Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
CONSTRUCTION WORK DEVICE AND CONSTRUCTION WORK METHOD
To provide a construction work device and a construction work method allowing effect of a construction error occurred on a construction member to be suppressed as much as possible and allowing various construction works on a work objective surface using a robot arm to be carried out with high accuracy.SOLUTION: A construction work device is provided with a multi-joint structural robot arm provided with an end effector using for construction finish work and an arm control device controlling motion of the robot arm, wherein the arm control device is provided with: an arm motion command part controlling the robot arm on a work objective surface in accordance with a job file produced by using a designed three-dimensional shape model produced based on determined design information of construction members, work details performed on the work objective surface, and a three-dimensional shape model as it is; a construction error detection part detecting the construction error on a position and a posture based on the design information and measured data on a surface shape as it is; a job file correction part correcting the job file based on the construction error of the construction member detected by the construction error detection part.SELECTED DRAWING: Figure 7
【課題】ロボットアームを利用した作業対象面に対する種々の建築作業を、建築部材に生じた施工誤差の影響を最小限に抑えて高い精度をもって実施することが可能な、建築作業装置および建築作業方法を提供する【解決手段】建築仕上げに係る作業に用いるエンドエフェクタを備えた多関節構造のロボットアームと、ロボットアームの動作を制御するアーム制御装置と、を備える建築作業装置であって、アーム制御装置が、作業対象面を設定された建築部材の設計情報と、作業対象面に対して実施する作業内容とに基づいて作成した設計上の３次元形状モデルと現実の３次元形状モデルとを利用して、作成されるジョブファイルに従い、ロボットアームを動作させるアーム動作指令部と、建築部材について、設計情報と現実の表面形状に係る計測データとに基づいて、位置及び姿勢に係る施工誤差を検出する施工誤差検出部と、施工誤差検出部にて検出された建築部材の施工誤差に基づいて、ジョブファイルを修正するジョブファイル修正部と、を備える。【選択図】図７
CONSTRUCTION WORK DEVICE AND CONSTRUCTION WORK METHOD
To provide a construction work device and a construction work method allowing effect of a construction error occurred on a construction member to be suppressed as much as possible and allowing various construction works on a work objective surface using a robot arm to be carried out with high accuracy.SOLUTION: A construction work device is provided with a multi-joint structural robot arm provided with an end effector using for construction finish work and an arm control device controlling motion of the robot arm, wherein the arm control device is provided with: an arm motion command part controlling the robot arm on a work objective surface in accordance with a job file produced by using a designed three-dimensional shape model produced based on determined design information of construction members, work details performed on the work objective surface, and a three-dimensional shape model as it is; a construction error detection part detecting the construction error on a position and a posture based on the design information and measured data on a surface shape as it is; a job file correction part correcting the job file based on the construction error of the construction member detected by the construction error detection part.SELECTED DRAWING: Figure 7
【課題】ロボットアームを利用した作業対象面に対する種々の建築作業を、建築部材に生じた施工誤差の影響を最小限に抑えて高い精度をもって実施することが可能な、建築作業装置および建築作業方法を提供する【解決手段】建築仕上げに係る作業に用いるエンドエフェクタを備えた多関節構造のロボットアームと、ロボットアームの動作を制御するアーム制御装置と、を備える建築作業装置であって、アーム制御装置が、作業対象面を設定された建築部材の設計情報と、作業対象面に対して実施する作業内容とに基づいて作成した設計上の３次元形状モデルと現実の３次元形状モデルとを利用して、作成されるジョブファイルに従い、ロボットアームを動作させるアーム動作指令部と、建築部材について、設計情報と現実の表面形状に係る計測データとに基づいて、位置及び姿勢に係る施工誤差を検出する施工誤差検出部と、施工誤差検出部にて検出された建築部材の施工誤差に基づいて、ジョブファイルを修正するジョブファイル修正部と、を備える。【選択図】図７
CONSTRUCTION WORK DEVICE AND CONSTRUCTION WORK METHOD
建築作業装置および建築作業方法
IKEDA YUICHI (Autor:in)
25.11.2022
Patent
Elektronische Ressource
Japanisch
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