JPH0453686A - Movenent of robot for wall face work - Google Patents

Abstract

PURPOSE:To make a smooth movement and to apply no unreasonable force mutually by making either one part of an upper moving mechanism or the moving mechanism of the robot side for a wall face work as a main moving mechanism and synchronizing the other part with following up to the main moving mechanism. CONSTITUTION:A rotation control by an inverter 82 is performed with an upper moving mechanism of the two moving mechanisms of the upper moving mechanism of a cable and winder 16 necessary for the movement of the robot for a wall face work and the moving mechanism of the wall face working robot itself, as a main moving mechanism, and the AC servomotors 24, 33, 42, 62 of the moving mechanism of the wall face work robot side are followed up by performing the torque control by a current limit. Consequently this robot can be smoothly moved.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a method for moving a robot for wall work suitable for high-altitude work on walls of buildings and other structures. The two necessary moving mechanisms, the upper moving mechanism using a wire and a winder, and the unique moving mechanism of the wall work robot are synchronized to enable stable wall movement.

[Conventional technology] For structures such as buildings, ships, power plants, tanks, chimneys, and bridges, work must be performed on the walls, such as cleaning and repairing the external walls during and after construction. There are many cases where this is not the case.

Traditionally, when working on walls like this, gondolas were hung from the roof using wire ropes, and the work was carried out by workers riding inside the gondolas. Robots have been developed and are simply doing things like cleaning windows in place of workers.
It is desired to develop a robot for wall work that can perform various types of wall work.

[Problems to be Solved by the Invention] When attempting to perform wall surface work of such a structure using a robot robot, it is necessary to move the wall surface work robot throat to an arbitrary position on the wall surface.

During this movement, the work wall surface is usually vertical or close to vertical, and in order to be able to move safely and reliably even in such conditions, the wall work robot itself must be equipped with a suction device, etc. It would not be enough to provide a moving mechanism with such a mechanism, but one idea would be to suspend it from a trolley on the top of the wall, for example on the rooftop, with a wire rope, similar to a gondola, so that it can be moved up and down and horizontally.

However, since the wire lobe side and the wall work robot side are each provided with a movement mechanism, when the wall work robot attempts to move to an arbitrary position on the wall surface to perform work, interference between the two movement mechanisms prevents smooth movement. There is a problem with not being able to do so, or having one moving mechanism apply unreasonable force to the other.

This invention was made in view of such conventional problems, and is essential for the development of a versatile wall work robot that can move safely and smoothly without applying excessive force. The aim is to provide a way to move around the world.

[Means for Solving the Problems] In order to solve the above problems, a method for moving a wall work robot of the present invention includes an upper movement method in which the robot is suspended from the upper part of the wall surface via a rope and a winder, and is moved up and down and laterally. When moving a wall work robot that is equipped with a unique movement mechanism, either the upper movement mechanism or the movement mechanism on the wall work robot side is used as the main movement mechanism, and the other is made to follow the main movement mechanism. This feature is characterized in that it is synchronized.

Further, in the method of moving a wall work robot of the present invention, the upper moving mechanism is used as the main movement mechanism and rotation control is performed by an inverter, and the wall work robot side is controlled by an AC servo motor and torque is controlled by current limitation. This feature is characterized in that it is made to follow.

Furthermore, the method for moving the wall work robot of the present invention includes:
The present invention is characterized in that a position detection encoder is provided on the wall surface work robot side, and the upper moving mechanism is also controlled by this detection signal.

Furthermore, the method for moving a wall-working robot of the present invention detects the rotational position of the wall-working robot about a horizontal axis parallel to the wall surface due to the wall movement, and corrects the posture of the wall-working robot based on this detection signal. It is characterized by the following.

[Function] According to this method of moving the wall-working robot, there are two moving mechanisms: the upper moving mechanism of the rope and winder necessary for moving the wall-working robot, and the moving mechanism of the wall-working robot itself. One of them is used as the main movement mechanism, and the other is made to follow and move synchronously, allowing smooth movement.

