JPH03119254A - Mitering position sensor in automatic board setting device - Google Patents

Abstract

PURPOSE:To promote work efficiency by providing a detection sensor of a setting position to a handling table on a truck capable of traveling, and detecting the position or width of a frame body on the rear of a board. CONSTITUTION:The truck 1 is run with four driving wheels 3 turned and driven by a driving motor 2. After that, an X-directional slide table 8 is provided to the top of a lifting arm 7, and a Y-directional slide table 10 is provided to the top of a rotary arm 9 to provide a handling table 11. After that, the lifting arm 7 is reduced to lower the handling table 11, and ceiling boards B are led to specific positions. The position detection sensor 14 on the handling table 11 is slid in the Y direction to detect the positions of the ceiling boards B and the positions of light-weight steel frames. According to the constitution, execution degree of accurary can be promoted.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a fastening position detection device in an automatic board fastening device that automatically fastens ceiling boards and wall boards of buildings, for example. It is.

[Prior art 1] Conventionally, for example, when fastening the ceiling board B shown in FIG. 12 or the wall board B shown in FIG. Also, the work tool for decorative boards is a stapler.
He held it in his hand and fastened it to a stable.

FIG. 14 shows a standard fastening configuration for ceiling boards. In the figure, D is a lightweight steel frame, B is a gypsum board, S is a screw, F is a decorative board, and T is a stable.

[Problems to be Solved by the Invention] However, when fastening the ceiling boards and wall boards, it is necessary to assume the position of the steel base (light steel frame) on the back of the board (see Figure 15), or to manually attach the board. Because the work was done while checking the position of the lightweight steel frame by tapping, the accuracy of construction was poor, and sometimes mistakes were made. In particular, as shown in Figure 16, the parallelism of the lightweight steel frame could not be expected, resulting in low construction accuracy, and as shown in Figure 17, it was difficult to fasten in irregularly shaped areas such as openings.

The present invention was made to solve the above-mentioned conventional problems, and its purpose is to automatically fasten ceiling boards and wall boards with screws and stabilize them, thereby improving construction accuracy and work efficiency. An object of the present invention is to provide a fastening position detection device for an automatic board fastening device that can improve performance, save labor, and reduce costs.

[Means for Solving the Problems 1] The fastening position detection device in the automatic board fastening device of the present invention consists of rotating a handling table on a movable cart;
In a device that is capable of moving in the X direction, Y direction, and Z direction, and fastens a board set on the handling table to a fastening frame such as a lightweight steel frame, the fastening position is set on the handling table. The device is characterized in that it is equipped with a detection sensor to detect the position and width of the frame on the back of the board.

[Example] Hereinafter, an example of the present invention will be described with reference to the drawings.

In FIG. 1, reference numeral 1 denotes a trolley, which runs on four independent drive wheels 3 that are rotationally driven by a drive motor 2. In FIG. The running direction of the drive wheels 3 can be freely changed by a steering device 4. 5 is a leveling jack,
Adjust the level of the trolley 1. 6 is an auxiliary wheel.

Reference numeral 7 denotes a lifting arm, which has a two-stage telescopic slide structure and expands and contracts in the vertical direction (two directions) by a built-in hydraulic cylinder or the like.

An X-direction slide table 8 is attached to the top of the lifting arm 7.

A rotary arm 9 is installed on the X-direction slide table 8. The rotary arm 9 rotates around a vertical axis (Z axis).

An X-direction slide table 10 is attached to the top of the rotary arm 9.

A handling table 11 is installed on the Y-direction slide table 10. The handling table 1
A suction pad 12 is disposed on the upper surface of 1. The suction pad 12 adheres to the lower surface of the ceiling board B placed thereon, and securely grips and fixes it. 13 is a pressing roller, and 14 is a position detection sensor.

