JPH06100018B2 - Control device for construction work robot - Google Patents

Description

Description: TECHNICAL FIELD OF THE INVENTION The present invention relates to a control device for a work robot for flattening and finishing a concrete surface after removing a formwork in concrete placing work such as a building or a bridge.

2. Description of the Related Art Usually, this type of concrete surface repair work is performed by an operator using a repair tool such as a disk grinder. That is, the operator visually supports the heavy correction tool weighing about 5 to 6 kg and visually distinguishes the protruding portion protruding from the reference surface, presses the rotating portion of the correction tool against that portion, and scrapes it off. I'm working.

In this kind of work, when the correction tool is heavy and the correction surface is at a high position such as the ceiling, work in an unstable posture is unavoidable. It is not possible to continue, and continuous work cannot be performed.

Furthermore, since all of this correction work is done by input, the surface after correction simply follows the entire surface of the original surface, and only the correction of irregularities is satisfied, and the accuracy requirements for finishing the flatness of the entire surface and finishing to a predetermined shape are satisfied. The problem is that you can't hope for it.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to mechanically automate the above-described correction processing and shaving off work in order to solve the above-mentioned problems in the operation, and to adjust the position and cutting speed of the correction tool. Is to automatically control the machined surface and finish the modified surface to a predetermined accuracy.

Therefore, according to the present invention, a robot wrist and a robot hand that can move in the Z-axis direction are attached to a column that can move in the X-axis direction and the Y-axis direction in a state parallel to the corrected machining surface. In relation to the Z-axis movement of the tool, or the load torque of the repair tool attached to the robot hand, the unevenness of the repaired surface is detected in comparison with the previously entered finish surface formation, and the state is detected. Accordingly, the feed motion of the correction tool in the X-axis and Y-axis directions is automatically controlled,
The amount of scraping off the modified surface can be adjusted automatically.

Such a series of control is performed by the control microcomputer, other information is taken in during operation, and optimum correction processing is continuously performed.

Configuration of the Invention FIGS. 1 to 3 show a construction work robot 1 of the present invention.

This construction work robot 1 is incorporated in a table 2 which is movable in the X-axis direction and the Y-axis direction. This table 2 consists of two Xs facing each other in parallel.
It is composed of a frame 3 in the axial direction and a frame 4 in the direction of the Y axis extending in a direction orthogonal to the frame 3.

The pair of frames 3 in the X-axis direction are connected pipes 5 at both ends.
Are assembled in such a manner that they can be disassembled by screws or other connecting means. Further, at both ends of the pair of frames 3, in order to hold the table 2 in parallel with the correction processing surface during the cutting work, for example, a hydraulic support jack 6 and below the support jack 6 are provided. A wheel 7 that projects and holds the table 2 in a runnable state and a vertically rotatable bracket 8 to change the running direction of this wheel are incorporated.

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

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

The frame 4 in the Y-axis direction is in a state in which the column 14 in the Z-axis direction, which is perpendicular to the XY axis plane, can be moved in the Y-axis direction by the rollers 14 fitted inside from both closed surfaces of the channel material. Is supported by. That is, this column 15
Is composed of a trapezoidal column frame 16,
The lower ball nut 17 fits the ball screw 18, and the column rod 19 in the Z-axis direction is movably supported in the Z-axis direction at substantially the center thereof. The ball screw 18 is supported by bearings 20 at both ends of the frame 4 and driven by a feed motor 21. This column rod 19 is the upper part of the column frame 16 and is a sliding bearing.
It is slidably supported by 22 and is connected to a Z-axis feed screw 24 by a feed nut 23 fixed to the lower end. The feed screw 24 is rotatably supported by a bearing 25 fixed to the column frame 16 at a lower end portion thereof, and is connected to a Z-axis feed motor 26 attached to the column frame 16 at an upper end portion thereof. ing. It should be noted that level detectors 27 and 28 in the X-axis and Y-axis directions are attached to the frames 3 and 4, respectively.

Further, the column rod 19 supports a disc-shaped swivel base 30 in a swivel state at its upper end portion by a rotation support part 29 as a swivel means, and further, a robot wrist.
The reference numeral 31 is a four-bar parallel link consisting of a central fixed link 32, the fixed link 32 and the parallel support link 33, and links 35 and 36 of the same length connected by a pin 34. The swivel base 30 is a swivel actuator for swiveling around the column rod 19 as a center.
37, and a turning actuator 38 for turning by 180 degrees and turning.

The support link 33 is T-shaped, and the upper end portion of the support link 33 is a flat surface, and the load cell 40 is interposed as a means for detecting the load in the Z-axis direction when the correction tool 41 is machined. While making it, it is integrated with the robot hand 39. The robot hand 39 has, for example, a cylindrical shape,
A correction tool 41 such as a disc grinder is held in a fixed state therein. A pulling spring 42 is incorporated as a biasing means between the upper pin 34 and the lower pin 34, and the rotation angles of the links 35 and 36 are
A lower limit stopper 43 attached to the swivel base 30 and an upper limit stopper 44 attached to the fixed link 32 regulate the distance to a certain range. The displacement amount of the support link 33 in the Z-axis direction is electrically and physically detected by, for example, a displacement amount detector 45 attached to the swivel base 30.

