JP7434958B2 - Wall surface treatment system and wall surface treatment method - Google Patents

Description

TECHNICAL FIELD The present invention relates to a wall surface treatment system and wall surface treatment method that performs treatment on a wall surface using a tool.

As the exterior walls of buildings deteriorate over time, parts of the walls or the tiles attached to the walls may come off. Therefore, repair work is being carried out on the outer wall. External wall repair work generally involves making holes in the parts of the external wall where mortar or concrete is floating, injecting epoxy resin adhesive, or inserting pins into the holes to repair the floating parts. Things are being done to suppress this. However, when the repaired area on the wall surface is located at a high position, it is difficult for people to approach it and it is difficult to carry out the repair work quickly.

Furthermore, a robot using a parallel link mechanism is known as a lightweight robot having a wide range of motion (see, for example, Patent Document 1). In this document, the parallel link mechanism is used in a link actuating device provided at the lower part of a rotating shaft that projects downward from the upper end of the support via a first arm and a second arm.

Japanese Patent Application Publication No. 2018-167350

In order to perform the above-mentioned repair work, it is also possible to use the above-mentioned parallel link mechanism robot. Usually, wall treatment equipment is often hung in order to be able to move freely to the repaired area on the wall. In this case, when an attempt is made to advance a tool for performing wall surface treatments such as drilling holes, inserting pins, and injecting adhesive, the wall surface treatment device may move backward due to the reaction force. Therefore, it has been difficult to efficiently operate a wall surface treatment device using tools.

A wall treatment system that solves the above problems includes an operation unit that operates a tool for wall treatment, and a case portion that accommodates the operation unit therein and is movable along the wall surface, and the operation unit includes: The case part includes a grip part that grips the tool, a parallel link mechanism that advances the grip part toward the wall surface, and a base plate that supports the parallel link mechanism, and the case part absorbs the forward force of the grip part. A receiving portion is provided that receives the reaction force and brings the grip portion closer to the wall surface.
Further, a wall surface treatment method for solving the above problem uses a wall surface treatment system that includes an operation unit that operates a tool and a case portion that houses the operation unit inside, and a wall surface treatment method that uses the tool to perform wall surface treatment. In the processing method, the operating unit includes a gripping part that grips the tool, a parallel link mechanism that moves the gripping part straight toward a wall surface, and a base plate that supports the parallel link mechanism, The part includes a receiving part that receives the reaction force of the forward force of the gripping part and brings the gripping part close to the wall surface, and after moving the case part to the target part of the wall surface, the parallel link mechanism is moved. By moving the holding portion, the grip portion is advanced toward the wall surface, and the wall surface treatment using the tool is performed.

According to the present invention, wall surface treatment can be executed by approaching the tool in a direction perpendicular to the wall surface.

FIG. 1 is an explanatory diagram illustrating an overall configuration in which a wall treatment system according to an embodiment is arranged along a wall. FIG. 1 is a perspective view of the wall treatment device in the wall treatment posture according to the embodiment. FIG. 3 is a top view of the wall processing apparatus in the embodiment when the wall processing apparatus is in a wall processing posture. FIG. 2 is a side view of the wall treatment apparatus in the embodiment in a wall treatment attitude. FIG. 3 is a rear view of the wall treatment apparatus in the embodiment in a wall treatment attitude. FIG. 3 is a perspective view of an operation unit of the wall treatment device in the embodiment. The front view explaining the structure of the parallel link mechanism in an embodiment. The top view explaining the structure of the grip part in an embodiment. The perspective view explaining the tool storage part in an embodiment. FIG. 1 is a front view illustrating a drilling tool in an embodiment. FIG. 2 is an explanatory diagram illustrating a driving tool in an embodiment, in which (a) is a side view of the entire driving tool, and (b) is an enlarged view of the tip of the driving tool. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory diagram illustrating an injection tool in an embodiment, in which (a) is a side view of the injection tool, and (b) is a conceptual diagram illustrating a structure connected to a supply hose of the injection tool. FIG. 2 is a perspective view illustrating the configuration of a case portion of the wall treatment device in the embodiment. 5 is a flowchart illustrating the processing procedure of wall surface repair processing in the embodiment. FIG. 2 is a perspective view of the wall treatment device in the embodiment when it is in an attached and detached posture. FIG. 3 is a top view of the wall treatment device in the embodiment when it is in an attached and detached posture. FIG. 6 is an explanatory diagram of an injection tool in a modified example, in which (a) is a perspective view of the main parts of the injection tool, (b) is a top view of the main parts of the injection tool, and (c) is a sectional view of the main parts of the injection tool. . FIG. 6 is an explanatory diagram of the injection tool in a modified example, in which (a) shows a state in which the adhesive cylinder is placed in the loading area, (b) shows a state in which the anchor pin has started to be inserted into the adhesive cylinder, and (c) (d) shows a state in which the anchor pin is inserted into the adhesive cylinder, and (d) shows a state in which the next adhesive cylinder is loaded into the loading area while pushing the anchor pin.

An embodiment of a wall treatment apparatus will be described below with reference to FIGS. 1 to 16.
This embodiment will be described as an apparatus that performs repair processing (wall surface processing) for repairing floating tiles provided on a vertical wall surface. In this repair process, three processes are performed in this embodiment: a drilling process to make a hole in the wall, a driving process to drive an anchor into the hole formed in the wall, and an injection process to inject adhesive into the hole in the wall and the anchor. do. For this purpose, a drilling tool 70, a driving tool 80, and an injection tool 85 are used as tools. The drilling process and the driving process correspond to the first wall surface treatment, and the driving process and the injection process correspond to the second wall surface process. Furthermore, the drilling tool 70 and the driving tool 80 correspond to the first tool, and the driving tool 80 and the injection tool 85 correspond to the second tool.

As shown in FIG. 1, the wall treatment system 10 in this embodiment includes suspension units 11 and 12, ground units 13 and 14, a case portion C60, a wall treatment device 21, and a control unit 25.

The suspension units 11 and 12 are fixed at both ends of the wall treatment range on the rooftop above the wall Wa1. The suspension units 11 and 12 have their tips protruding from the rooftop toward the wall surface Wa1, and extend the first wires W11 and W12 along the wall surface Wa1. The first wires W11 and W12 are fixed to the hanging portion C62 on the upper surface of the case portion C60. The suspension units 11, 12 are equipped with winches, and according to instructions from the control unit 25, wind up or unwind the first wires W11, W12, and wind up or unwind the first wires W11, W12 from the suspension units 11, 12 to the suspension part C62. By changing the lengths of the single wires W11 and W12, the case portion C60 is moved to an arbitrary location (position) on the wall surface Wa1.
The ground units 13 and 14 are arranged on the ground and wind up or unwind the second wires W21 and W22 fixed to the engagement part C63 on the lower surface of the case part C60, thereby reducing the shaking when the case part C60 moves. and suppress slope.

The case portion C60 accommodates the wall surface treatment device 21 and moves along the wall surface Wa1. The details of this case portion C60 will be described in detail.
The wall treatment device 21 executes repair processing as wall treatment.
The control unit 25 controls the winches of the suspension units 11 and 12, the wall treatment device 21, and the like. Details of this control unit 25 will be described later.

