JPH01297164A - Construction robot for interior and exterior finish of building - Google Patents

Abstract

PURPOSE:To enable unattended execution of interior and exterior finish work of building by fixing a cylinder and a piston to the upper end of elevating mechanism on operable engagement with a motor to fit various kinds of construction tools detachably to the piston. CONSTITUTION:A motor 7 is provided on a movable elongated frame 1, while a cylinder 12 and a piston 15 are fixed to the upper end of an elevating mechanism 3 in operable engagement with the motor 7. Various kinds of construction tools 16 are fitted detachably to the piston 15. As a result, unattended execution of interior and exterior finish work of building is made possible. Further, various kinds of construction tools can be employed by means of the same device, while construction work of ceiling, wall, etc., can also be executed by means of said device. Furthermore, the present invention makes it possible to rapidly locate various tools near the construction plate, allowing also the tools to return to the initial position after work. In the case of construction work, for instance, for the removal of asbestos layers, large forces are required; however, the device exhibits high performance.

Description

[Detailed Description of the Invention] [Field of the Invention] The present invention is a device for applying various types of coatings such as spraying or spraying to ceilings, interior and exterior walls, etc. of seaweed. It is used for peeling or condensation of inorganic man-made building materials such as pasted asbestos, and for peeling old paint, but it is not limited to these types of work and can be used widely in general buildings. Invention of construction robot used for exterior construction.

[This invention was made 30 to 40 years ago, when there were no new construction materials such as those available today.
However, in recent years, a serious problem has been pointed out, especially in the case of asbestos, which has the potential to be carcinogenic. The cause is that the fine powder in asbestos scatters and is absorbed by the human body, but it is not limited to this, but in general building interior and exterior construction, when removing abrasive paint or spraying new paint, it is harmful to the human body. is already a problem.

[Conventional technology and drawbacks in this field] For this reason, inorganic man-made building materials such as asbestos can be scraped off and a new material applied or pasted, but as mentioned above, asbestos can be This method has the disadvantage that not only fine powder is scattered during the peeling operation, but also the relining operation requires a huge amount of cost.

In addition, conventional building interior and exterior construction has traditionally relied on manual labor, which not only has a negative impact on the human body when removing paint or spraying paint, but also requires many years of work, and It takes a long time to complete.

[Objective of this invention] The present invention aims to eliminate all the above-mentioned conventional drawbacks with the aim of unmanned construction of the interior and exterior of buildings. is the same HB
This makes it possible to work with

Furthermore, this invention allows various tools to be quickly located near the construction site, and to return to their current positions quickly after the work is completed, and for this type of construction, for example, strong force is required to place stones 1'1 apart. Although it is required, it is designed to fully demonstrate this power.

[Features of this invention] One of the features of this invention is a movable vertically elongated frame body,
It consists of an electric motor installed in the frame, an elevating mechanism linked to the electric motor, and an 11-digit cylinder and piston attached to the upper end of the elevating mechanism, and various construction tools can be attached to and removed from the piston. .

Then, when the frame is moved and the electric motor is started, the lifting mechanism is activated and the area near the construction site can be raised.Then, hydraulic pressure is introduced into the cylinder and the piston is activated to perform various operations. Construction is carried out using construction equipment.

That is, since the four lowering operations of the above-mentioned lifting and lowering mechanism are performed by an electric motor, various instruments can be positioned relatively quickly near the construction site, and return to the current position after the work is completed is also quick. In addition, strong force is required to peel off the asbestos layer for example in this (I) construction, but
This can be done by using the fluid pressure of the cylinder and piston.

Another feature is that a grid-like grid is laid on the floor of the building, allowing the frame to slide over the grid. However, a frame drive mechanism is provided on the above-mentioned lever or the frame itself, so that the frame can freely move the lever L, and the construction work can be done by remote control. This eliminates the impact on

In addition, a lattice-shaped shield body is laid on the piston, and each f! One of the features is that the construction tool can slide on the wall by providing a driving mechanism for the construction tool on the body or the nose of the construction tool, so that the construction tool can slide freely on the wall. Although the frame body slides over a wide range, it is possible to efficiently carry out construction work in a relatively narrow range after stopping the frame body.

