JPH0790476B2 - Construction work robot installation method - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a long object installation method by a construction work robot that automatically sets a long object such as a fume tube at a predetermined installation position.

[Prior Art] Conventionally, laying of a fume pipe used for piping for water and sewerage has been performed by a couple of workers using a power shovel for construction.

[Problems to be Solved by the Invention] However, in the above-mentioned conventional method, not only is the laying work efficiency poor and the work is dangerous, but it is difficult to accurately install the fume pipe at a predetermined laying position. There was a problem.

The present invention has been made to solve the above-mentioned conventional problems, and an object of the present invention is to efficiently and automatically install a long installation object such as a Hume pipe. It is to provide a method of installing a long object by a construction robot capable of performing the work.

[Means for Solving the Problems] A method for installing a long object by a construction work robot according to the present invention is
At the tip of the arm of a mobile construction work device such as a backhoe,
Attach a manipulator that controls the posture and position while gripping a long installation such as a fume tube, and control the above manipulator by detecting the reference laser beam emitted to the installation position with the sensor set on the above long installation. It is characterized by transmitting a signal.

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

In FIG. 1, reference numeral 1 is a mobile construction work device such as a backhoe, and an upper turn 1b can turn left and right with respect to a lower traveling body 1a.

A boom 1c and an arm 1d are sequentially connected to an upper revolving structure 1b of the construction work device 1 so as to be freely elevated (up and down).

A slide arm 1e is slidably attached to the arm 1d in the longitudinal direction, and a base plate 2 is pivotally attached to the tip end of the slide arm 1e so that it can be tilted by a hydraulic cylinder 3 about a pivot shaft 2a. It has become.

A fixed substrate 4 is integrally fixed to the lower side of the base plate 2. The base plate 2 and the fixed substrate 4 may be integrally formed members.

A guide block 4a is provided below the front and rear ends of the fixed substrate 4.
Are integrally attached to guide the rail 5a provided on the upper side of the horizontal moving member 5 in the Z direction.

As shown in FIG. 2, a steel ball 6 is interposed between the guide block 4a and the rail 5a so that the horizontal moving member 5 can be smoothly and highly accurately guided. .

Both ends of each of the front and rear horizontal moving members 5 are connected to each other by a connecting member 7 to form a rectangular frame body as a whole.

Therefore, the horizontal moving member 5 and the connecting member 7 are integrally reciprocated in the Z direction by the hydraulic cylinder 8.

Reference numeral 9 denotes a lateral movement arm, which is guided along the longitudinal direction of the connecting member 7 (a direction perpendicular to the horizontal movement member 5) and is reciprocally moved in the X direction by a hydraulic cylinder 10.

As shown in FIG. 3, the upper end portion of one lateral movement arm 9 is pivotally attached to a movement block 9a pivot shaft 9b, and the movement block 9a is guided by the rail 7a of the connecting member 7. The lateral movement arm 9 can rotate in the γ direction.

A rail 11a of a vertical movement arm 11 is vertically guided by a block 9a provided on the side of the horizontal movement arm 9, and is reciprocated in a Y direction by a hydraulic cylinder 12. A steel ball is also inserted between the block 9a and the rail 11a.

As is clear from FIG. 4, a ball joint 11a is provided at the lower end of the vertical movement arm 11, and the upper end of the gripper 13 is connected to the ball joint 11a so as to be tiltable in all directions.

The gripper 13 includes an inverted T-shaped gripper body 13a and a grip claw 1.
It is composed of 3b. The grip claw 13b is rotatably attached around a pivot shaft 13c, and holds the fume tube P from both sides. The bases of the left and right gripping claws 13b are extended toward the center of the gripper body 13a so as to face each other, and the slots 13d are formed at the tips thereof so as to face each other. A pin 14a attached to the rod tip portion of the hydraulic cylinder 14 is engaged with the groove 13d, and by operating the hydraulic cylinder 14, both gripping claws 13b, 13b are opened and closed. .

