JPH04169659A - Ceiling construction robot and ceiling construction method - Google Patents

Abstract

PURPOSE:To upgrade construction efficiency by installing a board fixing device which can freely adjust the fixed posture, on a truck which moves between inverse T shape supporting bars installed in parallel with each other, and providing a position error detecting means with which the fixing device is automatically controlled. CONSTITUTION:A board carrier 8 and a working truck 100 are connected to a truck 1, which moves between inverse T shape ceiling board supporting bars A installed in parallel on the ceiling, and a board fixing device, which is composed of an elevating rack 2, a lateral slide adjusting device 3, a tilt adjusting device 6, a board gripping portion 7 and the like, also set up on the truck 1. Detecting means C1, C2 to detect position error between the supporting bar A and a board are also installed on the truck 1. A board B on the carriage 8 is then moved to the fixing device by means of a rotary arm 91 and automatically fitted to the supporting bar A. Thus fixing of the ceiling board can be performed efficiently.

Description

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

The present invention relates to a ceiling construction robot and a ceiling construction method that construct a ceiling by spanning a board, which is a ceiling material, between support bars provided on a ceiling surface.

[Conventional technology]

There is a ceiling constructed by disposing inverted T-shaped support bars called T-bars on a ceiling surface at predetermined intervals, and by spanning boards serving as a ceiling material between these support bars. In this case, both ends of the board must be placed on a horizontal piece provided by a pair of adjacent support bars, but this process requires complex movements of tilting and shifting the board, so it cannot be done on site. It was carried out manually by building a tower.

[Problem to be solved by the invention]

For this reason, fitting the boards between the support bars is completely dependent on the manual labor of workers, which requires a great deal of time and effort for ceiling construction work. This work was a very heavy burden on the worker since the work involved facing upward at a high place. The present invention has been made in view of these points, and its purpose is to provide a ceiling construction robot and a ceiling construction method that mechanically and easily fit boards between support bars. be.

[Means to solve the problem]

