JPS59206078A - Continuous spraying method of concrete or the like - Google Patents

Abstract

PURPOSE:To guide exactly a nozzle even if the axial center of a robot deviates and to eliminate uneven spraying by calculating the positions and loci of the robot arms corresponding to the locus of a cylindrical surface at which the nozzle is required to move by a simple teaching operation. CONSTITUTION:An outrigger is actuated by a detector for angle of inclination to direct the main swiveling shaft of a robot 1 toward the direction of the axial center in a tunnel. The positions of the two horizontal points A, B within the reference plane normal to the axial center of the tunnel, the position of the one vertical point C between the two horizontal points A and B and further the position of the one depth point D existing at the position spaced at a specified distance from any point among said three points in parallel with the axial center of the tunnel are respectively taught to the robot. The respective joint angles of robot arms A1, A2 are calculated in accordance with the data obtd. by such teaching and the nozzle 19 is so guided that the three-dimensional spray having the depth of the width F shown by arrows 38, 39 is obtd.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides tunnels, shafts, retaining walls, etc. formed in an arc shape, etc.
Concrete, paint, detergent, etc. (
It concerns a method for spraying concrete, etc. (hereinafter referred to as Concrete 1 to etc.), and particularly relates to a method for continuously spraying concrete, etc. on the root corner of the shoring that protrudes from the inner surface of the tunnel, and the cylindrical surface in between. be.

In conventional concrete spraying robots, as seen in Japanese Unexamined Patent Application Publication No. 56-115499, concrete spraying is carried out on the ground using a hand-operated outrigger that moves through a traveling carriage with a rotating arm equipped with a nozzle at the tip. The nozzle is installed at an appropriate inclination to the tip, and the nozzle is moved along an arcuate trajectory a certain distance away from the inner surface of the tunnel, etc., based on the amount of expansion and contraction of the arm to which the nozzle is attached and its turning angle. Therefore, it is necessary that the pivot axis (main pivot axis) of the arm be oriented in the direction of the axis of the tunnel or the like and be within a vertical plane that includes the axis. At construction sites such as tunnel excavation work, it is extremely difficult to completely align the direction of the main rotation axis of a robot that is mounted on a crawler-equipped trolley or tire-travelled trolley with the tunnel axis. It is extremely difficult to arrange the axis within the vertical plane of the tunnel axis without eccentricity, and as a result, the direction of the pivot center of the arm is inclined or eccentric with respect to the direction of the tunnel axis. The spraying distance varied greatly, and the spraying of concrete, etc., caused unevenness. In addition, in this device, the nozzle direction is fixed perpendicular to the tunnel excavation surface, but generally speaking, if the nozzle direction is fixed perpendicular to the tunnel excavation surface,
When secondary spraying of concrete is performed after installing shoring, the spraying is not done sufficiently at the corners of the shoring, resulting in areas where concrete does not adhere to the corners of the shoring, creating cavities and causing damage to the concrete wall surface. Since there is the disadvantage that the strength is significantly reduced, automatic movement as described in the above publication is impossible, and in the end, manual operation is required, which has low work efficiency.
Since the work was done manually at tunnel construction sites, etc., where the work environment was poor, there were problems in terms of safety and hygiene.

Therefore, the present invention calculates the position locus of the robot arm corresponding to the locus of the cylindrical surface where the nozzle should move by a simple teaching operation, and accurately moves the nozzle even when the robot axis is eccentric to the axis of the tunnel. The spray is guided along the tunnel excavation surface to eliminate uneven spraying, and the direction of the nozzle is variable, and the above calculation results can be used to continuously spray the inner surface of the cylinder at the corner of the support and its intermediate part. In this way, spraying provides a method for continuous automatic spraying of concrete, etc., which makes it possible to completely automate the work.

