Wall treatment system

Abstract

To provide a wall surface treatment system capable of executing a wall surface treatment by bringing a tool closer to a wall surface perpendicularly.SOLUTION: A wall surface treatment system comprises a wall surface treatment device 21 and a control unit housed in a case section that moves along a wall surface. The wall surface treatment device 21 comprises a gripping section 35 that grips a drilling tool 70 for treatment against the wall surface, a parallel link mechanism 34 and a base plate 31 that supports the parallel link mechanism 34. The parallel link mechanism 34 moves the gripping section 35 straight ahead against the wall surface in a wall surface treatment posture of the gripping section 35 with the drilling tool 70 facing the wall surface. The case section comprises a first propeller mechanism that generates propulsive force to push the case section against the wall surface. This first propeller mechanism receives a reaction force of a forward force of the gripping section 35 and brings the gripping section 35 closer to the wall surface.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a wall treatment system that executes processing on a wall surface using tools.

Background Art

[0002] Due to the aging deterioration of the outer wall of a building, part of the wall or the tiles provided on the wall may peel off. Therefore, repair work on the outer wall is being carried out. As repair work on the outer wall, generally, holes are provided in the part where the mortar or concrete of the wall surface part of the outer wall is floating, an epoxy resin-based adhesive is injected, or pins are inserted into the holes to suppress the floating part. However, when the repair location on the wall surface is at a high position, it is difficult for people to approach, and it has been difficult to carry out the repair work quickly.

[0003] Also, as a lightweight robot having a wide operating range, a robot using a parallel link mechanism is known (see, for example, Patent Document 1). In this document, the parallel link mechanism is used for a link operating device provided at the lower part of a rotating shaft protruding downward from the upper end part of a support body via a first arm and a second arm.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In order to perform the above-described repair work, it is also conceivable to use the robot of the above-described parallel link mechanism. Usually, in order to freely move to the repair location on the wall surface, the wall surface treatment device is often suspended. In this case, when attempting to move forward a tool for performing wall surface treatment such as hole opening, pin insertion, adhesive injection, etc., the wall surface treatment device may move backward due to the reaction force. Therefore, it has been difficult to efficiently perform the wall surface treatment device using the tool.

Means for Solving the Problem

[0006] The wall surface treatment system for solving the above problems includes an operation unit that operates a tool for performing wall surface treatment, and a case unit that houses the operation unit therein and is movable along the wall surface. The operation unit includes a gripping part that grips the tool, a parallel link mechanism that advances the gripping part toward the wall surface, and a base plate that supports the parallel link mechanism. The case unit includes a receiving part that receives the reaction force of the advancing force of the gripping part and brings the gripping part close to the wall surface. The parallel link mechanism is attached laterally to the case unit so that the tool can move straight toward the wall surface.

Effect of the Invention

[0007] According to the present invention, wall surface treatment can be executed by approaching the tool in a direction perpendicular to the wall surface.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Figure 18

Mode for Carrying Out the Invention

[0009] Hereinafter, an embodiment in which the wall surface treatment system is embodied will be described with reference to FIGS. 1 to 16. In the present embodiment, it will be described as a device that executes a repair process (wall surface treatment) for repairing the lifting of tiles provided on a wall surface that is a vertical surface. In this repair process, in the present embodiment, three processes are executed: a drilling process of making a hole in the wall surface, a driving process of driving an anchor into the hole formed in the wall surface, and an injection process of injecting an adhesive into the hole and the anchor on the wall surface. For this reason, as tools, a drilling tool 70, a driving tool 80, and an injection tool 85 are used. The drilling process and the driving process correspond to the first wall surface treatment, and the driving process and the injection process correspond to the second wall surface treatment. Further, the drilling tool 70 and the driving tool 80 correspond to the first tool, and the driving tool 80 and the injection tool 85 correspond to the second tool.

[0010] As shown in FIG. 1, the wall surface treatment system 10 in the present embodiment includes hanger units 11, 12, ground units 13, 14, a case portion C60, a wall surface treatment device 21, and a control unit 25.

[0011] The hanger units 11, 12 are fixed to both ends of the range of the wall surface treatment on the rooftop above the wall surface Wa1. The hanger units 11, 12 project their tips from the rooftop toward the wall surface Wa1 side and extend the first wires W11, W12 along the wall surface Wa1. The first wires W11, W12 are fixed to the suspension portion C62 on the upper surface of the case portion C60. The hanger units 11, 12 include winches and, in response to an instruction from the control unit 25, wind in or wind out the first wires W11, W12 to change the length of the first wires W11, W12 from the hanger units 11, 12 to the suspension portion C62, thereby moving the case portion C60 to an arbitrary position (location) on the wall surface Wa1. The ground units 13, 14 are arranged on the ground and wind in or wind out the second wires W21, W22 fixed to the engagement portion C63 on the lower surface of the case portion C60 to suppress the swaying and tilting of the case portion C60 during movement.

[0012] The case part C60 houses the wall surface treatment device 21 and moves along the wall surface Wa1. Details of this case part C60 will be described in detail. The wall surface treatment device 21 performs repair treatment as the wall surface treatment. The control unit 25 controls the winches of the hanging units 11, 12, the wall surface treatment device 21, etc. Details of this control unit 25 will be described later.

[0013] (Structure of the wall surface treatment device 21) Figs. 2 to 5 are a perspective view, a top view, a side view, and a rear view of this wall surface treatment device 21. The wall surface treatment device 21 of the present embodiment includes an operation unit 30, a tool storage part 50, and a frame part 60. The tool storage part 50 is arranged closer to the rear of the frame part 60 (the side opposite to the front which is the wall surface Wa1 side).

[0014] As shown in Fig. 2, the frame part 60 includes a plate-shaped base part 61 that constitutes the bottom surface, rod-shaped vertical frames 62, and horizontal frames 63, 64. Four vertical frames 62 are erected on the base part 61. The upper ends of the vertical frames 62 are connected by the horizontal frames 63, 64. Also, an anchor storage part (not shown) is provided on the base part 61. This anchor storage part stores a plurality of anchors and enables them to be taken out in a state where the anchors are erected one by one.

[0015] As shown in Fig. 2, mounting plates 65, 66 are respectively fixed to the centers of the two vertical frames 62 arranged in the short side direction of the frame part 60. Bearings are provided on the mounting plates 65, 66 to rotatably support the rotation shaft 32b of the operation unit 30. A first motor 67 that can rotate forward and backward is fixed to the mounting plate 66. A first gear 68 shown in Figs. 3 and 5 is fixed to the output shaft of the first motor 67.

[0016] <Structure of the operation unit 30> As shown in FIG. 6, the operation unit 30 includes a base plate 31, a mounting portion 32, a second gear 33, a parallel link mechanism 34, and a gripping portion 35. The posture changing unit that changes the posture of the operation unit 30 is composed of a first motor 67, a first gear 68, a second gear 33, and a mounting portion 32.

[0017] As shown in FIGS. 2 and 5, the base plate 31 has a ring shape. As shown in FIGS. 3 and 5, two mounting portions 32 that respectively project from the center in the left-right direction (the longitudinal direction of the base portion 61) are attached to the base plate 31. Each mounting portion 32 includes a protruding portion 32a that protrudes forward (toward the wall surface Wa1 side), and a rotating shaft 32b that is fixed to the protruding portion 32a.