FIG. 4 shows the controller 46 of the construction work robot 1. The control device 46 is composed of a control microcomputer, and includes a CPU 47, a ROM 48, a RAM 49, an input interface 50, and an output interface 51.
, Which are interconnected by a bus 52.

The input interface 50 is the level detector 2
7, 28, load detector 5 of feed motors 13, 21 as detection means
3, 54, displacement detector 45, keyboard 57 and load cell 40. Also output interface 51
Are connected to the correction tool 41, the turning actuator 37, the Z-axis feed motor 26, and the speed control circuits 55 and 56 of the feed motors 13 and 21, respectively.

Next, FIG. 5 shows an operation sequence of the construction work robot 1.

This construction work robot 1 is sent to a predetermined work position by a worker. Therefore, the worker inputs the working height of the correction tool 41 and the pattern of the feed locus in the X-axis-Y-axis direction in advance by operating the keyboard 57 according to the working situation, and stores it in the RAM 49 as a memory of the control device 46. Store. Of course, a predetermined work program is preliminarily input to the ROM 48 of the control device 46.

When the 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, Table 2
A determination is made as to whether the is installed horizontally. If the table 2 is set horizontally, the process directly goes to the next step, but when the table 2 is not horizontal outside the allowable range, the CPU 47 takes in necessary signals from the level detectors 27 and 28, and moves them to the four corner positions. The correction operation in the horizontal direction is performed on the table 2 by individually driving the support jacks 6 of FIG.

In the next step, the Z-axis feed motor 26 automatically rotates to rotate the feed screw 24, so that the swivel base 30, the robot wrist 31, and the correction tool 41 move to the set height. In this way, the correction tool 41 is automatically set up to the height of the working position. In this state, when the correction tool 41 hits the ceiling or the like and excessive pressure is applied to the load cell 40, the CPU 47 detects the state,
As the height setting is inappropriate, stop the series of programs,
Prompt for correction.

After the correction tool 41 is set to an appropriate height, the CPU 47
By starting the motor of the correction tool 41 and the turning actuator 37, the turning base 30 is given a reciprocating turning motion about the Z axis within a predetermined turning angle range.

After that, the CPU 47 rotates the feed motors 13 and 21 in the X-axis direction and the Y-axis direction at a predetermined speed to give the column 15 a predetermined feed motion. As shown in FIG. 6, this feed movement is given as zigzag movement within the movement range of the column 15 in the X-axis direction and the Y-axis direction, for example. As a result, the correction tool 41 continuously presses the grinding tool against the correction processing surface such as the ceiling while performing the reciprocating turning motion according to the trajectory of the zigzag feed movement.

During this time, the CPU 47 causes the load detector 5 in the X-axis and Y-axis directions to move.
The load fluctuation of the feed motors 13, 21 is detected by 3, 54,
It indirectly detects the protruding part of the modified surface such as the ceiling. For example, when a large load is applied to the feed motor 13 in the X-axis direction during the feed motion in the X-axis direction, it is determined that at least the projecting portion exists on the corrected machining surface in the X-axis direction, and the load is an allowable value. When out of range, CP
U47 identifies it, gives a command to the speed control circuit 55,
The X-direction feed motor 13 is rotated at a speed lower than the steady feed speed. As a result, the correction tool 41 moves at a low speed, and by lengthening the processing time at the projecting portion, the projecting portion is scraped off more than others. Such an operation is similarly performed during the feeding movement in the Y-axis direction.

When the column 15 reaches the turning point, the direction changing actuator 38 first rotates the swivel base 30 by 90 degrees to match the feed movement in the Y-axis direction, and thereafter,
By rotating it 90 degrees further, it is synchronized with the movement in the opposite X-axis direction. In this way, the correction tool 41 continuously performs the correction work on the correction processing surface in the entire range of the XY axis plane of the fixed table 2.

During such a feeding movement, the uneven portion of the correction processing surface is absorbed by the vertical movement of the robot wrist 31. However, when the support link 33 descends beyond the permissible range and deviates from the permissible value, the displacement detector 45 sends a signal to the CPU 47 to generate a reworking flag together with its feed coordinates.

When the series of feeding movements is completed, the series of correction operations in the installation position is completed.

However, when the above rework flag is generated, CPU4
7 reads the coordinates of the re-machining flag on the XY axes, moves the correction tool 41 to that position again, and continues the correction machining operation again there.

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

Modified Example of the Invention In the above embodiment, the height of the correction tool 41 (the amount of movement in the Z-axis direction) is input for each correction position, but if the height is common in the entire working range, first If only the input is sufficient, and if the modified processed surface is formed as a curved surface, the function of the curved surface is input in the ROM 48 in advance, and the required height is calculated by reading the function.