However, the present invention is a method in which a board as a ceiling material is arranged between support bars installed on the ceiling at regular intervals,
It includes a trolley that runs along the support bar, and a board operating unit that is installed on the trolley and grips the board, raises the board, moves it horizontally, changes the vertical angle, and rotates the board. and a control means for moving the board operation unit based on the output of the detection means to determine the position of the board with respect to the support bars and disposing the board between the support bars. The first feature of the ceiling construction robot is that it calculates the position of the board held by the board operation unit with respect to the support bar, based on the support bar on which the board is spanned, and determines the position of the board in the direction perpendicular to the support bar. Correct the angular misalignment and misalignment by moving the board operating section, then lift the board with the board tilted vertically in the direction connecting the pair of support bars on which the board is spanned, and move the board between the support bars. Another feature of the ceiling construction method is that the board is passed from below to above, and then the board is shifted in the direction of connecting the support bars, and the board operating section is lowered to span the board between the support bars. [Operations] According to the present invention, the relative position between the support bar and the board is detected to adjust the posture of the board with respect to the support bar, and the inclination of the board can also be adjusted. Furthermore, it is possible to automate the fitting of the board between the support bars. Embodiment J The present invention will be described below in detail based on the illustrated embodiment. This ceiling construction robot is constructed by connecting a loading vehicle 8 and a work vehicle 100 to the front and rear of a truck 1. 1 is movable with a pair of left and right drive wheels 15.15 and a pair of left and right casters 16.16, and a gate-shaped frame 10 is erected on the top surface of the frame 10. A control device 11 is mounted on the work cart 100 side, and a board operating section is provided on the loading vehicle 8 side of the frame IO.
It is configured to include, in order from the bottom, a lifting table 2, a lateral shift adjustment device 3, an angle adjustment device 24, a lifting table 5, an inclination adjustment device 6, and a grip portion 7. The lifting platform 2 is disposed vertically along the frame 10, and includes a feed nut 23 that is screwed into a screw shaft 22 that is rotationally driven by a motor 21 shown in FIG. A slider 2 is slidably engaged with a pair of left and right rails 24 24 provided on the frame 10 .
5, which moves up and down as the screw shaft 22 rotates. As shown in FIG. 6, the lateral shift adjustment device 3 includes a rail 28 formed on the upper surface of the lifting platform 2 and having a bearing cylinder 31 in the center.
A plate 30 that is slidable in the left and right direction by slidingly engaging with the plate 30, a motor 33 disposed on the top surface of the lifting platform 2, a screw shaft 34 rotationally driven by the motor 33, and a screw shaft 34 that is rotatably driven by the motor 33. It is composed of a feed nut 32 that is screwed together,
Rotation of the screw shaft 34 by the motor 33 causes the plate 30 to slide left and right. As shown in FIG. 7, the angle adjustment device 4 includes a rotary plate 40 that is rotatable around an axis by the upper end of the bearing cylinder 31, and a guide that is inserted through the rotary plate 40 so as to be slidable up and down. Rod 41, tank misalignment adjustment device W
3, a screw shaft 43 rotatably driven by a motor 42 installed on the plate 30, a feed nut 44 screwed into the screw shaft 43, a roller 45 provided on the feed nut 44, and a roller 45 attached to the rotating plate 40. 45 and a fork 46 with a fork 45 in between.When the motor 42 rotates the screw shaft 43, the rotating plate 40
rotates around the bearing cylinder 31. As shown in FIG. 5, the elevating table 5 is rotatably attached to the upper end of an elevating shaft 51 inserted through the bearing cylinder 31, and the upper end of a guide rod 41 is connected to the elevating table 5.
When the motor 53 disposed on the plate 31 of the lateral deviation adjustment device 3 rotates the pinion 54 that engages with the rack 52 of the elevating shaft 51, it is moved up and down. Furthermore, when the rotation plate 40 is rotated by the angle adjustment device 4, since the rotation plate 40 and the lifting table 5 are connected by the guide rod 41, the lifting table 5 also rotates around the axis of the lifting shaft 51 at the same time. A grip portion 7 is installed on the lifting table 5 via a tilt adjustment device 6 shown in FIG. The inclination adjustment device 6 here includes a screw shaft 62 rotatably driven by a motor 61 disposed on the lifting table 5, a feed nut 63 screwed onto the screw shaft 62, and a rail 58 provided on the lifting table 5. a slider 64 that is slidable along the slider 64 and is provided with the feed nut 63; a shaft 67 that pivotally supports one longitudinal end of the gripping portion 7; When the slider 64 is slid by rotating the screw shaft 62 with the motor 61, the vertical tilt of the gripping portion 7 is 6
It changes in the left and right direction by rotation around 7. The grip portion 7 is formed as shown in FIG. That is, a rectangular base plate 70 long in the left-right direction, a plurality of rollers 71 arranged on this base plate 70, and a pair of mutually parallel straighteners 72 arranged at the front and rear of the base plate 70, that is, at both ends in the width direction.
．． A feed nut 76 provided on a pair of straighteners 72 and 72, which are attached to the base plate 70 so as to be slidable in the front-back direction, is connected to a motor 73 via a timing belt 74. Since the threads of the screw shaft 75 have different screw directions, the rotation of the screw shaft 75 causes the pair of straighteners 7 to
2.72 move closer and further away from each other. 77 in the diagram
is the sliding kite axis. The axial direction of each roller 71 is the longitudinal direction of the base plate 70. As shown in FIG. 10, the pair of driving wheels 15.15 on the truck 1 are each equipped with a drive motor 17.17 and are driven to rotate independently. Steering is achieved by creating a difference in the rotational speed of the partial drive wheels 15.15. Since it does not require a steering device, it has a simple mechanism and has excellent straight-line performance. Further, each drive wheel 15.15 here is attached to a vertical shaft 16.16, and also connected to a vertical shaft 18 by a link 19.19, respectively. By rotating 18 with another motor, both driving wheels 15.15 are rotated 9 in opposite directions around the shaft 16.16, as shown in FIG. 10 (bHc).
