JPS62146357A - Controller of building work robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Technical Field of the Invention The present invention relates to a control device for a working robot for flattening and finishing the surface of concrete after removing formwork during concrete pouring work for buildings, bridges, etc.

BACKGROUND OF THE INVENTION Normally, this type of concrete surface modification is carried out by a worker using a modification tool such as a disc grinder. That is, the worker weighs 5-6 kg.
While supporting a heavy correction tool with the weight of approximately 300 g in hand, the operator visually identifies the protrusion protruding from the reference surface, presses the rotating part of the correction tool against the protrusion, and scrapes it off.

In this type of work, the tools used for correction are heavy, and if the surface to be corrected is located at a high location such as a ceiling, the user is forced to work in an unstable posture, which can lead to fatigue and the work can only be done for a short period of time. The situation is such that continuous work cannot be carried out.

Furthermore, since all of this correction work is done manually, the corrected surface is simply copied over the entire original surface, and is not only concerned with correcting irregularities, but also with precision requirements such as flatness of the entire surface and finishing it in a predetermined shape. There is a problem that we cannot hope to satisfy.

OBJECT OF THE INVENTION Accordingly, an object of the present invention is to mechanically automate the above-mentioned correction machining and scraping operations, and to improve the position and cutting speed of the correction tool, in order to solve the above-mentioned operational problems. The purpose of this is to automatically control the above operations to finish the corrected surface to a predetermined accuracy.

Solution to the Invention Therefore, the present invention provides a robot wrist and a robot hand movable in the X-axis direction, which are attached to a column movable in the X-axis direction and the Y-axis direction in a state parallel to the correction processing surface. In relation to the two-axis movement of the robot hand or the load torque of the repair tool attached to the robot hand, the unevenness of the repaired surface is detected compared to the shape of the finished surface that has been input in advance, and the process is adjusted to that state. Accordingly, the feed motion of the correction tool in the X-axis and Y-axis directions is automatically controlled, so that the amount of removal of the correction surface can be automatically adjusted.

This series of controls is performed by a control microcomputer, which takes in other information during operation (continuously performs optimal correction processing).

1 to 3 show a construction robot 1 according to the present invention.

This construction work robot 1 is built into a table 2 that is movable in the X-axis direction and the Y-axis direction. This table 2 is arranged parallel to each other and has two X's.
It consists of a frame 3 in the axial direction and one frame 4 in the Y-axis direction, which extends in a direction perpendicular to the frame 3.

A pair of frames 3 in the X-axis direction have connecting pipes 5 at both ends.
It is assembled in a removable manner by means of screws or other connecting means. Further, at both ends of the pair of frames 3, hydraulic support jacks 6, for example, are provided below the support jacks 6, in order to hold the table 2 parallel to the corrected surface during cutting work. A wheel 7 that projects and holds the table 2 in a movable condition and a vertically rotatable bracket 8 are incorporated in order to change the direction of travel of this wheel.

The frame 4 in the Y-axis direction is constructed by combining two channel materials, and is movable along the frame 3 of channel materials by two rollers 9 provided at both ends thereof. They are connected to a ball screw 11 by a pole nut 10 in a screw pair near the frame 3 in the X-axis direction.

These ball screws 11 are rotatably supported by bearings 12 at both ends in parallel with the frame 3, and are connected at one end to a feed motor 13 in the X-axis direction fixed to the bearings 12.

The frame 4 in the Y-axis direction is in a state where the column 15 in the X-axis direction perpendicular to the X-Y-axis plane can be moved in the Y-axis direction by rollers 14 that fit inside from both opening surfaces of the channel material. I support it. That is, this column 15 is composed of a trapezoidal column frame 16, which is fitted into a ball screw 18 with a lower ball nut 17, and furthermore, a column rod 19 in the X-axis direction can be moved in the X-axis direction approximately at the center thereof. It is supported in a state of

Note that the ball screw 18 is supported by bearings 20 at both ends of the frame 4 and is driven by a feed motor 21. This column rod 19 is slidably supported by a sliding bearing 22 at the upper part of the column frame 16, and is connected to a feed screw 24 in the X-axis direction by a feed nut 23 fixed to the lower end. There is. The feed screw 24 is rotatably supported by a bearing 25 fixed to the column frame 16 at its lower end, and connected to a feed motor 26 in the X-axis direction attached to the column frame 16 at its upper end. ing.

Note that level detectors 27, 28 in the X-axis and Y-axis directions are attached to each frame 3.4.

Furthermore, the column rods 1 and 9 have, at their upper end portions, rotatably supported, for example, a disk-shaped swivel table 30 by a rotary support portion 29 as a swiveling means, and furthermore, the robot wrist 31 is It consists of a fixed link 32, a four-bar parallel link consisting of links 35 and 36 of the same length connected by a pin 34 to the fixed link 32 and a support link 33 parallel thereto. Above swivel base 3
0 includes a turning actuator 37 for turning around the column loft 19, and a direction changing actuator 38 for turning by 180 degrees to change direction.