Further, in the above-mentioned embodiment, the construction work robot 1 is moved by human power, but such movement and positioning can be performed from a distant point by using a remote control technique.

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

Furthermore, the irregularity state of the corrected surface is determined by the displacement detector 45.
Can also be detected by. Therefore, the detection means may be the displacement amount detector 45.

Further, in each of the embodiments, the levelness of the table, the height of the correction tool, etc. are automatically corrected, and appropriate correction operation and other measures are automatically executed, so that malfunction can be prevented in advance. In addition, in the embodiment in which the unevenness of the correction processing surface is indirectly measured from the load of the feed motor, a special sensor is not required, so the state of the correction processing surface is detected in comparison with a detection method such as a contact sensor. , Easy. Further, in the embodiment in which the displacement amount of the robot hand in the Z-axis direction is detected by the displacement amount detector and re-machining is executed when the displacement amount deviates from the allowable value, even a large protruding portion is corrected after a series of correction machining. Since the correction operation is performed manually, the correction operation and the like can be omitted, so that the correction processing can be efficiently performed.

EFFECTS OF THE INVENTION In the present invention, the unevenness of the correction processing surface is detected during the scraping work of the correction processing surface, and the speed of the feed motion of the correction tool is automatically corrected based on the unevenness, so that the scraping The amount can be corrected automatically without excess or deficiency with respect to the reference plane.

[Brief description of drawings]

1 is a partially cutaway front view of the construction work robot of the present invention, FIG. 2 is a partially cut side view of the construction work work robot, FIG. 3 is its plan view, and FIG. 4 is a block line of a control device. Figure,
FIG. 5 is a flow chart of a series of control sequences, and FIG. 6 is an explanatory diagram of the feeding movement and the reciprocating turning movement. 1 ... Construction work robot, 2 ... Table, 3, 4 ...
Frame, 5 ... Connection pipe, 6 ... Support jack, 7
…… Wheels, 15 …… Columns, 16 …… Column frames, 19…
… Column rod, 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, 35,36 …… Link , 39 …… Robot hand, 41 …… Correcting tool, 42 …… Pulling spring, 43 …… Lower limit stopper, 44 …… Upper limit stopper, 45
…… Displacement detector.

Claims (6)

[Claims] 1. A table movable in a plane parallel to a machining surface, a Z-axis column mounted on the table and movable in the X-axis and Y-axis directions, and a column for moving the column. In a construction work robot comprising a feed means in X-axis and Y-axis directions, a robot wrist attached to the column so as to be movable in the Z-axis direction, and a correction tool attached to the robot wrist. Detecting means for detecting the movement of the correction tool in the Z-axis direction to generate an electrical signal, detection means for detecting the load of the correction tool in the X-axis direction, and Y-axis of the correction tool Direction detecting means, detecting means for detecting inclinations of the table in the X-axis direction and Y-axis direction, detecting means for detecting load in the Z-axis direction when the correction tool is machined, Z axis direction of correction tool An electric signal from a detecting means for detecting a directional movement, a signal from a detecting means for detecting a load of the correction tool in the X-axis direction, and a Y of the correction tool.
A signal from a detecting means for detecting a load in the axial direction, a signal from a level detector for detecting inclinations of the table in the X-axis direction and the Y-axis direction, and a load in the Z-axis direction during machining of the correction tool. A control device for a construction work robot, comprising: a control device for controlling a feed speed of the feed means and a position of the correction tool in the Z-axis direction by using a signal from the detection means as input. 2. A detecting means for detecting a load in the X-axis direction of the correction tool is constituted by a load detector incorporated in a feed motor in the X-axis direction, and a load in the Y-axis direction of the correction tool is detected. The control device for a construction work robot according to claim 1, wherein the detecting means for detecting is constituted by a load detector incorporated in a Y-axis direction feed motor. 3. A detecting means for detecting inclinations of the table in the X-axis direction and the Y-axis direction is constituted by an X-axis direction level detector and a Y-axis direction level detector attached to the table, The control device for a construction work robot according to claim 1 or 2, wherein the output of the level detector of (1) is sent to the control device as posture correction information of the table. 4. Displacement for detecting movement of the correction tool in the Z-axis direction by detecting a movement of the correction tool in the Z-axis direction to generate an electric signal. 4. An apparatus comprising a quantity detector, and a signal from the displacement quantity detector is sent to the control device as information for detecting unevenness of a corrected machined surface. A control device for the described construction work robot. 5. A detection means for detecting the load of the correction tool in the Z-axis direction is constituted by a load cell interposed between the robot wrist and the correction tool, and a signal of the load cell is detected by the Z-axis. The information is sent to the control device as information for detecting an abnormal rise.
A control device for a construction work robot according to the item. 6. The control device is composed of a microcomputer, and the data in the XYZ axes of the machined surface having a regular accuracy and the machining sequence are input in advance in a memory in the microcomputer, The Z-axis position of the correction tool is controlled on the basis of the XY-axis data, and the XY-axis feed rate and the machining sequence at that time are controlled. A control device for the described construction work robot.