Further, according to the present invention, the rotation of the upper moving mechanism as the main moving mechanism is controlled by an inverter, and the AC servo motor of the moving mechanism on the wall work robot side is controlled with torque by current limiting to make it follow the movement. , allowing for smooth movement.

Furthermore, the position of wall movement is detected by a position detection encoder on the wall work robot, which controls the upper movement mechanism on the winder, making it possible to control with a simple mechanism. There is.

In addition, the rotational position around a horizontal axis parallel to the wall surface is detected, and the posture of the wall work robot is corrected based on this detection signal, thereby preventing tilting due to movement.

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

Wall surface work robot 1 to which the movement method of the present invention is applied
0 is suspended via an upper moving mechanism 11, as shown in a schematic perspective view in FIG.
1 allows for vertical movement and horizontal movement.

The upper moving mechanism 11 for moving the entire wall work robot 10 is configured similarly to that of a gondola for wall work. A rotation support part (not shown) is fixed to a parabet part such as a rooftop, and a rail support stand 12 is attached so as to be rotatable around a vertical axis, and a temporary transverse rail 13 is attached to this rail support stand 12 along the upper part of the work wall surface. Two traversing trolleys 14 are mounted on the temporary traversing rail 13 so as to be able to run, and a wire 15 as a cable is suspended from each traversing trolley 14. A wall work robot 10 is suspended from each wire 15 via a winder (endless winder) 16.

Therefore, the wall work robot 10 suspended via the wire 15 can move up and down by winding and unwinding the wire 15 by the winder 16, and can move laterally by moving the traversing trolley 14.

Note that the lateral movement may be performed by installing a drive motor and a control device in the traversing trolley 14 so that it can run by itself, or by not being driven and following the lateral movement of the wall work robot 10.

As shown in FIGS. 1 and 2, the wall work robot 10 is configured with degrees of freedom in a total of four axes: three axes of an orthogonal coordinate system (X, Y, Z) and one axis of the wrist (β). , Y-axis, and Z-axis, arms are added to expand the working range.

■ X-axis system = X-axis module The X-axis module 20, which moves in the horizontal axis direction parallel to the work wall surface, is composed of a guide rail 21 and an X-axis slider 22 that runs along this. A winding machine 16 is connected to the section and suspended by a wire 15.

In order to move the X-axis slider 22, a rack 23 is attached to the guide rail 21, and a pinion (not shown) that meshes with this is driven by an AC servo motor 24 fixed to the X-axis slider 22. It is possible to move in the direction.

■ Y-axis system = Y-axis module The Y-axis module 30, which moves in the vertical axis direction parallel to the work wall, has a guide 31 attached to the back of the X-axis slider 22 of the X-axis module 20, and a ball screw 32 inside the guide 31.
is installed and is directly coupled and driven by an AC servo motor 33.

A Y-axis slider 34 to which a ball nut is attached is screwed into the ball screw 32 so that it can move in the Y-axis direction.

■ Z-axis system = Z-axis module Z-axis module 40 that moves in the axial direction perpendicular to the work wall surface
A guide 41 is attached to the side surface of the Y-axis slider 34 of the Y-axis module 30, and a ball screw (not shown) is installed inside the guide 41 to be directly coupled and driven by an AC servo motor 42.

A Z-axis slider 43 to which a pole nut is attached is screwed into this ball screw so that it can move in the Z-axis direction.

(2) Arm module The arm module 50 is for expanding the working range of the Y-axis module 30 and the Z-axis module 40, and is composed of a parallel link type arm.

A first arm 51 is rotatably supported by the Z-axis slider 43 and serves as a driving part, and a second arm 52 parallel to this is rotatably attached to a bracket 53 fixed to the X-axis slider 22. It is supported and used as a fulcrum. The intermediate portion of the second arm 52 and the upper end portion of the first arm 51 are each rotatably connected by a third arm 54. Also,
A fourth arm 55 for wall surface work is rotatably connected to the tips of the first arm 51 and the second arm 52.

