JPH0691585A - Shutter device for protection of distance measuring sensor for spraying robot - Google Patents

Abstract

PURPOSE:To offer a shutter device for protecting distance measuring sensor of a spraying robot, which protects the signal outgoing surface of the distance measuring sensor from floating dust of fire-resisting substance when a fire- resisting substance is being sprayed. CONSTITUTION:When rock wool and cement slurry are caused to be squirted through a rock wool squirt hole 16 and a spray nozzle 17 and sprayed on H- section steel surface, an outgoing surface 19 of an ultrasonic wave sensor 18 is protected from floating dust of rock wool and cement slurry by means of causing a shutter member 21 to close the outgoing surface 19 of the ultrasonic wave sensor 18 provided on the lateral of a gun head 15 on which the rock wool squirt hole 16 and the spray nozzle 17 are provided. It is constructed so that the shutter member 21 opens the outgoing surface 19 of the ultrasonic wave sensor 18 only when rock wool and cement slurry are not sprayed from the rock wool squirt hole 16 and the spray nozzle 17.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a protective shutter device for preventing a sprayed object such as a refractory material from adhering to a distance measuring sensor provided in a spraying robot for spraying a refractory material. Is.

[0002]

2. Description of the Related Art In a high-rise building having a steel frame structure, a refractory containing a mixture of rock wool and cement slurry is sprayed on the surface of a beam or the like. And for spraying such refractories,
BACKGROUND ART Industrial spray robots are used to protect workers and the like from floating dust generated during spraying and to reduce the labor of workers. By the way, in order to spray the refractory material to the steel frame such as the beam with a uniform thickness, it is necessary to keep the distance from the spray nozzle of the spray robot to the surface of the beam or the like constant. Therefore, the above-mentioned spraying robot is provided with a distance measuring sensor for measuring the distance from the spraying nozzle to the surface of the beam or the like, and based on the distance measurement result, the distance from the spraying nozzle to the beam or the like becomes constant. The position of the spray robot is controlled.

[0003]

As the distance measuring sensor described above, a sensor utilizing a signal such as an ultrasonic wave or a light wave is used. However, floating dust generated during spraying of a refractory material causes a change in the signal of the sensor. When attached to the exit surface,
In some cases, the accuracy of distance measurement of the sensor may be affected, which may affect the position control of the spray robot, and the refractory may not be sprayed with a uniform thickness.

The present invention has been made in view of the above situation, and provides a distance measuring sensor protecting shutter device for a blowing robot that protects the signal emitting surface of the sensor from the floating dust when a refractory is sprayed. The purpose is to

[0005]

In order to achieve the above object, the present invention provides a spray nozzle which is arranged so as to face an object on which a coating material is sprayed and which sprays the coating material toward the surface of the object. A distance measuring sensor that is attached to the blowing nozzle and that measures a distance from the blowing nozzle to the surface of the object; and a distance measuring signal that is provided at a portion of the distance measuring sensor facing the object. A shutter member for protecting the signal emitting surface of the distance measuring sensor in a blowing robot having a signal emitting surface emitted toward the surface of an object, the shutter member opening and closing the signal emitting surface of the distance measuring sensor. And a shutter drive source for opening and closing the shutter member, and an opening and closing movement of the shutter member by the shutter drive source in association with the ejection operation of the covering material from the spray nozzle. Characterized in that it comprises a shutter control means for controlling.

Further, in the present invention, the spraying robot further includes a compressed air source for supplying compressed air for spraying the coating material from the spraying nozzle to the spraying nozzle, and the shutter drive source is provided with the compressed air source. An actuator that operates by the compressed air from the compressed air source to open and close the shutter member is provided. Furthermore, in the present invention, the spray robot is
The shutter drive source further includes a first supply path through which compressed air supplied from the compressed air source to the blowing nozzle passes, and a first valve that opens and closes the first supply path. A second supply path through which the compressed air supplied from the air source passes, and a second supply path that is controlled by the shutter control means and that opens when the first valve opens the first supply path. A second valve that is closed and that opens the second supply passage when the first valve closes the first supply passage is provided.

