JPH03100265A - Automatic fastening device for board - Google Patents

Abstract

PURPOSE:To improve the execution performance and working efficiency by installing a handling table so as to turn and shift in the X, Y, and Z directions and pressing boards onto a setting frame body and carrying out screw tightening by a screw tightening unit. CONSTITUTION:A ceiling board B is horizontally transported and set onto a handling table 11 by a feed roller 24a, etc. Then, a suction pad 12 is operated to be adsorbed onto the undersurface of the board B, and then a lifting arm 7 is raised, and the position is detected by a position detection sensor 14, and a rotary arm 9 is turned, and the board is set parallel to the ceiling board B which is laid already. Positioning is performed by an X-direction slide table 8 and a Y-direction slide table 10. The screw tightening for the first row is carried out by a screw tightening unit 15, and the screw tightening work is repeated by the shift of the table 11 and the operation of the unit 15, and the whole surface of the board B is applied with screw tightening.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application 1] The present invention relates to an automatic board fastening device that automatically fastens ceiling boards and wall boards of buildings, for example.

[Prior art J] Conventionally, for example, when fastening a ceiling board B shown in FIG. 12 or a wall board B shown in FIG. Also, the work tool for decorative boards is a stapler.
He held it in his hand and fastened it to a stable.

FIG. 14 shows a standard fastening configuration for ceiling boards. In national isolation, D is lightweight steel frame, B is gypsum board, S is screw, F is decorative board, and T is staple.

[Problem to be solved by the invention] However, the above-mentioned work of fixing ceiling boards and wall boards requires upward facing work at a high position, which is hard work due to poor working posture, and there is a risk of falling from the scaffolding. However, there were problems in that the work environment was poor, such as the large number of screws required, which caused severe fatigue.

In addition, the screw fastening work is performed without first assuming the position of the steel base (light steel frame) on the back of the board (see Figure 15) or checking the position of the light steel frame by tapping the board by hand.
Construction accuracy was poor, and sometimes failures occurred. In particular, as shown in Figure 16, the parallelism of the lightweight steel frame could not be expected, resulting in low construction accuracy, and as shown in Figure 17, it was difficult to fasten in irregularly shaped areas such as openings.

The present invention was made to solve the above-mentioned conventional problems, and its purpose is to automatically fasten ceiling boards and wall boards with screws and stabilize them, thereby improving construction accuracy and work efficiency. The present invention provides an automatic board fastening device that can improve performance, save labor, and reduce costs.

[Means for Solving the Problems] The automatic board fastening device of the present invention includes a handling table mounted on a movable cart so that it can rotate, move in the X direction, move in the Y direction, and move in the X direction. 1 board set on the handling table! The board is pressed against a fixing frame such as a steel frame, and the board is screwed to the frame by a screw tightening unit installed on the handling table, and the screw tightening unit is movable to the handling table. The device is characterized by comprising an attached base frame, a screw tightening machine body that slides vertically on the base frame, and means for supplying screws to the tip of the screw tightening machine body. It is.

Additionally, when a potentiometer is integrally attached to the screw tightening machine body, and as the screw tightening machine moves forward, the tip of the potentiometer hits the board and is lowered to the same level as the tip of the screw tightening machine. , characterized in that the forward movement of the screw tightening machine body is stopped.

Furthermore, the screw tightening unit is equipped with a screw tightening position detection sensor to detect the position and width of the frame on the back of the board, and a pressing roller is arranged on the handling table to tighten the board. Another feature is that it is pressed against the frame.

[Example] Hereinafter, an example of the present invention will be described with reference to the drawings.

In FIG. 1, reference numeral 1 denotes a truck, which is driven by four independent drive wheels 3 that are rotationally driven by a drive motor 2.
go The running direction of the drive wheels 3 can be freely changed by a steering device 4. A leveling jack 5 adjusts the level of the table 411. 6 is an auxiliary wheel.

It is a 7-beam, 7-ting arm with a two-stage telescopic slide structure, and expands and contracts in the vertical direction (Z direction) using a built-in hydraulic sill.

An X-direction slide table 8 is attached to the top of the holding arm 7 described above.

A rotary arm 9 is installed on the X-direction slide table 8. The rotary arm 9 rotates around a vertical axis (Z axis).

An X-direction slide table 10 is attached to the top of the rotary arm 9.

A handling table 11 is installed on the X-direction slide table 10. The handling table 1
A suction bat 12 is disposed on the upper surface of 1. The suction plate 12 adsorbs to the lower surface of the ceiling board B placed thereon, and securely grips and fixes it. 13 is a pressing roller, and 14 is a position detection sensor.

