JPH01297166A - 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 providing driving belts in a X-axis rail and Y-axis rail respectively, and moving the main body of a device provided with a construction tool through a first and second connection lever in the direction of the X- and Y-axis rail. CONSTITUTION:A plurality of long X-axis rails 1 are laid in parallel spaced equidistantly from each other, while Y-axis rails 2 ara provided on the rails 1 in a direction normal thereto. And in each of the rails, a drive belt 7 having a length nearly equal to the rail is placed. Further, one end of s first connection lever 23 is secured to the rail 2, while the other end thereof is connected to the belt 7 in the rail 1, wherein the rail 1 is actuated when the belt is driven. And further, the main body 9 equipped with a construction tool 10 is made slidable on the rail 2, while one end of a second connection lever 14 is secured to the body 9 and the other end thereof is connected to the belt in the rail 2 so that the body 9 is actuated in conjunction with the belt when said belt is driven. Consequently, unattended execution of interior and exterior finish work of building is made possible.

Description

[Detailed Description of the Invention] [Field of the Invention] The present invention is a construction robot device for building ceilings, interior and exterior walls, etc. This construction robot is used for the removal and condensation of inorganic man-made building materials such as asbestos (asbestos), as well as the removal of paint, but is not limited to these tasks and is widely used for general building interior and exterior construction. Invented.

[Background of this invention] Thirty to forty years ago, when there were no new building materials like today, asbestos (
Inorganic man-made building materials such as asbestos were the mainstream for interior and exterior materials of buildings. However, in recent years, a serious problem has been pointed out, especially that asbestos may be carcinogenic. The cause of this is that the fine powder in asbestos scatters and is absorbed by the human body, but it is not limited to this, and general building interior and exterior construction involves removing old paint,
It is already a problem that spraying new paint has an adverse effect on the human body.

[Prior art 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. This method has the disadvantage that not only fine powder is scattered during the stripping process, but also the cost of re-covering is enormous.

In addition, in the past, the interior and exterior construction of general buildings often relied on manual labor, which not only had a negative impact on the human body when removing paint or spraying paint, but also required many years of skill to complete the construction. It takes a long time.

[Purpose of this invention] This invention aims to eliminate all the above-mentioned conventional drawbacks with the aim of unmanned construction of the interior and exterior of buildings. Construction can also be done using the same equipment.

Furthermore, this invention allows various tools to be quickly located near the construction site and returned to their current positions quickly after the work is completed, and this type of construction requires strong force to remove, for example, an asbestos layer. It is designed to fully demonstrate this power.

[Features of the Invention] A feature of the invention is that a plurality of long X-axis rails are arranged in parallel at regular intervals, and a Y-axis rail is provided on the rails and intersects with the rails at right angles. , one end is fixed to the drive belt provided in each rail with approximately the same length as the rail, one end is fixed to the Y-axis rail, the other end is connected to the belt in the X-axis rail, and the X-axis rail is interlocked when the belt is driven. The first thing I tried to do was
a connecting rod, a construction tool attachment device main body that can slide on the Y-axis rail, one end fixed to the main body, the other end connected to a belt in the Y-axis rail, and the main body is interlocked when the belt is driven. It consists of a second connecting rod.

Therefore, one or more of the above-mentioned application tools, such as a spout through which the coating material is supplied, a spatula-shaped peeling device with a mechanism for moving back and forth, or a nozzle that can spray the coating material, is installed in the main body of the device. Attach. Next, each of the above-mentioned rails is placed near the ceiling surface of the building by an appropriate means, and painting or stripping of the ceiling surface is started. When the drive belt inside the Y-axis rail is driven in this state, the above Ha
The basic body slides on the rail in the Y-axis direction and performs the above construction work continuously. When the construction work in the Y-axis direction is completed, start the belt inside the X-axis rail, the Y-axis rail will move a little on the X-axis rail, and then start the belt on the Y-axis rail again and repeat these operations. and complete all construction work.

These operations are performed by computer control software during actual construction, and since these construction operations can be performed remotely, there is no adverse effect on the human body.

As an embodiment of the present invention, the above-mentioned application tool is made of a transparent material and has a spout through which the coating material is supplied, and a spatula-shaped peeling tool with a mechanism for moving back and forth. However, the construction equipment used in the construction device of the present invention is not limited to these, and can be used to assemble ceilings, interior and exterior walls, partitions, etc.
Equipment used for all types of construction such as painting, stripping, and destruction can be used.

[Explanation of the configuration of Embodiment 1] In Fig. 1, (1) is a plurality of long X-axis rails arranged in parallel at regular intervals, and (2) is a plurality of long X-axis rails arranged in parallel on the rails and at right angles. This is a Y-axis rail provided to intersect the direction.

