JPH0396568A - Execution robot - Google Patents

Abstract

PURPOSE:To facilitate operation having high accuracy by installing a visual sensor detecting a joint to a self-advancing type robot executing a ceiling surface and a wall surface and mounting a drive moving a tool by the visual sensor. CONSTITUTION:An execution robot is constituted by setting up X and Y tables 21, 31, a lifting cylinder 4, a working shaft 5, a tool 6, a visual sensor S2, etc. to a cart 1. The visual sensor S2 is formed by a picture processing circuit 98 and a motor control circuit 99 controlling the X and Y tables 21, 31 and the like. The coordinates of the intersection of a joint are acquired by the picture processing circuit 98 regarding a picture obtained by the visual sensor, the X and Y tables 2, 3 are shifted, the working shaft 5 is installed at the position of operation, and the lift cylinder 4 is worked and the screwing operation of a ceiling board is conducted. Accordingly, the position of operation is detected from the state of the joint, thus eliminating the need for the labor hours of mark execution.

Description

[Detailed description of the invention] [Industrial application field]

The present invention relates to a construction robot that performs work on ceilings, walls, or floors.

[Conventional technology]

Conventional construction robots include those that run on rails laid on the floor and detect the working position from the distance traveled on the rails, and those that detect the working position from marks placed on the floor where the transport vehicle runs. etc.

[Problem to be solved by the invention]

However, before these construction robots can perform work, they must lay rails and set marks, and the positional accuracy of these rails and marks is directly linked to the accuracy of the work position. Therefore, it is difficult to increase the precision of the work position, and strict precision is required for the installation of rails and marks, which requires a lot of effort and construction work. It is not possible to fully enjoy the labor savings achieved by employing robots. The present invention has been devised in view of these points, and its purpose is to provide a dispensing pot that can easily perform highly accurate work.

[Means to solve the problem]

