Screw driving unit and screw driving robot

Abstract

To provide a screw driving unit capable of driving screws in a board while avoiding screws temporarily embedded in the board placed on a wall surface.SOLUTION: A screw driving unit includes: a screw driving device driving screws from an injection port; and sensors placed along a first direction in which the screws are driven from the injection port, to detect screws temporarily embedded in a board. The screw driving unit, further, may include a support body supporting the sensors movably in a second direction different from the first direction. The screw driving unit, further, may include an actuator making the screw driving device move in the first direction.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] One embodiment of the present invention relates to a screw-driving unit for driving screws into a board placed on a wall. Another embodiment of the present invention relates to a floor-moving screw-driving robot, which includes a screw-driving unit. [Background technology]

[0002] In interior construction work for buildings, it is sometimes necessary to attach gypsum board as a wall material to walls made of base materials such as steel frames. In recent years, automation has been progressing even in such interior construction work. For example, Patent Document 1 discloses an automated board attachment device that can attach gypsum board to a wall surface and drive screws into it. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-165266 [Overview of the Initiative] [Problems that the invention aims to solve]

[0004] The board mounting device described in Patent Document 1 includes a screw gun and a multi-axis controlled robotic arm. The robotic arm drives a robotic hand that grips the board to be attached to the wall. However, because the board mounting device with a multi-axis controlled robotic arm is large, it requires a sufficient amount of space at the work site. Therefore, it is difficult to introduce the board mounting device described in Patent Document 1 in interior construction work in narrow spaces such as rooms in apartments or office buildings. Furthermore, in interior construction work in narrow spaces, work efficiency can be improved by automating some tasks. For example, in board mounting work, the worker only needs to fix the board to the wall using a few temporary screws, reducing the number of screws that need to be driven. Since the number of screws that need to be driven is reduced, the time workers spend driving screws at high places can be shortened. Also, when screws are driven by workers, variations in position occur, and marking or other work is required to drive screws in the correct position on the base material. Therefore, an automated screw gun that can be introduced in narrow spaces can reduce the burden on workers and improve work efficiency in interior construction. However, in this case, driving screws onto temporary fastening screws may damage the screw driving device. Even if it is possible to drive screws near the temporary fastening screws, a large amount of material will be wasted on a large construction site.

[0005] One embodiment of the present invention aims to provide a screw-driving unit that can drive screws into a board while avoiding pre-installed temporary fastening screws that have been driven into the board on a wall surface, in view of the above-mentioned problems. Another embodiment of the present invention aims to provide a floor-movable screw-driving robot that can drive board screws while avoiding pre-installed temporary fastening screws that have been driven into the board on a wall surface. [Means for solving the problem]

[0006] A screw-driving unit according to one embodiment of the present invention includes a screw-driving device that ejects screws from an ejector port, and a sensor that detects pre-installed temporary fastening screws in a board, which is positioned along a first direction in which the screws are ejected from the ejector port.

[0007] The screw-driving unit may further include a support that movably supports a sensor in a second direction different from a first direction. The screw-driving unit may further include an actuator that moves the screw-driving device in the first direction. The sensor may move in the second direction in conjunction with the operation of the actuator. The support includes a first support member connected to the sensor and including a guide pin, and a second support member connected to the screw-driving device and including a guide hole through which the guide pin is inserted, the guide pin may slide within the guide hole in accordance with the movement of the screw-driving device.

[0008] When the sensor moves in the second direction, the sensor may be positioned above the screw-driving device.

[0009] The screw-driving unit may further include a suction device capable of adsorbing the board.

[0010] The sensor may be a proximity sensor.

[0011] After the screw-driving device has driven screws into the board, the screw-driving unit may be raised using a lifting device.

[0012] After the screw-driving unit is lowered by the lifting device, the drive of the wheels may be controlled so that the screw-driving unit moves in a direction approximately parallel to the board. [Effects of the Invention]

[0013] The screw driving unit according to an embodiment of the present invention can detect a temporary fixing screw pre-driven into a board arranged on a wall surface and drive a screw while avoiding the temporary fixing screw. Therefore, it is not necessary for an operator to mark the screw driving position in advance, and the temporary fixing screws driven when the operator temporarily fixes the board can be effectively utilized. In addition, since the screw driving robot according to an embodiment of the present invention is a small and movable robot, it can automatically drive screws into a board arranged on a wall surface in a narrow space. Further, the screw driving robot can also drive screws at high places, and can reduce the working time required for the operator to perform high-altitude work. Therefore, the burden on the operator can be reduced, and the working efficiency in interior decoration work can be improved.

Brief Description of the Drawings

[0014] [Figure 1] It is a schematic diagram for explaining the usage mode of the screw driving robot according to an embodiment of the present invention. [Figure 2] It is a perspective view showing the configuration of the screw driving robot according to an embodiment of the present invention. [Figure 3] It is a front view showing the configuration of the screw driving robot according to an embodiment of the present invention. [Figure 4] It is a left side view showing the configuration of the screw driving robot according to an embodiment of the present invention. [Figure 5] It is a schematic plan view for explaining the detection method of the first sensor and the second sensor of the screw driving robot according to an embodiment of the present invention. [Figure 6] In the screw driving unit of the screw driving robot according to an embodiment of the present invention, it is a plan view showing the connection configuration between the second sensor and the screw driving device. [Figure 7] In the screw driving unit of the screw driving robot according to an embodiment of the present invention, it is a left side view showing the connection configuration between the second sensor and the screw driving device. [Figure 8] It is a schematic right side view for explaining the driving of the first actuator to the third actuator included in the screw driving unit of the screw driving robot according to an embodiment of the present invention. [Figure 9] This is a schematic front view illustrating the drive of a fourth actuator included in the screw-driving unit of a screw-driving robot according to one embodiment of the present invention. [Figure 10] This is a block diagram showing the configuration of a control device for a screw-driving robot according to one embodiment of the present invention. [Figure 11] This is a flowchart illustrating a control method for a screw-driving robot according to one embodiment of the present invention. [Figure 12] This is a schematic diagram illustrating a control method for a screw-driving robot according to one embodiment of the present invention. [Figure 13] This is a schematic diagram illustrating a control method for a screw-driving robot according to one embodiment of the present invention. [Figure 14] This is a schematic diagram illustrating a control method for a screw-driving robot according to one embodiment of the present invention. [Modes for carrying out the invention]

[0015] The embodiments of the present invention will be described below with reference to the drawings. It should be noted that these embodiments are merely examples, and any modifications that a person skilled in the art could easily conceive while maintaining the spirit of the invention are naturally included within the scope of the present invention. Furthermore, in order to clarify the explanation, the drawings may schematically represent the width, thickness, or shape of each part compared to the actual embodiment. However, the illustrated shapes are merely examples and do not limit the interpretation of the present invention.