Further, in the present invention, the spraying robot further comprises nozzle control means for controlling the opening / closing operation of the first valve, the first valve also serving as the second valve. The control means is configured to also function as the shutter control means.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is an explanatory diagram showing a schematic configuration of a spray robot including a shutter device according to an embodiment of the present invention. In FIG. 1, reference numeral 11 is a self-propelled carriage, and a lift 12 capable of moving up and down is provided on the upper portion thereof. Lift 1
2 is provided with an ultrasonic sensor 13 for measuring the height of elevation from the self-propelled carriage 11, and an articulated arm 14 is provided on the lift 12. A gun head 15 is provided at the tip of the multi-joint arm 14.

The gun head 15 is, as shown in FIG.
The H steel 30 (corresponding to the target object) is arranged so as to face the web upper part 31, the web lower part 32, and the upper and lower flanges 33, 34 (both correspond to the surface of the target object). A rock wool outlet 16 is provided in the center of the gun head 15. A tube 41 is connected to the rock wool outlet 16 as shown in FIG. As shown in FIG. 1, a rock wool spraying machine 42 is connected to the tube 41, and a blower 44 is connected to the rock wool spraying machine 42 via a tube 43. Rock wool (not shown) is stored in the rock wool spraying machine 42, and the rock wool in the rock wool spraying machine 42 that receives the wind from the blower 44 is the tube 4
Sent to the rock wool outlet 16 of the gun head 15 via 1.
Further, from the rock wool outlet 16 to the upper portion 31 of the H steel 30 web.
And is blown toward the web lower part 32 and the upper and lower flanges 33, 34.

Further, as shown in FIG. 2, the rock wool outlet 16
A plurality of spray nozzles 17 for spraying the cement slurry are provided around, and each spray nozzle 17 is
Hollow part formed inside the gun head 15 (not shown)
Communicate with each other through. As shown in FIG. 2, an air hose 51 (corresponding to a first supply path) and a tube 61 are connected to the hollow portion inside the gun head 15, and the air hose 51 includes the solenoid valve 52 and the air hose 53 shown in FIG. Is connected to the compressor 45 (corresponding to a compressed air source) via.

On the other hand, the tube 61 is connected to the slurry pump 46 shown in FIG. 1, and a slurry mixer 47 is connected to the slurry pump 46 as shown in FIG. Therefore, the compressed air (not shown) from the compressor 45 and the cement slurry (not shown) agitated by the slurry mixer 47 are supplied to the hollow portion in the gun head 15 by the compressed air. The cement slurry is sprayed from a plurality of spray nozzles 17 to the upper web 31 and the lower web 32 of the H steel 30, the upper and lower flanges 33,
It is ejected toward 34.

Further, as shown in FIG.
An ultrasonic sensor 18 (corresponding to a distance measuring sensor) for measuring the distance from the spray nozzle 17 to the web upper part 31, the web lower part 32, and the upper and lower flanges 33, 34 of the H steel 30 which the spray nozzle 17 faces. ) Is provided, and a rotary actuator 20 (corresponding to an actuator) is attached to a side portion of the ultrasonic sensor 18.
As shown in FIG. 2, the rotary actuator 20 is provided with a shutter member 21. In the shutter member 21, ultrasonic waves for distance measurement have an upper portion 31 of the H steel 30 web.
The emission surface 19 (corresponding to a signal emission surface) of the ultrasonic sensor 18 which is emitted toward the web lower portion 32 and the upper and lower flanges 33, 34 is opened and closed.

Further, as shown in FIG. 2, an air hose 54 (corresponding to a second supply path) is connected to the rotary actuator 20. The air hose 54 is connected to the compressor 45 via the solenoid valve 52 and the air hose 53 shown in FIG. Therefore, the compressed air from the compressor 45 is supplied to the rotary actuator 20, and the rotary actuator 20 is rotationally driven in the direction in which the shutter member 21 opens the emitting surface 19 of the ultrasonic sensor 18 in response to the supply of the compressed air. .

The rotary actuator 20 is provided with an urging mechanism, and the shutter member 21 normally closes the emitting surface 19 of the ultrasonic sensor 18 by the urging force of the urging mechanism. When compressed air is supplied to the rotary actuator 20 from the compressor 45, the rotary actuator 20 operates against the urging force of the urging mechanism, and the shutter member 21 opens the emitting surface 19 of the ultrasonic sensor 18.

The solenoid valve 52 includes an air hose which communicates with the air hose 53 via the solenoid valve 52, and the air hose 51 and the air hose 54.
Specifically, the air hose 54 is closed when the air hose 51 is opened, and the air hose 54 is opened when the air hose 51 is closed. In this embodiment, the first valve and the second valve are solenoid valves 52.

