imaging section 91 is fixed is not limited to the rail member 81, and may be any position where the side of the member mounting robot 100 can be imaged. may

The image captured by the side imaging unit 91 is sent to the control unit 90 of the transport robot 110, and as described later, mainly the transfer unit 82 of the transport robot 110 is moved to the holding unit 32 of the member mounting robot 100. used for accurate positioning.

The control unit 90 of the transport robot 110 controls the carriage unit 10 and the transfer mechanism 80 based on the data acquired by the side imaging unit 91 and the information acquisition device 15 and the data related to the work area such as BIM read in advance. control the actuation. Further, the control section 90 is provided with a communication section 90a like the control section 50 of the member mounting robot 100 . Note that the specific configuration of the control unit 90 is the same as that of the control unit 50 of the member mounting robot 100, so the description thereof will be omitted.

Next, with reference to FIGS. 6 to 10, a method of attaching the rod-like member 6 to the embedded member 4 provided on the ceiling surface 1 by the member attaching robot 100 configured as described above will be described. 6 and 9 are flow charts showing the procedure of work performed by the member mounting robot 100, and FIGS. 7A and 7B are diagrams for explaining a method of detecting the inclination of the embedded member 4. FIG. 8 is a diagram for explaining the operation of attaching the rod-shaped member 6 to the embedded member 4, and FIG. 10 is a diagram for explaining the operation of correcting the inclination of the rod-shaped member 6 attached to the embedded member 4. FIG. .

First, in step S11, the control section 50 of the member mounting robot 100 reads and stores data relating to the work area. Specifically, drawing data such as BIM is acquired from the server 120 via the communication unit 50a of the control unit 50 and stored in the storage unit. The data read here includes the position of the embedded member 4 and the order in which the rod-like members 6 are attached, in addition to drawing data such as BIM.

Next, in step S12, the control unit 50 acquires the information around the member mounting robot 100, for example, the distance to the pillar and the arrangement of the pillars, using the information acquisition unit 15 of the carriage unit 10, and acquires the stored BIM, etc. By collating the drawing data and the acquired information, the self position of the member mounting robot 100, that is, the coordinates on the drawing are recognized. The control unit 50 may have a SLAM (Simultaneous Localization and Mapping) function in order to specify its own position.

In subsequent step S13, the control unit 50 first extracts the coordinates of the embedded member 4 to which the rod-shaped member 6 is attached from the data read in step S11, and extracts the member attachment robot 100 by controlling the carriage 10. It is moved toward the coordinates of the embedded member 4 . The embedded member 4 to which the rod-shaped member 6 is attached first may be the embedded member 4 closest to the location where the member attachment robot 100 is placed.

When the movement of the member mounting robot 100 is completed, the control unit 50 acquires an image of the ceiling surface 1 including the coordinate position of the embedded member 4 to be worked by the upper imaging unit 52, and the embedded member 4 is detected from the acquired image. is detected (step S14).

If the position of the embedded member 4 is detected from the acquired image, the process proceeds to step S15. If it is covered by an obstacle, it is determined that the work cannot be performed, and the process proceeds to step S20.

In step S15, the control unit 50 acquires information about the member mounting robot 100 using the information acquisition unit 15 of the carriage unit 10, and confirms that there are no obstacles, steps, etc. to detect Specifically, if the embedded member 4 is tilted as described later, it is necessary to move the member mounting robot 100 accordingly. It is detected whether there are any obstacles impeding the movement of 100 .

If it is determined in step S15 that there is no obstacle, the process proceeds to step S16, and if it is determined that there is an obstacle, the process proceeds to step S20 because the work cannot be performed.

In subsequent step S16, the control unit 50 detects the distances to the embedded member 4 and the ceiling surface 1 by the distance sensor 51, and detects the magnitude and direction of inclination of the embedded member 4 based on the detected distances. At this time, the electric cylinder 40 is extended in order to bring the distance sensor 51 as close to the embedded member 4 as possible.

Here, a method for detecting the inclination of the embedded member 4 based on the distance to the embedded member 4 and the ceiling surface 1 will be described with reference to FIGS. 7A and 7B.

As shown in FIGS. 7A and 7B, the controller 50 controls a plurality of measurement points P2 ( In addition, measure the distance to a plurality of measurement points P1 (points indicated by white circles in the figure) on the plane recognized as the ceiling surface 1 around the embedded member 4. measure. It is preferable that the plurality of measurement points P1 and P2 be substantially centered on the female screw hole 4a of the embedded member 4 and set at equal intervals.

Then, the angle formed by the center axis of the distance sensor 51 and the line connecting the point with the longest distance and the point with the shortest distance among the measured distances to the plurality of measurement points P1 on the ceiling surface 1 is 1 angle (reference inclination angle), and the line connecting the longest point and the shortest point among the measured distances to the plurality of measurement points P2 on the lower end peripheral edge 5 of the embedded member 4 , and the central axis of the distance sensor 51 is calculated as the angle of the lower end peripheral edge 5 of the embedded member 4 (measured inclination angle).

Then, the difference between the two angles thus calculated is calculated as the inclination of the embedded member 4 with respect to the vertical direction. Note that the above calculation method is based on the premise that the ceiling surface 1 is a substantially horizontal surface. For this reason, when the ceiling surface 1 is inclined in design, the inclination angle of the ceiling surface 1 is taken into consideration when calculating the inclination of the embedded member 4 with respect to the vertical direction.

In the above calculation method, the point with the longest distance and the point with the shortest distance are used for calculation, so the number of measurement points P1 and P2 should be as large as possible, for example, eight points or more.

As another method, a plane including a plurality of measured points P1 on the ceiling surface 1 is calculated as a reference plane, and a plurality of measured points P2 on the lower end peripheral edge 5 of the embedded member 4 are calculated. It is also possible to calculate the plane where the two planes intersect as the measurement plane, and obtain the angle (acute angle) at which these two planes intersect as the inclination of the embedded member 4 with respect to the vertical direction. In this other method, the angle between the reference plane and the center axis of the distance sensor 51 is calculated as the reference tilt angle, the angle between the measurement plane and the center axis of the distance sensor 51 is calculated as the measurement tilt angle, and It is also possible to calculate the difference between these as the inclination of the embedded member 4 with respect to the vertical direction.

When the inclination of the embedded member 4 is detected in this manner, the process advances to step S17 to adjust the inclination of the rod-like member 6, that is, the inclination of the arm plate 25. FIG.

