JPH074779B2 - Working method by wall work robot - Google Patents

Description

Description: [Industrial application] The present invention relates to a work method by a wall work robot suitable for high-place work for a wall surface of a building or other structure. This is to enable efficient work while avoiding existing obstacles, or to detect work target grooves in advance and work.

[Prior Art] For structures such as buildings, ships, power plants, tanks, chimneys, and bridges, work must be performed on the wall surfaces during and after construction, such as cleaning and repairing their outer wall surfaces. There are many things that must be done.

Conventionally, in such wall surface work, the gondola is hung from the rooftop part with a wire rope, and the work is done by an operator who rides inside the gondola. A robot has been developed and only window cleaning is performed on behalf of an operator, and it is desired to develop a robot for wall surface work capable of various wall surface work.

[Problems to be Solved by the Invention] When a wall work of such a structure is to be performed by a robot, it may be necessary to avoid obstacles on the wall surface depending on the work content.

For example, when peeling a coating film with a water jet or spraying paint, the window part becomes an obstacle and it is necessary to avoid this work, and conventionally, the water jet is stopped only while passing through this window part. , Stop spraying,
After passing, it works again.

For this reason, there is a problem that the operation becomes useless while passing over the obstacle, and if the obstacle becomes large, the work efficiency also deteriorates.

Also, as one of the wall works for buildings, there is a peeling work and a filling work of the sealing material to the sealing groove of the joint part, and when trying to perform this with the wall work robot,
In many cases, the actual joints are not always horizontal or vertical, which may make it difficult to work smoothly.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a work method by a robot for a wall surface work which can avoid the obstacle even if there is an obstacle on the work wall.

Further, the present invention is to provide a working method by a wall surface working robot which can detect a groove on a work wall surface in advance and can work based on the detection result.

[Means for Solving the Problems] In order to solve the above problems, a working method by a robot for wall surface work according to the present invention is such that the wall surface is suspended from the upper part of the wall surface through a cord and a winder to move up and down and move laterally. When performing wall surface work with a wall surface work robot that can move with one or more degrees of freedom with respect to a wall surface, the work area of the wall surface work robot is preliminarily free of obstacles and in the presence of obstacles. And move the robot while detecting the distance between the wall work robot and the wall surface, detect obstacles based on the change in distance, and move the work area where there are no obstacles until the obstacles are detected. On the other hand, when an obstacle is detected, the movement width is changed based on the coordinates of the point, and the work area is moved while the obstacle is removed. It is a feature.

Further, according to the work method by the wall surface work robot of the present invention, the work is suspended from the upper part of the wall surface via the rope and the winder to move up and down and move laterally, and at the same time, move with respect to the wall surface with one or more degrees of freedom. When performing wall surface work with a possible wall surface work robot, move the wall surface work robot in advance so as to cross the groove at both ends of the groove to be worked, and change the position of both ends of the groove from the change in the distance between the wall surfaces. reading,
It is characterized in that the trajectory of the groove is calculated based on the read values of these groove positions, and then the wall surface working robot is moved to perform the operation in accordance with the calculation result.

[Operation] According to this work method by the wall surface work robot, the wall surface work robot is moved in the entire lateral width of the work area and in the vertical direction at the moving end while detecting the distance between the wall surfaces in the predetermined work area. When performing wall surface work while moving in combination with shift, the obstacle is detected from the change in the distance between the wall surfaces, the coordinates of the point where the obstacle is detected are read, and the lateral movement width up to this point The work is performed, and a combination of horizontal movement and elevation is used to eliminate the waste of passing the obstacle portion and to perform the work efficiently.

Furthermore, while moving so as to traverse both ends of the groove to be worked, the distance between the wall surfaces is detected, the positions of both ends of the groove width are read, and the trajectory of the groove is calculated, and based on this trajectory. The work is performed on the groove, and even in the case of a narrow groove, useless movement is eliminated and wall surface work can be performed efficiently.

Embodiment An embodiment of the present invention will be described in detail below with reference to the drawings.

The wall work robot 10 to which the work method of the present invention is applied
As shown in the schematic perspective view of FIG.
It is hung from above, and can be moved up and down and moved laterally by this upper moving mechanism 11.