As shown in Figures 2 and 3, the Y-axis shaft (2) has a cross-section [loco-shaped long shaft with an open bottom surface, and has a dependent bushing (3) in the - side end. ), and on the other side there is an idle bus (
A belt (7) is interposed between each booster, and the drive booster (4) is connected to an electric motor (8).

In Figures 4 and 5, (9) is the main body of the installation equipment for the construction equipment, which is used as the construction equipment (1o) for the spray nozzle for painting (
11), and in particular, the nozzle moves in a fan-like manner. That is, (12) is the Y-axis above (
A pair of side walls face each other with an interval approximately equal to the width of 2), and a pair of wheel axles (3) are fixed to the lower part of the inner surface of each side wall in a direction perpendicular to the side walls. ]4) Attach. On this wheel, there is a Y-axis L that engages with the lower side of the wheel (2) and has its lower side fixed to the wheel axle (13).
Connect the rising part of the second connecting rod (14) to the belt (
By attaching it to the appropriate position of 7), the entire attachment device main body (9) can be attached to the y + * hole (2). The act of making amends is difficult.

(15) is a partition wall installed horizontally in the middle of the side wall (12),
A roller (16) is provided protruding near the lower side of the roller (16), and this roller (16) touches the upper surface of the above Y-axis and rotates the Y-axis.
The wheel (2) is sandwiched between the wheel (14) and the roller (16).

Above the partition wall (15), a rotating wheel (17) is installed horizontally on both side walls (12), and a worm foil (
18) Fixed electric motor installed on the top of the partition wall (15)! (
It meshes with the pinion (2o) of 19). (11)
is a nozzle whose end is fixed to the middle part of the rotating shaft (17),
There is a hose (21) connected to a paint supply station (not shown).

The X-axis bar (1), which is provided vertically intersecting with the Y-axis bar (2) above, has the same configuration as the Y-axis (2), and the explanation of its configuration will be omitted. The cross section of the hole is approximately 1-shaped, and a long hole (22) is bored along almost the entire length of the upper surface in the longitudinal direction as shown in FIG.

(23) is the first connecting rod whose end is fixed to the bell (7a) in the X-axis, the upper part of which passes through the hole (22), and the upper end is the Y-axis. ) is fixed to the upper inner wall of the bell (7a), so that the Y-axis shaft (2) can slide upward in FIG. 2 in conjunction with the drive of the bell (7a).

In addition, it is preferable to provide a suitable sliding member such as a roller at the contact portion between the Y-axis shaft (2) and the X-axis shaft (1).

[Explanation of the operation of Embodiment 10] Taking the construction of the ceiling of a building as an example, the above-mentioned X-axis rail (1), Y-axis rail (2), etc. can be used by appropriate means, for example, as shown in FIG. It is placed at a predetermined location on the scaffold, that is, at a location where painting or other work can be done on the ceiling.

The paint is supplied to the hose (21) from the paint tank (not shown).
) is supplied to the spray nozzle (11) to paint the ceiling surface. At the same time, when the electric motor (19) of the device body (9) is started, the binion (20) drives the worm foil (18) of the rotating shaft (17), and the rotating shaft (17) rotates the nozzle 11) in a fan shape. Since it is moved, a small area of the ceiling surface can be painted. When this painting is completed, the electric motor (8) of the Y-axis rail (2) is started. As a result, the drive pulley (4) rotates the belt (7) between it and the subordinate pulley (3), so that the device body (9) fixed to a part of this belt (7) is connected to the Y-axis rail (2). The roller (16) whose upper part protrudes near the lower side of the device body (9) and the wheel (14)
The nozzle (11) slides a certain distance while being sandwiched between the nozzles (11) and in this state, the nozzle (11) performs the above-mentioned fan-like movement.When this movement, that is, the painting work in a small area is completed, the electric motor (19) is started again and the above-mentioned operation is performed. , Repeat this process to install the Y-axis rail (
Painting in the X direction is completed when the left end (on the drawing) of 2) is reached.

In order to slide the installation device main body (9) of the construction tool in the X-axis direction, the X-axis heavy machine is started. This configuration is almost the same as that of the Y-axis, so a detailed explanation of its operation will be omitted. The rod (23) is guided into the elongated hole (22) of the X-axis rail (1) and connected to the connecting rod (23).
) is fixed to the upper end of the Y-axis rail (2), which is fixed to the upper end of the X-axis rail (
1) Move above a certain distance in the X direction. Here, the fan-like movement of the nozzle (11) and the intermittent braking movement of the apparatus body (10) in the Y-axis direction are sequentially performed to paint a relatively wide range of the ceiling surface.

