Wall Treatment System

Abstract

To provide a wall surface treatment system capable of executing a wall surface treatment by bringing the tool perpendicularly closer to the wall surface, and a tool and a device.SOLUTION: A wall surface treatment system comprises a wall surface treatment device 21 stored in a case section that moves along the wall surface and a control unit. The wall surface treatment device 21 comprises a gripping section 35 that grips a drilling tool 70 executing a 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 the 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 the reaction force of the 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 surface processing system that performs processing on a wall surface using a tool. Mu Regarding. [Background technology]

[0002] As the exterior walls of buildings deteriorate over time, parts of the walls or tiles attached to the walls can peel off. This requires repair work. Repair work typically involves drilling holes in areas of loose mortar or concrete on the exterior wall surface, injecting epoxy resin adhesive, or inserting pins into the holes to hold down the loose parts. However, when the area to be repaired is located high up on the wall, it is difficult for people to get close, making it difficult to carry out repair work quickly.

[0003] Furthermore, a robot using a parallel link mechanism is known as a lightweight robot with a wide operating range (see, for example, Patent Document 1). In this document, the parallel link mechanism is used in a link actuator provided at the bottom of a rotating shaft that protrudes downward from the upper end of a support via a first arm and a second arm. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2018-167350 Summary of the Invention [Problem to be solved by the invention]

[0005] It is also possible to use a robot with the parallel link mechanism described above to perform the above-mentioned repair work. Typically, a wall treatment device is suspended so that it can be moved freely to the repair location on the wall. In this case, when a tool for performing wall treatment such as drilling, pin insertion, or adhesive injection is moved forward, the wall treatment device may move backward due to the reaction force. Therefore, it has been difficult to efficiently perform wall treatment using a tool. [Means for solving the problem]

[0006] A wall treatment system that solves the above problem comprises an operating unit that operates a tool for injecting adhesive for wall treatment, and a case that houses the operating unit and is movable along the wall surface, the operating unit comprising a gripping portion that grips the tool, a parallel link mechanism that moves the gripping portion forward toward the wall surface, a base plate that supports the parallel link mechanism, and a control portion that controls the injection of the adhesive into the hole, the case comprising a receiving portion that receives the reaction force of the gripping portion's forward force and brings the gripping portion closer to the wall surface, and the control portion determines that the injection of the adhesive into the hole has been completed based on the injection pressure and flow rate of the adhesive. A tool that solves the above problem is a tool for injecting adhesive for wall surface treatment, and includes a loading section that loads a strip of adhesive cylinders containing the adhesive and anchor pins that push out the adhesive cylinders, arranged alternately, and a delivery mechanism that delivers the strip at an interval between the adhesive cylinders and the anchor pins, and the adhesive cylinders and the anchor pins are attached to the loading section in order. 。 [Effects of the Invention]

[0007] According to the present invention, wall surface processing can be performed by bringing the tool closer to the wall surface in a direction perpendicular to the wall surface. [Brief explanation of the drawings]

[0008] [Figure 1]FIG. 1 is an explanatory diagram illustrating an overall configuration in which a wall surface processing system according to an embodiment is arranged along a wall surface. [Figure 2] FIG. 2 is a perspective view of the wall surface processing device in the embodiment when in a wall surface processing posture. [Figure 3] FIG. 2 is a top view of the wall surface processing device in the embodiment when in a wall surface processing posture. [Figure 4] FIG. 2 is a side view of the wall surface processing device in the embodiment when in a wall surface processing posture. [Figure 5] FIG. 3 is a rear view of the wall surface processing device in the wall surface processing posture according to the embodiment. [Figure 6] FIG. 2 is a perspective view of an operating unit of the wall surface processing device according to the embodiment. [Figure 7] FIG. 2 is a front view illustrating the structure of the parallel link mechanism according to the embodiment. [Figure 8] FIG. 4 is a top view illustrating the structure of a grip portion in the embodiment. [Figure 9] FIG. 3 is a perspective view illustrating a tool storage section in the embodiment. [Figure 10] FIG. 2 is a front view illustrating the drilling tool according to the embodiment. [Figure 11] 1A and 1B are explanatory views illustrating a driving tool according to an embodiment, in which FIG. 1A is a side view of the entire driving tool, and FIG. 1B is an enlarged view of the tip of the driving tool. [Figure 12] 1A and 1B are explanatory diagrams illustrating an injection tool according to an embodiment, in which (a) is a side view of the injection tool, and (b) is a conceptual diagram illustrating a structure connected to a supply hose of the injection tool. [Figure 13] FIG. 2 is a perspective view illustrating the configuration of a case of the wall surface processing device according to the embodiment. [Figure 14] 1 is a flowchart illustrating a processing procedure for wall surface repair processing in an embodiment. [Figure 15] FIG. 2 is a perspective view of the wall surface processing device in the embodiment when in an attachment / detachment position. [Figure 16] FIG. 2 is a top view of the wall surface processing device in the embodiment when in the attachment / detachment position. [Figure 17] 10A and 10B are explanatory diagrams of an injection tool in a modified example, in which (a) is a perspective view of a main part of the injection tool, (b) is a top view of the main part of the injection tool, and (c) is a cross-sectional view of the main part of the injection tool. [Figure 18] An explanatory diagram of an injection tool in a modified example, in which (a) shows the state in which the adhesive cylinder is placed in the loading area, (b) shows the state in which the anchor pin has begun to be inserted into the adhesive cylinder, (c) shows the state in which the anchor pin has been inserted into the adhesive cylinder, and (d) shows the state in which the next adhesive cylinder is being loaded into the loading area while pushing the anchor pin. DETAILED DESCRIPTION OF THE INVENTION

[0009] Below, we will use Figures 1 to 16 to explain the wall surface treatment system. M A specific embodiment will now be described. In this embodiment, the device will be described as performing a repair process (wall surface treatment) to repair loose tiles attached to a vertical wall surface. In this repair process, three processes are performed: a drilling process to drill holes in the wall surface, a driving process to drive anchors into the holes formed in the wall surface, and an injection process to inject adhesive into the holes in the wall surface and the anchors. For this purpose, a drilling tool 70, a driving tool 80, and an injection tool 85 are used as tools. The drilling process and the driving process correspond to a first wall surface treatment, and the driving process and the injection process correspond to a second wall surface treatment. Furthermore, the drilling tool 70 and the driving tool 80 correspond to a first tool, and the driving tool 80 and the injection tool 85 correspond to a second tool.