The upper moving mechanism 11 for moving the entire wall surface working robot 10 is configured similarly to that of a wall surface working gondola. A rail support 12, which is not shown, is fixed to a parapet portion such as a roof so that the rail support 12 can be rotated about a vertical axis, and a temporary traverse rail 13 is attached to the rail support 12 along the upper portion of the work wall surface. Two traverse trolleys 14 are mounted on the temporary traverse rail 13 so that the traverse trolleys 14 can travel, and a wire 15 as a cord is suspended from each traverse trolley 14. The wall work robot 10 is hung on each wire 15 via a winder (endless winder) 16.

Therefore, the wall surface working robot 10 suspended via the wire 15 can be moved up and down by winding and rewinding the wire 15 by the winder 16, and can be moved laterally by moving the traverse trolley 14.

The lateral movement may be performed by installing a drive motor and a control device in the traverse trolley 14 so as to be self-propelled, or may be made non-driven to follow the lateral movement of the wall surface working robot 10.

As shown in FIGS. 1 and 2, the wall work robot 10 has a total of 4 axes including three axes (X, Y, Z) in the Cartesian coordinate system and one axis (β) in the wrist.
It is configured to have a degree of freedom of axes, and an arm is added to the Y axis and the Z axis to expand the working range.

X-axis system: X-axis module X-axis module that moves in the horizontal axis parallel to the work wall
Reference numeral 20 includes a guide rail 21 and an X-axis slider 22 that runs along the guide rail 21, and the winder 16 is connected to both ends of the guide rail 21 and is suspended by a wire 15. .

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

Y-axis system: Y-axis module Y-axis module that moves in the vertical axis direction parallel to the work wall
A guide 31 is attached to the back surface of the X-axis slider 22 of the X-axis module 20, and a ball screw 32 is installed in the guide 31 so that the AC servo motor 33 directly drives the drive.

This ball screw 32 has a Y attached with a ball nut.
The shaft slider 34 is screwed in 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
Is guided to the side surface of the Y-axis slider 34 of the Y-axis module 30.
41 is attached, a ball screw (not shown) is installed in the inside, and is directly connected and driven by the AC servo motor 42.

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

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 parallel link type arms.

A first arm 51 is rotatably supported by the Z-axis slider 43 to serve as a driving part, and a second arm 52 parallel to the first arm 51 is rotatably mounted on 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 rotatably connected by the third arm 54. In addition, at the tips of the first arm 51 and the second arm 52, a fourth arm 55 for wall surface work is provided.
Are rotatably connected.

Therefore, the upper end portion of the first arm 51 has the Y-axis module 30.
When moved in the Y-axis direction and the Z-axis direction by the Z-axis module 40, the amount of movement is increased to the enlargement ratio of the arm, for example, 5: 1, and the tip portion of the fourth arm 55 is moved.

β-axis system: β-axis module This β-axis module 60 is a rotary shaft around a horizontal axis that is provided at the tip of the arm module 50 and is parallel to the work wall surface. It is for switching to

This β-axis module 60 has a rotary shaft 61 that is rotatable at both ends protruding from the tip of the fourth arm 55 of the arm module 50.
Is provided, and the second arm is driven by the AC servo motor 62 mounted on the bracket 53 that supports the pivot of the second arm 52.
52 and a chain (not shown) arranged in the fourth arm 55 so as to be inverted and driven.

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

This wall surface work robot 10 is provided with a fixing device 70 that secures a fixed state during wall surface work and serves as one leg during wall surface movement, and is attached to both ends of the guide rail 21 of the X-axis module 20. There is.

As shown in FIGS. 1 and 2, in this fixing device 70, a support base 71 is attached in the Z-axis direction perpendicular to the work wall surface, and a fixing arm 73 is supported by two sets of parallel links 72 on the left and right sides. The rod of the pneumatic cylinder 74 is connected to a pair of parallel links 72 on the inner side so that it can be reciprocally driven.

Further, two vacuum suction pads 76 are attached to the tip end of the fixed arm 73 via a rotary shaft 75 that rotates around its central axis (axis parallel to the Z axis). The position of the vacuum suction pad 76 can be changed by 90 degrees by rotating the.