Reference numeral 15 denotes a screw tightening unit, as shown in an enlarged view in FIG. Air hose 15 that supplies screws to the tip driving part of the tightening machine body 15c
It is composed of d. The base frame 15a is connected to a rail lla provided on the handling table 11.
move along. The movement of the base frame 15a is as follows:
For example, this is performed by a driving means 11b such as a ball screw or a rack/pinion. The screw tightening machine main body 15c tightens screws by rotation by an electric motor. A potentiometer 1 is installed on the side of the tip driving part of the screw tightening machine main body 15c.
5e is integrally attached to the screw tightening machine body 1.
5c comes into contact with the ceiling board B as it moves forward, and when it retracts to the same level as the tip of the screw tightening machine main body 15c, the forward movement of the screw fastening machine main body 15c is stopped.

Numeral 16 is a screw tightening position detection sensor consisting of a high frequency oscillation type proximity sensor, which detects the position, width, etc. of the lightweight steel frame on the back of the ceiling board B from below.

Referring again to FIG. 1, reference numeral 17 is a screw figurine, which accommodates a large number of screws and which is connected to the air hose 1.
Supply screws one by one to 5d.

Above table! The $11 is equipped with a compressor 18 and a hydraulic unit 19, and serves as a power source for the drive devices of each of the above-mentioned devices. 20 is a control device, and 21 is a receiver tank.

A is a board truck, which is a device for loading a large number of ceiling boards and feeding them one by one to the interior construction robot R). The board truck A is mainly composed of a truck section 22, a lift section 23, and a board storage section 24. The truck portion 22 is connected to the truck 1 by a connecting rod 22a, and moves following the robot R.

Next, the work of fixing ceiling boards using the apparatus of the above embodiment will be explained.

First, as shown in Fig. 3, first, a lightweight steel frame is attached to the insert buried in the ceiling base via hanging poles (C) to complete the ceiling framework, and obstacles on the floor E are removed. The required ceiling board B, interior work robot R, and board truck A are carried in and assembled, and the ceiling board B is loaded onto the board truck A. In this case, since the board accommodating portion 24 of the board truck A is set in a sideways position for loading, the loading work can be carried out easily.

Next, connect the board truck A to the robot) R,
Move the ceiling board B to the attachment position, retract the handling arm 7 and lower the handling table 11 as shown in FIG. B is laterally fed by a slide sill, a feed roller 24a with a drive motor, etc., guided to a predetermined position on the handling table 11, and set.

When the ceiling board B is set on the handling table 11, the suction pad 12 is operated and fixed to the lower surface of the ceiling board B by RF & adhesive.

Next, as shown in FIG. 5, the +77 pointing arm 7 is extended and the +77 pointing arm 11 is raised. At this time, since the suction pad 12 is equipped with a spring in its axial direction, when the ceiling board B comes into contact with the lightweight steel frame on the ceiling surface, the suction pad 12 contracts and the limit attached to the spring is attached. The switch is activated and the operation of the lifting arm 7 is stopped.

Subsequently, the position detection sensor 14 on the handling table 11 slides in the Y direction to detect the position of the ceiling board B, the position of the lightweight steel frame, the position of the adjacent ceiling board B that has already been pasted, etc. . Note that a photoelectric sensor or the like may be used as the sensor. The positional relationship between the existing ceiling board B detected by the position detection sensor 14 and the sucked ceiling board B is calculated, and from the result, first, the sucked ceiling board B@-rotary arm 9 is , as shown in FIG. 7, rotate it so that it is parallel to the existing ceiling board B as shown by the imaginary line.

Next, the ceiling board B is moved in the X direction by the X-direction slide table 8, as shown in FIG. Next, operate the X-direction slide table 10,
As shown in FIG. 8, the ceiling board B is aligned in the short side direction.The alignment is performed by the method based on the above calculation results, and by the torque detection of the ball screw drive motor of the slide table 10 by pressing. method, or a method using an axis sensor built into the rotary arm 9, or the like.

Once the ceiling board B is set in the specified position, tighten the screws in the first row along the long side of the existing ceiling board B (see Figure 9). As shown in A), when the screw tightening position detection sensor 16 is moved together with the screw tightening unit 15, the detected waveform of the sensor 16 changes to the tenth position corresponding to the position and width of the lightweight steel frame on the back of the ceiling board B. The output is as shown in Figure (B,).

Therefore, every time this output waveform is detected, the lateral feed mechanism of the screw tightening unit 15 is stopped and screw tightening is performed.