Next, with reference to the attached drawings, an embodiment in which the present invention is applied to a robot that sprays concrete on the inner surface of a tunnel will be described in detail to provide an understanding of the present invention. here the first
The figure is a rear view showing the state of concrete spraying in a mine shaft by an articulated concrete spraying robot, Figure 2 is a side view of the articulated concrete spraying robot, and Figure 3 is a side view of the articulated concrete spraying robot.
The figure shows a side sectional view of the arm showing the spray nozzle installation used in the robot, and Figures 4 (a) and (b) are block diagrams showing the work process for centering the robot in the horizontal direction.
Fig. 4 (C) is a flowchart showing the same process, Fig. 5 is a conceptual diagram showing the calculation process for moving the nozzle in an arc shape in a cross section perpendicular to the tunnel axis, and Fig. 6 is a flow chart showing the process. 7 is a flowchart for calculating the arc shown in FIG. 5, and FIG. 8 is a conceptual diagram showing the process of the calculation device moving the nozzle in the tunnel depth direction shown in FIG. 6. It is a flowchart which shows the calculation process of a movement trajectory.

First, the structure of an articulated concrete spraying robot will be explained with reference to FIG. In the figure, reference numeral 1 denotes the robot body, which is driven by a crawler 2, and has an outrigger 3 at its front end, or at its front and rear ends, which is operated by hydraulic pressure.
have. When the robot body 1 is moved to the working position, this outrigger 3 advances downward to lift the robot body 1, and depending on the amount of advance, the robot body 1
This is for tilting the axis 4 of the tunnel in an arbitrary fixed angle direction, and generally the robot body 1 is tilted in the direction of the axis of the tunnel.
It plays the role of directing the A main swivel 6 is attached to the front of the robot body 1, which can be rotated in the direction 01 around an axis 4 by a motor 5. The support shaft 7 that is perpendicular to the pivot shaft 4 has a first shaft that can swing around the support shaft 7.
An arm AI is attached to the tip of the first arm A1.
A second arm A2 that is swingable within the rotation plane of I is attached. The fulcrum pin 9 provided in the middle of the first arm AI and the fulcrum pin 10 provided on the main swivel base 6 are connected by a hydraulic cylinder 11, and the main swivel of the first arm A1 depends on the amount of protrusion and retraction of the hydraulic cylinder 11. A pivot angle θ2 with respect to axis 4 is determined. Further, the fulcrum pin 12 provided in the middle of the second arm A2 and the fulcrum pin 13 provided on the main swivel base 6 are connected by a hydraulic cylinder 14, and when the hydraulic cylinder 14 expands and contracts, the first arm A1 of the second arm A2
A turning angle θ3 with respect to the rotation angle θ3 is determined.

A nozzle mounting arm 16 is attached to a support shaft 15 attached to the tip of the 27th arm A2, which is swingable about the support shaft 15 within the rotation plane of the first and second arms. The nozzle is attached to the arm 16 by the second arm A.
The swing angle is regulated by a parallel link 17'' parallel to the first arm A1 and a parallel link 17'' parallel to the first arm A1 so as to maintain a constant angle with respect to the axis 4 at all times.

The above-mentioned nozzle is attached to the tip of the arm 16, and the nozzle is attached to the nozzle 1, which is rotatable around the axis 17 of the arm 16, and which is swingable around the axis 18 perpendicular to the plane of the paper.
9 is attached.

That is, the nozzle is attached to the arm 16 by a shaft 21 connected to a swing motor 20 attached to its base, as shown in FIG.
The shaft 21 has a bevel gear 22 attached to its tip, a bevel gear 23 meshing with the bevel gear at right angles to the bevel gear 23, and a shaft 24 coaxial with the bevel gear 23 attached to the tip of the shaft 24. The spray in the direction perpendicular to the installed paper surface in Figure 3 is from nozzle 19.
The rotation of the swing motor 20 allows the spray nozzle 19 to swing around the shaft 24 in the direction of θ4. Furthermore, the nozzle is attached to a gear 26 which is rotated by a turning motor 25 attached to the base of the arm 16.
For example, the hollow shaft 27 that has the shaft 21 coaxially therein meshes with a gear 28 fixed to the end thereof, and the hollow shaft 27 has a casing 30 integrally formed at its end that has a bearing 29 that rotatably supports the shaft 24. When the swing motor 25 rotates, the gears 26, 28 and the hollow shaft 27
The casing 30 is attached via the arm 16, and the nozzle is attached to the arm 16.
The shaft 24 rotates around the axis 17 of the casing 30 and rotates integrally with the casing 30, and the spray nozzle 19 attached to the shaft 24 rotates around the axis 17 in the direction of θ5. However, if the casing 30 is turned around the shaft 21 as described above with the shaft 21 stopped, the gear 23
Since the meshing position with respect to the gear 22 is shifted, the shaft 24
Since the shaft 24 rotates in the direction of θ4 at the same time as it rotates around the shaft 21, in order to cause the shaft 24 to rotate only in the direction of θ5, the meshing positions of the gears 22 and 23 must be made so that they do not deviate. , it is necessary to rotate the shaft 21 in the same direction and at the same speed as the hollow shaft 27. Incidentally, when the speeds of the motors 20 and 25 are changed while periodically changing the direction of rotation,
If the nozzle 19 can be caused to make a grain-spreading motion, and the amount of rotation of each motor at that time is changed, the inclination of the grain-spreading motion can be continuously changed.