In FIG. 1, 70 is a control unit,
It is installed behind the self-propelled carriage 11. The control unit 70 inputs the results of distance measurement by the robot control panel 71 that controls the drive of the self-propelled carriage 11, the lift 12, the articulated arm 14, and the rock wool spraying machine 42, and the ultrasonic sensors 13 and 18. And the solenoid valve 5
The shutter control panel 72 controls the opening / closing operations of the air hoses 51 and 54 by the control unit 2, and the plant control panel 73 controls the drive of the compressor 45 and the slurry pump 46. Shutter control board 72 and robot control board 71
Is connected to feed back the distance measurement results by the ultrasonic sensors 13 and 18 to drive control of the lift 12 and the articulated arm 14.

Further, the control unit 70 controls the height of the lift 12 from the self-propelled carriage 11 measured by the ultrasonic sensor 13 and the blowing nozzle 17 measured by the ultrasonic sensor 18 to the H steel 30. A display panel 74 that displays the web upper part 31, the web lower part 32, and the distances to the upper and lower flanges 33 and 34, and a simple operation panel 75 that inputs the size of the H steel 30, the spraying location, and the spray start and stop. Is equipped with. In this example,
The shutter control means and the nozzle control means comprise a shutter control board 72.

Next, the operation of the blowing robot of the present embodiment constructed as described above will be described focusing on the opening / closing operation of the emitting surface 19 of the ultrasonic sensor 18 by the shutter member 21.
This will be described with reference to the timing chart of FIG. First,
By the control of the robot control panel 71, the self-propelled carriage 11,
When the lift 12 and the articulated arm 14 are driven to move the gun head 15 to a predetermined position facing the H steel 30, the calculation operation of the main program shown in the upper part of FIG. 4 starts.

Here, the solenoid valve 52 is switched to the side where the air hose 51 is closed and the air hose 54 is opened under the control of the shutter control panel 72 in accordance with a personal computer (hereinafter abbreviated as PC) program shown in the lower part of FIG. Compressed air from the compressor 45 is supplied to the rotary actuator 20. Along with this, the rotary actuator 20 operates and the shutter member 21 opens the emission surface 19 of the ultrasonic sensor 18, and the ultrasonic sensor 18 causes the spray nozzle 17 to move the upper web 31, the lower web 32, and the upper and lower flanges 33, 34.
The distance to is measured.

At this time, as shown in the PC program,
The rock wool spraying machine 42 is stopped by the control of the robot control board 71, and the slurry pump 46
Also, the drive is stopped by the control of the shutter control panel 72. Therefore, during the calculation operation of the main program,
Distance measurement by the ultrasonic sensor 18 and calculation of the amount of movement of the gun head 15 based on the measurement result and the size of the H steel 30 input from the simple operation panel 75 and information on the sprayed portion are performed.

When the calculation operation of the main program is completed, as shown in the PC program, the rock wool spraying machine 42 is driven by the control of the robot control board 71, and the blower 44 is driven.
From the rock wool sprayer 42 by the wind from the gun head 1
Rock wool is sent to the rock wool outlet 16 of No. 5. At this time, PC
As shown in the program, the slurry pump 46 is kept stopped by the control of the shutter control panel 72,
The switching direction of the solenoid valve 52 is also the air hose 51.
Is closed and the air hose 54 is left open. Therefore, the shutter member 21 continues to open the emission surface 19 of the ultrasonic sensor 18.

After that, when the upper flange spraying operation of the main program is started after a slight interval, the gun head 15 is directed to the upper flange 33 of the H steel 30 by the control of the robot control board 71 during a predetermined time. Based on the measurement result of the ultrasonic sensor 18, the gun head 15 is positioned at a position separated from the upper flange 33 of the H steel 30 by a predetermined distance. Then, as shown in the PC program, the slurry pump 46 is driven by the control of the shutter control panel 72, and the switching direction of the solenoid valve 52 is controlled by the shutter control panel 72 to open the air hose 51 and close the air hose 54. Switch to the side.

Along with this, the cement slurry stirred by the slurry mixer 47 and the compressed air from the compressor 45 are supplied to the hollow portion inside the gun head 15, and the compressed air causes the cement slurry to flow from the plurality of spray nozzles 17 to H. It is jetted toward the upper flange 33 of the steel 30. Then, due to the jet pressure of the cement slurry from the spray nozzle 17, the rock wool blown out from the rock wool outlet 16 is also blown onto the upper flange 33 of the H steel 30.

