JPH02112552A - Recognition system for joint line - Google Patents
Recognition system for joint lineInfo
- Publication number
- JPH02112552A JPH02112552A JP26588688A JP26588688A JPH02112552A JP H02112552 A JPH02112552 A JP H02112552A JP 26588688 A JP26588688 A JP 26588688A JP 26588688 A JP26588688 A JP 26588688A JP H02112552 A JPH02112552 A JP H02112552A
- Authority
- JP
- Japan
- Prior art keywords
- joint
- joint line
- tiles
- tile
- sensors
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000010365 information processing Effects 0.000 claims 1
- 230000007246 mechanism Effects 0.000 abstract description 30
- 238000001514 detection method Methods 0.000 abstract description 19
- 238000000034 method Methods 0.000 abstract description 14
- 230000008569 process Effects 0.000 abstract description 11
- 210000004556 brain Anatomy 0.000 abstract description 6
- 210000001328 optic nerve Anatomy 0.000 abstract description 4
- 239000000919 ceramic Substances 0.000 abstract description 2
- 239000011440 grout Substances 0.000 abstract 1
- 241001553014 Myrsine salicina Species 0.000 description 10
- 230000008859 change Effects 0.000 description 6
- 238000010276 construction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 239000004809 Teflon Substances 0.000 description 1
- 229920006362 Teflon® Polymers 0.000 description 1
- 208000003443 Unconsciousness Diseases 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 239000013256 coordination polymer Substances 0.000 description 1
- 239000000945 filler Substances 0.000 description 1
- 238000005429 filling process Methods 0.000 description 1
- 230000002650 habitual effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Landscapes
- Finishing Walls (AREA)
- Automatic Control Of Machine Tools (AREA)
- Processing And Handling Of Plastics And Other Materials For Molding In General (AREA)
Abstract
Description
【発明の詳細な説明】
(産業上の利用分野)
本発明はタイル間目地線の存在を認識するシステムに関
する。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a system for recognizing the presence of joint lines between tiles.
(従来の技術)
例えば、整列並置したタイル間に目地込めを行なう場合
や基礎目地に化粧を施す場合等、目地格子のパターンや
格子定数に関する情報を容易に入手可能なこと充分首肯
できるが、こうした情報に基き実施工を為すに当り、た
とえ無意識或いは習慣的所作であろうとも、対象領域に
明らかに目地線(即ち、線状の目地代や目地材)の存在
することを認識する過程を経イしては、良好な仕上りを
期し難い。(Prior art) For example, when performing joint filling between aligned and juxtaposed tiles or when applying makeup to foundation joints, it is fully accepted that information regarding joint grid patterns and grid constants can be easily obtained. When performing construction work based on information, it is necessary to go through the process of recognizing that there are clearly joint lines (i.e., linear joint allowances and joint materials) in the target area, even if it is an unconscious or habitual action. If you do so, it is difficult to expect a good finish.
この点、タイル間目地線の存在は1通常、−見して、そ
れと分る。In this regard, the presence of inter-tile joint lines is usually obvious by looking at them.
そこで、従来は、実施工に伴い、担当者が、目地線を視
認しりに作業を進めていた。Therefore, in the past, the person in charge had to visually check the joint lines as the work was being carried out.
つまり、人の視神経と頭脳との連係プレーが目地線存在
の認識過程を構成し1頭脳からの指令により手足が施工
作業を遭めていたのである。In other words, the cooperative play between the human optic nerve and the brain constituted the process of recognizing the existence of joint lines, and the hands and feet performed the construction work based on instructions from the brain.
(発明が解決しようとする課題)
然るに・、近時、こうした作業を全自動化しようとする
試みが為されており、施工時手足となる機構の開発もか
なり進んでいるが、これを正しく機能せしめる上で、目
地線認識過程を受持つシステムの登場が切望されていた
。(Problem to be solved by the invention) Recently, however, attempts have been made to fully automate such work, and considerable progress has been made in the development of mechanisms that serve as the hands and feet during construction, but it is difficult to make them function properly. The emergence of a system that handles the joint line recognition process has been eagerly awaited.
そして、目地線視認時における視神経と頭脳間の連係プ
レーをできるだけシンプルなプロセスで実用上遜色のな
い程度に代行可能なシステムの開発が当座の課題となっ
ていた。The immediate challenge was to develop a system that could perform the coordination between the optic nerve and the brain when visualizing the line of sight in a process that was as simple as possible and to a practically comparable level.
だが、その解決に当り、単に、視認行為における視線の
合方をシミュレートして、直接、目地線の存在を検知認
識するようなプロセスを採用したのでは、線幅が細く、
バックグラウンドとの識別に気を遣わざるを得ないこと
から、ハードウェア特に検出機構が割高なものとなり、
好ましくないといったような問題が伏在していた。However, in order to solve this problem, if we simply simulate the line of sight during visual recognition and directly detect and recognize the presence of the joint line, the line width will be thin and the line width will be thin.
Because we have to be careful about distinguishing it from the background, the hardware, especially the detection mechanism, becomes expensive.
There were some undesirable problems lurking.
本発明は斯かる従来よりの目地線視認行為に絡む課題及
びそこに伏在する問題点を有効に解決すべく為されたも
ので、その目的とする処は、ハード面のコストを低目抑
えることができ、しかもシンプルなプロセスの目地線認
識システムを提供するに在る。The present invention has been made to effectively solve the problems related to the conventional act of visualizing joint lines and the problems hidden therein, and its purpose is to keep hardware costs low. The purpose of this invention is to provide a joint line recognition system that is capable of performing and is a simple process.
(課題を解決するための手段)
上記目的を達成すべく本発明は、タイル間目地線の存在
を目地線両側のタイルの検出により認識するようにした
。(Means for Solving the Problems) In order to achieve the above object, the present invention recognizes the existence of a joint line between tiles by detecting tiles on both sides of the joint line.
(作用)
上記手段によれば、目地線でなくタイルの方を検出すれ
ば良く、従って、検出対象の幅が大きく、誤検出の確率
が小さいことから、ハード面の仕様が緩やかになり、低
コストで済む、また、目地線の両側にタイルが存在する
こと2、タイル間に目地線が存在することは、実務上、
同等視して差支えないことから1両側タイルの検出によ
り目地線を認識するプロセスは、その認識結果が信頼す
るに足る内容となる。(Function) According to the above means, it is only necessary to detect the tiles rather than the joint lines. Therefore, the width of the detection target is large and the probability of false detection is small, so the hardware specifications are relaxed and the In addition, it is practical to have tiles on both sides of the joint line, and to have a joint line between the tiles.
Since they can be treated as equivalent, the process of recognizing the joint line by detecting the tiles on both sides of one side has content that is reliable.