Figure 1 shows a concrete spraying robot like the one shown above.
This is a rear view seen from the direction of arrow A in the figure, and the first arm AI, second arm A2, and nozzle mounting are performed by rotating each arm while rotating the arm 16 around the main rotation axis 4 of the robot body 1. By adjusting the angle and the distance from the main rotation axis 4 to the tip of the nozzle 19, a constant spray from the arc-shaped tunnel inner surface K (shaft excavation surface) to the nozzle 19 can be achieved by spraying at a distance Δr. 2 shows a state in which concrete is being sprayed onto the tunnel excavation surface K while moving it along the cylindrical surface J.

In tunnel excavation work, first the upper half of the semi-cylindrical tunnel is excavated by poling or blasting work, then concrete is sprayed on that part, then the lower half is excavated and concrete is sprayed, and the deeper part is excavated. -The half-section excavation method is often used to gradually move forward by repeatedly spraying concrete, and the ground on which the robot's trolley travels is not always a flat horizontal surface. The ground on which the tunnels travel forms an inclined surface called a sloping surface made of rocks ejected by blasting, and the traveling bogies installed on this surface are installed at various inclinations with respect to the horizontal surface or the tunnel axis. However, if the axis of the robot is inclined with respect to the axis of the tunnel in this way, the calculation of the nozzle movement trajectory will be complicated when spraying is moved along the arc-shaped tunnel excavation surface K. Prior to concrete spraying work,
First, it is necessary to tilt the traveling bogie in a direction parallel to the axis of the tunnel. The outrigger 3 is operated by hydraulic pressure so that the tilt angle of the robot body detected by a built-in tilt angle detector (not shown) points in the direction of the designed shaft axis. , for lifting the robot body.

In this case, the tilt angle is corrected by the procedure shown in FIG. 4(C). That is, after step Sl (hereinafter the step number will be referred to as S)), the robot main body 1, crawler 2, and traveling trolley 31 consisting of a multi-jointed arm, etc. shown in Figure 2 are installed approximately at the center of the tunnel. , the angle α2 of the traveling trolley 31 with respect to the horizontal line is detected. Such an angle detector 32 for α2 uses a potentiometer-type angle detection device or the like that detects the inclination angle from the horizontal state using a Yajirobe-shaped pendulum. The signal corresponding to
(S2). Further, the control device 34 sends the excavation inclination target angle α1, which is predetermined in design, to the difference calculator 33 (S3), and the difference calculator 33 calculates α2−α1 (S4). This difference signal is sent to the comparator 35 (S4). The amount of advance of the hydraulic cylinder 36 for moving the outrigger 3 shown in FIG. 2 is as follows:
In the example shown in FIG. 4(b), the advance amount is detected by the advance amount detector 37, and a signal corresponding to this advance amount is fed back to the comparator 35. 36 is driven (S5), and the hydraulic cylinder 36 operates until this difference becomes zero. Thus hydraulic cylinder 3
6, the outrigger 3 advances, and the traveling carriage 31 is tilted until the axis of the robot body 1, that is, the main pivot axis 4, becomes parallel to the designed tunnel axis. The expansion/contraction amount detector 37 may be of a type that generates a voltage according to the amount of expansion/contraction of the hydraulic cylinder 36 using a potentiometer or the like attached to the piston rod of the hydraulic cylinder 36.