[0018] The rotating shaft 32b is a horizontal shaft parallel to the wall surface Wa1 (the longitudinal direction of the base portion 61). A second gear 33 is fixed to the end of the rotating shaft 32b on the mounting plate 66 side. This second gear 33 meshes with the first gear 68 on the output shaft of the first motor 67. Thereby, due to the rotation of the output shaft of the first motor 67, the base plate 31 rotates about the rotating shaft 32b via the first gear 68, the second gear 33, and the mounting portion 32.

[0019] As shown in FIG. 5, a parallel link mechanism 34 is attached to the base plate 31. The parallel link mechanism 34 includes three link mechanisms 34a, 34b, and 34c. The link mechanisms 34a, 34b, and 34c are fixed to the outer periphery of the base plate 31 at equal intervals (every 120 degrees in central angle), and are fixed to the outer periphery of the movable plate 36 of the gripping portion 35 at equal intervals (every 120 degrees in central angle). Each of the link mechanisms 34a to 34c has the same structure and the same size.

[0020] As the second motor 42 as a drive motor used for the three link mechanisms 34a to 34c, a motor having different output characteristics according to the position in the wall surface treatment posture is used. Thereby, in the wall surface treatment posture where the operation unit 30 faces the wall surface, the output torque is substantially the same regardless of the arrangement.

[0021] Specifically, the link mechanism 34a is located above the center C2 of the movable plate 36 in the wall surface treatment posture where the movable plate 36 is in a vertical state, and the link mechanisms 34b and 34c are located below the center C2 of the movable plate 36. Then, a larger load is applied to the second motor 42 that drives the link mechanism 34a located above than to the second motors 42 that drive the other link mechanisms 34b and 34c. For this reason, a motor capable of outputting a larger torque than the second motors 42 of the link mechanisms 34b and 34c is used as the second motor 42 of the link mechanism 34a. Also, the second motors 42 of the link mechanisms 34b and 34c use motors that output the same torque.

[0022] (Structure of the link mechanism 34a) Next, the structure of the link mechanism 34a will be described in detail. Since the other link mechanisms 34b and 34c have the same structure as the link mechanism 34a, their detailed description will be omitted.

[0023] As shown in FIG. 7, the link mechanism 34a includes a fixed-side mounting portion 41, a second motor 42, a pulley 43, a belt B1, a connecting shaft 44, an arm portion 45, a fixed-side connecting member 46, a link member 47, a movable-side connecting member 48, and a movable-side mounting portion 49.

[0024] The fixed-side mounting portion 41 has two mounting plates 41a and 41b and a plurality of connecting members 41c. The connecting members 41c connect the mounting plates 41a and 41b with a space therebetween. As shown in FIG. 4, the mounting plate 41b is longer than the mounting plate 41a, and the mounting plates 41a and 41b are obliquely mounted on the base plate 31. The second motor 42 is fixed to this mounting plate 41b.

[0025] As shown in FIG. 7, between the mounting plates 41a and 41b, pulleys 43 and 44a and the belt B1 are arranged. A pulley 43 is fixed to the tip of the second motor 42. This pulley 43 transmits a rotational force to the pulley 44a fixed to the tip of the connecting shaft 44 via the belt B1.

[0026] At the end 44b of the pulley 44a on the opposite side of the connecting shaft 44, one ends of the mounting plates 45a and 45b of the arm portion 45 are fixed. At the other ends of the mounting plates 45a and 45b, the fixed-side connecting member 46 is fixed. And one ends of two pairs (four pieces) of link members 47 are rotatably attached to the fixed-side connecting member 46. The link members 47 are arranged in pairs so as to sandwich the fixed-side connecting member 46.

[0027] As shown in FIG. 8, the other ends of the link members 47 are rotatably attached to one ends of the movable-side connecting member 48. The movable-side connecting member 48 is sandwiched by the paired link members 47 in the same manner as the fixed-side connecting member 46.

[0028] As shown in FIG. 7, a movable-side attachment portion 49 is fixed to the other end of the movable-side connecting member 48. The movable-side attachment portion 49 includes attachment plates 49a and 49b having different lengths. The attachment plates 49a and 49b are obliquely attached to the movable plate 36 of the gripping portion 35 with a space therebetween.

[0029] (Structure of the gripping portion 35) As shown in FIG. 8, the gripping portion 35 includes a movable plate 36, two electric cylinders 37, and two tool holding portions 38.

[0030] As shown in FIGS. 5 and 6, the movable plate 36 to which the link mechanisms 34a, 34b, and 34c are fixed is a flat plate having a notch 36a in the central C2 region. The notch 36a is provided in an arrangement where the lower side is open in the wall surface treatment posture. Further, two notches 36b extending in the left-right direction are provided in the notch 36a.

[0031] As shown in FIG. 8, electric cylinders 37 are fixed to the left and right of the notch 36a on the surface of the movable plate 36 on the base plate 31 side. The rod 37a of this electric cylinder 37 is fixed to the tool holding portion 38. Thus, when the electric cylinder 37 is driven and the rod 37a expands and contracts, both tool holding portions 38 approach or separate from each other.

[0032] The tool holding part 38 includes a rectangular upper surface part 38a, a lower surface part 38b, two side surface parts 38c, and a mounting part 38d. The upper surface part 38a and the lower surface part 38b each have a substantially semi-circular shape that can be externally fitted to the first engaging part T1 and the second engaging part T2 of the tools (70, 80, 85) to be held. Each side surface part 38c passes through the notch 36b of the movable plate 36 and is fixed to the ends of the upper surface part 38a and the lower surface part 38b. The mounting part 38d is fixed to the two side surface parts 38c on the side of the electric cylinder 37. The rod 37a of the electric cylinder 37 is fixed to this mounting part 38d.

[0033] As described above, each of the link mechanisms 34a to 34c is obliquely attached to the base plate 31 via the fixed-side attachment part 41 and obliquely attached to the movable plate 36 via the movable-side attachment part 49. Further, the link mechanisms 34a to 34c are fixed to the base plate 31 and the movable plate 36 at equal intervals. Thus, when the second motors 42 of the link mechanisms 34a to 34c rotate by the same amount of rotation, the link member 47 rotates with respect to the connecting members (46, 48), and the movable plate 36 moves straight forward and backward.

[0034] <Structure of the tool storage part 50> As shown in FIG. 9, the tool storage part 50 includes a pedestal part 51 fixed on the base part 61 of the frame part 60, a third motor 52, and a tool support part 55.

[0035] The pedestal part 51 includes two blocks 51a, a disk-shaped motor fixing part 51b, and a placing member 51c. The motor fixing part 51b is fixed on the block 51a via a lower leg part. At the center of the motor fixing part 51b, a third motor 52 with an output shaft facing upward is fixed.

[0036] On the motor fixing portion 51b, a mounting member 51c is fixed via an upper leg portion. On the mounting member 51c, a tool support portion 55 is rotatably mounted. The tool support portion 55 includes four locking portions 55a arranged at equal intervals on the outer periphery with respect to the central portion having a disc shape. At the center of the central portion, a rotating shaft (shaft) protrudes downward. This rotating shaft is fixed to the output shaft of the third motor 52 via a coupling, and the tool support portion 55 rotates by the drive of the third motor 52.