(実施例)
以下、本発明を壁パネルの目地込め装置に適用した実施
例に付き、添付図面に基いて詳細な説明を行なう。(Example) Hereinafter, an example in which the present invention is applied to a wall panel joint filling device will be described in detail based on the accompanying drawings.
先ず、第4図及び第5rIliを参照して、目地込め装
置の概要を説明しておく。First, an overview of the joint filling device will be explained with reference to FIG. 4 and FIG. 5rIli.
第4図は目地込め装置の平面図、第5図は同右側面図で
ある。FIG. 4 is a plan view of the joint filling device, and FIG. 5 is a right side view thereof.
図中、Jfは目地込め装置の全体を表し、同装置Jfは
、タイル壁装壁パネルPw(第4図)の製造ラインLP
の内、パネル基板Pb上、縦横に整列貼着された陶磁器
質角タイルTij(i、jは任意の自然数で、基準点P
oより見て第i行j列に位置することを示す添字)間の
目地線沿いに目地トロを充填する全自動型のマシーンで
、ラインLp中では、パネルPwを、大型の水平パレッ
トpt上に位置決め保持して、搬送加工するようになっ
ていることから、マシーンシステムとして、パレットハ
ンドリング系統Spと、トロ供給充填系統Sm、それに
、全体及び各部を統括制御する制御系統Scを備えた構
成になっている。In the figure, Jf represents the entire joint filling device, and the device Jf is the production line LP of the tile wall covering wall panel Pw (Figure 4).
Among them, ceramic square tiles Tij (i, j are arbitrary natural numbers, reference point P
This is a fully automatic machine that fills the joint filler along the joint line between (the subscript indicating that it is located in the i-th row and j column when viewed from o), and in line Lp, the panel Pw is placed on a large horizontal pallet pt. Since the pallet handling system Sp, the pallet supply filling system Sm, and the control system Sc that centrally controls the whole and each part are configured as a machine system. It has become.
パレットptは、諸種サイズの壁パネルPwに適用可能
な縦φ横寸法(縦Yp、横Xp)の受板Ptマと、その
−角を占める基準点Poから縦拳横の縁沿いに立上げ延
設され壁パネルPwのストッパーを兼ねる位2決め片P
s!、Pg!から成る。The pallet pt is constructed from a receiving plate Pt with vertical and horizontal dimensions (vertical Yp, horizontal 2-pointing piece P that is extended and also serves as a stopper for the wall panel Pw
s! , Pg! Consists of.
パレットハンドリング系統Spは、パレットptを水平
に保持搬送する台車Trと、これを−対の平行直線軌道
Rt、Rt沿いに引張往復動せしめるワイヤドライブ機
aDwと、台車Tr上のパレッ)Ptを持上げ90度水
平回転させて縦と横を入れ換える方向転換機構Dcとで
構成し、コンクリート基礎Fd(第5図)上に支脚St
・・・を立並べ梁材を組交して構築した横長機枠FfL
に、台車軌道Rt、Rtとドライブ機[Dwを、また機
枠Fiの後半部を股ぐ格好で設けられたゲートフレーム
Fglに、方向転換機構Dcを装備支架する。The pallet handling system Sp includes a trolley Tr that holds and transports the pallet pt horizontally, a wire drive machine aDw that pulls and reciprocates it along a pair of parallel straight tracks Rt and Rt, and lifts the pallet (Pt) on the trolley Tr. It consists of a direction change mechanism Dc that rotates horizontally by 90 degrees to change the vertical and horizontal direction, and the support leg St is mounted on a concrete foundation Fd (Fig. 5).
Horizontal machine frame FfL constructed by assembling beams of ...
In addition, a direction change mechanism Dc is installed and supported on the bogie tracks Rt, Rt, the drive machine [Dw, and the gate frame Fgl provided in such a manner as to span the rear half of the machine frame Fi.
台車Trは、パレッ)Ptを縦・横いずれの向きでも安
定蔵置−可能な平面視略方形輪郭の受枠Ftrと、その
下面前後左右に配設され軌道Rt。The trolley Tr includes a receiving frame Ftr which has a generally rectangular outline in plan view and can stably store pallets (Pt) in both vertical and horizontal directions, and a track Rt which is disposed on the front, rear, left and right sides of the lower surface of the receiving frame Ftr.
Rtに係合する転動輪Wtr・・・(第5図)とから成
り、受枠Ftrの上面に、ビンPn・・・が突設されて
いて、これを、パレッ)Ptの受板Prマ下面に形成さ
れた丸穴H1・・・(第4図)に係合せしめることによ
り、パレットptを水平に保持できるようになっている
。It consists of a rolling wheel Wtr... (Fig. 5) that engages with the receiving frame Ftr, and a pin Pn... is protruded from the upper surface of the receiving frame Ftr, which is connected to the lower surface of the receiving plate Pr of the pallet) Pt. By engaging with the round holes H1... (Fig. 4) formed in the pallet pt, the pallet pt can be held horizontally.
ワイヤドライブ機構Dwは1台車Trの受枠Ftr前後
端に一対のワイヤケーブルCw、Cwの各両端を繋ぎ止
めて閉ループとなし、これを、機枠F立後端部のドライ
ブプーリPd、Pdと前端のフイドルプーリPi、Pi
間に掛は渡した構造のもので、プーリPd 、Pdのシ
ャフトSh。The wire drive mechanism Dw connects both ends of a pair of wire cables Cw and Cw to the front and rear ends of the support frame Ftr of one bogie Tr to form a closed loop, and connects this to the drive pulleys Pd and Pd at the rear end of the machine frame F and the front end. fiddle pulley Pi, Pi
The interlock is of a passed structure, with pulley Pd and shaft Sh of Pd.
shが共通のりダクションギャGrを介してステップモ
ータMsに接続されている。sh is connected to the step motor Ms via a common friction gear Gr.
方向転換機構DCは、バレッ)Ptを台車Trから持上
げ、方向転換後、又台車Tr上に降す為の垂直昇降機構
Lvと、これLvをバレ、)Ptと一緒に旋回させる為
の水平旋回機MIIRhとから成り、昇降機構Lvは、
水平矩形フレームFsqの外周にパワシリンダーPch
・・・を外向きに固設すると共に、その先端に更なるパ
ワシリンダーPcマ・・・を下向きに取付け、後者Pc
マの下端に受腕Am・・・(第5図)を突設して、パレ
ッ)Pt周縁に側方より臨ませた構成のもので、シリン
ダーPCh・・・の−斉作動により受腕Am・・・がバ
レッ)Pt下面に添い込み、シリンダーPcマ・・・の
作動に伴ない、上動し、以上の逆動作により、パレット
ptが台車Tr上に降される。旋回機構Rhは、前記ゲ
ートフレームFglの天枠Tfrに長短二様の梁材BJ
I。The direction change mechanism DC includes a vertical lifting mechanism Lv for lifting the barre Pt from the trolley Tr and lowering it onto the trolley Tr after changing direction, and a horizontal turning mechanism for rotating this Lv together with the barre Pt. It consists of a machine MIIRh, and the lifting mechanism Lv is
Power cylinder Pch is installed on the outer periphery of the horizontal rectangular frame Fsq.