As described above, in the present invention, it is preferable to provide both a wide-range wall body laid on the floor and a wall body laid on the piston. According to embodiments of the present invention, the above-mentioned construction tool is made of a permeable material and is supplied with a coating material, and a spatula-shaped peeling tool has a mechanism for moving back and forth. In particular, the nozzle that sprays the coating material is used, but the construction equipment used in the construction device of the present invention is not limited to these, but can also be used for ceilings, interior and exterior walls, assembling partitions, painting, peeling, and painting stages. You can use any type of equipment used for construction.

Another feature is that the cylinder and piston can be rotated at least 90 degrees, and that various construction tools can be attached to and removed from the piston. This allows for easy movement of construction from the ceiling to the wall.

[Description of the structure of Embodiment 1] In FIGS. 1 to 3, (1) is a vertically elongated frame body, and (2) is a horizontal partition plate provided above the frame body.

(3) is a long screw installed in the center of the frame (1) at almost the same height as the frame, and its end connects to the bearing (4) installed at the center of the bottom surface of the frame and the partition plate (2). ) is supported by a central bearing 5).

A worm gear (6) is provided at the lower end of this long screw (3), and meshes with a pinion (8) of an electric motor (7) placed on the bottom surface of the frame (1).

Above the long screw (3) is an internally threaded pipe that engages with it 9〉
A vertically moving plate (10) having a vertical movement plate (10) is provided. 4 of this vertically moving plate
At the corner, a guide punch (11) is fixed to the end of a guide punch (11) vertically supported on the upper surface of the frame (1) so as to be vertically movable. The upper end of this guide punch (11) is fixed to the bottom of a cylinder (12) provided vertically above the frame (1).

In addition, (13) is a vertical guide whose ends are fixed on both sides of the upper surface of the frame (1), and the upper part of the guide is connected to the cylinder (]2).
Bearings (14) protruding from both sides of the upper end are fitted so that the bearings (14) can slide freely downward. Thus, various construction tools (16) are fixed to the upper end of the piston shaft (15) of the cylinder (12).

The construction tool (16) shown in FIG. 1 is a tool 15 for press-fitting a coagulant such as a resin into an inorganic man-made building material such as asbestos.

Inside this device (17) is a movable plate, which is connected to a coagulant supply hose (18) such as a resin (not shown).
) has a hollow chamber (20) connected to it. Movable plate (
17) A large number of hollow needles (19) are planted at approximately equal intervals on the surface of the needle, and one end of the needle is opened to the outside air slightly below the tip of the needle. ! The end is connected to the hollow chamber (20) above, and the 4 lengths of coagulant are drawn! Gozu;i〉.

[Explanation of the operation of Embodiment 10] Now, when the frame body (1) is moved to an appropriate position, for example, right under the ceiling and the motor (7) is started, the binion (8)
, the worm gear (12) rotates via the worm gear (6>). The threaded insert tube (9) then raises the guide rod (11), so that the cylinder (12) also rises.

This motor-related start-up allows the frame (1) to be rapidly raised to the vicinity of the construction site, and then hydraulic pressure etc. from the pressure supply position A (not shown) is applied to the cylinder (12).
), and when the piston (17) is moved up, the movable plate (17) is interlocked and the needle (19) is inserted with strong force into, for example, a free artificial building material affixed to the ceiling. , at the same time a coagulant such as resin is passed from the hollow chamber (20) through the needle (19) 11! It is press-fitted into the machine 71 material and allowed to condense.

As mentioned above, all construction work is carried out by remote control without entering the construction site, but usually a certain area of the ceiling or wall is constructed and renovated within the scope of construction. Move the body (1).

It's good to cry at the place. That is, in FIG. 4, (21) is a horizontal movable plate fixed to the upper end of the piston shaft (15), and a pair of Y-axis shafts (22) are fixed to the sides thereof. (23) is on the Y-axis line (22), and the X-axis is provided with a grid pattern (24) perpendicular to the Y-axis line (22).

~ is le.

The above-mentioned X-axis shaft (23) is a long shaft with a 3-shaped cross section with an open bottom as shown in FIGS. (25).

Inside the other side, there is a drive bus (26) and a gear bus (27).
) and an idle booth (28) installed in each idle position, a bell I- (29>) is interposed in each of the boosters, and a drive booth (26) is an electric *(30 ) is connected.