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

In this controller 80, the motors of the left and right winders 16, the AC servomotor 24 of the X-axis module 20, and the AC of the Y-axis module 30 are used.
Servo motor 33, AC servo motor 42 of Z-axis module 40
Also, the AC servo motor 62 of the β-axis module 60 is numerically controlled by the controller 81.

The speeds of the motors of the left and right winders 16 are controlled by the inverters 82, and the left and right tilts due to the characteristic difference between the two winders 16 are detected by the tilt angle sensor (not shown), and the automatic tilt correction 83 is performed. Done.

Module 4 axis (X, Y, Z, β) AC servo motor 24,33,4
2, 62 is driven by a dedicated servo driver 84 in response to a command from the controller 81, and position detection is performed by the built-in encoder 2
5,35,44,67, for example, the semi-closed type feedback control is performed and the servo driver
A deviation counter is built in as 84, and each can be
Controls AC servo motors 24, 33, 42, 62.

In addition, each axis (X, Y, Z, β) controlled by AC servo motor
A limit switch 85 for the origin and a limit switch 86 for preventing overrun are attached to each of them and input to the controller 81.

Further, sensors necessary for work are attached to each part of the wall surface work robot 10, for example, an ultrasonic sensor 66 as a distance sensor for keeping a distance to the work wall surface constant.
Are attached and input to the controller 81 via the A / D converter 87.

Furthermore, a television camera or the like for monitoring the work from the ground is installed as needed.

Further, the controller 81 is controlled by the teaching contents input offline in advance using the personal computer 88. The programming on the personal computer 88 is such that the teaching operation to the robot is performed in a state where the external environment is modeled in advance based on the external view of the building and the like, and the completed program is input to the controller 81. A method of confirming the teaching result by simulation is adopted, which facilitates teaching and enhances versatility of the wall surface working robot 10.

A method of working on the wall surface by the wall surface working robot 10 thus configured will be described together with the operation of the control device 80.

(1) Obstacle avoidance operation To avoid obstacles required for the wall work robot 10,
There are roughly two types, one of which is to avoid obstacles during work, and the other is to avoid obstacles during adsorption when moving on a wall surface.

Obstacle avoidance at the time of work Various work by the wall work robot 10 can be considered, but for example, in peeling of a coating film / paint spraying work, it is necessary to avoid the window part, and in this case, The window is an obstacle to work.

Therefore, since an obstacle such as a window portion usually has a step (protruding or denting) with respect to the work wall surface, the ultrasonic sensor 66 as the distance sensor described above is used to detect the obstacle. Try to work while doing.

An outline of an example of the avoidance operation for this purpose and a control flowchart are shown in FIGS. 5 and 6.

To avoid this obstacle, as shown in FIG. 5, when there is an obstacle A such as a window portion in a predetermined work area X1, X2, Y1, Y2, regarding the upper part P-1 of the obstacle A, Work is performed by giving a shift amount Q in the Y1-Y2 direction while reciprocating between the entire width of the work area X1-X2.

When the ultrasonic sensor 66 detects an obstacle, the
The X and Y coordinates are stored, and the width of the work area is set to the range of X2-Q1 this time.
The work is performed while giving the shift amount Q in the Y2 direction.

When the work progresses to reach Q2 below the obstacle A, as in the case of the upper part, the lower part P-3 of the obstacle A moves back and forth between the entire width X1-X2 of the work area in the Y1-Y2 direction. Give a shift amount Q to and work, and hit the corner of the work area (X
Work up to 1, Y2).

Finally, the work on the remaining portion P-4 on the side of the obstacle A is performed in the same manner as in the case of P-2, and all the work is completed.

Depending on the position of the obstacle A, P-1 above the obstacle A
After that, the work from the left side portion P-5 of the obstacle A to the portion P-6 below the obstacle A may be performed, and finally, the work of the left side portion P-7 may be performed. In this case, the work order of P-5, P-6, and P-7 is different.

To control such work, as shown in FIG. 6, first, as an initial setting, the work area X is set in the controller 81.
A shift amount Q in the Y1-Y2 directions determined by 1, X2, Y1, Y2 and the size of the tool 91 is set.

Move the tool 91 in the Z-axis direction so that it approaches the wall surface,
Start work.

