JPS60132667A - Control of concrete spraying robot - Google Patents

Abstract

PURPOSE:To perform concrete spraying construction work generating no splash- back or spray spot, by detecting distances and angles from three arbitrary points on a plane at a right angle to the main revolving axial core of a robot and the angle of the main revolving axial core in the axial core direction of a pit. CONSTITUTION:From the positions of three selected points A, B, C in a plane at right angle to the main revolving axial core of a robot, the distances from the points A-C to the main revolving axial core and angles from the definite plane passing the main revolving axial core of the points A-C around said axial core are detected. In addition, the oblique angle of the main revolving axial core to the horizontal line in the axial core direction of a pit is detected. Subsequently, by using positional data of three points A, B, C and oblique angle data, a spray nozzle is moved in a circular arc state along the arbitrary plane at a right angle to the pit axial core. By this method, spraying is accurately performed even under such a state that the accurate centering of a robot position is difficult.

Description

[Detailed description of the invention] The present invention relates to a tunnel excavated with a substantially cylindrical cross section.

Concrete 1. for the inner surface of shafts, retaining walls, and other shafts.

This relates to a method of controlling a robot for spraying heat insulating materials, soundproofing materials, etc., and in particular, even if the robot is not on the axis of the tunnel but is located eccentrically from the axis of the tunnel, it will not be possible to spray concrete, etc. The present invention relates to a robot control method for spraying concrete, etc., in which a nozzle for spraying parallel to the shaft axis can be easily and precisely moved along a cylindrical surface.

Conventionally, in such concrete spraying robots, as seen in Japanese Patent Application Laid-Open No. 56-105100, the extension and contraction mechanism of a swinging arm with a nozzle at the tip of the concrete spraying robot exists in a vertical plane passing through the axis of the tunnel. However, it is extremely difficult to move the robot, which is generally mounted on a crawler-equipped truck or tire-based truck at construction sites such as tunnels, with its rotation axis reliably aligned with the tunnel axis. This work significantly reduces the efficiency of tunnel excavation work, and the spraying of concrete, etc. is carried out with the rotation center of the arm eccentric to the left and right from the tunnel axis, resulting in The distance between the concrete and other materials varied greatly, and the spraying of concrete, etc., was uneven.

In order to solve these conventional drawbacks, the present inventor developed a concrete, etc. spraying robot for spraying concrete, etc. into an arc-shaped mine shaft using a nozzle attached to the end of a multi-joint arm of a concrete spraying robot installed at an arbitrary position in the shaft. In a spraying robot control method, a constant spraying rate is determined by two points located within an arbitrary cross section perpendicular to the axis of the shaft and located a distance from the point where a horizontal line passing through the axis of the main rotation axis of the robot intersects with the shaft excavation surface. The position coordinates of the horizontal point, and -1- An arbitrary tunnel excavation surface located in the middle of the two horizontal point positions within the arbitrary cross section described above, and the constant spraying is a distance inward from the point. To teach four position coordinates: the position coordinate of a certain vertical point of 1 tllil, and the position coordinate of one depth point separated by an arbitrary distance in the direction of the shaft axis from any of the three points indicated in -. As a result, we have developed a control method for a robot for spraying concrete, etc., which is characterized by moving the spray nozzle along a cylindrical surface for spraying parallel to the axis of the mine shaft, and has already filed a patent application (Patent Application No. 1982- 6377).

However, in this method, as mentioned above, the condition is that the positions of two points on the horizontal plane passing through the axis of the robot's main rotation axis are taught. If there is a hole in the inner surface of the shaft due to a break in the rock, etc., there is a drawback that it is not possible to teach the appropriate position. Furthermore, with the above method, it is not possible to teach the position below the horizontal plane passing through the axis of the main rotating shaft, and spraying must be carried out manually on the inner surface of the tunnel below the horizontal plane. With,
Even when spraying is performed only in an arbitrary narrow angle range, there are also disadvantages such as having to teach the horizontal point and the vertical point, and the teaching work is wasteful.

