Construction processing device and construction processing system

Abstract

To provide a novel construction processing device and construction processing system.SOLUTION: A construction processing device 1 includes a device body 10, a spray head 40 (construction processing portion) that sprays a spray material, and a lifting unit 30 that raises and lowers the spray head relative to the device body. The lifting unit 30 includes a three-dimensional first three-dimensional member 31 that is fixed to the device body 10 and extends upward from the device body, a three-dimensional second three-dimensional member 32 that is attached to be movable in the vertical direction relative to the first three-dimensional member and protrudes upward from the first three-dimensional member, and a driving member 35 that moves the second three-dimensional member together with the spray head 40 up and down relative to the first three-dimensional member. The second three-dimensional member 32 is arranged so as to overhang one side from the first three-dimensional member 31 while overlapping a part of the first three-dimensional member 31 in a top view of the device body 10, and is arranged so as not to overhang the other side from the first three-dimensional member 31.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a construction processing device and a construction processing system, and particularly to a construction processing device and a construction processing system for performing construction processing on the frame of a building.

Background Art

[0002] Conventionally, when performing an operation of spraying a spraying material (for example, a fireproof coating material) on the frame of a building (for example, a column or a beam), it is common for an operator to hold a spraying head for spraying the spraying material and move around the frame while performing the spraying operation. However, since the above spraying operation is heavy labor and the working environment is also bad, it has been proposed to use a spraying device (spraying robot) (for example, see Patent Document 1).

[0003] The spraying device described in Patent Document 1 mainly includes a robot arm that holds a spraying head and changes the position and angle of the spraying head, a traversing device that moves the robot arm in the longitudinal direction of the spraying device, a lifting device that raises and lowers the robot arm and the traversing device, and a traveling device that travels horizontally while supporting the robot arm, the traversing device, and the lifting device. In addition, the spraying device includes a control unit (arithmetic processing device) that controls the robot arm, the traversing device, the lifting device, and the traveling device in order to spray a spraying material on the frame of a building.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, in a spraying device (construction processing device) such as Patent Document 1, a pantograph type (pantograph jack) lifting device is adopted. As other types of lifting devices, there are also those of the slide rail type (linear guide rail type) and those of the multi-stage type in which a plurality of hollow lifting parts are stacked inside or outside (see, for example, Patent Document 2). However, in the above pantograph type lifting device, for example, since the relationship between the expansion and contraction amount of the drive motor and the height is non-linear, it has been difficult to perform lifting control. Also, in the slide rail type lifting device, for example, since the plate-shaped lifting part is attached so as to be movable up and down, the sway of the lifting part becomes large and there is a risk of tilting. Further, in the multi-stage type lifting device, there is a risk that the strength of the lifting part (the lifting part with a narrow width) located at the upper end or the lower end will be inferior. Therefore, a construction processing device having a new lifting device has been demanded.

[0006] The present invention has been made in view of the above problems, and an object of the present invention is to provide a novel construction processing device and a construction processing system. Another object of the present invention is to provide a construction processing device and a construction processing system capable of more suitably lifting a construction processing part than in the past.

Means for Solving the Problems

[0007] According to the construction processing device of the present invention, the above problem is solved by a construction processing device that performs construction processing on the building structure, comprising a device body that serves as the main body of the construction processing device, a construction processing unit that performs construction processing on the structure, and a lifting unit that raises and lowers the construction processing unit with respect to the device body. The lifting unit includes a three-dimensional first three-dimensional member fixed to the device body and extending upward from the device body, a three-dimensional second three-dimensional member movably attached to the first three-dimensional member in the vertical direction and protruding upward from the first three-dimensional member, and a driving member that moves the second three-dimensional member together with the construction processing unit up and down with respect to the first three-dimensional member. The second three-dimensional member is arranged so as to protrude to one side beyond the first three-dimensional member in a state of overlapping a part of the first three-dimensional member in a top view of the device body, and not to protrude to the other side beyond the first three-dimensional member.

[0008] With the above configuration, a novel construction processing device can be realized. Specifically described, the lifting unit of the above construction processing device has a three-dimensional first three-dimensional member and a three-dimensional second three-dimensional member movably attached to the first three-dimensional member in the vertical direction. The second three-dimensional member is arranged so as to protrude to one side beyond the first three-dimensional member in a state of overlapping a part of the first three-dimensional member in a top view of the device body, and not to protrude to the other side beyond the first three-dimensional member. By doing so, a lifting device with a novel configuration different from the conventional pantograph type, slide rail type, and multi-stage type lifting devices can be realized. In addition, since the second three-dimensional member is arranged to protrude to one side in a top view of the device body, the construction processing unit can protrude to one side. That is, the construction processing unit can be brought closer to the building structure, and the construction processing can be preferably performed.

[0009] At this time, the construction processing device is a spraying device that sprays a spraying material onto the housing. The construction processing unit is connected to a hose that sends the spraying material, and is a spraying head that sprays the spraying material. The second three-dimensional member is attached to the first three-dimensional member so as to be slidable in the vertical direction together with the spraying head. The spraying head is preferably arranged so as to protrude to the one side from the device body and the second three-dimensional member in a top view of the device body. As described above, the second three-dimensional member is attached to the first three-dimensional member so as to be slidable in the vertical direction together with the spraying head. Therefore, it is possible to realize a spraying device that can be lifted and lowered more stably than before and can preferably perform lifting and lowering control. Specifically, by adopting a slide rail type lifting unit, it is easier to perform lifting and lowering control. And by sliding the three-dimensional second three-dimensional member up and down with respect to the three-dimensional first three-dimensional member, it is easier to stabilize the lifting part (reduce the sway) compared with the conventional case, and it is also easier to ensure the strength of the lifting part.

