JPH0759844B2 - Robot with affixed board - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION "Industrial field of application" The present invention is used, for example, for attaching a base board and a decorative board in interior finishing work for a ceiling or a wall of a building or the like. Regarding the board pasting robot.

“Prior art” Conventionally, in the interior finishing work for buildings such as this type of building, the work of sticking a large-sized base board and decorative board to the ceiling or wall has been done in a predetermined area near the ceiling or wall. After assembling the scaffold of height, the worker rides on it and lifts the boards for sticking one by one,
In particular, there is a known construction method in which, when sticking to the ceiling, it is lifted overhead and manually fixed to the ceiling or wall, and then the scaffold is dismantled after the board sticking work is completed. ing.

"Problems to be solved by the invention" However, in the past manual attachment work of the board, the work required to assemble and disassemble the work scaffold occupies 20 to 30% of the entire attachment work, Work efficiency is poor, and it is a work of lifting a heavy object overhead,
There is a problem in that the work efficiency is poor, and the work posture becomes unnatural, and there is a high risk that the board will fall during work or a disaster such as a personal injury will occur.

The present invention has been made in view of the above problems,
An object of the present invention is to provide a board pasting robot that does not require an operator to perform work in an unnatural posture without requiring scaffold assembly or disassembly for sticking work.

[Means for Solving Problems] In order to solve the above problems, the present invention provides a trolley that can travel on a floor of a building and a base that is provided above the trolley so as to be vertically movable. An elevating device which is erected on the upper part of the base and whose base end is movable on a horizontal surface of the base, and a board which is vertically attached to the elevating device and which holds the board at the tip. A cradle,
An arm portion rotatably attached to a tip end portion of a support pillar erected on the base, a fixing means provided at a tip end of the arm portion for fixing a board to a ceiling or a wall, and the board. And an image sensor for detecting the relative position between the mounting position and the robot in order to control the arm so that the fixing means can approach the predetermined position on the board. It has a feature.

[Embodiment] An embodiment of the present invention will be described below with reference to FIGS. 1 to 8. FIGS. 1 to 8 show an embodiment of the present invention. FIGS. 1 to 4 show an apparatus of the present invention, and FIGS. 5 to 8 show a construction method of the apparatus of the present invention. It is for explanation.

First, the device of the present invention will be described. In the figure, reference numeral 1 indicates the board sticking robot of the present invention (hereinafter, simply “robot”).
That is). This robot 1 is provided with a rectangular parallelepiped trolley 2 at the bottom so that it can travel on the floor of a building by wheels 2a, 2a, ..., And at the four corners of this trolley 2 there are screw screws of a predetermined length. 2b, 2b, ... are erected vertically. The four corners of a base 3 formed in the same shape as the dolly 2 are inserted through the screw 2b. A female screw that engages with the screw screw 2b is formed in the insertion portion of the base 3, and by rotating the screw screw 2b, the base 3 is moved up and down with respect to the carriage 2 to adjust the height. It is configured to be able to. Furthermore, base 3
Is formed in substantially the same shape as that of the dolly 2. An elevating device 4 is vertically installed in the upper center of the base 3 and a vertically movable board receiving portion 5 is attached to the elevating device 4. ing. The elevating device 4 is provided with guide rails 4a, 4a which are erected in parallel, and pedestal lifts 4b, 4b provided on the guide rails 4a, 4a for moving the board pedestal 5 up and down along the guide rails 4a, 4a. The base end portion 4c is erected on the upper part of the base 3 so as to be movable in a horizontal plane, and a timing belt 4d that meshes with a timing pulley described later is fixed to the upper end portion. There is.

The mechanism for moving the lifting device 4 horizontally is Y-
Guide rails laid on the base 3 in parallel along the Y direction
6,6, guide rails 7,7 laid on the guide rails 6,6 in parallel along the XX direction, and the guide rails
The upper part of 7, 7 is composed of a swivel part 9 which is rotatably supported by guide rollers 8, 8 ,. By the directional actuator 11 and the X-direction actuator 10, the turning portion 9 is slidably driven in the X and Y directions by the guide rails 6 and 7, and further,
The revolving unit 9 is configured to rotate on the horizontal plane of the base 3 by the guide rolls 8, 8.