However, the erotic pot according to the present invention can be used on ceiling surfaces, wall surfaces,
Alternatively, it is characterized in that it is equipped with a visual sensor that detects joints on the floor and a moving drive unit that moves the tool based on the output of this visual sensor. [Function] According to the present invention, since the working position is directly detected from the condition of the joints on the working surface, highly accurate positioning can be easily performed, and the trouble of laying rails or making marks in advance is unnecessary. ．． [Example] The present invention will be described below in detail based on the illustrated embodiment. The illustrated example is a construction robot that tightens screws on a ceiling surface, and includes a self-propelled carrier 1 and a robot mounted on the carrier 1. An X-axis table 2 provided, a Y-axis table 3 provided on the X-axis table 2, a lifting cylinder 4 provided on the Y-axis table 3, and a work shaft 5 that is raised and lowered by the lifting cylinder 4. A tool 6, which is an electric screwdriver, is attached to the tip of the work shaft 5, and a screw feeding device 7 is attached to the tip of the tool 6. The X-axis table 2 has a base 2 fixed on the transport vehicle 1.
0, a feed screw 22 attached to this base 20, and a motor 21 for driving the feed screw 22, and the Y-axis table 3 is sent in the X-axis direction by rotation of the feed screw 22 on the X-axis table 2. Consisting of a base 30, a feed screw 32 attached to the base 30, and a motor 31 for driving the feed screw 32, the lifting cylinder 4 moves in the Y-axis direction by rotation of the feed screw 32 on the Y-axis table 3. It is an electric type installed on the base to which it is sent. As shown in FIGS. 2 and 3, this screw feeding device 7 includes a main body 70, a movable part 71 that is vertically movable with respect to the main body 70, and urges the movable part 71 upward. Spring 7
3 and a feed wheel 74 that rotates in one direction when the movable part 71 is lowered relative to the main body 70, and a belt 62 to which a number of screws 63 are attached at equal intervals engages with the feed wheel 74. ing. Now, while operating the tool 6 and rotating the driver bit 60, move the tool 6 upward and make it movable relative to the main body 70 by bringing the backing plate 72 attached to the movable part 71 into contact with the work surface. When the portion 71 is relatively lowered, the feed wheel 74 rotates and feeds the belt 62, thereby positioning the screw 63 attached to the belt 62 directly above the driver bit 60, and furthermore, the tool 6 is moved. Once raised, the driver bit 60 engages with the head of the screw 63 and pushes the screw 63 up, thereby pushing the screw 63 out of the belt 62 and screwing it into the work surface. After the screw tightening is completed, when the tool 6 is lowered, the movable part 71 returns to the upper position relative to the main body 70 under the force of the spring 73. In the figure, 50 is a fixture for fixing the tool 6 to the work shaft 5, and 65 in FIG. 1 is the belt 6.
This is a guide pipe for 2. Next, the configuration for detecting the screw tightening work position and moving the work shaft 5 to the work position will be explained. This consists of detecting the state of the work surface using a visual sensor S2, which is a video camera attached to the lifting cylinder 4, and This is done by driving the X-axis table 2 and Y-axis table 3 based on the output of the visual sensor S2. The visual sensor S2 is connected to an image processing circuit 98 as shown in FIG. 4, and the image processing circuit 98 monitors the state of the ceiling surface, which is the work surface on which screw tightening work is performed, as shown in FIG. is detected from the image of the joints 45 between the ceiling materials 44, a working position near the intersection of the joints 45 is determined, and the X and Y axis table 2.3 is driven to this working position via the motor drive control circuit 99. Guide work axis 5 with . That is, the image obtained by the visual sensor S2 is as shown in FIG. 5(b), but the image processing circuit 98 determines that the coordinates (X, Y) of the intersection of the joints 45 in the image are given values in advance. Move the X and Y-axis tables 2 and 3 to place the work shaft 5 in the working position near the above-mentioned intersection, and in this state operate the lifting cylinder 4 to raise the work shaft 5 as shown in FIG. Then, the above-mentioned screw tightening operation is performed to fix the ceiling material 44, which has been temporarily fixed with adhesive. In the illustrated example, as shown in FIG. 9, the screw tightening work is performed at three locations near the intersection of the joints 45.
The movable range of the work axis 5 by the X and Y axis table 2.3 is designed to cover these three locations. Furthermore, the detection accuracy of the work position based on the state of the work surface by the visual sensor S2 is about ±0.02iv, and the work is performed extremely accurately. Further, in order to move the conveyance vehicle 1 from one working position to the next working position, the traveling direction and stopping position are determined by determining the state of the joint 45 similarly obtained from the visual sensor S2. That is, as shown in FIGS. 6 and 7, the traveling direction is determined by detecting a joint 45 that crosses left and right in the image obtained from the visual sensor S2, and moving the conveyance vehicle in the direction along this joint 45. 1, and the deviation in the running direction is determined by the inclination θ of the joint 45 in the image, as shown in FIG.
This is done by modifying it so that it becomes zero. ? To explain in detail, the angle θ is obtained as the coordinates of both ends of the joint 45 (XI13/l, x, yz) that cross the image from side to side, and is expressed as xi, x. By making both values constant, the guided vehicle 1 is caused to travel along the joint 45. At this time, the steering of the guided vehicle 1 is performed by controlling the pair of front side of the guided vehicle 1. This is done by controlling the rotational speed of motors M+, , M, and 2 that drive the wheels, respectively. For example, if the running direction is shifted to the right, the direction is changed to the left by rotating the motor M1 of the left wheel slower than the motor M1 of the right wheel by a certain speed difference, and then the direction of the shift is reversed. At this point, the right motor M. The two motors M, , M, . The direction of travel is corrected by repeating this process until the speeds of the two cars become the same. The transport vehicle 1 is gradually corrected to go straight along the joint 45 while meandering. It is assumed that the stopping position is such that the intersection of the joints 45 is located at the center of the screen as described above. Although the description has been given here of a method for fixing ceiling materials on a ceiling surface, it is of course applicable to attaching panel materials to floors and walls.

【Effect of the invention】

As described above, the present invention is equipped with a visual sensor that detects joints on the ceiling, wall, or floor, and directly detects the working position from the condition of the joints on the work surface, and positions the tool at this detected position. It is easy to perform highly accurate positioning, and it also eliminates the need to lay out rails or mark them in advance, resulting in significant labor savings.

[Brief explanation of drawings]

Claims (2)

[Claims] (1) Construction characterized by being equipped with a visual sensor that detects joints on the ceiling, wall, or floor, as well as a moving drive unit that moves the tool based on the output of the visual sensor. robot. (2) The construction robot according to claim 1, wherein the construction robot performs screw tightening by positioning a tool, which is an electric screwdriver, around the intersection of joints detected by a visual sensor.