[0010] At this time, the first three-dimensional member is a first three-dimensional frame composed of a frame, and the second three-dimensional member is a second three-dimensional frame composed of a frame. The first three-dimensional frame has a rail member provided on the outer surface of the first three-dimensional frame and extending in the vertical direction. The second three-dimensional frame has a carriage provided on the inner surface of the second three-dimensional frame and slidably supported by the rail member, and it is preferable to move in the vertical direction with respect to the first three-dimensional frame as the carriage moves. As described above, by having the first three-dimensional frame and the second three-dimensional frame composed of frames, it is possible to achieve weight reduction while ensuring the strength of the lifting device. It is also possible to make the lifting device easier to assemble and reduce costs. Also, with the above configuration, for example, a hose connected to the spraying head of the spraying device can be easily hooked on the three-dimensional frame.

[0011] At this time, the first three-dimensional frame and the second three-dimensional frame have a cubic shape or a rectangular parallelepiped shape, the rail member is provided on the outer surface of each of a plurality of vertical frame portions that constitute the side of the first three-dimensional frame and extend in the vertical direction, and the carriage is provided on the inner surface of each of a plurality of vertical frame portions that constitute the side of the second three-dimensional frame and extend in the vertical direction, and is preferably supported by the rail member. By having a plurality of rail members and carriages as described above, the construction processing unit (spraying head) can be stably lifted and lowered, and the lifting and lowering control can be preferably performed.

[0012] At this time, the lifting unit is movably attached to the second three-dimensional member in the vertical direction, and further has a three-dimensional third three-dimensional member protruding upward from the second three-dimensional member, and it is preferable that the first three-dimensional member, the second three-dimensional member, and the third three-dimensional member have a common configuration. By adopting a common three-dimensional member as described above, the inventory management and maintenance management of the components become easier. Also, by adopting a common three-dimensional member, the relationship between the expansion and contraction amount and the height of the drive member (drive motor) becomes linear, and the lifting and lowering control can be performed with higher accuracy.

[0013] At this time, the first three-dimensional member is a first three-dimensional frame having a cubic shape or a rectangular parallelepiped shape, the second three-dimensional member is a second three-dimensional frame having a cubic shape or a rectangular parallelepiped shape, and the second three-dimensional frame is arranged so as to protrude to one side in the front-rear direction with respect to the first three-dimensional member and not protrude outward in the left-right direction with respect to the first three-dimensional member, or is arranged so as to protrude to one side in the left-right direction with respect to the first three-dimensional member and not protrude outward in the front-rear direction with respect to the first three-dimensional member. With the above configuration, the construction processing unit (spraying head) can be brought closer to the building frame, and the construction processing can be preferably performed. Also, by arranging the lifting unit so as not to protrude outward in the left-right direction (front-rear direction) with respect to the apparatus main body as much as possible, the enlargement of the construction processing apparatus can be suppressed.

[0014] Further, according to the construction processing system of the present invention, the above-described construction processing apparatus and a surveying apparatus installed at a predetermined position within the construction site are provided. The construction processing apparatus includes a detection object provided on the apparatus main body and detected by the surveying apparatus. The surveying apparatus detects the detection object mounted on the construction processing apparatus, measures the position information of the construction processing apparatus based on the detection result, the construction processing system stores the three-dimensional design information of the building, estimates the current position of the construction processing apparatus within the construction site based on the three-dimensional design information of the building and the position information of the construction processing apparatus, and controls the position and angle of the construction processing unit based on the current position of the construction processing apparatus and the three-dimensional design information, thereby controlling the construction processing. This also solves the problem.

Effect of the Invention

[0015] According to the construction processing apparatus and the construction processing system of the present invention, it is possible to provide a novel construction processing apparatus and a construction processing system. In addition, it is possible to more suitably raise and lower the construction processing unit than in the prior art.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11A

Figure 11B

Figure 11C

Figure 11D

Mode for Carrying Out the Invention

[0017] Hereinafter, embodiments of the present invention will be described with reference to FIGS. 1 to 11D. This embodiment relates to a construction processing device for spraying a spraying material on the building structure, and more particularly to a "construction processing device" that enables the spraying head (construction processing unit) to be more suitably lifted and lowered than in the prior art. It also relates to a "construction processing system" equipped with the construction processing device.

[0018] As shown in FIG. 1, the construction processing system S includes a construction processing device 1 for spraying a spraying material on the building structure (such as columns B1 and beams B3) of the building B, an injection device 100 connected to the construction processing device 1 for injecting the spraying material, a surveying device 200 installed at a predetermined surveying position in the building for surveying the relative position information of the construction processing device 1, and an operator terminal 300 communicably connected to the construction processing device 1 and the surveying device 200 for sending position information and causing the construction processing device 1 to execute a predetermined spraying operation.

[0019] <Hardware Configuration of Construction Processing System> As shown in FIGS. 1 to 9, the construction processing device 1 is an automated guided vehicle (AGV) equipped with a spraying head, and includes a device main body 10, a traveling unit 20 attached below the device main body 10, a lifting unit 30 attached on the device main body 10, a spraying head 40, a first rotating unit 50, a moving unit 60, and a second rotating unit 70 attached on the lifting unit 30. Further, the construction processing device 1 further includes an air compressor 80 attached inside the device main body 10 for adjusting the injection of the spraying material, prisms 85 attached to the four corners of the outer surface of the device main body 10 and serving as detection targets of the surveying device 200, a battery 88 attached inside the device main body 10 for supplying power to each drive unit, and a control device 90 attached inside the device main body 10 for controlling the operation of each drive unit.

[0020] As shown in FIG. 1, the injection device 100 is a device for injecting a refractory coating material (spraying material) obtained by mixing rock wool (first material) and mortar (second material). The injection device 100 includes a defibrator 110 for loosening rock wool, a blower 120 for transporting the loosened rock wool to the spraying head 40, and a first hose 130 (hose) connecting the defibrator 110, the blower 120, and the spraying head 40. Further, it further includes a mixer 140 for kneading mortar, a pump 150 for transporting the kneaded mortar to the spraying head 40, and a second hose 160 connecting the mixer 140, the pump 150, and the spraying head 40. Specifically, as shown in FIGS. 1 and 8, the tip portions of the hoses 130 and 160 extend to the position of the spraying head 40 via the air compressor 80. With the above configuration, the injection device 100 injects the refractory coating material obtained by mixing rock wool and mortar from the spraying head 40 while being adjusted by the air compressor 80.

