Anchoring nail driving tool, anchoring nail driving method and anchoring nail driving unit

Abstract

The present invention relates to an anchor pin driving tool, an anchor pin driving method, and an anchor pin driving unit. During the anchor pin driving operation, it is possible to reduce the bending moment generated when there is a deviation between the central axis of the pre-drilled hole formed in the wall surface and the longitudinal axis of the anchor pin, and it is possible to suppress the load applied to the joint axis of the robot. To solve the above problems, the anchor pin driving tool of the present invention is an anchor pin driving tool that is connected to a driving device and drives an anchor pin into a hole formed in a wall surface, and the anchor pin driving tool includes: a striking part that strikes the anchor pin; a holding part that holds the anchor pin; and a holding control part that controls the holding state of the anchor pin by the holding part. In the holding control part, switching control is performed between a holding mode in which the holding part holds the anchor pin and a release mode in which the holding part releases the holding of the anchor pin.

Description

Technical Field

[0001] The present invention relates to an anchor pin driving tool, an anchor pin driving method using the same, and an anchor pin driving unit, and more particularly to an anchor pin driving tool, an anchor pin driving method using the same, and an anchor pin driving unit used when driving an anchor pin into a pre-drilled hole formed in a wall surface of a target object by a robot having an arm. Background Art

[0002] In developed countries such as Japan, North America, and Europe, the reduction of construction workers due to the declining birthrate and aging population has become a problem, and there is a demand to shorten the construction period and improve productivity by introducing devices or systems that reduce dirty, arduous, and dangerous (so-called 3K) work or skilled work.

[0003] Generally, when installing equipment such as brackets and lighting fixtures on the wall surface of a structure mainly made of concrete, an anchor pin driving operation is performed.

[0004] Specifically, in a hammer drill or the like, after forming a pre-drilled hole of a predetermined depth at a predetermined position on the wall surface, an anchor pin is inserted and struck on the pre-drilled hole, and the equipment is fixed to the wall surface using bolts and nuts attached to the anchor pin.

[0005] Conventionally, the anchor pin driving operation has been performed by an operator striking and inserting the anchor with a hammer or by connecting a dedicated anchor pin driving rod to an electric tool such as a hammer drill having a striking action. The anchor pin driving operation is often performed at a high place, and it takes labor and time to strike and insert the anchor pin.

[0006] Therefore, an automatic anchor pin driving technique using construction machinery such as a hydraulic excavator and a robot has been considered.

[0007] As prior art documents of such an anchor pin or an anchor pin device for a metal long ruler, there is a method for preventing reverse driving of a reinforcing bar and a stopper for preventing detachment in Japanese Patent Laid-Open No. 8-193320 (Patent Document 1).

[0008] The method for preventing the reverse movement of driven reinforcing bars and the anti - detachment stopper in ground reinforcement described in Patent Document 1 relate to the method and device for stabilizing the ground reinforcement of slopes or inclined planes such as roads or for burying underground drainage bodies, and are used for preventing the detachment accident of reinforcing bars or the like when driving them upward from near the horizontal. The use or non - use of the stopper can be arbitrarily selected as needed. When used, the effect can be reliably expected, with high reliability. When installing the reinforcing bar on the driving device, it can be easily inserted from either the front or the rear of the driving device. After that, the stopper can be easily installed, and the structure of the stopper that can be simply installed is described.

[0009] Prior Art Documents

[0010] Patent Documents

[0011] Patent Document 1: Japanese Unexamined Patent Application Publication No. 8 - 193320 Summary of the Invention

[0012] Problems to be Solved by the Invention

[0013] The method for preventing the reverse movement of anchor reinforcing bars and the anti - detachment stopper in ground reinforcement described in the above - mentioned Patent Document 1 have: a method and device for transmitting the forward thrust and vibration from the forward - backward thrust device installed on the hydraulic excavator to the reinforcing bar and forcibly pressing and driving it into the ground; and a mechanism for holding the reinforcing bar by a holding mechanism. It is a method of penetrating the ground while holding the reinforcing bar, and the settings of the use environment, conditions, problems, etc. are different from the operation of automatically driving the anchor into the pre - drilled hole perforated in the wall surface by a robot, which is the object of the present invention.

[0014] Regarding the operation of automatically driving the anchor into the pre - drilled hole perforated in the wall surface by a robot, which is the object of the present invention, when driving the anchor into the pre - drilled hole perforated in the wall surface by a robot with an arm, if the central axis of the pre - drilled hole perforated in the wall surface deviates from the axis in the length direction of the driven anchor, and if the driving is forcibly performed while holding the anchor, a force that bends the anchor will be applied.

[0015] The joint part of the robot during driving is generally rigid. Therefore, there is no place to escape the bending force, and a large bending moment is applied to the joint part of the robot. As a result, it may exceed the allowable load of the robot, causing the robot to stop or the joint part to be damaged.