Reference numeral 15 denotes a screw tightening unit, which, as shown in an enlarged view in FIG. Air hose 15 that supplies screws to the tip driving part of the screw tightening machine main body 15c
It is composed of d. The base 7 frame 15a is attached to the rail l provided on the handling table 11.
Move along la. The base frame 15a is moved by a drive means 11b such as a ball screw or a rack and pinion. The screw tightening machine main body 15c tightens screws by rotation by an electric motor. A potentiometer 15e is integrally attached to the side of the tip driving part of the screw tightening machine main body 15c, and after coming into contact with the ceiling board B as the screw fastening machine main body 15c moves forward, the screw fastening machine main body 15c When it is retracted to the same level as the tip of the screw tightening machine 15c, the forward movement of the screw tightening machine body 15c is stopped.

Numeral 16 is a screw tightening position detection sensor consisting of a high frequency oscillation type proximity sensor, which detects the position, width, etc. of the lightweight steel frame on the back of the ceiling board B from below.

Referring again to FIG. 1, reference numeral 17 is a screw figurine, which accommodates a large number of screws and which is connected to the air hose 1.
Supply screws one by one to 5d.

The above truck 1 includes a compressor 18 and a hydraulic unit 1.
9, which serves as a power source for the drive devices of each of the above-mentioned devices. , 20 is a control device, 21 is a receiver
It's a tank.

A is a board truck, which is a device for loading a large number of ceiling boards and feeding them one by one to the interior construction robot (H). The board truck A is mainly composed of a truck section 22, a seat section 23, and a board storage section 24. The truck portion 22 is connected to the truck 1 by a connecting rod 22a, and moves following the robot R.

Next, a description will be given of the work of attaching ceiling boards using the apparatus of the above embodiment.

First, as shown in Fig. 3, first, a lightweight steel frame is attached to the insert buried in the ceiling base via hanging poles (C) to complete the ceiling framework, and obstacles on the floor E are removed. Bring in and assemble the required ceiling board B and interior construction robot R, the board truck A, and load the ceiling board B onto the board truck A. In this case, since the board accommodating portion 24 of the board truck A is set in a sideways position for loading, the loading work can be carried out easily.

Next, connect the above board track A to the robot R,
Move the ceiling board B to the attachment position, retract the handling arm 7 and lower the handling table 11 as shown in FIG. B is transversely fed by a slide sill, a feeding roller 24a equipped with a drive motor, etc., guided to a predetermined position on the handling table 11, and set.

JP-A-3-119254 (3) When the ceiling board B is set on the handling table 11, the suction pad 12 is activated to suction and fix the ceiling board B to the lower surface 6. Next, as shown in FIG. Then, extend the lifting arm 7 and raise the lifting arm 11. At this time, since a spring is attached to the suction pad 12 in its axial direction, when the ceiling board B comes into contact with the lightweight steel frame on the ceiling surface, the suction pad 12 contracts and the limit switch attached to the spring is attached. is activated, and the operation of the +77 pointing arm 7 is stopped.

Subsequently, the position detection sensor 14 on the handling table 11 slides in the X direction to detect the position of the ceiling board B, the position of the lightweight steel frame, the position of the adjacent ceiling board B that has already been pasted, etc. . Note that a photoelectric sensor or the like may be used as the sensor. The positional relationship between the existing ceiling board B detected by the position detection sensor 14 and the adsorbed ceiling board B is calculated, and based on the result, the rotary arm 9 moves the adsorbed ceiling board B to remove insects. As shown in FIG. 7, rotate it so that it is parallel to the existing ceiling board B as shown by the imaginary line.

Next, the ceiling board B is moved in the X direction by the X-direction slide table 8, as shown in FIG. 7, and the long sides of both ceiling boards Bf) are brought into contact with each other as shown by the imaginary lines.

Subsequently, the X-direction slide table 10 is operated to align the ceiling board B in the short side direction, as shown in FIG. The positioning is performed by a method based on the above calculation result, a method based on torque detection of the ball screw drive motor of the slide table 10 by pressing, a method using an axis sensor built into the rotary arm 9, or the like.

When the ceiling board B is set in the predetermined position, the screw tightening unit 15 tightens the first row of screws along the long side of the existing ceiling board B (see Figure 9). Figure 10 (A) As shown in FIG. 10, when the screw tightening position detection sensor 16 is moved together with the screw tightening unit 15, the detection waveform of the sensor 16 changes as shown in FIG. It is output as shown in B).