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

[0011] The suspending units 11 and 12 are fixed to both ends of the wall treatment area on the rooftop above the wall Wa1. The tips of the suspending units 11 and 12 protrude from the rooftop toward the wall Wa1, and the first wires W11 and W12 extend along the wall Wa1. The first wires W11 and W12 are fixed to the suspension part C62 on the upper surface of the case C60. The suspending units 11 and 12 are equipped with winches, and wind or unwind the first wires W11 and W12 in response to instructions from the control unit 25 to change the length of the first wires W11 and W12 from the suspending units 11 and 12 to the suspension part C62, thereby moving the case C60 to any location (position) on the wall Wa1. The ground units 13, 14 are arranged on the ground and wind or unwind the second wires W21, W22 fixed to the engagement portion C63 on the underside of the case portion C60, thereby suppressing shaking or tilting of the case portion C60 when it moves.

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

[0013] (Structure of wall surface treatment device 21) 2 to 5 are perspective views, a top view, a side view, and a rear view of the wall surface processing device 21. The wall surface processing device 21 of this embodiment comprises an operating unit 30, a tool storage section 50, and a frame section 60. The tool storage section 50 is disposed toward the rear of the frame section 60 (the opposite side from the front, which is the wall surface Wa1 side).

[0014] 2, the frame portion 60 includes a plate-shaped base portion 61 that forms the bottom surface, rod-shaped vertical frames 62, and horizontal frames 63, 64. Four vertical frames 62 are erected on the base portion 61. The upper ends of the vertical frames 62 are connected to each other by the horizontal frames 63, 64. An anchor storage section (not shown) is also provided on the base section 61. This anchor storage section stores a plurality of anchors and allows the anchors to be taken out in order in an upright state.

[0015] As shown in Fig. 2, mounting plates 65 and 66 are fixed to the centers of two vertical frames 62 arranged in the short direction of the frame portion 60. Bearings are provided on the mounting plates 65 and 66, which rotatably support the rotation shaft 32b of the operating 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 Operation Unit 30> 6, the operating unit 30 includes a base plate 31, an attachment part 32, a second gear 33, a parallel link mechanism 34, and a grip part 35. An attitude change part that changes the attitude of the operating unit 30 is made up of a first motor 67, a first gear 68, the second gear 33, and the attachment part 32.

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

[0018] The rotation 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 this rotation shaft 32b on the mounting plate 66 side. This second gear 33 meshes with a first gear 68 on the output shaft of a first motor 67. As a result, when the output shaft of the first motor 67 rotates, the base plate 31 rotates about the rotation 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 at equal intervals (every 120 degrees in terms of central angle) on the outer periphery of the base plate 31, and are fixed at equal intervals (every 120 degrees in terms of central angle) on the outer periphery of the movable plate 36 of the gripping part 35. Each of the link mechanisms 34a to 34c has the same structure and the same size.

[0020] The second motor 42, which serves as the drive motor for the three link mechanisms 34a to 34c, uses a motor having different output characteristics depending on the position in the wall surface processing posture. This ensures that the output torque is approximately the same regardless of the position in the wall surface processing posture in which the operating unit 30 faces the wall surface.

[0021] Specifically, in the wall surface processing posture in which the movable plate 36 is in a vertical state, the link mechanism 34a is located above the center C2 of the movable plate 36, and the link mechanisms 34b and 34c are located below the center C2 of the movable plate 36. A larger load is applied to the second motor 42 that drives the upper link mechanism 34a than to the second motors 42 that drive the other link mechanisms 34b and 34c. For this reason, a motor that can output 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. Furthermore, a motor that outputs the same torque is used as the second motor 42 of the link mechanisms 34b and 34c.

[0022] (Structure of link mechanism 34a) Next, the structure of the link mechanism 34a will be described in detail. The other link mechanisms 34b and 34c have the same structure as the link mechanism 34a, so detailed descriptions thereof 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 gap therebetween. 4, the mounting plate 41b is longer than the mounting plate 41a, and the mounting plates 41a and 41b are attached at an angle to the base plate 31. A second motor 42 is fixed to the mounting plate 41b.

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

[0026] One end of mounting plates 45a, 45b of arm portion 45 is fixed to end portion 44b of connecting shaft 44 opposite pulley 44a. Fixed-side connecting member 46 is fixed to the other end of mounting plates 45a, 45b. One end of two pairs (four) of link members 47 is rotatably attached to fixed-side connecting member 46. Link members 47 are arranged in pairs so as to sandwich fixed-side connecting member 46 therebetween.

[0027] 8, the other end of the link member 47 is rotatably attached to one end of a movable-side connecting member 48. The movable-side connecting member 48 is sandwiched between the pair of link members 47, similar to the fixed-side connecting member 46.

[0028] 7, a movable-side mounting part 49 is fixed to the other end of the movable-side connecting member 48. The movable-side mounting part 49 includes mounting plates 49a and 49b of different lengths. The mounting plates 49a and 49b are attached to the movable plate 36 of the grip part 35 at an angle with a gap between them.

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

[0030] 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 center C2 region. The notch 36a is positioned so that it opens downward when in the wall surface processing position. The notch 36a further has two notches 36b extending in the left-right direction.

[0031] 8, electric cylinders 37 are fixed to the left and right of the notch 36a on the surface of the movable plate 36 facing the base plate 31. Rods 37a of the electric cylinders 37 are fixed to tool holders 38. As a result, when the electric cylinders 37 are driven and the rods 37a extend or contract, the tool holders 38 move closer to or farther apart.

[0032] The tool holding portion 38 has a rectangular upper surface portion 38a, a lower surface portion 38b, two side surface portions 38c, and an attachment portion 38d. The upper surface portion 38a and the lower surface portion 38b have a substantially semicircular shape that can fit onto the first engagement portion T1 and the second engagement portion T2 of the tool (70, 80, 85) to be held, respectively. Each side surface portion 38c passes through a notch 36b of the movable plate 36 and is fixed to the end of the upper surface portion 38a and the lower surface portion 38b. The attachment portion 38d is fixed to the two side surface portions 38c on the electric cylinder 37 side. The rod 37a of the electric cylinder 37 is fixed to this attachment portion 38d.