Fig. 5 shows a device (31) for installing a construction tool, and this is a case where the construction tool (16) is equipped with a spray nozzle (32) for painting, and in particular, the nozzle is configured to move in a fan-like manner. . That is, (33) is a pair of side walls facing each other with an interval approximately equal to the width of the X-axis wheel (23), and a pair of wheel axles (34) are arranged at right angles to the side walls below the inner surface of each side wall.
) is fixed, and wheels (35) are attached to both ends thereof. On this wheel is an L7 lever (3
By attaching the rising portion of 6) to an appropriate position on the belt (29), the entire device (31) can be tilted along the X-axis axis (23).

(37) is a partition wall installed horizontally in the middle of the side wall (33).
A roller (38) is provided protruding near its lower side, and this roller (38) touches the upper surface of the Y axis, ~/L (22), and connects the X axis to the wheel (35). Coro (38
).

A rotation shaft (39) is provided above the partition wall (37) horizontally on both side walls (33), and a worm foil (
40) UfiJ is set, and meshes with the pinion (42) of the electric motor (41) provided on the top surface of the partition wall (37). (
43) is a nozzle whose end is fixed to the middle part of the rotating wheel (39), and a hose (43) is connected to a paint supply device (not shown).
4).

The Y-axis bar (22), which is provided above and below the X-axis bar (23) and intersecting with it, is equivalent to the configuration of the X-axis (23), and the explanation of its configuration will be omitted. The shield is almost a cross section [
As shown in Figures 7 and 8, the upper surface has a long hole (4) extending over almost its entire length, and the upper end is fixed to the inner upper wall of the X-axis hole (23). By doing so, the above belt (2
9a) g! In conjunction with the movement, the X-axis shaft (29) can slide in the vertical direction as shown in the figure.

In addition, it is preferable to provide an appropriate sliding member such as a roller at the contact portion between the Y-axis shaft (22) and the X-axis shaft (23).

[Explanation of Embodiment 20] Taking the case of constructing the ceiling of a building as an example, the entire frame (1) is placed directly below the construction position of the ceiling by an appropriate method. When the motor (7) is started, the long screw (12) rotates via the pinion (8) and the worm gear (6). Next, the insert threaded pipe (9) is attached to the guide rod (1
1), the cylinder (12) also rises, so the horizontal movable plate (1) fixed to the upper end of the piston shaft (15)
21) is also linked, which is the same as in the previous embodiment. As a result, the movable plate (21) was attached to the side (22),
(23) is also placed in a predetermined position, that is, in a position where it can be installed on the ceiling.

The paint is supplied from a hose (44) from a paint tank (not shown).
) is supplied to the spray nozzle (32) to paint the ceiling surface. Next, in Fig. 5, when the electric motor (41) is started, the binion (42) is moved to the worm wheel (4) of the rotating shaft (39).
0), the queen rotating shaft (39) is the nozzle (32>
Since it moves in a fan-like manner, it is possible to paint a small area of the ceiling surface. 2'0') When the painting is completed, start the electric motor (30). As a result, the driving pulley (26) rotates the belt (29) between it and the subordinate bully (26), so that the installation of the construction tool fixed to a part of this belt (29) is impossible with the device (31). is on the X-axis seal (23), on the device (31)
) and the wheel (38) protruding from the bottom of the wheel (38).
5), the nozzle (32) slides a certain distance, and in this state, the nozzle (32) performs the fan-like movement described above. When this movement, that is, the painting work in a small area is completed, the electric motor (30) is started again and the above operation is performed, and this work is repeated until the left end (on the drawing) of the X-axis seal (23) is reached, when the painting in the X direction is completed. complete.

To install the construction tool, start the Y-axis electric motor to slide the device (31) in the Y-axis direction. Since this configuration is almost the same as that of the X-axis, a detailed explanation of its operation will be omitted. is a long hole (45
), the nozzle (32) moves a certain distance in the Y direction, and then the nozzle (32) moves in a fan-like manner, and the installation tool is attached by sequentially rotating the device (31) intermittently in the X-axis direction (9). Paint a relatively wide area of the ceiling.