Therefore, when the upper end portion of the first arm 51 is moved in the Y-axis direction and the Z-axis direction by the Y-axis module 30 and the Z-axis module 0, the amount of movement is the enlargement ratio of the arm,
For example, the distal end of the fourth arm 55 is moved while being enlarged by 5:1.

■ β-axis system: β-axis module This β-axis module 60 is installed at the tip of the arm module 50 and is a rotation axis around a horizontal axis parallel to the work wall surface. This is used to switch between legs.

This β-axis module 60 is the fourth arm module 50.
An AC servo motor 62 is provided with a rotatable rotating shaft 61 with both ends protruding from the tip of the arm 55, and is attached to a bracket 53 that supports the rotational fulcrum of the second arm 52.
The second arm 52 and the fourth arm 55 are configured to be reversely driven via chains (not shown) disposed within the second arm 52 and the fourth arm 55.

As shown in the plan view in FIG. 3, U-shaped tool brackets 63 are attached to both ends of the rotating shaft 61, and one end of each tool bracket 63 is provided with a U-shaped tool bracket 63.
A vacuum suction pad 64 is attached, and an automatic tool changer 65 and an ultrasonic sensor 66 for sensing are attached to the other end.

This wall work robot 10 has a fixing device 7 that serves as one leg to ensure a fixed state when working on a wall and to move on a wall.
0 is provided, and the guide rail 21 of the X-axis module 20
attached to both ends of the

This fixing device 70, as shown in FIGS. 1 and 2,
A support stand 71 is installed in the Z-axis direction perpendicular to the work wall surface,
A fixed arm 73 is supported by two sets of parallel links 72 on both the left and right sides, and a rod of a pneumatic cylinder 74 is connected to one set of parallel links 72 on the inside so that it can be driven back and forth.

The center axis (Z) is located at the tip of the fixed arm 73.
2 through a rotation shaft 75 that rotates around an axis parallel to the
Two vacuum suction pads 76 are attached, and the rotation shaft 7
By rotating 5, the position of the vacuum suction pad 76 can be changed by 90 degrees.

Next, a control device for controlling the wall work robot 10 will be explained with reference to FIG. 4.

In this control device 80, the motors of the left and right winding machines 16,
AC servo motor 24 of axis module 20, AC servo motor 33 of Y-axis module 30, Z-axis module 40
AC servo motor 42 and β-axis module 60
The servo motor 62 is numerically controlled by a controller 81.

The speeds of the motors of the left and right winders 16 are controlled by inverters 82, and the left and right inclinations due to the characteristic difference between the two winders 16 are detected by inclination angle sensors (not shown), and automatic inclination correction 83 is performed. It will be done.

The AC servo motors 24, 33, 42, and 62 of the module's 4 axes (X, Y, Z, β) are driven by a dedicated servo driver 84 based on commands from the controller 81, and position detection is performed using built-in encoders 25°, 35°, and 35°. For example, semi-closed feedback control is performed, and a deviation counter is built in as the servo driver 84, and each AC servo motor 24.33, 42.62 is controlled by pulse train input.

Furthermore, each axis (X, Y,
A limit switch 85 for the origin and a limit switch 86 for preventing overrun are attached to Z and β), respectively, and are inputted to the controller 81.

Further, sensors necessary for the work are attached to each part of the wall work robot 10, and for example, an ultrasonic sensor 66 is attached as a distance sensor to keep the distance to the work wall constant, and an A/D conversion The signal is input to the controller 81 via a device 87. Additionally, it will be equipped with a television camera to monitor work from the ground if necessary.

Further, the controller 81 is controlled by teaching contents input in advance off-line using a personal computer 88. The programming of this personal computer 88 is done by modeling the external environment in advance based on the outline drawing of the building, etc.
The robot is instructed to perform teaching operations, and the completed program is input to the controller 81, and a method is adopted in which the teaching results are confirmed through simulation, which facilitates teaching and makes the wall work robot 10 more versatile. is increasing.