Therefore, even if the arm rotation center of the concrete spraying robot is installed eccentrically by an arbitrary distance in the left-right direction and -1-downward direction with respect to the shaft axis, the present invention is able to prevent the concrete, etc. Spraying F+] The spraying nozzle can be automatically moved along the cylindrical surface, and the nozzle can also be automatically moved along the cylindrical surface in the direction of the tunnel axis, that is, in the depth direction. The purpose is to provide a control method for a concrete, etc. spraying robot that can perform concrete spraying, and is improved so that the teaching point can be arbitrarily selected. - The position of any three points in a plane perpendicular to the main rotation axis of At the same time, the angle of inclination of the upper rotation axis with respect to the horizontal line in the direction of the shaft axis is detected, and the position data and inclination angle data of these three points are used to determine whether the spraying is In addition to providing a control method for a concrete spraying robot 1, which is a point moved in an arc along an arbitrary plane perpendicular to the shaft axis, the robot also has the above three points. By teaching the depth distance from a plane containing concrete, etc., the spraying nozzle can be moved along a cylindrical surface with an arbitrary radius parallel to the shaft axis. It is something.

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 explanation of the present invention. Here, Figure 1 is a rear view of the articulated concrete spraying robot showing the state of concrete spraying in a mine shaft, Figure 2 is a side view of the articulated concrete spraying robot, and Figure 3 is the same step. The nozzle used for spraying is shown in a side sectional view of the arm. Figures 4 (a) and (, b) are block diagrams showing the work process for centering the robot in the direction of the shaft axis. Figure 4 (C) is a flowchart showing the same process, fifth
The figure is a schematic diagram showing the calculation process for moving the nozzle in an arc shape in a cross section perpendicular to the tunnel axis. Figure 6 is a conceptual diagram showing the calculation process for moving the nozzle in the depth direction along the tunnel axis. , Figures 7(a) and (b) are conceptual diagrams showing the work procedure during manual operation, 8th TI! I is a flowchart for calculating the circular arc shown in FIG. 5, FIG. 9 is a flowchart showing the calculation process of the nozzle movement locus in the tunnel depth direction shown in FIG.
a) and (b) are schematic diagrams showing the work procedure in the case of regeneration operation with the main turning axis tilted with respect to the tunnel axis, respectively, and Figure 11 is also a schematic diagram showing the work procedure when the main turning axis is tilted with respect to the tunnel axis. 3 is a flowchart showing a process of calculating a trajectory for moving a nozzle in a tunnel depth direction in an inclined state.

First, the structure of an articulated concrete spraying robot will be explained with reference to FIG. In the figure, 1 is a robot main body, which runs on a crawler 2, and has an outrigger operated by hydraulic pressure at its front end, or its front end and rear end. This outrigger 3 extends downward to hold the robot body 1 during playback, and is used to tilt the axis 4 of the robot body 1 in an arbitrary fixed angle direction depending on the amount of advance. serves to orient the robot body 1 in the axial direction of the robot body 1. Robot body 1
A main swivel 6 is attached to the front surface of the main swivel 6, which can be rotated in the direction of θ1 around the axis 4 by a motor 5. A first arm A that can swing around the support shaft 7 is attached to the support shaft 7 that is perpendicular to the support shaft 4, and the first arm AI
A second arm A2 is attached to the tip of the arm A2, which can swing within the rotation plane of the first arm A around a support shaft 8 parallel to the support shaft 7. The fulcrum pin 9 provided in the middle of the first arm A1 and the fulcrum pin 10 provided on the main swivel base 6 are connected by a hydraulic cylinder X1.
The rotation angle θ2 of the first arm A1 with respect to the main rotation axis 4 is determined by the amount of protrusion and retraction of the first arm A1. Further, the fulcrum pin 12 provided in the middle of the 27th arm A2 and the fulcrum pin 13 provided on the main swivel base 6 are connected by a hydraulic cylinder 14, and as the hydraulic cylinder 14 expands and contracts, the fulcrum pin 12 of the 27th arm A2 is
- A turning angle θ3 with respect to A is determined. An arm 16 is attached to the spindle 15 attached to the tip of the second arm A2, which is a nozzle mount that can swing around the spindle 15 within the rotation plane of the first and second arms. The nozzle is mounted so that the arm 16 is always held at a constant angle with respect to the axis 4 by a parallel link 17' parallel to the 27th arm A2 and a parallel link 17'' parallel to the first arm A1. Its swing angle is regulated.

The nozzle is attached to the tip of the arm 16, and the nozzle is attached to the tip of the arm 16. 19 is attached.