[0021] As shown in FIG. 1, the surveying device 200 is an automatic tracking total station that detects the prism 85 mounted on the construction processing device 1 at the surveying position and measures the position information (relative position information) of the construction processing device 1 based on the detection result. The surveying device 200 performs information data communication with the operator terminal 300 and transmits the position information with the construction processing device 1 to the operator terminal 300.

[0022] The surveying device 200 includes a device main body 201 that measures the distance and orientation to the detection object by continuously changing the irradiation direction to irradiate laser light and receiving the reflected light from the detection object, and a control controller 202 attached inside the device main body 201. The control controller 202 is a computer including a CPU (processor), a storage device, and a communication interface.

[0023] As shown in FIG. 1, the operator terminal 300 is a computer operated by an operator. The operator terminal 300 receives the position information from the surveying device 200, calculates the current position (position and orientation) of the construction processing device 1, and transmits a program for causing the construction processing device 1 to execute the position information and a predetermined spraying operation. The operator terminal 300 may be operated inside the building or outside the building.

[0024] Hereinafter, the hardware configuration of the construction processing device 1 will be described in detail. <<Traveling Unit>> As shown in FIG. 2, the traveling unit 20 is a tire-type traveling unit that causes the device main body 10 to travel in all directions in the horizontal direction (two-dimensional direction), and is attached to the four corners of the device main body 10, respectively. Specifically, the traveling unit 20 includes a plurality of wheels 21 that are respectively arranged at the four corners of the device main body 10 in a top view and rotate to cause the device main body 10 to travel, a wheel shaft 22 that constitutes the rotation axis of each wheel 21 and extends in the length direction of the construction processing device 1, and a drive motor 23 that rotates each wheel 21 and the wheel shaft 22.

[0025] The wheel 21 is, for example, a mecanum wheel (registered trademark), and the surface of the wheel 21 is covered by a plurality of rollers (barrels) inclined at about 45 degrees with respect to the wheel axis 22. The traveling unit 20 can freely travel horizontally without turning the construction processing device 1 by controlling the rotation direction and rotation speed of the wheel 21 (wheel axis 22) by four drive motors 23.

[0026] <<Lifting Unit>> As shown in FIGS. 2 to 6, the lifting unit 30 is a drive unit that raises and lowers the spraying head 40, the first rotating unit 50, the moving unit 60, and the second rotating unit 70 with respect to the apparatus main body 10, and is, for example, a rail type drive unit using a linear guide. The lifting unit 30 is attached to one end (front end) in the length direction of the apparatus main body 10.

[0027] The lifting unit 30 is a multi-stage drive unit having a plurality of three-dimensional members, and is, for example, a belt drive type or screw drive type drive unit. Note that the lifting unit 30 may have a mechanism using a linear rail and a linear bush instead of a mechanism using a linear guide, or may have a winding type lifting mechanism using a wire or a belt. That is, various lifting mechanisms can be adopted.

[0028] Specifically, the lifting unit 30 includes a first three-dimensional frame 31 fixed on the apparatus main body 10, a second three-dimensional frame 32 movably attached to the first three-dimensional frame 31 in the vertical direction, a third three-dimensional frame 33 movably attached to the second three-dimensional frame 32 in the vertical direction, and a fourth three-dimensional frame 34 movably attached to the third three-dimensional frame 33 in the vertical direction. The first three-dimensional frame 31 serves as a fixed frame, and the second to fourth three-dimensional frames 32 to 34 serve as movable frames. Note that the lifting unit 30 may further include a fifth three-dimensional frame and a sixth three-dimensional frame. Alternatively, the lifting unit 30 may include only the first three-dimensional frame 31 and the second three-dimensional frame.

[0029] The three-dimensional frames 31, 32, 33, and 34 have a common configuration (the same configuration), each having a cubic shape or a rectangular parallelepiped shape (box shape), and are formed of a metal frame (for example, an aluminum frame). Note that it is preferable that the three-dimensional frames 31, 32, 33, and 34 have the same parts (the same structure), but it is not particularly limited. For example, they are not limited to being completely identical, and those having similar shapes and structures may be used. Alternatively, as long as each of the three-dimensional frames 31, 32, 33, and 34 has a three-dimensional shape (three-dimensional structure) that can ensure strength more than before.

[0030] As shown in FIGS. 4 and 5, the first three-dimensional frame 31 includes a lower frame portion 31a that forms its bottom side and is fixed to the apparatus main body 10, a plurality of intermediate frame portions 31b that extend upward from the corner portions of the lower frame portion 31a, and an upper frame portion 31c that forms its upper side and connects the plurality of intermediate frame portions 31b. The upper frame portion 31c is formed to be wider in the left-right direction than the lower frame portion 31a. Specifically described, the front side of the lower frame portion 31a is formed longer than the rear side, the left side, and the right side. The front side, the rear side, the left side, and the right side of the upper frame portion 31c have the same length. The second three-dimensional frame 32 to the fourth three-dimensional frame 34 also have the same configuration. When assembling the three-dimensional frames together, for example, the second three-dimensional frame 32 is assembled so as to be inserted into the first three-dimensional frame 31 from above. At this time, in order to avoid interference between the frames, the lower frame portion 32a of the second three-dimensional frame 32 may be temporarily removed and then attached after the frames are assembled.

