ᮾᛴᘓタᢏ⾡◊✲ᡤሗ No.40 東急建設技術研究所報 No.40 U.D.C 69.059.63+519.687 ᐇ㝿ࡢゎయ⌧ሙࡽⓎ⏕ࡋࡓᘓタᗫᲠ≀ᑐࡍࡿ 実際の解体現場から発生した建設廃棄物に対する 㑅ูࣟ࣎ࢵࢺࣁࣥࢻࡢᛶ⬟᳨ド U.D.C 69.059.63+519.687 選別ロボットハンドの性能検証 ୖ ㍜㸨 ୰ᮧ ⪽㸨 井上 大輔＊ 中村 聡＊ せ ⣙㸸 ➹⪅ࡽࡣゎయసᴗࡢຠ⋡㸪సᴗ⎔ቃྥୖ㸪ࣜࢧࢡࣝ⋡ྥୖࢆ┠ⓗࡋ࡚㸪ᘓ≀ࡢゎయ⌧ሙ࡛Ⓨ⏕ࡍࡿࢥࣥࢡ࣮ࣜࢺሢ㸪 ᮌࡃࡎ㸪㔠ᒓࡃࡎ㸪ᗫࣉࣛࢫࢳࢵࢡ㸪➼ࡽᵓᡂࡉࢀࡿᘓタ⏘≀ࢆ୰㛫ฎ⌮タ⛣㏦ࡍࡿ๓ゎయ⌧ሙ࡛⮬ື㑅ูࡍࡿ㑅 ูࣟ࣎ࢵࢺࡢ㛤Ⓨࢆ⾜ࡗ࡚࠸ࡿࠋᮏ✏࡛ࡣࡑࡢせ⣲ᢏ⾡ࡢࡦࡘࡋ࡚㸪ከရ✀ᐃᙧࡢᘓタ⏘≀ࢆ⢊○ࡏࡎ㑅ูࡍࡿᢲ ࡋ࣭ᥗࡳව⏝ࣟ࣎ࢵࢺࣁࣥࢻࡢᵓᡂ㸪㸱ࡘࡢືస࣮ࣔࢻࡘ࠸࡚㏙ࡿࠋ㸰ᮏࡢࢶ࣓ࢆࡗࡓᢕᣢືస㸪ࣂࣥࣃࡼࡿᢲ ࡋືసࢆ⤌ࡳྜࢃࡏࡿࡇ࡛㸪ࢥࣥ࣋ୖᒎ㛤ࡉࢀࡓᘓタ⏘≀ࡢ࠺ࡕせ㸳ရ┠ࢆᖹᆒ㸷㸮㸣௨ୖᅇ࡛ࡁࡿࡇࢆ㸪ᐇ ⌧ሙࡢᘓタ⏘≀ࢆ⏝࠸ࡓᐇ㦂ࡼࡗ࡚☜ㄆࡍࡿࠋ 㺕㺎㺺㺎㺢㺼㸸 ᘓタ⣔⏘ᴗᗫᲠ≀㸪⏘ᴗ⏝ࣟ࣎ࢵࢺ㸪࢚ࣥࢻ࢚ࣇ࢙ࢡࢱ㸪ࢢࣛࢫࣉࣞࢫ࣐ࢽࣆ࣮ࣗࣞࢩࣙࣥ㸪⤒㊰ィ⏬ ┠ ḟ㸸 ࡣࡌࡵ ࣟ࣎ࢵࢺࣁࣥࢻࡢᛶ⬟ホ౯ᐇ㦂 