The solenoid valve 52 is switched and the air hose 54 is closed, so that the supply of compressed air to the rotary actuator 20 is stopped and the shutter member 21 is emitted from the ultrasonic sensor 18 by the urging force of the rotary actuator 20. Close surface 19.

After a predetermined time has passed from the drive of the slurry pump 46, the rock wool spraying machine 42 is stopped by the control of the robot control panel 71 as shown in the PC program, and further input from the simple operation panel 75. H steel 3 based on the size of H steel 30 and the information on the sprayed location
When a predetermined amount of rock wool or cement slurry is sprayed on the upper flange 33 of 0, as shown in the PC program, the rock wool spraying machine 42 is driven by the control of the robot control board 71, and the slurry pump 46 is operated by the shutter control board 72. The drive is stopped by the control of. At the same time, the solenoid valve 52 is switched to the side where the air hose 51 is closed and the air hose 54 is opened under the control of the shutter control panel 72, and the rotary actuator 20 is connected to the compressor 4
Compressed air from 5 is supplied, and the shutter member 21 opens the emission surface 19 of the ultrasonic sensor 18.

Thereafter, when a predetermined time has passed and the upper flange blowing operation of the main program is completed, the gun head 15 is directed to the web upper portion 31 of the H steel 30 by the control of the robot control panel 71 during a predetermined time. Then, based on the measurement result of the ultrasonic sensor 18, the gun head 15 is positioned at a position separated from the web upper portion 31 of the H steel 30 by a predetermined distance. Then, as shown in the PC program, the slurry pump 46 is driven by the control of the shutter control panel 72, and the switching direction of the solenoid valve 52 is controlled by the shutter control panel 72 to open the air hose 51 and close the air hose 54. Switch to the side.

Along with this, the cement slurry is jetted from the plurality of spray nozzles 17 toward the upper portion 31 of the web of the H steel 30, and by the jet pressure of the cement slurry from the spray nozzles 17, the cement slurry is sprayed from the rock wool outlet 16. The formed rock wool is also sprayed on the upper flange 33 of the H steel 30. Then, after that, the same operation as the upper flange spraying operation of the main program is repeatedly performed, and the spraying of rock wool or cement slurry is performed on the web upper part 3 of the H steel 30.
1, the web lower portion 32, and the lower flange 34 are successively performed in this order, and the operation is completed. In addition, the period A in FIG.
0 web upper part 31, web lower part 32, upper and lower flange 3
The period during which rock wool or cement slurry is actually sprayed on 3,34 is shown.

As described above, in the spraying robot of this embodiment, when the rock wool or the cement slurry is sprayed on the upper web 31, the lower web 32, and the upper and lower flanges 33, 34 of the H steel 30, the shutter member 21 is an ultrasonic sensor. The exit surface 19 of the ultrasonic sensor 18 is closed to protect the exit surface 19 of the ultrasonic sensor 18 from floating dust of rock wool or cement slurry, and the shutter member 21 is not exposed when the rock wool or cement slurry is not sprayed. The emission surface 19 of the sound wave sensor 18 is opened. Therefore, floating dust of rock wool or cement slurry blown out from the rock wool outlet 16 or the spray nozzle 17 adheres to the emitting surface 19 of the ultrasonic sensor 18,
The measurement accuracy of the ultrasonic sensor 18 thereafter is prevented from being affected.

Further, in the spraying robot of this embodiment,
Since the compressor 45 for ejecting the cement slurry from the spray nozzle 17 and the rotary actuator 20 operated by the compressed air from the compressor 45 are provided as the drive source for opening and closing the shutter member 21, the shutter member 21 is opened and closed. There is no need to provide a new drive source for this purpose, which is advantageous in terms of cost.

In this embodiment, the air hoses 51 and 54 are
The solenoid valve 52 controls both opening and closing of the solenoid valve 52, and the shutter control panel 72 controls the solenoid valve 52. However, each of the air hoses 51 and 54 is opened and closed by an individual valve, and each valve is controlled individually. The configuration may be performed by the control means. The drive source for opening and closing the shutter member 21 is not limited to the rotary actuator 20 that operates with compressed air and the compressor 45 that supplies compressed air as shown in the embodiment, but a combination of a hydraulic pump and a hydraulic cylinder, etc. It may be due to.