Specifically, the inclination of the rod-shaped member 6 held by the member mounting portion 24 matches the inclination of the embedded member 4 detected in step S16, and the female screw hole 4a of the embedded member 4 is on the extension line of the rod-shaped member 6. At least one of the rotation motor 22 and the truck portion 10 is controlled so as to be positioned. Here, matching between the inclination of the rod-shaped member 6 and the inclination of the embedded member 4 does not mean that the rod-shaped member 6 and the embedded member 4 are completely matched geometrically. This means that a degree of misalignment that does not interfere with screwing is allowed, and that it is sufficient if they substantially match.

When the inclination of the rod-shaped member 6 and the inclination of the embedded member 4 match, the control section 50 controls the attachment operation section 26 to screw the rod-shaped member 6 to the embedded member 4 in the following step S18.

Here, if the female screw hole 4a of the embedded member 4 is positioned on the extension line of the rod-shaped member 6, screwing the rod-shaped member 6 to the embedded member 4 is thought to be an easy task. It is difficult to smoothly screw the rod-shaped member 6 to the embedded member 4 because the rod-shaped member 6, which is a relatively long member, bends due to its own weight and shakes when it is rotated by the electric motor 27. .

Therefore, in this embodiment, when the rod-shaped member 6 is screwed to the embedded member 4 , the guide sleeve 45 for guiding the rod-shaped member 6 is positioned in advance near the embedded member 4 .

Specifically, as shown in FIG. 8, when the adjustment of the inclination of the rod-shaped member 6 in step S17 is completed, the control unit 50 extends the electric cylinder 40 to bring the guide sleeve 45 closer to the embedded member 4. . Since the guide sleeve 45 is provided with an accommodation hole 46a capable of accommodating the embedded member 4, when the embedded member 4 protrudes from the ceiling surface 1, part of the embedded member 4 is accommodated in the accommodation hole 46a. state. When the embedded member 4 does not protrude from the ceiling surface 1 , the guide sleeve 45 is brought closer to the embedded member 4 so that the receiving hole 46 a is located opposite the embedded member 4 .

Whether or not the guide sleeve 45 has reached the vicinity of the embedded member 4 is sequentially determined based on the distance to the ceiling surface 1 and the embedded member 4 detected by the distance sensor 51 and the image acquired by the upper imaging section 52. be. In order to position the guide sleeve 45 with respect to the embedded member 4 more accurately, a proximity sensor capable of detecting that the embedded member 4 has approached or been accommodated in the accommodation hole 46a of the guide sleeve 45 is mounted on the guide sleeve 45 or its surroundings. It is preferable to set the

When it is determined that the embedded member 4 has approached or been accommodated in the accommodation hole 46 a of the guide sleeve 45 in this manner, the control section 50 starts screwing the rod-shaped member 6 onto the embedded member 4 .

Specifically, first, the electric slide 30 is raised along the rails 31 until the rod-shaped member 6 contacts the embedded member 4 . When it is confirmed that the rod-shaped member 6 is in contact with the embedded member 4 based on the driving force of the electric slide 30 or an increase in the current value correlated to the driving force, the electric motor 27 is rotated in the screwing direction and the screwing is started. The electric slide 30 is gradually raised according to the speed. After that, when the torque of the electric motor 27 reaches a predetermined value or more, it is determined that the screwing of the rod-shaped member 6 to the embedded member 4 is completed, and the rotation of the electric motor 27 is stopped. When the electric motor 27 is stopped, the electric slide 30 is lowered toward the lower end of the rail 31 to separate the electric motor 27 and the socket 28 from the bar member 6 . Alternatively, the electric slide 30 may be raised while rotating the electric motor 27 in the screwing direction without confirming that the rod-shaped member 6 is in contact with the embedded member 4 .

Here, the guide sleeve 45 is provided with the tapered guide hole 46b capable of guiding the rod-shaped member 6 toward the housing hole 46a, as described above. Therefore, even if the rod-shaped member 6 is swayed by being rotated by the electric motor 27, the distal end of the rod-shaped member 6 is guided by the guide hole 46b and moves smoothly toward the embedded member 4. Therefore, the rod-shaped member 6 can be smoothly screwed into the embedded member 4 without galling.

When the rod-shaped member 6 is completely screwed into the embedded member 4, the controller 50 determines whether the amount of insertion of the rod-shaped member 6 into the embedded member 4 exceeds a predetermined threshold (step S19).

Based on the torque of the electric motor 27 or the current value correlated to the torque, the control unit 50 determines that the screwing of the rod-shaped member 6 to the embedded member 4 has started and that the screwing has been completed. there is Specifically, when the rod-shaped member 6 starts to be screwed into the embedded member 4, the torque of the electric motor 27 increases to some extent due to the screwing resistance. is exceeded, it is determined that screwing has started.

On the other hand, when the rod-shaped member 6 is screwed over the entire length of the female screw hole 4a of the embedded member 4, galling occurs, or foreign matter is present in the female screw hole 4a, the embedded member 4 may be damaged. When the screwing of the rod-like member 6 is prevented, the torque of the electric motor 27 increases significantly. Therefore, when the torque of the electric motor 27 exceeds the second threshold value, which is larger than the first threshold value, the control unit 50 indicates that the screwing has been completed, or is not actually completed but appears to be screwed. Determined as complete.

Along with this determination, the control unit 50 determines that the electric slide 30 does not move to the rail until the magnitude of the torque of the electric motor 27 changes from the value indicating the start of screwing to the value indicating the completion of screwing. 31 is detected as the insertion amount of the rod-shaped member 6 into the embedded member 4 .

If the insertion amount of the rod-shaped member 6 into the embedded member 4 thus detected exceeds a predetermined threshold value, for example, 60% of the total length of the female screw hole 4a of the embedded member 4, the rod-shaped member 6 into the embedded member 4 Assuming that the member 6 has been properly attached, the process proceeds to step S30. On the other hand, if the amount of insertion is equal to or less than the predetermined threshold value, there is a possibility that an abnormality such as galling has occurred. . That is, in step S19, it is determined whether or not the rod-shaped member 6 is attached to the embedded member 4 properly.

In the subsequent step S30, a step of correcting the inclination of the rod-shaped member 6 is performed.

Here, the rod-shaped member 6 inserted into the inclined embedded member 4 is, of course, inclined with respect to the ceiling surface 1 . For this reason, there is a possibility that an operation such as mounting the frame member of the ceiling panel using the rod-shaped member 6 as a suspension bolt will be hindered.

Therefore, in this embodiment, the inclination of the rod-shaped member 6 is corrected so that the rod-shaped member 6 is substantially perpendicular to the ceiling surface 1 along the flowchart shown in FIG.

First, in step S31, it is determined whether or not it is necessary to correct the inclination of the rod-shaped member 6 . If the inclination of the rod-shaped member 6 is such that it does not interfere with the work using the rod-shaped member 6 as a suspension bolt, it is of course not necessary to correct the inclination.

