JPH06114302A - Arm supporting method of spraying robot - Google Patents

Abstract

PURPOSE:To prevent a spraying robot from avoiding a pole in a slab while running on the slab and continue spraying work of a material to be sprayed such as refractory, etc. CONSTITUTION:A hinge 511 is installed in a spot of a frame 51 near the periphery part 11 of a floor slab 1 wherein the frame can move along the periphery part 11 of the floor slab 1 and through the hinge 511, the base end of a first arm 52 is supported in the way it can rotate vertically to the frame 51 and a second arm 53 is attached to the tip part of the first arm 52 and, at the same time, a spraying nozzle 56 is installed in the tip part of the second arm 53 through an L-shape frame 55. Further, the second arm is rotated when the frame 51 approaches to a pole 7 standing spot, the first arm 52 is mounted on a control box 517 installed on the upper face 516 of the frame 51, the second arm 53 is extended upward on the frame 51, and thus the first arm and the pole 7 are prevented from interfering each other.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for supporting an arm which is provided in a spraying robot for spraying a refractory material and which supports a spraying nozzle for spraying a coating material.

[0002]

2. Description of the Related Art For example, in a high-rise building having a steel frame structure, a refractory containing a mixture of rock wool, cement slurry, etc. is sprayed onto the outer portion of a peripheral beam that supports a ceiling slab or a floor slab. Conventionally, a worker rides on a gondola suspended from a ceiling slab or a floor slab and holds and operates a spraying tool in front of a peripheral beam to spray a refractory.

However, since it is difficult to move the gondola in a suspended state in a horizontal direction, the gondola is not suitable for a work performed while moving in a horizontal direction such as when spraying a refractory material on a peripheral beam. In addition, when a worker is placed at a spraying location and sprays refractory, suspended dust generated during spraying adheres to the worker and causes a deterioration of the work environment.In recent years, therefore, industrial robots have been used. The refractory is sprayed.

[0004]

When the refractory is sprayed using the industrial robot described above, the robot is run along the edge of the ceiling slab or the floor slab,
The refractory is ejected from the spray nozzle provided on the robot arm to the outer beam, etc., but if a pillar material is erected on the ceiling slab or floor slab, the pillar material interferes with the robot's running and the refractory material is sprayed. You may not be able to continue working. In this case, it is conceivable to run the traveling robot so as to avoid this pillar material at the upright position of the pillar material, but performing such an operation sequence is complicated in terms of robot control and configuration. Not preferable.

The present invention has been made by paying attention to the above-mentioned points, and when a pillar material which obstructs the traveling of the spraying robot on the slab is erected on the slab, the pillar material is An object of the present invention is to provide an arm supporting method for a spraying robot that can continue spraying work of a covering material such as a refractory material without running the robot so as to avoid it.

[0006]

In order to achieve the above object, the present invention provides a moving body which moves on the slab along an edge of the slab and a portion of the moving body near the edge of the slab. In a spraying robot including an arm rotatably supported in a vertical plane and a spray nozzle supported by the arm and spraying a covering material, the arm is moved by the arm rotatably supported. It is composed of a first arm extending from a body part and a second arm extending from the tip of the first arm, and at the time of spraying the covering material, the first arm is supported in parallel with the slab. The second arm extends below the slab, and when the covering material is not sprayed, the first arm is placed on the frame of the movable body and the second arm
It is characterized in that the arm extends upward on the frame.

Further, according to the present invention, a caster is provided on the first arm, and the caster comes into contact with the slab when the coating material is sprayed and rotates along the traveling direction of the moving body. Further, according to the present invention, a control box that accommodates a control system that controls the movement of the moving body on the slab is provided on the moving body, and the first arm performs the control when the coating material is not sprayed. It was supposed to be placed on the box.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a side view showing an example of a schematic configuration of a spraying robot to which the method of the present invention is applied, and FIG. 1 shows a state during a spraying operation. In FIG. 1, 1 is a floor slab. This floor slab 1 is installed on each floor of a structure (not shown), and is a perimeter beam 2 of H steel or the like extending in the horizontal direction.
It is supported by (corresponding to the structure portion below the slab). On the upper surface 12 near the edge 11 of the floor slab 1, a rail member 3 extending horizontally along the edge 11 is attached.

In FIG. 1, reference numeral 5 denotes a spraying robot. The spraying robot 5 includes a frame 51 (corresponding to a moving body), a first arm 52, a second arm 53, a slide member 54, an L-shaped frame 55, and a spray nozzle. 56
Is equipped with. The frame 51 runs horizontally along the edge 11 of the floor slab 1, and the edge 1 of the floor slab 1
A hinge 511 is provided on a portion of the frame 51 that is closer to the 1st position. Further, on the lower surface 512 of the frame 51, the guide roller 513 that contacts one side of the rail member 3 and the rail member 3 are provided.
The guide piece 514 contacting the other side of the vehicle and the drive wheel 5 for traveling.
15 and a control box 517 is provided on the upper surface 516. The control box 517 accommodates a control system (not shown) that controls driving of a rotary drive source (not shown) such as a motor that rotates the drive wheels 515.