[0016] The present invention has been completed in view of the above problems, and an object thereof is to provide an anchor pin driving tool, an anchor pin driving method using the anchor pin driving tool, and an anchor pin driving unit: during the anchor pin driving operation, it is possible to reduce the bending moment generated when the central axis of the pre-drilled hole in the wall surface perforation deviates from the longitudinal axis of the anchor pin, and suppress the load applied to the robot joint axis.

[0017] Means for Solving the Problem

[0018] In order to achieve the above object, an anchor pin driving tool of the present invention is an anchor pin driving tool that is connected to a driving device and drives an anchor pin into a hole perforated in a wall surface, and is characterized in that the anchor pin driving tool includes: a striking portion that strikes the anchor pin; a holding portion that holds the anchor pin; and a holding control portion that controls the holding state of the anchor pin by the holding portion. In the holding control portion, switching control is performed between a holding mode in which the holding portion holds the anchor pin and a release mode in which the holding portion releases the holding of the anchor pin.

[0019] In addition, in order to achieve the above object, an anchor pin driving method of the present invention is an anchor pin driving method for driving an anchor pin into a hole perforated in a wall surface using the anchor pin driving tool having the above structure, and is characterized in that a driving device having the anchor pin driving tool connected to the front end portion of the arm of the robot, the arm of the robot holds the anchor pin from an anchor pin holder loaded with at least one anchor pin, moves to the position of the hole perforated in the wall surface, and strikes and inserts the anchor pin into the hole using the striking portion of the anchor pin driving tool.

[0020] In addition, in order to achieve the above object, an anchor pin driving unit of the present invention is characterized by being composed of the anchor pin driving tool having the above structure and a driving device connected to the anchor pin driving tool, and the driving device is mounted on a driving device holder and connected to a tool changer connected to the front end portion of the robot.

[0021] Advantageous Effects of the Invention

[0022] According to the present invention, during the anchor pin driving operation, it is possible to reduce the bending moment generated when the central axis of the pre-drilled hole in the wall surface perforation deviates from the longitudinal axis of the anchor pin, and suppress the load applied to the robot joint axis by the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Fig. shows an anchor pin driving device according to Embodiment 1 using the anchor pin driving tool of the present invention, and shows a state in which a robot having an arm is provided on a setting surface, holds one anchor pin from an anchor pin seat loaded with anchor pins, moves the anchor pin to a pre-drilled hole perforated in a wall surface, and inserts the front end portion of the anchor pin into the pre-drilled hole.

[0024] Figure 2 This is a diagram showing an example of an anchor bolt driving tool according to Embodiment 1 of the present invention being driven into a pre-drilled hole formed in a wall surface.

[0025] Figure 3 This is a perspective view showing Embodiment 1 of the anchor bolt driving tool of the present invention.

[0026] Figure 4 This is a structural diagram of an anchor bolt driving unit when the anchor bolt driving tool according to Embodiment 1 of the present invention is connected to a driving device and installed on a robot.

[0027] Figure 5 This is Figure 3 A cross-sectional view of the holding part in the release mode state.

[0028] Figure 6 This is Figure 3 A cross-sectional view of the holding part in the holding mode state.

[0029] Figure 7 This is showing Figure 1 A cross-sectional view of the state of the anchor bolt driving tool before inserting an anchor bolt into a pre-drilled hole formed in a wall surface during the anchor bolt driving operation performed by the robot shown.

[0030] Figure 8 This is showing from Figure 7 A cross-sectional view of the state of driving an anchor bolt into a pre-drilled hole formed in a wall surface by hitting.

[0031] Figure 9 This is a flowchart showing the basic process of the anchor bolt driving method of the present invention.

[0032] Figure 10 This is showing Figure 9 A schematic diagram showing the operations of steps S6 to S10 in the flowchart of the anchor bolt driving method shown.

[0033] Figure 11 This is showing Figure 9 A schematic diagram showing the operations of steps S11 to S18 in the flowchart of the anchor bolt driving method shown.

[0034] Figure 12 This is a side view showing the release mode state of the holding part of Embodiment 2 of the anchor bolt driving tool of the present invention.

[0035] Figure 13 This is showing Figure 12 A side view of the holding mode state.

[0036] Figure 14 This is a side view showing the release mode state of the holding part of Embodiment 3 of the anchor bolt driving tool of the present invention.

[0037] Figure 15 represents Figure 14 a side view of the gripping mode state.