Therefore, in step S31, if the inclination of the embedded member 4 detected in step S16 is smaller than a predetermined threshold value, the controller 50 determines that the inclination does not need to be corrected. A releasing operation is performed so that the member 6 is released from the member mounting robot 100 . Specifically, the electric cylinder 40 is contracted to pull the guide sleeve 45 toward the arm plate 25, the two members 45a and 45b constituting the guide sleeve 45 are separated from each other, and all the holding portions 32 are separated. By rotating the rotation block 34 to the position where the U-shaped groove 33a is opened, the holding of the rod-like member 6 is released (see FIG. 3).

After such releasing operation, the holding of the rod-shaped member 6 by the member mounting robot 100 is released, and when it is confirmed that the rod-shaped member 6 mounted on the embedded member 4 is separated from the member mounting robot 100, the process proceeds to step S35. move on. Whether or not the rod-shaped member 6 is separated from the member mounting robot 100, that is, whether or not the rod-shaped member 6 is in the U-shaped groove 33a of the two fixed blocks 33 is detected by a proximity sensor or the like (not shown).

On the other hand, if the inclination of the embedded member 4 detected in step S16 is equal to or greater than the predetermined threshold value, the controller 50 determines that the inclination needs to be corrected, and proceeds to step S32.

In the subsequent step S32, the movement distance D1 of the member mounting robot 100 required to correct the inclination of the rod-shaped member 6 is calculated.

The inclination of the rod-shaped member 6 is corrected by, as shown in FIG. done. In other words, the movement distance D1 of the member mounting robot 100 calculated in step S32 is a predetermined distance from the position where the rod-shaped member 6 is mounted as shown in FIG. 8 to the rod-shaped member 6 as shown in FIG. 10, along the direction of movement indicated by the arrow in FIG.

There is a correlation between how much plastic deformation occurs when a load is applied to the rod-shaped member 6, and how much load can be applied to the rod-shaped member 6 when the member mounting robot 100 is moved. Such correlations are mapped in advance and stored in the control unit 50 . Parameters that affect the correlation include the inclination angle of the embedded member 4, the outer diameter and material of the rod-shaped member 6, and the rigidity, as well as the holding portion 32 that acts as the point of application of the load on the rod-shaped member 6 and the fixed point. The distance from the embedded member 4 and the like can be mentioned.

In step S32, from the map stored in the control unit 50, in order to make the rod-shaped member 6 attached to the inclined embedded member 4 substantially perpendicular to the ceiling surface 1, the degree of plasticity of the rod-shaped member 6 is determined. In order to cause such plastic deformation in the rod-shaped member 6, it is required to move the member mounting robot 100 by a moving distance D1.

After the movement distance D1 of the member mounting robot 100 is obtained in this way, it is determined whether or not the member mounting robot 100 can be moved in the following step S33.

In step S<b>33 , the control unit 50 controls the image of the surroundings of the member mounting robot 100 captured by the information acquisition unit (imaging unit) 15 of the carriage unit 10 , especially the image of the member mounting robot 100 in order to correct the inclination of the rod-shaped member 6 . is acquired, and based on the acquired image, it is determined whether or not it is possible to apply the correction load to the rod-shaped member 6 .

If it is determined that the member mounting robot 100 can be moved because there are no obstacles or steps on the planned movement path, it is determined that the correction load can be applied to the rod-like member 6, and the process proceeds to step S34 to proceed to the planned movement path. If it is determined that the member mounting robot 100 cannot be moved due to an obstacle, a step, or the like, it is determined that the correction load cannot be applied to the rod-shaped member 6, and the process proceeds to step S36. It should be noted that when proceeding to step S36, there is no work to be performed by the member mounting robot 100 on the rod-shaped member 6 thereafter. Therefore, when proceeding to step S36, the holding of the rod-shaped member 6 by the member mounting robot 100 is released through the above-described release operation so that the rod-shaped member 6 attached to the embedded member 4 is released from the member mounting robot 100. be.

In step S34, as shown in FIG. 10, the inclination of the bar member 6 is corrected by moving the member mounting robot 100 by the movement distance D1 obtained in step S32.

When correcting the inclination of the rod-shaped member 6, the arm plate 25 is in a state in which it can be freely rotated around the support shaft 23, that is, in a state in which the driving force and braking force of the rotation motor 22 do not act. Further, as shown in FIG. 10, the guide sleeve 45 is pulled toward the arm plate 25 by contraction of the electric cylinder 40, and the two members 45a and 45b are separated from each other. The sleeve 45 is kept out of contact. In other words, when correcting the inclination of the rod-shaped member 6, the rod-shaped member 6 is held only by the holding portion 32, and the correction load is applied to the rod-shaped member 6 via the holding portion 32. It will happen.

When the movement of the member mounting robot 100 is completed in step S34, the holding of the rod-shaped member 6 by the member mounting robot 100 is released through the release operation described above, and the rod-shaped member 6 attached to the embedding member 4 is separated from the member mounting robot 100. It is checked whether or not When it is confirmed that the rod-like member 6 has left the member mounting robot 100, the process proceeds to step S35.

In the state shown in FIG. 10, if the rod-shaped member 6 is released from its holding, the rod-shaped member 6 vibrates greatly due to the restoring force, and may collide with the member mounting robot 100 to damage the member mounting robot 100 . Therefore, releasing the holding of the bar member 6 by the member mounting robot 100 causes the member mounting robot 100 to move below the embedded member 4 , and the inclination of the bar member 6 and the arm plate 25 with respect to the ceiling surface 1 is approximately It is done after becoming vertical.

In step S35, the control unit 50 memorizes the completion of the work assuming that a series of work for attaching the rod-shaped member 6 to the predetermined embedded member 4 is completed.

On the other hand, in step S36, although the insertion of the rod-shaped member 6 into the predetermined embedded member 4 has been completed, the correction of the tilt of the rod-shaped member 6 has not been completed. Remember.

Similarly, in step S20, it is assumed that the rod-shaped member 6 has not been completely inserted into the predetermined embedded member 4, and the controller 50 stores the reason why the installation work is not possible or the installation work is incomplete. The information about the work stored in the control unit 50 in steps S35, S36 and S20 is sequentially transmitted to the server 120 via the communication unit 50a of the control unit 50. FIG.

Therefore, an operator who monitors the work status of the member mounting robot 100 via the server 120 or a worker on site can easily confirm to which embedded member 4 the rod-shaped member 6 has been normally mounted. In addition, it is possible to easily grasp the reason why the rod-shaped member 6 was not attached or the inclination of the rod-shaped member 6 was not corrected.

