Construction robots

Abstract

To provide a robot for construction work which can inhibit corotation of a base material of a support leg without fail when installation of the support leg and adjustment of a height of the support leg are conducted at the same time.SOLUTION: A robot 10 for construction work is used to attach a support leg S having a base material S1 disposed at a base F side, a screw shaft S2 attached to the base material S1, and a pedestal S3 which is threadedly engaged with the screw shaft S2 and may move in an axial direction to the base F at a predetermined height. The robot 10 for construction work includes: height adjustment means 28 which rotates the pedestal S3 around the screw shaft S2 to adjust a height of the support leg S in the axial direction; and corotation prevention means 29 which prevents corotation of the base material S1 when the pedestal S3 is rotated by the height adjustment means 28.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a construction robot for labor saving and manpower reduction in construction work.

Background Art

[0002] Conventionally, in the floor interior work of a building, another floor is provided on the floor to form a double floor, and an OA floor (hereinafter sometimes referred to as a double floor) is constructed to secure a space that can be used for network wiring, ventilation, etc. between the upper and lower floors. Support legs and panels are constructed (see, for example, Patent Document 1). Such construction is carried out manually by workers in a semi - crouched position, and the height is adjusted based on a rotating laser level installed on site to cope with unevenness of the concrete floor, and the construction is carried out horizontally and smoothly. Generally, the construction quantity of double floors is large, and it is necessary to repeatedly carry materials to the construction site, install them, and perform height adjustment work many times.

[0003] In response to such problems, the applicant of this patent has proposed a construction robot described in Patent Document 2. The construction robot of Patent Document 2 is for attaching a support leg to a base such as a floor with an adhesive while adjusting the height, and includes a manipulator, an end effector provided at the tip of the manipulator, a recognition means for recognizing the positions of the support leg and the base, and a measurement means for measuring the positional relationship between the support leg and the base.

[0004] The support leg has a base plate arranged on the base side, a screw shaft erected on this base plate, and a pedestal that is screwed onto the screw shaft and movable in the screw shaft direction. A floor panel will be installed on the pedestal. The end effector includes a gripping means for releasably gripping the support leg, and a height adjustment means for rotating the pedestal of the support leg in contact with the base around the screw shaft to adjust the height of the support leg.

[0005] The height adjustment mechanism includes a sliding mechanism that is axially slidable relative to the gripping mechanism, a rotating mechanism that is integrally movable with the sliding mechanism and rotates the base of the support leg, and a recognition mechanism that is integrally movable with the sliding mechanism and recognizes the height of the support leg. The height of the support leg is adjusted by rotating the base of the support leg based on the height recognized by the recognition mechanism. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] Japanese Patent Publication No. 2018-178473 [Patent Document 2] Japanese Patent Publication No. 2021-62413 [Overview of the project] [Problems that the invention aims to solve]

[0007] However, in the conventional construction robot described in Patent Document 2 above, when the base is rotated to adjust the height of the support legs, the base plate (substrate) attached to the screw shaft may rotate along with it, potentially making height adjustment difficult.

[0008] The present invention has been made in view of the above, and aims to provide a construction robot that can reliably prevent the base material of the support leg from rotating together when the support leg is installed and the height of the support leg is adjusted at the same time. [Means for solving the problem]

[0009] To solve the above-mentioned problems and achieve the objective, the construction work robot according to the present invention is a construction work robot used to attach a support leg to a base body at a predetermined height, the support leg having a base material disposed on the base material, a screw shaft attached to the base material, and a base that is screwed onto the screw shaft and movable in the axial direction, and is characterized by comprising a height adjustment means for adjusting the height of the support leg in the axial direction by rotating the base around the screw shaft, and a co-rotation prevention means for preventing the base material from rotating together when the base is rotated by the height adjustment means.

[0010] Furthermore, in the present invention, another construction robot is characterized in that the anti-rotation means comprises a first moving mechanism that is movable in the axial direction relative to the height adjustment means, a second moving mechanism that is movable in a direction perpendicular to the axial direction relative to the first moving mechanism, and a rotation prevention part provided on the second moving mechanism that engages with the base material to prevent the base material from rotating.