(Structure of wall treatment device 21)
2 to 5 are a perspective view, a top view, a side view, and a rear view of this wall treatment device 21. The wall treatment device 21 of this embodiment includes an operation unit 30, a tool storage section 50, and a frame section 60. The tool storage section 50 is arranged toward the rear of the frame section 60 (on the side opposite to the front, which is the wall surface Wa1 side).

As shown in FIG. 2, the frame section 60 includes a plate-shaped base section 61 forming a bottom surface, a bar-shaped vertical frame 62, and horizontal frames 63 and 64. Four vertical frames 62 are erected on the base portion 61. The upper ends of the vertical frame 62 are connected by horizontal frames 63 and 64.
Further, the base portion 61 is provided with an anchor storage portion (not shown). This anchor storage section stores a plurality of anchors and allows the anchors to be taken out one after another in an erected state.

As shown in FIG. 2, mounting plates 65 and 66 are fixed to the centers of two vertical frames 62 arranged in the lateral direction of the frame portion 60, respectively. The mounting plates 65 and 66 are provided with bearings and rotatably support the rotating shaft 32b of the operating unit 30. A first motor 67 that can rotate in forward and reverse directions is fixed to the mounting plate 66 . A first gear 68 shown in FIGS. 3 and 5 is fixed to the output shaft of the first motor 67.

<Structure of operation unit 30>
As shown in FIG. 6, the operating unit 30 includes a base plate 31, a mounting portion 32, a second gear 33, a parallel link mechanism 34, and a grip portion 35. The attitude changing section that changes the attitude of the operating unit 30 is composed of a first motor 67 , a first gear 68 , a second gear 33 , and a mounting section 32 .

As shown in FIGS. 2 and 5, the base plate 31 has a ring shape.
As shown in FIGS. 3 and 5, two attachment portions 32 are attached to the base plate 31, each protruding from the center in the left-right direction (the longitudinal direction of the base portion 61). Each attachment portion 32 includes a protrusion 32a that protrudes forward (towards the wall surface Wa1) and a rotating shaft 32b fixed to the protrusion 32a.

The rotation axis 32b is a horizontal axis parallel to the wall surface Wa1 (the longitudinal direction of the base portion 61). A second gear 33 is fixed to the end of the rotating shaft 32b on the mounting plate 66 side. This second gear 33 meshes with the first gear 68 of the output shaft of the first motor 67. As a result, the base plate 31 rotates about the rotating shaft 32b via the first gear 68, the second gear 33, and the attachment part 32 due to the rotation of the output shaft of the first motor 67.

As shown in FIG. 5, a parallel link mechanism 34 is attached to the base plate 31. The parallel link mechanism 34 includes three link mechanisms 34a, 34b, and 34c. The link mechanisms 34a, 34b, and 34c are fixed to the outer periphery of the base plate 31 at equal intervals (every 120 degrees in the central angle), and are fixed to the outer periphery of the movable plate 36 of the grip part 35 at equal intervals (every 120 degrees in the central angle). Fixed. Each of the link mechanisms 34a to 34c has the same structure and the same size.

The second motor 42 as a drive motor used for the three link mechanisms 34a to 34c is a motor having different output characteristics depending on the position in the wall treatment attitude. As a result, in the wall processing posture in which the operating unit 30 faces the wall, the output torque is approximately the same regardless of the arrangement.

Specifically, the link mechanism 34a is located above the center C2 of the movable plate 36 in the wall surface treatment attitude in which the movable plate 36 is in a vertical state, and the link mechanisms 34b and 34c are located below the center C2 of the movable plate 36. Located in A larger load is applied to the second motor 42 that drives the link mechanism 34a located above than the second motor 42 that drives the other link mechanisms 34b and 34c. For this reason, a motor capable of outputting a larger torque than the second motors 42 of the link mechanisms 34b and 34c is used as the second motor 42 of the link mechanism 34a. Further, the second motors 42 of the link mechanisms 34b and 34c use motors that output the same torque.

(Structure of link mechanism 34a)
Next, the structure of the link mechanism 34a will be explained in detail. The other link mechanisms 34b and 34c have the same structure as the link mechanism 34a, so detailed description thereof will be omitted.

As shown in FIG. 7, the link mechanism 34a includes a fixed side mounting part 41, a second motor 42, a pulley 43, a belt B1, a connecting shaft 44, an arm part 45, a fixed side connecting member 46, a link member 47, and a movable side connecting member. It includes a member 48 and a movable side attachment part 49.

The fixed side attachment part 41 has two attachment plates 41a and 41b and a plurality of connection members 41c. The connecting member 41c connects the mounting plates 41a and 41b at an interval.
As shown in FIG. 4, the mounting plate 41b is longer than the mounting plate 41a, and the mounting plates 41a, 41b are attached to the base plate 31 diagonally. A second motor 42 is fixed to this mounting plate 41b.

As shown in FIG. 7, pulleys 43 and 44a and belt B1 are arranged between mounting plates 41a and 41b. A pulley 43 is fixed to the tip of the second motor 42. This pulley 43 transmits rotational force to a pulley 44a fixed to the tip of the connecting shaft 44 via the belt B1.

One end portion of mounting plates 45a, 45b of the arm portion 45 is fixed to an end portion 44b of the connecting shaft 44 on the opposite side of the pulley 44a. A fixed side connecting member 46 is fixed to the other end portions of the mounting plates 45a and 45b. One end portions of two pairs (four) of link members 47 are rotatably attached to the fixed side connecting member 46. The link members 47 are arranged in pairs so as to sandwich the fixed side connecting member 46 therebetween.

As shown in FIG. 8, the other end of the link member 47 is rotatably attached to one end of the movable connecting member 48. As shown in FIG. The movable connecting member 48 is sandwiched between the pair of link members 47 similarly to the fixed connecting member 46 .

As shown in FIG. 7, a movable attachment portion 49 is fixed to the other end of the movable coupling member 48. As shown in FIG. The movable mounting portion 49 includes mounting plates 49a and 49b having different lengths. The attachment plates 49a and 49b are obliquely attached to the movable plate 36 of the grip portion 35 at intervals.

(Structure of gripping part 35)
As shown in FIG. 8, the gripping section 35 includes a movable plate 36, two electric cylinders 37, and two tool holding sections 38.

As shown in FIGS. 5 and 6, the movable plate 36 to which the link mechanisms 34a, 34b, and 34c are fixed is a flat plate having a cutout 36a in the center C2 region. The notch 36a is provided in such a manner that its lower side is open in the wall surface treatment attitude. This notch 36a is further provided with two notches 36b extending in the left-right direction.

As shown in FIG. 8, electric cylinders 37 are fixed to the surface of the movable plate 36 on the base plate 31 side on the left and right sides of the notch 36a. The rod 37a of this electric cylinder 37 is fixed to the tool holding part 38. As a result, when the electric cylinder 37 is driven and the rod 37a expands and contracts, both tool holders 38 approach or separate.

The tool holding portion 38 includes a rectangular upper surface portion 38a, a lower surface portion 38b, two side surfaces 38c, and a mounting portion 38d. The upper surface portion 38a and the lower surface portion 38b have a substantially semicircular shape that can be fitted onto the first engaging portion T1 and the second engaging portion T2 of the held tool (70, 80, 85), respectively. Each side surface portion 38c passes through the notch 36b of the movable plate 36 and is fixed to the ends of the upper surface portion 38a and the lower surface portion 38b. The mounting portion 38d is fixed to the two side surfaces 38c on the electric cylinder 37 side. A rod 37a of the electric cylinder 37 is fixed to this attachment portion 38d.