[0031] As shown in FIGS. 3 to 6, a drive motor 35, a rail member 36, and a carriage 37 are attached to the first three-dimensional frame 31 (intermediate frame portion 31b). The drive motor 35 is a belt drive type or screw drive type drive member and is attached inside the intermediate frame portion 31b. The rail member 36 is fixed to the outer surface (front surface) of the intermediate frame portion 31b and extends along the vertical direction. The rail member 36 is a convex rail, but it may also be a concave rail (grooved rail). The carriage 37 is fixed to the inner surface (rear surface) of the intermediate frame portion 31b and is arranged at a predetermined interval in the vertical direction. Similarly, a drive motor 35, a rail member 36, and a carriage 37 are also attached to the second three-dimensional frame 32 to the fourth three-dimensional frame 34.

[0032] As shown in FIGS. 4 to 6, the carriage 37 of the second three-dimensional frame 32 is attached to be slidable in the vertical direction with respect to the rail member 36 of the first three-dimensional frame 31. Then, when the drive motor 35 of the first three-dimensional frame is driven, the carriage 37 of the second three-dimensional frame 32 moves up and down along the rail member 36. Specifically, the carriage 37 of the second three-dimensional frame 32 has a movable portion 37a supported by the rail member 36 of the first three-dimensional frame 31 and a clamping portion 37b that clamps the intermediate frame portion 32b of the second three-dimensional frame 32 (see FIG. 5). With the above configuration, the second three-dimensional frame 32 slides up and down with respect to the first three-dimensional frame 31 together with the spraying head 40. Similarly, the third three-dimensional frame 33 and the fourth three-dimensional frame 34 slide up and down with respect to the second three-dimensional frame 32 and the third three-dimensional frame 33, respectively. As a result, the construction processing device 1 can move up and down between the "normal position" shown in FIG. 2 and the "raised position" shown in FIG. 3.

[0033] In the above configuration, as shown in FIGS. 3 to 6, the second three-dimensional frame 32 is disposed so as to project forward of the first three-dimensional frame 31 in a state of overlapping a part of the first three-dimensional frame 31 in a top view of the apparatus main body 10. And it is arranged so as not to project to the rear side of the first three-dimensional frame 31. The third three-dimensional frame 33 and the fourth three-dimensional frame 34 have the same configuration. Further, the spraying head 40 is disposed so as to project forward of the apparatus main body 10 and the fourth three-dimensional frame 34 in a top view of the apparatus main body 10. Therefore, the spraying head 40 can be brought close to the building body of the building B, and the spraying process can be suitably performed.

[0034] In the above configuration, as shown in FIG. 6, the second three-dimensional frame 32 is disposed so as to project forward of the first three-dimensional frame 31 and so as not to project outward in the left-right direction from the first three-dimensional frame 31. The third three-dimensional frame 33 and the fourth three-dimensional frame 34 have the same configuration. Therefore, by arranging the lifting unit 30 so as not to project outward in the left-right direction with respect to the apparatus main body 10, an increase in the size of the construction processing apparatus 1 can be suppressed.

[0035] In the above configuration, as shown in FIG. 5, the drive motor 35, the rail member 36, and the carriage 37 are respectively provided on the four intermediate frame portions 31b (32b). Therefore, the spraying head 40 can be stably lifted and lowered, and the lifting control can be suitably performed.

[0036] In the above configuration, as shown in FIG. 3, the lifting unit 30 is fixed to the upper surface of the apparatus main body 10, and further has an auxiliary drive motor 38 that assists the lifting of the three-dimensional frames 31 to 34 (the fourth three-dimensional frame 34). The auxiliary drive motor 38 is, for example, a winding type drive member using a wire or a belt, and is connected to the fourth three-dimensional frame 34. By further mounting the auxiliary drive motor 38, the lifting control can be made more stable. Note that the lifting unit 30 may have both the drive motor 35 and the auxiliary drive motor 38, or may have only the drive motor 35. Alternatively, the lifting unit 30 may have only the auxiliary drive motor 38.

[0037] In the above configuration, as shown in FIGS. 2, 3, and 6, the first three-dimensional frame 31 (fixed frame) is disposed so as to project to the rear side of the apparatus main body 10 and is connected to the reinforcing frame 11. The reinforcing frame 11 houses the air compressor 80, the battery 88, the control device 90, etc. so as to surround them. By connecting the first three-dimensional frame 31 and the reinforcing frame 11, the strength of the construction processing apparatus 1 can be improved. Further, vibrations generated during the driving of the construction processing apparatus 1 can be suppressed.

[0038] <<Spraying head>> As shown in FIGS. 7 to 9, the spraying head 40 is a hollow head member that is connected to the hose 130 of the injection device 100 and sprays the spraying material. The spraying head 40 is attached to the first rotating unit 50 via the head attachment member 45 and rotates around an axis along an orthogonal direction orthogonal to the vertical direction by the first rotating unit 50. Specifically, the head attachment member 45 extends laterally from the first rotating unit 50 toward the outside of the apparatus main body 10, and the spraying head 40 is attached to the extending end portion of the head attachment member 45.

[0039] Specifically, the spraying head 40 has a head body 41 that extends in a direction intersecting the longitudinal direction of the head attachment member 45, a hose connection portion 42 provided at one end portion of the head body 41 and connected to the first hose 130, a second hose connection portion 43 connected to the second hose 160, and a head injection port 44 provided at the other end portion of the head body 41 for injecting the spraying material. The head attachment member 45 extends longitudinally along the axis of the first rotating unit 50. Further, the spraying head 40 extends in a direction intersecting the extending direction of the head attachment member 45. That is, the spraying head 40 and the head attachment member 45 form a T-shape.

[0040] In the above configuration, as shown in FIG. 8, when the spraying head 40 and the first hose 130 are moved in one horizontal direction (for example, the forward direction) by the moving unit 60, they are arranged outside the apparatus main body 10 in a top view. That is, the spraying head 40 and the first hose 130 are arranged outside the frame of the apparatus main body 10. By doing so, the spraying head 40 and the first hose 130 can be suitably maneuvered during the spraying operation. Interference between the first hose 130 and the apparatus main body 10 can be suppressed.

