JPH01257581A - Ceiling work robot and working tool used therein - 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] (Introduction! Field of application above) The invention is l! Inking, perforation, ljj on the dyed ceiling
The present invention relates to a ceiling work robot that can automatically perform various tasks such as installing light 2if tools and ceiling panels, and various work tools used therein.

(Conventional technology) When working on the interior of a building or installing lighting equipment, it is necessary to perform various tasks using lights on the ceiling surface, but for this type of ceiling work, a reference point marked on the slope is used as a weight. The work is carried out using a method in which the work is copied onto the ceiling surface using 1-, and the worker stands facing upward to mark out, drill holes, install lighting equipment, etc.
There were many problems, such as being carried out on unstable footing, being forced to work upwards which caused a lot of fatigue, and being exposed to chips and the like in the face. Therefore, the inventors of the present invention first invented a robot to automatically perform these tasks, and had already proposed it in Japanese Patent Application Laid-Open No. 111892/1989, but this earlier application, Robot 2. Komei can only perform the work, but cannot perform complex work such as installing lighting equipment on the ceiling surface, and Komei is also able to perform work such as marking and komei work on the ceiling surface, which is a problem in actual work. Detailed problems such as unevenness and tool vibration remained unresolved.

(Problems to be Solved by the Invention) The present invention solves the above-mentioned conventional problems and automatically performs marking on the ceiling surface of a building, drilling holes, and installing lighting equipment. It was completed in order to provide a ceiling work robot that can perform various tasks, as well as various work tools that solve the detailed problems mentioned above.

(Means for solving problems) Above A! The first invention made to solve Iu is a self-propelled trolley that detects a cursor on the floor and a lifter that moves up and down to the ceiling height, and a It is supported at the tip of the arm and is equipped with a manipulator that can carry various work tools, including the illuminator! I installation tool. It is characterized in that it is connected to a Kitami supply truck that supplies the manipulator to the manipulator.

3: The second invention related to the marking pen used in -41, .
At the same time, the marking pen is attached to the top of this mounting part.
Detects when it is pressed by a surface.
It is characterized by having a.

Further, the third invention relates to a straight line cutting tool, which includes a top plate provided with a roller that rolls while contacting the ceiling surface on the top surface of the attachment part to the manipulator, and a top plate that protrudes from a slit in the top plate. A rotating rotary saw is elastically attached via a spring, and a chip dust collection bag is also attached to the lower part of the rotary saw.
The invention relates to a circular cutting tool, in which a motor, an internal gear-type residual gear, and a core drill having a cutting edge on a cylindrical end surface are concentrically attached to the upper surface of the attachment part to the manipulator, and the core drill It is important to note that a disk for supporting 1-year-old chips is provided in the center of the machine.

Furthermore, the fifth invention relates to a gun light installation tool, which is attached to the upper surface of the attachment part to the Mayu break through an eccentric absorption mechanism. It is characterized by a ring-shaped airbag that holds the inner peripheral surface of the downlight shade at the upper end of the output shaft. It is something.

The sixth and final invention relates to a large illuminator l handle (=J tool), in which two arms that are moved once by a cylinder are crossed in an X shape on the upper surface of the handle 41 to the manipulator. At the same time, each arm has a grip part that clamps the side of the large lighting fixture from the outside, and links of equal length are pivotally attached to each arm, and the tips of these links are inserted into the guide plate in the direction of the center line. It is characterized by being slidably supported.

(Example) Each invention will be sequentially explained below according to illustrated embodiments.