As described above, each of the link mechanisms 34a to 34c is obliquely attached to the base plate 31 via the fixed-side attachment portion 41, and is also obliquely attached to the movable plate 36 via the movable-side attachment portion 49. Furthermore, each link mechanism 34a to 34c is fixed to the base plate 31 and the movable plate 36 at equal intervals. As a result, when the second motors 42 of each of the link mechanisms 34a to 34c rotate by the same amount of rotation, the link member 47 rotates relative to the connecting member (46, 48), and the movable plate 36 moves straight back and forth.

<Structure of tool storage section 50>
As shown in FIG. 9, the tool storage section 50 includes a pedestal section 51 fixed on a base section 61 of a frame section 60, a third motor 52, and a tool support section 55.

The pedestal portion 51 includes two blocks 51a, a disk-shaped motor fixing portion 51b, and a mounting member 51c. A motor fixing part 51b is fixed onto the block 51a via the lower leg part. A third motor 52 with its output shaft facing upward is fixed at the center of the motor fixing portion 51b.

A mounting member 51c is fixed onto the motor fixing part 51b via the upper leg part. A tool support section 55 is rotatably mounted on the mounting member 51c. The tool support portion 55 includes four locking portions 55a arranged at equal intervals around the outer periphery of the disk-shaped center portion. A rotating shaft (shaft) protrudes downward from the center of the central portion. This rotating shaft is fixed to the output shaft of the third motor 52 via a coupling, and the tool support section 55 is rotated by driving the third motor 52.

Each locking portion 55a is a plate member having a notch including a central region of one outer end. This locking portion 55a has a width that allows insertion into the notch 36a of the movable plate 36 of the gripping portion 35. The notch portion of the locking portion 55a has a stepped shape with a wide outer notch width. The tool (70, 80, 85) is hooked around the outer part where the notch width is wide, and the tool (70, 80, 85) is supported. Further, an electromagnet 57 is fixed to the inner side where the width of the notch is small. The electromagnet 57 fixes the tool (70, 80, 85) supported by the locking portion 55a by being energized.

(Structure of each tool)
FIGS. 10, 11(a), and 12(a) show side views of the drilling tool 70, the driving tool 80, and the injection tool 85, respectively. Each of these tools (70, 80, 85) has a housing portion T0 of the same shape. The housing portion T0 has a shape into which the tool holding portion 38 of the gripping portion 35 of the operating unit 30 fits. Specifically, the housing portion T0 includes a cylindrical first engaging portion T1, a ring-shaped second engaging portion T2, and a square cylindrical housing portion T3. A first engaging portion T1 and a second engaging portion T2 are fixed to the upper and lower surfaces of the accommodating portion T3.

The first engaging portion T1 and the second engaging portion T2 are held between and held by the upper surface portion 38a and the lower surface portion 38b of the two opposing tool holding portions 38, respectively.
Since the second engaging portion T2 is larger than the width of the notch of the locking portion 55a of the tool support portion 55, the outer end of the second engaging portion T2 is locked around the notch of the locking portion 55a. By doing so, the tool support section 55 supports each tool (70, 80, 85). Note that the second engaging portion T2 has a slightly larger thickness than the lower surface portion 38b of the tool holding portion 38.
The inside of the accommodating part T3 communicates with the insides of the first engaging part T1 and the second engaging part T2. A solenoid, a motor, etc. are housed in the housing part T3.

<Structure of the drilling tool 70>
As shown in FIG. 10, the drilling tool 70 includes a housing T0, a fourth motor 71, a rotary joint 72, a core drill 74, a cable 76, a water supply hose 77, and a drainage hose 78.

The fourth motor 71 is housed in the housing part T3 of the housing part T0. Electric power and signals are supplied to the fourth motor 71 via a cable 76 . A core drill 74 is fixed to the tip of the output shaft of the fourth motor 71 via a rotary joint 72 . The core drill 74 is a stepped core drill in which steps are provided at positions corresponding to the shape of the stepped hole to be formed. This core drill 74 forms a stepped hole in the wall surface Wa1. Moreover, the central axis of the core drill 74 is arranged so as to coincide with the center of the housing portion T0.

A water supply hose 77 and a drainage hose 78 are connected to the rotary joint 72 at the tip end 72a side. Then, in the rotary joint 72, while transmitting the rotation of the output shaft of the fourth motor 71 to the core drill 74, the output shaft and the core drill 74 are cooled with water. Furthermore, the cable 76, water supply hose 77, and drainage hose 78 that pass through the first engagement part T1 of the housing part T0 are connected to the control unit 25, the cooling device, etc. from the opening above the first engagement part T1. be done.

<Structure of driving tool 80>
As shown in FIG. 11A, the driving tool 80 includes a housing T0, a solenoid 81, a step rod 82, a spring 83, and a cable 84.

A pull-type solenoid 81 whose plunger is retracted when energized is housed in the housing part T3 of the housing part T0. A step rod 82 made of a magnetic material is fixed to the tip of the plunger of the solenoid 81. The central axis of the step rod 82 is arranged so as to coincide with the center of the housing portion T0. A ring-shaped locking portion 82a is provided in the middle of the step rod 82. A spring 83 is disposed between this locking portion 82a and the plunger of the solenoid 81.

FIG. 11(b) is an enlarged view of the tip of the step rod 82. As shown in this figure, a step portion is provided near the tip of the step rod 82 to engage an anchor A1 driven into a hole formed in the wall surface. A sponge 82b is fixed to this stepped portion.
When the solenoid 81 is energized, the tip of the step rod 82 attracts and holds one end of the anchor A1 through which it passes.

<Structure of injection tool 85>
As shown in FIG. 12(a), the injection tool 85 includes an injection pipe 86. The injection pipe 86 penetrates through the inside of the accommodating part T3 and the inside of the second engaging part T2 of the housing part T0 and is fixed. Furthermore, the injection pipe 86 is arranged so that its central axis coincides with the center of the housing portion T0, and has a diameter that allows it to be inserted into the hole in which the anchor A1 is arranged. Furthermore, the injection pipe 86 is connected to the supply hose 87 inside the first engaging portion T1. In this embodiment, two liquids (liquid A and liquid B) containing epoxy resin as a main component are mixed and used as the adhesive.

FIG. 12(b) shows a liquid supply section 88 to which a supply hose 87 is connected. The liquid supply section 88 is arranged on the base section 61. The liquid supply section 88 includes a discharge section 88m, and a first liquid supply chamber 88a and a second liquid supply chamber 88b partitioned inside. The first and second liquid supply chambers 88a and 88b respectively accommodate two liquids (liquid A and liquid B) that serve as adhesives. The two liquids from the first and second liquid supply chambers 88a and 88b are supplied to the discharge portion 88m and mixed, and the mixed adhesive is supplied to the supply hose 87. The discharge portion 88m is provided with a flow meter and a pressure gauge (not shown). The flow meter and the pressure gauge measure the flow rate and injection pressure of each liquid (liquid A and liquid B) pushed out from the discharge portion 88m.