Therefore, every time this output waveform is detected, the lateral feed mechanism of the screw tightening unit 15 is stopped and screw tightening is performed.

In the screw tightening work, when the screw tightening machine main body 15c is moved forward toward the ceiling board B while tightening the screw, the potency a meter 15e is retracted and the screw tightening machine main body 15c is moved forward as shown in FIG. When the head of the screw S and the lower surface of the ceiling board B are aligned, the screw tightening unit 15 stops moving forward. Therefore, even if the ceiling board B is made of a soft material such as gypsum board, the screw heads are surely aligned without digging into or protruding from the board surface.

When one row of screws is tightened, the suction of the suction pad 12 is released and the suction pad 12 is retracted.

Incidentally, a slide sill in the Z direction is attached to the suction pad 12. At this time, the ceiling board B is pressed by the pressing roller 13 on the handling table 11 so as to be in close contact with the lightweight steel frame surface. Note that the pressing roller 13 also has a built-in spring.

Next, the handling table 11 is moved in the X direction by a predetermined amount (screw fixing pitch) by the X direction slide table 8, and the screw tightening unit 15 tightens the second row of screws again. The movement of the handling table 11 and the screw tightening work by the screw tightening unit 15 are repeated, and the entire surface of the ceiling board B is screwed.

When the screw fastening work is completed, the position detection sensor 14 is activated to detect the position of the lightweight steel frame.

At this time, the handling table 11 detects the position of the lightweight steel frame in its most forward position. This detected value is stored as direction control information of the main body for installing the next ceiling board B.

Next, the +77 handling arm 7 is lowered, the X-direction slide table 8 and the X-direction slide table 10 are operated, and the handling table 11 is returned to its original position.

According to the information obtained by the position detection sensor 14, the trolley 1
while controlling the steering device 4 of the ceiling board B.
(for example, 910a+m).

The above operation is repeated until the ceiling board B loaded on the board truck A is used up.

Although the above example relates to attaching a ceiling board, by replacing the screw tightening unit 15 with a stabilizer, it can be used for attaching a decorative board.

[Effect of the invention] A handling table is mounted on a movable trolley so that it can rotate, move in the X direction, move in the X direction, and move in the Z direction,
In a device for fastening a board set on the handling table to a fastening frame such as a lightweight steel frame, the handling table is equipped with a fastening position detection sensor to detect the position and width of the frame on the back of the board. Since the frame on the back of the board can be automatically detected, it is possible to secure the board in the correct position with high precision (screws). No need to tighten screws anymore.

[Brief explanation of drawings]

Fig. 1 is a perspective view showing an embodiment of an interior construction robot and a board truck having a board fastening device of the present invention, Fig. 2 is an enlarged view of the main parts, and Figs. 3 to 11 are the embodiments described above. Work explanatory diagram sequentially explaining the work of fastening ceiling boards by the robot and board fastening device, Part 1
2 to 17 are explanatory diagrams of the prior art. ...Base 7 reams, 15b...Air shillings, 1
5C... Screw tightening machine body, 15d... Air hose, 15e... Botensicimeter, 16... Screw tightening position detection sensor, 17... Screw figure, 18
...Compressor, 19...Hydraulic unit), 20.
...Control device, 21...Receiver tank, 22...
・Dolly part, 23... IJ7 part, 24... Board storage part, A... Board truck, B... Ceiling board,
C... Hanging bolt, D... Light steel frame, E... Floor surface, R... Interior construction robot.

Claims (1)

[Claims] A handling table is mounted on a movable trolley so that it can rotate, move in the X direction, move in the Y direction, and move in the Z direction.
In a device for fastening a board set on the handling table to a fastening frame such as a lightweight steel frame, the handling table is equipped with a fastening position detection sensor to detect the position and width of the frame on the back of the board. A fastening position detection device in an automatic board fastening device, characterized in that the fastening position detection device is configured to