It is now possible to rotate them by 0° so that they are lined up in a straight line. For this reason, the trolley 1 can easily perform lateral movement in a direction perpendicular to the normal running direction, and since the rotation directions are opposite to each other, the direction of the trolley 1 is uncertain during this rotation. This will not happen. This truck 1 is provided with imaging means C+, C2, and C3, each consisting of a total of three CCD elements. Imaging means C
,,C2 are a pair of support bars A arranged on the ceiling surface and over which the board B is to be spanned. As shown in FIG. 14, one of the images of A is placed at a predetermined interval L2 so as to be lined up on the axis Xa parallel to the axis X in the front-rear direction of the truck 1. Middle A
゛ is the pair of support bars A mentioned above. This is the center line between A and A. The traveling of the bogie 1 by the driving wheels 15 and 15 is based on information about the angle θ formed by the support bar A and the longitudinal axis A pair of drive wheels 15.
15 at different rotation speeds, the movement along the support bar A is controlled. The angle θ is determined by the distances a and b between the center point of the re-imaging means C, C2 and the support bar A in the direction (Y) orthogonal to the longitudinal axis It can be determined from the distance L2 on the axis Xa as θ=tan-1((a+b)/L2). Note that the distance in the height direction to the ceiling surface is made to be a constant distance by moving the imaging means C, C2 up and down. The other imaging means C2 is for detecting the amount of lateral deviation of the board B held by the gripping section 7, and the detection and correction of this amount of lateral deviation will be described later. Next, the loading vehicle 8 will be explained. This is constructed in the same manner as a forklift, and is equipped with a transfer device 9 at the upper end.As shown in FIG. screw shaft 82 and vertical guide rail 85
．． 85, and the loading arm 84 that slidably engages with the kite rail 85 has a threaded shaft 82.
A feed nut 83 is attached which is screwed together. When the motor 81 rotates the screw shaft 82, the loading arm 8
4 is a balance weight that moves up and down while being guided by a kite rail 85. 86 in the figure is a balance weight. The transfer device 9 is provided at the upper end of the frame 80, and is used to transfer the boards B, which are ceiling materials loaded on the loading arm 84, one by one from above onto the grip part 7 of the board operating part of the trolley 1. , as shown in FIG. 12, a pair of left and right clamping tools 90.90, a rotating arm 91.91 having a clamping tool 90.90 attached to each tip, and this rotating arm 91.
．． The arm 91 consists of a rotating shaft 92 to which the base end of the arm 91 is fixed, a rotating shaft 93 inserted into the rotating shaft 92, and motors M + and M 2 that rotate the rotating shafts 92 and 93, respectively. A connecting shaft 9 that connects the tip and the clamping tool 90
7 is connected to the rotating shaft 93 by a belt 98. Each clamping tool 90 has a guide rod 90 as shown in FIG.
a pair of clamping elements 905 that are slidably engaged with 3, respectively;
905 and a screw shaft 901 rotationally driven by a motor 900
Feed nuts 902 are screwed into threaded portions of the threaded shaft 901 with different thread directions.
, 902 are connected to the motor 9.
The screw shafts 901 move toward or away from each other due to the rotation of the screw shaft 901 by the screw shaft 901. And on the opposing surfaces of both clamps 905.905,
A plurality of needle-like members 906 are attached to each. However, in the loading vehicle 8, its loading arm 84
The board B placed thereon is transferred onto the gripping section 7 on the trolley 1 side by the transfer device 9 as described above, and this operation is performed as follows. That is, the loading arm 84 moves up and down so that the topmost board B placed on it is positioned directly below the clamping tool 90, and the transfer device 9 By bringing the pair of clamping elements 905, 905 of the clamping tool 90 closer to each other, the needle-like member 906 is inserted into the side end surface of the board B to clamp the board B, and then the rotating arm 91 is rotated. Then, the board B that is being held is transferred to the gripping section 7 on the cart 1 side. At this time, if the board B loaded on the loading arm 84 is facing up, that is, if the lower surface when placed on the ceiling is facing upward, the transfer device 9 is operated by the motor M1. The rotation of the rotary arm 91 turns the board B upside down and transfers it to the gripping part 7. However, if the board B loaded on the loading arm 84 is face down, the motor M2 At the same time, the rotating shaft 93 (connecting shaft 97) is rotated, and a reversing operation is performed to further rotate the holding tool 90 with respect to the rotating arm 91, and the gripping tool 90 is transferred onto the holding part 7 without changing its front and back sides. For this operation, the transfer device 9 is provided with determining means (not shown) for determining whether the board B is front or back. As this determination means, one that detects the shape of the side end surface of the board B optically or mechanically can be used. Further, the output of the determination means is also sent to the trolley 1 side, so that the height of the gripping section 7 when receiving the board B from the transfer device 9 is automatically adjusted. The reason why the pincer 905 is provided with a needle-like member 906 and the needle-like member 906 is inserted into the side end face of the board B to hold the board B is that the clipper 905 is generally made of a soft material containing pores. This is to prevent the surface of the board B, which is easily damaged due to the vacuum suction type, from being scratched, and also to eliminate the need for large-scale equipment as in the case of the vacuum suction type. Next, the operation after the board B is transferred to the gripping section 7 will be explained. Once the board B is transferred onto the gripping part 7,
A pair of mutually parallel straighteners 72.72 in the gripping part 7
By sandwiching both side surfaces of the central portion in the longitudinal direction of the board B, the direction of the board B is corrected so that the longitudinal direction of the board B is perpendicular to the longitudinal axis X of the cart 1. At this time, the grip part 7
Since rollers 71 are provided on the base plate 70 in , the board B will not be scratched by rubbing. Then, if the orientation of board B is fixed, imaging means C