The control device shown in FIG. 4(b) described above is a closed type control mechanism that returns the amount of expansion and contraction of the hydraulic cylinder 36, but as shown in FIG. It may be an open type control mechanism that drives the hydraulic cylinder 36 based on the difference between the excavation inclination target angle α1 sent out and the inclination angle α2 sent out from the angle detector 32 attached to the traveling truck 31.

When the main pivot axis 4 of the mouth 2 and bot body 1 is directed in the direction of the tunnel axis by the operations in steps 81 to s5, the teaching operation described below is subsequently started. As shown in Figures 1 and 5, the teaching begins with the robot body 1.
The axis of the main swivel base (main swivel axis 4) attached to the tip of the
2 (Ilil - Teach the distances a and b from the main pivot axis 4 to the horizontal points A and B, and teach the position coordinates of the horizontal points A and B of Point C where the perpendicular line intersects with the tunnel excavation surface K
For a constant spray, the distance C between C and the main rotation axis 4 is taught from the position coordinates of the point C where the spray exists a distance Δr inside the cylindrical surface J. distance Δ
As for r and spraying, the radius R of the cylindrical surface J is a value known from the beginning in terms of design. Further, the tip of the nozzle 19 is guided to a point position that is two minutes further back from point C in parallel to the tunnel axis, and the joint angle of each arm at that position is taught.

By teaching points A, B, and C as above, a.

b, c are obtained and the calculation procedure X-(b-
a)/2 ・Old...(1), -P-Uran C Town・
From (2), the horizontal eccentricity X and the vertical eccentricity y from the tunnel axis 0 to the position o1 of the main rotation axis 4 can be obtained.

With x and y obtained in this way, the slope α of the straight line passing through 0.01 and the distance G between 0.01 are α-tan (y/x)...
・・・ (3) a=E door 7 ・・・・・・(4
), and using α, G, and R thus obtained i-4, an arbitrary angle θ1 with respect to the center of the tunnel
When spraying from the main rotating shaft 4 at a position tilted by −θ, the distance β to the cylinder J is 12 = G2+R” 2 GRcos (θ−α)
・It can be obtained as a function of θ by (5). In this way, by the above circular interpolation, the spray from ol at an arbitrary angle tilted position centered on point 0 is the circular arc 1lI of the cylinder J.
The distance p to the tip of the nozzle 19 moving along the L trace is calculated, and the joint angle θ2 of each arm corresponding to continuous θ1 is calculated.
θ3 is obtained. The distance 1iiItβO from the support shaft 7, which is the center of turning and swinging of the entire arm, to the reference plane is simply measured by q1, and the turning angle θ is determined by the method described above.
The distance l from the main pivot axis 4 to the cylinder J for 1
Therefore, by calculating the well-known polar coordinates, the spray included in the above reference plane can be determined by placing the nozzle 1 at an arbitrary position on the cylindrical surface.
Joint angles θ2 and θ3 of the first arm A1 and the 27th arm A2 corresponding to the turning angle θ1 for guiding the tip of the arm 9 are obtained.

In this way, even if the central axis of the robot body is eccentric in the vertical and horizontal directions by an arbitrary distance from the tunnel axis, A,
By teaching the three points B and C, the nozzle can be moved continuously along the cylinder.

During the actual concrete spraying work, concrete is sprayed in a three-dimensional shape with a width of F in the depth direction along the tunnel axis as shown by arrows 38 or 39 in Figure 1. and move the nozzle in a zigzag pattern.
Three-dimensional spraying involves spraying on the inner surface. Therefore, for this three-dimensional spraying, it is necessary to determine the joint angle of each arm corresponding to the position of the cylinder, and the teaching of the above points is for this purpose.For the sake of simplicity, it is shown in Figure 6. , for a robot having two joints A1 and A2, the spindle 7
Regarding the teaching of the depth direction of the tip of the second joint A2 (second arm A2) with the reference plane including state FIG. 6 is a view along the line MM in FIG. 5, and FIG. 8 shows the operating procedure. Nozzle 1 is located within the reference plane where points A, B, and C in the figure exist.
9 is guided by the arm Al, A2 is shown by a solid line, the arm is shown by a dashed line when the nozzle is guided to the teaching point shown by D (position F=z further back from D), and the nozzle is shown by a dashed line. Each arm is shown by a two-dot chain line 6 in a state in which it has advanced an arbitrary distance Δ2 from the point to the rear. Also, the angle between the straight line connecting Ol and the tip of the second arm A2 and the vertical line is β, the angle between the straight line connecting 01 and the tip of the second arm A2 and the second arm A2 is T, and The angle between the first arm A1 and the second arm A2 is η(second
θ3) in the figure, the length of the first arm AI is Ll, the length of the second arm is
The length of arm A2 is L2.01 and the distance from the tip of arm A2 is β, and the subscripts 1 to 3 attached to each symbol above are 1 at the reference position W (position within the reference plane). , the position at the position advanced by Z distance from the reference position is set as 2, and the position at the position advanced further back by A2 is set as 3.