The lifting device 4 fixed to the upper part of the swivel unit 9 has a guide rail 4a at the sliding unit 5a of the board pedestal 5.
Is mounted so that it can move up and down. The sliding part 5a has an arm part.
5b is rotatably pin-joined, and a board holding portion 5c is fixed to the tip of the arm portion 5b. This holding part 5c
As shown in FIG. 1, a frame portion 5d for restraining the side surface of the board at the tip portion, and a bottom portion of the boards 12, 12, ... Standing on top of each other as shown in FIG. And a timing pulley 5e that meshes with the timing belt 4d fixed to the tip of the lifting device 4 is provided at the base end.

A column 15 is vertically installed on the side of the lifting device 4 on the base 3, and an arm 16 is attached to the tip of the column 15, and a board 12 is attached to the tip of the arm 16. Fixing means 17 for fixing the to the ceiling or wall is provided. In the arm portion 16, a first arm 16a and a second arm 16b are rotatably connected by a pin joint 16c, and the fixing means 17 is composed of an electric screwdriver 17a and an automatic screw feeder 17b. ing. Further, on the base 3, the position where the board 12 is attached to the side portion of the lifting device 4 is detected, and the fixing means 17 is provided so that the fixing means 17 can approach a predetermined place on the board.
An image sensor 18 for detecting the relative position between the attachment position and the robot 1 is provided to control the 16 and a control panel 19 for controlling the movement of the arm 16 is provided. There is.

Next, a construction procedure for attaching the board 12 to the ceiling or wall of the building using the robot 1 of the present invention will be described.

(I) First, as shown in FIG. 2, a predetermined number of boards 12, 12, ... Are set on the side of the robot 1.

(Ii) Next, the robot 1 is moved to near the sticking of the board.

(Iii) Next, the image sensor 18 of the robot 1
Then, as shown in Fig. 5, lightweight steel frames T, T, ...
. And the position of the boundary line 1 is detected and stored in the robot coordinate system. Since the lightweight steel frame is made of metal, a-f, b-g, c-h, d
The lines i, e, and j are illuminated, the light is detected, the equation y = Ax + B is obtained and stored, and the boundary line l is calculated by obtaining the straight line equation connecting the points a to e. Further, in FIG. 5, the hatched portion is the portion to which the board is already attached, and the point O is the origin of the robot.

(Iv) Next, attach the board pedestal 5 of the robot 1 to its claw portion.
Hook the bottom of the board 12 by 13 and
While being held between 5c and 5c, lift up along the guide rail 4a from the position A shown in FIG.

(V) When the board 12 is attached to the ceiling portion, the board pedestal 5 is lifted up to the position B so that the end of the board pedestal 5 is attached to the timing belt provided at the upper end of the lifting device 4. The timing pulley provided on the board engages with each other, and by further raising it to the position C shown in FIG. 2, the board 12 held at the tip of the board cradle 5 is gradually rotated while rising. It becomes parallel to the ceiling surface and is pressed against the lightweight steel frame T.

(Vi) The board 12 pressed against the lightweight steel frame is in the state of (a) as shown in FIG. Therefore, Y
By driving the directional actuator 11, the elevating device 4 is moved horizontally on the guide rails 6, and finally the corners of the board 12 are brought into contact with the existing board, so that the board 12 is in the state shown in FIG. 6 (b). And

(Vii) Mount the lifting device 4 in the above-described state on the Y-direction actuator 1
Further by 1, it is moved in the O-Y direction. At this time, since the angle of the board 12 hits the existing board and becomes a resistance, the swivel unit 9 swivels on the guide roller 8 and
12 changes from the state (b) shown in FIG. 7 to the state (c).

(Viii) Further, by driving the X-direction actuator 10, the elevating device 4 is moved horizontally on the guide rail 7 to be in the state (d) shown in FIG. With this, the board 12 is in a state of being accurately pressed against a predetermined position to be attached.