(Structure of case part C60)
As shown in FIG. 13, a case portion C60 that houses the above-described wall treatment device 21 includes a main body portion C61 having an open back surface C6a. From the back surface C6a, the grip portion 35 of the wall surface treatment device 21 housed in the case portion C60 protrudes toward the wall surface Wa1.

A hanging portion C62 and an engaging portion C63 are attached to the upper and lower surfaces of the main body portion C61. The hanging portion C62 fixes the end portions of the first wires W11 and W12, which suspend the case portion C60 from the hanging units 11 and 12, in a state where the inclination angle is free.

Two first propeller mechanisms C64 are provided on the side surface of the main body C61 that faces the back surface C6a. The first propeller mechanism C64 functions as a receiving portion, is arranged substantially parallel to the wall surface Wa1, and has blades that rotate around a horizontal axis. Then, the case portion C60 is pressed against the back surface C6a side (wall surface Wa1 side) by the propulsive force generated by the rotation of the blades. Thereby, the reaction force generated when the movable plate 36 of the grip portion 35 of the wall treatment device 21 moves forward is received, and the tip of the tool provided on the movable plate 36 is caused to move straight toward the wall Wa1.

Further, the main body portion C61 includes a second propeller mechanism C65 and a third propeller mechanism C67 protruding in the left-right direction. The second propeller mechanism C65 and the third propeller mechanism C67 have blades that rotate around their axes, and generate propulsive force by rotating the blades according to the measured values of the wind meter and accelerometer provided in the main body C61. let Thereby, the second propeller mechanism C65 adjusts the position in the left and right direction, and the third propeller mechanism C67 adjusts the vertical inclination to maintain the horizontal position.

(Configuration of control unit 25)
As shown in FIG. 1, the control unit 25 includes a management section 251, a storage control section 252, a gripping control section 253, a movement control section 254, a link control section 255, a drilling control section 256, a driving control section 257, and an injection control section. 258. Furthermore, a distance meter is connected to the control unit 25. This distance meter measures the distance from the movable plate 36 to the wall surface Wa1.

The management unit 251 executes processing for managing the entire wall surface repair processing. The management unit 251 acquires position information of a repair location (processing target location) on the wall surface Wa1 where wall surface repair processing is to be performed. Furthermore, the management unit 251 stores the distance between the movable plate 36 of the gripping portion 35 and the tip of each tool (70, 80, 85) when gripped by the gripping portion 35. Then, the management unit 251 uses the distance measured by the distance meter to specify the distance from the tip of each tool (70, 80, 85) to the wall surface Wa1.

The storage control section 252 controls the driving of the third motor 52 of the tool storage section 50 to control the rotation of the tool support section 55. Furthermore, the storage control unit 252 controls the attachment and detachment of the tools (70, 80, 85) by controlling the energization of the electromagnet 57.

The grip control section 253 controls the drive of the first motor 67 to control the posture (orientation) of the motion unit 30. Further, the gripping control unit 253 controls the drive of the electric cylinder 37 of the gripping unit 35 to control gripping and removal of the tools (70, 80, 85).

The movement control unit 254 controls the process of moving the wall treatment device 21 to the repair location. In this case, the movement control unit 254 specifies the position (xy coordinates) of the specified repair location on the wall surface Wa1, controls the winches of the suspension units 11 and 12 in accordance with this, and controls the first wires W11 and W12. unwinding and winding. Thereby, by changing the lengths of the first wires W11, W12 from the suspension units 11, 12 to the case portion C60, the wall surface treatment device 21 is moved to the repair location.

The link control section 255 controls the drive of the second motor 42 of the operation unit 30 to control the linear movement of the movable plate 36 of the grip section 35 . In this case, the link control unit 255 synchronously controls the second motors 42 of each link mechanism 34a to 34c so that the rotation angles are the same. Further, the link control section 255 works in conjunction with the drilling control section 256 to adjust the forward speed of the gripping section 35 based on the rotation speed of the core drill 74 and the load on the second motor 42 . For example, if the forward speed of the core drill 74 increases and the rotational speed becomes low or the load increases, the forward speed is reduced. Further, the link control section 255 works in conjunction with the driving control section 257 to adjust the forward speed of the gripping section 35 based on the load of the second motor 42 . Further, the link control section 255 works in conjunction with the injection control section 258 to insert the tip of the injection tool 85 into the hole formed in the wall surface Wa1.

The drilling control unit 256 controls the operation of the wall processing device 21 using the drilling tool 70 in order to drill a hole in the wall Wa1.
The driving control unit 257 controls the operation of the wall processing device 21 using the driving tool 80 in order to drive an anchor into a hole formed in the wall surface Wa1.

The injection control unit 258 controls the operation of the wall treatment device 21 using the injection tool 85 in order to inject adhesive into the hole into which the anchor is driven. In this embodiment, the injection control unit 258 inserts the tip of the injection pipe 86 into the hole in the wall Wa1, and injects the two-component mixture (adhesive) from the tip of the injection pipe 86. Then, the injection control unit 258 determines whether or not the injection of the adhesive is completed based on the injection pressure and flow rate of the adhesive.

(Wall surface repair treatment)
Next, wall surface repair processing using the wall surface treatment system 10 having the above-described structure will be explained.
The management unit 251 of the control unit 25 of the wall surface treatment system 10 acquires the position of the repair location on the wall surface according to instructions from the operator. Then, the movement control unit 254 of the wall treatment system 10 drives the first propeller mechanism C64 to press the wall treatment device 21 toward the wall Wa1. Thereafter, the management unit 251 identifies one repair location among the acquired repair locations, and executes the following wall surface repair process for each repair location.

As shown in FIG. 14, first, the control unit 25 of the wall treatment system 10 executes a movement process to a treatment position (step S1-1). Specifically, the movement control section 254 of the control unit 25 controls the winches of the suspension units 11 and 12 to move the suspension unit 11 according to the coordinates (xy coordinates) of the specified correction location (movement destination). , 12 to the case portion C60. As a result, the wall treatment device 21 housed in the case portion C60 is moved to the destination.

In this case, as shown by the dotted line in FIG. 8, the rod 37a of the electric cylinder 37 is shortened, and the two tool holders 38 are in a spaced apart position. Furthermore, each tool (70, 80, 85) is attracted by the electromagnet 57 of the tool storage section 50.

Then, as shown in FIG. 14, the control unit 25 executes a process of gripping the drilling tool (step S1-2). Specifically, the grip control section 253 drives the first motor 67 of the mounting plate 66. The rotation of the output shaft of the first motor 67 rotates the rotating shaft 32b of the mounting portion 32 via the first gear 68 and the second gear 33 of the operation unit 30, and the base plate fixed to the rotating shaft 32b is rotated. Rotate 31. As a result, the operating unit 30 is changed to a retracted posture that does not interfere with the tool support portion 55. Furthermore, the storage control section 252 rotates the tool storage section 50 by driving the third motor 52, and positions the locking section 55a that supports the drilling tool 70 on the wall surface Wa1 side (tool attachment/detachment position). .