The mechanism described above is a manipulator unit that controls the posture / position of the gripped fume tube P. In addition to control for moving the fume tube P back and forth (X direction), up and down (Y direction), and left and right (Z direction). , Rotation on a vertical plane (β tilt)
And rotation (α direction inclination) control on a horizontal plane,
The fume tube P can be controlled and operated with so-called five degrees of freedom.

As is clear from FIG. 5, the sensor tube 15 is removably inserted in the fume tube P, and the laser beam B that serves as a reference for the posture and position of the fume tube P is axially provided. It is supposed to pass.

A half mirror 16 and two sensor units 17 and 18 are set on the sensor cylinder 15. Half mirror above 1
6 is arranged at a 45 ° inclination angle in the front part close to the emission direction of the laser beam B. One sensor unit 17,
The half mirror 16 is arranged at a position deviating from the sensor cylinder 15 in the reflection direction, and receives the laser beam B ′ which is split and reflected by the half mirror 16. The other sensor unit 18 is arranged at the rear part on the center line of the sensor tube 15 and receives the spectral laser beam B ″ transmitted through the half mirror 16. The sensor unit for receiving the reflected beam described above. 17 and the sensor unit 18 for receiving the transmitted beam have different distances from the half mirror 16 (the sensor unit 17 is closer to the half mirror 16 in this embodiment), and are shown by phantom lines in FIG. Thus, the virtual image of the sensor unit 17 is located between the half mirror 16 and the sensor unit 18. Therefore, the sensor unit 17
Functions as being disposed at the virtual image position on the center line of the sensor cylinder 15.

19 is a laser beam transmitter, 20 is a large number of small holes on the circumference 20
Reference numeral 21 denotes a sensor circuit, which is a rotating disk chopper in which a is arranged at regular intervals. The chopper 20 can change the laser beam B into pulsed light of 1 KHz by, for example, opening 20 small holes 20a and rotating at 50 Hz.

As shown in FIGS. 6A and 6B, the sensor unit 17 is divided into four light receiving chambers 17b having a fan-shaped cross section in the cylinder by a cross partition 17a, and a ground glass PVC sheet is provided on the surface of each light receiving chamber 17b. A diffusing screen 17c made of, for example, is stretched so that the laser beam B is diffused and introduced into the light receiving chamber 17b.

At the bottom of each light receiving chamber 17b, three photodiodes 17d are arranged in each chamber and are electrically connected to the sensor circuit 21. 17e is an interference filter.

The sensor unit 18 also has the same structure as the sensor unit 17.

Next, the operation of the apparatus of the above embodiment will be described.

First, the construction work device 1 is run to the on-site stockyard of the fume pipe P, and the operator manually operates the solenoid valve 22 as shown in FIG. 7 to operate the hydraulic cylinder 14 of the gripper 13 to operate the fumes. Both ends of the pipe P are grippers 13
It is held by the holding claw 13b.

While holding the fume pipe P, the construction work device 1 is moved to the pipe laying position, and the sensor tube 15 is set in the fume pipe P. The setting time of the sensor tube 15 may be during the movement of the fume tube P or the moving tube.

Subsequently, the swing motion of the upper swing body 1b of the construction work device 1, the elevation motion of the boom 1c and the arm 1d, or the base plate 2
As shown in FIG. 8, it is manually brought close to the reference laser beam B position on the connection side of the already laid Hume pipe P'by each control mechanism such as the tilting motion of the above.

Since the pulse beam of the reference laser beam B is emitted from the laser beam transmitter 19 in advance at the center of the connection laying position of the fume pipe P as described above, when the fume pipe P approaches the predetermined laying position. , As shown in FIG.
A part of the laser beam B is reflected by the half mirror 16 and dispersed into the sensor unit 17 direction, and the other part passes through the half mirror 16 and goes straight in the sensor unit 18 direction.