[0016] In this specification, for the sake of explanation, the terms "upper" or "above" or "down" or "below" will be used, but these terms merely describe the hierarchical relationships of each component.

[0017] In this specification, for the sake of clarity, the terms "floor surface," "ceiling surface," and "wall surface" will be used. The "floor surface" is the surface on which the screw-driving robot is installed, the "ceiling surface" is the surface opposite the "floor surface," and the "wall surface" is the surface connecting the "floor surface" and the "ceiling surface."

[0018] In this specification, the letters such as "1st," "2nd," or "3rd" attached to each component are merely convenient indicators used to distinguish each component, and unless otherwise specified, they have no further meaning.

[0019] In this specification and drawings, identical or similar components are denoted by the same reference numeral. However, if each component is distinct, each component may be denoted by a capital letter. Furthermore, if a component is divided into multiple parts, these parts may be denoted by lowercase letters or by a hyphen and a natural number.

[0020] <First Embodiment> Referring to Figures 1 to 10, a screw-driving robot 10 according to one embodiment of the present invention will be described.

[0021] [1. Usage of the screw-driving robot 10] Figure 1 is a schematic diagram illustrating how a screw-driving robot 10 according to one embodiment of the present invention is used.

[0022] Figure 1 shows a wall surface where interior construction work is being carried out using a screw-driving robot 10. In the following description, the floor and wall surfaces are assumed to be formed in the XY plane and YZ plane, respectively. The X, Y, and Z directions are orthogonal to each other (including cases where they intersect at approximately 90°), and the Z direction is approximately perpendicular to the floor surface (vertical direction). In the following description, the X, Y, and Z directions may also be referred to as the front-back direction, left-right direction, and up-down direction, respectively, in accordance with the operation of the screw-driving robot 10.

[0023] On the wall surface, the board 1000 is pre-attached by the worker to the base material 1100 which extends in the Z direction. The worker's attachment of the board 1000 only needs to fix the position of the board 1000. Therefore, the worker drives several screws into the board 1000 at the point where the board 1000 contacts the base material 1100, thereby fixing the board 1000 to the base material 1100. The screws driven in by the worker are for temporary fixing of the board 1000 to the base material 1100. Therefore, in the following, the screws driven in by the worker beforehand will be described as temporary fixing screws 1200 (see area A in Figure 1).

[0024] Board 1000 refers to a plate-like material such as gypsum board used in interior construction of buildings. Substrate material 1100 refers to materials such as furring strips or light gauge steel (LGS) used as a base for ceilings or walls in buildings. Several standard values ​​exist for both board 1000 and substrate material 1100. An example of a standard value for board 1000 is length l. b The width is 1820mm, and the width is w b The dimensions are 606mm or 910mm, and the thickness is t b The dimensions are 12.5 mm or 21.0 mm. The standard value for base material 1100 is the cross-sectional length (hereinafter simply referred to as "length") l s and cross-sectional width (hereinafter simply referred to as "width") w s These are 100 mm and 40 mm, respectively. The material of the base material 1100 is not limited, but it is preferably a conductor or dielectric.

[0025] The wall surface of a building is defined by the area of ​​one board (1000 cubic meters). b ×w b) is often larger than ). Therefore, multiple boards 1000 are attached to the wall. Accordingly, the worker attaches multiple boards 1000 to the wall in advance using temporary fastening screws 1200. The number of temporary fastening screws 1200 driven into a single board 1000 is not particularly limited. Also, the position of the temporary fastening screws 1200 driven into a single board 1000 is not particularly limited. As will be described in detail later, the screw-driving robot 10 can detect the temporary fastening screws 1200, so it can drive screws into the boards 1000 while avoiding the temporary fastening screws 1200.

[0026] After the temporary fastening of the boards 1000 using the screws 1200 is completed, the screw-driving robot 10 is used to drive screws into the boards 1000 in order to permanently fix the boards 1000 to the base material 1100. As will be described in detail later, the screw-driving robot 10 detects the base material 1100 while moving in the Y direction, and then moves the screw-driving unit up and down in the Z direction (the direction in which the base material 1100 extends), so that it can continuously drive screws into multiple boards 1000 that are arranged in the direction in which the base material 1100 extends.

[0027] Although Figure 1 shows a low wall 1300 installed on the wall, the screw-driving robot 10 can be used regardless of the presence or absence of the low wall 1300.

[0028] [2. Configuration of the screw-driving robot 10] Figures 2 to 4 are a perspective view, a front view, and a left side view, respectively, showing the configuration of a screw-driving robot 10 according to one embodiment of the present invention.

[0029] The screw-driving robot 10 includes a support body 100, a lifting device 200, a screw-driving unit 300, wheels 400, a control device 500, a battery 600, and a compressor 700 (see Figure 4). The lifting device 200 is positioned above the support body 100. The lifting device 200 is connected to the support body 100, and the support body 100 supports the lifting device 200. The screw-driving unit 300 is also positioned above the support body 100. Four wheels 400 are rotatably connected to the bottom of the support body 100. The screw-driving robot 10 can move on the floor surface by rotating the wheels 400 driven by a wheel drive unit 410 (see Figure 2). That is, the screw-driving robot 10 can move freely in the forward / backward direction (X direction) and the left / right direction (Y direction).

[0030] The support body 100 may be composed of multiple rod-shaped frame members combined together, or it may be composed of plate-shaped frame members. The shape of the support body 100 is not particularly limited, but a space for housing the screw-driving unit 300 is provided on the upper side of the support body 100. The configuration in which the support body 100 and the wheel 400 are combined is sometimes called a trolley.