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

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

[0035] The base 51 includes two blocks 51a, a disk-shaped motor fixing portion 51b, and a mounting member 51c. The motor fixing portion 51b is fixed to the top of the block 51a via a lower leg. A third motor 52, with its output shaft facing upward, is fixed to the center of the motor fixing portion 51b.

[0036] A mounting member 51c is fixed onto the motor fixing portion 51b via upper legs. A tool support portion 55 is rotatably placed on the mounting member 51c. The tool support portion 55 has a circular central portion and four locking portions 55a arranged at equal intervals around the outer periphery. A rotating shaft protrudes downward from the center of the central portion. This rotating shaft is fixed to the output shaft of the third motor 52 via a coupling, and the tool support portion 55 rotates when the third motor 52 is driven.

[0037] Each locking portion 55a is a plate member with a notch that includes a central region at one outer end. The locking portion 55a has a width that allows it to 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 notch width on the outside. The tools (70, 80, 85) are hooked around the periphery of the wider outer notch width to support the tools (70, 80, 85). An electromagnet 57 is fixed to the narrower inner notch width. The electromagnet 57 fixes the tools (70, 80, 85) supported by the locking portion 55a when current is applied.

[0038] (Structure of each tool) Figures 10, 11(a), and 12(a) show side views of the drilling tool 70, the driving tool 80, and the injection tool 85, respectively. Each of these tools (70, 80, 85) has a housing portion T0 of the same shape. The housing portion T0 has a shape that fits with the tool holding portion 38 of the gripper 35 of the operating unit 30. Specifically, the housing portion T0 has a cylindrical first engagement portion T1, a ring-shaped second engagement portion T2, and a rectangular tubular storage portion T3. The first engagement portion T1 and the second engagement portion T2 are fixed to the top and bottom surfaces of the storage portion T3.

[0039] The first engaging portion T1 and the second engaging portion T2 are sandwiched and held by the upper surface portions 38a and the lower surface portions 38b of the two tool holding portions 38 facing each other, respectively. Since the second engagement portion T2 is larger than the width of the notch of the locking portion 55a of the tool support portion 55, the outer end of the second engagement portion T2 locks around the notch of the locking portion 55a, thereby allowing the tool support portion 55 to support each tool (70, 80, 85). The second engagement portion T2 has a thickness slightly larger than that of the lower surface portion 38b of the tool holding portion 38. The interior of the accommodation portion T3 communicates with the interiors of the first engagement portion T1 and the second engagement portion T2. ​​A solenoid, a motor, etc. are accommodated in the accommodation portion T3.

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

[0041] A fourth motor 71 is housed within the housing portion T3 of the housing portion T0. Power and signals are supplied to the fourth motor 71 via a cable 76. A core drill 74 is fixed to the tip of the output shaft of the fourth motor 71 via a rotary joint 72. The core drill 74 is a stepped core drill with steps provided 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. The central axis of the core drill 74 is positioned to coincide with the center of the housing portion T0.

[0042] A water supply hose 77 and a drain hose 78 are connected to the tip 72a of the rotary joint 72. The rotary joint 72 cools the output shaft and the core drill 74 with water while transmitting the rotation of the output shaft of the fourth motor 71 to the core drill 74. Furthermore, the cable 76, the water supply hose 77, and the drain hose 78 that pass through the first engagement portion T1 of the housing T0 are connected to the control unit 25, a cooling device, etc. from openings above the first engagement portion T1.

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

[0044] A pull-type solenoid 81, whose plunger is retracted when power is applied, is housed within housing T3 of casing T0. A step rod 82 made of a magnetic material is fixed to the tip of the plunger of solenoid 81. The central axis of step rod 82 is positioned to coincide with the center of casing T0. A ring-shaped locking portion 82a is provided midway on step rod 82. A spring 83 is placed between this locking portion 82a and the plunger of solenoid 81.

[0045] 11(b) is an enlarged view of the tip of the step rod 82. As shown in this figure, a step portion is provided near the tip of the step rod 82 to engage with an anchor A1 that is driven into a hole formed in the wall surface. A sponge 82b is fixed to this step portion. When the solenoid 81 is energized, the tip of the step rod 82 attracts and holds one end of the anchor A1 through which it has passed.

[0046] <Structure of injection tool 85> As shown in FIG. 12(a), the injection tool 85 includes an injection pipe 86. This injection pipe 86 is fixed by passing through the interior of the housing portion T3 of the housing portion T0 and the interior of the second engagement portion T2. ​​The injection pipe 86 is arranged so that its central axis coincides with the center of the housing portion T0, and has a diameter that allows it to be inserted into the hole in which the anchor A1 is arranged. The injection pipe 86 is further connected to a supply hose 87 inside the first engagement portion T1. In this embodiment, a mixture of two liquids (liquid A and liquid B) whose main component is epoxy resin is used as the adhesive.

[0047] FIG. 12(b) shows the liquid supply unit 88 to which the 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 and a first liquid supply chamber 88a and a second liquid supply chamber 88b partitioned therein. The first and second liquid supply chambers 88a and 88b respectively contain two liquids (liquid A and liquid B) that will become the adhesive. The discharge unit 88m receives and mixes the two liquids from the first and second liquid supply chambers 88a and 88b, and supplies the mixed adhesive to the supply hose 87. The discharge unit 88m is provided with a flow meter and a pressure meter (not shown). The flow meter and pressure meter measure the flow rate and injection pressure of each liquid (liquid A and liquid B) extruded from the discharge unit 88m.

[0048] (Structure of case C60) 13, the case C60 housing the wall surface processing device 21 includes a main body C61 having an open back surface C6a. The gripping portion 35 of the wall surface processing device 21 housed in the case C60 protrudes from the back surface C6a toward the wall surface Wa1.