■Robot body Figures 1 to 3 show an embodiment of the first invention.
i+ is a self-propelled trolley powered by batteries (2
) is a drive unit, (3) is a manual handle. A lifter (7) consisting of four near heads (5) and a lift table (6) driven by a pulse motor (4) is provided on the upper surface of the truck (1).
A manipulator (8) is mounted on this lift (7). The second part of the lifter (7) is equipped with a horizontal detection sensor (
9) and an image sensor 01lI such as a CCD camera for recognizing the shape of the ceiling surface, and when it is detected that the lifter (7) is tilted + Outriggers (11
), the two on the lower side are extended to correct the inclination in both the x and y axis directions. Manipulator (8
) can be attached to the tip of the arm (12) with various work tools, including tools for installing lighting fixtures as described later, but this arm (12) is equipped with an optical ceiling height sensor ( 13) is attached, and the lifter (7) is raised and lowered according to the detected ceiling height.

On the other hand, a position sensor (14) is provided on the lower surface of the cart (1) to detect a magnetic cursor set in advance on the floor and stop the cart (1) at an accurate position. The magnetic cursor is a flat plate made of acrylic resin or the like with a length of about 400 mm with magnets embedded in both ends.If this is set on the floor, the position sensor (4) of the trolley (1) will detect it magnetically. The trolley m is stopped while correcting the positional deviation in the three axis directions of X, Y, and θ. Note that errors that inevitably occur between the stop position and the magnetic cursor are input as correction data to the computer that operates the manipulator (8), so that the manipulator (8) cannot be moved with the magnetic cursor as a reference. There is.

(15) is a control truck connected to the rear of the truck (1), and is equipped with a control panel (16) mainly composed of a computer. By separating the control trolleys (15) in this way, the weight and size of each individual trolley can be reduced, and transportation etc. can be easily carried out. Note that (17) is an infrared sensor 4j installed in the front of the control s (16), and is used to ensure that no one is near the manipulator (siN). An instrument supply trolley (18) is connected to the instrument supply trolley (18).
18) is equipped with columns (19) at the four corners of its -1 side, and a chain (20) stretched inside the column (19) is driven by a motor (21) to raise and lower the platform (22). The structure is such that it can be done. On this lifting platform (22) J2, large illumination devices such as large fluorescent lights, ceiling boards, etc. are loaded in a predetermined order, and each time the manipulator (8) picks up one piece from above, it is lifted up. Place the table (22) on the upper stomach in 11 inch increments. (23) is the slide guide, (2
4) is a sensor that detects the presence or absence of a fixture, and (25) is a sensor that identifies whether the topmost one is a large lighting fixture or a ceiling board.

The device configured in this way operates the trolley (
1) travels on the floor and automatically stops at the position r where the magnetic cursor is placed. Move the zero-order outrigger (11) towards the floor and exit horizontally.17. Then, raise the 7-nibrake (l()) using the lifter (7) to match the height of the ceiling.
The large lighting fixtures and ceiling boards are grasped one by one using the fixture supply trolley (18) and installed on the ceiling surface of the building using a large lighting installation tool, etc., which will be described later. In this case, the ceiling surface has rails erected at regular intervals using a prefabricated construction method, and a manipulator (
8) goes through these l/- rules, places large lighting equipment and ceiling boards on the top of the 17-ru one after another, travels a certain distance and repeats the same operation, and at this time +1 lid (7)
) The image sensor Qφ installed in (NI) can grasp the position of the 1--rule on the ceiling (7) and correct the operation of the manipulator (8).

The example explained above is an example in which the left large lighting fixture is attached to the ceiling rail of the prefabricated construction method, but the ceiling work robot of the present invention uses a manipulator (8
) by setting it at the tip of the arm (12), it is possible to perform various types of ceiling work.

■ Marking tool Figure 4 shows an embodiment of the second invention.
) is 1j;
(31) is a holder fixed on the top surface of the pen, (32) is a marking pen whose tip protrudes from the flowering of Kya 2pu (32). A spring (35) for elastically supporting the marking pen (33) is interposed between the lower end of the ink storage part (34) of the marking pen (33) and the upper surface of the mounting part (30). Even if there are some unevenness on the ceiling surface, use a marking pen (
The pen tip (36) of 33) is designed so that it can surely come into contact with the ceiling surface. Also, (37) is a holder (31)
It is a limit switch provided in the lower part, and utilizes the fact that when the marking pen (33) comes into contact with the ceiling surface, it slides downward against the elastic force of the spring (35) to ensure that marking is carried out reliably. You can check whether the information is correct or not. Note that (38) is a removable lid attached to the cap (32) by a chain (39).