[0031] The lifting device 200 raises and lowers the screw-driving unit 300 in the vertical direction (Z direction). The lifting device 200 includes a motor 200a and a plurality of masts 200b. One of the masts 200b is connected to the screw-driving unit 300. The masts 200b are connected such that one mast can be raised or lowered relative to the other of two adjacent masts 200b. In other words, the lifting device 200 is a multi-stage lift that can sequentially raise or lower the plurality of masts 200b using the motor 200a. However, the configuration of the lifting device 200 is not limited to this. In the screw-driving robot 10, the lifting device 200 only needs to be configured to raise and lower the screw-driving unit 300. For example, the lifting device 200 may be configured to raise and lower the screw-driving unit 300 by extending and retracting the arm to which the screw-driving unit 300 is connected in the vertical direction.

[0032] The wheel 400 is, for example, a Mecanum wheel (registered trademark) or an Omni wheel (registered trademark). If the wheel 400 is a Mecanum wheel, by controlling the rotation direction of the four Mecanum wheels, the screw-driving robot 10 can move not only in the forward / backward direction (X direction) and left / right direction (Y direction), but also diagonally. However, the configuration of the wheel 400 is not limited to this. The screw-driving robot 10 only needs to include a configuration that allows it to move on the floor surface, and crawlers may be included instead of the wheel 400.

[0033] [3. Configuration of the screw-driving unit 300] In the screw-driving robot 10, the control device 500 controls each component of the screw-driving unit 300, thereby enabling screws to be driven into predetermined screw-driving positions on the board 1000. Therefore, the details of the configuration of the screw-driving unit 300 will be described below.

[0034] The screw-driving unit 300 includes a first sensor 310, a second sensor 320, a screw-driving device 330, a suction device 340, a screw-supplying device 350, a unit support body 360, a first actuator 370-1, a second actuator 370-2, a third actuator 370-3, a fourth actuator 370-4, and the unit support body 360.

[0035] The first sensor 310, the second sensor 320, and the suction device 340 are located on the front side of the screw-driving robot 10 (see Figure 3). The first sensor 310 is located above the second sensor 320. The screw-driving device 330 is located behind the second sensor 320, and the screw-feeding device 350 is located further behind it (see Figures 2 and 4).

[0036] [3-1. Configuration of the Unit Support Body 360] The unit support body 360 supports the first sensor 310, the second sensor 320, the screw driving device 330, the suction device 340, the screw supply device 350, the unit support body 360, the first actuator 370-1, the second actuator 370-2, the third actuator 370-3, and the fourth actuator 370-4. The unit support body 360 includes two support members 360a extending in the X direction and a support member 360b connecting the two support members 360a. The first sensor 310, the second sensor 320, the screw driving device 330, the suction device 340, the screw supply device 350, the unit support body 360, the first actuator 370-1, the second actuator 370-2, the third actuator 370-3, and the fourth actuator 370-4 are connected directly or indirectly to the support member 360a. Furthermore, the support member 360b is connected to the mast 200b of the lifting device 200. Therefore, the screw-driving unit 300 moves up and down in the Z direction as the mast 200b moves up and down.

[0037] [3-2. Configuration of the first sensor 310] The first sensor 310 detects the backing material 1100 on the back side of the board 1000 placed on the wall surface. The screws driven out from the screw driving device 330 fix the board 1000 and the backing material 1100 together. Therefore, the position where the screws are driven must overlap with the backing material 1100, and the first sensor 310 detects the backing material 1100.

[0038] The first sensor 310 is, for example, a proximity sensor. The detection method of the proximity sensor may be a capacitive method using an electric field, or a magnetic method using a magnetic field or a high-frequency oscillation method.

[0039] [3-3. Configuration of the second sensor 320] The second sensor 320 detects temporary fastening screws 1200 that have been pre-driven into the board 1000 placed on the wall. When using the screw-driving robot 10, temporary fastening screws 1200 are pre-driven into the board 1000 from the front side by an operator. Since there is no need to drive screws again in the locations where temporary fastening screws 1200 already exist, the second sensor 320 detects the temporary fastening screws 1200.

[0040] The second sensor 320 is also, for example, a proximity sensor. The first sensor 310 and the second sensor 320 may be proximity sensors with the same detection method, or they may be proximity sensors with different detection methods. The second sensor 320 may also be a camera, and the temporary fastening screws 1200 may be detected by image processing.

[0041] [3-4. Method for detecting the base material 1100 using the first sensor 310 and the method for detecting the temporary fixing screws 1200 using the second sensor 320] Here, with reference to Figure 5, the detection method of the base material 1100 using the first sensor 310 and the detection method of the temporary fastening screws 1200 using the second sensor 320 will be described. Figure 5 is a schematic plan view illustrating the detection methods of the first sensor 310 and the second sensor 320 of a screw-driving robot 10 according to one embodiment of the present invention. The first sensor 310 and the second sensor 320 shown in Figure 5 are proximity sensors.

[0042] In the following, the front and back of board 1000 may be referred to as the first surface and the second surface, respectively.

[0043] Figure 5(A) shows the first sensor 310, the board 1000, and the base material 1100. The screw-driving robot 10 is positioned on the first surface 1001 side of the board 1000, and the first sensor 310 faces the first surface 1001 of the board 1000. The base material 1100 is positioned on the second surface 1002 side of the board 1000. The pitch p between two adjacent base materials 1100 is... s The standard values ​​are 303mm or 455mm, but the pitch ps is not limited to these. Since the screw driving robot 10 can detect the base material 1100, it can also be applied to the board 1000 and the base material 1100 that are different from the standard values.

[0044] The first sensor 310 detects the base material 1100 disposed from the first surface 1001 side to the second surface 1002 side of the board 1000. Therefore, the detection distance d1 of the first sensor 310 is greater than the thickness t of the board. b The detection distance d1 of the first sensor 310 depends on the thickness t of the board 1000, but for example, it is 3 mm or more and 25 mm or less. b

[0045] When the first sensor 310 is moved in the Y direction (left - right direction) and the base material 1100 exists on the second surface 1002 side of the board 1000, the first detection signal of the first sensor 310 changes, and the base material 1100 can be detected. More specifically, in the first sensor 310, the first detection signal changes so as to correspond to the width w from one end to the other end of the base material 1100 in the Y direction. Therefore, the first sensor 310 can detect both ends of the base material 1100 in the Y direction. s

[0046] In FIG. 5(B), the second sensor 320, the board 1000, the base material 1100, and the temporary screw 1200 are illustrated. The screw driving robot 10 is located on the first surface 1001 side of the board 1000, and the second sensor 320 faces the first surface 1001 of the board 1000. The temporary screw 1200 is driven from the first surface 1001 side of the board 1000, and a part (for example, the head) of the temporary screw 1200 is exposed in the first surface 1001 of the board 1000.

