JPH084272A - Ceiling and wall interior finish executing device, and attachment therefor - Google Patents

Abstract

PURPOSE:To provide a self-traveling compact all-round ceiling and wall interior finish executing device in which various interior finish works of a building can be executed with one device. CONSTITUTION:A vertical rotating shaft 11 is arranged on a self-traveling truck 1 in such a manner as to be capable of rising and lowering, and an expansion arm 20 is supported by the vertical rotating shaft 11 in such a manner as to be vertically rotatable. An attachment holding part 50 is arranged on the top end part of the arm 20 through a vertical regulating device 30, a horizontal regulating device 31, and an X, Y, Z-directional posture fine regulating device 40 arranged in series. The traveling of the self-traveling truck 1, the operation of the arm 20, and each operation of the vertical regulating device 30 and the horizontal regulating device 31 are controlled by a control device 6 to automatically operate an interior constructing attachment 60 attachably and detachably held by the holding part 50.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a building interior construction device and its auxiliary equipment, and in particular, it is possible to automatically enter and exit a small room of about 8 tatami mats to automatically perform various interior construction works such as ceilings and walls. It can be done quickly.

[0002]

2. Description of the Related Art Conventionally, for attaching various boards such as gypsum boards and decorative boards used for the interior of building structures, the operator manually lifts the boards to adjust the mounting position, and then nails or screws are used. The method of hitting and fixing the kind has been performed. However, the work of manually mounting a large number of boards in this way is very fatigued and inefficient. Therefore,
Recently, along with the development of robot technology, a method for automatically attaching a board using this has been actively researched, and various technical proposals have been made.

For example, Japanese Patent Laid-Open Nos. 3-96567 and 3-000265 disclose automatic devices for interior work of this type.
In Japanese Patent Laid-Open No. 3-119256, a suction table for fixing a ceiling board and a screw tightening are mounted on a handling table installed on a traveling carriage so as to be capable of turning, moving in the X direction, moving in the Y direction, and moving in the Z direction. Equipped with a unit, the ceiling pad is sucked and held by the suction pad, aligned with a predetermined mounting position and pressed against the existing lightweight steel frame or other fastening frame body, and the ceiling board is screwed to the frame body with the screw tightening unit. An automatic mounting device for a stopping board is disclosed.

Further, in Japanese Patent Laid-Open No. 3-191173, there is provided a first platform which is placed on a dolly movable on the floor of a building and on which an operator can ride, and a first lifting mechanism for lifting the platform. A second platform arranged at an interval above the first carriage, a second lifting mechanism for lifting the second platform, and a second platform
A vacuum chuck that is supported on the table of the ceiling board to horizontally support the ceiling board, and a screwing machine that is supported on a second table that screws the ceiling board supported by the vacuum chuck to the ceiling. When installing the board, first support the ceiling board horizontally with a vacuum chuck, and then adjust the height position of the ceiling board by adjusting the height of the second table with the second lifting mechanism, and then adjust the ceiling board. There is disclosed a ceiling board mounting device in which is automatically screwed to the ceiling with a screwing machine.

Further, Japanese Patent Laid-Open No. 1-192955 discloses a trolley provided with a workbench capable of traveling on the floor of a building and on which a worker rides, and three-dimensional X, Y, Z axes on the trolley. And a base provided so as to be movable in any direction, and X, Y,
An actuator that moves in each Z direction, a slide shaft that is vertically movable on the base and rotatable about an axis, a push-up spring that elastically lifts the slide shaft upward, and a universal joint on the upper part of the slide shaft. Via a fixed plate that can be tilted in any direction, a holding spring that is attached to the universal joint to hold the fixed plate normally horizontally, and X, Y along the fixed plate on the fixed plate.
A board receiving portion for receiving a board on its upper surface, which is formed by first and second slide plates slidably provided in a predetermined direction, and a regulation spring that regulates the sliding of these slide plates, and further the slide shaft is pushed up. It detects that it has moved a predetermined distance against the spring, and that the first and second slide plates have moved a predetermined distance against each restriction spring in each direction, and sends a signal to the actuator, There is disclosed a board pasting device including a stop means for stopping the movement of each of the slide plates.

[0006]

However, all the above-mentioned conventional examples are dedicated to mounting the ceiling board,
There is a problem that the ceiling cannot be used as a wall, and the attachments must be exchanged or separate work must be prepared. In addition, since the structure of the device is large and the size of the device is large, the device cannot pass through the door of the room where the board mounting work is performed, and the device must be assembled and disassembled inside the room. .