That is, the nozzle is attached to the arm 1G by a shaft 21 connected to a swing motor 20 attached to the base of the arm 1G, as shown in FIG.
on its axis, the shaft 2I has a bevel gear 22 cut out at its tip, and a bevel gear 23 that fits perpendicularly to the bevel gear 22.
The blowing point in the direction perpendicular to the paper surface of the 31st!21 is attached to the tip of the shaft 24 through the shaft 24 coaxial with the whole float 23.
The nozzle 19 is connected to the nozzle 9, and the rotation of the swing motor 20 causes the nozzle 19 to spray at θ, about the shaft 24.
It is possible to swing in the direction of. Further, the teeth 1i26 rotated by a rotating motor 25 installed at the base of the nozzle removal arm 16 mesh with a gear 28 fixed to the end of a hollow shaft 27 having the shaft 21 coaxially therein. The hollow shaft 27 integrally has a casing 30 at its tip that has a bearing 29 that rotatably supports the shaft 24, so that when the swing motor 25 rotates, the gear 26.2
8. The casing 30 is attached via a hollow shaft 27, and the nozzle is attached by rotating around the axis 17 of the arm 16. It rotates around the axis 17 in the direction of θ5. FIG. 1 is a rear view of the concrete spraying robot as described above, seen from the direction of the arrow in FIG. And the nozzle installation is done by rotating the arm 16 and adjusting the rotation angle of each arm to adjust the distance from the main rotation axis 4 to the tip of the nozzle 19.
This shows that the nozzle 19 is spraying concrete onto the tunnel excavation surface K while moving the nozzle 19 along the cylindrical surface 41 while spraying at a constant distance and spraying at a distance.

In tunnel excavation work, first half of the approximately semi-cylindrical tunnel is excavated by poling and blasting work, concrete is sprayed on that part, the lower half is excavated and concrete is sprayed, and the deeper part is excavated. - Concrete - 1. An upper half section excavation method in which spraying is repeated and the tunnel is gradually advanced.The entire approximately semi-cylindrical tunnel is first excavated and then the upper and lower halves of the tunnel are concreted by a series of operations. Continuous excavation spraying is used in which this is repeated in the depth direction, but the latter method is more efficient, and the present invention provides a method that can automatically perform the latter method. It is something to do.

Next, the procedure for teaching the robot the working locus of the spraying system as described in -I- will be explained with reference to FIGS. 5 and 8. As shown in FIG. 5, the teaching begins by passing through the support shaft 7 attached to the tip of the robot body 1, and then drawing a line of intersection (curve 1ji) between a plane perpendicular to the main rotation axis 4 and the tunnel excavation surface.
l) A more constant spray is any three points A, B that are located inside by a distance Δr.

This is done by teaching the position of C and the position of a point that has advanced a certain distance from this plane (step SA plate (
Figure 8)). These three points A, B, and C can be any point on the above plane, so you can choose where the equipment is, etc.
You can choose freely, avoiding places with holes in the wall.

Teaching the positions of the above three points ε, the operator operates the remote control panel to swing the arms A I, A2 + the nozzle mounting arm 16 to move the tip of the nozzle 19 to point A,
Each arm A at each position is guided to positions B and C.
,, A2.16 swing angle is determined by the motor for driving each arm (
(not shown) is detected by a signal from an encoder that detects the rotation angle, and from the relationship between these angle signals and the length of each arm, using the well-known /'AW processing, Distance to each point A, B, C 1iiiIa, b
, C, and angles α, β, and γ formed between an arbitrary reference plane (horizontal plane in the case shown in FIG. 5) and AO+, BO+, and CO+. The elevation angles α, β, and T from the horizontal line are obtained by adding the rotation angle of the main pivot shaft 4 with respect to a reference plane specific to the traveling vehicle 31 and the inclination angle of the reference plane with respect to the horizontal plane. The tilt angle can be obtained by an output signal from a potentiometer driven by a Yajirobe-shaped pendulum attached to the main pivot shaft 4 and swung by the pivot.

Now consider the X-Y plane perpendicular to the main rotation axis 4 with the center of the tunnel as the origin 0, and calculate the position coordinates of the main rotation axis 4 (X, V>
shall be. Then, the coordinates of the teaching points A, B, and C in the X-Y plane are A (-x-acosLy, y0asinα)13(-
x-bcosβ,y+bsinβ)C(-X-c,c
os γ, y+csin γ), and each point A, B,
If the distance (radius) from the origin O of C is R, (~x-acosα) + (y+ asinα)”=R
'(-x-bcosβ) +C'/ +bsinβ)2
-R2(-X-CCOS 7f 4- (y ten csin
T)' = R2 Solving this (SA,, SA3) When the teaching work is completed in this way, the reproduction (spraying) work begins using the eccentricity M (x, y) and depth book obtained in the above process. be done.