[0047] The second sensor 320 detects the temporary screw 1200 in the first surface 1001 of the board 1000, but the second sensor 320 needs not to detect the base material 1100. Therefore, the detection distance d2 of the second sensor 320 is less than the thickness t of the board 1000. b ​​It is preferable that it be smaller than . However, the second sensor 320 can also be used at a predetermined distance from the first surface 1001. In that case, the detection distance d2 of the second sensor 320 is equal to the thickness t of the board 1000. b It may be larger than this. In any case, in order to prevent the second sensor 320 from detecting the base material 1100, it is preferable that the detection distance d2 of the second sensor 320 is smaller than the detection distance d1 of the first sensor 310.

[0048] When the second sensor 320 is moved in the Y direction (left-right direction), and a temporary fastening screw 1200 is found to be present within the first surface 1001 of the board 1000, the second detection signal of the second sensor 320 changes, and the temporary fastening screw 1200 can be detected.

[0049] Note that temporary fastening screws 1200 may be present within the detection distance d1 of the first sensor 310. However, since the temporary fastening screws 1200 always overlap with the base material 1100, the presence of the temporary fastening screws 1200 does not need to be considered when the first sensor 310 detects the base material 1100.

[0050] [3-5. Configuration of the screw driving device 330] Returning to Figures 2-4, the configuration of the screw-driving device 330 will be explained.

[0051] The screw driving device 330 includes an injection port 330a, a main body 330b, and a screw supply port 330c. The screw supply port 330c of the screw driving device 330 is connected to a tube 351 of the screw supply device 350. Screws from the screw supply device 350 are supplied to the injection port 330a through the tube 351 and ejected from the injection port 330a by the ejection mechanism of the main body 330b. In other words, the screw driving device 330 ejects screws from the injection port 330a to fix the board 1000 placed on the wall surface to the base material 1100. The screw ejection mechanism in the screw driving device 330 may be electric or air-powered. In the case of air-powered, compressed air from a compressor 700 can be used. On the other hand, an electric screw driving device 330 is preferable because it does not require a compressor, and therefore the screw driving unit 300 can be made smaller.

[0052] Furthermore, the screw supply device 350 can continuously supply screws to the injection port 330a by utilizing compressed air from the compressor 700.

[0053] [3-6. Configuration of the connection between the second sensor 320 and the screw driving device 330] Here, the arrangement of the first sensor 310, the second sensor 320, and the screw-driving device 330 within the screw-driving unit 300 will be described.

[0054] Preferably, the first sensor 310 is positioned in a front view (YZ plane) on a line passing through the center of the nozzle 330a of the screw driving device 330 and parallel to the Z direction. Furthermore, preferably, the first sensor 310 is positioned above the screw driving device 330 in both a front view (YZ plane) and a side view (ZX plane). The first sensor 310 does not necessarily have to be located near the nozzle 330a of the screw driving device 330. Since the base material 1100 extends in the Z direction, if the base material 1100 is detected by the first sensor 310, the nozzle 330a of the screw driving device 330, located below the first sensor 310, will overlap with the base material 1100, allowing the screw driving device 330 to drive screws at the position where the board 1000 overlaps with the base material 1100.

[0055] The position from which the screw-driving device 330 ejects screws is a position from which the temporary fastening screws 1200 are not detected by the second sensor 320. In other words, the position from which the second sensor 320 detects the presence or absence of the temporary fastening screws 1200 is the same as the position from which the ejection port 330a of the screw-driving device 330 ejects screws. Furthermore, if the second sensor 320 is a proximity sensor, it is necessary to bring the second sensor 320 close to the board 1000. In this case, the second sensor 320 and the ejection port 330a of the screw-driving device 330 will interfere with each other.

[0056] However, in the screw-driving unit 300, in order to avoid interference between the second sensor 320 and the ejection port 330a of the screw-driving device 330, the second sensor 320 moves in conjunction with the movement of the screw-driving device 330. In other words, the second sensor 320 is connected to move in conjunction with the movement of the screw-driving device 330. Therefore, the configuration of the connection between the second sensor 320 and the screw-driving device 330 will be explained with reference to Figures 6 and 7.

[0057] Figures 6 and 7 are a plan view and a left side view, respectively, showing the configuration of the connection between the second sensor 320 and the screw driving device 330 in the screw driving unit 300 of the screw driving robot 10 according to one embodiment of the present invention. Specifically, Figures 6(A) and 7(A) show the configuration when the presence or absence of temporary fastening screws 1200 is detected by the second sensor 320 (configuration when temporary fastening screws are detected), and Figures 6(B) and 7(B) show the configuration when screws are ejected from the ejection port 330a of the screw driving device 330 (configuration when screws are ejected). The screw driving unit 300 can be transformed from the configuration when temporary fastening screws are detected to the configuration when screws are ejected, or vice versa.

[0058] As shown in Figures 6 and 7, the second sensor 320 is connected to the screw-driving device 330 via a support 321. The support 321 includes support members 321a, 321b, and 321c, a guide pin 321d, and a support pin 321e.

[0059] Support member 321a has a Z-shape. Support members 321b and 321c have a plate shape. A second sensor 320 is connected to one end of support member 321a. The other end of support member 321a is connected to one end of support member 321b. In the XY plane, the second sensor 320 is positioned offset from the extension direction of support member 321b and is located in the direction of screw ejection (X direction) of the screw ejected from the ejection port 330a of the screw driving device 330. In other words, the second sensor 320 is positioned on the extension of the ejection port 330a of the screw driving device 330 such that the detection direction of the second sensor 320 coincides with the ejection direction of the screw. However, the position of the second sensor 320 is not limited to this. The second sensor 320 only needs to be located in front of the ejection port 330a of the screw driving device 330, and the detection direction of the second sensor 320 and the screw ejection direction may have a predetermined angle.

[0060] A support pin 321e is provided at the other end of the support member 321b. The support pin 321e is provided on the support member 321b so that the support member 321b can rotate around the support pin 321e as its central axis. The support pin 321e is fixed so as not to be linked to the movement of the screw driving device 330 during deformation between the configuration when the temporary screw is detected and the configuration when the screw is driven out. In addition, a guide pin 321d is provided on the support member 321b. The guide pin 321d is provided closer to the center of the support member 321b than the position of the support pin 321e.