The laser beam B reaching the sensor unit 17 is
As shown in FIGS. 6A and 6B, light enters one of the light receiving chambers 17b partitioned by the cross partition 17a. At this time, the laser beam B is diffused by the diffusion screen 17c and received by the photodiode 17d at the bottom. At this time, by the interference filter 17e, unnecessary light rays such as sunlight other than the laser beam B are not transmitted, and the photodiode 17
The light is not received by d.

The pulsed light of the received laser beam B is converted into a current by the photodiode 17d, and as shown in FIG.
The current-voltage conversion circuit 23, the bandpass filter 24, the inverting amplification circuit 25, the detection circuit 26 and then enters the comparator 27, where it is compared with the reference voltage, and when it exceeds the reference voltage,
For example, + 10V is output, and if not exceeded, -10V is output.

By the way, for example, as shown in FIG. 10 (A), when the beam spot b of the laser beam B enters the first light receiving chamber 17b ₁ and is received by the photodiode 17d, the beam spot b moves in the direction of the arrow. Control is made to move.

Therefore, the received light signal output from the comparator 27 enters the comparison circuit 28 and operates the servo valve 30 via the servo amplifier 29, as shown in FIG.

For example, when the arrow direction in FIG. 10 (A) is controlled in the X direction, the servo valve 30 operates the cylinder 10 in the X direction (see FIG. 7). The position of the cylinder 10 is detected by the potentiometer 31, and the detection signal is fed back to the comparison circuit 28.

By the action of the cylinder 10, the sensor unit 17 side of the fume tube P is moved in the X direction, and the beam spot b moves to the 10th position.
When the light receiving chamber 17b ₂ is moved to the light receiving chamber 17b ₁ as shown in FIG.
Non-reception signal from the photodiode 17d inside (eg -1
0V) causes the servo valve 30 to operate to stop the operation of the cylinder 10, and then Y as shown by the solid line arrow in FIG. 10 (B).
Directional control is performed.

In the control in the Y direction, when the servo valve 32 operates to operate the cylinder 12, the beam spot b enters the light receiving chamber 17b ₁ again, so that the X direction control by the cylinder 10 is performed in the same manner as described above. As shown in FIGS. 7C and 7D, the beam spot b approaches the center of the sensor unit 17 as a result of sequential control, and the position of the fume tube P on the sensor unit 17 side is controlled.

The same control is performed on the sensor unit 18 side of the fume tube P, and as a result, the central axis of the fume tube P coincides with the reference laser beam B and is controlled to the correct connection installation posture (see FIG. 8). .

During the control in the Y direction, the left and right cylinders 12 normally operate independently, so that the fume tube P tilts on a vertical plane as shown in FIG. In this case, the joints 9b and 11b work smoothly to control the tilted posture without applying an undue force.

Further, when controlling in the X direction, the left and right cylinders 10 also normally operate independently, so that the fume pipe P inclines on a horizontal plane as shown in FIG. Again, the joint
The inclination posture is smoothly controlled by 11b.

When the deviation between the center positions of the reference laser beam B and the fume tube P is corrected as described above, the cylinder 8 is operated to move the fume tube P in the reference laser beam B direction (Z direction), Automatically connect to existing Hume pipe P '.

The hydraulic source of the construction work device 1 may be used as the hydraulic source of the hydraulic circuit.

As another embodiment of the positioning method of the laser beam B in the sensor unit 17, as shown in FIG. 14, the pulsed laser beam B from the chopper 20 is used.
15 is sequentially reflected by a mirror 33a provided at the center of rotation of the rotator 33 and a mirror 33b provided at a predetermined radial position and projected on the sensor unit 17, and the rotator 33 is rotated at a constant speed. As shown in the sensor unit
A locus of the laser spot b is drawn on 17 so as to rotate at a constant speed with a predetermined radius. In this case, the light receiving chambers 17b ₁ and 17b ₃ and the light receiving chambers 17b ₂ and 17b ₄ are paired, and the difference in the time (or the number of pulses) required for the laser beam B to pass through the light receiving chambers 17b ₁ and 17b ₃ is set as a voltage. In addition to the X-direction movement command output, the Y-direction movement command output may be obtained by changing the difference in the time (which may be the number of pulses) required to pass through the light receiving chambers 17b ₂ and 17b ₄ into a voltage.