The ground on which the robot's trolley travels is not always a flat horizontal surface, and in particular, the ground on which the robot's trolley travels after blasting is a sloping surface called sloping surface caused by rocks thrown out by blasting. The traveling trolley installed on it is installed at various inclinations with respect to the horizontal plane or the tunnel axis. ,
Since it must be parallel to the tunnel axis in Design 1-, it is necessary to correct the inclination of the axis of the traveling bogie 31 (coinciding with the axis of the main turning axis 4) with respect to the direction of the tunnel axis in some way. be. This kind of supplementation is
1, by tilting the traveling carriage 31 during playback, or (2) leaving the traveling carriage 31 tilted as it is and moving each arm A,
,A.

The nozzle may be mounted by adjusting the rotation angle of the arm 16 so that the nozzle 19 moves within a plane perpendicular to the tunnel axis.

The procedure shown in FIG. 4(C) is a correction procedure based on method (2) above. That is, step S (hereinafter referred to as step number S) is to install the traveling vehicle 31 consisting of the robot main body 1, crawler, multi-jointed arm, etc. shown in FIG.
)), then the angle α of the traveling trolley 31 with respect to the horizontal line
2 is detected.

Such an α angle detector 32 uses a potentiometer-type angle detection device that detects the tilt angle from the horizontal state using a Yajirobe-shaped pendulum, as shown in FIG. 4(b).
As shown in FIG. 3, a signal corresponding to the detected angle α9 is sent to the difference calculator 33 (S2). Further, from the control device 34,
The excavation inclination target angle α, which is predetermined in design, is sent to the difference calculator 33 (S3), and the difference calculator 33 calculates α and −α1 (S4), and the signal of this difference is sent to the comparator 35. It is sent (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 351, and the hydraulic cylinder is 36 is driven (S5), and the hydraulic cylinder 36 operates until the ax reaches O. Thus hydraulic cylinder 3
6, the outriggers 3 move forward, 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 the type that uses a potentiometer or the like attached to the piston rod of the hydraulic cylinder 36 to apply a voltage corresponding to the amount of expansion/contraction of the hydraulic cylinder 36.

The control device shown in the 4th UA (b) of the child chain is a closed type control mechanism that returns the amount of expansion and contraction of the hydraulic cylinder 36, but this is a closed type control mechanism that returns the amount of expansion and contraction of the hydraulic cylinder 36. It may be an oven type control mechanism that drives the hydraulic cylinder 36 based on the difference between the excavation inclination target angle α electric sent out and the inclination angle α2 sent out from the angle detector 32 attached to the traveling trolley 31.

When the main rotation axis 4 of the robot body 1 is directed in the direction of the tunnel axis by the operations in steps 81 to S5, the reclamation work is started and concrete is sprayed.

For playback, first select three teaching points A from the axis of the robot (axis 0+ (x, y) of the main rotation axis 4).

Any point P on the arc passing through B and C (on the cylindrical surface J for spraying)
At the same time, calculate the elevation angle θ (Fig. 5) of the point P at the tunnel axis 0, and calculate the rotation angle of the main rotation axis 4 and the swing angle of each arm (coordinate transformation from the distance r). This is done by determining the values (iNi) and controlling each drive Wtl+motor using these (iNi) as target values.

In other words, I - the slope of the straight line passing through point 0201 according to the values of x, y, etc., GJ, the distance between points 0 and 0, and the spray distance from the cylindrical surface J to the tunnel axis 0! 1ilI (radius) R is G, 4 = jan-' (y/ x) - (3) G-G
〒7...(4) (Figure 8 (SA,)) Using the thus obtained C, , C, and R, the tunnel can be tilted by an arbitrary angle θ with the center of the tunnel as the base point. Main pivot axis 4 in position
For spraying, the distance e to the cylinder J is r = G2 + R2-2
(SA,) is obtained as a function of θ by GRCO9(θ−Ga ) ·−(5). Thus, by the calculation described in "-", the spray from the main rotation axis 0I at a position P tilted at an arbitrary angle θ with the tunnel axis 0 as the center is a circular arc on the cylinder J! Distance r to the tip of the nozzle 19 moving along the IL trace
p is calculated. Also, the rotation angle θ of the main rotation axis 4 necessary to guide the tip of the nozzle 19 to the point P. is given by (SAr,).