Next, the grip control section 253 changes the operating unit 30 to a downward attachment/detachment position in which the base plate 31 and the movable plate 36 extend horizontally by driving the first motor 67. Then, the grip control section 253 causes the tool holding section 38 to approach by driving the electric cylinder 37 to extend the rod 37a. Then, the upper surface part 38a and the lower surface part 38b of the tool holding part 38 fit into the first engaging part T1 and the second engaging part T2 of the drilling tool 70, and grip the drilling tool 70. Thereafter, the storage control section 252 stops energizing the electromagnet 57 disposed on the locking section 55a that supports the drilling tool 70, and stops attracting the drilling tool 70.

Next, the control unit 25 executes a process of arranging the drilling tool facing the wall surface (step S1-3). Specifically, the grip control section 253 changes the operation unit 30 from the attachment/detachment attitude to the wall surface processing attitude by driving the first motor 67 .

Next, the control unit 25 executes processing position identification processing (step S1-4). Specifically, the management unit 251 measures the distance to the wall Wa1 using a distance meter. Then, the management unit 251 drives the second motor 42 to adjust the front and rear positions of the movable plate 36 so that the core drill 74 of the drilling tool 70 is located a predetermined distance (for example, 1 mm) from the wall Wa1. do.

Next, the control unit 25 executes a hole drilling process (step S1-5). Specifically, the drilling control unit 256 drives the fourth motor 71 of the drilling tool 70 to rotate the core drill 74. In this case, water is supplied to the rotary joint 72 of the drilling tool 70 via a water supply hose 77 and water is discharged via a drainage hose 78. Thereby, the core drill 74 rotates while being cooled.

The drilling control section 256 works in conjunction with the link control section 255 to drive the second motors 42 of each of the link mechanisms 34a to 34c to move the movable plate 36 of the gripping section 35 straight forward. In this case, since the wall surface treatment device 21 is pressed against the wall surface Wa1 by the propulsive force of the first propeller mechanism C64 of the case portion C60, the wall surface treatment device 21 is pushed against the wall surface Wa1 due to the reaction force of the forward straight force of the movable plate 36. The movable plate 36 can be moved forward without running away to the opposite side. As a result, the core drill 74 is rotated and moved forward to form a stepped hole having a larger diameter on the opening side in the wall surface Wa1. In this case, the link control unit 255 adjusts the forward speed of the movable plate 36 based on the rotational speed of the core drill 74 and the load of the second motor 42 in the drilling control unit 256. Then, the link control unit 255 advances the movable plate 36 and the core drill 74 to a predetermined specified depth.

Thereafter, the drilling control unit 256 stops the fourth motor 71, and the link control unit 255 reversely rotates the second motor 42 of each link mechanism 34a to 34c. As a result, the movable plate 36 is moved straight backward and the core drill 74 is pulled out from the hole.

Next, the control unit 25 executes a process of replacing the driving tool (step S1-6). Specifically, the grip control unit 253 drives the first motor 67 to rotate the rotating shaft 32b, thereby changing the operation unit 30 from the horizontal wall processing attitude to the downward attachment/detachment attitude.

In this case, as shown in FIGS. 15 and 16, the second engaging portion T2 of the drilling tool 70 is located above the notch of the locking portion 55a of the tool support portion 55 in the attachment/detachment position. Here, the attachment/detachment position is a position on the wall surface Wa1 side where the locking portion 55a is on the central vertical surface C1 of the wall treatment device 21.

Then, the grip control section 253 drives the electric cylinder 37 to contract the rod 37a, thereby separating the tool holding section 38. As a result, the second engaging portion T2 of the drilling tool 70 is caught on the upper surface around the notch of the locking portion 55a, and the drilling tool 70 is placed on the locking portion 55a. The storage control section 252 energizes the electromagnet 57 of the locking section 55a on which the drilling tool 70 is mounted to attract the drilling tool 70.

Next, the grip control section 253 drives the first motor 67 to change the operating unit 30 to the retracted position. Then, the storage control section 252 rotates the tool support section 55 by driving the third motor 52, and places the driving tool 80 at the tool attachment/detachment position. Next, the gripping control unit 253 drives the first motor 67 to change the operating unit 30 from the retracted position to the attachment/detachment position, and then drives the electric cylinder 37 to extend the rod 37a and grips the driving tool 80. do. In this case, the upper surface part 38a and the lower surface part 38b of the tool holding part 38 are fitted into the first engaging part T1 and the second engaging part T2 of the driving tool 80. Thereafter, the storage control unit 252 stops energizing the electromagnet 57 that was attracting the driving tool 80.

Then, the gripping control section 253 drives the first motor 67 to rotate the operation unit 30 to change to the anchor retrieval posture for taking out the anchor from the anchor storage section. The driving control unit 257 moves the tip of the step bar 82 of the driving tool 80 by driving the second motor 42 and moving the movable plate 36 forward in conjunction with the link control unit 255 in the direction of the anchor removal posture. Insert it into the anchor storage section. Then, the driving control unit 257 energizes the solenoid 81 of the driving tool 80 to attract and hold one anchor located at the mounting position of the anchor storage portion at the tip of the step rod 82. Next, the link control section 255 moves the movable plate 36 backward to take out the stepped rod 82 that has attracted the anchor from the anchor storage section. Then, the grip control unit 253 drives the first motor 67 to change the operating unit 30 from the anchor retrieval attitude to the sideways wall processing attitude.

Next, the control unit 25 executes an input process (step S1-7). Specifically, the driving control unit 257 operates in conjunction with the link control unit 255 to drive the second motor 42 and to prevent the wall treatment device 21 from escaping to the side opposite to the wall Wa1, so that the gripping unit 35 is movable. Move the plate 36 straight forward. As a result, the step rod 82 holding the anchor is moved forward, and the anchor is pushed into the hole formed in the wall surface Wa1. In this case, the link control unit 255 adjusts the forward speed of the movable plate 36 based on the load of the second motor 42.

After that, when the load on the second motor 42 becomes large and it is determined that the head of the anchor is locked in the hole, the driving control section 257 stops energizing the solenoid 81 to attract the anchor. stop. Then, the link control unit 255 reversely rotates the second motor 42 to move the movable plate 36 backward and pull out the step rod 82 from the hole. Thereby, the anchor is accommodated in the hole formed in the wall surface Wa1.

Next, the control unit 25 executes an injection tool replacement process (step S1-8). Specifically, similarly to step S1-6, the gripping control unit 253 changes the operating unit 30 from the wall surface treatment attitude to the attachment/detachment position by driving the first motor 67, and moves the driving tool 80 to the attachment/detachment position. It is positioned above the notch of the locking part 55a of a certain tool support part 55. Then, the grip control section 253 drives the electric cylinder 37 to separate the tool holding section 38 and place the driving tool 80 on the locking section 55a. The storage control unit 252 attracts the driving tool 80 using the electromagnet 57 .

Next, the grip control section 253 drives the first motor 67 to move the operating unit 30 to the retracted position. Thereafter, the storage control section 252 drives the third motor 52 of the tool storage section 50. This rotates the tool support section 55 and moves the injection tool 85 supported by the locking section 55a to the attachment/detachment position. Then, the grip control unit 253 changes the operating unit 30 from the retracted position to the detachable position by driving the first motor 67, and arranges the electric cylinders 37 on both sides of the injection tool 85. Next, the grip control section 253 extends the rod 37a of the electric cylinder 37 to grip the injection tool 85 with the tool holding section 38 of the grip section 35, and the storage control section 252 suctions the injection tool 85. The power supply to the electromagnet 57 is stopped. Then, the grip control section 253 drives the first motor 67 to change the operation unit 30 from the attachment/detachment attitude to the wall surface processing attitude.