[0011] Furthermore, another construction robot according to the present invention further comprises a gripping means for releasably gripping the support leg, the height adjustment means having a sliding mechanism slidably provided axially with respect to the gripping means, a rotating mechanism that is integrally movable with the sliding mechanism and for rotating the base, and a recognition mechanism that is integrally movable with the sliding mechanism and for recognizing the height of the support leg, the height of the support leg is adjusted by rotating the base based on the height recognized by the recognition mechanism. [Effects of the Invention]

[0012] The construction robot according to the present invention is used to attach a support leg to a base body at a predetermined height, the support leg having a base material disposed on the base body side, a screw shaft attached to the base material, and a base that is screwed onto the screw shaft and movable in the axial direction, and is equipped with a height adjustment means for adjusting the axial height of the support leg by rotating the base around the screw shaft, and a co-rotation prevention means for preventing the base material from rotating together when the base is rotated by the height adjustment means, thereby providing the effect of reliably preventing the base material of the support leg from rotating together when the support leg is installed and the height of the support leg is adjusted at the same time.

[0013] Furthermore, according to another construction robot of the present invention, the anti-rotation means includes a first moving mechanism that is movable in the axial direction relative to the height adjustment means, a second moving mechanism that is movable in a direction perpendicular to the axial direction relative to the first moving mechanism, and a rotation prevention part provided on the second moving mechanism that engages with the base material to prevent the base material from rotating. Thus, the anti-rotation means has the effect of reliably suppressing the co-rotation of the base material of the support leg via the first moving mechanism, the second moving mechanism, and the rotation prevention part.

[0014] Furthermore, according to another construction work robot of the present invention, the robot further comprises a gripping means for releasably gripping the support leg, and the height adjustment means includes a sliding mechanism provided to be slidable in the axial direction relative to the gripping means, a rotating mechanism that is movable integrally with the sliding mechanism and for rotating the base, and a recognition mechanism that is movable integrally with the sliding mechanism and for recognizing the height of the support leg, and the height of the support leg is adjusted by rotating the base based on the height recognized by the recognition mechanism, thereby providing the effect of efficiently installing the support leg and adjusting the height of the support leg. [Brief explanation of the drawing]

[0015] [Figure 1] Figure 1 shows an embodiment of a construction robot according to the present invention, where (1) is a front view and (2) is a side view. [Figure 2]Figure 2 shows the construction procedures 1 and 2 according to this embodiment, where (1) is a front view of procedure 1, (2) is a side view of procedure 1, (3) is a front view of procedure 2, and (4) is a side view of procedure 2. [Figure 3] Figure 3 shows the construction procedures 3 and 4 according to this embodiment, where (1) is a front view of procedure 3, (2) is a side view of procedure 3, (3) is a front view of procedure 4, and (4) is a side view of procedure 4. [Figure 4] Figure 4 shows the construction procedures 5 and 6 according to this embodiment, where (1) is a front view of procedure 5, (2) is a side view of procedure 5, (3) is a front view of procedure 6, and (4) is a side view of procedure 6. [Figure 5] Figure 5 shows the construction procedures 7 and 8 according to this embodiment, where (1) is a front view of procedure 7, (2) is a side view of procedure 7, (3) is a front view of procedure 8, and (4) is a side view of procedure 8. [Modes for carrying out the invention]

[0016] The following describes in detail an embodiment of the construction robot according to the present invention with reference to the drawings. However, this embodiment does not limit the present invention.

[0017] As shown in Figure 1, the construction robot 10 according to this embodiment is used to attach the support legs S of a raised floor to a concrete floor F (base) at a predetermined height. This construction robot 10 comprises a manipulator 12, a support leg installation unit 14 (end effector) provided at the tip of the manipulator 12, a camera 16 (recognition means), and a laser distance sensor 18 (measurement means). The manipulator 12 is a robotic arm that handles the support leg installation unit 14.

[0018] The support leg S has a base plate S1 (base material) that is in contact with the floor F, a screw shaft S2 (height adjustment screw) erected on the base plate S1, and a plate-shaped base S3 that is screwed onto the upper side of the screw shaft S2. By rotating the base S3 around the screw shaft S2, the base S3 can be moved in the direction of the screw shaft S2, and the height H of the support leg S can be adjusted.