[0037] Each locking portion 55a is a plate member having a notch including a central region at one outer end. This locking portion 55a has a width that can be inserted into the notch 36a of the movable plate 36 of the gripping portion 35. The notch portion of the locking portion 55a has a stepped shape with a wider outer notch width. Around the outer portion with a wide notch width, tools (70, 80, 85) are hooked and the tools (70, 80, 85) are supported. Also, an electromagnet 57 is fixed to the inner portion with a small notch width. The electromagnet 57 fixes the tools (70, 80, 85) supported by the locking portion 55a when energized.

[0038] (Structure of each tool) FIG. 10, FIG. 11(a) and FIG. 12(a) show side views of a drilling tool 70, a driving tool 80, and an injection tool 85, respectively. Each of these tools (70, 80, 85) has a housing portion T0 having the same shape. The housing portion T0 has a shape that fits into the tool holding portion 38 of the gripping portion 35 of the operation unit 30. Specifically, the housing portion T0 includes a cylindrical first engaging portion T1, a ring-shaped second engaging portion T2, and a rectangular prism-shaped housing portion T3. The first engaging portion T1 and the second engaging portion T2 are fixed to the upper and lower surfaces of the housing portion T3.

[0039] The first engaging portion T1 and the second engaging portion T2 are respectively sandwiched and held by the upper surface portion 38a and the lower surface portion 38b of two opposing tool holding portions 38. Since the second engaging portion T2 is larger than the width of the notch of the locking portion 55a of the tool support portion 55, the outer end portion of the second engaging portion T2 is locked around the notch of the locking portion 55a, whereby the tool support portion 55 supports each tool (70, 80, 85). Note that the second engaging portion T2 has a thickness slightly larger than the lower surface portion 38b of the tool holding portion 38. The inside of the housing portion T3 communicates with the inside of the first engaging portion T1 and the second engaging portion T2. A solenoid, a motor, etc. are housed in the housing portion T3.

[0040] <Structure of the hole drilling tool 70> As shown in FIG. 10, the hole drilling tool 70 includes a housing portion T0, a fourth motor 71, a rotary joint 72, a core drill 74, a cable 76, a water supply hose 77, and a drain hose 78.

[0041] The fourth motor 71 is housed in the housing portion T3 of the housing portion T0. Power and signals are supplied to the fourth motor 71 via the cable 76. The tip of the output shaft of the fourth motor 71 has the core drill 74 fixed thereto via the rotary joint 72. The core drill 74 is a stepped core drill provided with steps at positions corresponding to the shape of the stepped hole to be formed. This core drill 74 forms a stepped hole in the wall surface Wa1. Further, the central axis of the core drill 74 is arranged to coincide with the center of the housing portion T0.

[0042] The water supply hose 77 and the drain hose 78 are connected to the rotary joint 72 on the tip end portion 72a side. Then, in the rotary joint 72, while transmitting the rotation of the output shaft of the fourth motor 71 to the core drill 74, the output shaft and the core drill 74 are cooled with water. Further, the cable 76, the water supply hose 77, and the drain hose 78 passing through the first engaging portion T1 of the housing portion T0 are connected to the control unit 25, the cooling device, etc. from the opening above the first engaging portion T1.

[0043] <Structure of the driving tool 80> As shown in FIG. 11(a), the driving tool 80 includes a housing portion T0, a solenoid 81, a stepped rod 82, a spring 83, and a cable 84.

[0044] Inside the housing portion T3 of the housing part T0, a pull-type solenoid 81 into which the plunger is drawn during energization is accommodated. A stepped rod 82 formed of a magnetic material is fixed to the tip of the plunger of the solenoid 81. The central axis of the stepped rod 82 is arranged to coincide with the center of the housing part T0. A ring-shaped locking portion 82a is provided in the middle of the stepped rod 82. A spring 83 is arranged between the locking portion 82a and the plunger of the solenoid 81.

[0045] FIG. 11(b) is an enlarged view of the tip of the stepped rod 82. As shown in this figure, a stepped portion for engaging an anchor A1 driven into a hole formed in the wall surface is provided near the tip of the stepped rod 82. A sponge 82b is fixed to this stepped portion. When the solenoid 81 is energized, one end of the anchor A1 penetrated by the tip of the stepped rod 82 is attracted and held.

[0046] <Structure of the injection tool 85> As shown in FIG. 12(a), the injection tool 85 includes an injection pipe 86. This injection pipe 86 is fixed through the inside of the housing portion T3 of the housing part T0 and the inside of the second engaging portion T2. Further, the injection pipe 86 is arranged such that its central axis coincides with the center of the housing part T0 and has a diameter that can be inserted into the hole where the anchor A1 is arranged. Furthermore, the injection pipe 86 is connected to a supply hose 87 inside the first engaging portion T1. In this embodiment, as the adhesive, a two-component (liquid A and liquid B) mainly composed of an epoxy resin is mixed and used.

[0047] FIG. 12(b) shows a liquid supply unit 88 to which a supply hose 87 is connected. The liquid supply unit 88 is disposed on the base unit 61. The liquid supply unit 88 includes a discharge unit 88m, a first liquid supply chamber 88a and a second liquid supply chamber 88b partitioned inside. The two-component liquid (liquid A and liquid B) serving as an adhesive is accommodated in the first and second liquid supply chambers 88a and 88b, respectively. The discharge unit 88m is supplied with the two-component liquid from the first and second liquid supply chambers 88a and 88b, mixed, and the mixed adhesive is supplied to the supply hose 87. A flow meter and a pressure gauge (not shown) are provided in the discharge unit 88m. The flow meter and the pressure gauge measure the flow rate and the injection pressure of each liquid (liquid A and liquid B) extruded from the discharge unit 88m.

[0048] (Structure of the case unit C60) As shown in FIG. 13, a case unit C60 that houses the above-described wall treatment device 21 includes a main body unit C61 having an open back surface C6a. From the back surface C6a, the gripping portion 35 of the wall treatment device 21 housed in the case unit C60 protrudes toward the wall surface Wa1.

[0049] A suspension portion C62 and an engagement portion C63 are attached to the upper and lower surfaces of the main body unit C61. The suspension portion C62 fixes the ends of the first wires W11 and W12 that suspend the case unit C60 from the suspension units 11 and 12 in a state where the inclination angle is free.

[0050] Two first propeller mechanisms C64 are provided on the side surface of the main body unit C61 facing the back surface C6a. The first propeller mechanism C64 functions as a receiving portion, is disposed substantially parallel to the wall surface Wa1, and has blades that rotate around a horizontal axis. Then, the propulsive force generated by the rotation of the blades presses the case unit C60 against the back surface C6a side (wall surface Wa1 side). Thereby, the reaction force when the movable plate 36 of the gripping portion 35 of the wall treatment device 21 moves forward is received, and the tip of the tool provided on the movable plate 36 is made to go straight to the wall surface Wa1.

[0051] The main body C61 is also provided with a second propeller mechanism C65 and a third propeller mechanism C67 that protrudes in the left - right direction. The second propeller mechanism C65 and the third propeller mechanism C67 have blades that rotate around an axis, and generate thrust by rotating the blades according to the measured values of an anemometer and an accelerometer provided in the main body C61. Thereby, the second propeller mechanism C65 adjusts the position in the left - right direction, and the third propeller mechanism C67 adjusts the vertical inclination to maintain horizontal.

[0052] (Configuration of Control Unit 25) As shown in FIG. 1, the control unit 25 includes a management unit 251, a storage control unit 252, a gripping control unit 253, a movement control unit 254, a link control unit 255, a hole - drilling control unit 256, a driving - in control unit 257, and an injection control unit 258. Further, a distance meter is connected to the control unit 25. This distance meter measures the distance from the movable plate 36 to the wall surface Wa1.