Further, since the ceiling and the wall cannot be continuously constructed by the same device, there is a problem that the work speed of the entire interior construction is slow. Furthermore, when tapping the board with screws, it is necessary to finely adjust the board position, but in order to do this fully automatically, a precise operating mechanism and posture / position detection device are required, making it an extremely expensive device. There is a problem that is not appropriate.

Therefore, the present invention has been made by paying attention to the problems of the prior art, and various interior works such as attaching a board to a ceiling and a wall can be performed with a single device and can be self-propelled. In addition, it is a compact size that can be put in and out sufficiently from the door of the room, and the final fine adjustment of the mounting position of the interior material can be done easily and accurately without misalignment, and it is a compact all-purpose type that can be installed quickly. It is intended to provide a ceiling and wall interior construction device.

Another object of the present invention is to:
It is an object of the present invention to provide an accessory device for a ceiling and wall interior construction device that can perform various screw-stripping operations such as main-striking, pitch-striking, and simultaneous-striking in the case of board screw driving. Still another object of the present invention is to provide an accessory device for a ceiling and wall interior construction device that can automatically supply screws to the screw driving machine during the above-mentioned screw driving process.

[0010]

A ceiling and wall interior construction apparatus of the present invention that achieves the above-mentioned object is a self-propelled carriage, a vertical rotary shaft that is vertically movable on the self-propelled carriage, and An expandable and contractible arm supported by a vertical rotating shaft so as to be vertically swingable, and a vertical adjusting device and a horizontal adjusting device that are arranged in series at the tip of the arm, and X, Y, Z
Holding unit for holding a board attachment accessory device detachably, which has a direction fine adjustment device, and control for controlling the traveling of the self-propelled carriage, the operation of each arm, and each operation of the vertical adjustment device and the horizontal adjustment device. It is characterized by having a device.

Here, each of the vertical adjusting device and the horizontal adjusting device may include a rotating shaft orthogonal to the axis of the arm, and the rotating shafts may be orthogonal to each other. Further, the attitude fine adjustment device includes a low-pressure hydraulic cylinder that moves the holding portion in the X direction, a hydraulic cylinder that moves the holding portion in the Y direction, and a rotation mechanism that rotates about the Z direction axis, and each is manually driven. Can have a table that is

The accessory for the ceiling and wall interior construction apparatus of the present invention is an accessory that is held by the holding portion of the ceiling and wall interior construction apparatus, and includes a suction pad for holding a board and a screw driving machine. It is characterized by having at least one. Further, another accessory device of the ceiling and wall interior construction device of the present invention is a device for automatically supplying a screw to the screw driving machine in the accessory device, wherein a screw which is pneumatically fed from a screw feeder through a carrier tube is used. A moving distribution valve for holding the moving distribution valve and a moving means for linearly moving the moving distribution valve are provided, and a screw housing connected to the moving distribution valve for receiving a screw and an opening / closing gate for opening and closing the outlet of the screw housing and a screw housing. And a screw conveying tube connecting the opening / closing gate outlet and the screw driving machine, and a sensor for detecting the presence / absence of a screw in the screw housing hole. To do.

[0013]

[Operation] In the holding portion of the ceiling and wall interior construction apparatus of the present invention,
For example, it is possible to perform an operation of attaching a board to a ceiling or a wall by attaching an accessory device including a suction pad that holds an interior board and a screw driving machine. In that case, the ceiling and wall interior construction equipment is self-propelled by a self-propelled trolley, and enters into the room (workplace) where the ceiling and wall boards are attached from the opening of the door, following the preset construction program. Work is done automatically. Boards will be carried separately into the workplace and the required number of boards will be stacked beside the ceiling and wall interior construction equipment.

The arm is pivoted on a horizontal plane by pivoting the vertical axis of rotation about the axis. Further, the arm is moved up and down by expanding and contracting the vertical rotary shaft with a hydraulic cylinder built in the vertical rotary shaft. Further, the arm is vertically swung by the arm vertical swing device about the fulcrum position of the vertical rotation axis. Further, the hydraulic cylinder built into the arm expands and contracts the arm itself. The tip of the arm is rotated and bent in a direction orthogonal to the arm axis by driving the vertical adjusting device and the horizontal adjusting device. The above robot operation is automatically performed by a command from the control device.

As a result, the board on the floor is sucked and held by the attachment device (board attachment) attached to the holding portion at the end of the arm, and the board is automatically placed in a posture parallel to the wall or ceiling until it approaches the attaching position. Be carried to. Then, the operator operates the manual switch while visually observing the board, and finely adjusts the slight positional deviation of the board by the attitude fine adjustment device to accurately position the board. After that, the screwing of the board is automatically performed.