When the passing time differences (or the pulse number differences) become equal, the reference laser beam B is positioned at the center of the sensor unit 17, and the position and attitude control is effectively performed.

The sensor unit 18 can also be controlled in exactly the same manner.

[Effects of the Invention] At the arm tip of a mobile construction work device such as a backhoe,
Attach a manipulator that controls the posture and position while gripping a long installation such as a fume tube, and control the above manipulator by detecting the reference laser beam emitted to the installation position with the sensor set on the above long installation. Since a signal is transmitted, it is possible to easily automate the work of installing a long object, and as a result, it is possible to set a long object such as a fume tube at a predetermined installation position with high accuracy and efficiency. .

[Brief description of drawings]

FIG. 1 is an overall perspective view showing an embodiment of a construction work robot of the present invention, FIGS. 2 and 3 are enlarged explanatory views of the essential parts of FIG. 1, FIG. 4 is a side view of a gripper, and FIG. Fig. 6 is a block diagram of the sensor unit, Fig. 6A is a plan view of the sensor unit, Fig. 6B is a half sectional view of the sensor unit, Fig. 7 is a hydraulic circuit diagram for cylinder operation, and Fig. 8 is a conceptual diagram of fume pipe laying. , 9th
The figure shows the electric circuit diagram of the sensor unit, Fig. 10 (A) ~
(D) Principle of positioning by sensor unit, No. 11
Figure is a block diagram of the electric / hydraulic servo mechanism, Figure 12 is an explanatory view of the rotation control of the fume tube on the vertical plane, Figure 13 is an explanatory view of the rotation control of the fume tube on the horizontal plane, and Figures 14 and 15 are It is another positioning principle figure by a sensor unit. DESCRIPTION OF SYMBOLS 1 ... Mobile construction work device, 1a ... Lower traveling body, 1b ... Upper revolving structure, 1c ... Boom, 1d ... Arm, 1e ... Sliding arm,
2 ... Base plate, 2a ... Pivot shaft, 3 ... Hydraulic cylinder, 4 ... Fixed base plate, 4a ... Guide block, 5 ... Horizontal moving member, 5a ... Rail, 6 ... Steel ball, 7 ... Connecting member, 7a ... Rail, 8 ... hydraulic cylinder, 9 ... lateral movement arm, 9a ... movement block, 9b ...
Pivot axis, 10 ... Hydraulic cylinder, 11 ... Vertical movement arm, 11a ...
Rail, 11b ... Ball joint, 12 ... Hydraulic cylinder, 1
3 ... Gripper, 13a ... Gripper body, 13b ... Grip claw, 13c ...
Pivot shaft, 13d ... Slot, 14 ... Hydraulic cylinder, 14a ... Pin, 15
… Sensor cylinder, 16… Half mirror, 17,18… Sensor unit, 17a… Cross partition, 17b, 17b ₁ , 17b ₂ , 17b ₃ , 17b ₄
… Light receiving room, 17c… Diffusing screen, 17d… Photo diode, 17e… Interference filter, 19… Laser beam transmitter, 20… Chopper, 20a… Small hole, 21… Sensor circuit, 22
… Solenoid valve, 23… Current-voltage conversion circuit, 24… Bandpass filter, 25… Inversion amplification circuit, 26… Detection circuit, 27… Comparator, 28… Comparison circuit, 29… Servo amplifier, 30… Servo valve, 31 … Potentiometer, 33… Rotating body, 33a, 33b
… Mirror, B, B ′, B ″… laser beam, b… beam spot, P, P ′… fume tube.

Claims (1)

[Claims] 1. A manipulator for controlling posture and position while gripping a long installation such as a fume pipe is attached to the arm tip of a mobile construction work device such as a backhoe and set on the above long installation. By the sensor
A method for installing a long object by a construction work robot, characterized by detecting a reference laser beam emitted to an installation position and transmitting a control signal to the manipulator.