[0053] The management unit 251 executes a process for managing the entire wall - surface repair process. The management unit 251 acquires the position information of the repair location (processing target location) on the wall surface Wa1 where the wall - surface repair process is to be performed. Further, the management unit 251 stores the distance from the movable plate 36 of the gripping unit 35 to the tip of each tool (70, 80, 85) in the state of being gripped by the gripping unit 35. Then, the management unit 251 specifies the distance from the tip of each tool (70, 80, 85) to the wall surface Wa1 using the distance measured by the distance meter.

[0054] The storage control unit 252 controls the drive of the third motor 52 of the tool storage unit 50 to control the rotation of the tool support unit 55. Also, the storage control unit 252 controls the attachment and detachment of the tools (70, 80, 85) by controlling the energization of the electromagnet 57.

[0055] The gripping control unit 253 controls the drive of the first motor 67 to control the posture (orientation) of the operation unit 30. Further, the gripping control unit 253 controls the drive of the electric cylinder 37 of the gripping unit 35 to control the gripping and removal of the tools (70, 80, 85).

[0056] The movement control unit 254 controls the process of moving the wall surface treatment device 21 to the repair location. In this case, the movement control unit 254 identifies the position (xy coordinates) of the specified repair location on the wall surface Wa1, and accordingly controls the winches of the hanging units 11 and 12 to pay out and wind up the first wires W11 and W12. Thereby, by changing the lengths of the first wires W11 and W12 from the hanging units 11 and 12 to the case unit C60, the wall surface treatment device 21 is moved to the repair location.

[0057] The link control unit 255 controls the drive of the second motor 42 of the operation unit 30 to control the linear movement of the movable plate 36 of the gripping unit 35. In this case, the link control unit 255 synchronously controls the second motors 42 of the respective link mechanisms 34a to 34c so that their rotation angles are the same. Further, the link control unit 255 adjusts the forward speed of the gripping unit 35 in conjunction with the drilling control unit 256 based on the rotation speed of the core drill 74 and the load of the second motor 42. For example, when the forward speed of the core drill 74 increases and the rotation speed decreases or the load increases, the forward speed is decreased. Further, the link control unit 255 adjusts the forward speed of the gripping unit 35 in conjunction with the driving control unit 257 based on the load of the second motor 42. Also, the link control unit 255 inserts the tip of the injection tool 85 into the hole formed in the wall surface Wa1 in conjunction with the injection control unit 258.

[0058] The drilling control unit 256 controls the operation of the wall surface treatment device 21 using the drilling tool 70 to make a hole in the wall surface Wa1. The driving control unit 257 controls the operation of the wall surface treatment device 21 using the driving tool 80 to drive an anchor into the hole formed in the wall surface Wa1.

[0059] The injection control unit 258 controls the operation of the wall surface treatment device 21 using the injection tool 85 to inject an adhesive into the hole where the anchor is driven. In the present embodiment, the injection control unit 258 inserts the tip of the injection pipe 86 into the hole in the wall surface Wa1 and injects a two-component mixture (adhesive) from the tip of the injection pipe 86. Then, the injection control unit 258 determines the end of the injection of the adhesive based on the injection pressure and flow rate of the adhesive.

[0060] (Wall surface repair process) Next, the wall surface repair process using the wall surface treatment system 10 having the above-described structure will be described. The management unit 251 of the control unit 25 of the wall surface treatment system 10 acquires the position of the repair location on the wall surface according to an instruction from the operator. Then, the movement control unit 254 of the wall surface treatment system 10 drives the first propeller mechanism C64 to press the wall surface treatment device 21 against the wall surface Wa1 side. Thereafter, the management unit 251 specifies one of the acquired repair locations and executes the following wall surface repair process for each repair location.

[0061] As shown in FIG. 14, first, the control unit 25 of the wall surface treatment system 10 executes a movement process to the processing position (step S1-1). Specifically, the movement control unit 254 of the control unit 25 controls the winches of the hanging units 11 and 12 to change the lengths of the first wires W11 and W12 from the hanging units 11 and 12 to the case unit C60 according to the coordinates (xy coordinates) of the specified correction location (movement destination). Thereby, the wall surface treatment device 21 housed in the case unit C60 is moved to the movement destination.

[0062] In this case, as shown by the dotted line in FIG. 8, the rod 37a of the electric cylinder 37 is shortened and the two tool holding portions 38 are in a separated position. Further, each tool (70, 80, 85) is attracted by the electromagnet 57 of the tool storage unit 50.

[0063] Then, as shown in FIG. 14, the control unit 25 executes the gripping process of the drilling tool (step S1-2). Specifically, the gripping control unit 253 drives the first motor 67 of the mounting plate 66. Due to the rotation of the output shaft of the first motor 67, the rotating shaft 32b of the mounting portion 32 is rotated via the first gear 68 and the second gear 33 of the operation unit 30, and the base plate 31 fixed to the rotating shaft 32b is rotated. Thereby, the operation unit 30 is changed to a retracted posture that does not interfere with the tool support portion 55. Further, the storage control unit 252 drives the third motor 52 to rotate the tool storage unit 50, and positions the locking portion 55a that supports the drilling tool 70 on the wall surface Wa1 side (the attachment / detachment position of the tool).

[0064] Next, the gripping control unit 253 changes the operation unit 30 to a downward attachment / detachment posture in which the base plate 31 and the movable plate 36 extend horizontally by driving the first motor 67. Then, the gripping control unit 253 drives the electric cylinder 37 to extend the rod 37a to bring the tool holding portion 38 closer. Then, the upper surface portion 38a and the lower surface portion 38b of the tool holding portion 38 are fitted to the first engaging portion T1 and the second engaging portion T2 of the drilling tool 70 to grip the drilling tool 70. Thereafter, the storage control unit 252 stops energizing the electromagnet 57 disposed on the locking portion 55a that supports the drilling tool 70 to stop the suction of the drilling tool 70.

[0065] Next, the control unit 25 executes the process of arranging the drilling tool opposite to the wall surface (step S1-3). Specifically, the gripping control unit 253 changes the operation unit 30 from the attachment / detachment posture to the wall surface processing posture by driving the first motor 67.

[0066] Next, the control unit 25 executes the process of specifying the processing position (step S1-4). Specifically, the management unit 251 measures the distance to the wall surface Wa1 using a distance meter. Then, the management unit 251 drives the second motor 42 to adjust the front and rear positions of the movable plate 36 so that the core drill 74 of the drilling tool 70 is at a position separated from the wall surface Wa1 by a predetermined distance (for example, 1 mm).

[0067] Next, the control unit 25 executes a drilling process (step S1-5). Specifically, the drilling control unit 256 drives the fourth motor 71 of the drilling tool 70 to rotate the core drill 74. In this case, water is supplied to the rotary joint 72 of the drilling tool 70 via the water supply hose 77, and water is discharged via the drain hose 78. Thereby, the core drill 74 rotates while being cooled.