[0019] The camera 16 and the laser distance sensor 18 are attached to a sensor base 22 that protrudes laterally from the base 20 of the support leg construction unit 14, and the camera axis and the sensor axis are each directed toward the tip side in the axial direction C of the support leg construction unit 14. The camera 16 acquires images at predetermined time intervals. By analyzing and processing the acquired images with a control unit (not shown), the reference ink (position) of the support leg S and the floor F can be recognized. The laser distance sensor 18 measures the support leg height H and the floor level using laser light. With this laser distance sensor 18, the positional relationship between the support leg S and the floor F can be grasped.

[0020] The support leg construction unit 14 includes a support leg gripping cylinder 24, a support leg gripping portion 26, a support leg gripping portion extension cylinder 27, a support leg height adjustment portion 28, and a support leg base rotation prevention portion 29.

[0021] The support leg gripping cylinder 24 is disposed below a rectangular plate 31 of the support leg height adjustment portion 28 that is spaced below and parallel to the tip flange 30 of the base 20, and is composed of a cylinder that can expand and contract in a direction orthogonal to the axial direction C. The expansion and contraction operation of the support leg gripping cylinder 24 is controlled by a control unit (not shown). Both ends of the support leg gripping cylinder 24 are attached to the support leg gripping portion extension cylinder 27 fixed to the center portions of both ends of the plate 31 via fixing members 33, and can move in the axial direction C by the operation of the support leg gripping portion extension cylinder 27.

[0022] The support leg gripping portion 26 is a gripping means for releasably gripping the pedestal S3 of the support leg S, and is composed of a member that is substantially L-shaped in a front view and extends from both ends of the support leg gripping cylinder 24 toward the tip side in the axial direction C and bends inward. When the support leg gripping cylinder 24 contracts, the concave claw portions that bend inward of the support leg gripping portion 26 move toward each other and sandwich both edges of the pedestal S3 from above and below. Thereby, the support leg S can be grasped. On the other hand, when the support leg gripping cylinder 24 expands, the claw portions move away from each other and away from both edges of the pedestal S3. Thereby, the support leg S can be released.

[0023] The support leg gripping extension cylinder 27 consists of a cylinder that can extend and retract in the axial direction C and is fixed to the center of both ends of the plate 31. The support leg gripping extension cylinder 27 supports both ends of the support leg gripping cylinder 24 via a fixing member 33. When the support leg gripping extension cylinder 27 is retracted, the support leg gripping cylinder 24 moves toward the lower surface of the plate 31. On the other hand, when the support leg gripping extension cylinder 27 is extended, the support leg gripping cylinder 24 moves toward the lower surface of the plate 31. By moving the support leg gripping cylinder 24 in the axial direction C, the support leg gripping portion 26 can be moved axially C relative to the plate 31. The extension and retraction operation of the support leg gripping extension cylinder 27 is controlled by a control unit (not shown).

[0024] The support leg height adjustment unit 28 is a height adjustment means for adjusting the height H of the support leg S by moving the support leg S, which is in contact with the floor F, in a direction closer to or further away from the floor F, and comprises a sliding mechanism 32, a support leg rotation mechanism 34, and a rotating laser level receiver 36.

[0025] The sliding mechanism 32 is provided at four locations around the base 20 on the tip flange 30 of the base 20. This sliding mechanism 32 has a sliding pole 38 that is slidably positioned through the tip flange 30 so as to slide in the axial direction C, and a coil spring 40 wound around each sliding pole 38 on the base 20 side. The coil spring 40 is positioned between one end of the sliding pole 38 on the base 20 side and the tip flange 30, and is provided so as to be biased in a direction that separates one end of the sliding pole 38 from the tip flange 30. A plate 31 is fixed to the other end of the sliding pole 38. The support leg height adjustment section 28 is connected to the base 20 side via the sliding pole 38, and therefore operates freely in one dimension only in the axial direction C, and follows the movement of the support leg S whose height H changes by sliding due to its own weight. In this embodiment, the case in which a sliding pole is used as a component of the sliding mechanism 32 is described as an example, but the present invention is not limited to a sliding pole. For example, the same thing can be done by using sliders such as linear guides.

