JP7341837B2 - 建設作業用ロボット - Google Patents
建設作業用ロボット Download PDFInfo
- Publication number
- JP7341837B2 JP7341837B2 JP2019186518A JP2019186518A JP7341837B2 JP 7341837 B2 JP7341837 B2 JP 7341837B2 JP 2019186518 A JP2019186518 A JP 2019186518A JP 2019186518 A JP2019186518 A JP 2019186518A JP 7341837 B2 JP7341837 B2 JP 7341837B2
- Authority
- JP
- Japan
- Prior art keywords
- support leg
- height
- construction work
- base body
- work robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000010276 construction Methods 0.000 title claims description 61
- 230000007246 mechanism Effects 0.000 claims description 36
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 21
- 239000012636 effector Substances 0.000 claims description 16
- 238000005259 measurement Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 description 5
- 239000000853 adhesive Substances 0.000 description 4
- 230000001070 adhesive effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 210000000078 claw Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
- B25J17/0225—Compliance devices with axial compliance, i.e. parallel to the longitudinal wrist axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F15/00—Flooring
- E04F15/02—Flooring or floor layers composed of a number of similar elements
- E04F15/024—Sectional false floors, e.g. computer floors
- E04F15/02447—Supporting structures
- E04F15/02464—Height adjustable elements for supporting the panels or a panel-supporting framework
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Architecture (AREA)
- Human Computer Interaction (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Optics & Photonics (AREA)
- Physics & Mathematics (AREA)
- Multimedia (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Description
12 マニピュレータ
14 支持脚施工ユニット(エンドエフェクタ)
16 カメラ(認識手段)
18 レーザ距離センサ(計測手段)
20 基部
22 センサベース
24 支持脚把持シリンダ
26 支持脚把持部(把持手段)
28 支持脚高さ調整部(高さ調整手段)
30 先端フランジ
32 摺動機構
34 支持脚回転機構
36 回転レーザレベル受光器
38 摺動ポール
40 コイルばね
42 高さ調整プレート
44 支持脚回転用サーボモータ
46 ベルト
48,50 プーリ
52 回転子
C 軸方向
F 床(母体)
H 支持脚高さ
S 支持脚(部材)
S1 ベースプレート
S2 ネジ軸
S3 台座
Claims (2)
- 高さを変更可能な部材を所定の高さで母体に取付けるために用いられる建設作業用ロボットであって、
マニピュレータと、マニピュレータの先端に設けられたエンドエフェクタと、部材と母体の位置を認識する認識手段と、部材と母体の位置関係を計測する計測手段とを備え、
エンドエフェクタは、部材を解放可能に把持する把持手段と、母体に接触した部材を母体に近づける方向もしくは母体から遠ざける方向に移動させて部材の高さを調整する高さ調整手段とを備え、
部材は、母体側に配置されるネジ軸と、ネジ軸に螺合してネジ軸方向に移動可能な台座とを有する支持脚であり、高さ調整手段は、支持脚の台座をネジ軸周りに回転させて支持脚の高さを調整することを特徴とする建設作業用ロボット。 - 高さ調整手段は、把持手段に対して軸方向に摺動可能に設けられる摺動機構と、摺動機構と一体的に移動可能であるとともに支持脚の台座を回転させるための回転機構と、摺動機構と一体的に移動可能であるとともに支持脚の高さを認識する認識機構とを有し、認識機構で認識した高さに基づいて支持脚の台座を回転させて支持脚の高さを調整することを特徴とする請求項1に記載の建設作業用ロボット。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019186518A JP7341837B2 (ja) | 2019-10-10 | 2019-10-10 | 建設作業用ロボット |
PCT/JP2020/028753 WO2021070454A1 (ja) | 2019-10-10 | 2020-07-27 | 建設作業用ロボット |
US17/765,445 US20220379489A1 (en) | 2019-10-10 | 2020-07-27 | Construction robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019186518A JP7341837B2 (ja) | 2019-10-10 | 2019-10-10 | 建設作業用ロボット |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021062413A JP2021062413A (ja) | 2021-04-22 |
JP7341837B2 true JP7341837B2 (ja) | 2023-09-11 |
Family
ID=75437856
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019186518A Active JP7341837B2 (ja) | 2019-10-10 | 2019-10-10 | 建設作業用ロボット |
Country Status (3)
Country | Link |
---|---|
US (1) | US20220379489A1 (ja) |
JP (1) | JP7341837B2 (ja) |
WO (1) | WO2021070454A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113187248B (zh) * | 2021-05-06 | 2023-09-15 | 克孜勒苏柯尔克孜自治州第一建筑安装工程有限责任公司 | 一种预应力预制叠合楼板安装施工方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008047872A1 (fr) | 2006-10-20 | 2008-04-24 | Hitachi, Ltd. | Manipulateur |
JP2017110466A (ja) | 2015-12-18 | 2017-06-22 | 清水建設株式会社 | 建設作業用ロボットおよび建設作業用ロボットの制御方法 |
JP2018178473A (ja) | 2017-04-10 | 2018-11-15 | 清水建設株式会社 | 二重床の支持脚及び施工方法 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3187619B2 (ja) * | 1993-10-12 | 2001-07-11 | 株式会社小松製作所 | 床パネルの敷設装置 |
-
2019
- 2019-10-10 JP JP2019186518A patent/JP7341837B2/ja active Active
-
2020
- 2020-07-27 WO PCT/JP2020/028753 patent/WO2021070454A1/ja active Application Filing
- 2020-07-27 US US17/765,445 patent/US20220379489A1/en active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008047872A1 (fr) | 2006-10-20 | 2008-04-24 | Hitachi, Ltd. | Manipulateur |
JP2017110466A (ja) | 2015-12-18 | 2017-06-22 | 清水建設株式会社 | 建設作業用ロボットおよび建設作業用ロボットの制御方法 |
JP2018178473A (ja) | 2017-04-10 | 2018-11-15 | 清水建設株式会社 | 二重床の支持脚及び施工方法 |
Also Published As
Publication number | Publication date |
---|---|
WO2021070454A1 (ja) | 2021-04-15 |
JP2021062413A (ja) | 2021-04-22 |
US20220379489A1 (en) | 2022-12-01 |
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