The base end of the first arm 52 is supported by the frame 51 via a hinge 511, and the hinge 511 is rotatable in the vertical direction indicated by arrow A in FIG. The base end of the second arm 52 is attached to the tip of the first arm 53. In the spraying state shown in FIG. 1, the first arm 52 is supported in parallel with the floor slab 1, and the second arm 53 extends from outside the end 11 of the floor slab 1 to below the floor slab 1. Will be issued. A free caster 522 is provided on the lower surface 521 of the first arm 52 which faces the upper surface 12 of the floor slab 1 in the state shown in FIG.

Therefore, when the drive wheel 515 rotates, the guide roller 513 and the guide piece 514 contact the rail member 3 to guide the frame 51 to the rail member 3, whereby the frame 51 moves to the edge 11 of the floor slab 1. It runs along the horizontal direction. At the same time, the free casters 522 of the first arm 52 are brought into sliding contact with the upper surface 12 of the floor slab 1, and the first arm 52 travels integrally with the frame 51.

A slide member 54 is attached to the second arm 53 so as to be slidable in the extending direction of the second arm 53. The slide member 54 is provided with a motor 541 and a rotating shaft 543, and one piece of the L-shaped frame 55 is connected to the rotating shaft 543. L-shaped frame 55
A spray nozzle 56 is attached to the other piece rotatably in the direction of arrow B in FIG. Shaft 542 of motor 541
A belt 57 is installed between the rotary shaft 543 and the rotary shaft 543. When the motor 541 rotates when the slide member 54 is located at the lower end of the second arm 53, the rotation of the shaft 542 is transmitted to the rotary shaft 543 via the belt 57. Transmitted, and along with this, L
The mold frame 55 turns in the direction of arrow C in FIG.

In the spraying robot 5 of the present embodiment constructed as described above, the frame 51 and the first arm 52 are reciprocated horizontally along the edge 11 of the floor slab 1 with a predetermined width by the rotation of the drive wheel 515. At the same time, the slide member 54 is slid vertically along the second arm 53, and the refractory material ejected from the spray nozzle 56 is transferred to the web 21 of the outer peripheral beam 2 and the upper and lower flanges 22, 23.
To a zigzag shape over the area of the predetermined width. After spraying the refractory material on the area of the predetermined width of the outer peripheral beam 2, the drive wheels 515 are rotated to move the frame 51 horizontally along the edge portion 11 of the floor slab 1 by the predetermined width. Similarly to the above, while the frame 51 is reciprocally moved with a predetermined width, the slide member 54 is slid up and down along the second arm 53 to perform a refractory material spraying operation.

By the way, as shown in FIG.
When the 1 and the 1st arm 52 approach the pillar 7 erected on the upper surface 12 of the floor slab 1 for every predetermined span, the pillar 7 interferes with the movement of the frame 51 and the 1st arm 52,
The spray nozzle 56 cannot be exposed to the outer peripheral beam 2 region H near the column 7 shown in FIG. 3, and the refractory material cannot be sprayed onto the outer peripheral beam 2 in this region H.

Therefore, in the blowing robot 5 of this embodiment, when the frame 51 and the first arm 52 approach the pillar to some extent, the motor 541 is rotated to move the L-shaped frame 55 from the same direction as shown by the solid line in FIG. It is rotated 180 ° in the direction indicated by the imaginary line in the figure, and as shown in FIG.
The L-shaped frame 55 extending to the right of 3 is extended to the left of the second arm 53 as shown in FIG. And
As shown in FIG. 4, the L-shaped frame 55 has the second arm 53.
Perimeter beam 2 that cannot be seen when it extends to the right of
The spray nozzle 56 is exposed to the region H, and the refractory material is sprayed to this region.

Further, as described above, the frame 51 and the first arm 52 approach the column 7, and the frame 51 remains as it is.
When the first arm 52 and the first arm 52 are moved, the first arm 52 interferes with the pillar 7 and the frame 51 and the first arm 52 move to the pillar 7.
It becomes impossible to move to the other side, and the spraying operation of the refractory material cannot be continued. Therefore, in the spraying robot 5 of the present embodiment, the spraying operation of the refractory material is temporarily interrupted when the frame 51 and the first arm 52 approach the pillar 7, and the first arm is driven by a drive source (not shown) or manually. 52 is rotated 180 ° in the direction of the arrow A from the state shown in FIG.

As a result, as shown in FIG. 5, the frame 5
The first arm 52 is mounted on the control box 517 disposed on the upper surface 516 of the first frame 5, and the second arm 53 is mounted on the frame 5
The first arm 52 is extended upward on the first position so that the first arm 52 does not interfere with the column 7. Therefore, the frame 51 is run in the standing position of the pillar 7 in the state shown in FIG.
After passing through the standing position of the pillar 7, the first arm 52 is rotated again by 180 ° in the direction of the arrow A, the first arm 52 and the second arm 53 are returned to the state shown in FIG. The operation of spraying the refractory material onto the outer peripheral beam 2 on the opposite side is restarted.