... is fixed outward, and a further power cylinder Pc ... is attached downward to the tip of the power cylinder Pc.
The receiver arm Am... (Fig. 5) is protruded from the lower end of the cylinder Pch, and is exposed from the side to the periphery of the pallet Pt. . . . is inserted into the lower surface of the pallet Pt, moves upward with the operation of the cylinder Pc, and by the above reverse operation, the pallet pt is lowered onto the trolley Tr. The turning mechanism Rh includes beam members BJ of two lengths and short lengths on the top frame Tfr of the gate frame Fgl.
I.
Bs(第4図)を火打に渡して天板Tptを張り、これ
に、半円状の切欠Ctを設けて、その円弧添いにガイド
レールRgを廻すと共に、梁材Bi中夫にブラケットB
rを突設し、以って、レールRgに垂設したキャスタC
s付ハンガーHg・・・でフレームFsqを吊下する一
方、ブラケットBrに縦設したロータリーアクチュエー
タAcで旋回自在としたもので、これにより、パレット
Ptと、その上の壁パネルPwが転回せしめられ、第4
図から想像できるように、タイルTij、Ti’j(i
’=i+1)間の目地&1Jxi、つまり、横目地の方
向と、タイルT ij 、 T ij’ (j’−j
+1)間の目地線Jyj、つまり、縦目地の方向とが互
いに入れ換わる。Bs (Fig. 4) is passed to the flint and the top plate Tpt is stretched, a semicircular notch Ct is provided in this, a guide rail Rg is rotated along the arc, and a bracket B is attached to the beam member Bi.
A caster C is provided with protruding r and is therefore vertically installed on the rail Rg.
While the frame Fsq is suspended by a hanger Hg with s, it can be freely rotated by a rotary actuator Ac installed vertically on the bracket Br, thereby rotating the pallet Pt and the wall panel Pw above it. , 4th
As you can imagine from the figure, the tiles Tij, Ti'j(i
'=i+1) joint &1Jxi, that is, the direction of the horizontal joint and the tiles Tij, Tij'(j'-j
The joint lines Jyj between +1), that is, the directions of the vertical joints are interchanged with each other.
トロ供給充填系統Smは、トロを圧送循環せしめて鮮度
を維持する循環機構Meと、これよりトロを所用量取出
して壁パネルPwの目地線Jxi。The fatty tuna supply and filling system Sm includes a circulation mechanism Me that pressure-feeds and circulates the fatty tuna to maintain its freshness, and a circulation mechanism Me that takes out the required amount of fatty tuna from this mechanism and connects it to the joint line Jxi of the wall panel Pw.
Jyjに充填する充填機構Mfとで構成し、全体を機枠
Flの中央部に設けたゲートフレームFg2上のトラバ
ースキャリアCrに装備して、パレット台車Trの走行
方向と直角に搬送自在となす。It is composed of a filling mechanism Mf for filling Jyj, and the whole is mounted on a traverse carrier Cr on a gate frame Fg2 provided in the center of the machine frame Fl, so that it can be freely transported perpendicular to the traveling direction of the pallet truck Tr.
トロ′Oa環機構Meは、キャリアCrのベースプレー
トBp上にミキシングホッパーHpを起設して、これを
共用リザーバーとする四系統のトロ循環ラインLcl
、 Lc2. Lc3. Lc4を設け、夫々圧送ポン
プP ml 、 Pm2 、 Pd 、 Pm4を介設
すると共に、二系統共用の減速器Rd、Rdを介し、単
一のモータMtで駆動した構成となす。The Toro'Oa ring mechanism Me has a mixing hopper Hp set up on the base plate Bp of the carrier Cr, and a four-system Toro circulation line Lcl that uses this as a common reservoir.
, Lc2. Lc3. Lc4 is provided, pressure pumps P ml , Pm2 , Pd , and Pm4 are interposed, respectively, and the configuration is such that it is driven by a single motor Mt via decelerators Rd and Rd shared by the two systems.
こ\で、第1図を併せ参照して、トロ充填機構Mfの説
明を行なう、第1図は同機構の下端要部即ち壁パネルに
臨む部分の横断平面図である。The toro filling mechanism Mf will now be explained with reference to FIG. 1. FIG. 1 is a cross-sectional plan view of the main part of the lower end of the mechanism, that is, the part facing the wall panel.
トロ充填機構Mfは、キャリアCrのベースプレー)B
p下面側で対応する循環ラインLcl〜Lc4に下向き
に接続され壁パネルPwに上方より臨んで目地込めを行
なう四本のトロガンG!11゜Ca2.Ca3.Ca4
と、ベースプレートBp上方からこれらのガンGnl−
Gn4を上下動させて夫々二位置制御を行なうエアシリ
ンダーCa1.Ca2゜Ca3.Ca4とから成り、対
応するガフGnl−Gn4を上下摺動自在に保持する中
空ホルダーHd(第5図)がプレー)Bp下方に四個配
設され、また各シリンダーCal〜Ca4を支持し基準
サイズタイルの辺寸法に略等しいピッチMo(正確には
目地幅の分を加味)でキャリアCr移動方向に整列せし
める為のコモンベースCba(第4図)がプレー)Bp
上面に固着されている。尚、各ホルダーHdは、プレー
)Bp下面に固設した三角ステーSt!(第5図)で支
持する。また、各シリンダーCal〜Ca4のロッド軸
と、これに対応するガンGnl〜Gn4のセンターライ
ンとを夫々共線関係、つまり、上下組型なる位a関係に
おき、且つ、両者の全体を共面に配設して、位置制御の
簡素化を図る。Toro filling mechanism Mf is base play of carrier Cr) B
P Four troguns G connected downward to the corresponding circulation lines Lcl to Lc4 on the lower surface side and facing the wall panel Pw from above to perform joint filling! 11°Ca2. Ca3. Ca4
and these guns Gnl- from above the base plate Bp.
Air cylinder Ca1.Gn4 moves up and down to perform two-position control respectively. Ca2゜Ca3. There are four hollow holders Hd (Fig. 5) that hold the corresponding gaffs Gnl-Gn4 slidably up and down (Fig. 5) and are arranged below the cylinders Bp. A common base Cba (Fig. 4) is played to align the carriers Cr in the moving direction at a pitch Mo approximately equal to the side dimension of the tile (accurately taking into account the joint width) Bp
It is fixed on the top. In addition, each holder Hd has a triangular stay St! (Figure 5). In addition, the rod axes of the cylinders Cal to Ca4 and the center lines of the corresponding guns Gnl to Gn4 are placed in a collinear relationship, that is, in a relationship such that they form an upper and lower set, and the entirety of both is coplanar. to simplify position control.