3 detects the position of the longitudinal edge of the board B, that is, detects the amount of lateral deviation between the reference point O of the trolley 1 and the center point ○' of the board B whose length is input, and the imaging means C+
, C2 detects the deviation θ of the axis X of the truck 1 in the longitudinal direction and the position of the reference point ○ of the truck 1 with respect to the support bar A, and the position and angle of the board B with respect to the support bar A are adjusted. To explain this point, based on the information of the angle θ formed between the longitudinal axis The longitudinal direction of board B is corrected to be orthogonal to support bar A. In addition, the amount of lateral deviation C between the reference point 0 of the trolley 1 and the center point ○' of the board B obtained from the imaging means C2 fixed to the trolley 1, and the distance between the pair of support bars A (support bar A and the center line A″), and the imaging means C
1. From the position of the reference point O of the trolley 1 obtained from C2,
The lateral shift adjustment device 3 adjusts the position of the grip part 7 so that the center point ○' of the board B is located at the target point T on the center line A'. Incidentally, here, the reference point ◯ is defined as the position of the lifting shaft 51 located at the normal position before the above-mentioned adjustment. In addition, since the angle adjustment device 4 is located on the lateral deviation adjustment device 3 that moves the board B in a direction perpendicular to the longitudinal axis X of the cart 1, the position adjustment by the lateral deviation adjustment device 3 includes the above angle θ as an adjustment condition. The amount of lateral deviation Lc to be corrected is determined by the distance L3 on the axis Xa between one of the imaging elements C1 and the reference point O of the truck 1, and the center of the board B detected by the imaging means C3. When the distance between point O' and reference point O of truck 1 is C, Lc''[f(a/(a+b)Lz+Lslsinθ-(
1-cos L1+c]/cos θ. By the way, the angle adjustment device 4 has its rotation axis on the reference point O of the trolley 1.
If there is a lateral shift adjustment device 3 on the top, as shown in FIG.
θ-(1-cos θ)L, +c. Since the board B is positioned based on the support bar A on which the board B will be spanned, the board B can be accurately positioned, and there is no need to provide a new reference. The fact that it simplifies construction and requires even simpler calculations is that
The calculation load on the calculation unit is reduced, the calculation speed is increased, and the burden on programming work is also reduced. The fact that the reference point ○ is provided on trolley 1 means that even if the length of the board B is different, the board B
This can be easily done by simply changing the length dimension value. In this way, after the longitudinal direction of board B is adjusted to be perpendicular to support bar B and the position of board B in the direction perpendicular to support bar A is adjusted, the operation shown in FIG. 17 is performed. , a pair of support bars A, board B between A
will be bridged. In other words, when board B is raised by the lifting platforms 2 and 5, it must be passed above the support bars A and A, but for this purpose, the inclination is The adjustment device W6 adjusts the inclination of the board B so that the heights of both ends in the longitudinal direction are different, and the lateral shift adjustment device N3 adjusts the position so that the center O' of the board B is slightly closer to one of the support bars A. In this state, the board B is raised so that only one end of the board B passes upward between the support bars A and A. Next, as shown in FIG. 2(b), the board B is moved in the longitudinal direction in the tilted state by the lateral shift adjustment device 3 so that the other end of the board B is placed between the support bars A, A. , and then raised so that the other end of the board B passes upwardly between the support bars A, A. However, this raising is mainly performed by lifting the lower side of the inclined board B by the inclination adjusting device 6 to reduce the inclination of the board B. This is to prevent one end of the board B from touching another ceiling component located above the support bar A. Thereafter, as shown in FIG. 3(c), the position is adjusted by the lateral shift adjustment device 3 so that the other end of the board B is closer to the support bar A, and the lowering of the board B and the inclination angle of the board B are further reduced. After the board B is leveled and lowered as shown in Figure (d), it is moved to one side to avoid the upper end of the support bar A from bulging, as shown in Figure (e). Shift board B sideways so that it is located in the center between both support bars A, and hold board B using gripping section 7.
By releasing the grip of the board B, the installation of the board B between the support bars A and A is completed, and at this time, both ends of the board B rest on the horizontal pieces of the support bars A and A. FIG. 18 is a time chart of the operations of the lifting tables 2 and 5, the inclination adjustment device 6, the lateral shift adjustment device 3, and the grip section 7 at this time. Phases 1 to 1 in the figure correspond to operations indicated by the same symbols in FIG. 17. The work trolley 100 is used by a worker to connect the board B, which is spanned between the support bars A and A, to the board B that has already been spanned, via a joint member, as described above. The control device 11 attached to the trolley 1 is provided with an operation panel on the upper surface that can be easily operated by a worker riding on the work trolley 100. This ceiling construction robot is divided into a dolly 1, a loading car 8, and a work dolly 100, and the loading car 8 and work dolly 100 can be freely connected to the dolly 1. This is because it can be placed separately on an elevator. This is because we are making it possible. The reason why the member for raising and lowering the gripping part 7 is divided into the raising and lowering tables 2.5 is also to suppress the height. In addition, work trolley 10
0 and the loading truck 8 are connected to the truck 1, the work truck 100
It is preferable that the wheels of the truck 1 and the wheels of the loading vehicle 8 be made to float above the floor surface, since this allows the truck 1 to run smoothly along the support bar A. 105 in FIGS. 1 and 2 is a battery, and 106 is a driving battery. The reason why the imaging means C+, C2, and C3 are used for position detection is to use a non-contact type to eliminate obstacles to the movement of the trolley 1. However, using a contact type detection means Good too.