[0068] Then, the drilling control unit 256 drives the second motors 42 of the link mechanisms 34a to 34c in conjunction with the link control unit 255 to linearly advance the movable plate 36 of the gripping unit 35 forward. In this case, since the wall surface treatment device 21 is pressed against the wall surface Wa1 side by the propulsive force of the first propeller mechanism C64 of the case unit C60, the wall surface treatment device 21 does not escape to the side opposite to the wall surface Wa1 due to the reaction force of the forward linear advancing force of the movable plate 36, and the movable plate 36 can be advanced. Thereby, while rotating the core drill 74, it is advanced to form a stepped hole on the wall surface Wa1 with a large diameter on the opening side. In this case, based on the rotational speed of the core drill 74 and the load of the second motor 42 in the drilling control unit 256, the link control unit 255 adjusts the forward speed of the movable plate 36. Then, the link control unit 255 advances the movable plate 36 and the core drill 74 to a predetermined specified depth.

[0069] Thereafter, the drilling control unit 256 stops the fourth motor 71, and the link control unit 255 reversely rotates the second motors 42 of the link mechanisms 34a to 34c. Thereby, the movable plate 36 is linearly advanced rearward to pull out the core drill 74 from the hole.

[0070] Next, the control unit 25 executes an exchange process for the driving tool (step S1-6). Specifically, the gripping control unit 253 drives the first motor 67 to rotate the rotary shaft 32b, thereby changing the operation unit 30 from the horizontal wall surface treatment posture to the downward attachment / detachment posture.

[0071] In this case, as shown in FIGS. 15 and 16, the second engagement portion T2 of the hole drilling tool 70 is located above the notch of the locking portion 55a of the tool support portion 55 at the attachment / detachment position. Here, the attachment / detachment position is the position on the wall surface Wa1 side where the locking portion 55a is on the central vertical plane C1 of the wall surface processing device 21.

[0072] Then, the gripping control unit 253 drives the electric cylinder 37 to contract the rod 37a, thereby separating the tool holding portion 38. As a result, the second engagement portion T2 of the hole drilling tool 70 is caught on the upper surface around the notch of the locking portion 55a, and the hole drilling tool 70 is placed on the locking portion 55a. The storage control unit 252 energizes the electromagnet 57 of the locking portion 55a on which the hole drilling tool 70 is placed to adsorb the hole drilling tool 70.

[0073] Next, the gripping control unit 253 drives the first motor 67 to change the operation unit 30 to the retracted posture. Then, the storage control unit 252 drives the third motor 52 to rotate the tool support portion 55 and arrange the driving tool 80 at the tool attachment / detachment position. Next, after the gripping control unit 253 drives the first motor 67 to change the operation unit 30 from the retracted posture to the attachment / detachment posture, it drives the electric cylinder 37 to extend the rod 37a to grip the driving tool 80. In this case, the upper surface portion 38a and the lower surface portion 38b of the tool holding portion 38 are fitted to the first engagement portion T1 and the second engagement portion T2 of the driving tool 80. Thereafter, the storage control unit 252 stops energizing the electromagnet 57 that has adsorbed the driving tool 80.

[0074] Then, the gripping control unit 253 drives the first motor 67 to rotate the operation unit 30 and change it to an anchor extraction posture for taking out the anchor from the anchor storage unit. The driving control unit 257 drives the second motor 42 in conjunction with the link control unit 255 in the direction of the anchor extraction posture, and advances the movable plate 36, thereby inserting the tip of the step bar 82 of the driving tool 80 into the anchor storage unit. Then, the driving control unit 257 energizes the solenoid 81 of the driving tool 80 to suck and hold one anchor located at the mounting position of the anchor storage unit at the tip of the step bar 82. Next, the link control unit 255 retracts the movable plate 36 to take out the step bar 82 holding the anchor from the anchor storage unit. Then, the gripping control unit 253 drives the first motor 67 to change the operation unit 30 in the anchor extraction posture to a lateral wall surface treatment posture.

[0075] Next, the control unit 25 executes the driving process (step S1-7). Specifically, the driving control unit 257 drives the second motor 42 in conjunction with the link control unit 255, and since the wall surface treatment device 21 does not escape to the side opposite to the wall surface Wa1, the movable plate 36 of the gripping portion 35 is advanced straight forward. Thereby, the step bar 82 holding the anchor is advanced to push the anchor into the hole formed in the wall surface Wa1. In this case, the link control unit 255 adjusts the forward speed of the movable plate 36 based on the load of the second motor 42.

[0076] Thereafter, when it is determined that the load of the second motor 42 has increased and the head of the anchor has been locked in the hole, the driving control unit 257 stops energizing the solenoid 81 to stop sucking the anchor. Then, the link control unit 255 reversely rotates the second motor 42 to retract the movable plate 36 and pull out the step bar 82 from the hole. Thereby, the anchor is accommodated in the hole formed in the wall surface Wa1.

[0077] Next, the control unit 25 executes an exchange process for the injection tool (step S1-8). Specifically, similar to step S1-6, the gripping control unit 253 drives the first motor 67 to change the operation unit 30 from the wall surface treatment posture to the attachment / detachment posture, and positions the driving tool 80 above the notch of the locking portion 55a of the tool support portion 55 at the attachment / detachment position. Then, the gripping control unit 253 drives the electric cylinder 37 to separate the tool holding portion 38 and places the driving tool 80 on the locking portion 55a. The storage control unit 252 adsorbs the driving tool 80 with the electromagnet 57.

[0078] Next, the gripping control unit 253 drives the first motor 67 to move the operation unit 30 to the retracted position. Then, the storage control unit 252 drives the third motor 52 of the tool storage unit 50. As a result, the tool support portion 55 rotates to move the injection tool 85 supported by the locking portion 55a to the attachment / detachment position. Then, the gripping control unit 253 drives the first motor 67 to change the operation unit 30 at the retracted position from the attachment / detachment posture to the attachment / detachment posture, and arranges the electric cylinders 37 on both sides of the injection tool 85. Next, the gripping control unit 253 extends the rod 37a of the electric cylinder 37 to grip the injection tool 85 with the tool holding portion 38 of the gripping portion 35, and the storage control unit 252 stops energizing the electromagnet 57 that was adsorbing the injection tool 85. Then, the gripping control unit 253 drives the first motor 67 to change the operation unit 30 from the attachment / detachment posture to the wall surface treatment posture.

[0079] Next, the control unit 25 executes an injection process (step S1-9). Specifically, the injection control unit 258 drives the second motor 42 in conjunction with the link control unit 255 to linearly advance the movable plate 36 forward, and inserts the tip of the injection pipe 86 of the injection tool 85 into the hole into which the anchor is inserted. Then, after the injection control unit 258 stops the second motor 42, it pressurizes the first and second liquid supply chambers 88a and 88b of the liquid supply unit 88 to discharge the two liquids constituting the adhesive from the discharge unit 88m. The adhesive in which the two liquids are mixed at the discharge unit 88m is supplied to the hole from the tip of the injection pipe 86 via the supply hose 87. In this case, the injection control unit 258 determines whether the injection has ended based on the injection pressure and flow rate at the discharge unit 88m. Here, when the injected flow rate is equal to or greater than the reference amount and the injection pressure is equal to or greater than the determination pressure, the injection control unit 258 determines that the hole is filled with the adhesive and the injection has ended. When the injection control unit 258 determines that the injection has ended, the link control unit 255 drives the second motor 42 to retract the movable plate 36 that holds the injection tool 85.