The information about the work stored in the control unit 50 of the member mounting robot 100 is also transmitted to a post-process work robot that performs some work on the rod-shaped member 6 attached to the embedded member 4 . Therefore, the post-process work robot can work only on the rod-shaped member 6 that is normally attached.

When the work situations are stored in steps S20, S35 and S36 in this manner, the process proceeds to step S21, and the control unit 50 checks whether or not all the scheduled work has been completed.

When all the scheduled work has been completed, the process is terminated and a standby state is entered until an instruction for the next work is received from the server 120 .

On the other hand, if the scheduled work has not yet been completed, the process returns to step S13 in order to move to the location of the embedded member 4 to which the rod-shaped member 6 is to be attached next.

Before returning to step S13, the bar member 6 is replenished in step S22.

The replenishment of the rod-shaped members 6 in step S22 is performed by transferring the rod-shaped members 6 from the transport robot 110 to the member mounting robot 100 .

Specifically, first, the control section 50 of the member mounting robot 100 causes the arm plate 25 to be vertical to the floor surface 2 by the rotation motor 22, and the member mounting section 24 is brought into a state in which the rod-shaped member 6 can be received. That is, the other member 45b of the guide sleeve 45 is separated from the one member 45a, and all of the rotating blocks 34 of the holding portions 32 are rotated to the position where the U-shaped grooves 33a are opened. Check if it is.

When it is confirmed that the rod-shaped member 6 can be received, the member mounting robot 100 transmits a request signal requesting delivery of the rod-shaped member 6 to the transport robot 110 through the communication section 50a of the control section 50. send via

In the member mounting robot 100, since the state of holding the rod-shaped member 6 has been released at the time of reaching step S21, which is the stage prior to this process, the rod-shaped member 6 is normally ready to be received. It's becoming Therefore, confirmation of whether or not the rod-shaped member 6 is ready to be received may be omitted.

When the communication section 90 a of the control section 90 receives the request signal, the transport robot 110 moves to the vicinity of the member mounting robot 100 to deliver the rod-shaped member 6 . In addition, when one transport robot 110 is not arranged for one member mounting robot 100, and two or three transport robots 110 are shared among a plurality of member mounting robots 100, for example, , the closest transport robot 110 moves to the vicinity of the member mounting robot 100 in response to the request signal.

The control section 90 of the transport robot 110 detects the position of the holding section 32 of the member mounting robot 100, more specifically, the position of the U-shaped groove 33a of the fixed block 33, from the image captured by the side imaging section 91. do.

Then, the transfer portion 82 holding the rod-shaped member 6 is positioned between the U-shaped grooves 33a of the two fixed blocks 33 positioned in the vertical direction to the arm plate 25 of the member mounting robot 100. bring closer.

When the control unit 50 of the member mounting robot 100 detects that the rod-shaped member 6 is accommodated in the U-shaped grooves 33a of the two fixed blocks 33 by a proximity sensor (not shown), the rotation blocks 34 of all the holding units 32 are moved. , to a position where the U-shaped groove 33a is closed, and the other member 45b of the guide sleeve 45 is brought into contact with the one member 45a.

When the rod-shaped member 6 is held by the member mounting robot 100 in this manner, the control unit 50 of the member mounting robot 100 transmits a completion signal to the transport robot 110 to notify completion of delivery.

Upon receiving the completion signal, the control unit 90 of the transport robot 110 reduces the magnetic force of the holding portion 83 of the delivery portion 82 to release the holding portion 83 from holding the rod-shaped member 6 .

When the rod-shaped member 6 is not held by the holding portions 83 of the transfer portion 82 in this manner, the rod-shaped member 6 is held by the plurality of holding portions 32 of the member mounting robot 100 and descends downward due to gravity. Since the socket 28 of the attachment operation part 26 is provided below the holding part 32 as described above, the lower end of the rod-shaped member 6 is accommodated in the socket 28 . Therefore, the rod-shaped member 6 held by the holding portion 32 is rotatable by the electric motor 27 , that is, can be screwed into the embedded member 4 .

As described above, when it is confirmed in step S22 that the rod-shaped member 6 has been completely replenished, the process proceeds to step S13, and the member mounting robot 100 moves to the location of the embedded member 4 to which the rod-shaped member 6 is to be mounted next. do. The replenishment of the rod-shaped member 6 may be performed after the member mounting robot 100 moves to the location of the embedded member 4 to which the rod-shaped member 6 is mounted next.

According to the above embodiment, the following effects are obtained.

The member mounting robot 100 configured as described above causes the inclination of the rod-shaped member 6 held by the member mounting portion 24 to substantially match the inclination of the embedded member 4 detected by the distance sensor 51 , and then the rod-shaped member is mounted by the member mounting portion 24 . 6 is attached to the embedded member 4 .

By attaching the rod-shaped member 6 to the embedded member 4 in this manner after the inclination of the rod-shaped member 6 and the inclination of the embedded member 4 are substantially matched, galling occurs in the screw portions of the rod-shaped member 6 and the embedded member 4. As a result, it is possible to avoid a situation in which the worker has to perform the work of attaching the rod-shaped member 6 to the embedded member 4 again. Therefore, it is possible to reduce the number of man-hours in the work of attaching the rod-shaped member 6 to the embedded member 4 provided on the ceiling surface 1 .

Further, the member mounting robot 100 configured as described above causes the guide sleeve 45 to approach the embedded member 4 , and then mounts the rod-shaped member 6 to the embedded member 4 by the member mounting portion 24 .

By attaching the rod-shaped member 6 to the embedded member 4 in this way, the guide sleeve 45 provided with the guide hole 46b capable of guiding the rod-shaped member 6 toward the embedded member 4 is brought close to the embedded member 4, Even if the detected inclination of the embedded member 4 is slightly different from the actual inclination and the inclination of the rod-shaped member 6 and the inclination of the embedded member 4 cannot be matched, the threaded portion is prevented from being galled. The rod-like member 6 can be screwed into the embedded member 4 without causing a bulge.

Further, the member mounting robot 100 configured as described above is replenished with the rod-shaped member 6 from the transport robot 110 at any time.

By automatically replenishing the member mounting robot 100 with the rod-shaped members 6 from the transport robot 110 in this manner, the mounting of the rod-shaped members 6 on the embedded member 4 is temporarily interrupted for the replenishment of the rod-shaped members 6 . It can be done continuously without As a result, the construction period can be shortened.

The following modifications are also within the scope of the present invention, and it is possible to combine the configurations shown in the modifications with the configurations described in the above embodiments, or to combine the configurations described in different modifications below. is also possible.