[0061] The support member 321c is connected to and fixed to the screw-driving device 330. Therefore, the support member 321c can move in the direction of movement of the screw-driving device 330. The support member 321c is also provided with a guide hole 321f. The guide hole 321f has a curved shape in the ZX plane, connecting two ends with different heights in the Z direction. The curved shape of the guide hole 321f may include a straight section. A guide pin 321d is inserted through the guide hole 321f. The guide pin 321d can slide within the guide hole 321f along its shape. In other words, the support member 321b and the support member 321c are connected such that the guide pin 321d of the support member 321b can slide within the guide hole 321f of the support member 321c.

[0062] In the configuration for detecting temporary fastening screws, the second sensor 320 is positioned in front of the nozzle 330a of the screw driving device 330 (see Figures 6(A) and 7(A)). Let z_1 (not shown) be the position of the guide pin 321d in the ZX plane at this time. In the transformation from the configuration for detecting temporary fastening screws to the configuration for driving screws, the screw driving device 330 moves in the X direction. At this time, the guide pin 321d slides within the guide hole 321f and moves in the Z direction along the shape of the guide hole 321f. At this time, the position of the guide pin 321d in the ZX plane is z_2 (not shown), which is above z_1. As the guide pin 321d moves in the Z direction, the support members 321a and 321b rotate around the support pin 321e, and the second sensor 320 moves in the Z direction. With this configuration, collision between the second sensor 320 and the nozzle 330a of the screw driving device 330 can be avoided.

[0063] The second sensor 320, which detects the temporary fastening screws 1200 driven into the board 1000, does not necessarily need to be in contact with the board 1000. In contrast, the screw-driving device 330, which drives screws into the board 1000, needs its nozzle 330a to be in contact with the board 1000. Therefore, the tip of the nozzle 330a of the screw-driving device 330 in the screw-driving configuration can protrude more than the tip of the second sensor 320 in the temporary fastening screw detection configuration.

[0064] The support member 321a may have an L-shape. If the support member 321a has a Z-shape, one end of the support member 321a is connected to the side of the second sensor 320, but if the support member 321a has an L-shape, one end of the support member 321a is connected to the back of the second sensor 320. Although the support member 321a and the support member 321b have been described as separate members, the support member 321a and the support member 321b may be an integrated member.

[0065] The above-described configuration of the connection between the second sensor 320 and the screw-driving device 330 is merely an example, and the configuration of the screw-driving unit 300 is not limited to this. The screw-driving unit 300 can be configured such that the position of the second sensor 320 in the temporary screw detection configuration and the position of the nozzle 330a of the screw-driving device 330 in the screw-driving configuration are swapped. In such a configuration, not only is collision between the second sensor 320 and the nozzle 330a of the screw-driving device 330 avoided, but the nozzle 330a of the screw-driving device 330 can be pressed against a position where the temporary screw 1200 was not detected by the second sensor 320. Therefore, screws can be driven in with high precision to the determined screw-driving position.

[0066] [3-7. Configuration of the adsorption device 340] The suction device 340 picks up the board 1000. The suction device 340 is connected to one end of the arm 341. The arm 341 is also connected to the first actuator 370-1 so that it can be moved by the drive of the first actuator 370-1. When the suction pad of the suction device 340 is pressed against the board 1000, the air inside the suction pad is expelled using a pump, and the board 1000 can be picked up. On the other hand, when air is pumped into the suction pad, the suction pad of the suction device 340 separates from the board 1000, and the suction device 340 can release the suction of the board 1000.

[0067] However, the configuration of the suction device 340 is not limited to this. The arm 341 may include a configuration that extends and retracts in the X direction. In this case, the extendable configuration of the arm 341 can be used to press the suction pad against the board 1000.

[0068] When the screw driving device 330 drives screws into the board 1000, if the screw driving device 330 recoils due to the recoil, the screws may not be driven into the board 1000 completely. This effect is particularly pronounced as the screw driving unit 300 rises and moves away from the support body 100. Therefore, in the screw driving robot 10, when the screw driving device 330 drives out screws, the suction device 340 suctions the board 1000 and maintains a constant distance between the board 1000 and the screw driving device 330. This prevents the screw driving device 330 from recoiling due to the recoil when it drives out screws, allowing the screws to be driven into the board 1000 completely.

[0069] [3-8. Configuration of the first actuator 370-1 to the fourth actuator 370-4] The first actuator 370-1 to the fourth actuator 370-4 can be driven independently of each other. The drive units (e.g., motors) for the first actuator 370-1 to the fourth actuator 370-4 may be located within the first actuator 370-1 to the fourth actuator 370-4, or they may be located within the control device 500.

[0070] Here, the driving of the first actuator 370-1 to the fourth actuator 370-4 will be described with reference to Figures 8 and 9. Figure 8 is a schematic right side view illustrating the driving of the first actuator 370-1 to the third actuator 370-3 included in the screw-driving unit 300 of the screw-driving robot 10 according to one embodiment of the present invention. Specifically, Figures 8(A), 8(B), and 8(C) are right side views illustrating the driving of the first actuator 370-1, the second actuator 370-2, and the third actuator 370-3, respectively. Figure 9 is a schematic front view illustrating the driving of the fourth actuator 370-4 included in the screw-driving unit 300 of the screw-driving robot 10 according to one embodiment of the present invention. For the sake of explanation, the suction device 340 is omitted from Figure 8(C), and is shown by a dotted line in Figure 9.

[0071] [3-8-1. First actuator 370-1] The first actuator 370-1 includes a guide rail extending in the X direction and a slider movable along the guide rail. In other words, the first actuator 370-1 is a slider-type actuator. The slider of the first actuator 370-1 is directly or indirectly connected to the second actuator 370-2, the third actuator 370-3, the fourth actuator 370-4, and the suction device. Therefore, by driving the first actuator 370-1, the second actuator 370-2, the third actuator 370-3, the fourth actuator 370-4, and the suction device 340 can move in the X direction (see Figure 8(A)).

[0072] [3-8-2. Second actuator 370-2] The second actuator 370-2 includes a rod extending in the X direction and a cylinder tube into which one end of the rod is inserted. In the second actuator 370-2, when one end of the rod moves in the X direction within the cylinder tube, the other end of the rod can also move in the X direction. In other words, the second actuator 370-2 is a cylinder-type actuator. The first sensor 310 is connected to the other end of the rod of the second actuator. Therefore, the first sensor 310 can move in the X direction by driving the second actuator 370-2 (see Figure 8(B)).