At the same time, along with a command to move in the X1 direction, a: a signal for starting the sensing by the ultrasonic sensor 66 is output, and constant sensing is performed during the move.

When the obstacle A is detected by the ultrasonic sensor 66, the movement of the tool 91 is stopped and at the same time, the sensing is stopped and the control program of the work area is changed from P-1 to P-2.

The coordinates of the obstacle detection position Q1 are read at the time of initial setting when the control program P-2 is changed, and the program is executed according to the coordinates.

On the other hand, if the obstacle A is not detected, after moving to X1, the shift amount Q in the Y1-Y2 direction is output, and then movement and work in the X2 direction are performed, and at the same time, c:
Again, the sensing start signal from the ultrasonic sensor 66 is output, and sensing is always performed during movement.

If obstacle A is detected during this movement in the X2 direction, the tool
At the same time as the movement of 91 stops, sensing is stopped and the control program of 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 Q1 'are read, and the program is executed according to the coordinates.

On the other hand, when the obstacle A is not detected, after moving to X2, the shift amount Q in the Y1-Y2 direction is output, and then the movement and work in the X2 direction are performed.

By repeating such operations, the work is performed while avoiding the obstacle A such as the window portion.

Therefore, as compared with the conventional case where painting is stopped only in the range of the obstacle A while the movement pattern is P-1, the work can be performed efficiently without wasteful operation.

Further, even if the obstacle A is located at any position in the work area, the work can be avoided by dividing the control program into P-1 to P-7.

Detection of work target groove and creation of movement trajectory Some of the wall surface work includes removal of deteriorated sealing material, cleaning and filling of sealing material.Detecting the sealing groove to be worked and turning the tool into the sealing groove. Have to move along.

In this case, unlike the case of the obstacle A such as a window, the groove width is small, and therefore the same control as the obstacle avoidance increases the number of unnecessary operations.

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

An outline of an example of the detection operation for this purpose and a flow chart of control are shown in FIGS. 7 and 8.

The detection of the sealing groove 92 is performed by laterally moving the ultrasonic sensor 66 corresponding to the upper portion and the lower portion where the presence of the sealing groove 92 is expected, detecting both end edges of the sealing groove 92, and detecting the sealing groove 92 from each coordinate value. The locus of is calculated.

That is, by default, the position above the sealing groove 92
Set P1 'and P1 "and lower positions P2' and P2".

At the same time that the ultrasonic sensor 66 is moved to a predetermined point P1 'and brought closer to a predetermined distance S with respect to the wall surface, and a signal for moving in the P "direction is output, and at the same time, Is output and sensing is always performed during movement.

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

While further moving, b: Sensing is performed, and the coordinate value P6 of the other edge of the sealing groove 92 is read at the detection of the next step.

After that, the lower part of the sealing groove 92 is similarly sensed to read the coordinate values P7 and P8 corresponding to the edges of the sealing groove 92.

The coordinates P1 and P2 of the center of the sealing groove 92 are obtained from the thus read coordinate values P5 to P8, and the locus of the sealing groove 92 is obtained by linear interpolation from the coordinates P1 and P2 of these upper and lower centers.

After the trajectory of the sealing groove 92 is obtained in this way, a tool 91 for peeling the sealing material is attached to the tool bracket 63 to perform work, or a tool for filling the sealing material.
Perform the prescribed work such as mounting 91.

As described above, the work for a narrow groove such as the sealing groove 92 is divided into the work for detecting the groove and the work based on the locus obtained based on the detection result, and the work is performed in two stages, whereby the work can be performed efficiently. it can.

Avoiding obstacles during suction walking Vacuum suction pads 64,76 due to the effects of steps and joints on the outer wall
It is assumed that normal vacuum pressure cannot be obtained when is pressed against the wall surface.

For this reason, it is necessary to perform an avoiding operation after the abnormal vacuum pressure is detected by a pressure sensor (not shown) provided on the vacuum suction pads 64 and 76 so that the suction can be performed again.

First, in the fixing device 70 serving as the fixed leg, as described above, the vacuum suction pad 76 is attached via the rotating shaft 75, and when the abnormal vacuum pressure is detected, the controller 81 vacuum suction pad 76. Rotate 90 degrees (two vacuum suction pads 76
Output from the control signal so that they are adsorbed again.

