JPH074276Y2 - Boarding work equipment - Google Patents

Description

[Detailed Description of the Invention] << Industrial Application Field >> The present invention relates to a device for sticking a decorative gypsum board or a rock wool sound absorbing board, and particularly to a board covering for automating the ceiling finishing work for sticking these boards to the ceiling. Regarding work equipment.

《Prior art》 To attach and fix boards and plates to the ceiling, use a platform with a work scaffold and a lifting device, and the operator himself carries the boards and climbs onto these pedestals to attach the boards to himself. The board was screwed or nailed to the base of the ceiling while being supported by or while being supported by another person.

<Problems to be solved by the device> Therefore, the worker had to perform heavy work by lifting and supporting a heavy board in an unnatural posture. It was also inefficient in moving the work platform and fixing the trolley.

The present invention has been made in view of such circumstances, and its purpose is to take out the work of taking out the boards one by one, lifting and pressing them into a predetermined position, and then directly driving and fixing the screws on behalf of a person. It is to provide a working device to perform.

<Means for Solving the Problem> In order to achieve the above-mentioned object, in the board-clad work device of the present invention, the arm member is rotated by the rotation of the joint part in which the ends of the rod-shaped arm member are rotatably connected. An arm that bends and extends, a traveling carriage that rotatably supports the base end portion of the arm, a support base that is mounted on the top end portion of the arm so that it can be finely moved forward, backward, leftward, and rightward, and extension and contraction that is erected on the support base. It consists of a possible column and a pedestal with suction cup that is rotatably fixed to the top of the expanding and contracting column.

In the board-clad work device, a multi-joint arm rotatably supported in a circumferential direction of the telescopic column body, a storage member for a fixing member rotatably attached to a tip end of the multi-joint arm by a rotary joint, and the multi-joint arm are provided. A mounting tool that is integrally attached to the storage box at the end of the joint arm and that pushes out from the storage box while holding the fixing member in the storage box, and a position in the vicinity of the mounting tool in the upward and horizontal directions. It is preferable that the mounting tool device is provided so as to protrude from the switch and includes a switch or a sensor for confirming the mounting position of the fixing member.

The fixing member includes, for example, a screw, a nail, a screw, or the like, and the mounting tool is a screw driver that fits into the head of a screw, a screw, or the like and pushes them out to screw them into the board, It includes a hammer or the like that pushes out nails and places them on the board.

<Operation> The board tensioning work device configured as described above is moved by the traveling carriage near the place where the board is placed. That is, the board being placed is within the effective radius of the arm that the arm can reach.

At the same time that the joint part where the arm members are connected to each other rotates in the bending direction of the arm, at the same time the support base at the tip of the arm rotates and the base on the traveling carriage moves so that the support base is close to the plane position of the board. The turning of the end is performed.

Then, the pillar is extended, and while the board is supported by the suction cup of the pedestal, the bogie is then moved to a predetermined position to shrink the pillar, and the arm controls the horizontal movement of the support base and the pedestal at the end of the arm while controlling the ceiling. The board is pushed and held at a predetermined ceiling position by keeping it in a fixed position by extending it in a desired direction, finely adjusting the support base back and forth, left and right, and expanding and contracting the column, if necessary. Then, the board is mechanically or manually fixed to the ceiling base or the like, and the suction cup of the cradle with suction cup is released to finish the work.

Further, according to the mounting tool device as a mechanical board fixing means, the articulated arm and the storage arm of the end of the arm are bent, extended, and rotated with respect to the board held at a predetermined position by the board tensioning device. However, if the screw fixing position is confirmed by the switch or sensor, the screw driver or hammer is activated, the board is fixed to the ceiling base, the suction cup of the pedestal is released, and the work ends.

<Example> Hereinafter, an example of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a perspective view showing the whole of the board tensioning work device and the installation tool device, and reference numeral 1 in the drawing is an arm. This arm 1 comprises three arm members 2 each having a rectangular prism shape with a closed cross section.
One end of 2a-2b is rotatably connected linearly, and the connected portion is rotated, so that the arm 1 itself bends and extends.

A joint portion of the arm members 2-2a-2b is referred to as a joint portion 3. A servomotor and a rotary encoder are attached to the joint portion 3 to enable control of the rotational movement and the rotational angle thereof.