【Effect of the invention】

As described above, in the ceiling construction robot of the present invention, the relative position between the support bar and the board can be detected to adjust the posture of the board with respect to the support bar, and the inclination of the board can also be adjusted. This makes it possible to automate the fitting of boards between the support bars, which can save workers from back pain, especially since it automates tasks that had to be done while always facing upwards. This eliminates the risk of In addition, since it is installed on a trolley that runs along the support bar, there is no need to assemble a turret to install the board, which greatly reduces the effort and time required for ceiling construction work. It is possible. When the means for detecting the positional error between the support bar and the board is to detect the position of the board with reference to the support bar on which the board is spanned, the reference is made to the support bar to which the board is attached. In order to become
The board can be operated with a tilt adjustment section that allows the board to be tilted in the vertical direction in order to allow the board to pass between a pair of support bars in the direction that connects the pair of support bars on which the board is spanned. By providing the board in the section, the board can be tilted and easily passed between the support bars. In addition, the board operation section is arranged in a direction that connects the lifting platform, a lateral shift adjustment section that moves the board in its longitudinal direction, an angle adjustment section that rotates the board around a vertical axis, and a pair of support bars on which the board is spanned. If it is composed of an inclination adjustment part that gives the board an inclination in the vertical direction and a grip part that grips the board, and a lateral shift adjustment part, an angle adjustment part, an inclination adjustment part, and a grip part are provided on the lifting platform, Since a plurality of necessary operations can be shared between each adjustment section and the lifting platform, control can be easily performed. The means for detecting the positional error between the ceiling bar and the board includes a first detecting means for detecting the position of the reference point of the trolley with respect to a pair of support bars on which the board is spanned, and a first detecting means for detecting the position of the reference point of the trolley with respect to a pair of support bars on which the board is spanned, The board operation section includes a second detection means for detecting the position of the trolley relative to the reference point, a lateral shift adjustment section for moving the board in its longitudinal direction, and an angle adjustment section for rotating the board around a vertical axis. and the position of the board relative to the support bar is adjusted by the lateral shift adjustment section and the angle adjustment section based on the output of the detection means.
Detecting the positional error of the board with respect to the support bar and adjusting this positional error can be easily performed. If the angle adjustment part is formed on this lateral deviation adjustment part, or by arranging the angle adjustment part in the board operation part so that its rotation axis is located at the reference point of the trolley, the lateral deviation adjustment part can be adjusted to this angle. If it is provided on the adjustment section, it will be easier to correct positional errors. Moreover, the detection means for detecting a positional error between the ceiling bar and the board includes a first detection means for detecting the position of the reference point of the trolley with respect to a pair of support bars on which the board is spanned, and a first detection means for detecting the position of the reference point of the trolley with respect to a pair of support bars on which the board is spanned. and second detection means for detecting the position of the board relative to the reference point of the trolley, and the first detection means is a pair of sensors fixed on an axis parallel to the longitudinal axis of the trolley and detecting the support bar. The second detection means is composed of another sensor which is separately fixed to the trolley and detects the board, and the distance 2 L l between the pair of support bars on which the board is spanned, and the above distance between the pair of sensors. Distance L2 on the axis, distance L3 on the axis between one sensor and the reference point of the trolley, and distances a and b in the horizontal plane between the sensor detected by both sensors and one support bar. If the position error of the board with respect to the support bar is calculated from the position of the reference point of the trolley with respect to the support bar calculated from and the distance C between the center point of the board detected by the second detection means and the reference point of the trolley, , the position of the board can be adjusted with a minimum number of detection means and a minimum number of calculations. Also, the distances a and b here. C can be measured in a non-contact manner if the pair of sensors in the first detection means and the sensor in the second detection means are each formed by an imaging means having a CCD element, and is calculated by image processing technology. Therefore, the detection means does not interfere with the running of the trolley or the operation of the board. In addition, if it is equipped with an elevating type loading means on which boards are loaded and a transfer means for transferring the boards one by one from the loading section to the board operating section on the trolley, the board operating section can be loaded with boards. Passing is also something that can be automated,
In particular, if the loading vehicle equipped with the loading means and the transferring means can be separated and connected to the trolley equipped with the board operating section and means for detecting positional errors between the support bar and the board, By separating the two, it is possible to move by elevator, and the loading device and transfer device on the loading vehicle side do not need to have precision in handling the board, so the loading vehicle and the trolley can be separated. There is no need to question the accuracy when concatenating. In addition, the above-mentioned transfer means may be provided with a front/back determining section for the board and an inverting section for selectively operating based on the output of the front/back determining section to switch the front and back sides of the board. There is no need to worry about the front or back of the board being loaded.
If the transfer section is equipped with a plurality of pairs of needle-shaped clamps that are inserted into the side end faces of the boards, and the board 2 is clamped by these clamps, then when transferring the board from the loading section to the board operation section, This does not require a large-scale device such as a vacuum suction device, and also prevents damage to the front and back surfaces of the board. The transfer means equipped with a reversing section includes an arm that is rotatably supported at one end and driven to rotate, a board clamping section provided at the tip of the arm, and a board clamping section that is rotated horizontally with respect to the arm. If it consists of a rotating part that rotates around the body, the structure will be simple and the control will be easy. If the elevating platform is composed of a first elevating platform and a second elevating platform that moves up and down with respect to the first elevating platform, the overall height can be suppressed, and a lateral shift adjustment section and an angle adjustment section are installed on the first elevating platform. If the tilt adjustment part and the grip part are provided on the second lifting platform where the lateral deviation and angle adjustment are performed by the lateral deviation adjustment part and the angle adjustment part, it will be easier to fit the board between the support bars. Control of the tilt adjustment section does not have to be complicated. The gripping part in the board operation part is made up of a plurality of roller groups,
If the board placed on this roller group is made up of a pair of straighteners that are parallel to each other and whose spacing is variable and that sandwich the board from both sides, when adjusting the position of the board, the position in the direction in which the board is sandwiched by the straighteners is Any misalignment can be ignored, and the rollers prevent the board from being damaged at this time. A plurality of independently driven drive wheels are provided on the bogie, and the running direction is corrected based on the rotational speed difference of the drive wheels based on the output of a detection means for detecting deviation in the running direction with respect to the support bar. The running direction of the vehicle can be easily corrected without the need for a complicated steering mechanism, and the multiple drive wheels can be rotated freely around the vertical axis. At least 90 around
If a running direction changing means is provided that interlocks and rotates in opposite directions within a range of 100° to 200°, the running path of the trolley can be shifted by moving the trolley laterally, and the direction of the trolley becomes unstable. Nor. In the ceiling construction method of the present invention, after first correcting the positional error of the board with respect to the support bars on the ceiling surface, the board is inserted between the support bars. There is no need to consider positional errors, and for this reason, the operation of fitting the board between the support bars can be performed simply by moving the board up and down, tilting it, and moving it sideways. It can be done easily. When passing the entire board from below between the support bars during this fitting process, if you lift the lower side of the slanted board to reduce the angle of inclination, the board will protrude significantly above the support bars, allowing the board to pass through the support bars from below. This prevents the board from hitting the members suspending the board, and allows the board to be fitted without being interfered with by other members.