トロガンGnl〜Gn4は、いずれも、対応する循環ラ
イン′Lcl−Lc4に連通ずる内部通路を備えたガン
ボディGbと、トロ射出用のガンチップGtとを、ラバ
ーチューブ狭搾型のエア作動式ピンチバルブVpで繋い
だ構成とし、チップcpの下端部に、タイルTij面へ
当接摺動してトロの飛散防止、圧密充填及び、目地切り
仕上を行なうテフロン製のチップディスクTdを若干ス
トローク上下動可能に嵌着し、不図示のコイルスプリン
グで下方へ付勢する。Each of the Toro guns Gnl to Gn4 has a gun body Gb equipped with an internal passage communicating with the corresponding circulation line 'Lcl-Lc4, and a gun tip Gt for Toro injection using a rubber tube constriction type air-operated pinch valve. The Teflon tip disk Td, which is connected by Vp and slides against the tile Tij surface at the lower end of the tip CP to prevent scattering, compaction filling, and joint finishing, can be moved up and down with a slight stroke. and is biased downward by a coil spring (not shown).
尚、キャリアCrは、ベースプレートBpの下面側前後
左右に転動輪W c r及び駆動輪Wed(第5図)を
適宜配備して、後者WcdをプレートBp上方のドライ
ブモータMd(第4図)で駆動する一方、前記ゲートフ
レームF32の天枠部に、一対のキャリア軌道Re 、
Reと、突起状の走行位置マーカーMk(第5図)を設
け、以って、軌道Rc 、Rc沿いの走行距離を、マー
カーMkと係触するリミットスイッチLsで検出し、こ
れによリモータMdの制御信号を得るようにする。The carrier Cr has a rolling wheel Wcr and a drive wheel Wed (Fig. 5) suitably arranged on the front, rear, left and right sides of the lower surface of the base plate Bp, and the latter Wcd is driven by a drive motor Md (Fig. 4) above the plate Bp. While driving, a pair of carrier orbits Re,
Re and a protruding traveling position marker Mk (Fig. 5) are provided, and the traveling distance along the track Rc and Rc is detected by a limit switch Ls that engages with the marker Mk. control signal.
本実施例では、I!上において、壁パネルPwが台車T
rに運ばれてトロ充填機構Mfの下方へ来着し、四本の
トロガンG1n1〜Gn4総べて或いはその内の一部乃
至は数本(本数は使用タイルTijのサイズYtxXt
により決まり、制御系統Scに既に情報がインプットさ
れている)がエアシリンダーCal〜Ca4により充填
作動位置へ下動せしめられ、夫々のチップCtがその標
的となる目地込め予定領域に上方より臨んでトロを射出
しようする際、これらの領域に横目地線Jxi(方向転
換後であればJyDが実在するのであれば、その存在を
認識し、対応するピンチバルブVpの開動作を許容する
目地線認識システムSrが制御系統Scの一部として配
備されており、以下、第2図をも併せ参照して、その詳
細を述べる。第2図は同システムSrの頭脳となる論理
回路の接続図である。尚、以降、直交空間座標系x−y
−zを導入し、パレット台車Trの前進方向をX軸止方
向、トラバースキャリアCrの前進方向をY軸止方向、
トロガンGnl〜Gn4の上動方向をZ軸止方向と定義
する。In this example, I! Above, the wall panel Pw is connected to the trolley T.
r and arrives below the trogan filling mechanism Mf, and all or some or several of the four trogans G1n1 to Gn4 (the number depends on the size of the tile Tij used YtxXt
, and the information has already been input to the control system Sc) is moved down to the filling operation position by air cylinders Cal to Ca4, and each chip Ct faces its target joint filling area from above and is loaded. When attempting to inject the horizontal joint line Jxi (if JyD exists after the direction change), a joint line recognition system recognizes its existence and allows the opening operation of the corresponding pinch valve Vp. Sr is provided as a part of the control system Sc, and its details will be described below with reference to Fig. 2. Fig. 2 is a connection diagram of the logic circuit that is the brain of the system Sr. In addition, hereafter, the orthogonal spatial coordinate system x-y
-z is introduced, the forward direction of the pallet truck Tr is the X-axis stop direction, the forward direction of the traverse carrier Cr is the Y-axis stop direction,
The upward movement direction of the trogans Gnl to Gn4 is defined as the Z-axis stopping direction.
目地線・認識システムSrは、人の認識過程における視
神経の役割を持つタイル検出機構Dtと、頭脳としての
論理認識回路Reから成る。The joint line/recognition system Sr consists of a tile detection mechanism Dt, which plays the role of the optic nerve in the human recognition process, and a logical recognition circuit Re, which serves as the brain.
検出機構Dtは、Y方向にピッチMoで整列する各トロ
ガンGnl〜Gn4の前後斜め左右、即ち、−X側と÷
X側千鳥の位置(つまり、Y座標をMo/2だけずらし
た位置)に都合五個づつ共用配備されたタイルセンサー
1〜5,1゛〜5°と、これらのセンサー1〜5.1°
〜5°を下向きに保持して壁パネルPwのタイルTij
面に上方より垂直に臨み得る姿勢を取らせると共にガン
Gut〜Gn4同様Y方向に夫々ピッチMoで整列せし
める為のコモンベース6とで構成され、ベース6は前記
ガンホルダーHdの下端に嵌着固設し、ベース6下面に
設けた垂直ロッド6a・・・(第5図)の各下端にセン
サー1〜5.l゛〜5°を取付ける。The detection mechanism Dt is connected to the front, rear, diagonal left and right sides of each trogan Gnl to Gn4 arranged at a pitch Mo in the Y direction, that is, the −X side and ÷
Tile sensors 1 to 5, 1゛ to 5°, and these sensors 1 to 5.1°, which are shared in five units at the X side staggered position (that is, the position shifted by Mo/2 from the Y coordinate)
Holding ~5° downwards, tile Tij of wall panel Pw
It is composed of a common base 6 for allowing the guns to take a posture that allows them to face the surface perpendicularly from above, and for aligning the guns Gut to Gn4 at a pitch Mo in the Y direction, and the base 6 is fixedly fitted to the lower end of the gun holder Hd. Sensors 1 to 5 are attached to the lower ends of vertical rods 6a... (FIG. 5) provided on the lower surface of the base 6. Install l゛~5°.
尚、本実施例のセンサー1〜5.l°〜5゛は、赤外線
ビームの投・受光により下方所定距離に被検出面の存在
することを検知して、検出信号D1〜D5.DI’〜D
5“を発するタイプのものとするが、タイルTijの存
在を検知し得るのであれば、これに限る必要はない。Incidentally, sensors 1 to 5 of this embodiment. 1° to 5° detect the presence of a detection surface at a predetermined distance below by projecting and receiving an infrared beam, and output detection signals D1 to D5. DI'〜D
5", but it is not necessary to be limited to this type as long as the presence of the tile Tij can be detected.