[0038] Symbol Explanation

[0039] 1 - wall surface, 2 - pre - drilled hole, 2a - central axis of the pre - drilled hole, 3 - setting surface, 4, 4a - anchor, 4b - longitudinal axis of the anchor, 4c - surface where the anchor is struck, 5 - three - face wedge, 6 - external thread part, 7 - nut, 8 - anchor seat, 9 - robot, 10 - driving device, 11 - driving device holder, 12 - tool changer, 13 - force sensor, 14 - camera, 15 - distance sensor, 100 - anchor driving tool, 101 - striking part of the anchor driving tool, 101a - flat surface of the striking part, 102A, 102B, 102C - gripping parts of the anchor driving tool,, 103 - gripping part holder, 104 - rubber bag, 105 - air pipe joint, 106 - air pipe, 107 - gripping control part, 108 - anchor driving unit, 200 - finger piece, 201 - finger piece base, 300 - chuck, 301 - jaw, 302 - servo motor, 303 - base. Detailed Embodiment

[0040] Hereinafter, based on the illustrated embodiments, an anchor driving tool of the present invention, an anchor driving method using the anchor driving tool, and an anchor driving unit will be described. In addition, in each figure, the same reference numerals are assigned to the same structures, and in the case of repeated description, the description may be omitted sometimes.

[0041] In addition, various components of the present invention do not necessarily need to exist separately. It is allowed that one component is composed of multiple parts, multiple components are composed of one part, a certain component is a part of other components, and a part of a certain component overlaps with a part of other components, etc.

[0042] Embodiment 1

[0043] Figure 1 Fig. shows an anchor driving device according to Embodiment 1 using the anchor driving tool 100 of the present invention, and shows a schematic diagram of mounting the driving device 10 connected to the anchor driving tool 100 on a robot 9 having an arm.

[0044] This figure shows the following state: The robot 9 is set on the setting surface 3, and one anchor 4a loaded in the anchor seat 8 in a replaceable manner among a plurality of anchors 4 is gripped by the anchor driving tool 100, and the front end of the anchor 4a is inserted into the pre - drilled hole 2 drilled in the wall surface 1.

[0045] More specifically, the driving device 10 connected to the anchor driving tool 100 is installed on the driving device holder 11, and the driving device holder 11 is connected to the tool changer 12 described later.

[0046] In addition, although not shown, a striking shaft for performing a striking operation is built into the driving device 10. By rotating the striking shaft in the striking direction, a striking force is applied to the anchor 4a via the striking portion 101 of the anchor driving tool 100. Here, as an example of the driving device 10, a hammer drill (striking mode) is envisioned.

[0047] Connected to the front end of the arm of the robot 9 are: a force sensor 13 that detects the force applied to the six axes of the pre-drilled hole 2 and the anchor 4a at the other end of the grasped anchor 4a; a camera 14 that identifies the pre-drilled hole 2 drilled in the wall surface 1; a distance sensor 15 that measures the distance between the wall surface 1 and the front end of the arm of the robot 9; and a tool changer 12 that can be attached and detached from other tools mainly including the driving device 10.

[0048] Furthermore, the relative angle between the wall surface 1 and the front end of the arm of the robot 9 is calculated using the distance sensor 15, the posture of the robot 9 is controlled, and the front end of the arm of the robot 9 is moved to the center of the pre-drilled hole 2 drilled in the wall surface 1 detected by the camera 14. The force sensor 13 controls the front end of the arm of the robot 9 to minimize the detected torque value.

[0049] In addition, a gripping control unit 107 that controls the gripping state of the gripping portion 102A of the anchor driving tool 100 is installed on the robot 9.

[0050] Next, Figure 2 A schematic diagram showing the anchor 4a (wedge-type anchor) driven into the pre-drilled hole 2 drilled in the wall surface 1 in this embodiment.

[0051] As Figure 2 shown, the anchor 4a is composed of a three-sided wedge 5 that is annularly mounted on the end of the anchor 4a inserted into the pre-drilled hole 2 drilled in the wall surface 1 and can spread its feet, and an external thread portion 6 that threadedly engages the nut 7 with the head.

[0052] Moreover, when driving the anchor 4a, the nut 7 that is threadedly engaged with the inserted anchor 4a is tightened by hitting it with a hammer or the like in the pre-drilled hole 2 having the same diameter as the anchor 4a drilled in the wall surface 1, and within the wall surface 1, the three-sided wedge 5 spreads its feet to fix the anchor 4a.

[0053] Next, Figure 3 The anchor driving tool 100 in this embodiment will be described.

[0054] As Figure 3As shown, the anchor pin driving tool 100 in this embodiment generally includes a striking portion 101 for striking the anchor pin 4a, a holding portion 102A for holding the anchor pin 4a, and Figure 1 the holding control portion 107 shown. The central axes of the striking portion 101 and the holding portion 102A are arranged coaxially.

[0055] The holding portion 102A of the anchor pin driving tool 100 in this embodiment is generally composed of the following components: a floating annular rubber bag 104, which is installed on the holding portion holder 103, connected to the striking portion 101, and inflated by air pressure to change (contract) the inner diameter of the holding portion 102A; an air pipe joint 105, which is connected to an air pipe 106 for supplying air to or discharging air from the floating annular rubber bag 104 (see Figure 4 ).

[0056] Moreover, the state where air is not supplied to the rubber bag 104 and the rubber bag 104 does not expand in the holding portion 102A of the anchor pin driving tool 100 in this embodiment is the release mode in which the holding of the anchor pin 4a by the holding portion 102A is released, and the state where air is supplied to the rubber bag 104 to expand the rubber bag 104 so that the inner diameter of the holding portion 102A contracts and is smaller than the external thread portion 6 of the anchor pin 4a is the holding mode in which the holding portion 102A holds the anchor pin 4a.