[Brief explanation of drawings]

FIG. 1 is a perspective view of an embodiment of the present invention, FIG. 2 is a side view of the same, FIG. 3 is a front view of the same, FIGS. 4 and 5 are perspective views of the lifting platform of the above, and FIG. FIG. 7 is a perspective view of the angle adjustment device as described above, FIG. 8 is a perspective view of the inclination adjustment device as described above, FIG. 9 is a perspective view of the grip portion as described above, and FIG. Figure (a) is a perspective view of the drive wheels of the same truck as above;
Figures 10(b) and 10(c) are explanatory diagrams of the same operation as above, Figure 11 is a perspective view of the loading section of the loading vehicle as above, Figure 12 is a perspective view of the transfer device as above, and Figure 13 is as above. A perspective view of the gripping tool, FIGS. 14 and 15 (a), (b) are explanatory diagrams of the detection adjustment operation same as above, FIGS. 16 (a) and (b) are explanatory diagrams of other detection operations, and FIG. 17 (a) to (e) are explanatory diagrams of the board fitting operation same as above, and Fig. 18 is a time chart of the same operation as above, where 1 is a trolley, 2.5 is a lifting platform, 3 is a lateral slip adjustment device, and 4 is a time chart of the same operation. An angle adjustment device, 6 a tilt adjustment device, 7 a gripping portion, 8 a loading vehicle, and 9 a transfer device. Agent Patent Attorney Ishi 1) Chief 7 Figure 4 Figure 1 O Figure 10 (b) Figure 11 Figure 14 Figure 157 '#Sj Figure 5 (b) 16! l(a)