The wall work performed by the wall work robot 10 configured as described above will be explained together with the operation of the control device 80.

(1) Movement on the wall Movement on the wall is caused by β of the tip of the arm module 5o.
A vacuum suction pad 64 that rotates the rotation shaft 61 of the shaft module 60 and is positioned to face the wall surface, and a fixing device 7
0 vacuum suction pads 76 are alternately adsorbed, and as shown in FIG. 5, the upward movement is carried out in a so-called "scale-taking method".

In this case, the wall surface work robot 1o has an upper moving mechanism 11.
The robot is suspended by a wire 15 via two winding machines 16, and in order to move up and down smoothly, it is necessary to operate the 10 examples of wall work robots that function as legs and wind up the upper moving mechanism 11. Synchronous rotation with the machine 16 is required.

For this reason, either the upper moving mechanism 11 on the side of the winder 16 or the moving mechanism of the wall work robot 10 is used as a main moving mechanism, and the other is made to follow as a subordinate moving mechanism.

Therefore, only the vertical movement, which is one of the wall surface movements, will be explained with reference to FIG. 6, which shows extracted control blocks thereof, and FIG. 7, which shows a control flowchart.

For example, when the upper moving mechanism 11 is used as the main moving mechanism and the wall work robot 10 side is made to follow, after the vacuum suction pad 64 of the arm module 50 functioning as a movable leg is attracted to the wall surface, the main moving mechanism 11 is used as the main moving mechanism. The operation is performed by the winder 16, and the AC servo motor 33 of the Y-axis module 30 is subjected to torque control by current limitation so as to follow the raising and lowering operation by the winder 16.

The vertical position is detected using the Y-axis module 3°171A.
This is done using the encoder 35 built into the C servo motor 33.
Based on this detected value, an ON-OFF servo control signal is output to the inverter 82 that controls the speed of the winder 16.

That is, (1) after performing initial settings such as the position to be raised and the length of each step, (2) the vacuum suction pad 64 at the tip of the arm module 5° is raised and suctioned at a predetermined position.

After this, (1) the suction by the vacuum suction pad 76 of the fixing device 70 is released to enable the wall work robot 1o to move.

- Y-axis module 30 Outputs a current limit signal to the AC servo motor 33 to maintain a state in which it is balanced with its own weight.

(2) At the same time as outputting a rising rotation signal to the motor of the winder 16, (2) raising without causing the Y-axis module 30 to follow while maintaining the tip position of the arm module 50 as a movable leg.

The amount of rise in this case is detected by the encoder 35 built into the AC servo motor 33 of the Y-axis module 3o, and when the positioning is completed at the position set as one step, ■ a stop signal is sent to the winder 16. Output.

(2) After that, vacuum suction is performed using the vacuum suction pad 76 of the fixing device 7o as a fixed leg, and (2) the vacuum suction pad 64 at the tip of the arm module 5o as a movable leg is released.

If further elevation is required, the arm tip of the arm module 5o serving as a movable leg is moved upward, and the operations from (1) to (3) above are repeated.

After rising to a predetermined position in this manner and securing the fixed state of the wall work robot 10 by the vacuum suction pads 76 of the fixing device 70 serving as fixed legs, automatic tilt correction 83 is performed.

This automatic tilt correction is based on the detected value by a tilt sensor (not shown), and corrects the tilt around the horizontal axis parallel to the work wall surface, that is, the tilt around the X axis. This is done by adjusting the lengths of the two wires 15.

In addition, in the case of lateral movement with respect to a wall surface, the vacuum suction pad 64 at the tip of the arm module 50 is positioned at the right end of the After adsorption, the X-axis module 20
AC servo motor 24 is moved to move the rack 23 to the right with respect to the pinion, contrary to the normal operation.

Then, the AC servo motor 24 is stopped when the arm module 50 reaches a position corresponding to a predetermined width of one lateral movement of the guide rail 21.