At the time of screw driving, screws can be automatically supplied to the screw driving machine from a screw automatic feeder which is an accessory device. Interior work other than screw driving can be automatically performed according to the above work by replacing the accessory device.

[0017]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a side view showing an embodiment of a ceiling and wall interior construction device of the present invention. In the figure, reference numeral 1 is a self-propelled carriage, which travels by driving a caterpillar 4 via rotation of drive wheels 3 which are rotationally driven by an internal engine 2. Further, a distance sensor 5 such as an optical type or an ultrasonic type for reading the distance to the wall surface and the ceiling and the distance to the obstacle is provided. The personal computer is configured so that it can be self-propelled according to a traveling program written in advance in a memory of a PC controller mounted on the control device 6.

On the self-propelled carriage 1, auxiliary devices (attachments) for ceiling and wall board adhering work and various other interior work, such as screw driving work, spraying, floor finishing glass, etc. For pasting work, painting work,
It is equipped with a 6-degree-of-freedom multi-function robot that can perform various interior work according to each attachment by exchanging Tomlex spraying work. That is, the robot is provided with a vertical rotating shaft 11 that is erected on a base 10 so as to be able to move up and down and to rotate, and an extendable arm 20 that is supported on the vertical rotating shaft 11 so as to be vertically swingable. Vertical adjustment device 30 arranged in series at the tip of arm 20
And a horizontal adjustment device 31, a posture fine adjustment device 40 arranged in cooperation with the end of the horizontal adjustment device 31, and an interior construction attached to the tip of the arm 20 via the posture fine adjustment device 40. Holding part 50 for the attachment (a screw attachment 60 in FIG. 1).
In addition to the traveling of the self-propelled carriage 1, the control device 6 controls the operation of the arm 20, the vertical adjustment device 30, and the horizontal adjustment device 31.
It also controls the robot movements such as each movement.

The structures of the lifting device and the turning device for the vertical rotary shaft 11 are as shown in FIG. The vertical rotation shaft 11 has a sleeve 110 and a long cylindrical shaft 111 fitted therein. The sleeve 110 is mounted on the upper surface of the base 10 by fixing the outer ring to the roller bearing 112, and the flange disk 1
It is rotatably supported via 13. Cylindrical shaft 111
Is fitted to the sleeve 110 via a sliding liner 114 so as to be relatively movable in the axial direction and rotationally locked to be integrally rotatable. The hydraulic cylinder 12 whose lower part is supported by the base 10 is inserted in the axial center of the cylindrical shaft 111, and the tip end of the cylinder rod 12R is the cylindrical shaft 111.
Engages with a mounting plate 115 fixed to the top of the.

The flange disk 113 of the sleeve 110
A turning gear 13 is integrally attached to the outer periphery of the. The pinion 14 meshed with the turning gear 13 is used as a turning motor 15 built in the base 10.
It is configured to be rotationally driven by. The arm 20
Are supported on the mounting plate 115 of the vertical rotary shaft 11 via an arm vertical swinging device 21.

The structure of the arm vertical swinging device 21 is shown in FIGS. A housing 22 having a U-shaped cross section is fixedly mounted on the upper surface of the mounting plate 115, and the arm 20 is sandwiched between the opposite side surfaces of the housing 22. That is, the rotary shafts 23 are attached to both side surfaces of the housing 22 via the bearing liners 231, and the arms 20 are fixed to the inner ends of the rotary shafts 23 and are swingably supported. The outer end of the rotary shaft 23 is connected to the output shaft 241 of the speed reducer 24 attached to the housing 22, and the timing pulley 25 is attached to the input shaft 242 of the speed reducer. On the other hand, on the lower surface of the housing 22, the bevel gear 2
An electric motor 28, which is a rocking actuator, is mounted via a gear box 27 containing a combination of 6, 26. The output shaft 281 of the electric motor 28 is connected to the rotary shaft 261 through the combination of the bevel gears 26, and the timing pulleys 262 are symmetrically attached to both ends of the rotary shaft 261. This timing pulley 262
Is a timing pulley 25 at the input shaft 242 end of the speed reducer.
And a timing belt 263.

FIG. 5 shows a telescopic structure of the arm 20 which is swingably supported as described above. The main body of the arm 20 is configured by combining an outer cylinder 201, which is a rectangular cylinder having a substantially square cross section, and an inner cylinder 202, which is fitted to the outer cylinder 201 and also has a square cross section, and slides in the clearance between the opposing surfaces of both cylinders. The moving liner 203 is interposed. The hydraulic cylinder 204 is inserted into the axial center of the inner cylinder 202, and the clevis 20
It is supported at the rear end of the outer cylinder 201 via the connector 5. A rod 204R of the hydraulic cylinder is connected to the tip of the inner cylinder 202 via a clevis 207.