This configuration is used for marking on a ceiling surface by attaching the mounting part (30) to the tip of the arm (12) of the manipulator (8), and the spring (30) is used for marking on the ceiling surface.
Due to the action of 5), it is possible to reliably mark the ceiling surface without being affected by the unevenness of the ceiling surface, and the limit switch (37) detects whether or not the marking has been performed reliably. If the height of the pen tip (36) is insufficient, a correction command can be given to the lifter (7) or manipulator (8) to raise the pen tip (36). Therefore, according to the marking tool of the present invention, reliable marking is possible.

■ Straight line cutting tool Figures 5 to 7 show an embodiment of the third invention.
40) is an attachment part to the manipulator (8), (41) is a base plate on the upper surface thereof, (42) is a motor elastically attached above the base plate (41) via a spring (43); 44) is a rotary saw rotated by this motor (42). Also, the top plate (4) is placed on the top of the motor (42).
5) is removed, and the rotary saw (44) is attached to the top plate (4).
It has a structure that allows the upper end to protrude from the slit (46) of 5) while rotating to cut the ceiling board linearly. As shown in the figure, rollers (47) are provided at the four corners of the top plate (45) that move in contact with the ceiling surface to prevent the top plate (45) from coming into direct contact with the ceiling plate. The lower part of the rotary saw (44) is housed in a case (48), and a chip dust collection bag (49) is provided at the lower end of the case (48).

This structure is used for straight cutting of ceiling boards by attaching the mounting part (40) to the arm (12) of the manipulator (8), and the rotating saw (44) is attached to the arm (12) of the manipulator (8). ) is elastically attached with the upper end protruding from the slit (46) of the top plate (45).
7) Since it moves while touching the ceiling surface and always maintains a constant distance from the ceiling surface, it is not affected by unevenness of the ceiling surface (cutting the ceiling board in a straight line smoothly). can. Moreover, since the chips are collected in the chip dust collection bag (49), they are not scattered around.

Therefore, according to the linear cutting tool of the present invention, a ceiling board can be cut smoothly and linearly without contaminating the surrounding area.

■Circular cutting tool Figures 8 and 9 show an embodiment of the fourth invention.
50) is the attachment part to the manipulator (8), (51) is the motor provided above it, (52) is the reducer, (53)
) is a core drill. In the present invention, the reducer (
52) uses an internal gear reducer in which two eye gears (54) are placed at target positions so that the rotational balance can always be maintained. The attached driving gear (55) drives the internal gear (56) via these fiddle gears (54). On the other hand, the core drill (53) has a cutting edge (57) formed on the cylindrical end surface, and is fixed on the internal gear (56) with a bolt (58), reducing the speed of the
(52) can be rotated to cut the ceiling board in a circular shape. (59) is a circular ring elastically supported by a spring (60) at the center of the core drill (53). These discs (5) have a cut ceiling; the role of supporting one board is υ), which causes the cut ceiling board to fall into the core drill (53) and cause large vibrations. is prevented. t; (61) is a beam limit switch, by which it is possible to detect the completion of 93 disconnection.

This structure is used by attaching the mounting part (50) to the manibrake (8), and the core drill (53) is driven by a motor (51) via a speed reducer (52). When rotated, the ceiling plate can be cut into a circular shape by the cutting blade (57) formed on the cylindrical end surface of the core drill (53).In the present invention, an internal gear type reducer ( 52) is used, the dynamic balance is good, and since the circular plate (59) supports the cut ceiling board, the ceiling board can be cut into a circular shape without causing abnormal vibrations.