[0080] Next, the control unit 25 executes a tool storage process (step S1-10). Specifically, the gripping control unit 253 drives the first motor 67 to change the operation unit 30 from the wall surface treatment posture to the attachment / detachment posture, and positions the injection tool 85 above the notch of the locking portion 55a at the attachment / detachment position. Further, the gripping control unit 253 drives the electric cylinder 37 to separate the tool holding portion 38 and places the injection tool 85 on the locking portion 55a. The storage control unit 252 energizes the electromagnet 57 to adsorb the injection tool 85.

[0081] Next, the control unit 25 changes the operation unit 30 to the retracted posture and rotates the tool support portion 55. As a result, the driving tool 80 is moved to the attachment / detachment position, and the locking portion 55a that does not support the tool facing the locking portion 55a located at the attachment / detachment position is positioned on the opposite side of the wall surface Wa1. And in this state, for the next repair location, the processes after the movement process to the processing position (step S1-1) are repeatedly executed. The above processing is performed for all the specified repair locations.

[0082] (Function) The wall surface treatment device 21 moves the parallel link mechanism 34 to move the movable plate 36 of the gripping portion 35 that grips the tools (70, 80, 85) straight forward in a wall surface treatment posture facing the wall surface. In this case, since the wall surface treatment device 21 is pressed against the wall surface Wa1 by the propulsive force of the first propeller mechanism C64, the movable plate 36 can be advanced without the wall surface treatment device 21 escaping to the side opposite to the wall surface Wa1 due to the reaction force of the forward straight movement force of the movable plate 36. Therefore, by moving the parallel link mechanism 34 simultaneously, the movable plate 36 and the tools (70, 80, 85) can be accurately advanced straight along the wall surface.

[0083] According to this embodiment, the following effects can be obtained. (1) The wall surface treatment device 21 of this embodiment includes an operation unit 30 in which a movable plate 36 that grips the tools (70, 80, 85) is attached to a base plate 31 via a parallel link mechanism 34. Then, the parallel link mechanism 34 is moved with the operation unit 30 in a horizontal wall surface treatment posture. In this case, since the wall surface treatment device 21 is pressed against the wall surface Wa1 by the propulsive force of the first propeller mechanism C64, the movable plate 36 can be advanced without the wall surface treatment device 21 escaping to the side opposite to the wall surface Wa1 due to the reaction force of the forward straight movement force of the movable plate 36. Therefore, the tools (70, 80, 85) supported by the movable plate 36 can be accurately advanced straight forward (towards the wall surface Wa1), so that the wall surface treatment using the tools (70, 80, 85) against the wall surface Wa1 can be accurately performed.

[0084] (2) In this embodiment, the parallel link mechanism 34 includes three link mechanisms 34a, 34b, and 34c. In the wall surface treatment posture, a second motor 42 in which the output torques of the respective link mechanisms 34a to 34c are substantially the same is used. Thereby, the parallel link mechanism 34 can be smoothly moved to smoothly advance the tools (70, 80, 85).

[0085] (3) In this embodiment, the base plate 31 of the operation unit 30 is provided with a rotating shaft 32b that rotates by a first motor 67. By driving the first motor 67, the operation unit 30 can be efficiently changed between a horizontal wall surface processing posture and a downward attachment / detachment posture.

[0086] (4) In this embodiment, the tool holding portions 38 of the gripping portion 35 of the operation unit 30 in the attachment / detachment posture are arranged on both sides of a notch (where the tool is arranged) having a large width of the locking portion 55a at the attachment / detachment position. Thereby, the gripping or removal of the tools (70, 80, 85) can be efficiently performed.

[0087] (5) In this embodiment, the tool storage portion 50 includes a rotatable tool support portion 55 having locking portions 55a on which the tools (70, 80, 85) are placed one by one. By rotating the tool support portion 55, the tool (70, 80, 85) to be used can be arranged at the attachment / detachment position. Furthermore, the tool storage portion 50 can be made smaller compared to the case where the tools (70, 80, 85) are arranged in a row for storage.

[0088] (6) In this embodiment, an electromagnet 57 for adsorbing the tools (70, 80, 85) is arranged on the locking portion 55a of the tool storage portion 50. By energizing the electromagnet 57, each tool (70, 80, 85) stored in the tool storage portion 50 can be adsorbed, making it difficult for them to fall from the wall surface treatment device 21.

[0089] (7) In this embodiment, each tool (70, 80, 85) includes a housing portion T0 having the same structure. The housing portion T0 has a shape that fits into the tool holding portion 38 of the gripping portion 35 of the operation unit 30. Thereby, each tool (70, 80, 85) can be firmly gripped by the gripping portion 35.

[0090] (8) In this embodiment, the control unit 25 executes, in the wall repair process, a drilling process (step S1-5) using the drilling tool 70, a driving process (step S1-7) using the driving tool 80, and an injection process using the injection tool 85 (step S1-9). Thereby, by changing the tools (70, 80, 85), the drilling process, the driving process, and the injection process in the wall repair process can be continuously and automatically executed. In this case, since the position of the wall surface Wa1 where the operation unit 30 advances each tool (70, 80, 85) is the same, the location to be processed on the wall surface can be accurately specified, and the three processes can be executed.

[0091] (9) In this embodiment, the control unit 25 grips and advances the drilling tool 70 with the operation unit 30. The drilling tool 70 is provided with a core drill 74 at the tip of the fourth motor 71. Thereby, the core drill 74 can be advanced to form a hole in the wall surface Wa1.

[0092] (10) In this embodiment, the control unit 25 grips and advances the driving tool 80 with the operation unit 30. The driving tool 80 adsorbs an anchor A1 at the tip of a stepped bar 82 fixed to a solenoid 81. Thereby, the stepped bar 82 can be advanced to insert the anchor A1 into the hole in the wall surface Wa1.

[0093] (11) In this embodiment, the control unit 25 grips and advances the injection tool 85 with the operation unit 30 and inserts the tip of the injection tool 85 into the hole. Then, the control unit 25 injects an adhesive into the hole from the tip of the injection pipe 86 of the injection tool 85. Thereby, the adhesive can be injected into the hole formed in the wall surface Wa1 to perform a repair process.

[0094] (12) In this embodiment, the control unit 25 adjusts the forward speed of the drilling tool 70 based on the rotational speed of the core drill 74 and the load on the second motor 42 of each link mechanism 34a to 34c. The forward speed of the driving tool 80 is adjusted based on the load on the second motor 42 of each link mechanism 34a to 34c. Thereby, the wall surface treatment can be smoothly performed using the tools (70, 80) without generating excessive force.

[0095] (13) In this embodiment, the control unit 25 determines the end of the injection of the adhesive according to the injection pressure and flow rate of the adhesive. Thereby, it is possible to automatically determine whether or not the adhesive has been sufficiently supplied to the holes and to end the injection process.

[0096] This embodiment can be implemented with the following modifications. This embodiment and the following modification examples can be implemented in combination with each other within a technically non - conflicting range. · In the above - described embodiment, the control unit 25 holds each tool (70, 80, 85) using the tool holder 38. The shape of the gripping part for holding each tool (70, 80, 85) is not limited to this. For example, the housing part T3 may be gripped.

[0097] · In the above - described embodiment, in the tool storage unit 50, the tools (70, 80, 85) are arranged at the attachment / detachment position by rotation. The structure of the tool storage unit 50 for storing a plurality of tools is not limited to this. For example, the tools may be arranged side by side in a row. In this case, when changing the tool, the tool storage unit 50 or the operation unit 30 is linearly moved.