As shown in FIG. 5, the vertical adjustment device 30 is attached to the tip of the arm 20 via a support shaft 301, and the forward / reverse rotation of the electric motor 302 is reduced by a speed reducer 303.
Is transmitted to a rotating shaft 305 which is decelerated by and is rotatably supported by a bearing 304, and the horizontal adjusting device 31 engaged with the rotating shaft 305 is vertically rotated in a vertical plane.

As shown in FIG. 6, the horizontal adjusting device 31 is mounted orthogonally to the vertical adjusting device 30 via a support shaft 311, and the forward / reverse rotation of the electric motor 312 is decelerated by a speed reducer 313. It is configured to be transmitted to a rotation shaft 315 rotatably supported by a bearing 314 and rotate the support shaft 401 of the attitude fine adjustment device 40 engaged with the rotation shaft 315 in a horizontal plane.

As shown in FIGS. 6 and 7, the attitude fine adjustment device 40 moves in the X-axis direction and the Y-axis direction at the tip of the support shaft 401 engaged with the rotation shaft 315 of the horizontal adjustment device 31. It is freely mounted and rotatable about the Z axis.
That is, a rotary shaft 403 having a pinion gear 402 attached is connected to the tip of the support shaft 401, and the rotary shaft 403 is connected to the rotary shaft 403.
The table 41 is attached to the bearings via bearings 404 and 405. On the upper surface of the table 41, two hydraulic cylinders 410 and 411 that extend and contract in the X direction are installed in parallel with each other via mounts 413 and 414, respectively. One of the rods 410R of the hydraulic cylinder 410 is attached to the rack 412 meshed with the pinion gear 402 on the arm 41.
It is connected through 5. The rack 412 is slidably supported on the mount 410 in the X direction via a linear guide bearing (linear guide device) 42. The rod 411R of the other low pressure hydraulic cylinder 411 is provided with two parallel linear guide bearings 43, 43 mounted on the lower surface of the table 41.
A table 44 slidably linked in the X direction via
Connected to. Further, on the lower surface of the table 44, Y
A low-pressure hydraulic cylinder 440 that expands and contracts in the direction is fixedly arranged and also a linear guide bearing 45 that also extends in the Y direction.
The guide rail 451 is attached, and the holding portion 50 of the attachment for interior construction is attached to the slider 452 slidably engaged with the guide rail 451. The holding portion 50 is provided with the low pressure hydraulic cylinder 440.
Rod 440R is engaged.

Next, the attachment of this embodiment which is detachably held by the holding portion 50 of the attachment of the ceiling and wall interior construction apparatus will be described. The attachment of this embodiment is an auxiliary device used for attaching a board for interior of a ceiling and a wall, and is used for temporarily hitting screws at four corners of one board B to temporarily stop and for fixing a plurality of screws in a vertical row. Three types are prepared: one for pitch striking, which is driven while moving laterally at a predetermined pitch while striking, and one for simultaneous striking, in which a large number of screws are arranged in a plurality of vertical and horizontal rows and then simultaneously main-stopped.

The temporary attachment 60 shown in FIG.
The suction pads 62 are mounted at four locations on the frame 61, which is slightly smaller than the board B, and screw driving machines 64 that are advanced and retracted by the cylinders 63 are mounted at the four corners of the frame. The screw driving machine 64 may be of a general type in which screws conveyed by air one by one are tightened by, for example, rotation by an electric motor.

The pitching attachment 60 shown in FIG.
The guide rails 671 of the linear guide bearings 67, 67 are attached to both long sides 661 of the rectangular frame 66 having the suction pads 62 mounted at four positions. Each guide rail 671
Two sliders 672 are slidably mounted on each frame, and a plurality of (four in the figure) screw driving machines 64 are provided with air cylinders 63 on a frame 662 that connects two sliders facing each other. It is installed at intervals. A nut 701 of the feed screw device 70 is attached to each frame 662, and a screw shaft 702 is screwed into the nuts 701. Both screws are left and right. The screw shaft 702 is connected to the frame 66 via the chain transmission device 71 attached to the non-threaded portion.
It is connected to the electric motor 73 mounted on the No. 3. The moving means of the screw driving machine 64 including the linear guide bearing 67, the feed screw device 70, the transmission device 71, and the electric motor 73 moves both frames 662 to which the screw driving machine 64 is attached to predetermined positions. While striking the pitch.