Next, the control unit 25 executes an injection process (step S1-9). Specifically, the injection control unit 258 moves the movable plate 36 straight forward by driving the second motor 42 in conjunction with the link control unit 255, and inserts the injection tool 85 into the hole in which the anchor is inserted. Insert the tip of the injection pipe 86. Then, after stopping the second motor 42, the injection control unit 258 pressurizes the first and second liquid supply chambers 88a and 88b of the liquid supply unit 88 to supply the two liquids constituting the adhesive from the discharge unit 88m. Let it spit out. The adhesive obtained by mixing the two liquids in the discharge portion 88m is supplied to the hole from the tip of the injection pipe 86 via the supply hose 87. In this case, the injection control section 258 determines whether or not injection has ended based on the injection pressure and flow rate at the discharge section 88m. Here, the injection control unit 258 determines that the hole is filled with the adhesive and the injection is completed when the injected flow rate is equal to or higher than the reference amount and the injection pressure becomes equal to or higher than the determination pressure. When the injection control unit 258 determines that the injection is finished, the link control unit 255 drives the second motor 42 to move the movable plate 36 holding the injection tool 85 backward.

Next, the control unit 25 executes a tool storage process (step S1-10). Specifically, by driving the first motor 67, the gripping control unit 253 changes the operation unit 30 from the wall surface treatment posture to the attachment/detachment posture, and inserts the injection tool onto the notch of the locking portion 55a in the attachment/detachment position. Position 85. Furthermore, the grip control section 253 moves the tool holding section 38 away by driving the electric cylinder 37, and places the injection tool 85 on the locking section 55a. The storage control unit 252 energizes the electromagnet 57 to attract the injection tool 85 .

Next, the control unit 25 changes the operating unit 30 to the retracted position and rotates the tool support section 55. As a result, the driving tool 80 is moved to the attachment/detachment position, and the locking part 55a that is not supporting the tool and facing the locking part 55a located in the attachment/detachment position is positioned on the opposite side of the wall surface Wa1.
In this state, the process of moving to the processing position (step S1-1) and subsequent processes are repeated for the next repair location.
The above process is performed for all specified repair locations.

(effect)
The wall treatment device 21 moves the parallel link mechanism 34 to move the movable plate 36 of the gripping part 35 holding the tool (70, 80, 85) straight forward in a wall treatment attitude facing the wall. In this case, since the wall surface treatment device 21 is pressed against the wall surface Wa1 by the propulsive force of the first propeller mechanism C64, the wall surface treatment device 21 escapes to the side opposite to the wall surface Wa1 due to the reaction force of the forward straight force of the movable plate 36. The movable plate 36 can be moved forward without any movement. Therefore, by simultaneously moving the parallel link mechanism 34, the movable plate 36 and the tools (70, 80, 85) can be moved straight toward the wall surface with high precision.

According to this embodiment, the following effects can be obtained.
(1) The wall treatment device 21 of this embodiment includes the operation unit 30 in which the movable plate 36 holding the tools (70, 80, 85) is attached to the base plate 31 via the parallel link mechanism 34. Then, the parallel link mechanism 34 is moved with the operating unit 30 in a sideways wall surface processing posture. In this case, since the wall surface treatment device 21 is pressed against the wall surface Wa1 by the propulsive force of the first propeller mechanism C64, the wall surface treatment device 21 escapes to the side opposite to the wall surface Wa1 due to the reaction force of the forward straight force of the movable plate 36. The movable plate 36 can be moved forward without any movement. Therefore, the tools (70, 80, 85) supported by the movable plate 36 can be moved straight forward (wall surface Wa1) with high precision, so that wall surface treatment using the tools (70, 80, 85) on the wall surface Wa1 can be performed. can be performed with high precision.

(2) In this embodiment, the parallel link mechanism 34 includes three link mechanisms 34a, 34b, and 34c. In the wall surface processing attitude, the second motor 42 is used so that the output torque of each link mechanism 34a to 34c is approximately the same. Thereby, the parallel link mechanism 34 can be moved smoothly, and the tools (70, 80, 85) can be smoothly advanced.

(3) In the present embodiment, the base plate 31 of the operation unit 30 is provided with a rotating shaft 32b rotated by the first motor 67. Thereby, by driving the first motor 67, the operation unit 30 can efficiently change between the sideways wall surface treatment attitude and the downward attachment/detachment attitude.

(4) In this embodiment, the tool holding portions 38 of the gripping portion 35 of the operating unit 30 in the attachment/detachment position are arranged on both sides of the wide notch (where the tool is placed) of the locking portion 55a in the attachment/detachment position. be done. Thereby, the tools (70, 80, 85) can be efficiently gripped or removed.

(5) In this embodiment, the tool storage section 50 includes a rotatable tool support section 55 having a locking section 55a on which one tool (70, 80, 85) is placed. Thereby, the tool support portion 55 can be rotated to place the tools (70, 80, 85) to be used in the attachment/detachment position. Furthermore, the tool storage section 50 can be made smaller than when the tools (70, 80, 85) are stored in a row.

(6) In the present embodiment, the electromagnet 57 that attracts the tools (70, 80, 85) is arranged in the locking part 55a of the tool storage part 50. Thereby, it is possible to energize the electromagnet 57 and attract the tools (70, 80, 85) stored in the tool storage section 50, thereby making it difficult for them to fall from the wall treatment device 21.

(7) In this embodiment, each tool (70, 80, 85) is provided with a housing portion T0 having the same structure. The housing portion T0 has a shape into which the tool holding portion 38 of the gripping portion 35 of the operating unit 30 fits. Thereby, each tool (70, 80, 85) can be firmly gripped by the gripping portion 35.

(8) In the present embodiment, in the wall repair process, the control unit 25 performs a drilling process using the drilling tool 70 (step S1-5), a driving process using the driving tool 80 (step S1-7), Injection processing using the injection tool 85 is executed (step S1-9). Thereby, by changing the tools (70, 80, 85), the drilling process, the driving process, and the injection process in the wall surface repair process can be continuously and automatically executed. In this case, since the movement unit 30 advances each tool (70, 80, 85) at the same position on the wall surface Wa1, it is possible to accurately identify the area to be treated on the wall surface and execute the three processes. can.

(9) In the present embodiment, the control unit 25 causes the operation unit 30 to grip and advance the drilling tool 70. The drilling tool 70 includes a core drill 74 at the tip of a fourth motor 71. Thereby, the core drill 74 can be advanced to form a hole in the wall surface Wa1.

(10) In the present embodiment, the control unit 25 causes the operation unit 30 to grip the driving tool 80 and move it forward. The driving tool 80 attracts the anchor A1 to the tip of a step rod 82 fixed to a solenoid 81. Thereby, the step rod 82 can be moved forward and the anchor A1 can be inserted into the hole in the wall surface Wa1.

(11) In this embodiment, the control unit 25 causes the operation unit 30 to grasp and advance the injection tool 85, and inserts the tip of the injection tool 85 into the hole. Then, the control unit 25 injects the adhesive into the hole from the tip of the injection pipe 86 of the injection tool 85. Thereby, repair processing can be performed by injecting adhesive into the hole formed in the wall surface Wa1.