The arm 1 has a free end portion of an arm member 2 serving as a base end portion of a traveling carriage 5 having drive wheels 4, which is pivotally mounted on a swivel base 6 that swivels in the center of the carriage 5 so that the elevation angle can be freely lowered. On the other hand, a support base 7 is provided at the tip of the arm member 2b, which is the top end of the arm 1, that is, at the top end.

The support base 7 has a disk-shaped two-stage structure, that is, a lower base 7a and an upper base 7b, each of which has a diametrically mounted rack and a pinion that engages with the rack. The stands can move in a direction orthogonal to the plane.

An outer cylinder 8a and an inner cylinder are provided in the center of the upper base 7b of the support base 7.
A columnar body 8 composed of 8b and vertically extending and contracting the inner cylinder 8b is vertically fixed. The outer cylinder 8a supports the inner cylinder 8b, and the inner cylinder 8b is driven up and down by compressed air. However, it is not limited to the use of air pressure, and the inner cylinder 8b may be driven by a motor jack, and the motor jack is advantageous in that it can share the power source with the arm 1 and the like.

From this point of view, if it is assumed that the joint part 3 of the arm 1 is driven by a hydraulic motor, the inner cylinder 8b of the columnar body 8 should be also hydraulically operated. It can be decided arbitrarily. Further, the outer cylinder 8a and the inner cylinder 8b are configured to be relatively rotatable in the circumferential direction.

The purpose of the column 8 to operate in a complicated and multi-faceted manner as described above is
In order to ensure the positioning of the board and the position where the screw is fastened, a cradle 10 with suction cups having suction cups 9 arranged on the plate surface at 120-degree intervals is fixed to the top of the inner cylinder 8b.

Therefore, the cradle 10 with the suction cup is rotated by the rotation of the inner cylinder 8b. However, it is not always necessary to make the inner cylinder 8b a rotating structure, and in order to simplify the structure of the pillar body 8, the central part of the pedestal 10 with a suction cup is made rotatable, and this central part is used as the inner cylinder.
It can be fixed to the top of 8b.

Further, in the tool mounting device, the outer cylinder 8a is equipped with the multi-joint arm 11 that integrally rotates as the outer cylinder 8a rotates. Similar to the arm 1, the multi-joint arm 11 is formed by rotatably connecting a plurality of arm members, and has a tool or the like for fixing the board to the ceiling substrate at the tip thereof.

A screw magazine 12 which is partially broken in FIG. 2 is attached to the tip of the multi-joint arm 11 via a supporting device 13 so that the screw magazine 12 can be sequentially fed in the screw feeding direction. The support device 13 is provided with a screw driver 14 that operates with compressed air. The driver 14 pushes an internal screw upward from the lower part of the screw magazine 12 while feeding it out and screw it into the ceiling substrate. It is a thing. In order to determine the screwing position, the rotary joint 14 is provided at the tip of the multi-joint arm 11 so that the supporting device 13 can rotate 90 degrees or more to the left and right in combination with the operation of the multi-joint arm 11. The support device 13 is fixed therethrough.

Further, the switch 16 protruding to the front of the supporting device 13 confirms the limit position in the extending direction of the multi-joint arm 11 and prevents the screw magazine 12 and the like from being damaged by collision. In addition, the capacitance type sensor 17 protruding from the upper surface of the supporting device 13
Checks the position of the base material, and finally corrects the expansion / contraction direction of the multi-joint arm 11 and the rotation angle of the rotary joint 15.

It should be noted that the traveling vehicle 5 has a power supply device 18 including a drive wheel 4 and a storage battery and a charger for supplying electric power required for the entire device.
A traveling control device 19, a main body control device 20, and a remote controller 21 for the drive wheels 4 are installed.

According to the above configuration, the board attaching work is performed as illustrated in FIG. 3 and FIG.

Reference numeral 22 in the figure is a gypsum board. When the board 22 is placed upright, the controller 21 operates and drives the working device as follows while visually checking the state of the working device.