[0049] A suspending part C62 and an engaging part C63 are attached to the upper and lower surfaces of the main body part C61. The suspending part C62 fixes the ends of the first wires W11 and W12 that suspend the case part 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 of the main body C61 facing the back surface C6a. The first propeller mechanisms C64 function as receiving parts, are arranged substantially parallel to the wall surface Wa1, and have blades that rotate around a horizontal axis. The propulsive force generated by the rotation of the blades presses the case C60 against the back surface C6a (wall surface Wa1). This receives the reaction force generated when the movable plate 36 of the gripper 35 of the wall surface processing device 21 moves forward, and propels the tip of the tool attached to the movable plate 36 straight toward 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 in response to measurements from an anemometer and an accelerometer provided on the main body C61. As a result, the second propeller mechanism C65 adjusts its position in the left-right direction, and the third propeller mechanism C67 adjusts its vertical tilt to maintain horizontality.

[0052] (Configuration of control unit 25) 1, the control unit 25 includes a management section 251, a storage control section 252, a gripping control section 253, a movement control section 254, a link control section 255, a drilling control section 256, a driving control section 257, and an injection control section 258. Furthermore, a rangefinder is connected to the control unit 25. This rangefinder 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 position information of the repair location (processing target location) on the wall surface Wa1 on which the wall surface repair process is performed. Furthermore, the management unit 251 stores the movable plate 36 of the gripping unit 35 and the distance to the tip of each tool (70, 80, 85) when held 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 driving of the third motor 52 of the tool storage unit 50 to control the rotation of the tool support unit 55. The storage control unit 252 also controls the energization of the electromagnet 57 to control the attachment and detachment of the tools (70, 80, 85).

[0055] The grip control unit 253 controls the driving of the first motor 67 to control the attitude (orientation) of the operating unit 30. Furthermore, the grip control unit 253 controls the driving of the electric cylinder 37 of the grip 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 processing device 21 to the repair location. In this case, the movement control unit 254 identifies the position (xy coordinates) of the designated repair location on the wall surface Wa1, and controls the winches of the suspension units 11 and 12 accordingly to unwind and rewind the first wires W11 and W12. This changes the length of the first wires W11 and W12 from the suspension units 11 and 12 to the case part C60, thereby moving the wall surface processing device 21 to the repair location.

[0057] The link control unit 255 controls the driving of the second motor 42 of the operating unit 30 to control the linear movement of the movable plate 36 of the gripper 35. In this case, the link control unit 255 synchronizes and controls the second motors 42 of each link mechanism 34a to 34c so that the rotation angles are the same. Furthermore, in cooperation with the drilling control unit 256, the link control unit 255 adjusts the forward movement speed of the gripper 35 based on the rotation speed of the core drill 74 and the load on the second motor 42. For example, if the forward movement speed of the core drill 74 increases and the rotation speed decreases or the load increases, the link control unit 255 slows the forward movement speed. Furthermore, in cooperation with the driving control unit 257, the link control unit 255 adjusts the forward movement speed of the gripper 35 based on the load on the second motor 42. Furthermore, in cooperation with the injection control unit 258, the link control unit 255 inserts the tip of the injection tool 85 into the hole formed in the wall surface Wa1.

[0058] The hole drilling control unit 256 controls the operation of the wall surface processing device 21 using the hole drilling tool 70 to drill a hole in the wall surface Wa1. The driving control unit 257 controls the operation of the wall surface processing device 21 using the driving tool 80 to drive anchors into holes formed in the wall surface Wa1.

[0059] The injection control unit 258 controls the operation of the wall surface processing device 21 using the injection tool 85 to inject adhesive into the holes into which the anchors have been driven. In this 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 adhesive injection based on the injection pressure and flow rate of the adhesive.

[0060] (Wall repair treatment) Next, a wall surface repair treatment using the wall surface treatment system 10 having the above-described structure will be described. The management section 251 of the control unit 25 of the wall surface processing system 10 acquires the positions of the repair locations on the wall surface in response to instructions from the worker. Then, the movement control section 254 of the wall surface processing system 10 drives the first propeller mechanism C64 to press the wall surface processing device 21 against the wall surface Wa1. After that, the management section 251 identifies one of the acquired repair locations and performs the following wall surface repair process for each repair location.

[0061] 14, first, the control unit 25 of the wall surface processing system 10 executes a movement process to the processing position (step S1-1). Specifically, the movement control section 254 of the control unit 25 controls the winches of the suspending units 11 and 12 to change the lengths of the first wires W11 and W12 from the suspending units 11 and 12 to the case part C60 in accordance with the coordinates (x and y coordinates) of the identified correction location (destination). In this way, the wall surface processing device 21 housed in the case part C60 is moved to the destination.

[0062] In this case, as shown by the dotted line in Figure 8, the rod 37a of the electric cylinder 37 is shortened, and the two tool holders 38 are positioned apart. Furthermore, the electromagnet 57 of the tool storage unit 50 attracts the tools (70, 80, 85).

[0063] Then, as shown in FIG. 14, the control unit 25 executes a process for gripping the drilling tool (step S1-2). Specifically, the gripping control unit 253 drives the first motor 67 of the mounting plate 66. Rotation of the output shaft of this first motor 67 rotates the rotation shaft 32b of the mounting part 32 via the first gear 68 and the second gear 33 of the operating unit 30, thereby rotating the base plate 31 fixed to this rotation shaft 32b. This changes the operating unit 30 to a retracted position that does not interfere with the tool support part 55. Furthermore, the storage control unit 252 drives the third motor 52 to rotate the tool storage part 50, and positions the locking part 55a supporting the drilling tool 70 on the wall surface Wa1 side (the tool attachment / detachment position).

[0064] Next, the gripping control unit 253 drives the first motor 67 to change the operating unit 30 to a downward attachment / detachment position in which the base plate 31 and the movable plate 36 extend horizontally. Then, the gripping control unit 253 drives the electric cylinder 37 to extend the rod 37a, thereby bringing the tool holding unit 38 closer together. Then, the upper surface portion 38a and the lower surface portion 38b of the tool holding unit 38 engage with the first engagement portion T1 and the second engagement portion T2 of the drilling tool 70, thereby gripping the drilling tool 70. Thereafter, the storage control unit 252 stops power supply to the electromagnet 57 arranged in the locking portion 55a that supports the drilling tool 70, thereby stopping attraction of the drilling tool 70.

[0065] Next, the control unit 25 executes a process of arranging the drilling tool facing the wall surface (step S1-3). Specifically, the gripping control unit 253 drives the first motor 67 to change the operating unit 30 from the attachment / detachment posture to the wall surface processing posture.

[0066] Next, the control unit 25 executes a process for identifying a processing position (step S1-4). Specifically, the management unit 251 measures the distance to the wall surface Wa1 using a rangefinder. 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 positioned a predetermined distance (e.g., 1 mm) away from the wall surface Wa1.

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

[0068] The drilling control unit 256, in cooperation with the link control unit 255, drives the second motors 42 of the link mechanisms 34a to 34c to move the movable plate 36 of the gripping unit 35 forward in a straight line. In this case, the wall surface processing device 21 is pressed toward the wall surface Wa1 by the thrust of the first propeller mechanism C64 of the case unit C60. Therefore, the wall surface processing device 21 does not move away from the wall surface Wa1 due to the reaction force of the forward linear force of the movable plate 36, and the movable plate 36 can be advanced. This allows the core drill 74 to be advanced while rotating, forming a stepped hole in the wall surface Wa1 with a larger diameter at the opening side. In this case, the link control unit 255 adjusts the advancement speed of the movable plate 36 based on the rotation speed of the core drill 74 and the load of the second motor 42 set by the drilling control unit 256. The link control unit 255 then advances the movable plate 36 and the core drill 74 to a predetermined specified depth.

[0069] Thereafter, the hole 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 moving the movable plate 36 straight backward and withdrawing the core drill 74 from the hole.

[0070] Next, the control unit 25 executes a process of changing to a driving tool (step S1-6). Specifically, the grip control unit 253 drives the first motor 67 to rotate the rotation shaft 32b, thereby changing the operating unit 30 from the horizontal wall surface processing posture to the downward attachment / detachment posture.

[0071] 15 and 16, the second engagement portion T2 of the drilling tool 70 is positioned above the notch of the locking portion 55a of the tool support portion 55 in 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] The gripping control unit 253 then drives the electric cylinder 37 to retract the rod 37a, thereby separating the tool holding unit 38. This causes the second engagement portion T2 of the drilling tool 70 to catch on the upper surface around the notch of the locking portion 55a, and the 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 drilling tool 70 is placed, thereby attracting the drilling tool 70.

[0073] Next, the gripping control unit 253 drives the first motor 67 to change the operating unit 30 to the retracted position. Then, the storage control unit 252 drives the third motor 52 to rotate the tool support unit 55 and place the driving tool 80 in the tool attachment / detachment position. Next, the gripping control unit 253 drives the first motor 67 to change the operating unit 30 from the retracted position to the attachment / detachment position, and then drives the electric cylinder 37 to extend the rod 37a to grip the driving tool 80. In this case, the upper surface 38a and the lower surface 38b of the tool holding unit 38 are engaged with the first engagement portion T1 and the second engagement portion T2 of the driving tool 80. Thereafter, the storage control unit 252 stops the power supply to the electromagnet 57 that has been attracting the driving tool 80.

[0074] The gripping control unit 253 then drives the first motor 67 to rotate the operating unit 30 and change the operating unit 30 to an anchor removal position for removing the anchor from the anchor storage unit. The driving control unit 257, in conjunction with the link control unit 255, drives the second motor 42 in the anchor removal position 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. The driving control unit 257 then energizes the solenoid 81 of the driving tool 80 to attract and hold one anchor located at the attachment position in the anchor storage unit at the tip of the step bar 82. Next, the link control unit 255 retracts the movable plate 36, thereby removing the step bar 82 with the attracted anchor from the anchor storage unit. The gripping control unit 253 then drives the first motor 67 to change the operating unit 30 from the anchor removal position to a horizontal wall surface processing position.

[0075] Next, the control unit 25 executes the driving process (step S1-7). Specifically, the driving control unit 257, working in conjunction with the link control unit 255, drives the second motor 42 and moves the movable plate 36 of the gripping unit 35 straight forward so that the wall surface processing device 21 does not escape to the side opposite the wall surface Wa1. This moves the step bar 82 holding the anchor forward, and the anchor is pushed 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 the load on the second motor 42 increases and it is determined that the head of the anchor has locked into the hole, the driving control unit 257 stops attracting the anchor by stopping the supply of electricity to the solenoid 81. Then, the link control unit 255 causes the second motor 42 to rotate in the reverse direction, thereby retracting the movable plate 36 and pulling the step bar 82 out of the hole. This causes the anchor to be placed in the hole formed in the wall surface Wa1.

[0077] Next, the control unit 25 executes a process of replacing the driving tool with 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 operating unit 30 from the wall surface processing posture to the attachment / detachment posture, and positions the driving tool 80 above the notch of the locking portion 55a of the tool support unit 55, which is in the attachment / detachment position. Then, the gripping control unit 253 drives the electric cylinder 37 to separate the tool holding unit 38, and places the driving tool 80 on the locking portion 55a. The storage control unit 252 attracts the driving tool 80 using the electromagnet 57.

[0078] Next, the gripping control unit 253 drives the first motor 67 to move the operating unit 30 to the retracted position. Thereafter, the storage control unit 252 drives the third motor 52 of the tool storage unit 50. This rotates the tool support unit 55, moving 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 operating unit 30 from the retracted position to the attachment / detachment position and position 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 gripper 35, and the storage control unit 252 stops power supply to the electromagnet 57 that was attracting the injection tool 85. Then, the gripping control unit 253 drives the first motor 67 to change the operating unit 30 from the attachment / detachment position to the wall surface processing position.

[0079] Next, the control unit 25 executes the 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 move the movable plate 36 forward in a straight line, 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 stopping the second motor 42, the injection control unit 258 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 obtained by mixing the two liquids in 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 is complete based on the injection pressure and flow rate at the discharge unit 88m. Here, if 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 adhesive and the injection is complete. When the injection control unit 258 determines that the injection has ended, the link control unit 255 drives the second motor 42 to move the movable plate 36 that grips the injection tool 85 backward.

[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 operating unit 30 from the wall surface processing 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. Furthermore, the gripping control unit 253 drives the electric cylinder 37 to move the tool holding portion 38 away, and places the injection tool 85 on the locking portion 55a. The storage control unit 252 energizes the electromagnet 57 to attract the injection tool 85.

[0081] Next, the control unit 25 changes the operating unit 30 to the retracted position and rotates the tool support portion 55. This moves the driving tool 80 to the attachment / detachment position, and positions the locking portion 55a that does not support a tool and faces the locking portion 55a located at the attachment / detachment position on the opposite side of the wall surface Wa1. In this state, the process of moving to the treatment position (step S1-1) and subsequent processes are repeated for the next repair location. The above process is carried out for all designated repair locations.

[0082] (action) The wall surface processing device 21 moves the parallel link mechanism 34 to move the movable plate 36 of the gripping unit 35, which grips the tools (70, 80, 85), straight forward in a wall surface processing posture facing the wall surface. In this case, the wall surface processing device 21 is pressed toward the wall surface Wa1 by the thrust of the first propeller mechanism C64, so the wall surface processing device 21 can be moved forward without being pushed to the side opposite the wall surface Wa1 by the reaction force of the forward straight-forward force of the movable plate 36. Therefore, by simultaneously moving the parallel link mechanism 34, the movable plate 36 and the tools (70, 80, 85) can be moved straight forward along the wall surface with precision.

[0083] According to this embodiment, the following effects can be obtained. (1) The wall surface treatment device 21 of this embodiment includes an operating unit 30 in which a movable plate 36 holding tools (70, 80, 85) is attached to a base plate 31 via a parallel link mechanism 34. The parallel link mechanism 34 is then moved with the operating unit 30 in a horizontal wall surface treatment position. In this case, the wall surface treatment device 21 is pressed toward the wall surface Wa1 by the thrust of the first propeller mechanism C64, so the wall surface treatment device 21 can be advanced without being displaced to the side opposite the wall surface Wa1 by the reaction force of the forward linear advance of the movable plate 36. Therefore, the tools (70, 80, 85) supported on the movable plate 36 can be advanced forward (toward the wall surface Wa1) with precision, allowing wall surface treatment using the tools (70, 80, 85) to be performed on the wall surface Wa1 with precision.

[0084] (2) In this embodiment, the parallel link mechanism 34 includes three link mechanisms 34a, 34b, and 34c. In the wall surface processing posture, the second motor 42 is used so that the output torque of each of the link mechanisms 34a to 34c is approximately the same. This allows the parallel link mechanism 34 to move smoothly, and the tools (70, 80, 85) to move forward smoothly.

[0085] (3) In this embodiment, the base plate 31 of the operating unit 30 is provided with a rotation shaft 32b that is rotated by the first motor 67. As a result, by driving the first motor 67, the operating 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 operating unit 30 in the attachment / detachment position are disposed on both sides of the wide notch (where the tool is placed) of the locking portion 55a in the attachment / detachment position. This allows the tool (70, 80, 85) to be efficiently gripped or detached.

[0087] (5) In this embodiment, the tool storage unit 50 includes a rotatable tool support unit 55 having locking portions 55a on which the tools (70, 80, 85) are placed one by one. This allows the tool support unit 55 to be rotated to position the tool (70, 80, 85) in use in the attachment / detachment position. Furthermore, the tool storage unit 50 can be made smaller than when the tools (70, 80, 85) are stored in a line.

[0088] (6) In this embodiment, an electromagnet 57 that attracts the tools (70, 80, 85) is disposed in the locking portion 55a of the tool storage unit 50. By applying electricity to the electromagnet 57, the tools (70, 80, 85) stored in the tool storage unit 50 are attracted to the electromagnet 57, making it difficult for the tools to fall off the wall surface processing device 21.

[0089] (7) In this embodiment, each tool (70, 80, 85) has a housing T0 with the same structure. The housing T0 has a shape that fits into the tool holding portion 38 of the gripper 35 of the operating unit 30. This allows the gripper 35 to firmly grip each tool (70, 80, 85).

[0090] (8) In this embodiment, the control unit 25 performs a drilling process using the drilling tool 70 (step S1-5), a driving process using the driving tool 80 (step S1-7), and an injection process using the injection tool 85 (step S1-9) in the wall surface repair process. As a result, by changing the tools (70, 80, 85), the drilling process, the driving process, and the injection process in the wall surface repair process can be automatically performed consecutively. In this case, the operating unit 30 advances each tool (70, 80, 85) to the same position on the wall surface Wa1, so that the operating unit 30 can accurately identify the location of the wall surface to be processed and perform the three processes.

[0091] (9) In this embodiment, the control unit 25 causes the operating unit 30 to grip and move forward the drilling tool 70. The drilling tool 70 has a core drill 74 attached to the tip of the fourth motor 71. This allows the core drill 74 to be moved forward to form a hole in the wall surface Wa1.

[0092] (10) In this embodiment, the control unit 25 causes the operating unit 30 to grip and move forward the driving tool 80. The driving tool 80 has the anchor A1 attached to the tip of a step rod 82 fixed to a solenoid 81. This allows the step rod 82 to be moved forward, allowing the anchor A1 to be inserted into the hole in the wall surface Wa1.

[0093] (11) In this embodiment, the control unit 25 causes the operating unit 30 to grip and move forward the injection tool 85, inserting the tip of the injection tool 85 into the hole. The control unit 25 then injects adhesive into the hole from the tip of the injection pipe 86 of the injection tool 85. This allows the adhesive to be injected into the hole formed in the wall surface Wa1, thereby performing repair processing.

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

[0095] (13) In this embodiment, the control unit 25 determines the end of adhesive injection based on the injection pressure and flow rate of the adhesive. This allows the control unit 25 to automatically determine whether a sufficient amount of adhesive has been supplied to the hole and then end the injection process.

[0096] This embodiment can be modified as follows: This embodiment and the following modifications can be combined and implemented within the scope of technical compatibility. In the above embodiment, the control unit 25 holds the tools (70, 80, 85) using the tool holding portion 38. The shape of the holding portion that holds the tools (70, 80, 85) is not limited to this. For example, the control unit 25 may hold the storage portion T3.

[0097] In the above embodiment, the tools (70, 80, 85) are placed in the attachment / detachment position by rotation in the tool storage unit 50. However, the structure of the tool storage unit 50 for storing multiple tools is not limited to this. For example, the tools may be arranged in a single row. In this case, when changing tools, the tool storage unit 50 or the operating unit 30 is moved linearly.

[0098] In the above embodiment, the wall surface treatment device 21 is pressed against the wall surface Wa1 by the propulsive force of the first propeller mechanism C64 of the case part C60, and the wall surface treatment device 21 is moved forward without being pushed backward by the reaction force of the forward linear force of the movable plate 36. The receiving part that receives the reaction force of the forward linear force of the movable plate 36 is not limited to the first propeller mechanism C64. For example, a suction part that adheres to the wall surface when the movable plate 36 arrives at the repair location may be provided. Furthermore, the receiving part is not limited to being provided in the case part C60, and may be provided in the frame part 60, for example.

[0099] In the wall surface processing device 21 of the above embodiment, when the operating unit 30 is in the wall surface processing posture, the link mechanism 34a is positioned above the center C2 of the movable plate 36, and the link mechanisms 34b and 34c are positioned below the center C2. The number, arrangement, and structure of the parallel link mechanism 34 are not limited to this. For example, when the operating unit 30 is in the wall surface processing posture, one of the three link mechanisms constituting the parallel link mechanism 34 may be positioned below the center C2 of the movable plate 36 and two may be positioned above the center C2. In this case, the tool storage section 50 may be provided on the upper surface, and the operating unit 30 may be positioned in the upward mounting / detachment posture. By providing two link mechanisms above the center C2, the load on the second motor 42 driving the upper link mechanism can be reduced, thereby reducing the load on the second motor 42 of the entire parallel link mechanism 34. Therefore, the second motor 42 can be made smaller, thereby contributing to the miniaturization of the wall surface processing device 21.

[0100] In the above embodiment, the wall repair process involves drilling, driving, and injection for one repair location. The wall repair process is not limited to performing all three of these processes. For example, depending on the condition of the repair location, one or two processes may be performed, or other wall treatments may be added. Other wall treatments include mortar removal and decorative nail driving.

[0101] In the above embodiment, the control unit 25 pressurized the two liquids that make up the adhesive and injected them into the holes. However, the method of supplying the adhesive to the wall surface is not limited to this. For example, a predetermined amount of adhesive may be supplied. In this case, for example, a cylinder (adhesive cylinder) containing a predetermined amount of adhesive may be used.

[0102] Figure 17 shows the main parts of an injection tool 90 that supplies adhesive to a wall surface Wa1 using an injection tool 90 equipped with an adhesive cylinder 101 that contains a fixed amount of adhesive. Figure 17(a) is a perspective view of the main parts of the injection tool 90, Figure 17(b) is a top view of the main parts, and Figure 17(c) is a cross-sectional view of the main parts.

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

[0104] The injection tool 90 includes a loading section 92, a feeding mechanism section 93, and a pushing section 95. The pushing section 95 and the feeding mechanism section 93 are fixed to the housing section of the above embodiment, and the loading section 92 is fixed so as to protrude from the second engagement section of the housing section.

[0105] A round hole loading area 92h is formed through the loading section 92 on the central axis. A feed mechanism 93 is provided on one side of the loading section 92, with its central axis shifted downward. The feed mechanism 93 has a cylindrical body with two spaced-apart gear-shaped engaging protrusions 94. An adhesive cylinder 101 or an anchor pin 102 is engaged in the gap between the engaging protrusions 94 at the top. The gap between the engaging protrusions 94 at the top aligns with the loading area 92h.

[0106] The push-out unit 95 includes an electric cylinder that extends and retracts a rod 96. The tip of the rod 96 pushes out the adhesive cylinder 101 or anchor pin 102 in front of the loading area 92h, and the adhesive cylinder 101 or anchor pin 102 is removed from the belt 103 and inserted into the loading area 92h.

[0107] In the injection process, the control unit 25 changes the operating unit 30 to a wall surface processing posture, and then 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 to extend the rod 96, thereby extruding the adhesive cylindrical body 101 into the loading area 92h of the loading unit 92. Thereafter, the control unit 25 rotates the feed mechanism 93 by a rotation angle corresponding to the feed interval to prepare for the next push.

[0108] As a result, as shown in FIG. 18(a), an adhesive cylinder 101 is placed in the loading area 92h, and then, as shown in FIG. 18(b), an 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 dispensed 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 from the adhesive cylinder 101 adheres to the periphery of the anchor pin 102. Then, as shown in FIG. 18(d), the tip of the subsequent adhesive cylinder 101 used for the next repair location pushes the anchor pin 102, with the adhesive from the adhesive cylinder 101 clinging to it, out of the loading area 92h and inserts it into the hole formed in the wall surface Wa1. This allows the anchor pin 102, along with the adhesive, to be inserted into the hole in the wall surface Wa1.

[0109] Next, the technical ideas that can be understood from the above-described embodiment and other examples will be described 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 of the link mechanisms; 3. The wall surface processing system according to claim 1, wherein the drive motor has different output characteristics depending on the position in the wall surface processing posture. (b) A wall surface processing system as described in (a), claim 1 or 2, characterized in that it is provided with a posture change unit that changes the wall surface processing posture and the attachment / detachment posture of the gripping unit that attaches and detaches tools to and from the tool storage unit by rotating the base plate around a horizontal axis parallel to the vertical plane as a central axis. (c) the tool storage section includes a rotatable tool support section that supports a plurality of tools at a distance from each other on an outer peripheral edge portion thereof; The wall surface processing system according to claim (a), (b), claim 1 or 2, characterized in that by rotating the tool support part, one of the tools is positioned at a detachment position where the gripping part in the detachment posture grips the tool. (d) further comprising a control unit for controlling the rotation of the attitude changing unit, the drive motor of the parallel link mechanism, and the tool support unit; the plurality of tools includes a first tool and a second tool; The control unit moving the first tool in the wall surface processing posture forward using the parallel link mechanism to perform first wall surface processing using the first tool; After the first tool has been subjected to the first wall surface processing, the first tool is retracted using the parallel link mechanism, and then the posture change unit is controlled to change the gripping unit from the wall surface processing posture to a detachment posture, and the first tool is stored in the tool storage unit. rotate the tool support portion to place the second tool stored in the tool storage portion at the attachment / detachment position; After removing the second tool arranged at the attachment / detachment position, the posture change unit is controlled to change the gripping unit from the attachment / detachment posture to a wall surface processing posture; The wall surface processing system described in (c) is characterized in that the second tool in the wall surface processing posture is advanced using the parallel link mechanism to perform second wall surface processing using the second tool.

[0110] (e) A wall surface processing system described in any one of (a) to (d), claim 1 or 2, characterized in that the parallel link mechanism has three motors that drive three link mechanisms respectively, and in the wall surface processing posture, two of the three motors are positioned above the position where the tool is grasped in the gripping portion. (f) A wall surface treatment system described in any one of (a) to (d), claim 1 or 2, characterized in that the tool is a tool for injecting adhesive and further includes a control unit that controls the injection of the adhesive into the hole, and the control unit determines that the injection of the adhesive into the hole has been completed based on the injection pressure and flow rate of the adhesive. (g) A wall treatment system according to any one of (a) to (e), claim 1 or 2, characterized in that the tool is a tool for injecting adhesive, and the tool comprises a loading section for loading a strip in which adhesive cylinders containing the adhesive and anchor pins for pushing out the adhesive cylinders are arranged alternately, a delivery mechanism for feeding out the strip at an interval between the adhesive cylinders and the anchor pins, and the adhesive cylinders and the anchor pins are attached to the loading area in order.

[0111] (h) A wall surface treatment device that is housed in a case that can move along a wall surface and has an operating unit that operates a tool for performing wall surface treatment, The operation unit a gripping portion that grips the tool; a parallel link mechanism that moves the gripping unit forward toward a wall surface; a base plate that supports the parallel link mechanism, A wall surface processing device characterized in that the gripping portion is brought close to the wall surface using a receiving portion that receives a reaction force of the forward force of the gripping portion. (i) An apparatus characterized by comprising: a loading section having a partitioned loading area for accommodating a tubular member extruded by an extrusion member; an attachment section for attaching a strip of first tubular members which are the tubular member and second tubular members which are different from the first tubular members, arranged alternately at a predetermined feed interval; and a feeding mechanism for feeding out the strip at the feed interval. (j) A strip characterized in that a first cylindrical body and a second cylindrical body different from the first cylindrical body are arranged alternately at a predetermined feed interval. [Explanation of symbols]

[0112] A1...anchor, B1, 103...belt, C1...central vertical surface, C2...center, C60...case part, C61...main body part, C61a...back side, C62...hanging part, C63...engagement part, C64...first propeller mechanism as receiving part, C65...second propeller mechanism, C67...third propeller mechanism, T0...casing 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... Hanging unit, 13,14... Ground unit, 21... Wall surface processing device, 25... Control unit, 30... Operating unit, 31... Base plate, 32, 38d... Mounting portion, 32a... Protrusion, 32b... Rotation axis, 33... Second gear, 34... Parallel link mechanism, 34a, 34b, 34c... Link mechanism, 35... Grip portion, 36... Movable plate, 36a, 36b... Notch, 37... Electric cylinder, 37a, 96... Rod, 38... Tool holding portion, 38a... Upper surface portion, 38b... Lower surface portion, 38 c...side surface portion, 41...fixed side mounting portion, 41a, 41b, 45a, 45b, 49a, 49b, 65, 66...mounting plate, 41c...connecting member, 42...second motor as drive motor, 43, 44a...pulley, 44...connecting shaft, 44b...end portion, 45...arm portion, 46...fixed side connecting member, 47...link member, 48...movable side connecting member, 49...movable side mounting portion, 50...tool storage portion, 51...base portion, 51a...block, 51b...motor fixing portion, 51c...mounting member, 52...third motor motor, 55...tool support portion, 55a, 82a...locking portion, 57...electromagnet, 60...frame, 61...base portion, 62...vertical frame, 63, 64...horizontal frame, 67...first motor, 68...first gear, 70...drilling tool, 71...fourth motor, 72...rotary joint, 72a...tip portion, 74...core drill, 76, 84...cable, 77...water supply hose, 78...drainage 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 unit, 92... loading unit, 92h... loading area, 93... feed mechanism unit, 94... engaging protrusion unit, 95... extrusion unit as extrusion member, 100... band, 101... adhesive cylinder, 102... anchor pin, 251... management unit, 252... storage control unit, 253... gripping control unit, 254... movement control unit, 255... link control unit, 256... drilling control unit, 257... driving control unit, 258... injection control unit.

Claims

1. an operating unit for operating a tool for injecting adhesive for wall treatment; a case portion that accommodates the operating unit therein and is movable along a wall surface; The operation unit a gripping portion that grips the tool; a parallel link mechanism that moves the gripper forward toward the wall surface; a base plate that supports the parallel link mechanism; a control unit that controls the injection of the adhesive into the hole, the case portion includes a receiving portion that receives a reaction force of the forward force of the grip portion and moves the grip portion close to the wall surface, The wall surface treatment system is characterized in that the control unit determines that the injection of the adhesive into the hole has been completed based on the injection pressure and flow rate of the adhesive.

2. An operating unit for operating a tool for injecting adhesive for wall treatment; a case portion that accommodates the operating unit therein and is movable along a wall surface; The operation unit a gripping portion that grips the tool; a parallel link mechanism that moves the gripper forward toward the wall surface; a base plate that supports the parallel link mechanism, the case portion includes a receiving portion that receives a reaction force of the forward force of the grip portion and moves the grip portion close to the wall surface, The tool comprises: a loading section for loading a strip in which adhesive cylinders containing the adhesive and anchor pins for pushing out the adhesive cylinders are arranged alternately; a delivery mechanism for delivering the strip at an interval between the adhesive cylinder and the anchor pin, A wall treatment system, characterized in that the adhesive cylinder and the anchor pin are sequentially mounted in a loading area.

Images