Therefore, by gradually changing θ, in order to attract the nozzle 19 to point P, the rotation angle θ of the main rotation axis 4, ((5)'
Equation) and the joint angle θ of each arm 1B3 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,
, B, and C to blow the nozzle 1.
can be moved continuously along the cylinder.

In actual concrete spraying work, as shown by arrows 38 or 39 in Figure 1, three-dimensional spraying with a width of F in the depth direction along the tunnel axis is performed by moving the nozzle in a zigzag manner along the cylinder. Then, three-dimensional spraying is performed on the inner surface. Therefore, for this three-dimensional spraying, it is necessary to determine the coordinates of the cylinder, and the teaching of the above points is for this purpose. However, the depth distance F may simply be taught or data input. For simplicity, as shown in Figure 6, 2
For a robot having joints A, . . . A2, the teaching of the depth direction and the operation of calculating each joint angle at a position advanced by an arbitrary distance Δ2 from the depth direction will be described. Figure 6 is the 5th
This is a view in the direction of the M and -M arrows in the figure, and the operating procedure is shown in the 9th section.
As shown in the figure. Arms A, A2 in a state in which the nozzle 19 is guided within the reference plane where points A, B, and C exist in the figure are shown by solid lines, and arms in a state in which the nozzle is guided to the teaching point indicated by D are shown in chain lines. , each arm is shown by a two-dot chain line in a state in which it has advanced an arbitrary distance Δ2 from the nozzle point C toward the rear. Also, point 0. The angle between the straight line connecting point 0I and the tip of the second arm A2 and the vertical line is ψ, the angle between the straight line connecting the point 0I and the tip of the second arm A2 and the second arm A2 is ζ, and the angle between the second arm A2 and the first The angle between arm A1 and the 27th arm A2 is η (B3 in Figure 2), the joint angle of the first arm A1 is ρ, the length of the first arm A1 is 151, and the length of the second arm A2 is B9, point 0. The distance from
is the reference position w(''-(i'7.W in the old reference plane)
) is set as 1, that at a position 2 minutes further back from the reference position is set as 2, and that located further back by Δ2 is set as 3.

By teaching the 0 point and the D point as described above, the joint angles ρ2 and B2 are known (s13°). Again, because B2 is known, 1! q =T-j +L"
20〒2 CO5 shoulder...B2 is determined by (6),
Furthermore, using B2 obtained in this way, ζ is calculated as shown in , and further ζ2 and B2
ψ2 is calculated as shown by ψ, -ρ2-ζ2 (8) (SB2). If ψ7 is obtained in this way, β1-ρ cos ψ2 ... (9) z = 42 sin
41 by φ2'+5in(J,...(10)
and the value of Z will be calculated (SB3).

In addition, ψ3 and β3 in the state where the nozzle penetrates an arbitrary distance △Z from the 0 point are given by (12), which is a function of Δ2. . In this way, ζ3 is obtained based on the obtained β3. Therefore, the joint angle ρ3.η3 at the position advanced by Δ2 from the 0 point is ρ, −ψ3+ζ3・
...(14) Calculated from (SB4), everything becomes 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.

The two-direction arithmetic processing shown in FIGS. 6 and 9 consists of two arms A, , /+1. However, for an articulated robot like the one shown in Fig. 2, the length of the arm 16 and its angle are known due to the action of the parallel link, so the second Arm A2
The tip! If you can set the lL mark, mark the i? at the tip of the nozzle removal arm 16. It traces are also automatically obtained.

When the direction of the nozzle 19 is fixed within the swing plane of the first arm Δ1 and the second arm A as shown in FIG. 5, if the position of 0I is eccentric from the tunnel center O,
The nozzle 19 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. , spraying will cause unevenness as it will be bounced off the tunnel excavation surface. In order to eliminate this inconvenience, it is necessary to correct the direction of the nozzle in a plane perpendicular to the main rotation axis 4 in accordance with the rotation angle θI of the arm, and this nozzle angle correction is shown in Fig. 3. The casing 30, the shaft 24 which rotates integrally with the casing 30, and the nozzle 19 fixed to the casing 30 are driven by the rotation motor 25, and the nozzle 19 is rotated in the direction of θ. The angle μ to be corrected in this case is calculated by (SB,).