By teaching the 0 point as described above, the joint angle ρ2
and η2 are known. Also, Ll, L2, and η2
Since is known, 12 is found as shown in
γ2 is calculated as shown in '2, and γ2 and ρ2
β2 is calculated as shown in β2−ρ2−γ2 (8). If β2 is obtained in this way, 11=#2cosβ2 ・(9)z
-ff2sinβ2 ・(10)
The values of 11 and 2 will be calculated by D
β3 and 13 in a state where the nozzle has entered an arbitrary distance Δ2 from the point are β3 = jan-' (z + Δz) / j21
− (11) N3=p stone 7 (12) This is a function of Δ2. Based on β3 thus obtained, T3 can be obtained. Therefore, the joint angles ρ3 and η3 at a position Δ2 forward from point D are ρ3-β3''-γ
3 ... It is calculated by (14) and is all a function of Δ2, and the joint angle for advancing the nozzle by an arbitrary distance Δ2 can be obtained corresponding to Δ2. Thus, by giving θ and Δ2, All the joint angles for moving the tip of the second arm A2 to any desired position on the cylindrical surface can be obtained by spraying.

The arithmetic processing in the Z direction shown in FIGS. 6 and 8 is shown only for two joints AI and A2;
For an articulated robot as shown in the figure, the nozzle is attached to the JW of the arm 16 and its angle is known by the action of the parallel link, so if the trajectory of the tip of the 27th arm A2 can be set, During installation, the trajectory of the tip of the arm 16 is automatically adjusted.

However, when the direction of the nozzle 19 is fixed within the swing plane of the first arm AI and the second arm A2 as shown in FIG. is not always perpendicular to the tunnel excavation surface K, and if the angle of the nozzle 19 to the tunnel excavation surface is not at right angles, the rate at which concrete sprayed on the tunnel excavation surface will adhere to the tunnel excavation surface will decrease, and the tunnel The spray will be bounced off the excavation surface, causing uneven spraying. To eliminate this inconvenience, it is necessary to correct the direction of the nozzle in accordance with the rotation angle θ of the arm, and this nozzle angle The correction can be made by rotating the casing 30 and the shaft 24 that rotates together with the casing 30 and the nozzle 19 fixed thereto in the direction of θ5 by driving the rotation motor 25 shown in FIG. . The angle to be corrected in this case! ! is calculated by .

As explained below, the operating procedure for automatically moving the nozzle along the cylindrical surface by specifying points A, B, C, and D, the turning angle θ, and the approach distance Δ2, and the motor It is understood that by driving 20 the direction in which the nozzle 19 is pivoted about the axis 24 and the nozzle 19 is tilted.

Next, with reference to FIGS. 1 and 2, the continuous spraying of concrete onto the base of the shoring and the intermediate cylindrical surface of the shoring will be described.

Generally speaking, the primary spraying for shoring N is done in the area as shown in the figure.
A reinforcing material made of I-beam steel or the like is arranged in an arc shape on the surface of the machine at a constant pitch F, and the main pivot axis 4 is adjusted to the target excavation inclination angle α1 by the control procedure shown in FIG. 4C.
After positioning the traveling trolley to match the
For example, the positions of the two horizontal points and one vertical point A, B, and C in the reference plane P that passes through the support shaft 7 and is perpendicular to the main rotation axis 4, and the positions of the two horizontal points and one vertical point A, B, and C, and the position of the reference plane an arbitrary distance from the reference plane. The positions of the depth points are taught, and spraying that continues an arbitrary distance from the reference plane is performed by placing the tip of the nozzle 19 at an arbitrary position on the cylindrical surface JJ- by the procedure shown in FIGS. 7 and 8. The state is such that calculations for guidance can be performed. After that, first tilt the nozzle at an angle of 19" towards the base of the shoring N1 in front. The angle of inclination of the nozzle at this time is determined by the size of the shoring, etc. For example, in order to prevent the rebound of
It is common for the nozzle to be tilted by about 60 degrees, and such a nozzle tilt can be controlled by the swing motor 2 as shown in FIG.
This is done by driving the shaft 24 to rotate the shaft 24. With the nozzle thus oriented at an appropriate angle toward the corner of the support N1, the main The swivel table 6 is rotated by a predetermined slight angle around the main swivel axis 4, and the nozzle 19 is moved along an arcuate trajectory that is a certain distance away from the corner of the support N1. Spray on the corners to form K''.