In addition, in actual work, the series of operations mentioned above are performed by, for example, computer control software, and all of them are performed by far F!
This can be done manually.

[Description of the structure of other embodiments] For example, a small structure is provided to automatically paint the entire ceiling surface, and although not shown, the fixing piece fixed to a part of the belt is connected to the long groove (52). protrude outward from the
Moreover, the side end of the X-axis rail (51) is fixed to the protruding end.

Further, a pair of rolls (53) are provided which are pressed inwardly with the rails (50, 51) in between. This roll (53) is attached to the bottom surface (54) of the frame (1), for example.
), 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.

Construction equipment (11) attached to the device main body (10)
) can be various.

The apparatus of Figures 6 and 7 demonstrated roll application of 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) is a finishing roll arranged at a slight interval in the reverse direction of the painting roll, and these rolls (60) and (61) are always pressed upward (toward the ceiling in the figure) by a fork body ( 62).

(63) is a plate that is placed directly below the above-mentioned rolls (60) and (61) for the paint, and a hose (64) is installed on the bottom of the plate. Connected to the supply device.

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

Thus, both the rolls (60) and (61) are brought into contact with the ceiling surface. Here, while supplying paint into the coating roll (60), if the main body of the device (10) etc. are moved, the coating roll (60) will be moved.
0) paints the ceiling surface by gushing out paint while rotating.

At this time, paint accumulates in the direction opposite to the direction of movement of the coating roll (60), but this is caused by the finishing roll (61) being driven by the paint roll (60).
Then, a finishing coat is applied to the ceiling surface, and the dripped paint is collected in a tray (63) and returned to a paint supply tank or the like via a hose (64).

The apparatus shown in FIGS. 8 and 9 shows a case where a stripping device used for stripping old paint or 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.

The above-mentioned member (70) may be attached by any suitable method, but as shown in the figure, it may be installed at any position as long as it is rotatable on the fork body (74) and interlocks with the device body (10). You may. 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.

Thus, the blade portion (71) of the member (70) is brought into contact with the ceiling surface. When the main body (lO) of the apparatus is moved here, the blade part (71) scrapes off asbestos and the like on the ceiling surface. The scraped debris is collected in a tray (72) and collected in a trash box via a hose (73).

[Brief explanation of the drawing]

The figures show one embodiment of the present invention, in which Fig. 1 is a perspective view of the entire structure attached to a scaffold, Fig. 2 is a cross-sectional view of the Y-axis rail, and Fig. 3 is a cross-sectional view of the Y-axis rail.
The figure is a sectional view taken along the ■-■ line in Figure 2, No. 48! I is a perspective view of the entire main body of the construction tool attachment device, and Figure 5 is V- in Figure 4.
■ Linear sectional views, Figures 6 to 9 show various examples of construction equipment, Figures 6 and 7 are painting rolls, Figure 6 is a perspective view of the whole, Figure 7 is a longitudinal sectional view, Figures 8 and 9 show peeling parts of old paint, etc., Figure 8 is a perspective view of the whole, and Figure 9 is a longitudinal cross-sectional view.
It is. ]・--X-axis rail 2...Y-axis rail 4...Drive pulley 7 Belt 10...Device main body 11・1 Nozzle 601・Applying roll 63...Blade is plate 71...Blade section V No edition

Claims (1)

[Claims] 1) A plurality of long X-axis rails arranged in parallel at regular intervals, a Y-axis rail provided on these rails and intersecting at right angles, and each rail. One end of the drive belt is fixed to the Y-axis rail, and the other end is connected to the belt inside the X-axis rail, so that the X-axis rail is interlocked when the belt is driven. A first connecting rod, a construction tool attachment device main body that can slide on the Y-axis rail, one end fixed to the main body and the other end connected to a belt in the Y-axis rail, and the main body when the belt is driven. 2) A building interior/exterior construction robot device comprising a second interlocking connecting rod 2) A building interior/exterior construction device according to claim (1), wherein the construction tool is a nozzle capable of spraying a coating material. 3) A construction robot for the interior and exterior of a building as set forth in claim (1) above, wherein the construction tool is a roll made of a transparent material and to which a coating material is supplied. Apparatus 4) The construction robot apparatus for the interior and exterior of buildings as set forth in claim (1) above, in which the construction tool is a spatula-shaped peeling tool with a mechanism for moving back and forth. Claims 1.
) Construction robot equipment for the interior and exterior of buildings