According to my son's explanation, points A, B, C, and D and the turning angle θ,
By specifying the transfer distance Δ2, the working procedure for automatically moving the nozzle along the cylindrical surface is understood.

If the above-described robot structure is used, the spray nozzle can be moved to an arbitrary position by manual operation as described below. FIG. 7 is a diagram showing the principle thereof, and is a view taken along the line MM in FIG. 1, similar to FIG. 6. First, the position of the tip N of the second arm A2 shown by the solid line in the figure is further adjusted by Δ
The operation for manually moving the object upward by y will be explained.

The distance p from 01 to N at this time is (5) formula % formula %
(17) is given by. At this time, ρ is the angle between the first arm A and the vertical line, and using these values, ζ at the current position is given by, and using ρ, p=p1cos(ρ-ζ)・...(19)z=I! 1s
in(ρ-ζ)-(20) gives β and 2 at the current position.

Next, when moving the tip of the second arm A to N', which is a distance of Δy from point N, ψ and 1 are 7! , , -, l417...' (22) Using these values, the joint angles ζ, η, and ρ are determined by ρ-φ→-ζ...(25) Ru.

Also, to explain the case where the tip of the second arm A2 is manually moved from the position shown by the solid line in FIG. 7(b) to the position shown by the two-dot chain line, β1 at the current position
．． ζ, X, and Z are given by equations (18) to (21) as above, and ψ, 7!1 at the set position is 1! ,=7...(27) It is given by: Therefore, based on these values, ζ, Me1. ρ is calculated by ρ−ψ+ζ (30).

In the above explanation, it is assumed that the main rotation axis 4 of the robot body is kept parallel to the tunnel axis, but the angle of inclination of the main rotation axis with respect to the tunnel axis can be determined by the angle detector Since it is accurately detected by 32,
Concrete may be sprayed onto the tunnel excavation surface K while inputting in advance the inclination angle of the tunnel axis determined by the design conditions and correcting the joint angle of each arm using this detected value.

Below, without correcting the robot's inclination using the outrigger, the correction calculation is performed exclusively during playback, and the spray is carried out accurately along the cylindrical surface J without aligning the main rotation axis 4 and the tunnel axis. The control procedure for inducing this will be explained.

Now, consider the case where the robot arm tip point N is guided by a distance of 62 minutes in the direction of the tunnel axis with reference to FIG. 10(b). This corresponds to the procedure shown in FIG. 7(b) above,
The same codes are used for all. In this case, the elevation angle ψ of the point N with respect to the main rotation axis 4 and the distance l1Ilt13 from the rotation center o1 to the point N are 1.
(32) Here, α electric is the inclination angle of the tunnel center line on the construction course with respect to the horizontal line, and α2 is the inclination angle of the main turning axis 4 detected by the angle detector 32 (Fig. 4). .

From the above ψ3, 13, the required swing angle of each arm when the nozzle 19 is moved by a depth Δ2 along the cylindrical surface J can be determined. This calculation is performed using a calculation formula when the main turning axis 4 is placed parallel to the tunnel axis.

Next, when the spraying distance 211 is changed, that is, when the robot arm tip point N is moved in the radial direction of Δy (corresponding to FIG. 7(a)), ψ3, l, As shown in FIG. 10(a), from the above, ψ3. j! 3, the required swing angle of each arm is determined using a calculation formula when the main pivot axis 4 is placed parallel to the axis of the tunnel.

Therefore, the control procedure in this case is shown in FIG. 11, and the difference from the control procedure shown in FIG. 9 is that the φ3. e, by considering the inclination angles α1 and α2 in the formula, and by setting the inclination angle of the nozzle 19 to α1. The point is to take α2 into consideration and set it to α2+90−α1.

Although the above embodiment describes a concrete spraying robot, the present invention is not limited thereto, and it goes without saying that it can be applied to a method of controlling a robot that sprays heat insulating materials, soundproofing materials, and other materials onto the inner surface of mine shafts. .