ࣟ࣎ࢵࢺࣁࣥࢻࡢ㸲ࡘࡢ≉ᚩ ࡲࡵ ࣟ࣎ࢵࢺࣁࣥࢻࡢ㸱ࡘࡢືస࣮ࣔࢻ ࡣࡌࡵ ᤊ࣭ᅇࡢᡂຌ⋡ࢆ㧗ࡵࡿࡇࡀ࡛ࡁࡿࠋࡲࡓࣟ࣎ࢵ ᘓ≀ࡢゎయ⌧ሙ࡛Ⓨ⏕ࡍࡿᘓタ⏘≀ࡣ㸪ࢥࣥ ࢺ࣮࣒ࡢ࣮ࣔࢱࡢ㈇Ⲵࢆ㍍ῶࡍࡿᶵᲔⓗ࡞Ᏻ ࢡ࣮ࣜࢺሢ㸪ᮌࡃࡎ㸪㕲➽ࡸ࣑ࣝࢧࢵࢩ࡞ࡢ㔠ᒓ ⨨ࡋ࡚ࡶస⏝ࡋ㸪ᑐ㇟≀ࡀ㔜ࡍࡂࡿሙྜࡣ㸪ࣂࣥࣃ ࡃࡎ㸪ᗫࣉࣛࢫࢳࢵࢡ㸪➼ࡽᵓᡂࡉࢀࡿࠋࡇࢀࡽࢆ ࡢഴࡁࡀࡁࡃ࡞ࡗࡓࡇࢆ᳨▱ࡋ࡚ࣟ࣎ࢵࢺࡢືస ⏝ࡍࡿࡓࡵ㸪⌧ሙࡸ୰㛫ฎ⌮タ࡛ࡣྍ⬟࡞㝈 ࢆ࢟ࣕࣥࢭ࡛ࣝࡁࡿࠋࣂࣥࣃࡢഴࡁᑐࡍࡿࢥࣥࣉࣛ ࡾேᡭࡸᶵᲔࡼࡿศูࡀ⾜ࢃࢀ࡚࠸ࡿࠋࡋࡋㄢ㢟 ࣥࢫࡣ㸪࢚ࢩࣜࣥࢲࡢ౪⤥ᅽຊ࡛ㄪᩚ࡛ࡁࡿ ࡋ࡚㸪ከࡃࡢ㛫ປຊࢆせࡍࡿࡇࡸ㸪⢊ሻࡢ㣕 ࡼ࠺ࡋࡓࠋ ᩓ➼క࠺సᴗ⎔ቃࡢᝏࡀ࠶ࡿࠋ ➹⪅ࡽࡣゎయసᴗࡢຠ⋡㸪సᴗ⎔ቃྥୖ㸪ࣜࢧ ࢡࣝ⋡ྥୖࢆ┠ⓗࡋ࡚㸪ᘓタ⏘≀ࢆ୰㛫ฎ⌮タ ⛣㏦ࡍࡿ๓ゎయ⌧ሙ࡛⮬ື㑅ูࡍࡿࣟ࣎ࢵࢺࢩࢫ ࢸ࣒㸦௨ୗ㸪㑅ูࢩࢫࢸ࣒㸧ࡢ㛤Ⓨࢆ⾜ࡗ࡚࠸ࡿ ࠋ ᮏ✏࡛ࡣࡑࡢせ⣲ᢏ⾡ࡢࡦࡘࡋ࡚㸪ከရ✀ᐃᙧ ࡢᘓタ⏘≀ࢆ㑅ูࡍࡿ㸱ᣦࣟ࣎ࢵࢺࣁࣥࢻࡢᵓᡂ㸪 㸱ࡘࡢືస࣮ࣔࢻࢆᥦࡍࡿࠋ ࣟ࣎ࢵࢺࣁࣥࢻࡢ㸲ࡘࡢ≉ᚩ ᘓタᗫᲠ≀ࡣᐃᙧࡘከရ✀࡛࠶ࡾ㸪ࡘࢥࣥࢡ ࣮ࣜࢺሢࡸ㕲➽ࡃࡎࡢࡼ࠺࡞㔜㔞≀ࢆ㔞ྵࡴࠋࡇ ࡢࡓࡵ㸪ᥗࢇ࡛ᣢࡕୖࡆࡿࡇࢆ๓ᥦࡋࡓỗ⏝ࡢࣟ ࣎ࢵࢺࣁࣥࢻ࡛ࡣྲྀࡾᢅ࠸ࡀ㞴ࡋ࠸ࠋࡇࢀࡽࢆ࣋ࣝࢺ ࢥࣥ࣋ୖᒎ㛤ࡋ㸪ရ┠ࡈ⮬ື㑅ูࡍࡿࡓࡵ㸪 ᅗ㸯⾲㸯♧ࡍᢲࡋ࣭ᥗࡳව⏝ࡢࣁࣥࢻࢆ㛤Ⓨࡋࡓࠋ ᮏࣁࣥࢻࡣḟࡢ㸲ࡘࡢ≉ᚩⓗ࡞ᶵᵓࢆ᭷ࡍࡿࠋ ᯈ≧ࡢࣂࣥࣃ እຊᛂࡌ࡚ཷືⓗᅇ㌿ࡍࡿᯈ≧ࡢ㒊ရࡽ࡞ࡿ ᶵᵓ࡛࠶ࡿࠋᑐ㇟≀ࢆᢲࡋ࡚ືࡋࡓࡾ㸪ࢶ࣓ࡢ㛫 ᣳࢇࡔࡾࡍࡿࡓࡵ⏝࠸ࡿࠋࣂࣥࣃࡀእຊᛂࡌ࡚ ഴࡃࡇࡼࡗ࡚㸪ືసไᚚ࡞ࡋᑐ㇟≀ࡢ᥋ゐ ᅗ㸯 㛤Ⓨࡋࡓᘓタ⏘≀㑅ูࣁࣥࢻࡢᵓᡂ ࡢ⾪ᧁࢆ⦆ࡋ㸪ᑐ㇟≀ࡢ㊴ࡡ㏉ࡾࢆῶࡽࡍࡇ࡛ᤕ * 技術研究所 メカトロ G ᢏ⾡◊✲ᡤ࣓࢝ࢺࣟ * 79 79 東急建設技術研究所報 No.40 ⾲㸯 ࣟ࣎ࢵࢺࣁࣥࢻࡢᵝ ࢧࢬ mm 㧗ࡉ 208 × ᖜ 200 × 㛗ࡉ 170 ㉁㔞 kg 2.3㸦➃Ꮚྎࢆ㝖ࡃ㸧 㺏㺖㺟㺋㺒㺎㺞 」ື࢚ࢩࣜࣥࢲȭ16 ×2 ᭱౪⤥ᅽຊ㸸 1.0 MPa ࢭࣥࢧ ࢩࣜࣥࢲࢫࢵࢳ ×3 ᑕᆺ㉥እ⥺ࢭࣥࢧ ×2 㟁※㸸 ┤ὶ 24 V ࢶ࣓ 㛗ࡉ 153 × ᖜ 10 × ⫗ཌ 5 [mm] ࢫࣛࢲ ᖜ㸸 100 㹼 200 [mm] ᅗ㸱 ືస࣮ࣔࢻỴᐃࣇ࣮ࣟ ࢫࣛࢻ㛗㸸 22 mm ࣂࣥࣃ ᭱ࢺࣝࢡ㸸 3.2 N㺃m ࡃࡍࡇࡀ࡛ࡁ㸪ࢥࣥ࣋ࡢࡼ࠺࡞㉳అ㠃ୖ࠶ࡿⷧ ᭱Ⓨ⏕ຊ㸸 25 