[0098] · In the above-described embodiment, the propulsion force of the first propeller mechanism C64 of the case portion C60 presses the wall surface treatment device 21 against the wall surface Wa1, and the wall surface treatment device 21 does not escape rearward due to the reaction force of the forward straight-ahead force of the movable plate 36, and the movable plate 36 is advanced. The receiving portion that receives the reaction force of the forward straight-ahead force of the movable plate 36 is not limited to the first propeller mechanism C64. For example, when arriving at the repair location, a suction portion that adsorbs to the wall surface may be provided. Further, the receiving portion is not limited to the case where the case portion C60 is provided, and may be provided in the frame portion 60, for example.

[0099] · In the wall surface treatment device 21 in the above-described embodiment, when the operation unit 30 is in the wall surface treatment posture, the link mechanism 34a is arranged above the center C2 of the movable plate 36, and the link mechanisms 34b and 34c are arranged below the center C2. The number, arrangement, and structure of the parallel link mechanism 34 are not limited to this. For example, in the wall surface treatment posture of the operation unit 30, among the three link mechanisms constituting the parallel link mechanism 34, one may be arranged below the center C2 of the movable plate 36, and two may be arranged above the center C2. In this case, the tool storage portion 50 may be provided on the upper surface, and the attachment / detachment posture of the operation unit 30 may be upward. By providing two link mechanisms above the center C2, the load on the second motor 42 that drives the link mechanism provided above can be reduced, so that the load on the second motor 42 of the entire parallel link mechanism 34 can be reduced. Therefore, the second motor 42 can be made smaller, and the wall surface treatment device 21 can be miniaturized.

[0100] · In the above-described embodiment, as the wall surface repair treatment, the drilling treatment, the driving treatment, and the injection treatment were performed for one repair location. The wall surface repair treatment is not limited to the case where all of these three treatments are executed. For example, depending on the situation of the repair location, one or two treatments may be performed, or other wall surface treatments may be added and executed. Other wall surface treatments include the peeling treatment of mortar and the driving treatment of decorative nails.

[0101] ·In the above-described embodiment, the control unit 25 pressurized the two components constituting the adhesive and injected it into the holes. The method of supplying the adhesive to the wall surface is not limited to this. For example, a predetermined amount of the adhesive may be supplied. In this case, for example, a cylindrical body (adhesive cylindrical body) in which a predetermined amount of the adhesive is enclosed may be used.

[0102] FIG. 17 shows a main part of an injection tool 90 for supplying an adhesive to a wall surface Wa1 using an injection tool 90 equipped with an adhesive cylindrical body 101 in which a fixed amount of the adhesive is enclosed in a cylindrical body. FIG. 17(a) is a perspective view of the main part of the injection tool 90, FIG. 17(b) is a top view of the main part, and FIG. 17(c) is a cross-sectional view of the main part.

[0103] Here, a belt body 100 is used in which an adhesive cylindrical body 101 and an anchor pin 102 are fixed using two belts 103. In this belt body 100, the adhesive cylindrical body 101 and the anchor pin 102 are arranged alternately at regular intervals (feed intervals). The adhesive cylindrical body 101 has a cylindrical shape with rounded ends. The anchor pin 102 is a cylindrical body with a wedge-shaped tip, and the rear end portion has a disk larger than the cylindrical body.

[0104] The injection tool 90 includes a loading portion 92, a feeding mechanism portion 93, and an extrusion portion 95. The extrusion portion 95 and the feeding mechanism portion 93 are fixed to the accommodating portion of the housing portion of the above-described embodiment, and the loading portion 92 is fixed so as to protrude from the second engaging portion of the housing portion.

[0105] In the loading portion 92, a loading region 92h with a round hole is formed to penetrate on the central axis. On one side of the loading portion 92, the feeding mechanism portion 93 is provided with the central axis shifted downward. The feeding mechanism portion 93 has a cylindrical body provided with two spaced-apart gear-shaped engaging protrusions 94. An adhesive cylindrical body 101 or an anchor pin 102 is locked in the gap between the engaging protrusions 94. The gap between the engaging protrusions 94 at the uppermost portion is aligned with the loading region 92h.

[0106] The extrusion unit 95 is provided with an electric cylinder that expands and contracts the rod 96. The tip of the rod 96 pushes out the adhesive cylinder 101 or the anchor pin 102 in front of the loading area 92h, removes it from the belt 103, and inserts it into the loading area 92h.

[0107] In the injection process, after changing the operation unit 30 to the wall surface treatment posture, the control unit 25 brings the tip of the injection tool 90 into contact with the opening of the hole in the wall surface Wa1. Then, the control unit 25 drives the electric cylinder of the extrusion unit 95, and by extending the rod 96, the adhesive cylinder 101 is pushed out into the loading area 92h of the loading unit 92. After that, the control unit 25 rotates the feeding mechanism unit 93 by a rotation angle corresponding to the feeding interval to prepare for the next pushing.

[0108] As a result, as shown in Fig. 18(a), after the adhesive cylinder 101 is arranged in the loading area 92h, as shown in Fig. 18(b), the anchor pin 102 is pushed into the loading area 92h. In this case, the tip of the anchor pin 102 penetrates the adhesive cylinder 101, and the adhesive is discharged from the loading area 92h. Then, as shown in Fig. 18(c), when the anchor pin 102 is completely pushed into the loading area 92h, the adhesive of the adhesive cylinder 101 adheres around the anchor pin 102. And as shown in Fig. 18(d), the anchor pin 102 with the adhesive of the adhesive cylinder 101 wrapped around it is pushed out from the loading area 92h by the tip of the subsequent adhesive cylinder 101 used for the next repair location, and is inserted into the hole formed in the wall surface Wa1. Thus, the anchor pin 102 can be inserted into the hole in the wall surface Wa1 together with the adhesive.

[0109] Next, the technical idea that can be grasped from the above embodiment and alternative example is added below. (a) The parallel link mechanism includes a plurality of link mechanisms fixed to the movable plate and the base plate, and a drive motor provided for each link mechanism. The wall surface treatment system according to claim 1 or 2, wherein the drive motor has different output characteristics according to the position in the wall surface treatment posture. (b) A posture changing unit that changes between the wall surface treatment posture and the attachment / detachment posture of the gripping part for attaching / detaching the tool of the tool storage part by rotating the base plate around a horizontal axis parallel to the vertical surface. The wall surface treatment system according to (a), claim 1 or 2. (c) The tool storage part includes a tool support part that supports a plurality of tools at intervals on the outer peripheral edge part and is rotatable. The wall surface treatment system according to (a), (b), claim 1 or 2, wherein by rotating the tool support part, one of the tools is positioned at the attachment / detachment position where the gripping part in the attachment / detachment posture grips the tool. (d) Further includes a control unit that controls the rotation of the posture changing unit, the drive motor of the parallel link mechanism, and the tool support part. The plurality of tools include a first tool and a second tool. The control unit is as follows. Advance the first tool in the wall surface treatment posture using the parallel link mechanism and execute the first wall surface treatment using the first tool. After retreating the first tool that has completed the first wall surface treatment using the parallel link mechanism, control the posture changing unit to change the gripping part from the wall surface treatment posture to the attachment / detachment posture, and store the first tool in the tool storage part. Rotate the tool support part to place the second tool accommodated in the tool storage part at the attachment / detachment position. After taking out the second tool arranged at the attachment / detachment position, control the posture changing unit to change the gripping part from the attachment / detachment posture to the wall surface treatment posture. The wall surface treatment system according to (c), wherein the second tool in the wall surface treatment posture is advanced using the parallel link mechanism and the second wall surface treatment using the second tool is executed.