At this time, the distance from the nozzle swing center 18 is determined by calculation according to the size of the support, etc. In addition, the length of the spraying K'' to the corner of the shoring is selected by selecting a certain distance of culm that does not cause unevenness in the circumferential direction when spraying in the direction parallel to the shaft axis. When spraying for '' is completed over a short distance, the nozzle 19 is then (continuously) reoriented using the motor 20 so that it is perpendicular to the tunnel excavation surface, and the nozzle angle is maintained. Then, while performing the arithmetic processing shown in Figure 8, the hydraulic cylinders 11 and 14 are operated to adjust the joint angle of each arm, and the nozzle 19 is blown a distance of 20 (zO<F) in parallel to the shaft axis. The attachment is moved along the cylindrical surface, and 1
The nozzle 19 is connected again to the support N2 near the back support N2.
Then, spraying is performed in the circumferential direction along the shoring (K'').

In this way, by alternately repeating the spraying in the circumferential direction along the shoring (K") and the spraying in the direction parallel to the shaft axis along the cylindrical surface (zO), the arrow 39 in FIG. A zigzag spray pattern as shown in is a continuous locus of points.

3 When the spraying for one erecting pinch F is completed according to the above procedure, wait until the next shoring is completed and spray the next erecting pitch part according to the above procedure.

As described above, the present invention is capable of spraying concrete, etc., using a robot, on the corners of arc-shaped supports installed on the circular surface of a cylindrical tunnel at a distance of a certain pitch distance, and on the excavated surface of a cylindrical tunnel between the supports. In the method of spraying using a nozzle attached to the tip of the arm, the axis of the main rotation axis of the robot arm is parallel to the shaft axis of the mine shaft.
The process of adjusting the inclination of the main rotation axis of the robot arm, the position of two horizontal points in a reference plane perpendicular to the shaft axis, the position of one vertical point between both horizontal points, and the above three points. Based on the step of teaching the position of four points, including the position of one depth point located one point distance apart from any point in the tunnel axis in parallel to the shaft axis, and the data obtained by the above teaching, Spraying between a pair of front and rear supports involves calculating the position of the arm corresponding to the position of the cylindrical surface, and after tilting the nozzle at a predetermined angle toward the corner of the support, the above calculation is performed. Using the results, the process involves spraying concrete, etc. onto the corners of the shoring while moving the nozzle a predetermined distance in the circumferential direction of the shaft excavation surface along the shoring, and directing the nozzle in a direction perpendicular to the shaft excavation surface. and then spraying concrete, etc. onto the tunnel excavation surface while moving the nozzle along the cylindrical surface in a direction parallel to the shaft axis using the above calculation result, Since the method of spraying concrete, etc. is characterized by performing two steps in succession, continuous automatic spraying of concrete, etc., which could not be achieved conventionally due to interference with shoring, is extremely easy. The spraying of concrete, etc. onto the inner surface of the tunnel significantly improves the efficiency of the work.