また、本実施例では、任意時点における各ガンGnp(
p=t 〜4)の水平位置を(Xgp、 Ygp)で表
わすとき、これに対するセンサーq、q’(q=1〜5
)(7)相対位置(Xdq、 Ydq) 、 (Xd
q’。Furthermore, in this embodiment, each gun Gnp (
When the horizontal position of p = t ~ 4) is expressed as (Xgp, Ygp), the sensors q, q' (q = 1 ~ 5)
) (7) Relative position (Xdq, Ydq), (Xd
q'.
Ydq’)が、X座標ニツイテは、Xdq=Xgp−(
Mo/2)、X dq’ = Xgp+ (Mo/2)
、またY座標ニラいては、q=l〜4の場合、Ydq=
Ydq’ = Ygp−(Mo/2) (但し、q=
p)、且つ、(1=2〜5の場合に、Ydq=Ydq’
=YgP+(No/2)(Q=P+1)となるように
寸法設定を行ない、以って、各ガンGnpの−X側と+
X側に夫々一対のセンサーq、q+1とq’ 、 q′
+1 (q=p)を配備したのと同様な効果を得るよう
にするが、その際、 Xdq又はXdq’ とXgP
との差Mo/2を、パレット台車Trの慣性走行具合に
応じ適宜変更することは差支えない。Ydq'), but the X coordinate is Xdq=Xgp-(
Mo/2), X dq' = Xgp+ (Mo/2)
, and for the Y coordinate, if q=l~4, Ydq=
Ydq' = Ygp-(Mo/2) (However, q=
p), and (when 1=2 to 5, Ydq=Ydq'
=YgP+(No/2) (Q=P+1), so the -X side and +
A pair of sensors q, q+1 and q', q' on the X side, respectively.
+1 (q=p) to obtain the same effect as deploying, but in that case, Xdq or Xdq' and XgP
There is no problem in changing the difference Mo/2 from the above as appropriate depending on the inertial running condition of the pallet truck Tr.
認識回路Reは、外観上、前記−X側タイルセンサー1
〜5からの検出信号DI−D5を受ける端子tlNt5
と、+x側センサーl°〜5°からの信号DI’〜D5
′を受ける端子tl’〜t5°とを夫々五つづつ入力側
に備え、対応するトロガンG!1l−Gn4のピンチバ
ルブVpに開動作を許容する為の条件信号51〜S4を
制御系統Scのコンソールに発する都合四つの端子to
l−to4を出力側に備えた論理演算ユニットで、上記
−X測用入力端子t1〜t5に接続された接点cl−c
5と◆X側用入力端子tl’〜t5’に接続された接点
c1°〜c5°とのいずれか一方を入力側で夫々選択可
能な五個のセレクトスイッチ7〜11と、前記台車Tr
の+X側への走行時(この時、各ガンGnpは、壁パネ
ルPwに対し−X側へ相対移動する)、これらのスイッ
チ7〜11に−X側センサー1〜5へ通じる接点cl−
c5を一斉に選択させ、−X側への走行時にすべて他方
の接点cl’〜C5°を選択させる為の同期手段12(
スイッチ7〜11の作動機構がメカニカルなものであれ
ば共通ロッドその他、またエレクトロニックタイプの場
合、同期信号用リード線等)と、上記スイッチ7〜11
の出力側接点cal−ca5とユニット出力端子t o
l−t o4との間に介設された四つの論理積手段、つ
まり、二信号AND回路13〜16とを内蔵している。In appearance, the recognition circuit Re is connected to the -X side tile sensor 1.
Terminal tlNt5 receiving detection signal DI-D5 from ~5
and signals DI' to D5 from the +x side sensors l° to 5°.
' are provided on the input side with five terminals tl' to t5° for receiving the corresponding Trogan G! There are four terminals to send condition signals 51 to S4 to the console of the control system Sc to allow the pinch valve Vp of 1l-Gn4 to open.
A logic operation unit equipped with l-to4 on the output side, and contacts cl-c connected to the -X measurement input terminals t1 to t5.
5 and the contacts c1° to c5° connected to the input terminals tl' to t5' for the
When traveling to the +X side (at this time, each gun Gnp moves relative to the -X side with respect to the wall panel Pw), these switches 7 to 11 have contacts cl- leading to the -X side sensors 1 to 5.
synchronizing means 12 (
If the operating mechanism of the switches 7 to 11 is mechanical, the common rod, etc., or if it is an electronic type, a synchronization signal lead wire, etc.), and the switches 7 to 11 mentioned above.
output side contact cal-ca5 and unit output terminal to
It has built-in four logical product means, that is, two-signal AND circuits 13 to 16, interposed between it and lto4.
尚、上記AND回路13〜16の接続関係は、その二本
の入力側リード線を順次Irl、Ir2(r=1〜4)
の形で、また出力側リード線を同順に0r(r=1〜4
)で示し、スイッチ出力接点をcou(u= 1〜5)
、 ユニー)ト出力端子をtov(v=1〜4)で表わ
すとき、IrlとIr2が夫々u=r、u=r+1の添
字関係でcouにつながり、OrがV=Uの関係でto
vにつながる如くなす。In addition, the connection relationship of the AND circuits 13 to 16 is such that the two input side lead wires are connected sequentially to Irl and Ir2 (r=1 to 4).
0r (r=1~4) in the same order as the output side lead wire.
), and the switch output contact is indicated by cou (u = 1 to 5)
, unit) When the output terminal is expressed as tov (v=1 to 4), Irl and Ir2 are connected to cou with the subscript relationship of u=r and u=r+1, respectively, and Or is connected to cou with the relationship of V=U.
Make it so that it leads to v.
従って、任意のトロガンGnp(p=1〜4)は、その
露払い側に位置する一対のセンサーq。Therefore, any Trogan Gnp (p=1 to 4) has a pair of sensors q located on its exposed side.
q+1又はq 、q’+l (q=p) 、つまり、
台車Trが◆X側へ走行する場合、ガンGnpの−X側
に位置するセンサ一対q 、q+1 (q=p)が、ま
た−X側へ走行する場合には、÷X側のセンサ一対qq
’+ 1 (q = p)が、共に、タイル面検出信号
Dq、Dq+1又はDq’ 、 Dq’+ 1 (q
= p)を発している限り、前記条件信号5l−54の
内、対応するものSw (w=p)がオンとなって、ピ
ンチバルブVpの開動作が許容される。q+1 or q, q'+l (q=p), that is,
When the trolley Tr travels toward the
'+ 1 (q = p) are both tile surface detection signals Dq, Dq+1 or Dq', Dq'+ 1 (q
= p), the corresponding condition signal Sw (w=p) among the condition signals 5l-54 is turned on, and the opening operation of the pinch valve Vp is permitted.
