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1. 发明专利

JP2013139703A Asbestos containment working robot system 审中-公开
标题翻译： ASBESTOS集装箱机器人系统
公开(公告)号：JP2013139703A
公开(公告)日：2013-07-18
申请号：JP2012001238
申请日：2012-01-06
申请人： Shimizu Corp , 清水建設株式会社 , Sugino Machine Ltd , 株式会社スギノマシン
发明人： NAKADA MASAHIRO , TAKEYAMA SHINICHI , FUNATSU AKIHIRO , MIYAMURA TORU , TSUKAHARA YUICHI , FUKASE YUTARO
IPC分类号： E04G23/02 , B25J13/08 , B66B5/00 , B66B7/00 , E04G23/08
摘要： PROBLEM TO BE SOLVED: To provide a robot system capable of performing efficient asbestos containment work by manpower saving and mechanization though it is simpler and lighter in constitution than conventional one.SOLUTION: The asbestos containment working robot system comprises: X-, Y-, and Z-shaft bodies installed on a steel bed of an elevator cage; a robot body having an arm sliding in a vertical direction with respect to the Z-shaft body and an injection nozzle at the tip of the arm; an asbestos containment agent storage tank and a feeding device for feeding the agent to the injection nozzle mounted on the cage; and a control section for performing drive control of the robot body. The robot body is provided with a shape measuring instrument for measuring a wall surface shape of an elevator shaft target area in advance and a distance measuring instrument for measuring the height position of an injection nozzle. The control section accumulates measurement results from the shape measuring instrument and determines an agent injection area/non-injection area of an object area, and controls rotation/stop of respective drive motors of the X- and Y-shaft bodies and the arm and injection/stop of the agent of the injection nozzle on the basis of data of an agent injection region and positional data from the distance measuring instrument during work.
摘要翻译：要解决的问题：提供一种能够通过人力储存和机械化进行有效的石棉遏制工作的机器人系统，尽管其结构比常规的更简单和更简单。解决方案：石棉包容作业机器人系统包括：X，Y-，和安装在电梯笼的钢床上的Z轴体; 具有相对于所述Z轴主体在垂直方向上滑动的臂和在所述臂的尖端处的喷嘴的机器人主体; 石棉容纳剂储存罐和用于将试剂送入安装在保持架上的注射喷嘴的进料装置; 以及用于执行机器人主体的驱动控制的控制部分。机器人主体设置有用于测量电梯井目标区域的壁面形状的形状测量仪器，以及用于测量喷射喷嘴的高度位置的距离测量仪器。控制部分积累来自形状测量装置的测量结果，并确定对象区域的试剂注入区域/非注射区域，并且控制X轴和Y轴体以及臂和注射器的驱动马达的旋转/停止基于代理注入区域的数据和工作中距离测量仪器的位置数据，停止喷嘴的代理。

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