[0026] The support leg rotation mechanism 34 is movable integrally with the sliding mechanism 32 and is a rotation mechanism for rotating the base S3 of the support leg S. This support leg rotation mechanism 34 is provided on the height adjustment plate 42 and includes a support leg rotation servo motor 44, a belt 46, pulleys 48 and 50, and a rotor 52. The height adjustment plate 42 is positioned below the plate 31 at a distance and parallel to it, and is fixed to the plate 31 via fixing members 43 that extend in the axial direction C from the center of each side of the plate 31. The support leg rotation servo motor 44 is fixed to the upper surface of the height adjustment plate 42, and its output shaft extends below the height adjustment plate 42 and is connected to the pulley 48. The belt 46 is wrapped between the pulleys 48 and 50. The pulley 50 is connected to the rotor 52. The rotor 52 is provided coaxially with the axis (axial direction C) of the base 20 and can engage with the end of the base S3 of the support leg S. A control unit (not shown) drives a servo motor 44 for rotating the support leg, and the support leg height H can be adjusted by rotating the base S3 of the support leg S around the screw shaft S2 via a belt 46, pulleys 48 and 50, and rotor 52. The support leg height adjustment unit 28 can also follow the resulting change in the support leg height H.

[0027] The rotating laser level receiver 36 is movable integrally with the sliding mechanism 32 and constitutes a recognition mechanism for recognizing the support leg height H. This rotating laser level receiver 36 is mounted on the height adjustment plate 42. This rotating laser level receiver 36 receives laser light from a rotating laser level (not shown) installed at the construction site and detects the support leg height H in real time based on this. The operation of the support leg rotation servo motor 44 is controlled via a control unit (not shown) based on the height H detected by the rotating laser level receiver 36. Based on the height H detected by the rotating laser level receiver 36, this control unit drives the support leg rotation servo motor 44 to rotate the base S3 of the support leg S and adjusts the support leg height H to a preset support leg construction height.

[0028] The support leg base rotation prevention unit 29 is a means for preventing the base plate S1 from rotating together with the support leg when the support leg rotation mechanism 34 rotates the base S3 when adjusting the support leg height H. This support leg base rotation prevention unit 29 has a vertical cylinder 54 (first movement mechanism), a horizontal cylinder 56 (second movement mechanism), and a rotation prevention unit 58, which are provided on the lower surface of the edge of the height adjustment plate 42 of the support leg height adjustment unit 28. The vertical cylinder 54 is a cylinder that can extend and retract downward along the axial direction C from the height adjustment plate 42, and can be made of an air cylinder, for example. The horizontal cylinder 56 is provided at the lower end of the vertical cylinder 54 and is a cylinder that can extend and retract in a lateral direction perpendicular to the axial direction C. The direction of extension and retraction of the horizontal cylinder 56 is directed toward the rotation axis of the rotor 52. The extension and retraction movements of the vertical cylinder 54 and the horizontal cylinder 56 are controlled by a control unit (not shown).

[0029] The anti-rotation unit 58 includes a slider 60 that is movable along the lower surface of the horizontal cylinder 56, an overhanging plate 62 provided on the lower surface of the slider 60 and having a substantially U-shaped recess in plan view that extends toward the rotation axis of the rotor 52, and a contact member 64 provided on the lower surface of the inner end of the overhanging plate 62. The contact member 64 can be made of a material such as rubber. The slider 60 is movable in the extension and retraction direction of the horizontal cylinder 56. This anti-rotation unit 58 moves in accordance with the operation of the vertical cylinder 54 and the horizontal cylinder 56. The recesses of the U-shaped overhanging plate 62 are positioned to sandwich the screw shaft S2 of the support leg S at intervals, and the contact member 64 is positioned to contact (engage) with the upper surface of the base plate S1 of the support leg S. Then, the vertical cylinder 54 extends downward and presses the contact member 64 against the base plate S1, thereby preventing the base plate S1 from rotating.

[0030] Next, we will explain the procedure for constructing support legs using the construction robot 10 configured as described above.

[0031] First, as shown in Figure 1, the manipulator 12 moves the support leg installation unit 14 to, for example, the vicinity of the support leg gripping position in the material storage area, and the camera 16 and laser distance sensor 18 are used to detect the support leg gripping position.