The upper end portion of the support link 33 is a robot hand 39, and this portion is used as a correction tool 4 such as a disk grinder with a load cell 40 interposed therebetween.
1 is held fixed.

Note that a tension spring 42 is incorporated between the upper pin 34 and the lower pin 34 as a biasing means, and the rotation angle of the link 35, 36 is determined by the lower limit stopper 43 attached to the swivel base 30. and an upper stopper 44 attached to the fixed link 32, it is regulated within a certain range.

Further, the amount of displacement of the support link 33 in the X-axis direction is detected electrically or physically by a displacement amount detector 45 attached to the swivel base 30, for example.

FIG. 4 shows the control device 46 of the construction robot 1. As shown in FIG. This control device 46 is composed of a control microcomputer, and includes a CPU 47, a ROM 4
8, RAM 49, input interface 50, and output interface 51, which are
2 are interconnected.

The input interface 50 is connected to a level detector 27, 28, a load detector 53, 54 of the feed motor 13, 21 as a detection means, a displacement detector 45, a keyboard 57, and a load cell 40. The output interface 51 also includes a correction tool 41, a turning actuator 37, a feed motor 26 in the X-axis direction, and
They are respectively connected to speed control circuits 55,56 of the feed motors 13,21.

Operation of the Invention Next, FIG. 5 shows the operation sequence of the construction robot 1. As shown in FIG.

This construction work robot 1 is sent to a predetermined work position by a worker 6. Then, the worker determines the working height of the correction tool 41 and the pattern of the feed locus in the X- and Y-axis directions according to the work situation. is input in advance by operating the keyboard 57, and is stored in the RAM 4 as a memory of the control device 46.
Store in 9.

Of course, a predetermined work program is inputted into the ROM 48 of this control device 46 in advance.

When a worker installs the construction work robot 1 at a predetermined position and gives a start command, the control device 46 automatically starts the work program. First, in the first step, it is determined whether the table 2 is installed horizontally.

If the table 2 is set to a horizontal state, it will go directly to the next step, but if the table 2 is not horizontal outside the tolerance range, the CP tJ 4.7 will be set to the level detector 27.28.
The necessary signals are taken in from the support jacks 6 at the four corners.
By individually driving the table 2, a horizontal correction operation is performed on the table 2.

In the next step, the feed motor 26 in the X-axis direction automatically rotates to rotate the feed screw 24.
The robot wrist 31 and the correction tool 41 move to the set height. In this way, the correction tool 41 is automatically set to the height of the working position. In this state, if the correction tool 41 hits the ceiling or the like and excessive pressure is applied to the load cell 40, the CPU 47 detects this state, determines that the height setting is inappropriate, and cancels the series of programs. Prompt for correction input.

After the correction tool 41 is set to an appropriate height, the CPU 4
7 starts the motor of the 4 repair tools, and
By starting the swing actuator 37,
A reciprocating turning motion is given to the turning table 30 around the Z axis within a predetermined turning angle range.

After that, the CPU 45 rotates the feed motors 13.21 in the X-axis direction and the Y-axis direction at predetermined speeds, and
5 is given a predetermined feed motion. As shown in FIG. 6, this feeding motion is provided, for example, as a zigzag motion within the movement range of the column 15 in the X-axis direction and the Y-axis direction. As a result, the correction tool 41 continuously presses the grinding tool against the correction processing surface such as the ceiling while performing reciprocating rotational movement according to the locus of the zigzag feed movement.

During this time, the CPU 47 detects the load fluctuation of the feed motor 13.21 using the load detectors 53.54 in the X-axis and Y-axis directions, and indirectly detects the protruding portion of the modified surface such as the ceiling. For example, during the feed movement in the X-axis direction, xi
When a large load is applied to the force direction feed motor 13, it is determined that there is a protrusion on the corrected surface at least in the X-axis direction, and when the load is out of the allowable value range, the CPU 47 Then, a command is given to the speed control circuit 55 to rotate the X-direction feed motor 13 at a speed lower than the normal feed speed.

As a result, the repair tool 41 moves at a low speed and takes a longer time to process the protruding portion, thereby cutting off more of the protruding portion than the others.

Such an operation is similarly performed during feeding movement in the Y-axis direction.

When the column 15 reaches the turning point, the direction change actuator 38 first rotates the swivel table 3o by 90 degrees to match the feed movement in the Y-axis direction, and then rotates it by another 90 degrees. , again aligning with the movement in the opposite direction, the X-axis direction. In this way, the correction tool 41 continuously performs the correction work on the repaired surface over the entire range of the X-Y axis plane of the fixed table 2.

During such a feeding movement, the uneven portion of the modified surface is absorbed by the vertical movement of the robot wrist 31.

However, when the support link 33 descends beyond the allowable range and deviates from the allowable value, the displacement amount detector 45 detects that the CPU 47
A signal is sent to the machine, and a reprocessing flag is generated along with the feed coordinates.

Once the series of feed movements is completed, the installation will be completed with a series of corrective operating forces in position.

However, when the above reprocessing flag is generated, the CP
U47 reads the coordinates of the rework flag on the X-Y axis, moves the correction tool 41 to that position again, and continues the correction operation there again.