[Brief explanation of the drawing]

Figure 1 is a rear view showing the state of concrete spraying in a mine shaft by an articulated concrete spraying robot;
The figure shows a side view of the articulated concrete spraying robot.
Figure 3 is a side sectional view of the arm showing the spray nozzle installation used in the robot, Figure 4 (a) and (b) are block diagrams showing the work process for centering the robot in the horizontal direction, Figure 4 (C) is a flowchart showing the same process,
Figure 5 is a conceptual diagram showing the calculation process for moving the nozzle in an arc in a cross section perpendicular to the tunnel axis, and Figure 6 shows the calculation process for moving the nozzle in the depth direction along the tunnel axis. A conceptual diagram, FIG. 7 is a flowchart for calculating the circular arc shown in FIG. 5, and FIG. 8 is a flowchart showing the process of calculating the nozzle movement locus in the tunnel depth direction shown in FIG. 6. (Explanation of symbols) 31... Traveling trolley 25... Turning motor Al
, A2... Robot arm 4... Main pivot axis K... Mine excavation surface A, B
...Horizontal point C...Vertical point D...Depth point
J...Blowing is from cylindrical surface 19...Blowing is from nozzle 3...Outrigger 36...Hydraulic cylinder 32...Angle detector 7 34...Control device 35...Comparator 33・・・
・Difference calculator 20...oscillation motor 22.23・
...Bevel gear 21.24...Axle N...Shoring. Applicant Kobe Steel Co., Ltd. Agent Patent Attorney Takeyu Honjo 8 Figure 7 Figure 8 Procedural Amendment (Voluntary) Shokusunobu] April 2012, 12B To the Commissioner of the Japan and Patent Office 1, Indication of the case 1988 Patent Application No. 6379 2
Continuous spraying of invention name Concrete 1, etc. is method 3, relationship with the case of the person making the amendment Patent applicant address 1-3-18 Wakihama-cho, Chuo-ku, Kobe 651 Name (119) U Co., Ltd. Representative of Shindo 4 Okasho
Fuyuhiko Maki 4, agent 530
Figure 5, Figure 6, Figure 8'' 7. Contents of the amendment ■: Should the scope of claims be changed to the following? ili correct. 1. The arc-shaped support corner parts were installed on the inner surface of the cylindrical tunnel at a certain pitch distance, and the concrete 1 etc. was sprayed onto the excavated surface of the cylindrical tunnel between the supports, which was attached to the tip of the robot arm. Concrete 1, etc., characterized in that the spraying is carried out using a nozzle, and the method includes the following steps (1) to (5), and the steps (4) and (5) are performed continuously. Continuous spraying is a method. (1) The process of adjusting the rotation of the main rotation axis of the robot arm so that the axis of the main rotation axis of the robot arm is parallel to the shaft axis of the mine shaft. (2) The positions of two horizontal points in a reference plane perpendicular to the shaft axis, the position of one vertical point between both horizontal points, and one
- 4 at the position of one depth point located a certain distance apart from any of the three points in item 8 in parallel to the shaft axis
The process of teaching the position of a point. Next, the spraying between the front and rear supports is a process of calculating the position of the arm corresponding to the position of the cylindrical surface. (4) After tilting the nozzle at a predetermined angle toward the support corner, use the calculation result in (3) to move the nozzle a predetermined distance along the support in the circumferential direction of the tunnel excavation surface. The process of spraying concrete, etc. Following steps (5) and (4), after directing the nozzle in a direction perpendicular to the tunnel excavation surface, the nozzle is sprayed along the cylindrical surface and along the shaft axis using the calculation result of (3). The process of spraying concrete, etc. onto the excavated surface of a tunnel while moving in a direction parallel to the surface of the tunnel. ” ■ Amendment to the column of detailed description of the invention (1) Page 2, line 20 of the specification, page 4, line 8 of the same
line, 9th line, 10th line, 4th line on page 5,
22nd page, 6th line 1'', 7th line, 9th line, 23rd page, 2nd line, 4th line, 5th line, 10th line, 15th line, 17th line, 19th line, 20th line,
24th page, 4th line, 12th line, 13th line, 14th line, 16th line, 25th page, 2nd line, 7th line
19th line, page 26, 1st line, 2nd line, 3rd to 4th line, and 11th line, respectively, changed the word ``shoring'' to ``shoring.'' correct. (2) On page 14, line 14 of the same page, ``The spray is applied to the cylindrical surface J.
The text that says "intersect with each other" will be deleted. (3) Change "distance p" in the first line of page 16 to "1 distance β (Fig. 6)" and "β1" in the second, sixth, and tenth lines of the same page. In the third line, ``θ2. On the 5th line, [
Correct Oj to rzxJ. (4) In the 11th line of page 17, the words "and from there" should be corrected to "and from point C." (5) In the second line of the same page, [D to F=ZJ is corrected to "C to 2". (6) In the 3rd line of page 18, "2nd arm A2J is corrected to 1st arm All." (7) The sentences in lines 13 to 19 of page 15 are changed to Correct it as follows. By teaching point C as shown in F+, the joint angle ρ
, and η are known. Since LI+1-2 and ηI are known, p, , = ■, i+■, :;-2LIT, 2 CO3η+
- As shown in (6), ff is obtained, and using X, thus obtained, and since η is known, (8) the entire text of page 19 is corrected as follows. [As shown in γ1. While T2 is calculated, γ
1. γri, due to β1 and β2, βi − ρj − γ1 β2 − β2 − γri ... (8) [
β violet and β2 are calculated as shown in . Thus β1.
When β is obtained, zX-7!1sin/3+ 4=7!2cos β2 - (9)z
=/2 sin 192-z x -(1
0), the values of β, 2X, and 2 are calculated. Here, ZX is the distance between point 01 and point C in the horizontal direction. Also, β3 and 13 in a state where the nozzle advances an arbitrary distance ΔZ from point C are β3 = tan-' (z x + Δz)/ff
...(11) 1-3= (2X+A2 completed〒4'
- Given by (12), which is a function of ΔZ. Based on β3 thus obtained, γ is obtained. Therefore, the joint angle ρ, β3, at a position 62 minutes forward from point C is ``(9) The formula in the first and second lines of page 19 is [β3-β3+T3
...(14)-JL: Jurir Ichiken'
-(15)β3-C"'
-I M”. (10) In the 15th line of page 22, the phrase "in P" is corrected to "in a plane parallel to P." ■In the 4th line of page 28 of the amended specification for a brief explanation of the drawings, the word "shororing" was replaced with "
Corrected to "Shoring". 8. List of attached documents (1) Drawings 1 copy Procedure amendment June 8, 1982 2. Name of the invention Continuous spraying of concrete, etc. is method 3. Person making the amendment Relationship with the case Patent applicant address 〒 651 1-3-18 Wakihama-cho, Chuo-ku, Kobe Name (119) Representative of Kurumado Seisakusho Co., Ltd.
Fuyuhiko Maki 4, Agent 530 5, Date of amendment order May 22, 1980 (Despatch date May 2916, 1981, Subject of amendment 7, Contents of amendment (1) dated April 12, 1980) In the 4th line of page 5 of the written amendment, it says "(7) Page 15...".
(7) Same page 18...] is corrected. (2) In the 18th line of the 6th page of the same page, "(9) The 19th page..." is replaced with "(9) The 20th page..."
＼ To stop. )

