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Patent Searching and Data


Title:
CONTROLLING METHOD FOR ROBOT FOR SPRAYING CONCRETE OR THE LIKE
Document Type and Number:
Japanese Patent JPS59132971
Kind Code:
A
Abstract:

PURPOSE: To carry a nozzle along a cylindrical surface in parallel with the axis of a tunnel, in controlling a robot provided at any position inside the tunnel, by instructing four positional coordinates on the basis of a horizontal line passing through the axis of the main swinging shaft of said robot.

CONSTITUTION: The positional coordinates of two horizontal points A, B existent in a predetermined spraying distance inside the points A', B' of a horizontal line, which passes through the supporting shaft of the main body 1 of a robot and an axis on a plane rectangular to a main swinging shaft 4, i.e. the axis of a tunnel, intersecting the excavated surface K of the tunnel are instructed. Distances from a point O1 where the supporting shaft on the main swinging shaft 4 is existing to the points A, B are instructed, too. In addition, from the positional coordinates of a point C where a perpendicular line existent on said plane and raised above the point O1 intersects a spraying cylindrical surface J existent in a predetermined spraying distance inside the excavated surface K of the tunnel, the distance between the point C and the shaft 4 is detected. Hereon, the spraying distance and the radius of the cylindrical surface J are values known by planning. Then, a nozzle is induced to the position of a point D which is existent in a distance z inside the point C along a direction in parallel with the axis of the tunnel.


Inventors:
OBATA MITSUYOSHI
Application Number:
JP637783A
Publication Date:
July 31, 1984
Filing Date:
January 18, 1983
Export Citation:
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Assignee:
KOBE STEEL LTD
International Classes:
B05B7/12; B05B13/00; B05B13/04; B05D1/02; B05D7/22; B25J9/16; E21D11/10; (IPC1-7): B05B12/00; B05B13/04; B05D1/02; B05D7/22; B25J5/00; B25J13/00; E21D11/10
Attorney, Agent or Firm:
Takeo Honjo