[0110] (e) The parallel link mechanism includes three motors for driving three link mechanisms respectively, and in the wall surface treatment posture, two of the three motors are arranged above the position where the tool is gripped at the gripping part. The wall surface treatment system according to any one of (a) to (d) above, or claim 1 or 2. (f) The tool is a tool for injecting an adhesive, and further includes a control unit for controlling the injection of the adhesive into the hole. The control unit determines that the injection of the adhesive into the hole has ended based on the injection pressure and flow rate of the adhesive. The wall surface treatment system according to any one of (a) to (d) above, or claim 1 or 2. (g) The tool is a tool for injecting an adhesive, and the tool includes a loading part for loading a belt in which an adhesive cylinder containing the adhesive and an anchor pin for pushing out the adhesive cylinder are alternately arranged, a feeding mechanism for feeding the belt at the arrangement interval between the adhesive cylinder and the anchor pin, and the adhesive cylinder and the anchor pin are successively mounted in the loading area. The wall surface treatment system according to any one of (a) to (e) above, or claim 1 or 2.

[0111] (h) A wall surface treatment apparatus housed in a case part movable along a wall surface and including an operation unit for operating a tool for wall surface treatment. The operation unit includes a gripping part for gripping the tool, a parallel link mechanism for advancing the gripping part toward the wall surface, and a base plate for supporting the parallel link mechanism. The wall surface treatment apparatus is characterized in that the gripping part is brought close to the wall surface by using a receiving part for receiving the reaction force of the advancing force of the gripping part. (i) An apparatus characterized by including a loading part partitioned with a loading area for accommodating a pipe member pushed out by an extrusion member, a mounting part for mounting a belt in which a first cylinder body which is the pipe member and a second cylinder body of the pipe member different from the first cylinder body are alternately arranged at a predetermined feeding interval, and a feeding mechanism for feeding the belt at the feeding interval. (j) A belt characterized in that a first cylinder and a second cylinder different from the cylinder are arranged alternately at a predetermined feed interval.

Explanation of symbols

[0112] A1… Anchor, B1,103… Belt, C1… Central vertical plane, C2… Center, C60… Case part, C61… Main body part, C61a… Back surface, C62… Suspension part, C63… Engagement part, C64… First propeller mechanism as a receiving part, C65… Second propeller mechanism, C67… Third propeller mechanism, T0… Housing part, T1… First engagement part, T2… Second engagement part, T3… Accommodation part, W11,W12… First wire, W21,W22… Second wire, Wa1… Wall surface, 10… Wall surface treatment system, 11,12… Hanger unit, 13,14… Ground unit, 21… Wall surface treatment device, 25… Control unit, 30… Operating unit, 31… Base plate, 32,38d… Mounting part, 32a… Protrusion, 32b… Rotation axis, 33… Second gear, 34… Parallel link mechanism, 34a,34b,34c… Link mechanism, 35… Gripping part, 36… Movable plate, 36a,36b… Notch, 37… Electric cylinder, 37a,96… Rod, 38… Tool holding part, 38a… Upper surface part, 38b… Lower surface part, 38c… Side surface part, 41… Fixed side mounting part, 41a,41b,45a,45b,49a,49b,65,66… Mounting plate, 41c… Connecting member, 42… Second motor as a drive motor, 43,44a… Pulley, 44… Connecting shaft, 44b… End part, 45… Arm part, 46… Fixed side connecting member, 47… Link member, 48… Movable side connecting member, 49… Movable side mounting part, 50… Tool storage part, 51… Base part, 51a… Block, 51b… Motor fixing part, 51c… Placing member, 52… Third motor, 55… Tool support part, 55a,82a… Locking part, 57… Electromagnet, 60… Frame, 61… Base part, 62… Vertical frame, 63,64… Horizontal frame, 67… First motor, 68… First gear, 70… Boring tool, 71… Fourth motor, 72… Rotary joint, 72a… Tip part, 74… Core drill, 76,84… Cable, 77… Water supply hose, 78… Drain hose, 80… Driving tool, 81… Solenoid, 82… Step bar, 82b… Sponge, 83… Spring, 85,90…Injection tool, 86…Injection pipe, 87…Supply hose, 88…Liquid supply unit, 88a…First liquid supply chamber, 88b…Second liquid supply chamber, 88m…Discharge part, 92…Loading part, 92h…Loading area, 93…Delivery mechanism part, 94…Engaging projection part, 95…Extrusion part as an extrusion member, 100…Band, 101…Adhesive cylinder, 102…Anchor pin, 251…Management part, 252…Storage control part, 253…Grip control part, 254…Movement control part, 255…Link control part, 256…Hole drilling control part, 257…Driving control part, 258…Injection control part.,

Claims

1. An operation unit that operates a tool for wall surface treatment, and a case part that houses the operation unit therein and is movable along the wall surface, wherein the operation unit comprises a gripping part that grips the tool, a parallel link mechanism that advances the gripping part toward the wall surface, and a base plate that supports the parallel link mechanism, the case part comprises a receiving part that receives the reaction force of the advancing force of the gripping part and brings the gripping part closer to the wall surface, the parallel link mechanism is attached laterally to the case part so that the tool can move straight toward the wall surface, and the base plate is supported by the case part from the horizontal direction, characterized in that it is a wall surface treatment system.

2. The wall surface treatment system according to claim 1, characterized in that the base plate is rotatably attached to the case part.

3. A posture changing part that changes between a wall surface treatment posture facing the wall surface and a attaching / detaching posture of the gripping part for attaching / detaching the tool of the tool storage part by rotating the base plate about a horizontal axis parallel to the vertical surface, characterized in that it is provided in the wall surface treatment system according to claim 1 or 2.

4. An operation unit that operates a tool for wall surface treatment, and a case part that houses the operation unit therein and is movable along the wall surface, wherein the operation unit comprises a gripping part that grips the tool, a parallel link mechanism that advances the gripping part toward the wall surface, and a base plate that supports the parallel link mechanism, the case part comprises a receiving part that receives the reaction force of the advancing force of the gripping part and brings the gripping part closer to the wall surface, the parallel link mechanism is attached laterally to the case part so that the tool can move straight toward the wall surface, the parallel link mechanism comprises a plurality of link mechanisms fixed to the movable plate of the gripping part and the base plate, and a drive motor provided for each link mechanism, and the drive motor has different output characteristics according to the position in the wall surface treatment posture facing the wall surface, characterized in that it is a wall surface treatment system.

5. An operation unit that operates a tool for wall surface treatment, and a case part that houses the operation unit therein and is movable along the wall surface, wherein the operation unit comprises a gripping part that grips the tool, a parallel link mechanism that advances the gripping part toward the wall surface, It includes a base plate that supports the parallel link mechanism. The case part includes a receiving part that receives the reaction force of the forward force of the gripping part and brings the gripping part closer to the wall surface. The parallel link mechanism is laterally attached to the case part so that the tool can move straight toward the wall surface. The parallel link mechanism includes three motors that drive the three link mechanisms respectively. In the wall surface treatment posture facing the wall surface, two of the three motors are arranged below the position where the tool is gripped in the gripping part. A wall surface treatment system characterized by this.

Images