[0073] [3-8-3. Third actuator 370-3] The third actuator 370-3 is a slider-type actuator that includes a slider movable along the X direction. The screw-driving device 330 is connected to the slider of the third actuator 370-3. Therefore, the screw-driving device 330 can be moved in the X direction by driving the third actuator 370-3 (see Figure 8(C)).

[0074] As mentioned above, the second sensor 320 moves in the Z direction in conjunction with the movement of the screw-driving device 330 in the X direction.

[0075] [3-8-4. The fourth actuator 370-4] The fourth actuator 370-4 is a slider-type actuator that includes a slider movable along the Y direction. The slider of the fourth actuator 370-4 is connected to the second actuator 370-2 and the third actuator 370-3 (see Figure 9). Therefore, the second actuator 370-2 and the third actuator 370-3 can be moved in the Y direction by driving the fourth actuator 370-4.

[0076] The operation of the first actuator 370-1 to the fourth actuator 370-4 can be summarized as follows: The first actuator 370-1 drives the first sensor 310, the second sensor 320, the screw-driving device 330, and the suction device 340 simultaneously in the X direction (forward / backward direction). The second actuator 370-2 drives the first sensor 310 in the X direction (forward / backward direction). The third actuator 370-3 drives the screw-driving device 330 in the X direction (forward / backward direction). In addition, the second sensor 320 moves in the Z direction in conjunction with the movement of the screw-driving device 330 in the X direction. The fourth actuator 370-4 drives the first sensor 310, the second sensor 320, and the screw-driving device 330 simultaneously in the Y direction.

[0077] Furthermore, the first actuator 370-1 to the fourth actuator 370-4 are not limited to the configuration described above. The first actuator 370-1 to the fourth actuator 370-4 are only required to be configured to drive the first sensor 310, the second sensor 320, the screw-driving device 330, and the suction device 340 to move as described above. In addition, the connection to the first actuator 370-1 to the fourth actuator 370-4 may be a direct connection or an indirect connection via connecting members such as connecting fittings.

[0078] [4. Configuration of the control device 500] The details of the configuration of the control device 500 will be described with reference to Figure 10. Figure 10 is a block diagram showing the configuration of the control device 500 of a screw-driving robot 10 according to one embodiment of the present invention.

[0079] As shown in Figure 10, the control device 500 is a so-called computer, including a control unit 510 and a storage unit 520. The control device 500 functions by executing a program on the computer. The control device 500 includes a control unit 510 such as a Central Processing Unit (CPU), Micro Processing Unit (MPU), Graphics Processing Unit (GPU), or Digital Signal Processor (DSP). The control device 500 also includes a storage unit 520 such as Random Access Memory (RAM), Read Only Memory (ROM), Flash Memory, Hard Disk Drive (HDD), or Solid State Drive (SSD). The program may be stored in the storage unit 520.

[0080] The control unit 510 is communicatively connected to the motor 200a of the lifting device 200, the first sensor 310 and second sensor 320 of the screw-driving unit 300, the screw-driving device 330, the first actuator 370-1, the second actuator 370-2, the third actuator 370-3, and the fourth actuator 370-4 of the screw-driving unit 300, and the wheel drive unit 410 that drives the wheel 400. Therefore, the control unit 510 can control the lifting device 200, the screw-driving unit 300, and the wheel 400 through communication connections.

[0081] The memory unit 520 can store setting data 521 necessary for the automatic control of the screw-driving robot 10. The setting data 521 is registered in advance by the user. The setting data 521 may include, for example, the thickness t of the board 1000. b , pitch p between base material 1100 s This includes the detection distance d1 of the first sensor 310 and the detection distance d2 of the second sensor 320, etc., and the thickness t of the board 1000. bBy changing the detection distances d1 and d2 accordingly, the screw-driving robot 10 can be used on any board or substrate. Furthermore, the setting data 521 includes the screw pitch p in the Z direction. z This includes: The screw-driving robot 10 drives the screw-driving unit 300 in the Z direction at a screw pitch p z Screws can be driven into the boards 1000 one by one while moving them along the board. Furthermore, the setting data 521 may include the size of one board 1000 (length in the Y direction × length in the Z direction) and the number of boards 1000 placed on the wall (number of boards placed in the Y direction × number of boards placed in the Z direction).

[0082] The control unit 510 can calculate the data necessary for controlling each configuration based on the position data (including coordinates and distance, etc.) and setting data 521 of the screw-driving unit 300. Furthermore, the control unit 510 can calculate the screw-driving position where the screw-driving device 330 drives screws into the board 1000, based on the detection of the base material 1100 by the first sensor 310 and the non-detection of the temporary fastening screws 1200 by the second sensor 320. For example, the control unit 510 can calculate the width w of the base material 1100 from the position where the base material 1100 is detected (more specifically, the position of one end of the base material 1100 in the Y direction). s The screw-driving position can be calculated as the position moved by half of the distance in the Y direction. Alternatively, the control unit 510 can calculate the screw-driving position as the center position of the ends of the base material 1100.

[0083] As described above, the screw-driving robot 10 can detect the presence or absence of the base material 1100 and temporary fastening screws 1200 using the first sensor 310 and the second sensor 320, and automatically drive screws into the board 1000 based on these detections. Therefore, there is no need for the operator to mark the screw-driving positions in advance, and the temporary fastening screws 1200 driven in by the operator when temporarily fixing the board can be effectively utilized. In addition, the second sensor 320 is located on the extension of the nozzle 330a of the screw-driving device 330 and detects the presence or absence of temporary fastening screws 1200 in the board 1000. As a result, the detection accuracy of temporary fastening screws 1200 at the screw-driving positions is improved.

[0084] Furthermore, the screw-driving robot 10 can continuously drive screws into multiple boards 1000 arranged on a wall surface while raising the screw-driving unit 300, and can also drive screws at high places. In addition, because the screw-driving unit 300 of the screw-driving robot 10 moves in only one direction, it can be made compact and can automatically drive screws into boards 1000 arranged on a wall surface in a narrow space. Therefore, it can reduce the burden on workers and improve the work efficiency in interior construction.