[0057] Figure 4 It shows the anchor pin driving unit 108 when installed on the robot 9.

[0058] As Figure 4 shown, the anchor pin driving unit 108 is composed of the anchor pin driving tool 100 with the above structure and a driving device 10 connected to the anchor pin driving tool 100. The driving device 10 is installed on the driving device holder 11 and connected to a tool changer 12 connected to the front end portion of the arm of the robot 9. In addition, an air pipe 106 extending from the air pipe joint 105 is connected to the tool changer 12.

[0059] In addition, it is assumed that the robot 9 has a function of supplying / discharging compressed air with a servo valve built in and relative to the tool changer 12 connected to the front end portion of the arm of the robot 9.

[0060] In addition, the holding portion 102A of the anchor pin driving tool 100 can perform switching control between the holding mode of actively holding the anchor pin 4a and the release mode of releasing the holding of the anchor pin 4a according to a signal from the holding control portion 107.

[0061] Figure 5 It shows Figure 3 a cross-sectional view of the holding portion 102A of the anchor pin driving tool 100 in the release mode state. Figure 5This is the release mode state where air is not supplied to the rubber bag 104 that serves as the gripping portion 102A. On the other hand, Figure 6 This is a cross-sectional view of the anchor driving tool 100 in the gripping mode state where air is supplied to the rubber bag 104, causing the rubber bag 104 to expand, the inner diameter of the gripping portion 102A to contract, and become smaller than the outer threaded portion 6 of the anchor 4a.

[0062] Next, the effect of the anchor driving tool 100 when there is a deviation between the central axis 2a of the pilot hole 2 drilled in the wall surface 1 and the longitudinal axis 4b of the driven anchor 4a will be described.

[0063] Figure 7 Indicates the use of Figure 1 The state of the anchor driving tool 100 before inserting the anchor 4a into the pilot hole 2 during the anchor driving operation of the anchor 4a by the robot 9 shown. Additionally, in Figure 7 For ease of explanation, the wall surface 1 and the anchor driving tool 100 are shown in a cross-sectional view.

[0064] Figure 7 It shows that the gripping portion 102A of the anchor driving tool 100 grips the anchor 4a in the gripping mode state ( Figure 6 state), positions and inserts the front end of the anchor 4a into the pilot hole 2 drilled in the wall surface 1, and then switches the gripping portion 102 from the gripping mode to the release mode ( Figure 5 state). Additionally, Figure 7 This is the case where the central axis 2a of the pilot hole 2 is slightly deviated from the longitudinal axis 4b of the anchor 4a.

[0065] Figure 8 Indicates the state of driving and inserting the anchor 4a into the pilot hole 2 from the Figure 7 state.

[0066] As can be seen from Figure 8 The anchor 4a is driven and inserted into the pilot hole 2 drilled in the wall surface 1.

[0067] Thus, when driving and inserting the anchor 4a into the pilot hole 2 drilled in the wall surface 1, since the gripping portion 102A of the anchor driving tool 100 is in the release mode state, the gripping portion 102A does not restrain the anchor 4a, and only the struck surface 4c of the anchor 4a (refer to Figure 2 ) contacts the flat surface 101a of the striking portion 101 of the anchor driving tool 100 (refer to Figure 7 ) during the striking (surface contact) (the struck surface 4c of the anchor 4a and the striking portion 101 of the anchor driving tool 100 are not only in surface contact but also in point contact or line contact). Therefore, a large bending moment is not applied to the robot 9 via the driving device 10 connected to the anchor driving tool 100, and the anchor driving operation can be achieved using the robot 9.

[0068] Next, use Figure 9 to describe a method of driving an anchor 4a automatically into a pre-drilled hole 2 drilled in a wall surface 1 using the above-described anchor driving tool 100.

[0069] Figure 9 is a flowchart showing the basic process of an anchor driving method using the anchor driving tool 100 described in Embodiment 1.

[0070] Here, it is premised that a driving device 10 to which the anchor driving tool 100 is already connected is installed at the front end of the arm of the robot 9 shown in Figure 1 First, calculate the posture of the front end of the arm of the robot 9 that makes the anchor 4a perpendicular to the wall surface 1 (refer to step S1 described later). This is an operation required to drive the anchor 4a perpendicular to the wall surface 1.

[0071] Use the distance sensor 15 installed at the front end of the arm of the robot 9 to measure any three different points on the wall surface 1 multiple times. After taking the average value, calculate the vector perpendicular to the plane of the triangle obtained by connecting the three points with a straight line, and calculate the relative posture between the wall surface 1 and the front end of the arm of the robot 9 (step S1). Thus, the posture of the front end of the arm of the robot 9 is determined.