Attachment 60 for simultaneous driving shown in FIG.
Is a rectangular frame 66 in which suction pads 62 are mounted at four locations, and a total of nine screw-driving machines 6 arranged in three rows vertically and horizontally.
4 are distributed to the left and right sides, and 18 pieces are fixed and attached for convenience. A moving distribution valve 84 of a screw automatic distribution / supply device 80 described later, the nine screw driving machines 64 and fixed distribution valves corresponding to 1: 1 are arranged in parallel with each of these screw driving machines 64. The distribution block 88 is attached to the machine so that the screws are automatically supplied to the screw driving machines 64.

A screw automatic distribution / supply device 8 which is an accessory device for automatically supplying screws to the screw driving machine 64.
As shown in FIG. 11 to FIG. 13, 0 is a separate parts feeder 82 that stores a large number of screws and arranges them in a line and blows them one by one with compressed air and pressure-feeds them with a flexible transfer tube 81. , A moving distribution valve 84 for holding one screw 100 pressure-fed from the parts feeder 82, and a driving motor 85 for feeding the moving distribution valve 84.
The feed screw device 86 is provided as a moving unit that linearly moves at. The screw shaft 861 of the feed screw device 86 is
As shown in FIG. 10, it is rotatably supported on the frame 66, and is connected to the output shaft of the feed drive motor 85 also installed on the frame 66 via a coupling 862. The moving distribution valve 84 is attached to the nut 863 screwed together. Further, a distribution block 88 formed by connecting a plurality of fixed distribution valves 87, which communicate with the moving distribution valve 84 and receive the screws 100 one by one, in a row, is arranged in parallel with the screw shaft 861 and is connected to the frame 6
6 are arranged.

As shown in FIG. 12, the fixed distribution valve 87 includes a screw storage portion 871, an opening / closing gate 872 for opening / closing the outlet of the screw storage portion 871, an air cylinder 873 for opening / closing the gate, and a screw storage portion. Screw air supply passage 874 for supplying pressure air to 871 and screw housing portion 87
1 and a screw conveying tube 81 that connects the outlet of the opening / closing gate 872 and the screw driving machine 64.

A position sensor 841 is provided in the moving distribution valve 84.
Is attached, and the drive of the feed drive motor 85 is controlled by detecting that the fixed distribution valve 87 is communicated accurately. In this embodiment, the screw automatic distribution / supply device 80 is installed in two lines (see FIG. 10,
13), nine fixed distribution valves 87 are connected to the distribution block 88 of each series, and each fixed screw valve 64 is connected to each screw driving machine 64.
The screws 100 are sequentially supplied.

The hydraulic system for operating the hydraulic cylinders in the above embodiment is not shown. The ceiling and wall interior construction device having the above configuration has an overall width of 800 mm, a height of 1800 mm, and a length of 2800 m.
The size is within m and it can pass through the doorway of a normal room.

Next, the operation will be described. The ceiling and wall interior construction device is self-propelled and enters the room (workplace) where the ceiling and wall boards are attached from the opening of the door. And
As shown in FIG. 14, the vertical rotation shaft 11 supporting the arm is temporarily installed so as to be located substantially in the center of the room.

Subsequently, the sensor 5 measures the distance to the wall surface. Now, assuming that the board is attached to the wall surface 100B, the distance L to the wall surface 100B is measured. When the board is stuck on the wall surface 100C, the wall surface 100B
Measure the distance W to. Then, the board sticking distance data set in the PC in advance is automatically corrected based on the measured value, and then the sticking work is started.

The boards B are separately carried into the room, and a required number of the boards B are stacked and placed beside the ceiling and wall interior construction equipment. The board attaching work to the wall surfaces 100B, 100C and the like is performed in the following procedure, for example. (1) First, in response to a command from the control device, the arm 20 of the robot is operated to move the attachment 60 for sticking the board at the tip of the arm to the board setting position. At this time, the attachment 60 hangs downward by 90 ° from the horizontal posture of the vertical adjustment device 30 at the tip of the arm and hangs down perpendicularly to the arm axis, and the suction pad 62 faces downward.
The attachment 60 is brought close to the board B, and the uppermost board B is sucked by the suction pad 62 and held horizontally.

(2) Next, the cylindrical shaft 111 is raised by sending pressure oil to the hydraulic cylinder 12 with the built-in vertical rotary shaft 11 to advance the rod 12R. The arm 20 rises while holding one board horizontally on the attachment 60 at the tip. In order to attach this board B to the wall surface, it is necessary to make it parallel to the wall surface. (3) Therefore, even if the sucked boards B are vertically moved, when the arm 20 is lifted to a height at which it does not interfere with the stacked boards, the electric motor 302 of the vertical adjustment device 30 at the tip of the arm 20 is driven to perform horizontal adjustment. The device 31, the attitude fine adjustment device 40, the holding portion 50, and the attachment 60 are all rotated 90 ° upward. As a result, the suction board B of the attachment 60 becomes substantially vertical to the floor surface.