In the above embodiment, the inclination of the embedded member 4 is detected based on the distance between the embedded member 4 and the ceiling surface 1 measured by the distance sensor 51 . 11A and 11B, the inclination of the embedded member 4 may be detected based on the shape of the lower peripheral edge 5 of the embedded member 4 extracted from the image of the embedded member 4. good. In this modification, instead of the distance sensor 51, a camera 151 with a relatively high resolution is used as the detection section. 11A is a view showing a cross section corresponding to FIG. 7A, and FIG. 11B is a view seen from the direction indicated by arrow C in FIG. 11A.

Specifically, as shown in FIG. 11A, when the embedded member 4 provided at an angle is imaged by a camera 151 from below in the vertical direction, the bottom peripheral edge 5 of the embedded member 4 extracted from the captured image is As shown in FIG. 11B, an elliptical shape having a major axis and a minor axis is obtained. On the other hand, when the embedded member 4 is not tilted at all, the bottom peripheral edge 5 of the captured embedded member 4 becomes a substantially perfect circle.

That is, the ratio between the length L1 in the major axis direction and the length L2 in the minor axis direction shown in FIG. It is possible to obtain the magnitude of the inclination of the embedded member 4 by The short axis direction shown in FIG. 11B indicates the direction of inclination of the embedded member 4 . Therefore, it is possible to detect the inclination of the embedded member 4 even with such a modified example.

Further, in the above-described embodiment, the embedded member 4 is attached so that the lower end thereof protrudes from the ceiling surface 1 by a predetermined length. The inserts and post-installed anchors used as the embedded members 4 are designed so that at least a portion of them is embedded and fixed in the concrete, and the lower end of the insert is installed in a state where it protrudes from the ceiling surface 1 by a predetermined length. Depending on the state, as shown in FIG. 12A, the embedded member 4 may hardly protrude from the ceiling surface 1, and the lower end surface of the embedded member 4 and the ceiling surface 1 may be substantially flush with each other. In particular, when the embedded member 4 is a post-installed anchor, as shown in FIG. 13A, if the insertion hole 1a formed in the ceiling surface 1 is deep, the entire embedded member 4 is inserted into the insertion hole 1a. As a result, the embedded member 4 may not protrude from the ceiling surface 1 at all.

As described above, even when the lower end of the embedded member 4 does not protrude from the ceiling surface 1 by a predetermined length, the inclination of the embedded member 4 can be detected by the following method. It is possible.

Specifically, as shown in FIGS. 12A and 12B, when the lower end surface of the embedded member 4 and the ceiling surface 1 are substantially flush with each other, the distance sensor 51 detects the lower peripheral edge 5 of the embedded member 4 . In addition to measuring the distance to a plurality of measurement points P2 (points indicated by black circles in the figure) on a line recognized as By measuring the distance to (points indicated by white circles in the figure), it is possible to calculate the inclination of the embedded member 4 with respect to the vertical direction by the same method as in the above embodiment. 12A is a view showing a cross section corresponding to FIG. 7A, and FIG. 12B is a view seen from the direction indicated by arrow D in FIG. 12A.

In the case where only a portion of the lower end peripheral edge 5 of the embedded member 4 protrudes from the ceiling surface 1 and the remaining portion is recessed from the ceiling surface 1, a plurality of randomly measured measurement points P1 on the ceiling surface 1 may be used. The reference plane of the ceiling surface 1 is obtained based on the distance to It is possible to extract the point with the largest plus side and the point with the largest difference on the minus side, and calculate the inclination of the embedded member 4 with respect to the vertical direction based on the line connecting these two points.

Further, as shown in FIGS. 13A and 13B, when the embedded member 4 does not protrude from the ceiling surface 1 at all, a plurality of measurement points on a line recognized as the lower end peripheral edge 5 of the embedded member 4 by the distance sensor 51 While measuring the distance to P2 (points indicated by black circles in the figure), a plurality of measurement points P1 (white circles in the figure) on a line recognized as the opening edge of the insertion hole 1a formed in the ceiling surface 1 ), and calculate the angle (reference inclination angle) of the ceiling surface 1 based on a plurality of measurement points P1 on the opening edge of the insertion hole 1a, substantially the same as the above embodiment. It is possible to calculate the inclination of the embedded member 4 with respect to the vertical direction by the method of . 13A is a view showing a cross section corresponding to FIG. 7A, and FIG. 13B is a view seen from the direction indicated by arrow E in FIG. 13A.

Here, as shown in FIGS. 12A and 13A, when the lower end of the embedded member 4 does not protrude from the ceiling surface 1 by a predetermined length, the Since part of the embedded member 4 cannot be accommodated in the accommodation hole 46a, it may be difficult to guide the rod-shaped member 6 toward the embedded member 4 via the guide sleeve 45.

In particular, when the embedded member 4 is a post-installed anchor that is inserted and fixed in the insertion hole 1a formed in the ceiling surface 1, the drilling depth of the insertion hole 1a varies, and the embedded member with respect to the insertion hole 1a. The lower end of the embedded member 4 may protrude from the ceiling surface 1 or the lower end of the embedded member 4 may not protrude from the ceiling surface 1 due to variations in the amount of insertion of the embedded member 4. be.

Even in such a case, in order to accurately guide the rod-shaped member 6 toward the embedded member 4, the shape and structure of the guide sleeve 145 (sleeve) may be changed as in the modification shown in FIG. good. FIG. 14 is a diagram showing a working state corresponding to the working state shown in FIG. 8, showing an enlarged view of the guide sleeve 145 and its periphery.

A guide sleeve 145 shown in FIG. 14 is divided into two members 145a and 145b with a plane passing through the central axis of the through hole 146 as a dividing plane, similarly to the guide sleeve 45 of the above-described embodiment. , 145b are connected via hinges (not shown).

As shown in FIG. 14 , the through-hole 146 has an inner diameter larger than the outer diameter of the rod-shaped member 6 and gradually expands toward the rod-shaped member 6 held by the holding portion 32 . ing. That is, the through hole 146 of the guide sleeve 145 has only the function corresponding to the guide hole 46b of the guide sleeve 45 of the above embodiment, and the through hole 146 corresponds to the receiving hole 46a of the guide sleeve 45 of the above embodiment. There is no part provided.

Further, the guide sleeve 145 is provided with a tapered portion 147 whose outer diameter gradually decreases toward the embedded member 4 . The outer diameter of the tip portion of the tapered portion 147 is set smaller than the outer diameter of the embedded member 4 , that is, the inner diameter of the insertion hole 1 a formed in the ceiling surface 1 .

For this reason, for example, as shown on the right side of FIG. By inserting the tip portion of 147 into the insertion hole 1a, the rod-like member 6 can be reliably guided toward the embedded member 4 via the guide sleeve 145. As shown in FIG.