With the vacuum suction pad 64 at the tip of the arm module 50 that is the movable leg, the suction position cannot be changed even by rotating the rotation shaft 61 of the β-axis module 60, so the controller
The amount of movement of the tip of the arm module 50 (for example, the amount of movement to the top or the bottom, or to the left or the right) when an abnormal vacuum pressure occurs in the vacuum suction pad 64 is previously input to 81,
Based on this set value, the position of the vacuum suction pad 64 is moved and re-sucked.

When the position of the tip of the arm module 50 is moved, the step length at the time of moving the wall surface changes, but this change amount is corrected by calculation in the controller 81 to control the wall surface movement, and the influence thereof should be removed. I have to.

By controlling the controller 81 so as to change the suction positions of the vacuum suction pads 64 and 76, it is possible to avoid the suction abnormality and perform the complete suction.

In addition to performing wall work while avoiding such obstacles, the wall work robot 10 also performs the following various operations and controls.

(1) Moving to the work position on the wall surface To move to the work position on the wall surface, rotate the rotating shaft 61 of the β-axis module 60 at the tip of the arm module 50 so that it is positioned so as to face the wall surface. The vacuum suction pad 64 and the vacuum suction pad 76 of the fixing device 70 are alternately sucked, and as shown in FIG.

In this case, the wall work robot 10 has the upper movement mechanism 11
It is suspended by the wire 15 through the winder 16 of the stand,
In order to perform smooth vertical movement, it is necessary to perform an operation on the side of the wall work robot 10 that functions as a leg and a synchronous rotation with the winder 16 of the upper moving mechanism 11.

Therefore, one of the upper moving mechanism 11 on the winder 16 side and the moving mechanism of the wall surface work robot 10 is used as a main moving mechanism, and the other is made to follow as a sub moving mechanism.

Therefore, only the raising / lowering operation, which is one of the wall surface movements, will be described with reference to FIG. 10 in which control blocks are extracted and shown in FIG.

For example, when the upper moving mechanism 11 is used as the main moving mechanism and the wall surface working robot 10 side is made to follow, after the vacuum suction pad 64 of the arm module 50 that functions as the movable leg is sucked onto the wall surface, the main moving up and down is performed. 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 limiting the current so that the vertical movement of the winder 16 is followed.

The encoder 35 incorporated in the AC servo motor 33 of the Y-axis module 30 detects the ascending / descending position, and ON-OF is applied to the inverter 82 that controls the speed of the winder 16 according to the detected value.
F Servo control signal is output.

That is, after the initial setting such as the position to be raised and the length of one stride is performed, the vacuum suction pad 64 at the tip of the arm module 50 is raised and sucked at a predetermined position.

After that, the suction by the vacuum suction pad 76 of the fixing device 70 is released, and the wall surface work robot 10 can be moved.

A signal for limiting the current is output to the AC servo motor 33 of the Y-axis module 30 so that it is in a state of being balanced with its own weight.

At the same time as outputting a rising rotation signal to the motor of the winder 16, the Y-axis module 30 is moved up while keeping the tip position of the arm module 50 as a movable leg held.

The amount of increase in this case is the AC servo motor of the Y-axis module 30.
It is detected by the encoder 35 built into 33, and when the position is set as the position set as one step,
A stop signal is output to the winder 16.

After this, the vacuum suction pad of the fixing device 70 as the fixed leg.
Vacuum suction is performed by 76, and the vacuum suction pad 64 at the tip of the arm module 50 as a movable leg is opened.

Then, when it is necessary to further raise the arm, the arm tip of the arm module 50 as a movable leg is moved upward and the above-mentioned operations (1) to (3) are repeated.

In this way, it rises to a predetermined position and the fixing device as a fixed leg
After the fixed state of the wall work robot 10 is secured by the vacuum suction pad 76 of 70, the automatic inclination correction 83 is performed.

This automatic tilt correction is correction of tilt about a horizontal axis parallel to the work wall surface, that is, tilting about the X axis, based on the value detected by a tilt sensor (not shown). The two winders 16 are operated simultaneously. This is done by adjusting the length of the two wires 15.