(4) Next, pressure oil is fed to the hydraulic cylinder 204 built in the arm 20 to feed the rod 204R.
To advance the inner cylinder 202 to the set value. At this time, the moving distance of the inner cylinder 202 is detected by a distance sensor (not shown) and feed back control is performed. (5) Next, the electric motor 302 of the leveling device 31
Is driven to horizontally rotate the attitude fine adjustment device 40, the holding portion 50, and the attachment 60 integrally. The rotation angle is the axis line of the arm 20 and the axis line of the attachment 60, which are necessary for turning the arm 20 from the current position and causing the board B held by the attachment 60 to face the first board attachment position surface of the wall surface 100B. It is set in the PC in advance according to the angle formed by, and feedback control is performed based on the detection value by a rotational position sensor (not shown).

(6) Next, the turning motor 15 is driven to rotate the turning gear 13 through the rotation of the pinion 14, so that the arm 20 is turned about the vertical rotation shaft 11. The turning angle is such that the board B sucked and held by the suction pad 62 of the attachment 60 is attached to the wall surface 10.
The angle required to directly face the first board bonding position surface of 0B is preset in the PC in advance, and the vertical rotation axis 11
Feedback control is performed on the basis of a detection value by a rotation position sensor (not shown) incorporated in.

(7) Next, the arm vertical swing device 21
Driving the electric motor 28 of the timing belt 26
3 via the output shaft 241 of the reduction gear 24 as an axis.
Is rotated upward or downward to adjust the height of the board B held by the attachment 60 to the first board attachment position on the wall surface 100B. (8) Through the above steps, the attachment 6
The board B held at 0 is extremely close to the first board bonding position on the predetermined wall surface 100B and is positioned in a substantially predetermined posture. However, it is unavoidable that a slight misalignment occurs due to accumulation of operation errors and setting errors. Therefore,
The attitude fine adjustment device 40 performs final attitude correction while visually observing the board by operating a manual switch.

That is, the worker is required to attach the attachment 60.
Self-propelled carriage 1 while observing board B held by
The operation of the rod 440R is adjusted by operating a manual switch (not shown) of the operation panel to operate the hydraulic switching solenoid valve (not shown) of the pressure oil circuit to the hydraulic cylinder 410 of the attitude fine adjustment device 40 in small steps. Rack 412
Rotation of the pinion 402 meshed with the
The holding portion 50 connected to is slightly rotated about the Z axis to correct the inclination of the board B held by the attachment 60 in the vertical plane.

Similarly, the operation of the hydraulic cylinder 411 is adjusted so that the holding portion 50 connected to the table 44 is moved to the position shown in FIG.
Attachment 60 by moving in the X direction
It is possible to correct a slight lateral deviation of the board B held by the. Similarly, the hydraulic cylinder 440
Adjusting the operation of the holding unit 5 connected to the table 44
By moving 0 in the Y direction in FIG. 6, it is possible to correct a minute vertical deviation of the board B held by the attachment 60.

(9) Thus, after the final board position adjustment is completed and the wall board B is accurately set to the first board attaching position on the wall surface 100B, the attachment 60 is attached.
Compressing air is supplied to the air cylinder 63 of the screw driving machine 6
The tip of No. 4 is pressed against the board B, and screwing is performed.
In this case, by selecting the attachment 60 mounted on the holding portion 50, it is possible to freely perform any of the construction methods of provisional hitting, pitch feed hitting, and simultaneous hitting. That is, according to the present invention, not only temporary hitting of screws as in the past, but also hitting such as pitch hitting and simultaneous hitting can be performed.

The pitch feed strike is performed using the attachment 60 shown in FIG. In that case, when the first screw driving is completed, the screw driving machine 64 is driven to rotate the screw shaft 702 of the feed screw device 70 via the chain electric device 71, so that the screw driving device 64 is mounted. The book frame 662 and the linear guide bearing 67
The guide is used to move a predetermined distance, and the second screw driving is performed. In the same manner, the screw driving is performed on all the predetermined places in the same manner.

In this pitch driving, in order to accurately fix the board B to the light steel frame (light iron) on the back side of the board with screws, the position of the light iron is automatically detected from the board tension surface (pasting surface) side and the screw driving is performed. It is possible to move the machine 64. In that case, as shown in FIG.
A light iron sensor 68 such as an eddy current type proximity switch is installed on the frame 662 of 0.