(12) In the present embodiment, the control unit 25 adjusts the forward speed of the drilling tool 70 based on the rotation speed of the core drill 74 and the load of the second motor 42 of each link mechanism 34a to 34c. The forward speed of the driving tool 80 is adjusted based on the load of the second motor 42 of each link mechanism 34a to 34c. Thereby, wall surface treatment can be smoothly performed using the tools (70, 80) without generating excessive force.

(13) In the present embodiment, the control unit 25 determines the end of injection of the adhesive according to the injection pressure and flow rate of the adhesive. Thereby, it is possible to automatically determine whether or not the adhesive has been sufficiently supplied to the hole, and then terminate the injection process.

This embodiment can be modified and implemented as follows. This embodiment and the following modified examples can be implemented in combination with each other within a technically consistent range.
- In the above embodiment, the control unit 25 used the tool holding section 38 to hold each tool (70, 80, 85). The shape of the grip that holds each tool (70, 80, 85) is not limited to this. For example, the user may grip the housing portion T3.

- In the above embodiment, the tools (70, 80, 85) are placed in the attachment/detachment position in the tool storage section 50 by rotation. The structure of the tool storage section 50 that stores a plurality of tools is not limited to this, and for example, the tools may be arranged in a line. In this case, when changing tools, the tool storage section 50 or the operation unit 30 is moved linearly.

- In the above embodiment, the wall surface treatment device 21 is pressed against the wall surface Wa1 by the propulsive force of the first propeller mechanism C64 of the case portion C60, and the wall surface treatment device 21 escapes backward due to the reaction force of the forward straight force of the movable plate 36. The movable plate 36 was moved forward without any movement. The receiving portion that receives the reaction force of the forward straight force of the movable plate 36 is not limited to the first propeller mechanism C64. For example, a suction unit may be provided that adheres to a wall surface when the repair site is reached. Further, the receiving portion is not limited to the case where the case portion C60 is provided, and may be provided on the frame portion 60, for example.

- The wall surface treatment device 21 in the above embodiment is configured such that when the operation unit 30 is in the wall surface treatment posture, the link mechanism 34a is located above the center C2 of the movable plate 36, and the link mechanisms 34b and 34c are located below the center C2. It was placed in The number, arrangement, and structure of the parallel link mechanisms 34 are not limited to these. For example, in the wall surface processing posture of the operating unit 30, one of the three link mechanisms configuring the parallel link mechanism 34 is arranged below the center C2 of the movable plate 36, and two are arranged above the center C2. May be placed. In this case, the tool storage section 50 may be provided on the top surface, and the operating unit 30 may be oriented upward. By providing two link mechanisms above the center C2, the load on the second motor 42 that drives the link mechanism provided above can be reduced, so the load on the second motor 42 of the entire parallel link mechanism 34 can be reduced. can be reduced. Therefore, since the second motor 42 can be made smaller, the wall treatment device 21 can be made smaller.

- In the above embodiment, as wall surface repair processing, drilling processing, driving processing, and injection processing were performed for one repair location. Wall repair processing is not limited to performing all three of these processes; for example, one or two processes may be performed depending on the situation of the repaired area, or other wall surface treatments may be added. May be executed. Other wall surface treatments include mortar removal treatment and decorative nail driving treatment.

- In the above embodiment, the control unit 25 pressurized the two liquids constituting the adhesive and injected them into the holes. The method of supplying the adhesive to the wall surface is not limited to this. For example, a predetermined amount of adhesive may be supplied. In this case, for example, a cylinder (adhesive cylinder) filled with a predetermined amount of adhesive may be used.

FIG. 17 shows a main part of an injection tool 90 that supplies adhesive to a wall surface Wa1 using an injection tool 90 that mounts an adhesive cylinder 101 in which a certain amount of adhesive is sealed. 17(a) is a perspective view of the main part of the injection tool 90, FIG. 17(b) is a top view of the main part, and FIG. 17(c) is a sectional view of the main part.

Here, a band 100 is used in which an adhesive cylinder 101 and an anchor pin 102 are fixed using two belts 103. In this band 100, adhesive cylinders 101 and anchor pins 102 are arranged alternately at constant intervals (feed intervals). The adhesive cylinder 101 has a cylindrical shape with both ends rounded. The anchor pin 102 is a cylindrical body with a wedge-shaped tip and a rear end having a disk larger than the cylindrical body.

The injection tool 90 includes a loading section 92, a delivery mechanism section 93, and an extrusion section 95. The extrusion section 95 and the feeding mechanism section 93 are fixed to the accommodating section of the casing section of the above embodiment, and the loading section 92 is fixed so as to protrude from the second engaging section of the casing section.

In the loading portion 92, a round hole loading region 92h is formed penetratingly on the central axis. A feeding mechanism section 93 is provided on one side of the loading section 92 with its central axis shifted downward. The feeding mechanism section 93 has a cylindrical body provided with two gear-shaped engagement protrusions 94 spaced apart. An adhesive cylinder 101 or an anchor pin 102 is locked in the gap between the engaging protrusions 94 . The gap between the engagement protrusions 94 at the top is aligned with the loading area 92h.

The extrusion section 95 includes an electric cylinder that expands and contracts the rod 96. The tip of the rod 96 pushes out the adhesive cylinder 101 or the anchor pin 102 in front of the loading area 92h, is removed from the belt 103, and is inserted into the loading area 92h.

In the injection process, the control unit 25 changes the operation unit 30 to the wall surface treatment attitude, and then brings the tip of the injection tool 90 into contact with the opening of the hole in the wall surface Wa1.
Then, the control unit 25 drives the electric cylinder of the extrusion section 95 to extrude the adhesive cylinder 101 to the loading area 92h of the loading section 92 by extending the rod 96.
After that, the control unit 25 rotates the feed mechanism section 93 at a rotation angle corresponding to the feed interval to prepare for the next push.

As a result, as shown in FIG. 18(a), after the adhesive cylinder 101 is placed in the loading area 92h, the anchor pin 102 is pushed into the loading area 92h, as shown in FIG. 18(b). In this case, the tip of the anchor pin 102 penetrates the adhesive cylinder 101, and the adhesive is discharged from the loading area 92h. Thereafter, as shown in FIG. 18(c), when the anchor pin 102 is completely pushed into the loading area 92h, the adhesive of the adhesive cylinder 101 adheres around the anchor pin 102. Then, as shown in FIG. 18(d), the anchor pin 102 to which the adhesive of the adhesive cylinder 101 is stuck is pushed out from the loading area 92h at the tip of the subsequent adhesive cylinder 101 to be used for the next repair area. As a result, it is inserted into the hole formed in the wall surface Wa1. Thereby, the anchor pin 102 can be inserted into the hole in the wall surface Wa1 together with the adhesive.