For screw tightening work, when the screw tightening machine body 15c is moved forward toward the ceiling board B without tightening the screws, the bottom foot 3 meter 15e is retracted and the screw tightening machine body 15c is moved forward toward the ceiling board B, as shown in Fig. 11. When it reaches the same level as the tip of the screw 15c, that is, when the head of the screw S and the bottom surface of the ceiling board B are aligned, the screw tightening unit 15 stops moving forward. Therefore, even if the ceiling board B is made of a soft material such as gypsum board, the screw heads are surely aligned without digging into or protruding from the board surface.

When one row of screws is tightened, the suction of the suction pad 12 is released and the suction pad 12 is retracted.

Incidentally, a slide sill in the Z direction is attached to the suction pad 12. At this time, the ceiling board B is pressed by the pressing roller 13 on the handling table 11 so as to be in close contact with the lightweight steel frame surface. Note that the pressing roller 13 also has a built-in spring.

Next, the handling table 11 is moved in the X direction by a predetermined amount (screw fixing pitch) by the X direction slide table 8, and the screw tightening unit 15 tightens the second row of screws again. The movement of the handling table 11 and the screw tightening work by the screw tightening unit 15 are repeated, and the entire surface of the ceiling board B is screwed.

When the screw fastening work is completed, the position detection sensor 14 is activated to detect the position of the lightweight steel frame.

At this time, the handling table 11 detects the position of the lightweight steel frame in its most forward position. This detected value is stored as direction control information of the main body for installing the next ceiling board B.

Next, the handling arm 7 is lowered and the X-direction slide table 8 and the X-direction slide table 10 are operated to return the handling table 11 to its original position.

According to the information obtained by the position detection sensor 14, the trolley 1
Since the steering device 4 of the ceiling board B is not controlled,
Move forward by a distance equal to the length of the short side (for example, 910 wheels 1).

The above operations are repeated until there are no ceiling boards B loaded on board truck A.

Although the above example relates to attaching a ceiling board, by replacing the screw tightening unit 15 with a stabilizer, it can be used for attaching a decorative board.

[Effects of the invention] ■) Manual board fastening work is no longer required, so
It frees working tools from heavy labor, saving labor and improving work efficiency.

2) Work scaffolding is no longer required, and unstable work on scaffolding is also eliminated.

3) Since the frame on the back of the board is automatically detected, it is possible to fasten screws in the correct position with high precision, and there is no need to wastefully tighten screws in areas where there is no frame, such as openings.

[Brief explanation of drawings]

Fig. 1 is a perspective view showing an embodiment of an interior construction robot and a board truck having a board fastening device of the present invention, Fig. 2 is an enlarged view of the main parts, and Figs. 3 to 11 are the embodiments described above. Work explanatory diagram sequentially explaining the work of fastening ceiling boards by the robot and board fastening device, Part 1
2 to 17 are explanatory diagrams of the prior art. Sillometer, 16...Screw tightening position detection sensor, 17
...screw figure, 18...compressor,
19... Hydraulic unit, 20... Control device, 21.
...Receiver tank, 22...Dolly section, 23...
1J7 part, 24... Board storage part, A:... Board track, B... Ceiling board, C... Hanging bolt,
D...Light steel frame, E...Floor surface, R...Robot for interior construction.

Claims (1)

[Claims] 1. A handling table is rotated on a movable trolley,
It is equipped to be able to move in the X direction, Y direction, and Z direction, and the board set on the handling table is pressed against a fastening frame such as a lightweight steel frame, and the screw tightening unit installed on the handling table presses the board set on the handling table. An automatic board fastening device characterized in that the board is screwed to a frame body. 2. The screw tightening unit has a base frame movably attached to the handling table, a screw tightening machine body that slides vertically with respect to the base frame, and a screw tightening unit that attaches a screw to the tip of the screw tightening machine body. 2. The automatic board fastening device according to claim 1, further comprising feeding means. 3. When a potentiometer is integrally attached to the screw tightening machine body, and as the screw tightening machine moves forward, the tip of the potentiometer hits the board and is lowered to the same level as the tip of the screw tightening machine. 3. The automatic board fastening device according to claim 2, wherein the screw fastening machine body is stopped from moving forward. 4. The automatic board fastening according to claim 1, 2 or 3, wherein the screw fastening unit is equipped with a screw fastening position detection sensor to detect the position and width of the frame at the back of the board. attaching device. 5. The automatic board fastening device according to claim 1, 2, 3 or 4, characterized in that a pressing roller is arranged on the handling table to press the board against the frame.