[0072] Next, search for the pre-drilled hole 2 drilled in the wall surface 1 using the camera 14 installed at the front end of the arm of the robot 9 (step S2), and detect the pre-drilled hole 2 (step S3). In addition, if the pre-drilled hole 2 is not detected in step S3, return to step S2. Then, calculate the center coordinates of the detected pre-drilled hole 2 (step S4).

[0073] Next, transfer to the process of gripping the anchor 4a from the anchor seat 8. First, set the gripping mode of the anchor driving tool 100 to the release mode (step S5). Next, move the front end of the arm of the robot 9 directly above the anchor seat 8 (step S6).

[0074] Then, search for the gripped anchor 4a using the camera 14 at the front end of the arm of the robot 9 (step S7), and detect the anchor 4a gripped by the gripping portion 102 of the anchor driving tool 100 (step S8). In addition, if the anchor 4a gripped in step S8 is not detected, return to step S7.

[0075]

[0076] ​After aligning the central axis of the gripping portion 102A with the central axis of the anchor 4a, the anchor driving tool 100 is brought close to the anchor 4a, and the anchor 4a is covered by the gripping portion 102A to a predetermined length. The gripping portion 102A of the anchor driving tool 100 is set to the gripping mode (step S9), the inner diameter of the gripping portion 102A is reduced to grip the anchor 4a, and the anchor 4a is lifted from the anchor seat 8 (step S10).

[0077] Figure 10 (a), (b), and (c) of Figure 10 are schematic diagrams showing the operations of the above steps S6 to S10. Figure 10 (a) of Figure 10 is from step S6 to step S8. Figure 10 (b) of Figure 10 is step S9. Figure 10 (c) of Figure 10 is step S10.

[0078] After that, while holding the anchor 4a, the tip of the arm of the robot 9 is moved to near the pre-drilled hole 2 drilled in the wall surface 1 (step S11), and the tip of the arm of the anchor 4a is inserted into the pre-drilled hole 2 (step S12). At this time, the tip of the arm of the robot 9 is controlled so that the three-axis torque value of the force sensor 13 mounted on the tip of the arm of the robot 9 becomes the minimum, and the pre-drilled hole 2 is fitted with the tip of the anchor 4a (step S13). In addition, if the three-axis torque value of the force sensor 13 is not the minimum in step S13, the process returns to step S12.

[0079] After the fitting, only by the pressing force of the robot 9, the tip of the anchor 4a is inserted into the pre-drilled hole 2 until the insertion reaction force of the anchor 4a obtained by the force sensor 13 becomes equal to or greater than a predetermined value (step S14). This is to prevent the anchor 4a from falling out of the pre-drilled hole 2 when the gripping portion 102A of the anchor driving tool 100 is set to the release mode during the next anchor hitting operation. In addition, if the insertion reaction force of the anchor 4a is not equal to or greater than the predetermined value in step S14, the process returns to step S12.

[0080] Next, the gripping portion 102A of the anchor driving tool 100 is set to the release mode to release the restraint on the anchor member 4a (step S15). Next, the anchor 4a is driven into the pre-drilled hole 2 drilled in the wall surface 1 by the hitting portion 101 until a predetermined depth (step S16). After the anchor 4a is driven into the predetermined depth (for example, 80 mm or more) (step S17), the robot 9 is moved to the hitting start position of the anchor 4a (step S18). At this time, the anchor 4a driven into the pre-drilled hole 2 in the wall surface 1 becomes a state where it cannot be easily pulled out due to friction with the wall surface 1. In addition, if the anchor 4a is not driven to the predetermined depth in step S17, the process returns to step S16. Figure 11The (a), (b), and (c) of the following are schematic diagrams showing the operations of the above-described processes S11 to S18. Figure 11 The (a) of the following is process S11. Figure 11 The (b) of the following is processes S12 to S16. Figure 11 The (c) of the following is processes S17 to S18.

[0081] The above-described operation of automatically driving the anchor 4a into the pilot hole 2 drilled in the wall surface 1 using the anchor driving tool 100 is completed.

[0082] By adopting the anchor driving method of this embodiment, it is possible to use a single robot 9 using the anchor driving tool 100 to perform a series of operations of gripping and driving the anchor 4a.

[0083] According to the present embodiment described above, when driving the anchor 4a into the pilot hole 2 drilled in the wall surface 1 using the robot 9 having an arm, the anchor driving tool 100 is actively switched from the gripping mode to the releasing mode to release the constrained state of the driven and inserted anchor 4a. Thus, even when there is a deviation between the central axis 2a of the pilot hole 2 drilled in the wall surface 1 and the long side direction axis 4b of the driven anchor 4a, since the force that bends the anchor 4a is not transmitted to the robot 9 via the anchor driving tool 100, it is possible to suppress the load on the joint axes applied to the robot 9.

