JPH03119256A - Automatic setting method of board - Google Patents

Abstract

PURPOSE:To make it possible to set boards in high degree of accuracy by providing a handling table on a truck capable of traveling so that it is capable of turning, moving in X, Y and Z directions to position the boards. CONSTITUTION:The ceiling boards B are set on a handling table 11, and suction pads 12 are operated to fix them to the bottom of the ceiling boards B. After that, the position detection sensor 14 on the handling table 11 is slid in a Y direction to detect the positions of the ceiling boards B and the positions of light-weight steel frames. Then, the ceiling boards B are moved in an X direction by an X directional slide table 8, and longer sides of both ceiling boards B are contacted with each other. After that, the Y directional slide table 10 is operated to position the shorter sides of the ceiling board B. According to the constitution, the boards can be set efficiently.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field 1] The present invention relates to an automatic board setting method that automatically performs the work of fastening ceiling boards and wall boards of a building, for example.

[Prior Art] Conventionally, for example, when fastening a ceiling board B shown in FIG. 12 or a wall board B shown in FIG. Workers can also staple decorative boards.
He held it in his hand and fastened it to a stable.

Figure 114 shows a standard fastening configuration for ceiling boards. In the figure, D is a lightweight steel frame, B is a gypsum board, S is a screw, F is a decorative board, and T is a stable.

[Problems to be Solved by the Invention] However, the above-mentioned work of fastening 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. There was a problem in that the work environment was poor, such as the large number of screws that had to be fastened, resulting in severe fatigue.

The present invention was made to solve the above-mentioned conventional problems, and its purpose is to provide an automatic board setting method that can set ceiling boards and wall boards with high precision and efficiency. It is something to do.

[Means for Solving the Problems 1] The automatic board cera F method of the present invention includes a handling table mounted on a movable cart so as to be able to rotate, move in the X direction, move in the X direction, and move in the Z direction. Set the board on the handling table and move the hand table above to Z.
Move the hand table in the direction to approach a fastening frame such as a lightweight steel frame near the existing board, rotate the hand table to make the board parallel to the existing board, and then move the hand table in the X direction. The hand table is moved in the Y direction to bring the board into contact with the side edge of the existing board, and the hand table is moved in the Y direction to align the board along the side edge of the existing board. It is something to do.

[Embodiment 1] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

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

Reference numeral 7 denotes a lifting arm, which has a two-stage telescopic slide structure, and expands and contracts in the vertical direction (Z direction) using a built-in hydraulic sill or the like.

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

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 pad 12 is disposed on the upper surface of 1.6 The suction pad 12 attracts 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 the rail l1g provided on the handling table 11.
move along. The movement of the base frame 15a is as follows:
For example, the screw tightening machine main body 15c, which is driven by a driving means 11b such as a ball screw or a rack and pinion, tightens screws by rotation by an electric motor. On the side of the tip driving part of the screw tightening machine main body 15c, there is a bottom 5 meter 1.
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.

In the tlIJ1 diagram again, 17 is a screw feeder that accommodates a large number of screws and supplies the screws one by one to the air hose 15d.

The above-mentioned table] 111 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, an IJ7 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 Figure 3, first, a lightweight steel frame is installed via bolts (C) suspended from inserts buried in the ceiling base to complete the ceiling framework, and obstacles on the floor E are removed. The required ceiling board B1 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 +77 handling arm 7 and lower the handling table 11 as shown in FIG. is laterally fed by a slide cylinder, 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 to attract and fix the ceiling board B to the lower surface thereof.

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 a spring is attached to the suction pad 12 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 switch attached to the spring is attached. is activated, and the operation of the holding arm 7 is stopped.

Subsequently, the position detection sensor 14 on the handling table 11 slides in the X 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 adsorbed ceiling board B is calculated, and based on the result, first, the adsorbed ceiling board B is moved by the rotary arm 9. As shown in Figure 6, 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. 7, and the long sides of both ceiling boards B are brought into contact with each other as shown by the imaginary lines. Subsequently, the X-direction slide table 10 is operated to move the eighth
As shown in the figure, the ceiling board B is aligned in the short side direction. The positioning is performed by a method based on the above calculation result, a method based on torque detection of the ball screw drive motor of the slide table 10 by pressing, a method using an axis sensor built into the rotary arm 9, or the like.

When the ceiling board B is set at a predetermined position, the screw tightening unit 15 tightens the first row of screws along the long side of the existing ceiling board B. (See Fig. 9) As shown in Fig. 10 <A), when the screw tightening position detection sensor 16 is moved together with the screw tightening unit 15, the screw tightening position detection sensor 16 is moved to correspond to the position and width of the lightweight steel frame on the back of the ceiling board B. , the detected waveform of the sensor 16 is output as shown in FIG. 10(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 main body 15c is moved forward toward the ceiling board while tightening the screw, the potentiometer 15e is retracted and the tip of the screw tightening machine main body 15c is tightened as shown in FIG. When the head of the screw S and the lower 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 sliding sill in the X 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 fastening pitch) by the X direction slide table 8, and the second row of screws is tightened again by the screw tightening unit 7) 15. 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 I77 handling arm 7 is lowered, the X-direction slide table 8 and the Y-direction slide table 10 are operated, and the handling table 11 is returned to its original position.

According to the information obtained by the position detection sensor 14, the trolley 1
While controlling the steering device 4, the ceiling board B is moved forward by a distance equal to the short side length (for example, 910+ma).

The above operation is repeated until the ceiling board B loaded on the board truck A is used up.

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.

[Effect of the invention 1 A handling table is mounted on a movable trolley so that it can rotate, move in the X direction, move in the Y direction, and move in the Z direction,
Set the board on the handling table, move the hand table in the Z direction to bring it close to a fastening object such as a lightweight steel frame near the existing board, and rotate the hand table to make the board parallel to the existing board. Then, the handling table is moved in the X direction to bring the board into contact with the side edge of the existing board, and the hand table is further moved in the Y direction to position the board along the side edge of the existing board. Since they are arranged so that they meet, ceiling boards and wall boards can be set with high precision and efficiency.

[Brief explanation of drawings]

@I Figure is a perspective view showing an embodiment of an interior construction robot and board truck having a board fastening device that implements the method of the present invention, Figure 2 is an enlarged view of the main parts, and Figures 3 to 11U! J is a work explanatory view sequentially explaining the work of fastening ceiling boards by the robot and board fastening device of the above embodiment, and FIGS. 12 to 14 are explanatory views of the prior art. . . . Y direction slide table, 11 . . . Handling table, 12 . Suction batt, 13 .・・Base frame, 15b・・
・Air shilling, 15c...Screw tightening machine body, 15d
...Air hose, 15e...Potentiometer,
16... Screw tightening position detection sensor, 17... Screw figure, 18... Compressor, 19... Hydraulic unit, 20... Control device, 21... Receiver tank, 22... Truck part, 23... Lift part, 2
4... Board storage section, A... Board truck, B...
...Ceiling board, C...hanging bolt, D...light steel frame, E...floor, R...robot for interior construction.

Claims (1)

[Claims] A handling table is mounted on a movable trolley so that it can rotate, move in the X direction, move in the Y direction, and move in the Z direction.
Set the board on the handling table, move the hand table in the Z direction, bring it close to a fastening frame such as a lightweight steel frame near the existing board, and rotate the hand table to make the board parallel to the existing board. Then, the handling table is moved in the X direction to bring the board into contact with the side edge of the existing board, and the hand table is further moved in the Y direction to bring the board into contact with the side edge of the existing board. An automatic board setting method characterized by aligning the positions.