Simultaneous hammering is performed using the attachment 60 shown in FIG. In that case, the screw is automatically supplied to each of the screw driving devices 64 by the screw automatic distribution / supply device 80, and the screw driving is performed. That is, by driving the feed drive motor 85 and rotating the screw shaft 861 of the feed screw device 86, one screw is supplied to each fixed distribution valve 87 of the distribution block 88 while moving the movable distribution valve 84. At this time, it is confirmed by the position sensor 841 arranged on the movable distribution valve 84 that the connection with the fixed distribution valve 87 is made accurately. The presence or absence of screws in the fixed distribution valve 87 is detected by the sensor 875. Only when it is confirmed that the movable distribution valve 84 and the fixed distribution valve 87 are correctly connected and the fixed distribution valve 87 is empty at the same time, the screw blown from the parts feeder 82 causes the movable distribution valve 84 to move. Will be distributed. The screw supplied to each fixed distribution valve 87 operates the opening / closing air cylinder 873 to open the opening / closing gate 872, and sends compressed air from the air source (not shown) to the pressure-feeding air supply passage 874, thereby screw-driving machine. Pumped to 64. When it is confirmed that the screws have been supplied to all the screw driving machines 64, the screw driving machines 64 are pressed to start the simultaneous screw driving.

While repeating the above operation, the wall surface 100A,
The work of attaching the wall board to 100B, 100C, etc. is performed. The operation of attaching the ceiling board can be performed in the same procedure as described above. However, in the case of a wall board, if the adsorbed board B is raised in the step (3),
Electric motor 30 of vertical adjustment device 30 at the tip of arm 20
2 to drive the horizontal adjustment device 31, the attitude fine adjustment device 4
0, the holding portion 50, and the attachment 60 are all vertically erected by rotating the board B 90 ° upward, whereas in the case of a ceiling board, the board B is rotated 180 ° upward. As a result, the suction board B of the attachment 60 is turned over so that it is parallel to the ceiling.

According to the ceiling and wall interior construction apparatus of this embodiment, scaffolding is unnecessary even when the board is attached to the ceiling and the wall surface at a high place, and the safety is high. In the case of 8 tatami mat work, if the boards are stacked at a predetermined position in the room, the same device automatically performs a series of work until the work is completed continuously on the ceiling and the wall, and the work efficiency is greatly improved.

Further, since it is self-propelled up to the work place and is compact, it is possible to enter the work place through the doorway of the room, and it is unnecessary to carry it separately. In particular, the screw-striking work by this device can be performed not only by the temporary striking work as in the prior art, but also by the selection of the attachment, the screw-striking work can be performed, and the pitching or the simultaneous striking can be freely performed, so that the use range is expanded.

In the steps (1) to (9), the order in the middle can be changed before and after. Furthermore, although the above-mentioned embodiment describes the case of the ceiling and wall board pasting construction, the ceiling and wall interior construction apparatus of the present invention is not limited to board screw driving work by appropriately changing the attachment, It can also be applied to various interior work such as attaching work, floor finishing glass sticking work, painting work and Tomlex spraying work.

In the case where the interior installation room is relatively small, the ceiling and wall interior installation equipment can be installed while being fixed in the center of the room as in the embodiment, but a long ceiling or wall, etc. When carrying out the interior work of, the work is carried out while the self-propelled carriage 1 is traveling while being detected by a sensor, or the work is carried out while the guide rail is laid and the self-propelled carriage 1 is traveled along the guide rail. It is also possible.

[0052]

As described above, in the ceiling and wall interior construction apparatus of the present invention, the vertical rotary shaft is provided on the self-propelled carriage so as to be able to move up and down, and the vertical rotary shaft can be turned up and down. A vertical adjusting device, a horizontal adjusting device, and an X, which support a telescopic arm and are arranged in series at the tip of the arm.
The holding unit of the auxiliary device is arranged through the attitude fine adjustment device in the Y and Z directions, and the control device controls the traveling of the self-propelled carriage, the operation of each arm, the operation of the vertical adjustment device and the operation of the horizontal adjustment device. The interior construction accessory device detachably held in the holder is automatically operated. Therefore, the interior work of the ceiling and the wall can be continuously performed with the same device, and the work can be performed efficiently and quickly.

Further, since the screw driving work is used not only for the temporary driving as in the prior art but also for the main driving, the range of use of the apparatus is widened and an extremely large effect can be obtained in practical use. Also, when final fine adjustment such as the mounting position of interior materials is required,
There is an effect that the attitude fine adjustment device can be manually operated and visually fine-adjusted, and an accurate work can be performed with an inexpensive device.