Thereafter, the arm module 50 is moved to a predetermined position on the X-axis module 20 by suctioning the vacuum suction pad 76 of the fixing device 70, and the lateral movement corresponding to one lateral movement width is completed.

In this way, for lateral movement as well, movement to a predetermined position can be achieved by repeating alternate suction between the arm module 50 and the vacuum suction pad 64 as the movable leg and the vacuum suction pad 76 of the fixing device 70 as the fixed leg. can.

Regarding lateral movement, when the traversing trolley 14 of the upper moving mechanism 11 is not provided with a drive mechanism, the traversing trolley 14 is made to follow via the wire 15, but when lateral movement is performed by a drive device, the XITo module The AC servo motor 24 on the 20 side may be used as the main moving mechanism, and the traversing trolley 14 may be made to follow it, or the main and slave functions may be reversed.

In addition to such wall movement, this wall work robot 1
0, the following various operations and controls are performed.

(2) Multi-step wall surface work After moving the wall surface to a predetermined work start position, the arm module 50 is switched from a movable leg to a work arm for use, so the AC servo motor 62 of the β-axis module 60 is used.
Then, the tool bracket 63 is reversed by 180 degrees so that the automatic tool changer 65 and the ultrasonic sensor 66 are facing forward.

(7) In advance, install the guide rail 21 of the X-axis module 20.
The distal end of the arm module 50 is moved to a tool stored in a tool holder (not shown) installed in a machine, etc., the necessary tool is grasped, and work is started.

In this case, confirmation of whether the tool is gripped by the automatic tool changer 65, confirmation of whether the tool is received or transferred to the tool holder, etc. are performed by performing electrical interlock processing using the proximity switch.

Therefore, by attaching and detaching the tools stored in the tool holder, multiple process operations can be performed, providing excellent versatility.

Note that automatic exchange of these tools and control when performing multi-step work using these tools are all controlled by the controller 81.
This is done based on the content programmed in advance.

(3) Sensing operation This wall work robot 10 can perform wall work in an optimal state, and not only perform pre-taught movements, but also work while avoiding obstacles by itself, and perform predetermined tasks. It is necessary to find out the working position of the robot and perform the work based on this working position, and a sensing operation is performed for this purpose.

1) Maintaining a constant distance between the wall and the tool Although the wall surface to be worked on may appear to be flat on the outside, it actually has slight slopes and steps, so in order to perform the work optimally, Is it necessary to maintain a constant distance between the wall and the tool?

Therefore, as explained in FIG. 3, using the ultrasonic sensor 66 as a distance sensor, for example, as shown in FIG. 9, the weak current obtained in proportion to the distance S is amplified by the amplifier 90 and the It is converted into a digital quantity via the D converter 87 and input to the controller 81 in the form of an 8-bit parallel signal.

The detection signal from the ultrasonic sensor 66 is compared with a predetermined set value S in real time, and a feedback amount is output to the AC servo motor 42 of the two-axis module 40.

As a result, the tool 91 at the tip of the arm module 50 can be held at a constant position S from the wall regardless of the inclination or level difference of the work wall surface, and the work can always be performed in the optimal condition with respect to the wall surface. can.

2) Obstacle avoidance operation There are two main types of obstacle avoidance that are necessary for the wall work robot 10. One is to avoid obstacles when adhering to a wall when moving, and the other is to avoid obstacles when adhering to a wall while moving. The first step is to avoid obstacles during work.

■ Avoid obstacles when walking with suction Vacuum suction pad 64 due to the effects of steps and joints on the outer wall.
When pressing 76 against a wall surface, it is assumed that a sufficient vacuum pressure cannot be obtained.

For this reason, it is necessary to perform an avoidance operation after detecting a vacuum pressure abnormality using a pressure sensor (not shown) provided on the vacuum suction pad 64 or 76 so that suction can be performed again.

First, in the fixing device 7o serving as the fixed leg, the vacuum suction pad 76 is attached via the rotating shaft 75, as described above, and when an abnormality in vacuum pressure is detected, the vacuum suction pad 76 is Rotate 90 degrees (from the state in which the two vacuum suction pads 76 are arranged horizontally to the state in which they are arranged vertically)
Then, a control signal is output to make it adsorb again.