The carriage 5 is run toward the board 22, the arm 1 is extended, and the elevation angle of the arm member 2 is adjusted so as to be the same as the standing angle of the board 22 to be taken out by the cradle 10 with the suction cup. After bringing the trolley 5 toward the board 22 as much as possible, the inner cylinder portion 8b of the column 8 is extended and the suction cup 9 is pressed against the board 22. In this way, if the board 22 is supported by the cradle 10 with a suction cup, the trolley | bogie 5 is run to the position where the board 22 should be stuck and fixed, rotating the arm 1 as it is vertically, and if it stops at a predetermined position. For example, while the arm 1 is further extended, the cradle 10 with a suction cup is horizontally rotated and adjusted at the tip of the arm member 2b, the pillar 8 is expanded and contracted, and the upper and lower bases 7a and 7b of the support base 7 are adjusted to move forward, backward, leftward and rightward. And set the board 22 at a fixed position on the ceiling.

Next, the multi-joint arm 11 is driven, and the board 22 is boss-fixed to the ceiling base. The screw fastening position at that time is confirmed by the sensor 17, and a slight misalignment is caused by the rotation of the rotary joint 15
Correct by slightly moving 11.

After that, the screw driver 14 is driven, the screws in the screw magazine 12 are driven out, and the board 22 is fixed to the ceiling base, and the work is completed.

<< Effects of the Invention >> Since the present invention is configured as described in detail above, the following effects are achieved. That is, according to the board tensioning work device, since the arm for bending and stretching is rotatably supported by the traveling carriage at the base end, the orientation of the carriage is fixed regardless of whether the board is placed on the front, rear, left or right of the carriage. The running motion of the trolley can be minimized without change. As a result, some obstacles existing on the floor surface can be tolerated.

In addition, the support base itself at the end of the arm can be finely adjusted back and forth, left and right, and the pedestal with suction cups is supported by a column that is erected on the support base so that it can be swiveled. Get the board in the right position.

Since the board is sucked and supported by a suction cup, it is safe and scratch-free.

Furthermore, the position of the mounting tool that drives screws and nails that are provided via the multi-joint arm and the rotary joint to mount and fix the board on the base material is as follows: Since it is guided to an appropriate position by a switch or sensor, a series of work from transporting the board to a predetermined mounting position can be performed in a short time, and efficient board tensioning work can be performed. Especially when attaching a ceiling board, the installation tool device is interlocked with the boarding work device, so that there is no need to assemble and disassemble the scaffolding, and the work efficiency is much higher than the manual work of the worker. Is.

[Brief description of drawings]

FIG. 1 is a perspective view of a boarding work device, FIG. 2 is a front view showing a part of a mounting tool partially broken, and FIGS. 3 and 4 are side views illustrating work steps. . 1 ... arm, 2 ... arm member 3 ... joint part, 4 ... driving wheel 5 ... traveling car, 6 ... swivel pedestal 7 ... support base, 8 ... column 9 ... sucker, 10 …… Sucker cradle 11 …… Multi-joint arm 12 …… Screw magazine 13 …… Supporting device 14 …… Screw driver 15 …… Rotary joint, 16 …… Switch 17 …… Sensor, 18 …… Power supply unit 19 …… Travel control device 20 …… Main unit control device 21 …… Remote controller 22 …… Gypsum board

Claims (2)

[Scope of utility model registration request] 1. An arm in which the arm member bends and extends by the rotation of a joint portion in which the ends of rod-shaped arm members are rotatably connected to each other, and a traveling carriage in which the base end of the arm is rotatably supported. With a support base mounted on the top end of the arm so that it can be finely moved back and forth, left and right, an extendable and retractable pillar standing on the support base, and a suction cup rotatably fixed to the top of the expandable and retractable pillar. Board work equipment characterized by consisting of a cradle. 2. An articulated arm rotatably supported in the circumferential direction of the telescopic column, a housing for a fixing member rotatably attached to the end of the articulated arm by a rotary joint, and the articulated arm. A mounting tool that is integrally attached to the storage container at the tip and is pushed out from the storage container while gripping a fixing member in the storage container, and a protrusion near the mounting tool in the upward and horizontal directions. The board tensioning work device according to claim 1, further comprising a mounting tool device that is provided with a switch or a sensor that confirms a mounting position of the fixing member.