[0041] <<First Rotating Unit, Moving Unit, Second Rotating Unit>> As shown in FIGS. 7 and 8, the first rotating unit 50 is a drive unit that rotates the spraying head 40 around an axis along a direction orthogonal to the vertical direction with respect to the apparatus main body 10. For example, it is a pulley-type drive unit using a screw motor. The first rotating unit 50 is attached to the moving unit 60 (movable part 62) and slides in one horizontal direction by the moving unit 60.

[0042] Specifically, the first rotating unit 50 includes a housing 51 fixed on the moving unit 60, a drive pulley 52, a driven pulley 53, and a belt 54 respectively assembled inside the housing 51, and a drive motor 55 assembled outside the housing 51 and connected to the drive pulley 52. The drive pulley 52 and the driven pulley 53 are connected by the belt 54, and the driven pulley 53 is arranged at a position above the drive pulley 52. The drive pulley 52 rotates as the drive motor 55 is driven, and the belt 54 transmits the rotational power of the drive pulley 52 to the driven pulley 53, causing the driven pulley 53 to rotate. The driven pulley 53 is connected to the head attachment member 45, and the head attachment member 45 and the spraying head 40 rotate as the driven pulley 53 rotates.

[0043] By driving the first rotation unit 50, the spraying head 40 can be swung around an axis along a direction orthogonal to the vertical direction. By doing so, the position and orientation of the spraying head 40 can be suitably controlled.

[0044] As shown in FIGS. 7 and 8, the moving unit 60 is a drive unit that moves the spraying head 40 and the first rotation unit 50 in one horizontal direction with respect to the apparatus main body 10, and is, for example, a rail type drive unit using a screw motor. The moving unit 60 is attached to the second rotation unit 70 (support bracket 71) and rotates around an axis along the vertical direction by the second rotation unit 70.

[0045] Specifically, the moving unit 60 includes a fixed rail 61 that is fixed on the second rotation unit 70 and extends in a long shape in one horizontal direction, a movable part 62 (movable slider) that is slidably supported along the fixed rail 61 and slides together with the spraying head 40 in the above-mentioned one direction, and a drive motor 63 that is mounted inside the fixed rail 61 and moves the movable part 62. On the outer surface in the width direction of the fixed rail 61, a movement restricting part 64 is formed to guide the movement of the movable part 62 and restrict the movement range of the movable part 62.

[0046] In the above configuration, the moving unit 60 is provided such that the moving direction of the movable part 62 and the axial direction of the first rotation unit 50 are in the same direction in the horizontal direction. By doing so, the moving unit 60 and the first rotation unit 50 can be operated with simple control during the spraying operation.

[0047] As shown in FIGS. 7 and 8, the second rotation unit 70 is a drive unit that rotates the spraying head 40, the first rotation unit 50, and the moving unit 60 around an axis along the vertical direction with respect to the apparatus main body 10. The second rotation unit 70 is attached onto the elevating unit 30 (the fourth three-dimensional frame 34).

[0048] Specifically, the second rotation unit 70 includes a support bracket 71 fixed onto the elevating unit 30, a fixed base 72 assembled to the support bracket 71, a rotating table 73 that rotates around an axis along the vertical direction with respect to the fixed base 72, and a drive motor 74 assembled to the fixed base 72 that rotates the rotating table 73. By rotating the rotating table 73 along with the driving of the drive motor 74, the spraying head 40, the first rotation unit 50, and the moving unit 60 rotate around an axis along the vertical direction.

[0049] The second rotation unit 70 drives the moving unit 60 to rotate 360 degrees around an axis along the vertical direction with respect to the apparatus main body 10. In this way, by rotating the moving unit 60 by at least 180 degrees by the second rotation unit 70, the spraying operation can be executed by operating the spraying head 40 without adopting a multi-joint robot arm. For example, the moving unit 60 and the spraying head 40 can be operated symmetrically left and right by the second rotation unit 70.

[0050] In the above configuration, as shown in FIG. 8, when the spraying head 40 and the first hose 130 (the second hose 160) are moved in one horizontal direction (for example, the forward direction) by the moving unit 60, they are arranged outside the apparatus main body 10 in a top view. When the head injection port 44 and the hose connection portion 42 of the spraying head 40 are reversed left and right by the first rotation unit 50 from the state shown in FIG. 8, the state shown in FIG. 9 is obtained. By doing so, the spraying head 40 can be operated so as not to contact the first hose 130 with the apparatus main body 10.

[0051] <<Air compressor, control device>> As shown in FIG. 2, the air compressor 80 is a device that adjusts the injection of the spraying material and is mounted inside the apparatus main body 10. In addition, the air compressor 80 may separately have an air outlet at a position close to the traveling unit 20 or the prism 85 in order to pneumatically remove foreign matters such as the spraying material attached to the surface of the traveling unit 20 (wheel 21) or the prism 85.

[0052] As shown in FIG. 2, the prism 85 is a reflection prism to be detected by the surveying device 200, and is attached to the four corners of the outer surface of the apparatus main body 10 and arranged at different height positions. Therefore, it becomes easier for the surveying device 200 to detect at least two of the four prisms 85 in the building. And by the surveying device 200 detecting two prisms 85, the operator terminal 300 can estimate the current position of the construction processing device 1.

[0053] As shown in FIG. 2, the control device 90 is a computer having a CPU (processor) as a data calculation / control process, a ROM, a RAM, and an HDD (SSD) as storage devices, and a communication interface for transmitting and receiving data by communication, and is mounted inside the apparatus main body 10. Note that the control device 90 is stored in a three-dimensional control module.

[0054] The control device 90 controls the operations of these drive units by transmitting the control signal generated by the CPU to the traveling unit 20, the elevating unit 30, the first rotating unit 50, the moving unit 60, the second rotating unit 70, and the air compressor 80 via the communication interface. In other words, in the ROM, RAM, and HDD of the control device 90, as shown in FIG. 10, in addition to the main program that performs functions necessary as a computer, a construction process program is stored, and when these programs are executed by the CPU, the functions of the construction processing device 1 are exhibited.