[0032] Next, the support leg gripping section 26 is opened, and the support leg installation unit 14 is moved to the support leg gripping position by the manipulator 12 approaching from directly above the support leg S. After the support leg S and the rotor 52 come into contact and the sliding pole 38 slides by a certain amount, the support leg gripping section 26 is closed to grip the support leg S.

[0033] Next, as shown in Figures 2(1) and (2), the manipulator 12 moves the support leg S to the adhesive application area, and after the laser distance sensor 18 recognizes the height position of the adhesive liquid, the support leg gripping part 26 is extended by the support leg gripping part extension cylinder 27. As shown in Figures 2(3) and (4), the adhesive is applied to the lower surface of the base plate S1 of the support leg S by moving the support leg S to the measured adhesive position. After that, the support leg gripping part 26 is shortened by the support leg gripping part extension cylinder 27. By using the support leg gripping part extension cylinder 27, it becomes less likely for adhesive to adhere to the support leg installation unit 14.

[0034] Next, as shown in Figures 3(1) and (2), the manipulator 12 moves the support leg S to the vicinity of the support leg installation position, and the camera 16 recognizes the support leg installation position reference mark that has been pre-marked on the floor F. Since the support leg gripping part 26 is provided on the support leg height adjustment part 28, it is not necessary to accurately recognize the floor level with the laser distance sensor 18 when installing the support leg S on the floor F. Since it is only necessary to move the support leg S to the position recognized by the camera 16, the cycle time of the work is shortened.

[0035] Next, the manipulator 12 moves the support leg S to the upper part of the recognized support leg installation position. Subsequently, as shown in Figures 3(3) and (4), the manipulator 12 lowers the base plate S1 of the support leg S to the floor F, and then the sliding pole 38 retracts and stops when the support leg height adjustment part 28 approaches the tip flange 30 side, and the support leg gripping part 26 opens as shown in Figures 4(1) and (2). In this way, the support leg S can be installed on the floor F.

[0036] Next, as shown in Figures 4(3) and (4), the horizontal cylinder 56 of the support leg base rotation prevention unit 29 is operated to bring the overhang plate 62 closer to the rotation axis of the rotor 52 via the slider 60 of the rotation prevention unit 58, so that the recess of the overhang plate 62 sandwiches the screw shaft S2. Then, as shown in Figures 5(1) and (2), the vertical cylinder 54 is extended to move the overhang plate 62 downward, pressing the contact member 64 on the lower surface of the overhang plate 62 against the upper surface of the base plate S1, thereby applying a constant pressing force.

[0037] Finally, as shown in Figures 5(3) and (4), the laser beam from a rotating laser level (not shown) installed at the construction site is detected by a rotating laser level receiver 36, and the support leg height H is recognized based on this. Subsequently, the support leg rotation servo motor 44 is driven to adjust the support leg height H to a preset support leg construction height, and the rotor 52 rotates the base S3 of the support leg S around the screw shaft S2. Note that the example in Figure 5 shows the case where the support leg height H is lowered. To raise it, rotate it in the opposite direction.

[0038] The vertical cylinder 54 is preferably an air cylinder. By extending and retracting the vertical cylinder 54 in accordance with changes in the support leg height H, the pressing force on the base plate S1 can be kept constant. This makes it possible to more reliably prevent the base plate S1 from rotating along with the pedestal S3 when the pedestal S3 is rotated.

[0039] By following the above procedure, the support legs S can be installed on the floor F and the support leg height H can be adjusted simultaneously. After installation is complete, return to the pre-set home position by following the reverse procedure above, and proceed to the next step.

[0040] According to this embodiment, when installing the support legs S on the floor F and adjusting the support leg height H simultaneously, the rotation prevention part 29 of the support leg base reliably prevents the base plate S1 of the support leg S from rotating together. This enables efficient and reliable construction work.

[0041] In the above embodiment, the example of use in the construction of support legs for raised floors such as raised access floors was used for explanation. However, the construction robot of the present invention is not limited to such uses, and can be applied to any construction work that involves attaching height-adjustable support legs to a base at a predetermined height.