N㸦㺛㺵㺐㺞㺼ඛ➃㸧 ᯈ≧ࡢᑐ㇟≀ᑐࡋ࡚ࡶࡾ㉺࠼ࡿࡇ࡞ࡃᤕᤊࡍࡿ ࣂࣥࣃᅇ㌿㍈ࡽࢫࣛࢲඛ➃ ࡇࡀྍ⬟࡞ࡿࠋࡲࡓࢫࣛࢲࡢഃ㠃ࡣࣜࣈࢆྲྀ ࡲ࡛ࡢ㛗ࡉ㸸108 㹼 130 [mm] ࡅࡿࡇࡶ࡛ࡁ㸪ᢲࡋືస୰ᑐ㇟≀ࡀᕥྑ㐓ࢀ ᭱㏨ࡆゅ㸸 63 deg. ࡿࡢࢆ㜵ࡄࡇࡀ࡛ࡁࡿࠋࡉࡽ㸪ࢫࣛࢲࡑࡢࡶࡢ ࢆࡍࡿࡇ࡛ࡑࡢᖜࡶㄪᩚ࡛ࡁࡿࠋࢫࣛࢲࡢ⣲ ᮦࡣ㸪ࢥࣥ࣋ࡸࣂࣥࣃࡢᦶ᧿ࢆῶࡽࡍࡓࡵ MC ࢼࣟࣥ〇ࡋࡓࠋ ᥋ゐࢭࣥࢧ ࢫࣛࢲࡢ⨨ኚࢆ᳨ฟࡍࡿࡇ࡛㸪ࢫࣛࢲ ᅗ㸰 ᐃᙧᗫᲠ≀ࡢᤕᤊ᪉ἲ እ㒊⎔ቃࡢ᥋ゐ≧ែࢆㄆ㆑ࡍࡿᶵᵓ࡛࠶ࡿࠋࢭࣥࢧ 㸦㟷㸸ᑐ㇟≀㸪㉥㸸ᤕᤊ⏝ࡍࡿ㒊ศ㸧 ࡀᛂࡋࡓᑕⓗ࡞ືస⤒㊰ኚ᭦ࢆࡍࡿࡇࡼ ࡗ࡚㸪ࣟ࣎ࢵࢺ࣮࣒ࡢ㈇Ⲵࢆῶࡽࡍࡇࡀྍ⬟ 㸰ᮏࡢᅇ㌿ࢶ࣓ ᅇ㌿㛵⠇ࢆ᭷ࡋࢫࣛࢲ᥋ゐྍ⬟࡞㸰ᮏࡢᘼ≧ ࡞ࡿࠋࢫࣛࢲࡀ㞀ᐖ≀ࡾୖࡆ࡚㝈⏺ࡲ࡛⦰ࡵࡽ ࡢ㒊ရࡽ࡞ࡿᶵᵓ࡛࠶ࡿࠋࣂࣥࣃే⏝ࡍࡿࡇ࡛㸪 ࢀࡓࡁᛂࡍࡿࡼ࠺㸪ࢫࣛࢲྍື⠊ᅖࡢ➃㒊 ᅗ㸰ࡢࡼ࠺ከᵝ࡞ᙧ≧ࡢᑐ㇟≀ࢆᤕᤊࡍࡿࡇࡀྍ ྲྀࡾࡅࡿࠋࢫࣛࢲࡀᩳࡵࢫࣛࢻࡋ࡚ࡶᛂ ⬟࡛࠶ࡿࠋb ࡸ c ࡢࡼ࠺ᑐ㇟≀ࢆࣂࣥࣃࡢ㛫ᣳࢇ ࡍࡿࡼ࠺㸪ᕥྑྜィ㸰ࡘࡢࢭࣥࢧࢆ㓄⨨ࡍࡿࠋᙉ ࡛㸪㔜ᶵ⏝࠸ࡽࢀࡿࣇ࢛࣮ࢡࢢࣛࣈࡢࡼ࠺ᢕᣢ ࠸᥋ゐࡸ⧞㏉ࡋ᥋ゐࡼࡿࢭࣥࢧࡢᦆയࢆ㜵ࡄࡓࡵ㸪 