In the case of lateral movement with respect to the wall surface, the vacuum suction pad 64 at the tip of the arm module 50 is positioned at the right end of the X-axis module 20 as shown in FIG. After the adsorption, the AC servomotor 24 of the X-axis module 20 is moved, and the rack 23 is moved to the right with respect to the pinion, contrary to the normal case.

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

After that, the vacuum suction pad 76 of the fixing device 70 is sucked to move the arm module 50 to a predetermined position of the X-axis module 20, and the lateral movement corresponding to one lateral movement width is completed.

As described above, also in the lateral movement, 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 be moved to a predetermined position by repeating alternate suction. it can.

Regarding the lateral movement, the traverse trolley of the upper moving mechanism 11
If the drive mechanism is not provided in 14, the traverse trolley 14 is made to follow through the wire 15, but if the drive is used for lateral movement, the AC servomotor of the X-axis module 20 side
24 may be the main moving mechanism and the traverse trolley 14 may be made to follow, or the master-slave may be reversed.

(2) Multi-step wall work To move the arm module 50 from the movable leg to the work arm after moving the wall to the predetermined work start position, use the AC servo motor 62 of the β-axis module 60 to move the tool bracket 63. Invert by 180 degrees to bring the automatic tool changer 65 and the ultrasonic sensor 66 forward.

Then, the tip of the arm module 50 is moved to a tool housed in a tool holder (not shown) that is set in advance on the guide rail 21 of the X-axis module 20 and the necessary tool is gripped to perform the work. To start.

In this case, the confirmation of the grip of the tool on the automatic tool changer 65 and the confirmation of the delivery of the tool to the tool holder are performed by the electrical interlock process performed by the proximity switch.

Therefore, by attaching and detaching the tool stored in the tool holder, it is possible to perform work in a plurality of steps, which is excellent in versatility.

Note that the automatic replacement of these tools and the control when performing multi-step work using these tools are all performed based on the contents programmed in advance in the controller 8.

(3) Sensing operation In the wall surface work robot 10, the wall surface work is performed in an optimum state, not only the pre-taught operation, but also the wall work robot 10 itself works while avoiding obstacles, It is necessary to find a work position and work based on this work position, for which a sensing operation is performed.

Maintaining a constant distance between the wall surface and the tool Even if the wall surface to be worked looks like a flat surface in reality, in reality there are slight inclinations and steps. It is necessary to keep a constant distance from.

Therefore, as described with reference to FIG. 3, using the ultrasonic sensor 66 as a distance sensor, for example, as shown in FIG.
The weak current obtained in proportion to the distance S is amplified by the amplifier 90.
It is converted into a digital amount through the A / 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 calculated in real time by comparison with a predetermined set value S, and the Z-axis module 40
The feedback amount is output to the AC servo motor 42 of.

As a result, the tool 91 at the tip of the arm module 50 is moved to a fixed position S from the wall surface regardless of the inclination or step of the work wall surface.
Therefore, the work can be always performed in an optimum state with respect to the wall surface.

By performing all the control as described above, various wall surface work can be performed by the robot,
The working range can be expanded greatly, including those with multiple steps.

According to the wall work robot 10 of this embodiment, each component is modularized, and the tools necessary for work can be detached and used, and can be used for multiple purposes.

Further, not only can each axis module be moved to an arbitrary position on the work wall surface, but also an arm module can be attached to expand the work range, and wall work with high versatility can be performed.

In addition, the wall work robot is equipped with a fixing device to serve as a fixed leg, and the arm module can also be used as a movable leg. In that case, by adsorbing them alternately, it is possible to move in a "measurement insect type".

Therefore, it is possible to easily use a robot for high-altitude work in place of a gondola that is conventionally carried by an operator and to save labor in the work.

In addition, even if there are obstacles such as irregularities on the wall, the robot can be controlled so as to avoid these and perform vacuum suction or wall work, so it is versatile, and wall work is efficient and safe. It can be carried out.

In addition, in the wall work robot described in the above embodiment,
Although the example having four degrees of freedom has been described, the present invention is not limited to this and at least one degree of freedom is sufficient, and the degree of freedom can be further increased.

Further, the obstacle against the wall work is not limited to the window portion.

Further, each component may be modified within the scope of the present invention.