[0055] <Function of Spraying System> As shown in FIG. 10, the construction processing device 1 (control device 90), in terms of functions, in addition to "design data" and "travel route data", has a storage unit 91 that reads various programs and data from the operator terminal 300 and temporarily stores them, a communication unit 92 that transmits and receives various data between the surveying device 200 and the operator terminal 300, a position information acquisition unit 93 that acquires information on the current position within the building, and a spraying control unit 94 that causes the vehicle to travel along a predetermined travel route within the building and executes the spraying process, and is mainly composed of these components. These are composed of a CPU, ROM, RAM, HDD, a communication interface, and various programs, etc. In other words, the control device 90 executes the functions of the storage unit 91, the communication unit 92, the position information acquisition unit 93, and the spraying control unit 94.

[0056] The "design data" stored in the storage unit 91 is design information on the three-dimensional shape of the building, specifically, BIM (Building Information Modeling) data of the building. The "design data" is data including information on the design drawing of the three-dimensional shape, and is created for each room of the building and for each construction stage. The information regarding the design drawing shows the drawing at a predetermined construction stage in a predetermined room of the building, and the design drawing also includes the spraying position information of the spraying material. For example, the information of the building, the information of the rooms in the building, and the information of the construction stages of the rooms are associated with each other. In this embodiment, design data showing the three-dimensional shape of the building is assumed, but two-dimensional shape design data may also be used.

[0057] The "travel route data" is data indicating the travel route for performing spraying work inside a building. The "travel route data" is created, for example, for each room of the building and for each construction stage.

[0058] The surveying device 200 includes a storage unit 210 that stores various programs and data, a communication unit 211 that transmits and receives various data between the construction processing device 1 and the operator terminal 300, and a surveying execution unit 212 that performs surveying while being installed at the surveying position, as constituent elements. The operator terminal 300 mainly includes a storage unit 310 that holds and stores various programs and information data, a communication unit 311 that transmits and receives various data between the construction processing device 1 and the surveying device 200, and a position estimation unit 312 that estimates the current position information of the construction processing device 1 within the building. The storage unit 310 stores the "design data" and the "travel route data". These are constituted by a CPU, a ROM, a RAM, an HDD, a communication interface, various programs, etc.

[0059] <<Estimation of the Current Position of the Spraying Device>> The construction processing system S estimates the current position of the construction processing device 1 as follows. First, the surveying execution unit 212 of the surveying device 200 detects the prism 85 mounted on the construction processing device 1 at the surveying position shown in FIG. 1, and measures the relative position information of the construction processing device 1 based on the detection result. Then, the communication unit 211 performs data communication with the operator terminal 300 and transmits the relative position information of the construction processing device 1.

[0060] The communication unit 311 of the operator terminal 300 receives the relative position information of the construction processing device 1 from the surveying device 200. Then, the position estimation unit 312 estimates the current position of the construction processing device 1 within the building based on the design information of the rooms of the building included in the "design data" and the relative position information of the construction processing device 1 measured by the surveying device 200. Then, the communication unit 311 transmits the position information of the construction processing device 1 to the construction processing device 1. The "position information" is two-dimensional position information, which is specified by the position coordinates (X, Y) when the center position of a predetermined pillar B1 is set as the origin position (X0, Y0), for example. Note that the "position information" may be three-dimensional position information specified by the position coordinates (X, Y, Z).

[0061] The communication unit 92 of the construction processing device 1 receives the position information of the construction processing device 1 from the operator terminal 300. Then, the position information acquisition unit 93 acquires the information on the current position of the construction processing device 1.

[0062] <<Execution of Spraying Work>> The construction processing system S executes the spraying work as follows. The spraying control unit 94 of the construction processing device 1 specifies the spraying position based on the "design data (design information)". Then, based on the information on the current position of the construction processing device 1 and the information on the specified spraying position, the traveling route of the construction processing device 1 is determined, and "traveling route data" is acquired. Then, the spraying control unit 94 determines the "spraying start position" and the "spraying start direction" of the construction processing device 1 based on the "traveling route data", and moves the construction processing device 1 to the determined "spraying start position".

[0063] When the construction processing device 1 reaches the "spraying start position", the spraying control unit 94 controls the position and angle of the spraying head 40 based on the position information of the construction processing device 1 and the design information, and controls the spraying of the spraying material by the spraying device 100. Specifically, the head movement control unit 94a drives the traveling unit 20, the lifting unit 30, the second rotation unit 70, the moving unit 60, and the first rotation unit 50 to control the position and angle of the spraying head 40. Then, the spraying control unit 94b drives the air compressor 80 to control the spraying amount of the spraying material.

[0064] In this embodiment, the operator terminal 300 estimates the position information of the construction processing device 1 and transmits the position information data toward the construction processing device 1. However, instead of the operator terminal 300, the construction processing device 1 may estimate its own position information. That is, the construction processing device 1 may include a "position estimation unit" as a component as an autonomous mobile robot and execute a construction processing program by itself. In that case, it is preferable that the construction processing device 1 directly performs data communication with the surveying device 200 to obtain relative position information. In that case, the operator terminal 300 may issue a movement command other than the autonomous movement of the construction processing device 1 (such as movement during loading and unloading) to the construction processing device 1. Also, it is preferable to issue an instruction for the position of the prism 85 recognized by the surveying device 200 to the surveying device 200.

[0065] Also, in this embodiment, the construction processing device 1 (control device 90) controls the spraying operation. However, instead of the construction processing device 1, the operator terminal 300 may control the spraying operation of the construction processing device 1. In that case, it is preferable that the operator terminal 300 performs data communication with the construction processing device 1 in real time and remotely controls the operation of the construction processing device 1.