The vacuum suction pad 64 at the tip of the arm module 5o, which serves as a movable leg, cannot change the suction position even by rotating the rotating shaft 61 of the β-axis module 6o. The amount of movement of the tip of the arm module 5o when an abnormality occurs (for example, the amount of movement up or down, or to the left or right) is input, and the vacuum suction pad 64 is moved based on this set value.
Move the position and re-adsorb.

When the position of the tip of this arm module 5o is moved,
Although the stride length when moving the wall surface changes, this change is corrected by calculations within the controller 81 to control the wall surface movement, thereby eliminating its influence.

By controlling the controller 81 to change the suction positions of the vacuum suction pads 64 and 76, suction abnormalities can be avoided and complete suction can be achieved.

■ Obstacle avoidance during work There are various types of work that can be done by the wall work robot 10.
It becomes necessary to work while avoiding the window, and in this case, the window becomes an obstacle to the work.

Therefore, since obstacles such as windows usually have a step (protrudes but is recessed) relative to the work wall surface, the ultrasonic sensor 66 as a distance sensor described above is used to detect the obstacles. Perform work while detecting.

An example of an avoidance operation for this purpose and a control flowchart are shown in FIGS. 10 and 11.

To avoid this obstacle, as shown in Fig. 10, when there is an obstacle A such as a window in the predetermined work areas XI, X2, Yl, Y2, the upper part P-1 of the obstacle A is Move back and forth between the entire width of the work area X I-X 2 and shift amount in the 2 directions Y and perform the work.

When an obstacle is detected by the ultrasonic sensor 66, its coordinates are memorized and the width of the work area is
The amount of shift in Y I-Y two directions in the work area P-2 on the side of obstacle A, which is defined as the range up to l.

Work is carried out while giving.

As the work progresses and comes to Q2 below obstacle A, as with the upper part, the lower part P-3 of obstacle A must be moved back and forth between the entire width of the work area XL
Amount of shift in two directions. and perform the work until it reaches the corner of the work area (XI, Y2).

Finally 1. #I Work on the remaining portion P-4 next to book A is performed in the same manner as for P-2, and all work is completed.

Note that depending on the position of obstacle A, the upper part P-
1, the work may be performed from the left lateral part P-5 of the obstacle A to the part P-6 below the obstacle A, and finally the left lateral part P-7. P-5, P-6 in this case
, P-7, only the work order is different.

Control of such work is carried out as shown in FIG.
,X2. A shift amount Q in the Y1-Y direction determined by Y1, Y2, and the size of the tool 91 is set in advance.

■ Move the tool 91 in the Z-axis direction so as to bring it closer to the wall surface, and start work.

■At the same time, along with a command to move in the X1 direction, a
: Outputs a signal to start sensing by the ultrasonic sensor 66, and constantly performs sensing while moving.

Then, when the obstacle A is detected by the ultrasonic sensor 66,
At the same time as the movement of the tool 91 stops, sensing is stopped and the control program for the work area is changed from P edition to P-2.

At the time of initial setting when changing the control program P-2, the coordinates of the obstacle detection position Q1 are read, and the block diagram is executed according to the coordinates.

On the other hand, if the obstacle A is not detected, after being moved by C: A signal to start sensing by the ultrasonic sensor 66 is output again, and sensing is always performed during movement.

If an obstacle A is detected during the movement in the X2 direction, the sensing is stopped at the same time as the movement of the tool 91 is stopped, and the control program for the work area is changed from P-1 to P-5.

Then, when the control program P-5 is initialized, the coordinates of the obstacle detection position Ql' are read, and the program is executed according to the coordinates.

On the other hand, if the obstacle A is not detected, after the obstacle A is moved to X2, the shift amount Q in the Y l-Y direction is output, and then the movement and work in the X2 direction are performed.