As described above, in the spraying robot 5 of the present embodiment, the hinge 511 is provided at a portion of the frame 51 which moves along the edge 11 of the floor slab 1 near the edge 11 of the floor slab 1. The base end of the first arm 52 is rotatably supported by the frame 51 via the hinge 511 in the vertical direction, the second arm 53 is attached to the tip of the first arm 52, and the tip of the second arm 53 is attached to the tip of the second arm 53. L-shaped frame 5
A spray nozzle 56 is provided through the nozzle 5.

Therefore, the second arm 53 is rotated as shown in FIG. 5, and the first arm 52 is mounted on the control box 517 arranged on the upper surface 516 of the frame 51.
By extending the second arm 53 upward on the frame 51, it is possible to make the state in which the first arm 52 does not interfere with the pillar 7 when the frame 51 approaches the standing position of the pillar 7, and thus, It is possible to allow the frame 51 to pass through the erected portion of the pillar 7 and perform the operation of spraying the refractory material onto the outer peripheral beam 2 on the side opposite to the pillar 7.

In this embodiment, the edge portion 11 of the floor slab 1 is
The rail member 3 is provided on the upper surface 12 close to the rail member 3, and the frame 51 travels on the upper surface 11 of the floor slab 1 while being guided by the rail member 3. The L-shaped angle member of the concrete stopper that is worn may be used as the traveling guide of the frame 51, or the frame 51 may be moved without using the traveling guide. Further, in this embodiment, the frame 5 is used during the spraying operation.
1 reciprocates horizontally along the edge portion 11 of the floor slab 1 with a predetermined width, but the second arm 53 is relative to the first arm 52, or the first arm 52 is relative to the frame 51. On the other hand, it is slidable in the direction along the traveling direction of the frame 51, and the second arm 53 with respect to the first arm 52,
Alternatively, the spray nozzle 56 may be moved horizontally during the spraying operation by sliding the first arm 52 with respect to the frame 51.

Further, in this embodiment, the L-shaped frame 55
Although it is possible to swivel in a vertical plane that intersects the horizontal plane in which the floor slab 1 extends, this may be swivel in a horizontal plane parallel to the horizontal plane in which the floor slab 1 extends. in addition,
In this embodiment, the web 21 of the outer peripheral beam 2 and the upper and lower flanges 2
Although the spraying robot for spraying the refractory material onto Nos. 2 and 23 has been described as an example, the spraying robot for spraying onto other members such as columns, walls, and floors, or the spraying robot for spraying paint other than the refractory material, for example. Needless to say, the method of the present invention can also be applied.

[0022]

As described above, according to the present invention, a movable body that moves on the slab along the edge of the slab is extended from the movable body to a portion near the edge of the slab. 1
The arm is rotatably supported in a vertical plane, the second arm is extended from the tip of the first arm, and the spray nozzle for spraying the covering material is supported by the second arm.
When the coating material is sprayed, the first arm is supported in parallel with the slab, and the second arm is extended below the slab. When the coating material is not sprayed, the first arm is placed on the frame of the moving body. In addition, since the second arm is extended upward on the frame, when the pillar material that obstructs the traveling of the spraying robot on the slab is erected on the slab, It is possible to continue the work of spraying a covering material such as a refractory material without running the robot so as to avoid the material.

[Brief description of drawings]

FIG. 1 is a side view showing an example of a schematic configuration of a spraying robot to which the method of the present invention is applied.

FIG. 2 is a front view of the spraying robot shown in FIG.

FIG. 3 is an explanatory diagram illustrating a spraying operation of a refractory material by the spraying robot shown in FIG.

FIG. 4 is an explanatory diagram illustrating a spraying operation of a refractory material by the spraying robot shown in FIG.

FIG. 5 is an explanatory diagram illustrating a state in which the spraying robot shown in FIG. 1 avoids interference with a pillar.

[Explanation of symbols]

 1 floor slab (slab) 11 floor slab edge 5 spray robot 51 frame (moving body) 517 control box 52 first arm 522 free caster 53 second arm 56 spray nozzle

Claims (3)

[Claims] 1. A moving body that moves on the slab along an edge of the slab, and an arm that is rotatably supported in a vertical plane at a position near the edge of the slab in the moving body. A spraying robot, comprising: a spraying nozzle that is supported by the arm and that sprays a covering material; a first arm that extends from the movable body portion where the arm is rotatably supported; and a first arm. And a second arm extending from the tip of, the first arm is supported in parallel with the slab at the time of spraying the covering material, and the second arm extends below the slab, When the coating material is not sprayed, the first arm is placed on the frame of the moving body, and the second arm is extended upward on the frame. A method for supporting the arm of a spray robot. 2. The spraying according to claim 1, wherein a caster is provided on the first arm, and the caster comes into contact with the slab when the coating material is sprayed and rotates along a traveling direction of the moving body. Robot arm support method. 3. A control box for accommodating a control system for controlling the movement of the moving body on the slab is provided on the moving body, and the first arm has the control box when the coating material is not sprayed. The method for supporting an arm of a blowing robot according to claim 1 or 2, which is mounted on the arm.