■ Downlight installation tool Figure 10 shows an embodiment of the fifth invention, (70)
is the attachment part to the eyebrow break (8), (71) is the flat plate fixed on this attachment part (70), and (72) is the flat plate (71).
) A thrust hair ring provided at the top, (73) is a base supported on its upper surface. This base (73) is attached to a flat plate (7) by a spring (74).
1), but if the base (7
3) Eccentric absorption ai! that can move in a horizontal plane when an external force is applied to it! (75). (76) is a motor installed on the base (73), (77) is a harmonic gear reducer, (78) is its output shaft, (7
9) is a rotating plate attached to the upper end of the output shaft (78). As shown in Figure 1O, a ring-shaped airbag (80) is attached to the outer periphery of the rotating plate (79), and compressed air passes through the inside of the output shaft (78) to the airbag (80). It has an inflatable structure.

Furthermore, downlights (
The flat plate (82) that detects the lower end of the shade of
9) under the spring force of a spring (B3), and when this flat plate (82) is forcefully pressed downward by the lower end of the shade of the downlight (81), the limit switch ( 84) has a structure that can detect the movement.

This structure is used by attaching the mounting part (70) to the tip of the arm (12) of the manipulator (8), and as shown in the figure, the tapered shade of the downlight (81) is used. The inner circumferential surface of the airbag (80) is supported by the airbag (80), and the entire body is raised toward the ceiling and screwed into the socket that is pre-installed on the ceiling. At this time, the center of the socket and the manipulator side Even if there is a slight eccentricity between the center and the center, the eccentricity absorber 1ll (
75) absorbs this.

When the tightening is completed in this way, the motor (76)
As the load increases, the limit switch (84) is activated to stop the entire operation. As described above, according to the present invention, it is possible to attach the downlight (81) to a ceiling socket without applying excessive force to the downlight (81).

■Large lighting equipment mounting tool Figures 11 and 12 show an embodiment of the sixth invention, where (90) is the attachment part to the manipulator, (91) is the central axis, (92), (92) are two arms pivoted by this central axis (91) and crossed in an X shape.

A gripping part (93) is attached to the tip of each of these arms (92), (92).The gripping part (93) has a work guide plate (94) and a spring (96) attached to the rising part (95). ) and a limit switch (98) for detecting the workpiece.
, (92) are always oriented in a fixed direction regardless of the swing angle. (99) are these arms (92
), (92), but simply installing the cylinder (99) between the arms (92) and (92) does not allow accurate control of the position of each grip (93). Therefore, in the present invention, each arm (
92), links of equal length to (92) (100), (100
) are pivotally connected by the bins (101), (101), and the tips of these links (100), (100) are connected to long holes (102) in the guide plate (102) extending in the direction of the center line.
103) and is slidably supported by a roller pin (104). As a result, each arm (92),
The movement of (92) will be completely regulated.

This structure is used by attaching the mounting part (90) to the manipulator (8), and the large rectangular lighting fixture (110) is mounted on the fixture supply cart (18).
A workpiece that can be gripped by the work holding claw (97) of the gripping part (93), turned upside down by the movement of the manipulator (8), and then placed on a rail installed on the ceiling surface of the prefabricated construction method. It is. At this time, the manipulator (8) tilts the large lighting fixture (110) between the two rails so that it passes between the rails, and then returns it to a horizontal position and places it on the rail. Ceiling boards can be placed on the rails as well; for this purpose large lighting fixtures (
1to) and ceiling boards are loaded in advance in a certain order. As mentioned above, the tool of the present invention has each arm (
Since the movements of 92) and (92) are uniquely regulated by the link mechanism, it is possible to accurately attach a large lighting fixture (110), etc. using a simple drive mechanism using the cylinder (99).

(Effects of the Invention) As is clear from the above description, the present invention can be used to mark out the ceiling surface of a building, make holes, install downlights,
This is an excellent invention that can automatically and efficiently perform many tasks such as installing large lighting fixtures and ceiling boards, freeing workers from dangerous and tiring ceiling work. It is. Therefore, the present invention greatly contributes to the development of industry as a ceiling work robot 1~ that has solved all the problems of the past, and as a work tool used therein.