[0084] Therefore, it is possible to prevent a robot 9 having an arm with a strong joint structure that allows a bending moment to be generated when there is a deviation on the axis, a complex additional device that reduces the bending moment, a complex or multi-step anchor driving method that drives the anchor 4a while suppressing the bending moment, expanding the pilot hole 2 drilled in the wall surface 1 to reduce the driving load of the anchor 4a and reducing the pull-out strength of the anchor 4a, etc.

[0085] Embodiment 2

[0086] The gripping portion 102A of the anchor 4a of the anchor driving tool 100 described in Embodiment 1 is a gripping method in which the inner diameter of the gripping portion 102A is contracted by injecting pressurized air into the floating annular rubber bag 104 to expand it.

[0087] As an alternative method of gripping the anchor 4a (Embodiment 2), in Figure 12 and Figure 13 a gripping method using two opening and closing finger members 200 is shown.

[0088] The gripping portion 102B of the anchor pin driving tool 100 in this embodiment is composed of two finger members 200, a finger member base 201 that drives the opening and closing of the finger members 200 (slides the roots of the finger members 200), and an air pipe joint 105 that supplies compressed air to the finger member base 201 in order to drive the opening and closing of the finger members 200. The gripping portion 102B of this embodiment is connected to the striking portion 101 in the same manner as in Embodiment 1.

[0089] Moreover, the state where compressed air is not supplied to the finger member base 201 and the finger members 200 are in the "open" state is the release mode in which the gripping portion 102B of this embodiment releases the gripping of the anchor pin 4a, and the state where compressed air is supplied to the finger member base 201 and the finger members 200 perform a "closing" action and the inner diameter of the gripping portion 102B becomes narrower is the gripping mode in which the gripping portion 102B of this embodiment grips the anchor pin 4a.

[0090] Figure 12 The release mode state indicating that the two finger members 200 are open, Figure 13 The gripping mode state indicating that the two finger members 200 are closed.

[0091] In the structure of this embodiment as well, the same effects as in Embodiment 1 can be obtained.

[0092] In addition, even in the gripping mode state where compressed air is introduced into the rubber bag 104, since the elastic rubber bag 104 is used as the gripping portion 102A in Embodiment 1, there is a problem that the anchor pin 4a gripped by the rubber bag 104 shakes if the arm tip of the robot 9 is driven at high speed while the anchor pin 4a is being gripped.

[0093] However, in the finger member gripping method in the gripping portion 102B of the anchor pin driving tool 100 in this embodiment, if the finger members 200 are made of a rigid body, the anchor pin 4a can be firmly gripped by the finger members 200, so that even if the arm tip of the robot 9 is driven at high speed, the shaking of the anchor pin 4a can be prevented.

[0094] In addition, since the anchor pin 4a is firmly gripped by the finger members 200, there is an advantage that when fitting the front end of the anchor pin 4a into the pre-drilled hole 2 formed in the wall surface 1, the reaction force transmitted through the front end of the anchor pin 4a can be detected with high sensitivity by the force sensor 13 of the robot 9.

[0095] In addition, the finger members 200 may be two or more. From the viewpoint of making the central axes coincide when gripping the anchor pin 4a, a structure with three finger members is preferred. In addition, as a power source for driving the opening and closing of the finger members 200, water pressure, hydraulic pressure, or electric power other than pneumatic pressure may also be used.

[0096] Example 3

[0097] As an alternative to the holding anchor 4a (Example 3), there is Figure 14 and Figure 15 the drill chuck method shown. This is the same as the structure of a general drill chuck, and the drill chuck is used to hold the anchor 4a instead of the drill bit.

[0098] That is, the holding part 102C of the anchor driving tool 100 of the present embodiment is generally composed of the following parts: a plurality of (three in the present embodiment) claws 301; a chuck 300 that supports the three claws 301 in a manner that can be axially fed out and supports the three claws 301 in a manner that narrows or widens the interval between the three claws; a base 303 that supports the chuck 300; and a servo motor 302 that is provided on the base 303 and controls the axial feed amount of the three claws 301 and the interval between the three claws, and uses the feed amount of the three claws 301 in the chuck 300 to change the inner diameter (the diameter of the holding anchor 4a) surrounded by the three claws. The holding part 102C of the present embodiment is connected to the striking part 101 in the same manner as in Example 1.

[0099] Moreover, the servo motor 302 is used to control the axial feed amount of the three claws 301 and the interval between the three claws to change the inner diameter (the diameter of the holding anchor 4a) surrounded by the three claws. The state in which the axial feed amount of the three claws 301 and the interval between the three claws do not change is the release mode in which the holding part 102C of the present embodiment releases the holding of the anchor 4a, and the state in which the axial feed amount of the three claws 301 is large and the interval between the three claws is narrowed is the holding mode in which the holding part 102C of the present embodiment holds the anchor 4a.

[0100] That is, when the holding part 102C of the present embodiment holds the anchor 4a, it reduces the interval between the three claws as Figure 15 shown, and when driving the anchor 4a, it expands the interval between the three claws as Figure 14 shown, and in the state where the restraint of the anchor 4a is released, the flat part of the striking part 101 is used to strike and insert the anchor 4a.