In this embodiment, a spraying robot for spraying rock wool or cement slurry onto the web upper portion 31, the web lower portion 32, and the upper and lower flanges 33 and 34 of the H steel 30 has been described as an example. It goes without saying that the present invention can also be applied to a spraying robot that sprays onto other members such as a floor, and a spraying robot that sprays paint other than rock wool and cement slurry, for example.

[0032]

As described above, according to the present invention, a spraying nozzle arranged to face an object on which a coating material is sprayed, a distance measuring sensor attached to the spraying nozzle,
A blowing robot including a signal emitting surface from which a signal for distance measurement of a distance measuring sensor is emitted toward the surface of an object, a shutter member that opens and closes the signal emitting surface, and a shutter drive source that opens and closes the shutter member, Provided is a shutter control means for controlling the opening / closing operation of the shutter member by the shutter drive source in conjunction with the spraying operation of the coating material from the spraying nozzle, while the coating material is sprayed from the spraying nozzle toward the object. Since the signal emitting surface of the distance measuring sensor is closed by the shutter member, the signal emitting surface of the distance measuring sensor can be protected from floating dust when the refractory is sprayed, and these floating dust adhere to the signal emitting surface. Therefore, it is possible to prevent the measurement accuracy of the distance measuring sensor from being affected.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a schematic configuration of a blowing robot including a shutter device according to an embodiment of the present invention.

FIG. 2 is an enlarged perspective view of the gun head shown in FIG.

FIG. 3 is an explanatory diagram showing a schematic configuration of a compressed air supply path from the compressor shown in FIG. 1 to a hollow portion of the gun head and a rotary actuator.

FIG. 4 is a timing chart showing a flow of operations of main parts of the spray robot shown in FIG.

[Explanation of symbols]

17 Spray Nozzle 18 Ultrasonic Sensor (Distance Measuring Sensor) 19 Emitting Surface (Signal Emitting Surface) 20 Rotary Actuator (Actuator) 21 Shutter Member 30 H Steel (Target) 31 Web Top (Target Surface) 32 Web Bottom (Target) Surface 33 Upper flange (object surface) 34 Lower flange (object surface) 45 Compressor (compressed air source) 51 Air hose (first supply path) 52 Solenoid valve (first and second valve) 54 Air hose (second supply) 72) Shutter control panel (shutter control means, nozzle control means)

Claims (4)

[Claims] 1. A spray nozzle, which is arranged so as to face a target object on which a coating material is sprayed, and which sprays the coating material toward the surface of the target object; and a spray nozzle attached to the spray nozzle, the target object being sprayed from the spray nozzle. A distance-measuring sensor for measuring the distance to the surface of the distance-measuring sensor, a signal emitting surface that is provided at a position facing the object of the distance-measuring sensor, and a signal for distance measurement is emitted toward the surface of the object, A shutter device for protecting a signal emitting surface of the distance measuring sensor in a blowing robot having, a shutter member for opening and closing the signal emitting surface of the distance measuring sensor, and a shutter drive source for opening and closing the shutter member, Shutter control means for controlling the opening / closing operation of the shutter member by the shutter drive source in conjunction with the ejection operation of the coating material from the spray nozzle. Distance measuring sensor protecting shutter device spraying robot, characterized in that. 2. The blowing robot further includes a compressed air source for supplying compressed air for ejecting the coating material from the blowing nozzle to the blowing nozzle, and the shutter drive source includes the compressed air. The shutter device for protecting the distance measuring sensor of the blowing robot according to claim 1, further comprising an actuator that is operated by compressed air from a source to open and close the shutter member. 3. The blowing robot further includes a first supply passage through which compressed air supplied from the compressed air source to the blowing nozzle passes, and a first valve that opens and closes the first supply passage. A second supply path through which the compressed air supplied from the compressed air source to the actuator passes, and the shutter control means controls the shutter drive source to have the first valve through the first supply path. A second opening which closes the second supply passage when opened and a second opening which opens the second supply passage when a first valve closes the first supply passage
The shutter device for protecting the distance measuring sensor of the blowing robot according to claim 2, further comprising a valve. 4. The spraying robot further comprises nozzle control means for controlling the opening / closing operation of the first valve, the first valve also serving as the second valve, and the nozzle control means is provided. The shutter device for protecting the distance measuring sensor of the blowing robot according to claim 3, wherein the shutter device also serves as shutter control means.