In the actual work, the series of operations described above are performed by, for example, computer control software, and all can be performed by remote control.

[Explanation of configuration of Embodiment 3] For example, to automatically paint the entire ceiling surface, 'Ijr
, a device as shown in Figure 9 is used. That is, in the figure, (50) is a Y-axis seal laid almost entirely on both sides of the floor surface, and (51) is an X-axis seal bridged on both sides of the rail (50). Y
The shaft seal (50) has a long groove (52) on the inner surface of the driving pulley, the subordinate pulley, the belt wound thereon, and the rail (50) as seen in the embodiment shown in FIG.
), etc. Although not shown, a fixed piece fixed to a part of the belt projects outward from the long groove (52), and the X-axis seal (51
) side edges are fixed.

Further, a pair of rolls (53) are provided which are pressed inwardly with the rails (50, 51) in between. This roll (53>) is, for example, the bottom surface (54) of the frame (1).
), and at least one of them is connected to an electric motor (55) via a reduction gear. It goes without saying that the frame (1) has rollers (56) projecting downward from the four corners of its lower surface so that the frame can slide on the floor surface.

[Explanation of the operation of Example 3] When the painting of a certain range is completed in the above-mentioned example, the frame body (1
) is activated. That is, when the electric motor (55) is driven, the roll (53) is guided by the X-axis seal (31) and the entire frame (1) is covered by a certain distance, which is not yet coated due to the action of the above embodiment. The frame body was positioned directly below the area, and the coating of the 1-fertilization example was applied. When the painting in the X-axis direction is completed, the belt inside the Y-axis seal (50) (not shown) is driven to move the X-axis seal (51) by a certain distance in the Y-axis direction and start painting in the X-axis direction again. , these steps are repeated in sequence.

[Configuration and operation of Embodiment 4] Various construction tools (6) can be considered to be attached to the upper end of the piston shaft (15) of the frame (1)).

The apparatus of Figures 10 and 11 demonstrated roll application of a relatively tacky paint. Although not shown, the coating roll (60) is made of a resin material such as expanded polystyrene having open cells, and the coating material is supplied to the center thereof.

(61) are finishing rolls arranged at a slight interval in the reverse direction of the painting rolls, and these rolls (6o
) (61) is supported by a fork body (62) that is always pressed upward (toward the ceiling in the figure).

(63) is a tray for the paint placed directly under the above two [coals (60) and (61), and a hose (G 4 ) is attached to the bottom of the pan.
The hose is connected to a coating material supply device via a suction device (not shown).

Note that the fork body (62) may be installed at any position as long as it interlocks with the piston shaft (15).

Similarly to the above, the piston shaft (15) is raised to bring both the rolls (80) and (61) into contact with the ceiling surface. Here, paint is supplied into the coating roll (60) while the frame body (
1) etc., the paint roll (60) rotates and sprays out paint to paint the ceiling surface. At this time, a pool of paint is formed in the opposite direction to the traveling direction of the 280-ru (60), but this is removed by the driven finishing roll 61), which further applies a final coat to the ceiling surface. 63)
The water is collected and returned to the paint supply tank or the like via a hose 64).

The appliances shown in Figures 12 and 13 are, for example, old paint peeling 21
f'F* shows the case where a stripping device used for stripping interior materials such as asbestos is attached.

(70) is a fluid-like peeling member having a blade portion (71) at its tip and is always pressed upward (toward the ceiling in the figure). (72) is a tray placed directly below the member (70) to receive the scraps after peeling, and a hose (73) is installed on the bottom of the tray. It is connected with.

The above-mentioned member (70) can be attached by any suitable method, but as shown in the figure, it can be attached to any position as long as it is rotatable to the fork body (74) and interlocks with the piston shaft (15). It may be installed in Further, it is preferable that this member (70) is attached to, for example, a crank-shaped member so that the blade portion (71) always repeatedly moves back and forth.

Similarly to the above, the piston shaft (15) is raised to bring the blade portion (71) of the member (70) into contact with the ceiling surface.

When the frame body (1) and the like are moved here, the blade portion (71) scrapes off asbestos and the like on the ceiling surface.