[Brief explanation of the drawing]

Fig. 1 is a front view showing an embodiment of the first invention, Fig. 2 is a plan view thereof, Fig. 3 is a front view of an instrument supply cart, and Fig. 4 is a part showing an embodiment of the second invention. Cutaway front view, Figure 5 is the 3rd
6 is a partially cutaway side view thereof, FIG. 7 is a plan view of FIG. 6, and FIG. 8 is a partially cutaway front view showing an embodiment of the fourth invention. , FIG. 9 is a horizontal sectional view thereof, FIG. 1O is a sectional view showing an embodiment of the fifth invention, and FIG.
The figure is a plan view showing an embodiment of the sixth invention, and FIG. 12 is a right side view thereof. (1): Trolley, (7): Lifter, (8): Manipulator, (18): 2S tool supply trolley, (30): Mounting part, (33): Marking pen, (35) Nispring, (37) : Riminoto switch, (40) : Mounting part, (43) Nispring, (44) : Rotary saw,
(45): Top plate, (46) Nisrit, (47)
: Roller, (49) : Chip dust collection bag, (50) : Mounting part, (51) : Motor, (52) : Reducer, (53
) : Core drill, (57) : Cutting blade, (59) :
Disc, (70): Mounting part, (75): Eccentricity absorption mechanism,
(76) : Motor, (77) : Reducer, (78)
; Output shaft, (80) : Air vanog, (81) : Downlight, (90) : Mounting part, (92) : Arm, (
93) : Gripping part, (99) Niji Linda, (100)
: Link, (102) Ni guide plate, (110
): Large lighting equipment.

Claims (1)

[Claims] 1. A lifter (7) that moves up and down according to the ceiling height on a cart (1) that moves by itself while detecting a cursor on the floor, and a lifter (7) that is supported on the upper surface of the lifter (7). A manipulator (8) to which various work tools including tools for installing lighting equipment can be attached is mounted on the tip of the arm, and a manipulator (8) is mounted on the side of the above-mentioned trolley (1) to attach lighting equipment, ceiling plates, etc. ) A ceiling working robot characterized by being connected to an instrument supplying cart (18) for supplying equipment to a robot. 2. The marking pen (33) is elastically attached to the upper surface of the attachment part (30) to the manipulator (8) via the spring (35), and the marking pen (33) is attached to the ceiling of the attachment part (30). A marking tool for a ceiling work robot, characterized by being equipped with a limit switch (37) that detects being pressed by a surface. 3. On the top surface of the attachment part (40) to the manipulator (8),
A spring ( 43), and a cutting dust collection bag (49) is attached to the lower part of the rotary saw (44). 4. On the top surface of the attachment part (50) to the manipulator (8),
A motor (51), an internal gear reducer (52), and a core drill (53) having a cutting edge (57) on a cylindrical end surface are installed concentrically, and a chip support is provided at the center of the core drill (53). A circular cutting tool for a ceiling work robot, characterized in that it is provided with a circular plate (59) for use in ceiling work. 5. On the top surface of the attachment part (70) to the manipulator (8),
A motor (76) and a reducer (77) are attached via an eccentricity absorption mechanism (75), and a ring-shaped shaft is attached to the upper end of the output shaft (78) to hold the inner peripheral surface of the shade of the downlight (81). A downlight installation tool for ceiling work robots, which features an airbag (80) installed. 6. The two arms (92
), (92) are pivoted in an X-shape, and a grip part (93) for clamping the side of the large lighting fixture (110) from the outside is provided at each tip, and each arm (92)
, (92) are pivoted with links (100) and (100) of equal length, and the tips of these links (100) and (100) are slidably supported in the guide plate (102) in the centerline direction. A large lighting fixture installation tool for ceiling work robots, which is characterized by the following features: