Construction robot device and construction robot device control method

Abstract

To provide a construction robot device which can perform required work highly accurately even on an unstable work floor, and a control method for a construction robot device.SOLUTION: A construction robot device comprises a robot arm, a work floor on which the robot arm is placed, and a distance measurement portion measures a distance to a work object. During working in a work machine, the robot device controls a feed quantity target value and a feed speed of the robot arm on the basis of a distance from the work machine to the work object and a displacement magnitude of the work floor.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a construction robot device and a control method for a construction robot device. [Background technology]

[0002] There is a shortage of specialized elevator installation workers due to the aging of skilled workers and a lack of interest among young people. For this reason, efforts are being made to automate elevator installation work. To automate the installation work of elevators inside hoistways, an elevator installation device has been developed that uses an articulated robotic arm (hereinafter simply referred to as the robotic arm) mounted on an unstable work platform suspended from the ceiling of the hoistway.

[0003] The robot arm is equipped with a drilling tool that can drill multiple holes in the concrete wall of the elevator hoistway to insert and install anchor bolts. The anchor bolts are inserted as fixing points for structural components, including elevator rails, that are attached to the concrete wall. Because the components to be attached inside the hoistway are fastened to the anchor bolts with nuts, the anchor bolts must meet the fixing strength requirements of the components, such as rails, that are to be fixed inside the hoistway.

[0004] To meet these requirements, Patent Document 1 discloses a configuration in which multiple laser distance sensors are mounted on a drilling tool held by a robot arm. The laser distance sensors measure the distance to the wall, and the inclination of the drilling tool is adjusted based on the measurement results, so that the drilling tool is perpendicular to the wall.

[0005] Patent Document 1 also discloses that a spring-driven moment compensation jig is provided to reduce the moment acting on the robot arm's hand during operation of the drilling tool. Furthermore, Patent Document 1 discloses a configuration in which an elastic member is sandwiched between the robot arm's hand and the drilling tool to reduce vibration of the robot arm's hand. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Patent Publication No. 2020-125194 Summary of the Invention [Problem to be solved by the invention]

[0007] However, Patent Document 1 does not take into consideration the displacement of the work platform on which the robot arm suspended from the ceiling of the elevator shaft is placed. Therefore, if the work platform is displaced during operation, the robot arm cannot perform high-precision drilling. Furthermore, while Patent Document 1 discloses a configuration that uses an elastic member to dampen vibrations at the robot arm's hand, this only passively addresses vibrations of the robot arm. Therefore, it may not be effective against large vibrations from an unstable suspended work platform.

[0008] Therefore, the present invention provides a construction robot device that can perform a desired task with high precision even on an unstable work platform, and a control method for the construction robot device. [Means for solving the problem]

[0009] To solve the above problems and achieve the object of the present invention, a construction robot device of the present invention includes a robot arm having multiple joints and moving a work implement attached to the tip in a predetermined direction. The device also includes a distance measurement unit that measures the distance between a work platform on which the robot arm is placed and a work object, and a distance calculation unit that calculates the distance from the work platform to the work object based on the measurement value measured by the distance measurement unit. The device also includes a floor displacement calculation unit that calculates the amount of displacement of the work platform that occurs while the work platform is working, and an arm control unit that controls the target feed amount and feed speed of the robot arm based on the distance from the work platform to the work object and the amount of displacement of the work platform while the work platform is working.

[0010] The control method for a construction robot device of the present invention calculates the distance from the work machine to the work object from the measurement value measured by the distance measurement unit in the above-mentioned construction robot device. Next, it calculates the amount of displacement of the work platform that occurs during work by the work machine. Then, while the work machine is working, it controls the target feed amount and feed speed of the robot arm based on the distance from the work machine to the work object and the amount of displacement of the work platform. [Effects of the Invention]

[0011] According to the present invention, it is possible to carry out a desired operation with high precision even on an unstable work platform. [Brief explanation of the drawings]

[0012] [Figure 1] 1 shows a schematic configuration of a construction robot device 100 according to a first embodiment of the present invention. [Figure 2] 4 is a flow chart showing a control method for the construction robot device 100 in the first embodiment. [Figure 3] FIG. 2 is a schematic diagram showing the displacement of the work platform 1 during drilling. [Figure 4] 4A to 4C are diagrams showing stepwise the state of the tip 62 of the drill bit 61 and the state inside the hole during drilling work. [Figure 5] 10 is a diagram showing the amount of displacement in the Z direction accompanying the movement of the work platform 1 in the direction indicated by the arrow X2. [Figure 6] FIG. 10 is a schematic configuration diagram of a construction robot device 700 according to a second embodiment of the present invention, as viewed from above. [Figure 7] FIG. 10 is a schematic configuration diagram of a construction robot device 120 according to a third embodiment of the present invention, seen from the side. [Figure 8] FIG. 10 is a schematic configuration diagram of a construction robot device 800 according to a fourth embodiment of the present invention. [Figure 9] 10 is a flow chart showing a control method for a construction robot device 800 according to a fourth embodiment. [Figure 10] FIG. 10 is a diagram showing a control method for a construction robot device according to a fifth embodiment of the present invention. [Figure 11] FIG. 10 is a schematic configuration diagram of a construction robot device 900 according to a sixth embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0013] An example of a construction robot device and a control method for a construction robot device according to an embodiment of the present invention will be described below with reference to the drawings. Note that the present invention is not limited to the following example. In each of the drawings described below, common components are assigned the same reference numerals.

[0014] 1. First embodiment 1-1.Configuration of the construction robot device 1 shows a schematic configuration of a construction robot device 100 according to a first embodiment of the present invention (hereinafter referred to as this embodiment). The following description will be given taking as an example a case where the construction robot device 100 is applied to installation work in an elevator shaft 101. In the following description, each part will be described with the up-and-down direction of the shaft 101 as the Z direction, the left-to-right direction on the page as the X direction, and the depth direction on the page as the Y direction.

[0015] As shown in FIG. 1, the construction robot device 100 of this embodiment includes a work platform 1, a robot arm 5, a drilling tool 6, a distance measuring unit 7, and a control unit 10.

[0016] [Work Platform] The work platform 1 is placed at a predetermined height within the hoistway 101, and is a plate-like member having a surface parallel to the XY plane on which the robot arm 5 is placed. The work platform 1 is suspended from the ceiling 4 of the hoistway 101 by two ropes 2. One end of each of the two ropes 2 facing the ceiling 4 is wound around a hoist 3, and the other end opposite the ceiling 4 is fixed to the work platform 1. The two ropes 2 are wound up to a predetermined length by the hoist 3. This allows the work platform 1 to be moved to a predetermined height and suspended at a position where work is required.

[0017] [Robot arm] The robot arm 5 is installed on the upper surface of the work floor 1, which serves as the robot installation surface, and is a robot that can move a work machine (in this embodiment, a drilling tool 6) attached to the tip in a predetermined direction. The robot arm 5 is composed of a base part 50, a first arm 52, a second arm 54, and joint parts 51 and 53 that connect these members.

[0018] The base unit 50 is a member placed on the robot installation surface facing the ceiling 4 of the work floor 1, and stably supports the first arm 52 and the second arm 54. Although not shown, the base unit 50 may be provided with a swivel unit that rotatably supports the upper side of the robot arm 5 made up of the first arm 52 and the second arm 54.

[0019] The first arm 52 is a member attached to the base 50 via a joint 51 and is configured to be long in one direction. The second arm 54 is a member attached to the first arm 52 via a joint 53 and is also configured to be long in one direction.

[0020] Each of the joints 51, 52 is operated within a predetermined range of motion by rotational movement or the like under the control of the arm control unit 14 in the control unit 10. The first arm 52 and the second arm 54 are configured to be movable in each of the X, Y, and Z directions by the operation of the joints 51, 52. In this embodiment, for example, when drilling a hole in the wall surface 9 of the elevator shaft 101 with the drilling tool 6, the first arm 52 and the second arm 54 are moved under the control of the arm control unit 14 so that the drilling tool 6 perpendicularly abuts on the target drilling position on the wall surface 9. Furthermore, when drilling a hole with the drilling tool 6, the first arm 52 and the second arm 54 are moved at a predetermined feed rate under the control of the arm control unit 14, and the drilling tool 6 is moved toward the wall surface 9. The control method of the arm control unit 14 will be described in detail later.

[0021] [Drilling tools] The drilling tool 6 is a tool equipped with a drill bit 61 for drilling holes in the wall surface 9 of the elevator shaft 101 (corresponding to the work object of the present invention), and is supported via a support part 55 at the tip of the second arm 54 on the side opposite to the first arm 52. The drilling tool 6 is driven under the control of the work machine control part 15 in the control part 10, and performs drilling by rotational movement and impact. In this embodiment, drilling is performed at a predetermined feed rate by the movement of the robot arm 5, and to a predetermined depth. A method for controlling the robot arm 5 during drilling will be described in detail later.

[0022] [Distance measurement section] The distance measurement unit 7 is attached to the tip of the second arm 54 on the side opposite to the first arm 52, and in this embodiment, is fixed above the second arm 54 in the vertical direction. The distance measurement unit 7 can be configured with a device capable of measuring the distance to the wall surface 9 of the elevator shaft 101 by contact or non-contact. In this embodiment, the distance measurement unit 7 is configured with a laser-type distance sensor capable of measuring the distance to the wall surface 9 by non-contact. When a laser-type distance sensor is used for the distance measurement unit 7, the distance to the work target wall can be measured by irradiating the work target wall with laser light. Based on the measurement value of the distance measurement unit 7, the distance between the work target wall and the tip of the drilling tool 6 is calculated by the distance calculation unit 11 in the control unit 10.

[0023] [Control Unit] The control unit 10 includes a distance calculation unit 11, a floor displacement calculation unit 12, an arm control unit 14, and a work machine control unit 15. The distance calculation unit 11 calculates the distance between the wall 9 and the tip of the drilling tool 6 on the wall 9 side based on the measurement value transmitted from the distance measurement unit 7. Furthermore, when the tip of the drilling tool 6 is inserted in the depth direction of the wall 9, the distance calculation unit 11 calculates the current hole depth based on the measurement value transmitted from the distance measurement unit 7.

[0024] The floor displacement calculation unit 12 calculates the amount of displacement of the work floor 1 caused by the reaction force that the robot arm 5 receives from the wall side during drilling work. The method for calculating the amount of displacement of the work floor 1 by the floor displacement calculation unit 12 will be described later.

[0025] The arm control unit 14 controls the robot arm 5 based on the initial setting values, and during the drilling operation, dynamically controls the target feed amount value and feed speed of the robot arm 5. Furthermore, based on a construction robot control method described later, the arm control unit 14 controls the robot arm 5 so that the drilling tool 6 moves toward the wall surface 9 until drilling of the target depth is completed.

[0026] The work machine control unit 15 controls the drive of the drilling tool 6 in accordance with a predetermined operation program. In this embodiment, the work machine control unit 15 starts driving the drilling tool 6 at a predetermined timing after the drilling tool 6 comes into contact with the target drilling position on the wall surface 9. This causes the drilling tool 6 to start drilling by rotational motion and impact. Furthermore, when the hole depth reaches the target value, the work machine control unit 15 stops driving the drilling tool.

[0027] 1-2. Construction robot control method Next, a control method for the construction robot device 100 will be described, including a control method for the robot arm 5. Fig. 2 is a flow chart showing a control method for the construction robot device 100 in this embodiment. In this embodiment, an example will be described in which a drilling tool is brought into contact with a wall surface 9 formed on a YZ plane in Fig. 1 from the X direction, and drilling is performed so that the depth direction is the X direction.

[0028] First, the inclination of the wall surface 9 to be drilled is measured (calculated) using the value measured by the distance measurement unit 7 (step S1). In step S1, for example, the robot arm 5 is moved to measure the distance d from the distance measurement unit 7 to the wall surface 9 at three positions (non-aligned positions) that do not overlap in the X direction. sensor Then, the distance calculation unit 11 calculates the measured values ​​d sensorThe inclination of the wall surface 9 is calculated from the measured values. In this way, by measuring the distances from at least three misaligned positions to the wall surface 9, the inclination of the wall surface 9 can be estimated from the measured values. Information about the inclination of the wall surface 9 calculated by the distance calculation unit 11 is transmitted to the arm control unit 14.

[0029] Next, based on the information about the inclination of the wall surface 9 sent from the distance calculation unit 11, the arm control unit 14 controls the inclination of the robot arm 5 so that the axis of the second arm 54 of the robot arm 5 is perpendicular to the wall surface 9 (step S2). This adjusts the posture of the robot arm 5 so that the axial direction of the drill bit 61 of the drilling tool 6 is perpendicular to the wall surface 9. In this way, in this embodiment, by adjusting the robot arm 5 in accordance with the inclination of the wall surface 9, the drilling direction of the drilling tool 6 can be made perpendicular to the wall surface, thereby preventing the tip 62 of the drill bit 61 of the drilling tool 6 from slipping on the wall surface 9.

[0030] Next, the arm control unit 14 moves the robot arm 5 until the tip 62 of the drill bit 61 of the drilling tool 6 comes into contact with the target drilling position on the wall surface 9 (step S3). The arm control unit 14 determines the target drilling position on the wall surface 9 based on, for example, a CAD drawing stored in advance in a storage unit (not shown), and controls the robot arm 5 to approach the target drilling position.

[0031] In step S3, while the robot arm 5 is in operation, the distance calculation unit 11 calculates the measured value d measured by the distance measurement unit 7. sensor Based on this, the distance d between the tip 62 of the drill bit 61 and the wall surface 9 drill-wall The distance between the tip of the distance measuring unit 7 on the drill bit 61 side and the tip 62 of the drill bit 61 is calculated as L sensor-drill Then, the distance d between the tip 62 of the drill bit 61 and the wall surface 9 is drill-wall can be calculated using the following [Equation 1].

[0032]

number

[0033] The arm control unit 14 calculates the distance d between the tip 62 of the drill bit 61 and the wall surface 9 calculated by the distance calculation unit 11. drill-wall In step S3, it is determined whether the tip 62 of the drill bit 61 has come into contact with the wall surface 9 based on d drill-wall = 0, it is determined that the tip 62 of the drill bit 61 has come into contact with the wall surface 9. Then, the arm control unit 14 determines that the tip 62 of the drill bit 61 has come into contact with the wall surface 9 when the distance between the tip 62 of the drill bit 61 and the wall surface 9 becomes zero, and stops the operation of the robot arm 5.

[0034] Next, the arm control unit 14 starts controlling the robot arm 5 based on the initially set target feed amount value and feed rate, and the work machine control unit 15 starts operating the drilling tool 6. This starts the drilling process (step S4). Here, the "feed amount" of the robot arm 5 is the amount of movement of the robot arm 5 in the X direction toward the wall surface 9, and the initially set target feed value is determined by the depth of the hole to be formed. Furthermore, the "feed rate" of the robot arm 5 is the movement speed when the robot arm 5 is moved in the X direction toward the wall surface 9, and the initially set value is set based on experience.

[0035] In conventional drilling, in step S4, the drilling is terminated when the robot arm 5 has been moved to a predetermined feed amount target value, and the robot arm 5 is returned to its initial setting position. However, when the work platform 1 is not fixed as in this embodiment, the reaction force during drilling causes the work platform 1 to move in the X direction opposite to the drilling direction. Figure 3 is a schematic diagram showing the displacement of the work platform 1 during drilling in this embodiment.

[0036] The work platform 1 is not fixed in the X direction. Therefore, during drilling, the work platform 1 moves in the direction opposite to the drilling direction by a predetermined distance d due to the counter force received from the wall surface 9. platformTherefore, when the first arm 52 and the second arm 54 of the robot arm 5 are moved in the X direction toward the wall surface 9 by a predetermined feed amount, the base unit 50 moves together with the work floor 1 in the X direction away from the wall surface 9. As a result, the feed amount of the robot arm 5 differs from the depth of the hole being formed, and therefore it is necessary to dynamically control the feed amount target value of the robot arm 5.

[0037] Furthermore, the feed rate of the robot arm 5 must also be dynamically controlled. FIGS. 4A to 4C are diagrams showing the state of the tip 62 of the drill bit 61 and the inside of the hole during a drilling operation in stages. During the drilling operation, the drilling tool 6 drills a hole in a concrete wall surface 9 by rotational motion and impact, and as shown in FIG. 4A, concrete fragments 41 accumulate in the hole due to the impact. As the drilling operation progresses, these concrete fragments 41 are ejected from the hole as shown in FIG. 4B. When the fragments 41 that had accumulated in the hole are ejected from the hole, a gap is created between the tip 62 of the drill bit 61 and the bottom surface of the hole, reducing the reaction force from the wall surface 9 on the robot arm 5. Therefore, if the work platform 1 is moving in the X direction opposite the drilling direction, a force that tries to return the work platform 5 to its original position is generated by its own weight.

[0038] And the displacement of the work platform 1 d platform When the displacement of the work platform 1 is large, the force acting to return the work platform 1 to its original position also increases, causing the tip 62 of the drill bit 61 to collide with the bottom of the hole, as shown by arrow G in Figure 4C. This places a load on the robot arm 5 and the drilling tool 6, which can damage the robot arm 5 and the drilling tool 6 or result in a poor surface finish of the hole. Therefore, the feed rate of the robot arm 5 also needs to be dynamically controlled based on the displacement of the work platform 1.

[0039] In the flow after step S5, the displacement amount d of the work platform 1 platform 10 shows an example in which the target feed amount value and feed speed of the robot arm 5 are dynamically changed based on the above.

[0040] Before explaining step S5 and subsequent steps, the displacement d of the work platform 1 will be described below. platform The calculation method will be explained below.

[0041] When the work platform 1 is displaced as shown in Figure 2 during drilling work, the depth of the hole at the end of drilling work up to the initial feed amount target value will be different from the target hole depth and will be the depth calculated using the following [Equation 2] and [Equation 3].

[0042]

number

[0043]

number

[0044] where D final is the final hole depth after the drilling operation is completed. D target is the target hole depth. D is the current hole depth measured instantaneously during the drilling operation. Also, d robot is the current feed amount of the robot arm 5 measured during the drilling operation. robot is a value calculated from a preset operation program for the robot arm 5. ε is the deformation of the robot arm 5 and the drilling tool 6 due to the drilling work.

[0045] On the other hand, the current hole depth D measured instantaneously during drilling can also be obtained from the measurement value measured by the distance measurement unit 7. In this case, the current hole depth D can be calculated using the following [Equation 4].

[0046]

number

[0047] Therefore, the displacement of the work platform 1 d platformThe following [Equation 5] can be obtained from [Equation 3] and [Equation 4] as a formula for calculating [Equation 5]. Note that the deformation ε of the robot arm 5 and the drilling tool 6 is considered to be minimum (zero).

[0048]

number

[0049] Then, from step S5 onwards, from the above-mentioned viewpoint, the target value of the feed amount and the feed speed of the robot arm 5 are dynamically controlled. The flow from step S5 onwards will be explained below.

[0050] After starting the drilling operation in step S4, the distance calculation unit 11 calculates the current hole depth D from the equation [Equation 4] (step S5). That is, in step S5, the measured value d sensor , and the distance L between the tip of the distance measuring unit 7 and the tip 62 of the drill bit 61 sensor-drill Calculate the current hole depth D from

[0051] Next, in step S5, the arm control unit 14 determines whether the current hole depth D is greater than the target hole depth D based on the current hole depth D calculated by the distance calculation unit 11. targetに It is determined whether or not it has been reached (step S6).

[0052] In step S6, if the determination is "YES", that is, if the current hole depth D is equal to the target hole depth D target If it is determined that the robot arm 5 has reached the initial position, the arm control section 14 controls the robot arm 5 to return to the initial position (step S7). In this case, the control process in the construction robot device 100 ends.

[0053] On the other hand, if the determination in step S6 is "NO", that is, if the current hole depth D is not equal to the target hole depth D targetIf it is determined that the depth D of the hole has not yet reached the target depth D, the process proceeds to step S8. In step S8, the arm control unit 14 compares the current hole depth D with the target hole depth D target The target feed value of the robot arm 5 is increased based on the current feed amount calculated from the operation program and D target It can be calculated from the difference between D and

[0054] Next, the floor displacement calculation unit 12 calculates the displacement d of the work floor 1 based on the formula [5]. platform (Step S9) The displacement d of the work platform 1 calculated in Step S9 platform This information is sent to the arm control unit 14.

[0055] The arm control unit 14 calculates the displacement d of the work platform 1 calculated in step S9. platform Based on this, the displacement of the work platform 1 d platform It is determined whether or not the displacement amount d of the work platform 1 is equal to or greater than a predetermined threshold value (step S10). platform The threshold value is the displacement d of the work platform 1. platform This value is experimentally obtained from the relationship between the magnitude of the impact that may occur when the work platform 1 returns to its original position and the load.

[0056] In step S10, if the determination is "YES", that is, the displacement amount d platform is determined to be equal to or greater than the predetermined threshold, the process proceeds to step S11. In step S11, the arm control unit 14 determines whether the current feed speed of the robot arm 5 is at the minimum value (step S11). Here, the minimum value of the feed speed of the robot arm 5 is set to the minimum value within a range in which the movement of the robot arm 5 does not stop.

[0057] If the determination in step S11 is "YES", the process returns to step S5 and the same process as described above is performed.

[0058] On the other hand, if the determination in step S11 is "NO," the arm control unit 14 reduces the feed speed of the robot arm 5 (step S12). The feed speed of the robot arm 5 set here can be set to, for example, the minimum value. Thereafter, the process returns to step S5, and thereafter the same processing as described above is performed.

[0059] In step S10, if the determination is "NO", that is, the displacement amount d platform If it is determined that is smaller than the predetermined threshold, the process proceeds to step S13. In step S13, the arm control unit 14 determines whether the current feed speed of the robot arm 5 is the maximum value (step S13). Here, the maximum value of the feed speed of the robot arm 5 is set to the maximum value within a range that can avoid damage to the robot arm 5 due to an overload of force or torque.

[0060] If the determination in step S13 is "YES", the process returns to step 5, and the same processing as described above is carried out thereafter.

[0061] If the determination in step S13 is "NO," that is, if it is determined that the current feed speed of the robot arm 5 is not the maximum value, the process proceeds to step S14.

[0062] In step S14, the arm control unit 14 increases the feed speed of the robot arm 5. The feed speed of the robot arm 5 set here is set to a predetermined value, and can be set to, for example, the maximum value. Thereafter, the process returns to step S5, and the same processes as those described above are performed thereafter.

[0063] In this embodiment, during the drilling operation, the current hole depth D is constantly monitored and the target feed amount value of the robot arm 5 is dynamically controlled, thereby making it possible to form holes of the desired depth with high precision. platform By dynamically controlling the feed rate of the robot arm 5 in accordance with the load, it is possible to reduce the load on the robot arm 5 and the drilling tool 6 and also shorten the time required for drilling.

[0064] In this embodiment, the equation [5] is derived assuming that the displacement of the work platform 1 in the Y and Z directions is small and does not affect the drilling operation. However, if the displacement of the work platform 1 in the Y direction or the Z direction is large, it is necessary to take the displacement in the Y direction and / or the Z direction into consideration.

[0065] For example, in this embodiment, the case where holes are drilled in the X direction has been described as an example. However, when holes are drilled in the Y direction, the work floor 1 is displaced in the Y direction, so the displacement amount d of the work floor 1 in the Y direction is platform In this case, in step S9 of FIG. 2, the displacement amount d platform The feed speed of the robot arm 5 is determined depending on whether or not is equal to or greater than a predetermined threshold value.

[0066] Furthermore, if the length of the rope 2 that pulls up the work platform 1 is a predetermined length, for example, 6 m or more, the displacement in the Z direction can be ignored. On the other hand, if the length of the rope 2 that pulls up the work platform 1 is a predetermined length, for example, shorter than 6 m, the displacement in the Z direction must be taken into consideration. Figure 5 is a diagram showing the amount of displacement in the Z direction that accompanies the movement of the work platform 1 in the direction indicated by the arrow X2. As shown in Figure 5, if the length of the rope 2 is L rope , the displacement of the work platform 1 in the Z direction is d platform.z Then, the displacement of the work platform 1 in the Z direction d platform.z can be expressed by the following [Equation 6].

[0067]

number

[0068] Therefore, in a situation where the displacement in the Z direction accompanying the displacement of the work platform 1 in the X direction cannot be ignored, the displacement amount of the work platform 1 in the Z direction shown in [Equation 6] should also be taken into consideration, and the feed speed of the robot arm 5 should be dynamically controlled. In this case, in step S9 of FIG. 2, the displacement amount d platform In addition, the displacement in the Z direction d platform.zis equal to or greater than a predetermined threshold value, the feed speed of the robot arm 5 is determined.

[0069] In the above-described embodiment, the target feed amount and feed speed of the robot arm 5 are changed in consideration of the displacement of the work platform 1 suspended by two ropes 2. However, the configuration of this embodiment is applicable to any construction robot device that uses a work platform 1 that displaces during work. In the following second and third embodiments, examples will be described in which the support method for the work platform 1 differs from that of this embodiment.

[0070] 2. Second embodiment (example with different working floor configuration) Fig. 6 is a schematic configuration diagram of a construction robot device 700 according to a second embodiment of the present invention, seen from above. In Fig. 6, parts corresponding to those in Fig. 1 are given the same reference numerals, and duplicate explanations will be omitted. In Fig. 6, the configuration of the control unit is not shown, but the same control unit as the control unit 10 in the first embodiment is provided.

[0071] As shown in Fig. 6, in a construction robot device 700 according to the second embodiment, a work platform 1 on which a robot arm 5 is placed is fixed to a wall surface 9 of a hoistway 101. As shown in Fig. 6, a plurality of extendable support members 702 (two in Fig. 6) constituted by, for example, linear actuators are provided between the side surface of the work platform 1 in the Y direction and the wall surface 9, and the work platform 1 is fixed between the wall surfaces 9 in the Y direction. When the support members 702 shown in Fig. 6 are used, the support members 702 are interposed between the work platform 1 and the wall surface 9 in a portion other than the entrance / exit 701 of the hoistway 101.

[0072] Even if the work platform 1 is fixed to the wall surface 9 as in the second embodiment, a force in the opposite direction to the drilling direction is applied to the work platform 1 due to large impacts or vibrations during drilling. This may cause the work platform 1 to slide in the direction indicated by the arrow X3 in Figure 6. This also causes inaccuracies in the depth of the drilled hole.

[0073] In the second embodiment, the control method (steps S1 to S8) for the construction robot shown in Fig. 2 is also used to dynamically control the feed amount target value of the robot arm 5. This makes it possible to improve the drilling accuracy in the construction robot device 700 shown in Fig. 6 as well.

[0074] However, in the construction robot according to the second embodiment, unlike the construction robot device 100 according to the first embodiment, the working platform 1 does not return to its original position under its own weight after being displaced. Therefore, there is no risk of the collision shown in Figs. 4A to 4C. However, the displacement amount d of the working platform 1 per unit time platform When the displacement per unit time d is large, the feed speed of the robot arm 5 is reduced. platform Therefore, the displacement of the work platform 1 per unit time d platform Calculate the displacement d platform By adding a flow that controls the feed speed of the robot arm 5 according to the platform can be reduced.

[0075] 3. Third embodiment (Example of different working floor configuration: Part 2) 7 is a schematic side view of a construction robot device 120 according to a third embodiment of the present invention. In FIG. 7, parts corresponding to those in FIG. 1 are designated by the same reference numerals and redundant explanations will be omitted.

[0076] As shown in Fig. 7, in a construction robot device 120 according to the third embodiment, a robot arm 5 is placed on a carriage 122 made up of wheels 121 and a work platform 1 fixed to the upper part of the wheels 121. The carriage 122 is placed on a floor 123 of the work site, for example, the floor of a pit in an elevator shaft, and the wheels 121 are locked to prevent movement during work.

[0077] Even in the construction robot device 120 shown in FIG. 7, even if the wheels 121 are locked during work, the work platform 1 may move in the opposite direction to the drilling direction due to impacts and vibrations during drilling.

[0078] In the third embodiment, the target feed amount value of the robot arm 5 is dynamically controlled in the same manner as in the control method (steps S1 to S8) of the construction robot device shown in Fig. 2. This makes it possible to improve the drilling accuracy also in the construction robot device 120 shown in Fig. 7.

[0079] Furthermore, in the construction robot device 120 according to the third embodiment, similarly to the construction robot device 700 according to the second embodiment, the working platform 1 does not return to its original position under its own weight after being displaced. Therefore, there is no risk of the collision shown in Figs. 4A to 4C. On the other hand, in the third embodiment, since the working platform 1 is configured with a carriage 122, if the position of the carriage is displaced during drilling work, the drilling work can be stopped and the carriage 122 can be returned to its initial position. Therefore, in the third embodiment, the displacement amount d of the working platform 1 platform If the position of the carriage 122 exceeds a predetermined threshold, a flow is added to return the position of the carriage 122 to the initial position, thereby making it possible to improve the drilling speed and drilling accuracy.

[0080] In the first to third embodiments, whether or not the tip 62 of the drill bit 61 of the drilling tool 6 has contacted the wall surface 9 is calculated based on a measurement value obtained by the distance measurement unit 7. However, the detection of contact of the tip 62 of the drill bit 61 is not limited to this, and can also be performed using a sensor that detects the force and moment generated at the tip of the robot arm 5. Examples of a load detection unit that detects loads such as forces and moments generated at the tip of the robot arm 5 include a configuration that uses a force sensor and a configuration that uses a current sensor that detects currents flowing through each joint of the robot arm 5. Below, as a fourth embodiment, a configuration that uses a force sensor to detect the force and moment generated at the tip of the robot arm 5 on the support unit 55 side will be described. In the following description, the force and moment generated at the tip of the robot arm 5 on the support unit 55 side will be simply referred to as the force and moment generated in the robot arm 5.

[0081] 4. Fourth embodiment (example with force sensor) 4-1.Configuration of the construction robot device Fig. 8 is a schematic diagram of a construction robot device 800 according to a fourth embodiment of the present invention. The construction robot device 800 according to the fourth embodiment differs from the first embodiment in that it is equipped with a force sensor 81. In Fig. 8, parts corresponding to those in Fig. 1 are given the same reference numerals, and duplicated explanations will be omitted.

[0082] As shown in Fig. 8, a construction robot device 800 according to the fourth embodiment is provided with a force sensor 81 between the support part 55 of the robot arm 5 and the drilling tool. The force sensor 81 detects the force acting on the support part 55 side of the robot arm 5 and the moment occurring on the support part 55 side of the robot arm 5. The detection value detected by the force sensor 81 is transmitted to a force / moment calculation unit 16 of the control unit 80.

[0083] In the control unit 80, the detection value detected by the force sensor 81 is transmitted to the arm control unit 14. The arm control unit 14 detects the displacement d of the work platform 1. platform The feed speed of the robot arm 5 is controlled based on the force and moment generated at the tip of the robot arm 5.

[0084] 4-2. Control method of construction robot device Fig. 9 is a flow chart showing a control method for a construction robot device 800 according to a fourth embodiment. In Fig. 9, parts that are the same as those in the control flow in Fig. 2 are given the same reference numerals. In the fourth embodiment, step S4 in Fig. 2 is replaced with steps S20 and S21, and further, steps S22 and S23 are added to the flow shown in Fig. 2. Steps S20, S21, S22, and S23 will be described below.

[0085] First, in step S20, under the control of the arm control unit 14, the robot arm 5 is moved so that the tip 62 of the drill bit 61 hits the target drilling position on the wall surface 9. Here, for example, after adjusting the position of the tip 62 of the drill bit 61 in the YZ plane to match the target drilling position, the robot arm 5 is controlled so that the drill bit 61 moves in the X direction toward the wall surface 9. Then, while the robot arm 5 is being controlled in step S20, the force / moment calculation unit 16 calculates the force and moment acting on the tip 62 of the drill bit 61 based on the detection signal transmitted from the force sensor 81. The calculated force and moment are transmitted to the arm control unit 14.

[0086] Next, in step S21, the arm control unit 14 determines whether or not either the force or the moment calculated based on the value detected by the force sensor 81 has reached a predetermined threshold. The predetermined threshold in step S21 is set to the magnitude of the force or the moment that indicates that the tip 62 of the drill bit 61 has come into contact with the wall surface 9.

[0087] If the determination in step S21 is "NO," that is, if it is determined that the force and / or moment has not reached the predetermined threshold, the process returns to step S20.

[0088] On the other hand, if the determination in step S21 is "YES," that is, if it is determined that the force and / or moment has reached the predetermined threshold, the process proceeds to step S4. The processes from step S4 to step S8 are the same as those in FIG. 2, and therefore a description of the processes from step S4 to step S8 will be omitted.

[0089] After step S8, the force and moment calculation unit 16 calculates the force and moment generated on the support part 55 side of the robot arm 5 based on the detection signal sent from the force sensor 81 (step S22). Thereafter, in the same manner as in FIG. 2, the displacement amount d platform (step S9), and the process proceeds to step S23.

[0090] In step S23, the arm control unit 14 calculates the displacement d of the work platform 1. platform It is determined whether at least one of the force and moment generated on the support part 55 side of the robot arm 5 is greater than a predetermined threshold value. The force and moment to be determined in step S23 are the values ​​calculated in step S22. Also, the displacement amount d of the work platform 1 to be determined in step S23 platform is the value calculated in step S9. In addition, the displacement d of the work platform 1 in step S23 platform The threshold value of the force generated on the support part 55 side of the robot arm 5, the threshold value of the moment generated on the support part 55 side of the robot arm 5, are each determined to an optimum value through experience. These threshold values ​​are determined so that the load on the drilling tool 6 and the robot arm 5 during drilling is kept below a predetermined value.

[0091] If the determination in step S23 is "YES", that is, the displacement amount d platform If at least one of the force generated in the robot arm 5 or the moment generated in the robot arm 5 is greater than a predetermined threshold, the process proceeds to step S11. Step S11 and the subsequent step S12 are the same as the process described in FIG.

[0092] If the determination in step S23 is "NO", that is, the displacement amount d platform If at least one of the force generated in the robot arm 5 or the moment generated in the robot arm 5 is equal to or less than a predetermined threshold, the process proceeds to step S13. Step S13 and the subsequent step S14 are the same as the process described in FIG.

[0093] In the fourth embodiment, the force and moment acting on the robot arm 5 are calculated as needed based on the detection signal detected by the force sensor 81, and the feed speed of the robot arm 5 is controlled based on the calculation results. This makes it possible to minimize the load on the robot arm 5 and the drilling tool 6.

[0094] In the above-described embodiment, the displacement d of the work platform 1 platform The feed rate according to the force or moment was set to a discrete value, such as a maximum value or a minimum value. platform An embodiment will be described in which the feed rate can be continuously set according to the force or moment.

[0095] 5. Fifth Embodiment 10 is a diagram showing a control method for a construction robot device according to a fifth embodiment of the present invention. The configuration of the construction robot device according to the fifth embodiment is the same as that of the construction robot device 800 according to the fourth embodiment, but part of the control method in the arm control unit 14 differs from that of the fourth embodiment. Therefore, in the fifth embodiment, a description of the configuration of the construction robot device will be omitted.

[0096] In the fifth embodiment, as shown in Fig. 10, steps S1 to S8 are the same as those in the fourth embodiment shown in Fig. 9, and only step S30 is different. Therefore, only step S30 will be described here.

[0097] In step S30, the arm control unit determines the feed speed of the robot arm 5 by PID (Proportional-Integral-Differential) control. When PID control is used, the displacement amount d of the work platform 1 is platformAt least one of the force generated in the robot arm 5 and the moment generated in the robot arm 5 is used as an input parameter, and its target value is set. Then, adjustment parameters (PID parameters) that make the input parameters coincide with the target values ​​are found using a simulator such as the Ziegler-Nichols method. The next feed rate is then determined based on the adjustment parameters.

[0098] Then, the arm control unit 14 controls the speed of the robot arm 5 so that the feed speed becomes the one determined in step S30. In the fifth embodiment, steps S55 to S30 are repeated during the drilling operation. This makes it possible to continuously adjust the feed speed of the robot arm 5 and to keep the input parameters constant.

[0099] In the first to fourth embodiments, the feed rate is adjusted based on the displacement amount d of the work platform 1. platform , is determined only by whether or not the force generated in the robot arm 5 and / or the moment generated in the robot arm 5 is equal to or greater than a certain threshold value. Therefore, in the first to fourth embodiments, the adjustment of the feed rate is discrete, and it is not possible to perform fine feed rate control. Also, in the first to fourth embodiments, the displacement amount d platform It is necessary to determine threshold values ​​for the force generated in the robot arm 5 and / or the moment generated in the robot arm 5. The threshold values ​​are determined empirically and experimentally, and there is a problem in that it is difficult to determine more appropriate threshold values.

[0100] In the fifth embodiment, PID control is used to easily set the target values ​​of each input parameter. Furthermore, since each input parameter is adjusted to be kept constant, the feed rate is continuously adjusted, improving drilling accuracy and shortening drilling time.

[0101] As described above, in the fifth embodiment, an example in which the feed rate of the robot arm is adjusted using PID control has been described, but the feed rate can also be adjusted using a neural network. When using a neural network, the feed rate determination in step S30 of Fig. 10 can be replaced with a feed rate determination using a neural network.

[0102] When a neural network is used, target output data corresponding to input data is calculated by preliminary learning (offline learning). platform The feed rate of the robot arm 5 is set as target output data using the force and / or moment generated in the robot arm 5 calculated in step S23. By using a neural network, appropriate target output data can be obtained according to the input data. Furthermore, the neural network can output optimal output data based on experience from data obtained during actual drilling work through online learning using a reinforcement learning algorithm.

[0103] The method of calculating target output data using a neural network can also be used to set the target feed amount value of the robot arm 5. In this case, when setting the target feed amount value in step S8, the hole depth calculated in step S5 is used as input data, and the optimal value obtained by offline learning and online learning is output as the target feed amount value of the robot arm 5 as target output data.

[0104] By using a neural network to set the target feed amount and feed speed of the robot arm 5, high-precision work can be performed even on an unstable work floor. More specifically, the depth accuracy of the formed hole is improved, the load on the robot arm 5 and the drilling tool 6 is reduced, and the work time can be shortened.

[0105] Incidentally, in the above-described first to fifth embodiments, a configuration using a non-contact distance measurement unit 7 has been described. However, the configuration of the distance measurement unit 7 is not limited to this, and a contact-type distance measurement unit can also be used. Below, a construction robot device using a contact-type distance measurement unit will be described as a sixth embodiment.

[0106] 6. Sixth embodiment (example using a contact-type distance measuring unit) Fig. 11 is a schematic configuration diagram of a construction robot device 900 according to a sixth embodiment of the present invention. The construction robot in Fig. 11 is an example in which the configuration of a distance measurement unit 901 is different from that of the construction robot device 100 in Fig. 2. In Fig. 10, parts corresponding to those in Fig. 1 are given the same reference numerals, and duplicated explanations will be omitted.

[0107] 11 , a distance measurement unit 901 provided in a construction robot device 900 according to the sixth embodiment is fixed to a support unit 55 of a robot arm 5. The distance measurement unit 901 is composed of a linear guide 110, a measuring rod 111, an encoder 112, a spring unit 113, a ball caster 114, and a stopper 115.

[0108] The linear guide 110 is a member fixed to the support part 55 of the robot arm 5, and supports the measuring rod 111 extending to the side where the drill bit 61 is placed, while the measuring rod 111 passes through the linear guide 110. The linear guide 110 supports the measuring rod 111 so that it is parallel to the axial direction of the drill bit 61.

[0109] The measuring rod 111 is a rod-shaped member that extends in the same direction as the drill bit 61, and is supported while passing through a through-hole in the linear guide 110. The measuring rod 111 is configured to be slidable on the linear guide 110 generally in the X direction.

[0110] The ball caster 114 is provided at the tip of the measuring rod 111 on the wall surface 9 side, and comes into contact with the wall surface 9 when the measuring rod 111 moves toward the wall surface 9 in the X direction. In addition, in the initial position of the measuring rod 111, the ball caster 114 is set to be closer to the wall surface 9 than the tip 62 of the drill bit 61.

[0111] The encoder 112 is a member that measures the amount of movement of the measuring rod 111. By measuring the amount of movement of the measuring rod 111 when the ball caster 114 is in contact with the wall surface 9, it is possible to measure the distance between the distance measuring unit 901 and the wall surface 9. Information related to the measurement value acquired by the encoder 112 is transmitted to the distance calculation unit 11 of the control unit 10.

[0112] The spring portion 113 is a spring-like member provided at the end of the measuring rod 111 that protrudes in the direction opposite to the direction facing the wall surface 9 of the linear guide 110. The spring portion 113 returns the measuring rod 111 to its initial position with a predetermined spring force.

[0113] Stopper 115 is a member fixed to a predetermined position on measuring rod 111 extending in a direction facing wall surface 9 of linear guide 110. Stopper 115 is a member that restricts the amount of movement of measuring rod 111 in the X direction opposite the wall side. When measuring rod 111 is returned to its initial position due to the spring force of spring portion 113, the movement of measuring rod 111 stops at the position where stopper 115 is provided, so that the initial position can be maintained.

[0114] The construction robot device 900 in the sixth embodiment is different from the first embodiment only in the measurement method in the distance measurement unit 901, and the other control methods are the same. Therefore, the construction robot device control method shown in Fig. 11 can be applied.

[0115] In the distance measurement unit 901 of the sixth embodiment, the measuring rod 111 is positioned closer to the wall surface 9 than the tip 62 of the drill bit 61. Therefore, when the robot arm 5 moves toward the wall surface 9, the ball caster 114 at the tip of the measuring rod 111 comes into contact with the wall surface 9 before the drill bit 61. Then, the encoder 112 detects the contact between the ball caster 114 and the wall surface 9, thereby making it possible to measure the distance between the robot arm 5 and the wall surface 9.

[0116] Furthermore, when drilling work using the drilling tool 6 is started, the drill bit 61 is inserted into the wall surface 9. In this case, the ball caster 114 of the measuring rod 111 is in contact with the wall surface 9, and therefore the measuring rod 111 moves in the opposite direction to the drilling direction relative to the encoder 112 due to the reaction force from the wall surface 9. By measuring the amount of movement at this time with the encoder 112, the hole depth can be calculated.

[0117] In the distance measurement unit 901, the tip of the measuring rod 111 is a ball caster 114, so even if the work floor 1 is displaced in the Y direction or Z direction, the distance between the robot arm 5 and the wall surface 9 in the X direction can be measured accurately.

[0118] In the construction robot device 900 according to the sixth embodiment, the feed amount target value and feed speed of the robot arm 5 can also be dynamically controlled during drilling work, thereby achieving the same effects as those of the above-described embodiments.

[0119] In the above-described embodiment, a drilling tool has been described as an example of a work machine attached to a robot arm, but various other work machines can be used, such as those for driving anchor bolts, fastening bolts and nuts, arranging brackets, positioning work, etc. In this case as well, the optimal feed amount and feed speed of the robot arm can be determined based on the distance between the tip of the work machine and the work object, the amount of displacement of the work floor, etc.

[0120] The above-described embodiment has been described in detail to clearly explain the present invention, and is not necessarily limited to having all of the described configurations. For example, it is possible to replace part of the configuration of the embodiment with another configuration, or to add another configuration to the configuration of the embodiment. It is also possible to add, delete, or replace part of the configuration of the embodiment with another configuration. [Explanation of symbols]

[0121] 1...work floor, 2...rope, 3...hoisting machine, 4...ceiling, 5...robot arm, 6...drilling tool, 7...distance measurement unit, 9...wall, 10...control unit, 11...distance calculation unit, 12...floor displacement calculation unit, 14...arm control unit, 15...work machine control unit, 16...force and moment calculation unit, 41...debris, 50...base unit, 52...first arm, 54...second arm, 55...support unit, 61...drill bit, 62...tip, 80...control unit, 81...force sensor, 100...construction robot device, 101...hoistway, 110...linear guide, 111...measuring rod, 112...encoder, 113...spring portion, 114...ball caster, 115...stopper, 120...construction robot device, 121...wheel, 122...cart, 123...floor surface, 700...construction robot device, 701...entrance / exit, 702...support member

Claims

1. a robot arm that moves a work machine attached to the tip in a predetermined direction; a work floor on which the robot arm is placed; a distance measurement unit that measures the distance to the work object; a distance calculation unit that calculates the distance from the work machine to the work object based on the measurement value measured by the distance measurement unit; a floor displacement calculation unit that calculates the amount of displacement of the work floor that occurs during work by the work machine; an arm control unit that controls a feed rate target value and a feed speed of the robot arm based on a distance from the work machine to the work object and a displacement amount of the work floor during work by the work machine; A construction robot device equipped with the above.

2. the work machine is a drilling tool that forms a hole of a predetermined depth in the work object, The distance calculation unit calculates the current depth of the hole from the difference between the distance from the distance measurement unit to the tip of the work machine and the distance from the distance measurement unit to the work object during work. The construction robot device according to claim 1 .

3. The floor displacement calculation unit calculates the displacement of the work floor from the difference between the current feed amount of the robot arm and the current hole depth. The construction robot device according to claim 2 .

4. The arm control unit changes a target feed amount value of the robot arm based on the current hole depth and the current feed amount of the robot arm. The construction robot device according to claim 3 .

5. The arm control unit controls the feed speed of the robot arm based on the displacement amount of the work floor. The construction robot device according to claim 4.

6. Further, a load detection unit is provided to detect a load applied to a tip end of the robot arm on the working machine side, The arm control unit controls the feed speed of the robot arm based on the detected value detected by the load detection unit. The construction robot device according to claim 5.

7. The load detection unit is composed of a force sensor. The construction robot device according to claim 6.

8. The arm control unit controls the feed speed of the robot arm using PID control. The construction robot device according to claim 5.

9. The arm control unit controls a feed amount target value and a feed speed of the robot arm using a neural network. The construction robot device according to claim 5.

10. The work object is a wall surface in the elevator shaft. The construction robot device according to claim 1 .

11. A control method for a construction robot device including a robot arm that moves a work implement attached to the tip in a predetermined direction, a work platform on which the robot arm is placed, and a distance measurement unit that measures the distance to a work object, comprising: Calculating the distance from the work machine to the work object from the measurement value measured by the distance measurement unit; Calculating the displacement of the work platform that occurred during work by the work machine; During work by the work machine, a target feed amount value and a feed speed of the robot arm are controlled based on the distance from the work machine to the work object and the displacement amount of the work floor. A method for controlling a construction robot device.

12. the work machine is a drilling tool that forms a hole of a predetermined depth in the work object, The current depth of the hole during work is calculated from the difference between the distance from the distance measuring unit to the tip of the work machine and the distance from the distance measuring unit to the work object, The displacement of the work platform is calculated from the difference between the current feed amount of the robot arm and the current hole depth. The control method for a construction robot device according to claim 11.

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