Claims (21)

[Claims] (1) A board as a ceiling material is arranged between support bars installed on the ceiling at regular intervals, and a trolley that runs along the support bars and a trolley installed on the trolley to hold and hold the board. It is equipped with a board operation section that raises, horizontally moves, changes the vertical angle, and rotates the board, and also includes means for detecting a positional error between the support bar and the board, and operates the board based on the output of this detection means. 1. A ceiling construction robot, comprising: control means for moving a part to determine the position of a board with respect to a support bar, and disposing the board between the support bars. (2) The ceiling construction robot according to claim 1, wherein the means for detecting a positional error between the support bar and the board detects the position of the board with reference to the support bar on which the board is spanned. . (3) The board operation section is characterized by being equipped with an inclination adjustment section that gives the board an inclination in the vertical direction in order to allow the board to pass between the pair of support bars in the direction connecting the pair of support bars on which the board is spanned. The ceiling construction robot according to claim 1. (4) The board operation section includes a lifting platform, a lateral shift adjustment section that moves the board in its longitudinal direction, an angle adjustment section that rotates the board around a vertical axis, and a direction that connects a pair of support bars on which the board is spanned. comprising a tilt adjustment part that gives the board an inclination in the vertical direction, and a grip part that grips the board, and a lateral shift adjustment part, an angle adjustment part, a tilt adjustment part, and the grip part are provided on the lifting platform. The ceiling construction robot according to claim 1, characterized in that: (5) The bogie is equipped with a plurality of independently driven drive wheels, and the running direction is corrected based on the difference in rotational speed of the drive wheels based on the output of the means for detecting deviation in the running direction with respect to the support bar. The ceiling construction robot according to claim 1, characterized in that: (6) The means for detecting the position error between the ceiling bar and the board includes a first detecting means for detecting the position of the reference point of the trolley with respect to the pair of support bars on which the board is spanned, and a first detecting means for detecting the position of the reference point of the trolley with respect to the pair of support bars on which the board is spanned; and a second detection means for detecting the position of the board relative to the reference point of the trolley. 2. The ceiling construction robot according to claim 1, further comprising a lateral shift adjustment section and an angle adjustment section that adjust the position of the board relative to the support bar based on the output of the detection means. (7) The first detection means is composed of a pair of sensors arranged and fixed on an axis parallel to the longitudinal axis of the cart, and the second detection means is composed of a pair of sensors arranged and fixed on an axis parallel to the longitudinal axis of the cart, and the second detection means is composed of a pair of sensors that are separately fixed to the cart and detect the board. It is composed of a sensor, and the lateral shift adjustment section in the board operation section is formed to move the board in a direction perpendicular to the longitudinal axis of the trolley, and the angle adjustment section is provided on this lateral shift adjustment section. The ceiling construction robot according to claim 6, characterized in that: (8) The first detection means is composed of a pair of sensors arranged and fixed on an axis parallel to the longitudinal axis of the cart, and the second detection means is composed of a pair of sensors fixed separately to the cart and configured to detect the board. Claim 6, wherein the angle adjustment section in the board operation section is configured with a sensor, and the rotation axis of the angle adjustment section in the board operation section is disposed at a reference point of the trolley, and the lateral shift adjustment section is provided on the angle adjustment section. The ceiling construction robot described. (9) The means for detecting the positional error between the ceiling bar and the board includes a first detecting means for detecting the position of the reference point of the trolley with respect to the pair of support bars on which the board is spanned, and and a second detection means for detecting the position of the board with respect to the reference point of the cart, and the first detection means is a pair of sensors fixed on an axis parallel to the longitudinal axis of the cart and detecting the support bar. The second detection means consists of another sensor that is separately fixed to the trolley and detects the board, and the distance 2L_1 between the pair of support bars on which the board is spanned, and the first detection means. The distance L_2 on the axis of the pair of sensors, the distance L_3 on the axis between one of the sensors and the reference point of the truck, and the sensor detected by both sensors and the support bar of one of the sensors. From the position of the reference point of the trolley with respect to the support bar calculated from the distances a and b in the horizontal plane between the board and the distance c between the center point of the board and the reference point of the trolley detected by the second detection means, 2. The ceiling construction robot according to claim 1, wherein a positional error of the board with respect to the support bar is calculated. (10) The board operation section includes a lateral shift adjustment section that moves the board in its longitudinal direction and an angle adjustment section that rotates the board around a vertical axis, and the other adjustment section is disposed on either of the adjustment sections. If the lateral shift adjustment part is on the angle adjustment part and the rotation axis of the angle adjustment part is at the reference point of the trolley, then the angle θ to be corrected by the angle adjustment part is tan^-^1 ((a+b )/L_2), and the movement amount Lc to be corrected by the lateral shift adjustment section is calculated as {(a/(a+b)L_2+L_3}sinθ-(1-