At the tip of the tapered portion 147 , a suction portion 148 is provided that allows the tip of the tapered portion 147 to be suctioned to the embedded member 4 .

The suction portion 148 is in a suction state in which the tip surface of the tapered portion 147 is attracted to the lower end surface of the embedded member 4 by a negative pressure generated by a vacuum pump (not shown), and the suction state of the embedded member 4 is caused by cutting off the supply of negative pressure. It has a structure capable of switching between a non-suction state in which the suction of the tip surface of the tapered portion 147 to the bottom surface is released. The attraction force generated by the attraction portion 148 is not limited to the negative pressure, and may be the electromagnetic force if the embedded member 4 is made of metal, for example. In this case, the attracted state and the non-adhered state are switched by turning on and off the electromagnetic force.

By providing the guide sleeve 145 with the suction portion 148 in this way, for example, as shown on the left side of FIG. The lower end portion of the embedded member 4 cannot be accommodated in the accommodation hole 46a of the guide sleeve 45 of the above-described embodiment, unlike the case where the surface 1 is substantially flush with the surface 1, and the tapered portion 147 described above cannot be accommodated. Even if the tip of the tapered portion 147 cannot be inserted into the insertion hole 1a, the tip of the tapered portion 147 is adsorbed to the lower end of the embedded member 4 by the suction portion 148, thereby allowing the guide sleeve 145 to guide the guide sleeve 145. The member 6 can be reliably guided toward the embedded member 4 .

Further, in the above embodiment, the member mounting robot 100 is replenished with the rod-shaped members 6 from the transport robot 110 . Alternatively, the member mounting robot 100 may include a holding portion capable of holding a plurality of rod-shaped members 6 and may be configured to replenish the member mounting portion 24 with the rod-shaped members 6 by itself. Specifically, the member mounting robot 100 may include a replenishing mechanism 200 capable of replenishing the member mounting portion 24 with the rod-shaped member 6, such as the modifications shown in FIGS. 15 to 21. . 15 is a side view of the member mounting robot 100 provided with the replenishment mechanism 200, FIG. 16 is a top view as seen from the direction indicated by arrow F in FIG. 15, and FIG. It is the figure which showed the outline of the cross section in alignment with G line. 18 to 21 are diagrams for explaining the process of transferring the rod-shaped member 6 to the member mounting portion 24. FIG. Although FIGS. 18 to 20 are views viewed from the same viewpoint as FIG. 16, in FIGS. 18 to 20, the extending direction of the bar member 6 is the horizontal direction in the drawings.

The replenishing mechanism 200 includes a supply device 210 that stores a plurality of rod-shaped members 6 and can supply the rod-shaped members 6 one by one, and grips the rod-shaped members 6 supplied from the supply device 210, and holds the member mounting portion 24 described above. and a slide device 220 for sliding the rod-shaped member 6 supplied from the supply device 210 to a position where the delivery device 230 grips it.

As shown in FIG. 15, the supply device 210 is installed at a position relatively close to the pillars 12 provided on the carriage 10, and as shown in FIG. 211 and a take-out mechanism 212 for taking out the rod-like members 6 stored in the storage part 211 one by one from below the storage part 211 .

In the storage part 211, a storage space 211a is formed in which a plurality of rod-shaped members 6 can be stored with their longitudinal directions substantially horizontal. The storage space 211 a is open at the top and bottom, and the bottom is an opening 211 c that is opened and closed by the take-out mechanism 212 .

In addition, as shown in FIG. 15, the storage part 211 is formed with a replenishment opening 211b that opens on the side surface so that the worker can easily replenish the storage space 211a with the rod-shaped member 6. there is By forming the replenishment opening 211b in the side surface in this manner, for example, a plurality of rod-shaped members 6 delivered in a lot can be temporarily accommodated in a replenishment container (not shown) and transferred from the replenishment container to the storage space 211a through the replenishment opening 211b. A plurality of rod-shaped members 6 can be replenished at once. The replenishment of the rod-shaped members 6 by the worker is performed when the member mounting robot 100, which itself determines that the replenishment of the rod-shaped members 6 is necessary, returns from the work area to the backyard or the like, or when the member mounting robot 100 is performing work in the work area. This is performed when the robot 100 issues a request for replenishment of the rod-shaped member 6 or the like.

The take-out mechanism 212 is provided vertically forward and backward through a supply plate 213 capable of opening and closing the opening 211c of the storage section 211 by rotating around a support pin 214, and a slit 213b formed in the supply plate 213. an electric actuator (not shown) capable of switching the position of the supply plate 213 between a position for opening the opening 211c and a position for closing the opening 211c; and an electric actuator (not shown) capable of switching the position of the partition plate 215 between a state and a state in which the upper end of the partition plate 215 does not protrude from the supply plate 213 .

On the supply plate 213, a projection 213a for preventing the rod-like member 6 from falling is formed on the opposite side of the support pin 214 across the slit 213b.

As shown in FIG. 16, a plurality of supply plates 213 are provided along the longitudinal direction of the storage portion 211, that is, along the longitudinal direction of the rod-shaped member 6, and are configured to interlock with each other. The partition plate 215 need not be provided on all the supply plates 213, and at least one partition plate 215 may be provided. When a plurality of partition plates 215 are provided, each partition plate 215 is configured to be interlocked with each other.

The operation of the extraction mechanism 212 configured in this way will be described with reference to FIG.

When the supply plate 213 is rotated in the direction indicated by the arrow H in FIG. 17(a), the opening 211c is opened, and the rod-shaped member 6 in the storage space 211a is pushed out of the opening 211c by its own weight. It slides out along the upper surface of 213 . The movement of the rod-shaped member 6 that has slid out is restricted by the projections 213 a formed on the supply plate 213 .

When the partition plate 215 moves in the direction indicated by the arrow J in FIG. 17(b) in a state where the rod-shaped member 6 slides on the upper surface of the supply plate 213, the partition plate 215 is inserted between the adjacent rod-shaped members 6. As a result, there is only one bar member 6 between the projection 213 a of the supply plate 213 and the partition plate 215 .

When the supply plate 213 is rotated from this state in the direction to close the opening 211 c , one rod-like member 6 remains on the supply plate 213 . In this manner, the take-out mechanism 212 can take out the rod-shaped members 6 one by one from below the storage part 211 .

The slide device 220 is an electric slider 221 capable of reciprocating the movable piece 222 along the longitudinal direction of the storage portion 211, that is, along the longitudinal direction of the rod-shaped member 6. It is installed on the upper surface of 11.

A contact plate 223 is attached to the movable piece 222 to contact the end face of the rod-shaped member 6, and the tip of the contact plate 223 is a projection 213a of the supply plate 213, as shown in FIG. 17(a). and storage part 211.