[0101] Even for the holding part 102C of the drill chuck method of the holding part 102C of the anchor driving tool 100 of the present embodiment, the anchor 4a can be firmly held in the same manner as in Example 2.

[0102] In addition, the present invention is not limited to the above-described embodiments, and also includes various modified examples. For example, the above-described embodiments are examples that have been described in detail for the purpose of easily understanding the present invention, and are not limited to having all the structures described. In addition, a part of the structure of a certain embodiment can be replaced with the structure of another embodiment, and in addition, the structure of another embodiment can be added to the structure of a certain embodiment. In addition, for a part of the structure of each embodiment, addition, deletion, and replacement of other structures can be performed.

Claims

1. An anchor rivet driving tool, which is connected to a driving device and drives an anchor rivet into a hole formed by perforating a wall surface. Characterized in that, The anchor rivet driving tool includes: a striking part that strikes the anchor rivet; a gripping part that grips the anchor rivet; and a gripping control part that controls the gripping state of the anchor rivet in the gripping part. In the gripping control part, switching control is performed to switch between a gripping mode in which the gripping part grips the anchor rivet and a release mode in which the gripping part releases the grip on the anchor rivet. When the front end of the anchor rivet is inserted into the hole formed by perforating the wall surface, the gripping part of the anchor rivet driving tool is in the gripping mode; when one end of the anchor rivet is inserted into the hole formed by perforating the wall surface, the striking part of the anchor rivet driving tool contacts the other end side of the anchor rivet, and in a state where the other end of the anchor rivet is pressed in the direction of striking the anchor rivet, the gripping part of the anchor rivet driving tool is switched from the gripping mode to the release mode. The gripping part is composed of a rubber bag and an air pipe joint. The rubber bag is installed on the gripping part holder, and the inner diameter of the gripping part changes due to inflation or contraction by air pressure. The air pipe joint connects an air pipe for supplying air to or discharging air from the rubber bag. The state where air is not supplied to the rubber bag and the rubber bag does not expand is the release mode, and the state where air is supplied to the rubber bag and the rubber bag expands and the inner diameter of the gripping part becomes smaller is the gripping mode.

2. The anchor rivet driving tool according to claim 1. Characterized in that, The gripping part that grips the anchor rivet is switched between a gripping mode for gripping the anchor rivet and a release mode for releasing the grip on the anchor rivet according to a signal from the gripping control part.

3. The anchor rivet driving tool according to claim 1 or 2. Characterized in that, The anchor rivet driving tool is connected to a driving device, the driving device is installed on a robot, and the gripping control part is provided on the robot.

4. The anchor rivet driving tool according to claim 3. Characterized in that, Connected to the front end of the robot's arm are: a force sensor that detects the hole formed by perforating the wall surface and the six-axis force applied to the anchor rivet; A camera that identifies the hole formed by perforating the wall surface; A distance sensor that measures the distance between the wall surface and the front end of the robot's arm; And a tool changer that can be at least loaded and unloaded with the driving device. The relative angle between the wall surface and the front end of the robot's arm is calculated using the distance sensor, the posture of the robot is controlled, and the front end of the robot's arm is moved to the center of the hole formed by perforating the wall surface detected by the camera. Moreover, the force sensor controls the front end of the robot's arm in such a way that the detected torque value is minimized.

5. The anchor rivet driving tool according to claim 4. Characterized in that, The anchor pin driving tool is connected to the driving device. A striking shaft for performing a striking operation is built in the driving device. By operating the striking shaft in the striking direction, a striking force is applied to the anchor pin via the striking portion of the anchor pin driving tool.

6. An anchor pin driving tool that is connected to a driving device and drives an anchor pin into a hole formed by perforating a wall surface Characterized in that the anchor pin driving tool includes: a striking portion that strikes the anchor pin; a gripping portion that grips the anchor pin; and a gripping control portion that controls the gripping state of the anchor pin in the gripping portion. In the gripping control portion, switching control is performed to switch between a gripping mode in which the gripping portion grips the anchor pin and a release mode in which the gripping portion releases the grip on the anchor pin. When the front end of the anchor pin is inserted into the hole formed by perforating the wall surface, the gripping portion of the anchor pin driving tool is in the gripping mode; when one end of the anchor pin is inserted into the hole formed by perforating the wall surface, the striking portion of the anchor pin driving tool contacts the other end side of the anchor pin, and while pressing the other end of the anchor pin in the direction of striking the anchor pin, the gripping portion of the anchor pin driving tool is switched from the gripping mode to the release mode. The gripping portion is composed of at least two finger-like members, a finger-like member base that drives the opening and closing of the finger-like members, and an air pipe joint for supplying compressed air to the finger-like member base in order to drive the opening and closing of the finger-like members. When the compressed air is not supplied to the finger-like member base, the state in which the finger-like members are "open" is the release mode, and when the compressed air is supplied to the finger-like member base, the state in which the finger-like members perform a "closing" action and the inner diameter of the gripping portion becomes narrower is the gripping mode.