As described above, the present invention provides a concrete, etc. spraying robot for spraying concrete, etc. onto the arcuate inner surface of a mine shaft using a nozzle attached to the end of a multi-jointed arm of the concrete, etc. spraying robot installed at an arbitrary position in a mine shaft. In the control method, the position of any three points in a plane perpendicular to the robot's main rotation axis is determined by the distance from each point to the main rotation axis, and the main rotation axis centered around the main rotation axis of each point. In addition to teaching by detecting the angle from a certain plane passing through, the inclination angle of the main rotation axis with respect to the horizontal line in the direction of the shaft axis is detected, and the position data and inclination angle data of these three points are used to teach the blowing. This is a control method for a concrete spraying robot, which is characterized by moving the nozzle in an arc along an arbitrary plane perpendicular to the axis of the tunnel, so the axis of the robot for spraying concrete, etc. Even when spraying concrete etc. in a state where the nozzle is eccentric from the shaft axis of the tunnel, accurate three-dimensional spraying can be achieved by simply teaching the nozzle position along the shaft excavation surface. Since the trajectory of the surface can be taught, even in situations where it is difficult to accurately center the robot position, such as at tunnel construction sites, it is extremely easy to detect bounces and sprays on concrete or other surfaces with no spots. Attachment allows construction and teaching position WlI! - Since it can be selected arbitrarily, accurate teaching can be performed without problems even if there is a hole or equipment that obstructs teaching work at a specific position.

[Brief explanation of drawings]

Figure 1 is a rear view showing the above-mentioned concrete spraying of an articulated concrete spraying robot in a mine shaft;
The figure shows a side view of the articulated concrete spraying robot.
Figure 3 is a side cross-sectional view of the arm for installing the spray nozzle used in the same step, and Figures 4 (a) and (b) show the work process for centering the robot in the shaft axis direction. A block diagram, FIG. 4(C) is a flowchart showing the same process,
Figure 5 is a schematic diagram showing the calculation process for moving the nozzle in an arc shape in a cross section perpendicular to the tunnel axis, and Figure 6 is the calculation process for moving the nozzle in the depth direction along the tunnel axis. 7(a) and (b) are schematic diagrams showing the work procedure during manual operation, FIG. 8 is a flowchart for calculating the arc shown in FIG. 5,
FIG. 9 is a flowchart showing the calculation process of the nozzle movement locus in the tunnel depth direction shown in FIG. 6, and FIG.
) and (b) are schematic diagrams showing the working hand hIQ when regenerating operation is performed with the main pivot axis tilted with respect to the tunnel axis, respectively, and Fig. 11 is a schematic diagram showing the working hand hIQ when the main pivot axis is tilted with respect to the tunnel axis. This is a flowchart 1 showing the process of calculating a trajectory for moving the nozzle in the tunnel depth direction in an inclined state. (Explanation of symbols) 31... Concrete spraying robot A,, A2... Ropo/soto arm 4... Main pivot axis K... Mine tunnel excavation surface A, B, C...
・Teaching point D...Depth point J...Blowing is from cylindrical surface 19...Blowing is from nozzle 3...Outrigger 36
... Hydraulic cylinder 32 ... Angle detector 34 ...
Control device 35... Comparator 33... Difference calculator. Representative: Kobe Steel Co., Ltd. Patent Attorney Takeo Honjo Figure 7 (a) Figure 8 Figure 9 To the Commissioner of the Patent Office 1, Indication of the case Patent Application No. 242884 of 1988 2
, Title of the invention: Concrete spraying robot control method 3, Person making the amendment, Relationship to the case Patent distributor address: 1-3-18 Wakihama-cho, Chuo-ku, Kobe 651 Name (119) Co., Ltd. Ugurado Seifi Okadoro Representative
4 Female Fuyuhiko 4, Agent 530 5, Date of amendment order Voluntary 7, Contents of amendment■, The following amendment is made in the column of detailed description of the invention. (1) Correct "y-..." in the second line of page 15. (2) In the fourth line of the same page, "depth" should be corrected to "depth". (3) On the 7th line of page 19, the text "R-..." is corrected. (4) In the 11th line of the same page, change the word “a” to [rp
Corrected to ``. (5) On the 12th line of the same page, “r-... (5)
" is replaced with "r p-02+R22G Rcos (θ-〇a)
-(5) Correct to J. (6) In the 3rd line of page 20, [θ0−...
(5)'” should be corrected. (7) In the 8th line of the same page, correct "θ ri, B3 ga" to "ρ, η ga". (8) “Second arm A2” on page 21, line 17
``Correct to 1st arm AIJ.'' (9) On page 22, lines 7 to 17, [-Calculated as above (SB2). '' should be corrected as follows. [By teaching the 0 point and the D point as described in F, the joint angle 1. and η1 are known (SB,). Also, since LI+I-2 is known, 7! H=L? +LS -2J-1'L2 cos
) 7+ −(6) gives 7! Then, ζI is calculated as shown by using 7!1 thus obtained. Furthermore, since ρ and η are known, I! , −(7 lower〒L% 2 Ll L2 cosη2
ζ2 is calculated as shown in . Furthermore ζ1. ζ, ρ, and ρ2, ψ1 = ρ1−ζ1 ψ, −ρ, −ζ, ...(8) As shown in (8), ψ1. ψ is calculated (SB2). (]0) In the 1st to 4th lines of page 23, ``Shi ψ
``If you can get a good deal, then...'' is replaced with ``If you can get a
If 2 is obtained, 7,,=7!1cos ψ+ −(9)zx=j! 2s
in ψ2 Jsin ψ+ ・=(10) r
The values of c and zx will be calculated.'' (11) In the 13th line of page 25, ``The direction of θ is changed to ``B5.
Correct it in the direction of. (12) On the 8th line of the same page, [μ−...(16
) Correct the word J to . (13) In the 14th line of page 26, correct "B1 ga" to "ρ ga". (14) In the 1st to 13th lines of page 27, the statement ``given by...ρ−ψ+ζ...(25)'' should be corrected as follows. [given by, using ρ, γ−j! Icos(ρ-ζ)...(19)zx=1
．． 1 sin (ρ-ζ) (20) gives T and 2X at the current position. Next, when the tip of the second arm A2 is moved from point N to N', which is a distance of Δy, ψ' and lI' are ψ'-jan
″fi ・(21) H=γ+Δy p, ・−stone]ri W ...(22) Using these values, ρ can be reduced to 1ψ1ζ
...(25) J (15) On the 28th page, lines 6 to 14, [IJ is at the current location...(29) J is corrected as follows. “pI, ζ, γ, and ZX at the location are the same as above (1
7) to (20), ψ' at the set position,
p1' is given by ψ'=t...-2μ...(26) p,'-F75C7〒7...(27). Therefore, based on these points, 4'1 in the set position
For η' and ρl, (16) "ρ-ψ+ζ" in the first line of page 29 is corrected to "ρ'-ψ'→-ζ'". (17) On page 30, line 3, “ψ3=...
・(31)" is corrected. (2) "Figures 5 to 11" in the drawings are corrected as shown in the attached sheet. 8.Inventory of attached WFs (1) and 1iJ1