In this manner, the slide device 220 is configured to slide the rod-shaped member 6 taken out from the reservoir 211 onto the supply plate 213 by the take-out mechanism 212 along the axial direction of the rod-shaped member 6 . .

15 and 16, the delivery device 230 includes a gripping mechanism 235 capable of gripping the rod-shaped member 6, an electric cylinder 231 capable of changing the position of the gripping mechanism 235 in the horizontal direction, and an expansion/contraction center of the electric cylinder 231. It has a rotating mechanism 240 capable of rotating the gripping mechanism 235 in a vertical plane about the axis C1, and a slider mechanism 244 capable of changing the height of the gripping mechanism 235 in the vertical direction.

The gripping mechanism 235 has a pair of gripping portions 237 and supporting members 236 to which the gripping portions 237 are attached at both ends, and is attached to the rotating mechanism 240 via the supporting members 236 .

The gripping part 237 is a so-called parallel opening/closing gripper, and is composed of a pair of movable pieces 238 arranged facing each other and an electric actuator (not shown) capable of bringing the pair of movable pieces 238 closer to or away from each other. be.

The electric cylinder 231 has a cylinder portion 232 and a rod portion 233 protruding from the cylinder portion 232, and expands and contracts along the central axis C1. A grasping mechanism 235 is attached to the tip of the rod portion 233 via a rotating mechanism 240 .

The rotating mechanism 240 is a mechanism that rotates the gripping mechanism 235 in a vertical plane about the expansion/contraction center axis C1 of the electric cylinder 231 by an electric cylinder (not shown) or an electric motor (not shown). is substantially horizontal, and the second position is such that the longitudinal direction of the support member 236 is substantially vertical.

The slider mechanism 244 is an electric slider 245 capable of reciprocating a movable piece 246 along the vertical direction. In addition, the electric slider 245 is installed at a position that does not hinder the movement of the arm plate 25 .

Since the cylinder portion 232 of the electric cylinder 231 is fixed to the movable piece 246 of the slider mechanism 244, by changing the height of the movable piece 246 in the vertical direction, the height of the electric cylinder 231 in the vertical direction, that is, , the height of the gripping mechanism 235 can be changed.

The operation of each part of the replenishment mechanism 200 is controlled by a control part 50 that controls the operation of the member mounting robot 100 . Note that a control unit other than the control unit 50 may be provided.

Next, the process of transferring the rod-shaped member 6 to the member mounting portion 24 by the replenishment mechanism 200 having the above configuration will be described mainly with reference to FIGS. 18 to 21. FIG.

As described above, when the rod-shaped member 6 is taken out from below the reservoir 211 by the take-out mechanism 212, one rod-shaped member 6 is supported by the plurality of supply plates 213 as shown in FIG.

Here, since the rod-shaped member 6 can move freely to some extent in the axial direction within the storage portion 211, when the rod-shaped member 6 is gripped by the gripping portion 237 of the gripping mechanism 235 in the state shown in FIG. , the bar member 6 is gripped at a different position each time. Therefore, when the rod-shaped member 6 is transferred to the member mounting portion 24, different fine adjustments are required each time.

Therefore, in this modified example, as shown in FIG. 19, the rod-shaped member 6 is previously slid to a predetermined position by the slide device 220 before the rod-shaped member 6 is gripped by the gripper 237. . Specifically, when it is confirmed that the rod-shaped member 6 has been taken out by the take-out mechanism 212, the slide device 220 moves the movable piece 222 toward the gripping mechanism 235 by a preset distance.

While the movable piece 222 moves toward the gripping mechanism 235 in this manner, the contact plate 223 contacts the end surface of the bar member 6 . Therefore, the rod-shaped member 6 slides together with the contact plate 223 and the movable piece 222, and as a result, the position of the rod-shaped member 6 after sliding is the same every time.

When the slide device 220 completes the sliding of the rod-shaped member 6, the electric cylinder 231 extends by a predetermined distance so that the gripping mechanism 235 approaches the rod-shaped member 6, as shown in FIG. After the electric cylinder 231 extends, the gripping portion 237 grips the rod-shaped member 6 . The installation position of the supply plate 213 is set in advance to a position that avoids the position where the gripping portion 237 grips the rod-shaped member 6 . Therefore, each gripping portion 237 can grip the rod-shaped member 6 between the supply plates 213 .

When it is confirmed that the rod-shaped member 6 is gripped by the gripping mechanism 235, the slider mechanism 244 moves the movable piece 246 upward by a preset distance.

When the upward movement of the gripping mechanism 235 gripping the rod-shaped member 6 is completed, the rotating mechanism 240 moves the gripping mechanism 235 from the first position where the longitudinal direction of the support member 236 is substantially horizontal. The longitudinal direction of the support member 236 is switched to the second position in which it is substantially vertical. Note that the direction in which the rotating mechanism 240 rotates the gripping mechanism 235 is the same each time, and in the example shown in FIGS. The holding portion 237 that has been moved is rotated so as to be positioned on the lower side when it is in the second position.

When the gripping mechanism 235 is positioned at the second position, the rod-shaped member 6 gripped by the gripping mechanism 235 enters the U-shaped groove 33a formed in the fixed block 33 of the holding portion 32, as shown in FIG. The electric cylinder 231 extends until the

After confirming that the rod-shaped member 6 has entered the U-shaped groove 33a, the slider mechanism 244 moves the movable piece 246 slightly downward. The amount of movement of the movable piece 246 here is set according to the length of the rod-shaped member 6 inserted into the socket 28 attached to the rotary shaft 27a of the electric motor 27 (see FIG. 3).

When it is confirmed that the rotating block 34 is positioned to block the U-shaped groove 33a and the holding portion 32 holds the rod-shaped member 6, the gripping of the rod-shaped member 6 by the gripping mechanism 235 is released. After that, the electric cylinder 231 contracts to move the gripping mechanism 235 away from the member mounting unit 20 .

After the electric cylinder 231 contracts, the position of the gripping mechanism 235 is switched from the second position to the first position by the rotating mechanism 240 . After the position of gripping mechanism 235 is switched, slider mechanism 244 moves movable piece 246 downward to the position shown in FIG. As a result, the replenishment mechanism 200 becomes ready to deliver the rod-shaped member 6, as shown in FIG.

Through the steps described above, the rod-shaped member 6 is sequentially delivered to the member mounting portion 24 by the replenishment mechanism 200 .