(Ix) Next, the fixing device 17 is moved below the board 12 by rotationally driving the arm 16, and a screw is driven to a predetermined position of the board 12 by the electric driver 17a. At this time, in order to perform the screw driving work in accordance with the position of the lightweight steel frame T detected by the image sensor 18, the arm 16
Control.

(X) When the work for placing the screws is completed, the board fixing device 17 is moved to the opposite side of the board pedestal 5, and then the board pedestal 5 is lowered along the guide rails 4a. Then, when the board pedestal 5 descending along the guide rail 4a passes the timing belt, the board pedestal 5 is rotated again to be in a horizontal state (that is, the frame portion 5c is in a vertical state). ,
You will receive the next board.

(Xi) Next, the robot 1 is moved to the position where the board is attached.

In the above embodiment, the arm 16 is configured to be rotatable on a horizontal plane, but the structure is not limited to this, and the arm 16 is rotatable in three dimensions. By this, the board can be fixed to the wall surface. The image sensor for the wall surface can detect the light steel frame of the wall surface by mounting a pillar on the base and attaching it.

Therefore, the board sticking robot of the present invention can eliminate the work of assembling and disassembling the work scaffold, which occupies 20 to 30% of the whole work of sticking the board, and makes the worker work in an unnatural posture and the board overhead. It is possible to free from heavy labor such as lifting to the side, and to prevent a fall accident during work.

"Effects of the invention" As described above, the board sticking robot of the present invention is a base provided on the upper part of the dolly so as to be vertically movable, and a lifting device whose base end is movable on a horizontal plane of the base. A board pedestal that is vertically movably attached to the lifting device and holds the board at its tip, an arm rotatably attached to the tip of a column, and a board for fixing the board to a ceiling or wall. Since it is provided with a fixing means and an image sensor for detecting the relative position between the mounting position and the robot in order to control the mounting position of the board and the arm portion, 20 to 30% of the entire sticking work of the board is performed. Assembling and disassembling work scaffolds that occupy the work can be eliminated, the efficiency of the whole work can be improved, and the safety of the sticking work can be automated by the machine, and the sticking work itself. Efficiency can be improved also. Further, the worker can be freed from the work in an unnatural posture and the heavy work such as lifting the board above the head, and the occurrence of a disaster during the work can be prevented.

[Brief description of drawings]

1 to 8 show one embodiment of the present invention. FIG. 1 is a perspective view showing the whole board sticking robot of the present invention, and FIG. 2 is a board pedestal for moving a lifting device. FIG. 3 is a side view for explaining the state, FIG. 3 is a plan view showing a moving mechanism provided at a base end portion of the lifting device for horizontally moving the lifting device, FIG. 4 is a front view of FIG. FIG. 5 is a plan view showing the ceiling surface or wall surface of the portion to which the board is attached, and FIGS. 6 to 8 are explanatory views for explaining the method of correcting the position when attaching the board to the wall surface. 1 ... Robot for sticking board, 2 ... Cart, 3 ... Base,
4 ... Lifting device, 4d ... Timing belt, 5 ... Board pedestal, 5e ... Timing pulley, 12 ... Board, 15
…… Posts, 16 …… arms, 17 …… fixing means.

Claims (1)

[Claims] 1. A board sticking robot for sticking a board to a ceiling or a wall surface of a building, comprising a dolly capable of traveling on a floor surface of the building and a base provided on the upper part of the dolly so as to be vertically movable. A table, an elevating device which is erected on the upper part of the base and whose base end is movable on a horizontal plane of the base, and which is vertically movably attached to the elevating device and holds the board at the tip. Board pedestal, an arm portion rotatably attached to the tip end portion of a pillar standing on the base, and an arm portion provided at the tip end of the arm portion for fixing the board to the ceiling or wall. An image sensor for detecting a fixing position and a mounting position of the board, and detecting a relative position between the mounting position and the robot so as to control the arm so that the fixing means can approach a predetermined place of the board. Board attached robot equipped with a door.