Claims (1)

[Scope of Claims] (1) A robot arm sprays concrete, etc. onto the corners of the arc-shaped supports installed on the inner surface of the cylindrical tunnel at a fixed pitch, and on the excavated surface of the cylindrical shaft between the supports. A method for spraying with a nozzle attached to the tip, which comprises the following steps (1) to (5), and is characterized in that steps (4) and (5) are performed continuously. Continuous spraying is the method. (1) A step of adjusting the inclination of the main rotation axis of the robot arm so that the axis of the main rotation axis of the robot arm is parallel to the shaft axis of the mine shaft. (2) The position of two horizontal points in the reference plane perpendicular to the shaft axis, the position of one vertical point between both horizontal points, and the position of the shaft axis from any of the three points above. The step of teaching the positions of four points including the position of one depth point located parallel to the point and separated by one point distance. (3) Based on the data obtained from the teachings in (2), spraying between the front and rear supports is a step of calculating the position of the arm corresponding to the position of the cylindrical surface. (4) After tilting the nozzle at a predetermined angle toward the corner of the shoring, use the calculation result in (3) to move the nozzle a predetermined distance along the shoring in the circumferential direction of the tunnel excavation surface. The process of spraying concrete, etc. to the corners of the construction. Following steps (5) and (4), the nozzle is oriented perpendicular to the tunnel excavation surface, and then the nozzle is sprayed along the cylindrical surface along the shaft axis using the calculation results of steps 1 and (3). The process of spraying concrete, etc. onto the excavated surface of a tunnel while moving it in a direction parallel to the core.