Further, there is an effect that the whole can be made compact, and even a work for 8 tatami mats can be self-propelled in the room by passing through the door, and a series of interior work can be automatically performed. The accessory device of the present invention includes at least a suction pad that can be removably attached to the holding portion of the ceiling and wall interior construction device and that holds a board, and a screw driving machine, and therefore the ceiling and wall interior construction device of the present invention. The effect that the ceiling and wall board attachment work by the device can be efficiently performed as a series of continuous works with the same device.

Further, the accessory device according to the present invention is provided as the accessory device of the present invention for automatically supplying the screw to the screw driving machine, so that the screw driving operation can be continuously performed without interruption for screw supply. It has the effect that it can be installed efficiently.

[Brief description of drawings]

FIG. 1 is a side view of an embodiment of a ceiling and wall interior construction device of the present invention.

FIG. 2 is a cross-sectional view of the vertical rotation shaft shown in FIG.

3 is a sectional view taken along line III-III in FIG.

4 is a sectional view taken along line IV-IV in FIG.

5 is a cross-sectional view of the arm of the one shown in FIG.

FIG. 6 is a cross-sectional view of a horizontal adjustment device and a posture fine adjustment device shown in FIG.

FIG. 7 is a view taken along the line VII-VII in FIG.

FIG. 8 is a schematic diagram of a screw temporary attachment, (a)
Is a plan view and (b) is a side view.

FIG. 9 is a schematic diagram of an attachment for hitting a screw pitch,
(A) is a plan view and (b) is a side view.

FIG. 10 is a schematic diagram of an attachment for simultaneously hitting screws,
(A) is a plan view and (b) is a side view.

FIG. 11 is a plan view of a screw automatic distribution / supply device.

12 is a sectional view taken along line XII-XII in FIG.

FIG. 13 is a plan view showing a usage mode of the screw automatic distribution / supply device.

FIG. 14 is a plan view for explaining the ceiling and wall interior work (board pasting work) according to the one shown in FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Self-propelled carriage 6 Control device 11 Vertical rotation axis 20 Arm 30 Vertical adjustment device 31 Horizontal adjustment device 40 Attitude fine adjustment device 41 Table 411 Hydraulic cylinder 50 Holding part 62 Adsorption pad 64 Screw hammer 67 Moving means 80 Screw automatic distribution supply device 81 Conveying tube 82 Bis feeder 84 Moving distribution valve 87 Fixed distribution valve

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tadaharu Otsuka 1-25-1, Nishishinjuku, Shinjuku-ku, Tokyo Within Taisei Corporation (72) Inventor Jiro Hasegawa 15-8 Konanchuo-dori, Konan-ku, Yokohama-shi, Kanagawa Man Sangyo Co., Ltd.

Claims (5)

[Claims] 1. A self-propelled carriage, a vertical rotation shaft arranged on the self-propelled carriage so as to be able to move up and down, an extendable arm supported by the vertical rotation shaft so as to be vertically swingable, and an arm of the arm. A holding device which is installed via a vertical adjusting device and a horizontal adjusting device which are arranged in series at the tip end portion, and which has an attitude fine adjustment device in the X, Y, and Z directions to detachably hold an accessory device for interior construction. A ceiling and wall interior construction device comprising: a control unit for controlling the traveling of the self-propelled carriage, the operation of each arm, and each operation of a vertical adjustment device and a horizontal adjustment device. 2. The vertical adjusting device and the horizontal adjusting device,
The ceiling and wall interior construction device according to claim 1, wherein each of the rotation shafts is orthogonal to the axis of the arm, and both rotation shafts are orthogonal to each other. 3. The posture fine adjustment device comprises:
2. A low pressure hydraulic cylinder for moving in a direction, a hydraulic cylinder for moving in a Y direction, and a rotating mechanism for rotating around an axis in the Z direction, each of which has a table driven by a manual operation. Ceiling and wall interior construction equipment. 4. The ceiling and the accessory device held by the holding portion of the wall interior construction apparatus according to claim 1, comprising at least a suction pad for holding a board and a screw driver. An accessory device for wall interior construction equipment. 5. A device for automatically supplying a screw to the screw driving machine according to claim 4, wherein the moving distribution valve holding the screw pneumatically fed from a screw feeder through a conveying tube and the moving distribution valve are linear. A moving means for moving, a screw housing connected to the moving distribution valve for receiving a screw, an opening / closing gate for opening and closing an outlet of the screw housing, a screw pressure-feeding air supply path connected to the screw housing, and An accessory device for a ceiling and wall interior construction device, comprising: a screw conveying tube that connects the opening / closing gate outlet to the screw driving machine; and a sensor that detects the presence or absence of a screw in the screw storage hole.