By repeating these operations, the work is performed while avoiding obstacles A such as windows.

Therefore, compared to the conventional case where the movement pattern remains P-1 and painting is stopped only within the area of obstacle A,
There are no unnecessary movements and you can work efficiently.

Moreover, no matter where the obstacle A is located within the work area, by dividing the control program into P-1 to P-7, etc., it is possible to work while avoiding this obstacle.

■ Detection of work target groove and creation of operation trajectory Wall surface work includes removal of deteriorated sealant, cleaning, and filling work of sealant. must be moved along.

In this case, unlike the case of the obstacle A such as a window, since the groove width is small, the same control as obstacle avoidance will result in an increase in unnecessary operations.

Therefore, first, only the sealing groove is detected, and the work is performed based on the determined trajectory of the sealing groove.

An outline of an example of the detection operation for this purpose and a control flowchart are shown in FIGS. 12 and 13.

The detection of the sealing groove 92 is performed by moving the ultrasonic sensor 66 laterally corresponding to the upper and lower parts where the sealing groove 92 is expected to be present, detecting both edges of the sealing groove 92, and detecting the sealing groove 92 from each coordinate value. Find the trajectory of by calculation.

That is, in (1) initial settings, the upper position Pi'Pi'' and the lower position P2°P2'' of the sealing groove 92 are set.

■ Move the ultrasonic sensor 66 to a predetermined point Pi to bring it closer to the wall by a predetermined distance S, and ■ Output a signal to move in the P1'' direction, and at the same time a: start sensing by the ultrasonic sensor 66. It outputs signals and performs constant sensing while moving.

(2) Then, when one edge of the sealing groove 92 is detected, its coordinate value P5 is read.

■ While moving further, b: Sensing is performed to detect the 0th order step and coordinate value P6 of the other edge of the sealing groove 92.
Read.

Thereafter, sensing is also performed for the lower part of the sealing groove 92 in the same manner, and the respective coordinate values P7 and P8 corresponding to the edges of the sealing groove 92 are read.

The coordinates PL and P2 of the center of the sealing groove 92 are determined from the coordinate values P5 to P8 thus read, and the locus of the sealing groove 92 is determined by linear interpolation from these coordinates PL and P2 of the upper and lower centers.

After the trajectory of the sealing groove 92 has been determined in this way, the tool 91 for peeling off the sealant is attached to the tool bracket 63, or the tool 91 for filling the sealant is attached to carry out the prescribed operation. conduct.

In this way, by performing work on a narrow groove such as the sealing groove 92 in two stages: detection of the groove and work based on the trajectory obtained based on the detection result, the work can be carried out efficiently. can.

By performing all the controls as described above, the robot can perform various wall surface works, and the range of work can be greatly expanded, including multi-step work.

According to the wall surface work robot of this embodiment, each component is modularized, tools necessary for work can be attached and removed, and the robot can be used for multiple purposes.

Furthermore, not only can each axis module be used to move to any position on the work wall, but an arm module can also be attached to expand the work range, allowing for highly versatile wall work.

Furthermore, a fixing device is attached to the robot for wall work to make it a fixed leg, and the arm module can be used as a movable leg.While working, the fixing device can stabilize the posture. When moving, it is possible to move to "scale generation" by alternately adsorbing.

Therefore, in place of the conventional gondola, which is carried out by a worker on board, it is possible to easily perform high-altitude work using a robot, and to save labor.

In addition, even if there are obstacles such as unevenness on the wall, the robot can be controlled to perform vacuum suction or wall work while avoiding obstacles, so it is highly versatile and can perform wall work efficiently and safely. It can be carried out.

It should be noted that the wall work robot described in the above embodiment is merely a robot having the most basic functions, and it is possible to further increase the degree of freedom.

Further, the method of moving the robot for wall surface work is not limited to the embodiment, as long as one side is used as the main moving mechanism and the other side is used as the subordinate moving mechanism.

Furthermore, changes may be made to each component without changing the gist of the invention.