It should be noted that the process of taking out the rod-shaped member 6 from below the storage section 211 by the take-out mechanism 212 and gripping the pulled-out rod-shaped member 6 by the gripping mechanism 235 is performed by the member mounting robot 100 as described above. This is performed while the work of attaching to the embedded member 4 is being performed. Therefore, the rod-shaped member 6 can be quickly replenished to the member mounting robot 100 that has finished mounting the rod-shaped member 6 . Instead of mounting the replenishment mechanism 200 on the member mounting robot 100, the transport robot 110 described above may be provided with a mechanism equivalent to the replenishment mechanism 200 described above.

Further, in the above-described embodiment, the inclination of the rod-shaped member 6 is corrected only by moving the member mounting robot 100 . Alternatively, the inclination of the rod-shaped member 6 may be corrected by moving the member mounting robot 100 and actively rotating the arm plate 25 by the rotation motor 22. It may be performed only by rotating the arm plate 25 by the rotating motor 22 without moving the mounting robot 100 .

Further, in the above-described embodiment, the member mounting robot 100 recognizes its own position based on the surrounding information acquired by the information acquisition device 15 of the carriage 10 . The member mounting robot 100 may include a gyro sensor, an orientation sensor, and an acceleration sensor in addition to the information acquisition device 15 in order to improve the recognition accuracy of its own position.

Further, in the above embodiment, the rod-shaped member 6 is attached by being screwed to the embedded member 4 . Alternatively, the rod-shaped member 6 may be attached by being fitted into the embedded member 4 . In this case, the electric motor 27 becomes unnecessary.

In the above embodiment, the rod-shaped member 6 is not attached with the hanger or the positioning nut of the hanger, but the rod-shaped member 6 may be previously attached with the hanger or the positioning nut of the hanger. Further, a member attaching robot that attaches a hanger or a positioning nut of the hanger to the rod-like member 6 attached to the embedded member 4 may be separately provided.

Although the embodiments of the present invention have been described above, the above embodiments merely show a part of application examples of the present invention, and the technical scope of the present invention is not limited to the specific configurations of the above embodiments. do not have.

DESCRIPTION OF SYMBOLS 100... Member attachment robot 1... Ceiling surface 2... Floor surface 4... Burying member 6... Rod-shaped member 10... Carriage part 15... Information acquisition device (imaging part)
20... Member mounting unit 22... Rotary motor (driving unit)
DESCRIPTION OF SYMBOLS 23... Support shaft 24... Member mounting part 26... Mounting operation part 27... Electric motor 30... Electric slide 32... Holding part 40... Electric cylinder 45, 145... Guide sleeve (sleeve)
50... Control unit 51... Distance sensor (detection unit)
52 Upper imaging unit 110 Transport robot 120 Server 151 Camera (detection unit)

Claims (6)

A member attachment robot that attaches a rod-shaped member having a threaded portion to an embedded member provided on a ceiling surface,
a carriage that can move on the floor;
a member mounting portion that is rotatably supported by the carriage about a support shaft that is parallel to the floor surface, holds the rod-shaped member, and mounts the rod-shaped member to the embedded member;
a drive unit that rotates the member attachment unit about the support shaft;
a detection unit capable of detecting the inclination of the embedded member;
a control unit that controls the operation of the truck unit, the member mounting unit, and the driving unit;
The detection unit is a distance detection unit capable of detecting a distance to the embedded member and the ceiling surface,
The control unit
calculating a reference tilt angle from the distance to the ceiling surface detected by the distance detection unit;
calculating a measured inclination angle from the distance to the embedded member detected by the distance detection unit;
calculating the difference between the reference tilt angle and the measured tilt angle as the tilt of the embedded member;
At least one of the drive section and the carriage section is actuated so that the inclination of the rod-shaped member held by the member attachment section substantially coincides with the inclination of the embedded member, and then the embedded member is attached to the embedded member. actuating the member mounting portion to mount the rod-shaped member;
Part mounting robot. A member attachment robot that attaches a rod-shaped member having a threaded portion to an embedded member provided on a ceiling surface,
a carriage that can move on the floor;
a member mounting portion that is rotatably supported by the carriage about a support shaft that is parallel to the floor surface, holds the rod-shaped member, and mounts the rod-shaped member to the embedded member;
a drive unit that rotates the member attachment unit about the support shaft;
a detection unit capable of detecting the inclination of the embedded member;
a control unit that controls the operation of the truck unit, the member mounting unit, and the driving unit;
The member attachment section has a holding section that holds the rod-shaped member, and an attachment operation section that performs an operation of attaching the rod-shaped member held by the holding section to the embedded member,
The control unit
After operating at least one of the drive section and the carriage section such that the inclination of the rod-shaped member held by the member attachment section substantially matches the inclination of the embedded member detected by the detection section, After operating the member attachment section to attach the rod-shaped member to the embedded member, and operating the attachment operation section to attach the rod-shaped member to the inclined embedded member, operating at least one of the drive unit and the carriage unit such that a correction load for correcting the rod-shaped member to be substantially vertical is applied to the rod-shaped member via the holding unit;
Part mounting robot. A member attachment robot that attaches a rod-shaped member having a threaded portion to an embedded member provided on a ceiling surface,
a carriage that can move on the floor;
a member mounting portion that is rotatably supported by the carriage about a support shaft that is parallel to the floor surface, holds the rod-shaped member, and mounts the rod-shaped member to the embedded member;
a drive unit that rotates the member attachment unit about the support shaft;
a detection unit capable of detecting the inclination of the embedded member;
a control unit that controls the operation of the truck unit, the member mounting unit, and the driving unit;
the member mounting portion has a sleeve capable of guiding the rod-shaped member toward the embedded member;
The control unit
After operating at least one of the drive section and the carriage section such that the inclination of the rod-shaped member held by the member attachment section substantially matches the inclination of the embedded member detected by the detection section, after it is determined that the sleeve has reached the vicinity of the embedded member, operating the member attachment portion to attach the rod-shaped member to the embedded member;
Part mounting robot. The member attachment section has a holding section that holds the rod-shaped member, and an attachment operation section that performs an operation of attaching the rod-shaped member held by the holding section to the embedded member,
The control unit actuates the attachment operation unit to attach the rod-shaped member to the inclined embedded member, and then corrects the rod-shaped member so as to be substantially perpendicular to the ceiling surface. operates at least one of the drive unit and the carriage unit so that is applied to the rod-shaped member via the holding unit;
The member mounting robot according to claim 1 or 3 . further comprising an imaging unit capable of imaging the surroundings of the member mounting robot;
The control unit determines whether it is possible to apply the correction load to the rod-shaped member based on the image captured by the imaging unit.
The member mounting robot according to claim 2 . The control unit determines whether or not the rod-shaped member is attached based on the amount of insertion of the rod-shaped member into the embedded member.
The member mounting robot according to any one of claims 1 to 3 and 5 .

Images