Next, technical ideas that can be understood from the above embodiment and other examples will be additionally described below.
(a) The parallel link mechanism includes a plurality of link mechanisms fixed to the movable plate and the base plate, and a drive motor provided for each link mechanism,
The wall treatment system according to claim 1 or 2, wherein the drive motor has different output characteristics depending on its position in the wall treatment attitude.
(b) By rotating the base plate about a horizontal axis parallel to the vertical plane, the wall surface treatment attitude and the attaching/detaching attitude of the gripping section for attaching/detaching tools in the tool storage section can be changed. 3. The wall surface treatment system according to claim 1, further comprising a posture changing section for changing the posture.
(c) the tool storage section includes a rotatable tool support section that supports a plurality of tools in a spaced manner on an outer peripheral edge;
Claims (a) and (b) above, characterized in that by rotating the tool support part, one of the tools is positioned in an attachment/detachment position where the gripping part in the attachment/detachment position grips the tool. 2. The wall surface treatment system according to 1 or 2.
(d) further comprising a control unit that controls rotation of the attitude changing section, the drive motor of the parallel link mechanism, and the tool support section;
The plurality of tools include a first tool and a second tool,
The control unit includes:
moving the first tool in the wall surface treatment posture forward using the parallel link mechanism to perform a first wall surface treatment using the first tool;
After retracting the first tool that has completed the first wall surface treatment using the parallel link mechanism, controlling the posture changing section to change the gripping section from the wall surface treatment posture to an attachment/detachment posture; storing the first tool in the tool storage section;
rotating the tool support section and arranging the second tool housed in the tool storage section at the attachment/detachment position;
After taking out the second tool placed at the attachment/detachment position, controlling the attitude changing unit to change the gripping unit from the attachment/detachment attitude to a wall surface processing attitude;
The wall surface treatment according to (c) above, characterized in that the second tool in the wall surface treatment posture is advanced using the parallel link mechanism to perform the second wall surface treatment using the second tool. system.

(e) The parallel link mechanism includes three motors that respectively drive the three link mechanisms, and in the wall surface processing attitude, two of the three motors grip the tool in the gripping section. The wall surface treatment system according to any one of the above (a) to (d), characterized in that it is arranged above the position.
(f) The tool is a tool for injecting an adhesive, and further includes a control unit that controls injection of the adhesive into the hole, and the control unit controls the injection pressure and flow rate of the adhesive. The wall treatment system according to any one of (a) to (d), characterized in that it is determined based on the fact that injection of the adhesive into the hole is completed.
(g) The tool is a tool for injecting adhesive, and the tool includes adhesive cylinders containing the adhesive and anchor pins that push out the adhesive cylinders, which are arranged alternately. A loading section for loading the band, a feeding mechanism for sending out the band, and the adhesive cylinder and the anchor pin are installed in a loading area in order at an interval between the adhesive cylinder and the anchor pin. The wall surface treatment system according to any one of the above (a) to (e), according to claim 1 or 2.

(h) A wall surface treatment device that is housed in a case portion that is movable along the wall surface and includes an operation unit that operates a tool that performs wall surface treatment,
The operation unit includes:
a gripping section that grips the tool;
a parallel link mechanism that advances the gripping portion toward the wall;
and a base plate that supports the parallel link mechanism,
A wall surface treatment device characterized in that the gripping portion is brought close to the wall surface using a receiving portion that receives a reaction force of the forward force of the gripping portion.
(i) a loading section in which a loading area for accommodating the tube member pushed out by the extrusion member is partitioned; a first cylindrical body that is the tube member; and a second cylindrical body of the tube member that is different from the first cylindrical body. 1. An apparatus comprising: a mounting section for mounting belts arranged alternately at predetermined feeding intervals; and a feeding mechanism for feeding out the bands at the feeding intervals.
(j) A band body characterized in that first cylindrical bodies and second cylindrical bodies different from the aforementioned cylindrical bodies are arranged alternately at predetermined feeding intervals.

A1...Anchor, B1,103...Belt, C1...Central vertical plane, C2...Center, C60...Case part, C61...Main body part, C61a...Back surface, C62...Hanging part, C63...Engaging part, C64...Receiving part C65...second propeller mechanism, C67...third propeller mechanism, T0...housing section, T1...first engaging section, T2...second engaging section, T3...accommodating section, W11, W12... first wire, W21, W22... second wire, Wa1... wall surface, 10... wall surface treatment system, 11, 12... suspension unit, 13, 14... ground unit, 21... wall surface treatment device, 25... control unit, 30... Operating unit, 31... Base plate, 32, 38d... Attachment part, 32a... Projection part, 32b... Rotating shaft, 33... Second gear, 34... Parallel link mechanism, 34a, 34b, 34c... Link mechanism, 35... Gripping part, 36...Movable plate, 36a, 36b...Notch, 37...Electric cylinder, 37a, 96...Rod, 38...Tool holding part, 38a...Top part, 38b...Bottom part, 38c...Side part, 41...Fixed Side mounting portion, 41a, 41b, 45a, 45b, 49a, 49b, 65, 66...Mounting plate, 41c...Connection member, 42...Second motor as drive motor, 43, 44a...Pulley, 44...Connection shaft, 44b ... End part, 45... Arm part, 46... Fixed side connecting member, 47... Link member, 48... Movable side connecting member, 49... Movable side mounting part, 50... Tool storage part, 51... Pedestal part, 51a... Block, 51b...Motor fixing part, 51c...Placement member, 52...Third motor, 55...Tool support part, 55a, 82a...Locking part, 57...Electromagnet, 60...Frame, 61...Base part, 62...Vertical frame , 63, 64... Horizontal frame, 67... First motor, 68... First gear, 70... Drilling tool, 71... Fourth motor, 72... Rotary joint, 72a... Tip, 74... Core drill, 76, 84... Cable, 77... Water supply hose, 78... Drain hose, 80... Driving tool, 81... Solenoid, 82... Step rod, 82b... Sponge, 83... Spring, 85, 90... Injection tool, 86... Injection pipe, 87... Supply Hose, 88...liquid supply section, 88a...first liquid supply chamber, 88b...second liquid supply chamber, 88m...discharge section, 92...loading section, 92h...loading area, 93...feeding mechanism section, 94...engaging protrusion Part, 95...Extrusion part as an extrusion member, 100...Band body, 101...Adhesive cylinder body, 102...Anchor pin, 251...Management part, 252...Storage control part, 253...Gripping control part, 254...Movement control part , 255... Link control section, 256... Drilling control section, 257... Driving control section, 258... Injection control section.

Claims (2)

an operation unit that operates a tool for wall treatment;
a case portion that accommodates the operating unit therein and is movable along a wall surface;
The operation unit includes:
a gripping section that grips the tool;
a parallel link mechanism that advances the gripping portion toward the wall surface;
and a base plate that supports the parallel link mechanism,
The case portion includes a receiving portion that receives a reaction force of the forward force of the grip portion and brings the grip portion closer to the wall surface ,
The wall surface processing system characterized in that the case section further accommodates a tool storage section that accommodates the tool that can be taken out by the grip section . A wall surface treatment method for performing wall surface treatment using the tool, using a wall surface treatment system comprising an operation unit for operating a tool and a case portion that houses the operation unit inside, the method comprising:
The operation unit includes:
a gripping section that grips the tool;
a parallel link mechanism that causes the gripping portion to move straight toward the wall;
and a base plate that supports the parallel link mechanism,
The case portion includes a receiving portion that receives a reaction force of the forward force of the grip portion and brings the grip portion closer to the wall surface,
The case part further accommodates a tool storage part that stores the tool that can be taken out by the grip part,
After the case portion is moved to a target area on the wall surface, the gripping portion is moved forward toward the wall surface by moving the parallel link mechanism, and the wall surface treatment using the tool is performed. Wall surface treatment method.