Claims (1)

[Scope of Claims] ■In a method for controlling a concrete, etc. spraying robot for spraying concrete, etc. onto an arcuate inner surface of a mine shaft using a nozzle attached to the end of a multi-joint arm of the concrete, etc. spraying robot installed at an arbitrary position in a mine shaft. , the position of any three points in a plane perpendicular to the robot's main rotation axis, the distance from each point to the main rotation axis, and a constant plane centered on the main rotation axis of each point and passing through the main rotation axis. At the same time, the angle of inclination of the main rotation axis with respect to the horizontal line in the direction of the shaft axis of the tunnel is detected, and the position data and inclination angle data of these three points are used to determine the direction of the spray nozzle. A control method for a concrete, etc. spraying robot, characterized in that the concrete, etc., is moved in an arc shape along an arbitrary plane perpendicular to the shaft axis. ■In a control method for a concrete spraying robot that sprays concrete, etc. onto the inner surface of an arcuate tunnel using a nozzle attached to the end of a multi-jointed arm of the concrete spraying robot installed at any position within the tunnel, the main rotation axis of the robot is Detects the position of any three points in a plane perpendicular to the core, the distance from each point to the main rotation axis, and the angle from a fixed plane that passes through the main rotation axis around the main rotation axis of each point. At the same time, it also detects the inclination angle of the main turning axis with respect to the horizontal line in the direction of the shaft axis and teaches the depth distance from the plane containing the three points, and calculates the (i7.g data) of these three points. , IIJ! A method for controlling a robot for spraying concrete, etc., characterized in that a spraying nozzle is moved along a cylindrical surface of an arbitrary radius parallel to the shaft axis using oblique angle data and depth distance data.