[0066] <<Spraying Pattern of the Spraying Device>> Next, as an example of the spraying pattern by the construction processing device 1, a pattern of spraying a spraying material onto a column and a beam will be described with reference to FIGS. 11A to 11D. FIG. 11A is a diagram showing a state of spraying a spraying material onto the column B1 and the column-beam joint B2. The spraying control unit 94 sprays the spraying material by operating the spraying head 40 in the vertical and horizontal directions with the spraying head 40 facing the side surfaces of the column B1 and the column-beam joint B2. Specifically, the spraying control unit 94 controls the lifting unit 30 to raise and lower the spraying head 40, or controls the first rotation unit 50 to swing the spraying head 40 up and down. Further, the spraying control unit 94 controls the moving unit 60 to slide the spraying head 40 in the left - right direction. Note that the second rotation unit 70 may be controlled to swing the spraying head 40 left and right.

[0067] FIG. 11B is a diagram showing a state of spraying a spraying material on one end of the beam B3. The spraying control unit 94 sprays the spraying material by operating the spraying head 40 in the vertical and horizontal directions with the spraying head 40 facing the side surface of the beam B3. Specifically, the spraying control unit 94 first controls the second rotation unit 70 to rotate the moving unit 60 etc. by 90 degrees and extend the moving unit 60 in the direction along the beam B3 (the left - right direction of the construction processing device 1). Then, the spraying control unit 94 controls the first rotation unit 50 to swing the spraying head 40 up and down. Also, the moving unit 60 is controlled to slide the spraying head 40 in the left - right direction, or the traveling unit 20 is controlled to move the spraying head 40 in the left - right direction.

[0068] FIG. 11C is a diagram showing a state of reversing the spraying head 40 and the hose 130 left and right. After spraying the spraying material from one end to the middle part of the beam B3, the spraying control unit 94 controls the second rotation unit 70 to rotate the moving unit 60 etc. by 90 degrees and extend the moving unit 60 in a direction orthogonal to the beam B3 (the front - rear direction of the construction processing device 1). Then, the moving unit 60 is controlled to move the spraying head 40 forward. At this time, the spraying head 40 and the first hose 130 are arranged outside the apparatus main body 10 in a top view. Then, the spraying control unit 94 controls the first rotation unit 50 to reverse the spraying head 40 (the head injection port 44) and the first hose 130 left and right. Note that when the spraying head 40 is disposed at a position overlapping the apparatus main body 10 in a top view, the spraying control unit 94 controls so as not to reverse the spraying head 40 left and right.

[0069] FIG. 11D is a view showing a state in which the spraying material is sprayed on the middle part of the beam B3 by reversing the spraying head 40 left and right. The spraying control unit 94 sprays the spraying material by operating the spraying head 40 in the vertical direction and the left and right directions with the spraying head 40 facing the side surface of the beam B3. Specifically, the spraying control unit 94 controls the second rotation unit 70 to rotate the moving units 60 by 90 degrees, and extends the moving unit 60 in the direction along the beam B3. Then, the spraying control unit 94 controls the first rotation unit 50 to swing the spraying head 40 up and down. Also, the moving unit 60 is controlled to slide the spraying head 40 in the left and right directions.

[0070] By performing the spraying control as described above, it is possible to spray the spraying material on the column B1, the beam B3, and the column B1 on the back side with a simple operation without tangling the hoses 130 and 160 and without bringing the hoses 130 and 160 into contact with the apparatus main body 10 as much as possible. Specifically, the spraying head 40 and the hoses 130 and 160 can be reversed left and right without contacting the apparatus main body 10. That is, it is possible to realize the construction processing apparatus 1 (construction processing system S) with higher spraying work efficiency than before.

[0071] <Other Embodiments> In the above embodiment, as shown in FIG. 1, there is a case where the construction processing apparatus 1 automatically travels (autonomously travels), but it may not be particularly limited. For example, an operator may remotely operate the construction processing apparatus 1 to operate each drive unit of the construction processing apparatus 1 and spray the spraying material at a predetermined spraying position.

[0072] In the above-described embodiment, as shown in FIG. 1, the construction processing apparatus 1 performed a spraying operation, but it may be applied to construction processing other than the spraying operation. That is, the construction processing apparatus 1 may be configured to perform "construction processing" on the building structure and include a lifting unit 30 that raises and lowers the construction processing unit. Examples of the "construction processing" include, for example, marking work on a wall or ceiling, wall panel attachment work, welding work of various construction members, and the like.

[0073] In the above-described embodiment, as shown in FIG. 3, the lifting unit 30 has a plurality of three-dimensional frames 31 to 34 composed of frames (frameworks), but it is not particularly limited, and it may alternatively have a plurality of three-dimensional members composed of surfaces (plane bodies).

[0074] In the above-described embodiment, as shown in FIG. 6, the three-dimensional frames 32 to 34 are arranged so as to project forward of the apparatus main body 10 (the first three-dimensional frame 31), but it is not particularly limited. The three-dimensional frames 32 to 34 may project rearward of the apparatus main body 10 or may project to one side in the left-right direction. When the three-dimensional frames 32 to 34 are arranged so as to project to one side in the left-right direction more than the first three-dimensional frame 31, it is preferable that they do not project outside in the front-rear direction more than the first three-dimensional frame 31.

[0075] In the above-described embodiment, a construction processing program is stored in a recording medium readable by the operator terminal 300 (construction processing apparatus 1), and the processing is executed by the operator terminal 300 (construction processing apparatus 1) reading and executing the program. Here, the recording medium readable by the operator terminal 300 refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, and the like. In addition, dedicated software may be started using the operator terminal 300, and the construction processing program may be executed on a web browser.

[0076] In the above-described embodiment, the spraying device and the spraying system according to the present invention have been mainly described. However, the above embodiment is merely an example for facilitating the understanding of the present invention and does not limit the present invention. The present invention can be changed and improved without departing from its gist, and it goes without saying that equivalents thereof are included in the present invention.