然るに、前記千鳥配置の寸法間係から明らかなように、
トロガンGnp(p=1〜4)の先端部を横目地線Jx
iに臨ませれば、センサーqとq+1又はqoとq’+
1(q=p)が夫々タイルTijとTi’j を見降ろ
す位置を占め、共に、検出信号Dq、Dq+1又はDq
、 Dq”+1 (q = p)を発する。However, as is clear from the dimensions of the staggered arrangement,
Horizontal joint line Jx at the tip of Torogan Gnp (p = 1 to 4)
If you face i, sensors q and q+1 or qo and q'+
1 (q=p) occupy the positions overlooking the tiles Tij and Ti'j, respectively, and both receive the detection signal Dq, Dq+1 or Dq.
, Dq”+1 (q = p).
よって、認識システムSrは、目地線Jxi両側のタイ
ルT ij 、 Ti′jを検出することにより、目地
線Jxiの存在を認識し、これJiiへのトロ射出を促
すプロセスを具有しているのと同じことになる。Therefore, the recognition system Sr has a process of recognizing the existence of the joint line Jxi by detecting the tiles T ij , Ti'j on both sides of the joint line Jxi, and prompting the toro ejection to this Jii. It will be the same thing.
ご覧で、第3図を併せ参照して、目地込め装置Jfの作
用を説明しておく、第3図(A)〜(G)はトロガン、
タイルセンサー及びタイル間の位置関係を示す作用説明
図である。The operation of the joint filling device Jf will be explained with reference to FIG. 3.
FIG. 3 is an action explanatory diagram showing the positional relationship between tile sensors and tiles.
尚、木ラインLpでは、壁パネルPwのタイルTijが
モジュール化されているものとし、その基準寸法をMo
、またタイルサイズYtxXtを((X−MO)X(β
* M o )で表し、a=1.β=1の場合につき、
以下説明を行なう、α=k>1或いはβ=に’>1の場
合、各に番目或いはに゛番目のガンGr+p(p:k又
はに′の倍数)のみを作動せしめるよう条件を付してお
けば済むことである。In addition, in the tree line Lp, it is assumed that the tiles Tij of the wall panel Pw are modularized, and the reference dimension is Mo.
, and the tile size YtxXt is ((X-MO)X(β
*M o ), a=1. For the case β=1,
As will be explained below, in the case of α=k>1 or β='>1, a condition is attached to each to operate only the th or second gun Gr+p (p: a multiple of k or ni'). All you have to do is leave it there.
そして、壁パネルPw上でのタイルTijの整列方式を
、n行xm列の長方行列とする。The arrangement method of the tiles Tij on the wall panel Pw is assumed to be a rectangular matrix with n rows and m columns.
装置Jfの稼動時には、先ず、ワークとしての壁パネル
Pwを定位8に(即ち、基準点Paに角合せして)載設
セットしたパレッ)Ptが、第4図に示す原位置で待機
する台車Tr上に、長さYpの縦縁をY方向に向けて、
ロードオンされ、台車Trの受枠Ftrに対しビンPn
・・・で位置決め保持される。この時、キャリアCrは
、第4図の位置より−Y力方向後退した原位置(つまり
、第3図(A)に示すように、四本のガンGnl−Gn
4のY座標が、壁パネルPwの第一乃至第四横目地線J
XI〜JX4のY座標と夫々等しくなる位置)で。When the device Jf is in operation, first, a pallet (Pt) on which a wall panel Pw as a workpiece is placed and set in the normal position 8 (that is, squarely aligned with the reference point Pa) is moved to a cart waiting at the original position shown in FIG. On the Tr, with the vertical edge of length Yp facing the Y direction,
The load is turned on, and the bin Pn is placed against the receiving frame Ftr of the trolley Tr.
...is positioned and held. At this time, the carrier Cr is moved back to its original position in the −Y force direction from the position shown in FIG. 4 (that is, as shown in FIG.
The Y coordinate of 4 is the first to fourth horizontal joint line J of wall panel Pw
(positions that are equal to the Y coordinates of XI to JX4).
トロを各ラインLcl−Lc4に循環させながら、待機
している。尚、以降、ガンG!1l−Gn4の水平位置
を、コモンベース6の位置で代表させ、反位器をCbo
で示す。It is on standby while circulating the Toro to each line Lcl-Lc4. From now on, Gun G! The horizontal position of 1l-Gn4 is represented by the position of common base 6, and the reversal device is set to Cbo.
Indicated by
次いで、ワイヤドライブ@ @ D wが作動して、台
車Trを、軌道Tr、Tr沿いにゲートフレームFg2
の下方へ前進させて行く。Next, the wire drive @ @ D w operates to move the trolley Tr along the track Tr and the gate frame Fg2.
Move it forward downward.
そうすると、トロガンGnl〜Gn4から見て−X側の
五個タイルセンサー1〜5により、パネルPwの÷XX
側縦縁−の対応するタイルT1m〜T5mが検出され、
その検出信号がファーストランの開始信号として制御系
統Scに送られ処理される。Then, the five tile sensors 1 to 5 on the -X side as seen from Trogan Gnl to Gn4 will cause the panel Pw to be ÷XX.
The corresponding tiles T1m to T5m on the side vertical edge are detected,
The detection signal is sent to the control system Sc as a first run start signal and processed.
そして、エアシリンダCa1−Ca4と各ピンチバルブ
Vpに対応したエア・オン、エア争オフ信号が、またド
ライブ機構CwのステップモータMsに調速指令信号が
夫々発信され、ガンGnl〜Gn4を所定のZ座標まで
下降させて、第3図(B)に示すように、ガンチップG
tを横目地線Jxl〜Jx4に近接対向せしめると共に
ピンチバルブVpを開いてトロの射出を開始させ、併せ
台車Trに定速前進を行なわせる。この時のガン位置を
図中Cbl(= Cbo)で示す。Then, air on and air off signals corresponding to the air cylinders Ca1 to Ca4 and each pinch valve Vp are transmitted, and a speed control command signal is transmitted to the step motor Ms of the drive mechanism Cw, respectively, to control the guns Gnl to Gn4 at a predetermined position. Lower the gun tip G to the Z coordinate as shown in Figure 3 (B).
t is made to closely face the horizontal joint lines Jxl to Jx4, and the pinch valve Vp is opened to start the injection of toro, and at the same time, the trolley Tr is made to move forward at a constant speed. The gun position at this time is indicated by Cbl (=Cbo) in the figure.
かくて、横目地線J !1− J X4の目地込めが進
行し、第3図(C)のような状態になって、各ガンGn
p(p=1〜4)の露払いとなる側のセンサー対q 、
q+1 (q=p)が所定のラグタイム以上にタイルT
ll〜T41を見失しなうと、このタイル未検出状態が
ファーストランの終了サインとして制御系統Scに送ら
れ処理される。Thus, horizontal joint line J! 1- J
Pair of sensors q on the dew removal side of p (p=1 to 4),
q+1 (q=p) is longer than the predetermined lag time
If 11 to T41 are not lost, this tile undetected state is sent to the control system Sc as a sign of the end of the first run and is processed.
すると、ステップモータMsに停止信号が送られ、台車
Trは、上記タイルT 11〜T41ノーX91J縁が
x=0(即ち、ガンセンターラインの位置)より若干◆
X側に行き過ぎた処まで慣性走行して止まる。また、こ
れにタイミングを合せて発信されたエア・オン、エア・
オフ信号により、各ピンチバルブVpが閉じ、エアシリ
ンダー〇al=Ca4が作動してガンGnl〜Gn4を
上動せしめ、その後。Then, a stop signal is sent to the step motor Ms, and the cart Tr moves so that the edges of the tiles T11 to T41 and X91J are slightly ◆ from x=0 (i.e., the position of the gun center line).
It runs inertia until it goes too far to the X side and stops. In addition, Air On, Air
Each pinch valve Vp is closed by the off signal, and the air cylinder 〇al=Ca4 is operated to move the guns Gnl to Gn4 upward, and then.
キャリアCrが◆Y力方向の移動を開始する。Carrier Cr starts moving in the ◆Y force direction.
この移動量が4XMOmmに達すると、キャリアCrが
その位置に止まり、ステップモータMsが逆回転を始め
る。この時のガン位置を図中Cb2で示す。When this amount of movement reaches 4XMOmm, the carrier Cr stops at that position and the step motor Ms starts rotating in reverse. The gun position at this time is indicated by Cb2 in the figure.
そして、今度は、ファーストランで各ガンGnp(p=
1〜4)を後追いする立場にあった+X側のセンサ一対
q“、q’+1(q=p)が、第3°図(C)に見るよ
うに、露払いとなってタイルT51〜T91を検出し、
再びシリンダーCa1−Ca4が作動してガンGnl〜
Gn4が下降し、各ピンチバルブVpが開き、セカンド
ランとして、横目地線Jx5〜Jx8に目地込めが施さ
れる。Then, in the first run, each gun Gnp (p=
The pair of sensors q", q'+1 (q=p) on the +X side, which was in the position of following 1 to 4), became a dew cleaner and hit the tiles T51 to T91, as shown in Figure 3 (C). detect,
Cylinders Ca1-Ca4 operate again and the gun Gnl~
Gn4 is lowered, each pinch valve Vp is opened, and horizontal joint lines Jx5 to Jx8 are filled in as a second run.
こうして、横目地iに1Jxiを4本ずつ、順次逆向き
に目地込めして行き、全n行が4の倍数とならないとき
、つまり、第3図(E)に示すように、ファイナルラン
のガン位置Cbfで4本に満たない分(図示例では、J
x(n−3) 、 J x(n−2) 、 J x(
n−1)がでたときでも、原則として、露払い側センサ
ー対(この場合、センサ一対1,2.2,3;3゜4)
が共にタイルを検出している限りは対応するガン(Gn
l 、 Gn2 、 Gn3)のピンチバルブVpを開
けておき、従って、露払い側センサ一対(この場合、セ
ンサ一対4.5)の少なくとも一方(センサー5yがタ
イルTijを見失った場合は、対応するガン(G n4
)のピンチバルブVpを閉じる仕方で、トロの射出及び
遮断を行ない、横目地ファイナルランの終了後、キャリ
アCrを縦目地の反位器に戻す(従って、ガン位置が再
びCbo=Cblとなる)と共に、ステップモータMs
を順回転させて、台車TrをゲートフレームFglの下
方へ前進せしめる。In this way, 4 lines of 1Jxi are filled in each side joint i in reverse direction, and when all n lines are not a multiple of 4, that is, as shown in Fig. 3 (E), the final run gun At position Cbf, there are less than 4 wires (in the illustrated example, J
x(n-3), J x(n-2), J x(
n-1), as a general rule, the pair of sensors on the dew removal side (in this case, the pair of sensors 1, 2, 2, 3; 3° 4)
as long as they both detect the tile, the corresponding gun (Gn
1, Gn2, Gn3), and therefore, if at least one of the pair of dew removal side sensors (in this case, a pair of sensors 4.5) (sensor 5y loses sight of the tile Tij), the corresponding gun ( G n4
), the toro is injected and shut off by closing the pinch valve Vp, and after the horizontal joint final run is completed, the carrier Cr is returned to the vertical joint reversal device (therefore, the gun position becomes Cbo = Cbl again). Along with the step motor Ms
is rotated in the forward direction to advance the trolley Tr below the gate frame Fgl.
台車TrがゲートフレームFgl下方の定位置に来ると
、不図示のリミットスイッチがこれを検出し、ステップ
モータMsが止まり、方向転換機構Dcの受腕Am・・
・がパレットptを持上げて水平に90度回した後、再
び、台車Tr上に降す、これにより、壁パネルPwのタ
イルTijの並びが、以前の転置行列、つまり、m行n
列となり、縦目地線Jyjと横目地線Jxiの方向が入
れ換わる。When the trolley Tr comes to a fixed position below the gate frame Fgl, a limit switch (not shown) detects this, the step motor Ms stops, and the receiving arm Am of the direction change mechanism Dc...
- picks up the pallet pt, turns it horizontally by 90 degrees, and then lowers it onto the trolley Tr again. As a result, the arrangement of the tiles Tij on the wall panel Pw is changed to the previous transposed matrix, that is, m rows and n
The vertical joint lines Jyj and the horizontal joint lines Jxi switch directions.
次いで、ステップモータMsが逆転して、台車Trがゲ
ートフレームFg2の下方へと後辺し、第3図(F)、
に見るように、タイルT In 、 T I(n−1)
。Next, the step motor Ms is reversely rotated, and the trolley Tr is rearwardly moved below the gate frame Fg2, as shown in FIG. 3(F).
As seen in the tiles T In , T I(n-1)
.
T 1(n−2) 、 T 1(!1−3) 、 T
1(n−4)がセンサー1’〜5゜で検出され、今度は
、横向きとなった縦目地線J y(a−1) 、 Jテ
(+++−2) 、 J y(m−3) 、 J y(
+e−4)につき、目地込めのファーストランが進行す
る。T 1 (n-2), T 1 (!1-3), T
1(n-4) is detected by sensor 1'~5°, and this time, vertical joint lines J y (a-1), J te (+++-2), J y (m-3) are horizontally oriented. , J y(
+e-4), the first run of filling the joint progresses.