[Construction and operation of embodiment 5] The apparatus shown in FIG. 14 was invented especially to be adapted to construction on internal and external walls, and the same parts as in the embodiment shown in FIG. 1 are given the same symbols. Therefore, the cylinder (12) is the frame body <1
) and fixed to the upper end of the guide rod (11). Therefore, the construction tool (16) is in a vertical position so as to correspond to the inner and outer walls. The operating method of this device is the same as described in J:, position the frame (1) near the wall, start the motor (7) to determine the height, and apply hydraulic pressure etc. to the cylinder (12). In the case of the one shown in Fig. 14, the piston (15) is moved horizontally, and the needle (19) is inserted into the fake artificial building material pasted on the wall, and at the same time a coagulant such as resin is injected. It causes condensation.

[Brief explanation of the drawing]

The figures show one embodiment of the present invention, in which FIG. 1 is a front view of the entire frame, and FIG. 2 is a cross-sectional view taken along the line ■--■ in FIG. Fig. 3 is a sectional view taken along the line ■-■ in Fig. 1, Fig. 4 is a diagram showing the slope configuration of the lattice rail of another embodiment, Figs. The figure is an overall perspective view, Figure 6 is a cross section taken along the line Vl-Vl in Figure 5, Figures 7 and 8 are a combination configuration diagram of an X-axis seal and a Y-axis seal, and Figure 7 is a partial diagram. A cutaway plan explanatory diagram, Fig. 8 is a sectional view taken along the line ■-- in Fig. 7,
Fig. 9 is a perspective view of the X-axis seal and the Y-axis seal placed on the floor. Figs. 1O to 13 show various examples of construction tools. Figs. 1O and 11 are Figure 10 is a perspective view of the entire painting roll, Figure 11 is a longitudinal cross-sectional view, Figure 12 and 1.
Figure 3 shows peeling parts such as old paint, Figure 12 is a perspective view of the whole thing,
FIG. 13 is a longitudinal sectional view, and FIG. 14 is a front view of the embodiment of the pond when constructing the wall surface. 1...Frame body 2...Horizontal partition plate 3...L long screw 7...Electric unit 11...Guiding rod I2...Cylinder 15...Piston shaft 16...Construction tool 19 ... Needle 22 ... Fist Y-axis shaft 23 • Clash X-axis shaft 29◆ • Fist belt 32 ... Spray nozzle 60 ... Application roll 63 ... Receiver is plate 71 ... Blade part// p ri' ri/ 1G 3 type H

Claims (1)

[Claims] 1) Consisting of a movable vertically elongated frame, an electric motor provided on the frame, an elevating mechanism interlocked with this electric motor, and a cylinder and a piston attached to the upper end of this elevating mechanism, Construction robot device for the interior and exterior of buildings, in which various construction tools are removably attached to the piston 2) A lattice-shaped rail is laid on the floor of the building, and the frame body can slide on the rail. A construction robot device for the interior and exterior of a building as set forth in claim (1) above. 3) The building interior/exterior construction robot as set forth in claim (1) above, wherein a grid-like rail body is laid on the piston so that the various construction tools can slide on the rail. Apparatus 4) A grid-like rail is laid on the floor of the building so that the frame body can slide on the rail, and a grid-like rail body is laid on the piston, and various types of Claim (1) above, in which the construction tool can slide on the rail.
5) A construction robot device for building interiors and exteriors as shown in Claims (1) to (4) above, wherein the construction tool is a nozzle capable of spraying a coating material. ) A construction robot device for building interior and exterior construction as set forth in claims (1) to (4) above, wherein the construction tool is a roll made of a transparent material and to which a coating material is supplied. 7) The construction robot device for the interior and exterior of buildings as set forth in claims (1) to (4) above, wherein the construction tool is a spatula-shaped peeling tool with a mechanism for moving back and forth.8) The construction tool is 9) A construction robot device for the interior and exterior of a building as set forth in claims (1) to (4) above, which includes a nozzle capable of injecting a fluid and is capable of peeling off old paint, etc. from a ceiling or wall.9) The cylinder and piston described above. Claims (1) and (1) above, wherein the piston is configured to be able to rotate at least 90 degrees, and various construction tools can be attached to and removed from the piston.
2) Construction robot equipment for the interior and exterior of buildings