Explanation of Reference Numerals

[0077] S Construction Processing System (Spraying System) 1 Construction Processing Device (Spraying Device) 10 Device Main Body 11 Reinforcing Frame 20 Traveling Unit 21 Wheels 22 Wheel Axle 23 Drive Motor 30 Lifting Unit 31 First Three-Dimensional Frame (First Three-Dimensional Member) 31a, 32a Lower Frame Parts 31b, 32b Intermediate Frame Parts 31c, 31c Upper Frame Parts 32 Second Three-Dimensional Frame (Second Three-Dimensional Member) 33 Third Three-Dimensional Frame (Third Three-Dimensional Member) 34 Fourth Three-Dimensional Frame (Fourth Three-Dimensional Member) 35 Drive Motor (Drive Member) 36 Rail Member 37 Carriage 37a Movable Part 37b Clamping Part 38 Auxiliary Drive Motor (Auxiliary Drive Member) 40 Spraying Head (Construction Processing Part) 41 Head Main Body 42 Hose Connection Part 43 Second Hose Connection Part 44 Head Injection Port 45 Head Mounting Member 50 First Rotating Unit (Rotating Unit) 51 Housing 52 Drive Pulley 53 Driven pulley 54 Belt 55 Driving motor 60 Moving unit 61 Fixed rail 62 Movable part 63 Driving motor 64 Movement restricting part 70 Second rotating unit 71 Support bracket 72 Fixed base 73 Rotating table 74 Driving motor 80 Air compressor 85 Prism (object to be detected) 88 Battery 90 Control device 91 Storage part 92 Communication part 93 Position information acquisition part 94 Spraying control part 94a Head movement control part 94b Injection control part 100 Spraying device 110 Blending machine 120 Blower 130 First hose (hose) 140 Mixer 150 Pump 160 Second hose 200 Surveying device (total station) 201 Device body 202 Control controller 210 Storage part 211 Communication part 212 Surveying execution part 300 Operator terminal 310 Storage part 311 Communication part 312 Position estimation part B Building B1 Column B2 Column-beam joint B3 Beam

Claims

1. A construction processing device for performing construction processing on the building structure, An apparatus main body that serves as the main body of the construction processing device, A construction processing unit for performing construction processing on the structure, And a lifting unit for lifting and lowering the construction processing unit with respect to the apparatus main body. The lifting unit A three-dimensional first three-dimensional member fixed to the apparatus main body and extending upward from the apparatus main body, A three-dimensional second three-dimensional member that is movably attached to the first three-dimensional member in the vertical direction and protrudes upward from the first three-dimensional member, And a driving member for moving the second three-dimensional member together with the construction processing unit up and down with respect to the first three-dimensional member. The second three-dimensional member is arranged so as to protrude to one side of the first three-dimensional member in a state of overlapping a part of the first three-dimensional member in a top view of the apparatus main body, and not to protrude to the other side of the first three-dimensional member. The construction processing device is characterized by this.

2. The construction processing device is a spraying device for spraying a spraying material onto the structure, The construction processing unit is a spraying head connected to a hose for sending the spraying material and for spraying the spraying material, The second three-dimensional member is slidably attached to the first three-dimensional member in the vertical direction together with the spraying head, The spraying head is arranged so as to protrude to the one side of the apparatus main body and the second three-dimensional member in a top view of the apparatus main body. The construction processing device according to claim 1 is characterized by this.

3. The first three-dimensional member is a first three-dimensional frame composed of a frame, The second three-dimensional member is a second three-dimensional frame composed of a frame, The first three-dimensional frame has a rail member provided on an outer surface of the first three-dimensional frame and extending in the vertical direction. The second three-dimensional frame is provided on the inner surface of the second three-dimensional frame and has a carriage that is slidably supported with respect to the rail member, and moves in the vertical direction with respect to the first three-dimensional frame as the carriage moves. The construction processing apparatus according to claim 1 or 2, characterized in that.

4. The first three-dimensional frame and the second three-dimensional frame have a cubic shape or a rectangular shape, The rail member is provided on the outer surfaces of a plurality of upper and lower frame portions that constitute the sides of the first three-dimensional frame and extend in the vertical direction, respectively, The carriage is provided on the inner surfaces of a plurality of intermediate frame portions that constitute the sides of the second three-dimensional frame and extend in the vertical direction, respectively, and is supported by the rail member. The construction processing apparatus according to claim 3, characterized in that.

5. The lifting unit is movably attached to the second three-dimensional member in the vertical direction, and further has a three-dimensional third three-dimensional member that protrudes upward from the second three-dimensional member, The construction processing apparatus according to claim 1 or 2, characterized in that the first three-dimensional member, the second three-dimensional member, and the third three-dimensional member have a common configuration.

6. The first three-dimensional member is a first three-dimensional frame having a cubic shape or a rectangular shape, The second three-dimensional member is a second three-dimensional frame having a cubic shape or a rectangular shape, The second three-dimensional frame is It is arranged so as to protrude to the one side in the front-rear direction with respect to the first three-dimensional frame and is arranged so as not to protrude to the outside in the left-right direction with respect to the first three-dimensional frame, or The construction processing apparatus according to claim 1 or 2, characterized in that it is arranged so as to protrude to the one side in the left-right direction with respect to the first three-dimensional frame and is arranged so as not to protrude to the outside in the front-rear direction with respect to the first three-dimensional frame.

7. A construction processing system comprising the construction processing device according to claim 1 and a surveying device installed at a predetermined position within a construction site, The construction processing device is provided on the device main body and includes a detection object detected by the surveying device, The surveying device detects the detection object mounted on the construction processing device and measures the position information of the construction processing device based on the detection result, The construction processing system, Stores the three-dimensional design information of the building, Estimates the current position of the construction processing device within the construction site based on the three-dimensional design information of the building and the position information of the construction processing device, A construction processing system characterized by controlling the position and angle of the construction processing unit and controlling the construction processing based on the current position of the construction processing device and the three-dimensional design information.

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