cos θ)L_1+c, and if the angle adjustment unit is on the lateral deviation adjustment unit and the direction of board movement by the lateral deviation adjustment unit is perpendicular to the longitudinal axis of the cart, the angle θ to be corrected by the angle adjustment unit is tan^-^1((a+b)/L_2), and the movement amount Lc to be corrected by the lateral shift adjustment section is calculated as [{(a/(a+b)L_2+L_3}sinθ-(1
-cosθ)L_1+c]/[cosθ],
Claim 9, wherein the position of the board is corrected by the angle adjustment section and the lateral shift adjustment section based on these correction values.
The ceiling construction robot described. (11) A pair of sensors in the first detection means and a second
10. The ceiling construction robot according to claim 9, wherein the sensors in the detection means are each formed by an imaging means having a CCD element, and the distances a, b, and c are calculated by image processing technology. (12) The plurality of independently driven drive wheels are each rotatable around a vertical axis, and the driving direction can be changed by rotating the plurality of drive wheels in conjunction with each other in opposite directions within a range of at least 90° around the vertical axis. The ceiling construction robot according to claim 5, further comprising means. (13) The device according to claim 1, further comprising an elevating type loading means on which boards are loaded, and a transferring means for transferring the boards one by one from the loading section to the board operating section on the trolley. ceiling construction robot. (14) The loading means and the transfer means are provided on the loading vehicle,
A lifting platform, a lateral shift adjustment section that moves the board in its longitudinal direction, an angle adjustment section that rotates the board around a vertical axis, and a vertical inclination of the board in a direction that connects a pair of support bars on which the board is spanned. The above-mentioned method is applied to a trolley equipped with a board operating section consisting of an inclination adjustment section to be held and a gripping section for grasping the board transferred from the transfer means, and a means for detecting a positional error between the support bar and the board. 14. The ceiling construction robot according to claim 13, wherein the loading vehicle is separable and connectable. (15) Claim 1, characterized in that the transfer means includes a front/back determining section for the board, and an inverting section that selectively operates based on the output of the front/back determining section to switch the front and back sides of the board.
Ceiling construction robot described in 3. (16) Claim 13, characterized in that the transfer means includes a plurality of pairs of needle-shaped clamps inserted into the side end surfaces of the board, and a board clamping section that clamps the board with these clamps. ceiling construction robot. (17) The transfer means equipped with a reversing section includes an arm that is rotatably supported at one end and is rotationally driven, a board clamping section provided at the tip of the arm, and a board clamping section that holds the board with respect to the arm. 17. The ceiling construction robot according to claim 16, further comprising an autorotating section that rotates around a horizontal axis. (18) The elevating table is composed of a first elevating table and a second elevating table that moves up and down with respect to the first elevating table, and a lateral shift adjustment section and an angle adjustment section are provided on the first elevating table, 5. The ceiling construction robot according to claim 4, wherein a tilt adjustment section and a gripping section are provided on the second lifting platform, on which lateral shift and angle adjustment are performed by the lateral shift adjustment section and the angle adjustment section. (19) The gripping section in the board operating section is comprised of a plurality of roller groups and a pair of straighteners that are parallel to each other and whose spacing is variable, sandwiching the board placed on the roller group from both sides. The ceiling construction robot according to claim 4. (20) Based on the support bar on which the board is spanned,
Determine the position of the board held by the board operating section with respect to the support bar, correct the angular deviation and positional deviation of the board in the direction orthogonal to the support bar by moving the board operating section,
After that, the board is lifted with the board tilted vertically in the direction connecting the pair of support bars on which the board is spanned, and passed between the support bars from below to above, and then the board is supported. A ceiling construction method characterized by shifting a board in the direction of tying the bars and lowering a board operating section to span a board between support bars. (21) The ceiling construction method according to claim 20, characterized in that when the entire board is passed between the support bars from below to above, the lower side of the inclined board is lifted to reduce the inclination angle.