[0042] As described above, the construction work robot according to the present invention is used to attach a support leg to a base body at a predetermined height, the support leg having a base material disposed on the base body side, a screw shaft attached to the base material, and a base that is screwed onto the screw shaft and movable in the axial direction, and is equipped with a height adjustment means for adjusting the height of the support leg in the axial direction by rotating the base around the screw shaft, and a co-rotation prevention means for preventing the base material from rotating together when the base is rotated by the height adjustment means, so that when the support leg is installed and the height of the support leg is adjusted at the same time, the co-rotation of the base material of the support leg can be reliably suppressed.

[0043] Furthermore, according to another construction robot of the present invention, the anti-rotation means includes a first moving mechanism that is movable in the axial direction relative to the height adjustment means, a second moving mechanism that is movable in a direction perpendicular to the axial direction relative to the first moving mechanism, and a rotation prevention part provided on the second moving mechanism that engages with the base material to prevent the base material from rotating. Thus, the co-rotation of the base material of the support leg can be reliably suppressed via the first moving mechanism, the second moving mechanism, and the rotation prevention part.

[0044] Furthermore, according to another construction work robot of the present invention, the robot further comprises a gripping means for releasably gripping the support leg, and the height adjustment means includes a sliding mechanism provided so as to be axially slidable with respect to the gripping means, a rotating mechanism that is integrally movable with the sliding mechanism and for rotating the base, and a recognition mechanism that is integrally movable with the sliding mechanism and for recognizing the height of the support leg, and the height of the support leg is adjusted by rotating the base based on the height recognized by the recognition mechanism, so that the installation of the support leg and the adjustment of the support leg height can be performed efficiently. [Industrial applicability]

[0045] As described above, the construction robot according to the present invention is useful for construction work aimed at reducing labor and manpower in construction work, and is particularly suitable for efficiently constructing support legs in raised floor construction. [Explanation of symbols]

[0046] 10 Construction robots 12 Manipulators 14. Support leg installation unit (end effector) 16. Camera (recognition means) 18. Laser distance sensor (measurement means) 20 base 22 Sensor base 24 Support leg grip cylinder 26 Support leg gripping section (gripping means) 27 Support leg grip extension cylinder 28 Support leg height adjustment section (height adjustment means) 29. Support leg base rotation prevention mechanism (means to prevent co-rotation) 30 End flange 31 Plates 32 Sliding mechanism 33,43 Fixing members 34. Support leg rotation mechanism 36 Rotating Laser Level Receiver 38 Sliding pole 40 coil springs 42 Height adjustment plate 44 Servo motor for rotating support legs 46 belts 48,50 Pulley 52 rotors 54 Vertical cylinder (first movement mechanism) 56 Horizontal cylinder (second movement mechanism) 58 Rotation prevention part 60 Slider 62 Overhanging plate 64 Contact Member C-axis direction F floor (base) H Support leg height S support leg S1 Base plate (substrate) S2 Screw shaft S3 Base

Claims

1. A construction robot used to attach a support leg to a base body at a predetermined height, the support leg having a base material positioned on the base material, a screw shaft attached to the base material, and a base that is screwed onto the screw shaft and movable in the axial direction, A height adjustment means for adjusting the height of the support leg in the axial direction by rotating the base around the screw shaft, The system includes a means to prevent the base material from rotating together when the base is rotated by the height adjustment means, The construction robot is characterized in that the anti-rotation means comprises a first moving mechanism that is movably mounted in the axial direction relative to the height adjustment means, a second moving mechanism that is movably mounted in a direction perpendicular to the axial direction relative to the first moving mechanism, and a rotation prevention part provided on the second moving mechanism that engages with the base material to prevent the base material from rotating.

2. The construction work robot according to claim 1, further comprising a gripping means for releasably gripping the support leg, wherein the height adjustment means comprises a sliding mechanism provided so as to be slidable in the axial direction with respect to the gripping means, a rotating mechanism that is movable integrally with the sliding mechanism and for rotating the base, and a recognition mechanism that is movable integrally with the sliding mechanism and for recognizing the height of the support leg, and the height of the support leg is adjusted by rotating the base based on the height recognized by the recognition mechanism.

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