[0085] <Second Embodiment> Referring to Figures 11 to 14, a control method for a screw-driving robot 10 according to one embodiment of the present invention will be described. Specifically, the control method for a screw-driving robot 10 that performs continuous screw-driving in the Z direction will be described below.

[0086] Figure 11 is a flowchart illustrating the control method of a screw-driving robot 10 according to one embodiment of the present invention. Figures 12 to 14 are schematic diagrams illustrating the control method of a screw-driving robot 10 according to one embodiment of the present invention.

[0087] The flowchart shown in Figure 11 includes steps S100 to S240. Below, steps S100 to S240 will be explained in order, with reference to Figures 8, 9, and 12 to 14 as appropriate.

[0088] Steps S100 to S140 are steps for detecting the base material 1100 at the lower end of the wall surface. The screw-driving robot 10 is installed so that the first sensor 310 faces the first surface 1001 of the board 1000 located at the lower end of the wall surface.

[0089] In step S100, the second actuator 370-2 is driven to move the first sensor 310 in the X direction so that it is close to the board 1000 (see Figure 12). Then, the first sensor 310 is turned ON. As a result, the first detection signal is transmitted from the first sensor 310 to the control unit 510, enabling the detection of the base material 1100.

[0090] In step S110, the screw-driving robot 10 is moved in the Y direction by controlling the four wheels 400 (see Figure 13). As the screw-driving robot 10 moves in the Y direction, the first sensor 310 also moves in the Y direction. This makes it possible to detect the base material 1100 in the Y direction.

[0091] In step S120, the control unit 510 determines whether or not the base material 1100 has been detected based on the first detection signal. If the base material 1100 is detected (step S120: YES), step S130 is executed. If the base material 1100 is not detected (step S120: NO), step S110 is executed again.

[0092] In step S130, the width w of the base material 1100 is measured from the position where the base material 1100 was detected (more specifically, the position of one end of the base material 1100 in the Y direction). s The screw-driving robot 10 is stopped at a position that has moved half a distance in the Y direction. This allows the position of the second sensor 320 and the nozzle 330a of the screw-driving device 330 to be aligned with a position near the center of the width of the base material 1100. In other words, the screw-driving position is determined.

[0093] In addition, in steps S120 to S130, the positions of both ends of the base material 1100 in the Y direction may be detected. In this case, the center positions of the detected ends can be determined as the screw-driving positions.

[0094] In step S140, the second actuator 370-2 is driven to move the first sensor 310 in the X direction away from the board 1000. As a result, the first sensor 310, which was protruding forward of the suction pad of the suction device 340, returns to its origin position behind the suction pad of the suction device 340. After that, the first sensor 310 is turned off.

[0095] Steps S150 to S180 are steps for driving screws into the designated screw locations.

[0096] In step S150, the first actuator 370-1 is driven to move the first connecting plate 381 in the X direction (see Figure 8(A)). As a result, the suction device 340 connected to the first connecting plate 381 moves in the X direction, the suction pad of the suction device 340 is pressed against the board 1000, and the suction device 340 picks up the board 1000. At this time, the second sensor 320 connected to the first connecting plate 381 also moves in the X direction, and the second sensor 320 comes into close proximity to the board 1000. At this time, the second sensor 320 is turned ON. As a result, a second detection signal is transmitted from the second sensor 320 to the control unit 510, making it possible to detect the temporary fastening screws 1200 in the first surface 1001 of the board 1000.

[0097] In step S160, the control unit 510 determines whether or not the temporary fastening screw 1200 has been detected based on the second detection signal. If the temporary fastening screw 1200 is not detected (step S160: NO), step S170 is executed. If the temporary fastening screw 1200 is detected (step S160: YES), step S190 is executed.

[0098] In step S170, the third actuator 370-3 is driven to move the screw driving device 330 in the X direction so that the nozzle 330a of the screw driving device 330 contacts the screw driving position on the first surface 1001 of the board 1000 (see Figure 6(C)). At this time, the second sensor 320 moves above the screw driving device 330. Therefore, the nozzle 330a of the screw driving device 330 is pressed against the first surface of the board 1000 without colliding with the second sensor 320. Next, the screw driving device 330 drives a screw into the screw driving position on the first surface 1001 of the board 1000. After that, the third actuator 370-3 is driven to move the screw driving device 330 in the X direction so that it returns to its home position. At this time, in accordance with the movement of the screw driving device 330, the second sensor 320 also returns to its home position (i.e., the position in front of the nozzle 330a).

[0099] In step S180, after releasing the suction device 340, the first actuator 370-1 is driven to move the first connecting plate 381 in the X direction. As a result, the suction device 340 connected to the first connecting plate 381 moves in the X direction, and the suction pad of the suction device 340 separates from the board 1000. At this time, the first sensor 310, the second sensor 320, and the screw-driving device 330 also move in the X direction, so the screw-driving unit 300 returns to its home position.

[0100] Steps S190 to S230 are steps for driving screws in continuously in the Z direction.

[0101] In step S190, the control unit 510 determines whether the cumulative number of screw driving operations matches the set number. Specifically, the control unit 510 cumulatively calculates the number of screw driving operations performed in step S170 and the length l of the board 1000 in the Z direction. b or width w b and screw pitch p z , as well as the number of screw-driving settings (l) calculated based on the number of boards N b ×N / p z or w b ×N / p zThe system determines whether the set number of times matches the cumulative number of times screws have been driven. If the set number does not match the cumulative number (step S190: NO), step S200 is executed to continue driving screws in the Z direction. If the set number matches the cumulative number (step S190: YES), it is determined that screws have been driven to the top edge of the board in the Z direction, and step S240 is executed.

[0102] Note that the determination process in step S190 is not limited to those described above. For example, the cumulative rise amount is calculated by adding the next rise value of the screw-driving unit 300, and the cumulative rise amount is set to a set value (for example, the number of boards N × the length of the board l in the Z direction). b or width w b The system determines whether the cumulative rise exceeds the set value. If the cumulative rise does not exceed the set value (step S190: NO), step S200 is executed to continue driving screws in the Z direction. If the cumulative rise exceeds the set value (step S190: YES), it is determined that screws have been driven up to the top edge of board 1000 in the Z direction, and step S240 is executed.

[0103] In step S200, the lifting device 200 is driven, and the screw driving unit 300 moves to the screw pitch p z Only raise it in the Z direction (see Figure 14).