そして、横目地線Jxiの場合同様に縦目地線Jyjが
順次四本づつ目地込めされ、第3図(G)に示すように
縦目地線Jylをカバーするファイナルラン位置Cbf
’での目地込めが終ると、キャリアCrが原位置に戻り
、壁パネルPwの目地込めプロセスが実質的に読了する
。Then, similarly to the case of the horizontal joint line Jxi, four vertical joint lines Jyj are sequentially filled, and as shown in FIG. 3(G), a final run position Cbf that covers the vertical joint line Jyl is reached.
When the joint filling is completed at ', the carrier Cr returns to its original position, and the joint filling process of the wall panel Pw is substantially completed.
後は、機枠2文の後端から、パレットPLを、パネルP
wと一緒に、次工程へ向は送り出すだけである。After that, move the pallet PL and the panel P from the rear end of the machine frame 2.
It is simply sent to the next process along with w.
尚、本実施例では、トロガンGnl〜Gn4の−X側と
・X側において、各五個のタイルセンサー1〜5又は1
°〜5°を基準サイズタイル(α=1.β=1)の辺寸
法に略等しいピッチMo(正確には目地線ピッチ)で共
用配備することにより夫々四組のセンサ一対1,2;2
,3;3,4;4,5又は1’ 、 2’ 、 2’
、 3“;3°、4°; 4’ 、 5°を構成するよ
うにしているが、広幅タイル(α〉1或いはβ〉1)へ
適用する場合に置換えてを想定して見れば明らかなよう
に、センサーの個数が多くなることを厭わなければ、各
対を構成するセンサー間の距離をタイルTijの辺寸法
より小さくし、極端な場合、目地幅に近付けて、解像情
報量を増すようにしても良い。In this embodiment, five tile sensors 1 to 5 or 1 are installed on the −X side and the X side of Torogan Gnl to Gn4.
By commonly deploying the angle between ° and 5° at a pitch Mo (to be precise, a joint line pitch) that is approximately equal to the side dimension of the standard size tile (α=1.β=1), four pairs of sensors 1, 2;
, 3; 3, 4; 4, 5 or 1', 2', 2'
, 3"; 3°, 4°; 4', 5°, but it will be obvious if you consider replacing it when applying it to a wide tile (α>1 or β>1). If you are willing to increase the number of sensors, as in You can do it like this.
また、検出対象に臨む角度を余り気にする必要のない検
出素子を利用するような場合、目地線両側のタイル面を
検知するのであれば、任意の配設方式を採用し得ること
明らかであろう。Furthermore, when using a detection element that does not require much consideration of the angle at which it faces the detection target, it is clear that any arrangement method can be adopted as long as the tile surfaces on both sides of the joint line are to be detected. Dew.
(発明の効果)
以上の説明により明らかな如く、本発明によれば、タイ
ル間目地線の存在を目地線両側のタイルを検出して認識
するようにしているので、目地線認識過程の自動化に際
し、ハードウェア特に検出機構のコスト負担が小さくな
る。(Effects of the Invention) As is clear from the above explanation, according to the present invention, the existence of a joint line between tiles is recognized by detecting the tiles on both sides of the joint line, so that it is possible to automate the joint line recognition process. , the cost burden of hardware, especially the detection mechanism, is reduced.
図面は本発明を壁パネルの目地込め装置に適用した実施
例につき示したもので、第1図は目地線認識システムの
検出機構横断面図、第2図は認識回路の#tc続図、第
3図(A)〜(G)は作用説明図、第4図は目地込め装
置の平面図、第5図は同側面図である。
尚1図中、1〜5.l°〜5゛はタイルセンサー6はコ
モンベース、7〜11はセレクトスイッチ、12はその
同期手段、13〜16はAND回路、Dtは検出機構、
Gnl−Ga4はトロガン、Jfは目地込め装置、J
xi、Jyjは目地線、Pwは壁パネル、Srは目地線
認識システム、Tij。
Ti’j ;Tij、Tij’は目地線両側のタイルを
表している。The drawings show an embodiment in which the present invention is applied to a wall panel joint filling device. Figure 1 is a cross-sectional view of the detection mechanism of the joint line recognition system, Figure 2 is a continued #tc diagram of the recognition circuit, and Figure 2 is a cross-sectional view of the detection mechanism of the joint line recognition system. 3(A) to 3(G) are action explanatory views, FIG. 4 is a plan view of the joint filling device, and FIG. 5 is a side view of the same. In addition, 1 to 5 in Figure 1. 1° to 5゛, tile sensor 6 is a common base, 7 to 11 is a select switch, 12 is its synchronization means, 13 to 16 is an AND circuit, Dt is a detection mechanism,
Gnl-Ga4 is Trogan, Jf is joint filling device, J
xi and Jyj are joint lines, Pw is a wall panel, Sr is a joint line recognition system, and Tij. Ti'j; Tij and Tij' represent tiles on both sides of the joint line.
Claims (3)
出により認識するようにした目地線認識システム。(1) A joint line recognition system that recognizes the existence of joint lines between tiles by detecting tiles on both sides of the joint line.
サーと、該センサーが共にタイルを検出していることを
条件として前記目地線の存在を肯定する信号を出す情報
処理手段とから成る請求項1に記載の目地線認識システ
ム。(2) A claim comprising a pair of sensors that separately detect tiles on both sides, and an information processing means that outputs a signal affirming the existence of the joint line on the condition that both sensors detect tiles. The joint line recognition system according to item 1.
応するタイルの存在を検知する素子で夫々構成し、該素
子をタイルの整列ピッチを越えない距離だけ相互に離間
せしめて成る請求項2に記載の目地線認識システム。(3) Each of the sensors is constituted by an element that detects the presence of a corresponding tile by facing the tile surface from above, and the elements are separated from each other by a distance not exceeding the alignment pitch of the tiles. The joint line recognition system described in .
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP26588688A JP2675358B2 (en) | 1988-10-21 | 1988-10-21 | Joint line recognition system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP26588688A JP2675358B2 (en) | 1988-10-21 | 1988-10-21 | Joint line recognition system |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH02112552A true JPH02112552A (en) | 1990-04-25 |
JP2675358B2 JP2675358B2 (en) | 1997-11-12 |
Family
ID=17423466
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP26588688A Expired - Fee Related JP2675358B2 (en) | 1988-10-21 | 1988-10-21 | Joint line recognition system |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP2675358B2 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5527145A (en) * | 1992-06-03 | 1996-06-18 | Duncan; Joseph C. | Mortaring made easier |
-
1988
- 1988-10-21 JP JP26588688A patent/JP2675358B2/en not_active Expired - Fee Related
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5527145A (en) * | 1992-06-03 | 1996-06-18 | Duncan; Joseph C. | Mortaring made easier |
Also Published As
Publication number | Publication date |
---|---|
JP2675358B2 (en) | 1997-11-12 |
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