[Effects of the Invention] As described above in detail along with one embodiment, the method for moving a robot for wall work according to the present invention has the following effects.

■ According to this method of moving the wall-working robot, one of the two moving mechanisms, the upper moving mechanism of the cable and winder necessary for moving the wall-working robot, and the moving mechanism of the wall-working robot itself. Since one is the main moving mechanism and the other is made to follow and move synchronously, smooth movement is possible and safe movement is possible without applying excessive force to each other.

Also, according to the present invention, the rotation of the upper moving mechanism as the main moving mechanism is controlled by an inverter, and the AC servo motor of the moving mechanism on the wall surface work robot side is controlled with torque by current limiting to make it follow. This allows for smooth movement and easy control.

■ Furthermore, the position of wall movement is detected by the position detection encoder on the wall work robot, and this controls the upper movement mechanism on the winder.
It can be controlled with a simple mechanism.

(2) Furthermore, since the rotational position around the horizontal axis parallel to the wall surface is detected and the posture of the wall work robot is corrected based on this detection signal, it is possible to prevent tilting due to movement.

[Brief explanation of the drawing]

1 to 3 show an embodiment of a wall-work robot to which the wall-work robot moving method of the present invention is applied, in which FIG. 1 is an overall perspective view, FIG. 2 is a right side view, Figure N3 is a partial plan view of the tip of the arm module. FIG. 4 is an overall configuration diagram of a control device for a wall work robot according to the present invention. 5 to 7 show an embodiment of the movement method of the robot for wall work according to the present invention, and FIG. 5 is an explanatory diagram of the lifting and lowering operation;
FIG. 6 is a control block diagram, and FIG. 7 is a control flowchart. 8 to 13 show various control methods of the wall work robot of the present invention, and FIG. 8 is an explanatory diagram of the lateral movement operation;
Fig. 9 is an explanatory diagram of constant distance control from the wall surface, Figs. 10 and 11 are explanatory diagrams and control flowcharts of obstacle avoidance operation, and Figs. 12 and 13 are groove detection operation and trajectory creation operation. FIG. 2 is an explanatory diagram and a control flowchart. 10: Wall work robot, 11: Upper moving mechanism, 13
:Temporary Traversing Rail, 14: Traversing Trolley 15: Wire,
16: Winder, 20: X-axis module, 21 Ni guide rail, 22: X-axis slider, 30: Y-axis module, 3
1 guide, 33: AC servo motor, 40: Z-axis module, 42: AC servo motor, 50: arm module, 60: β-axis module, 62: AC servo motor, 63: tool bracket, 64: vacuum suction pad, 6
5: Automatic tool changer, 66: Ultrasonic sensor, 70: Fixing device, 76: Vacuum suction pad, 80: Control device, 81
: Controller, 82: Inverter, 83 Automatic tilt correction, 84: Servo driver, 85.86: Limit switch, 87: A/D converter, 88: Computer, 91: Tool, 92 Niji ring groove. Figure 2 Figure 3

Claims (4)

[Claims] (1) When moving a wall work robot equipped with a unique movement mechanism, the upper movement mechanism and the wall surface are A method for moving a robot for wall surface work, characterized in that one of the moving mechanisms on the working robot side is used as a main moving mechanism, and the other is made to follow and synchronize with the main moving mechanism. (2) The upper moving mechanism is used as the main moving mechanism and the rotation is controlled by an inverter, and the wall work robot side is controlled by AC.
2. The method of moving a robot for wall surface work according to claim 1, wherein the servo motor is subjected to torque control by current limitation to cause the servo motor to follow the motion. (3) A method for moving a wall surface work robot according to claim 2, characterized in that a position detection encoder is provided on the wall surface work robot side, and an upper movement mechanism is also controlled by this detection signal. (4) The rotational position of the robot for wall surface work around a horizontal axis parallel to the wall surface due to the movement of the wall surface is detected, and the posture of the robot for wall surface work is corrected based on this detection signal. The method for moving a wall work robot according to any one of items 1 to 3.