[0104] In step S210, the second actuator 370-2 is driven to move the first sensor 310 in the X direction so that it is close to the board 1000 (see Figure 6(B)). Then, the first sensor 310 is turned ON. As a result, a detection signal is transmitted from the first sensor 310 to the control unit 510, enabling the detection of the base material 1100.

[0105] In step S220, the fourth actuator 370-4 is driven to move the first sensor 310 in the Y direction (see Figure 9(B)) to detect the base material 1100. The control unit 510 also corrects the screw driving position based on whether or not the base material 1100 is detected, its detection position, or its width.

[0106] In step S230, the second actuator 370-2 is driven to move the first sensor 310 in the X direction away from the board 1000. As a result, the first sensor 310, which was protruding forward of the suction pad of the suction device 340, returns to its origin position behind the suction pad of the suction device 340. After that, the first sensor 310 is turned off.

[0107] Steps S210 to S230 are steps for correcting the screw driving position. If the extending direction of the base material 1100 and the vertical direction of the screw driving unit 300 do not perfectly coincide, the screw driving position may shift to a position where it does not overlap with the base material 1100 as the screw driving unit 300 rises in the Z direction. Therefore, in steps S210 to S230, the base material 1100 in the Y direction is detected and the screw driving position is corrected. Steps S210 to S230 may be performed each time the screw driving unit rises, or at predetermined intervals of rises. Also, steps S210 to S230 are not required to be performed.

[0108] After step S230 is performed, step S150 is executed. By repeating steps S150 to S230, screws can be driven continuously into multiple boards 1000 along the extending direction (Z direction) of the base material 1100.

[0109] In step S240, the lifting device 200 is driven to lower the screw-driving unit 300 to the lowest end of the board 1000 located below the wall surface.

[0110] The execution of step S240 completes the continuous screw driving process in the Z direction.

[0111] By repeating steps S100 to S240 described above, screws can be driven into the entire surface of multiple boards 1000 placed on the wall. After this, the screw-driving robot 10 may be moved to face another wall and steps S100 to S240 may be repeated.

[0112] As described above, the screw-driving robot 10 can detect the presence or absence of the base material 1100 and temporary fastening screws 1200 using the first sensor 310 and the second sensor 320, and automatically drive screws into the board 1000 based on these detections. Therefore, there is no need for the operator to mark the screw-driving positions in advance, and the temporary fastening screws 1200 driven in by the operator when temporarily fixing the board can be effectively utilized. In addition, the second sensor 320 is located on the extension of the nozzle 330a of the screw-driving device 330 and detects the presence or absence of temporary fastening screws 1200 in the board 1000. As a result, the detection accuracy of temporary fastening screws 1200 at the screw-driving positions is improved.

[0113] Furthermore, the screw-driving robot 10 can continuously drive screws into multiple boards 1000 arranged on a wall surface while raising the screw-driving unit 300, and can also drive screws at high places. In addition, because the screw-driving unit 300 of the screw-driving robot 10 moves in only one direction, it can be made compact and can automatically drive screws into boards 1000 arranged on a wall surface in a narrow space. Therefore, it can reduce the burden on workers and improve the work efficiency in interior construction.

[0114] The embodiments of the present invention can be implemented by combining configurations as appropriate, as long as they do not contradict each other. Furthermore, any additions, deletions, or design modifications made by those skilled in the art based on the embodiments, or additions, omissions, or changes in processes, are also included within the scope of the present invention, as long as they retain the essence of the present invention.

[0115] Any effects or benefits other than those brought about by the embodiments described above, if they are clear from the description herein or easily predictable to a person skilled in the art, are naturally considered to be brought about by the present invention. [Explanation of Symbols]

[0116] 10: Screw-driving robot, 100: Support body, 200: Lifting device, 200a: Motor, 200b: Mast, 300: Screw-driving unit, 310: First sensor, 320: Second sensor, 321: Support body, 321a: Support member, 321b: Support member, 321c: Support member, 321d: Guide pin, 321e: Support pin, 321f: Guide hole, 330: Screw-driving device, 330a: Discharge port, 330b: Main body, 330c: Screw supply port, 340: Suction device, 341: Arm, 350: Screw supply device, 360: Unit support body, 360a: Support member, 360b: Support member, 370-1: First actuator, 370-2: Second actuator, 370-3: Third actuator, 370-4: Fourth actuator, 381: First connecting plate, 382: Second connecting plate, 391, 392: Connecting members, 400: Wheel, 410: Wheel drive unit, 500: Control device, 510: Control unit, 520: Memory unit, 521: Setting data, 600: Battery, 700: Compressor, 1000: Board, 1001: First surface, 1002: Second surface, 1100: Base material, 1200: Temporary fixing screws, 1300: Wainscoting

Claims

1. A screw-driving device that fires screws from an ejector port, A sensor for detecting a pre-installed temporary fastening screw in a board, positioned on the extension of the first direction from which the screw is ejected from the nozzle, A screw-driving unit, comprising a support that movably supports the sensor in a second direction different from the first direction.

2. Furthermore, the screw-driving unit according to claim 1 includes an actuator for moving the screw-driving device in the first direction.

3. The screw-driving unit according to claim 2, wherein the sensor moves in the second direction in conjunction with the operation of the actuator.

4. The aforementioned support is A first support member including a guide pin, which is connected to the sensor, It includes a second support member connected to the screw-driving device, which includes a guide hole through which the guide pin is inserted, The screw-driving unit according to claim 3, wherein the guide pin slides within the guide hole in accordance with the movement of the screw-driving device.

5. The screw-driving unit according to claim 1, wherein when the sensor moves in the second direction, the sensor is positioned above the screw-driving device.

6. Furthermore, the screw-driving unit according to claim 1 includes a suction device capable of adsorbing the board.

7. The screw-driving unit according to claim 1, wherein the sensor is a proximity sensor.

8. A screw-driving unit according to any one of claims 1 to 7, Wheels that can move across the floor, A screw-driving robot, comprising a lifting device for raising and lowering the screw-driving unit in a Z direction substantially perpendicular to the floor surface.

9. The screw-driving robot according to claim 8, wherein after the screw-driving device drives the screws into the board, the screw-driving unit is raised by the lifting device.

10. The screw-driving robot according to claim 8, wherein after the screw-driving unit is lowered by the lifting device, the drive of the wheels is controlled so that the screw-driving unit moves in a direction substantially parallel to the board.

Images