7. The anchor pin driving tool according to claim 6, Characterized in that the gripping portion that grips the anchor pin is switched between a gripping mode of gripping the anchor pin and a release mode of releasing the grip on the anchor pin according to a signal from the gripping control portion.

8. The anchor pin driving tool according to claim 6 or 7, Characterized in that the anchor pin driving tool is connected to a driving device, the driving device is installed on a robot, and the gripping control portion is provided on the robot.

9. The anchor pin driving tool according to claim 8, Characterized in that a force sensor that detects the hole formed by perforating the wall surface and the six-axis force applied to the anchor pin is connected to the front end of the arm of the robot; a camera that identifies the hole formed by perforating the wall surface; a distance sensor that measures the distance between the wall surface and the front end of the arm of the robot; and a tool changer that can be at least loaded and unloaded with the driving device. The relative angle between the wall surface and the front end of the arm of the robot is calculated using the distance sensor, the posture of the robot is controlled, and the front end of the arm of the robot is moved to the center of the hole formed by perforating the wall surface detected by the camera. Further, the force sensor controls the front end of the arm of the robot so that the detected torque value is minimized.

10. The anchor pin driving tool according to claim 9, characterized in that, the anchor pin driving tool is connected to the driving device, a striking shaft for performing a striking operation is built in the driving device, and by operating the striking shaft in the striking direction, a striking force is applied to the anchor pin via the striking portion of the anchor pin driving tool.

11. An anchor pin driving unit, which is composed of the anchor pin driving tool according to claim 5 or 10 and a driving device connected to the anchor pin driving tool, characterized in that, the driving device is installed on a driving device holder and is connected to a tool changer connected to the front end of the arm of a robot.

12. An anchor pin driving method, using the anchor pin driving tool according to any one of claims 1 to 10 to drive an anchor pin into a hole drilled in a wall surface, characterized in that, a driving device equipped with the anchor pin driving tool is connected and installed at the front end of the arm of the robot, the arm of the robot grips the anchor from an anchor base loaded with at least 1 anchor pin by the gripping portion of the anchor pin driving tool, moves to the position of the hole drilled in the wall surface, and drives the anchor pin into the hole by the striking portion of the anchor pin driving tool.

13. An anchor pin driving method, characterized in that, when using the anchor pin tool according to any one of claims 1 to 10 to drive an anchor pin into a hole drilled in a wall surface, the following steps are performed: Step S1, using a distance sensor installed at the front end of the arm of the robot, measuring any three different points on the wall surface multiple times, taking the average value, calculating a vector perpendicular to the plane of a triangle obtained by connecting any three different points on the wall surface with a straight line, and calculating the relative posture between the wall surface and the front end of the arm of the robot; Step S2, using a camera installed at the front end of the arm of the robot to search for the hole drilled in the wall surface; Step S3, detecting the hole; Step S4, calculating the center coordinates of the hole detected in Step S3; Step S5, transferring to the step of gripping the anchor pin from an anchor seat loaded with at least 1 anchor pin, and setting the anchor pin driving tool to the release mode; Step S6, moving the front end of the arm of the robot to directly above the anchor pin table; Step S7, using the camera at the front end of the arm of the robot to search for the gripped anchor pin; Step S8, detecting the anchor pin gripped by the gripping portion of the anchor pin driving tool; Step S9, after aligning the central axis of the gripping portion of the anchor pin driving tool with the central axis of the anchor pin, moving the anchor pin driving tool close to the anchor, covering the anchor with the gripping portion of the anchor pin driving tool to a predetermined length, and setting the gripping portion of the anchor pin driving tool to the gripping mode; Step S10, reducing the inner diameter of the gripping portion of the anchor pin driving tool to grip the anchor pin and lifting the anchor pin from the anchor pin table; Step S11, moving the front end of the arm of the robot to near the hole drilled in the wall surface while gripping the anchor pin; Step S12, keeping the gripping portion of the anchor pin driving tool in the gripping mode and inserting the front end of the arm of the anchor pin into the hole drilled in the wall surface; Process S13: At the time of Process S12, control the tip of the arm of the robot so that the three-axis torque value of the force sensor installed at the tip of the arm of the robot becomes the minimum, and engage the hole drilled in the wall surface with the tip of the anchor bolt; Process S14: After performing Process S13, insert the tip of the anchor bolt into the hole drilled in the wall surface only by the pressing force of the robot until the insertion reaction force of the anchor bolt detected by the force sensor becomes equal to or greater than a predetermined value; Process S15: Switch the holding part of the anchor bolt driving tool from the holding mode to the release mode to release the restraint of the anchor bolt; Process S16: Drive and insert the anchor bolt into the hole drilled in the wall surface by the striking part of the anchor bolt driving tool until a predetermined depth; Process S17: Drive and insert the anchor bolt to a predetermined depth; and Process S18: After performing Process S17, move the robot to the striking start position of the anchor bolt.

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