[Effects of the Invention] As described specifically above with reference to the embodiment, the working method by the wall surface working robot of the present invention has the following effects.

According to the work method by this wall work robot,
The wall work robot is moved while detecting the distance between the walls in a predetermined work area, obstacles are detected from the change in distance, and work is performed by moving inside other work areas excluding the detected obstacles. can do.

Therefore, the work can be performed without passing through the obstacle portion, the work can be efficiently performed without waste, and if the obstacle A is located at any position in the work area,
You can work around this.

Further, according to the present invention, when the wall surface work is performed while moving the entire lateral width of the work area and the shifting in the vertical direction at the moving end, the coordinates of the point where the obstacle is detected are read. Since the lateral movement width up to this point is used to perform the subsequent work, the work can be performed by eliminating the useless movement by the combination of the lateral movement and the vertical movement.

Furthermore, while moving so as to traverse both ends of the groove to be worked, the distance between the wall surfaces is detected, the positions of both ends of the groove width are read, and the trajectory of the groove is calculated, and based on this trajectory. Since the work is performed on the groove, even if the groove is narrow, useless movement can be eliminated and wall surface work can be performed efficiently.

[Brief description of drawings]

1 to 3 relate to an embodiment of a wall work robot to which the work method by the wall work robot of the present invention is applied. FIG. 1 is an overall perspective view, FIG. 2 is a right side view, FIG. 3 is a partial plan view of the tip of the arm module. FIG. 4 is an overall configuration diagram of the control device for the wall surface work robot of the present invention. 5 and 6 are an explanatory diagram of an obstacle avoiding operation and a control flowchart according to an embodiment of a working method by the wall surface working robot of the present invention. FIG. 7 and FIG. 8 are explanatory views and control flowcharts of the groove detecting operation and the trajectory creating operation according to the embodiment of the working method by the wall surface working robot of the present invention. 9 to 11 relate to an embodiment of a moving method by the wall work robot of the present invention. FIG. 9 is an explanatory view of the lifting operation, FIG. 10 is a control block diagram, and FIG. 11 is a control block diagram. It is a flowchart. 12 and 13 relate to various control methods of the wall work robot of the present invention, FIG. 12 is an explanatory view of a lateral movement operation, and FIG. 13 is an explanatory view of constant control of a distance to a wall surface. . 10: Robot for wall work, 11: Upper moving mechanism, 13: Temporary traverse rail, 14: Traverse trolley, 15: Wire, 16: Winder, 2
0: X-axis module, 21: Guide rail, 22: X-axis slider,
30: Y-axis module, 31: Guide, 33: AC servo motor, 4
0: 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, 65: Automatic tool changer, 66: Ultrasonic sensor, 70: Fixing device, 76: Vacuum suction pad, 80: Controller, 81: Controller, 82: Inverter, 83: Automatic tilt Compensation, 84: Servo driver, 85,86: Limit switch, 87: A / D converter, 88: PC, 91: Tool,
92: Sealing groove.

Claims (2)

[Claims] 1. A wall surface work is performed by a wall surface work robot which is suspended from the upper part of the wall surface through a cord and a winder to move up and down and move laterally, and which can be moved with one or more degrees of freedom with respect to the wall surface. When performing the work, the work area for the wall work robot is defined in advance for the case where there is no obstacle and for the case where there is an obstacle, and the robot moves while detecting the distance between the wall work robot and the wall surface. Then, the obstacle is detected by the change in the distance, while the work is performed while moving in the work area without the obstacle until the obstacle is detected, when the obstacle is detected, based on the coordinates of the point, A work method using a wall work robot, characterized in that the work width is changed and the work area is moved while removing obstacles. 2. A wall surface work robot that is suspended from the upper part of the wall surface via a rope and a winder to move up and down and move laterally, and is movable with one or more degrees of freedom with respect to the wall surface. When performing the above, move the wall surface work robot in advance so as to cross the groove at both ends of the groove to be worked, read the both edge positions of the groove from the change in the distance between the wall surfaces, and check the groove position of these both ends. The method for working with the wall work robot is characterized in that the locus of the groove is calculated based on the reading value of the wall work robot, and then the wall work robot is moved along the groove according to the result of the calculation. .