When such correction work is finished, the worker moves the construction work robot 1 again to the next correction work position, and repeats the series of correction operations there again. In this way, the construction work robot 1 continuously performs the necessary correction work (.

Modifications of the Invention In the above embodiment, the height and the amount of movement in two axial directions of the correction tool 41 are input for each correction position, but if the height is common to the entire working range, it is input first. If the corrected surface is formed as a curved surface, the function of the curved surface is input in advance to the ROM 48, and the required height is determined by calculation while reading the function.

Further, in the above embodiment, the construction work robot 1 is moved manually, but such movement and positioning can also be performed from a remote location using remote control technology.

Further, the horizontality correction operation as described above may be performed automatically by correction calculation, or may be set each time by an operator.

Furthermore, the uneven state of the modified surface can be detected by the displacement detector 4.
5 can also be detected. Therefore, the detection means may be the displacement detector 45.

Effect of the invention The present invention has the following unique effects.

During the scraping operation, irregularities on the repaired surface are detected, and the speed of the feed motion of the repair tool is automatically adjusted based on this, so the amount of scraping is automatically done with just the right amount compared to the reference surface. will be corrected.

Furthermore, in each of the embodiments, the horizontality of the table, the height of the correction tool, etc. are automatically corrected, and appropriate correction operations and other measures are automatically executed, so that malfunctions can be prevented. In addition, in the embodiment where the unevenness of the corrected machined surface is indirectly measured from the load of the feed motor, a special sensor is not required, so the state of the corrected machined surface can be detected more easily than a detection means such as a contact sensor. , becomes easier. Furthermore, in an embodiment where the amount of displacement of the robot hand in the Z-axis direction is detected by a displacement amount detector, and re-machining is performed when it deviates from the allowable value, correction of large protrusions can also be performed after a series of re-machining. Therefore, manual correction operations can be omitted, and correction processing can be performed efficiently.

[Brief explanation of drawings]

FIG. 1 is a partially cutaway front view of the construction robot of the present invention, FIG. 2 is a partially cutaway side view of the construction robot, FIG. 3 is a plan view thereof, and FIG. 4 is a block diagram of the control device. , 5th
The figure is a flowchart of a series of control sequences, and FIG. 6 is an explanatory diagram of the feeding movement and reciprocating turning movement. 1. Construction work robot, 2. Table, 3.4.
Frame, 5... Connecting pipe, 6... Support jack, 7
...Wheel, 15..Column, 16..Column frame,
19... Column rond, 23... Feed nut, 24...
Feed screw, 26...Feed motor, 27.28...Level detector, 30...Swivel base, 31...Robot wrist, 32...
・Fixed link, 33...Support link, 34...Pin, 3
5.36... Link, 39... Robot hand, 41...
- Correction tool, 42...Tension spring, 43...Lower limit stopper, 44...Upper limit stopper, 45...Displacement amount detector. Figure 7 Figure 2 Figure 3 Figure 4 Figure 6 Figure 5

Claims (6)

[Claims] (1) A table movable in a plane parallel to the processing surface, a Z-axis column placed on this table and movable in the X-axis and Y-axis directions, and an X-axis for moving this column. and a construction work robot comprising a feeding means in the Y-axis direction, a robot wrist attached to the column that includes a robot hand movable in the Z-axis direction, and a correction tool attached to the robot hand,
It has a detection means for detecting the movement of the correction tool in the Z-axis direction and generates an electrical signal, and each detection means for X-Y axis load detection, table level detection, and correction tool load detection,
Signals from the detection means, X-Y axis signals, level signals,
A control device for a construction work robot, characterized in that the feed speed of the feed means and the position of the Z-axis are controlled by inputting a load signal of a correction tool. (2) A control device for a construction work robot according to claim 1, wherein the X-Y axis signals are configured by a load detector built into a feed motor in the X-axis direction and the Y-axis direction. . (3) Level detectors in the X-axis direction and Y-axis direction are attached to the table as the level signal, and the outputs of these level detectors are sent to the control device as information for correcting the attitude of the table. A control device for a construction work robot according to claim 1 or 2. (4) As the Z-axis detection means, a displacement detector for detecting the movement of the robot hand in the Z-axis direction is built into the robot wrist, and the signal is sent to the control device as information for detecting irregularities on the modified surface. A control device for a construction work robot according to claim 1, 2, or 3, characterized in that: (5) A load cell is interposed between the robot wrist and the robot hand as means for detecting the Z-axis, and a signal from the load cell is used for detecting an abnormal rise in the Z-axis. A control device for a construction work robot as described in Section 1. (6) The above-mentioned control device is constituted by a microcomputer, and the data of the curved or flat surface to be machined with regular accuracy and the machining sequence are inputted in advance into its memory, and the above-mentioned Z-Y-Z axis signals and The construction work according to claim 1, characterized in that the Z-axis position for each correction machining is controlled by comparing the Z-axis position, and the X-Y-axis feed rate, machining order, etc. at that time are controlled. Robot control device.