㸦Grasping㸧ࡍࡿࡇࡶྍ⬟࡛࠶ࡿࠋࢶ࣓ࡼࡿᢕᣢࡀ ࢫࣛࢲࡢ⨨ࢆ᳨ฟࡍࡿගࣇࣂᘧࡢ㉥እ⥺ࢭࣥ 㞴ࡋ࠸≀ᑐࡋ࡚ࡶ㸪d ࡸ e ࡢࡼ࠺ࢶ࣓࡛ࢥࣥ࣋ ࢧࢆ᥇⏝ࡋࡓࠋ ᢚ࠼ࡘࡅࡿືస㸦ಖᣢ㸸Holding㸧ࡸ㸪a ࡸ f ࡢࡼ࠺ ࣟ࣎ࢵࢺࣁࣥࢻࡢ㸱ࡘࡢືస࣮ࣔࢻ ࣂࣥࣃࡢࡳࢆࡗࡓᢲࡋືస㸦ᤲᘬ㸸Pushing㸧ࡀྍ⬟ ᮍ▱ᙧ≧ࡢᑐ㇟≀ࢆᢕᣢࡍࡿࡓࡵࡢィ⏬ᡭἲࡣ࠸ࡃ ࡛࠶ࡿࠋࢶ࣓ࡢ㥑ື⣔ࡣ࢚ࢩࣜࣥࢲࣛࢵࢡࣆࢽ ࡘ◊✲ࡉࢀ࡚࠾ࡾ㸪ࡑࡢ᭷ຠᛶࡀ♧ࡉࢀ࡚࠸ࡿ ࢜ࣥࢆ᥇⏝ࡋࡓࠋ ࠋ ࡇࢀࡽࡢᡭἲ࡛ࡣᑐ㇟≀ࡢ㸱ḟඖᙧ≧ࢆᰕࡸ┤᪉య ཷືࢫࣛࢲ ࡞ࡢ༢⣧࡞ᙧ≧㸦ᙧ≧ࣉ࣑ࣜࢸࣈ㸧ࡢ⤌ࡳྜࢃࡏ ࣂࣥࣃࡢඛ➃㛗ࡉࢆཷືⓗㄪᩚࡍࡿࡓࡵࣂࣥࣃ ࡋ࡚ᢳ㇟ࡋࡓ࠺࠼࡛㸪ࣁࣥࢻࡢࣉ࣮ࣟࢳ᪉ྥ࡞ ࡢඛ➃ྲྀࡾࡅࡽࢀࡓ㸪ᶞ⬡ᛶࡢ㒊ရࡽ࡞ࡿᶵᵓ ࡢᢕᣢィ⏬ࢆ⾜࠺ࠋⴭ⪅ࡽࡢ㑅ูࢩࢫࢸ࣒࡛⏝࠸ࡿ ࡛࠶ࡿࠋࡇࢀࡼࡗ࡚㸪ᢲࡋືస࠾ࡅࡿ௨ୗࡢ㸰ࡘ ᡭἲ ࡢㄢ㢟ࢆゎỴࡍࡿࠋ㸯ࡘࡵࡣ㸪ᑐ㇟≀タ⨨㠃ࡢ㝣 1) ࡛ࡶ㸪ᑐ㇟≀ࡢḟඖ⏬ീࡽᚓࡽࢀࡓእᙧ࢚ ࢵࢪࢆ㸯ࡘࡢᴃࣉ࣑ࣜࢸࣈ࠶࡚ࡣࡵ࡚ᢳ㇟ࡍ ἢࡗ࡚ᢲࡍ⤒㊰ࡢไᚚࡀᚲせ࡛࠶ࡾ㸪ไᚚ᪉ἲࡀ」㞧 ࡿࡇ࡛㸪ࡑࡢྥࡁࡸ㔜ᚰ⨨㸪▷㍈ᚄ㸪㛗㍈ᚄࢆ≉ ࡞ࡿࡇ࡛࠶ࡿࠋ࡞ࡐ࡞ࡽ㸪ᑐ㇟≀ࡢ㌿ࡀࡾࡸჶࡳ ᚩ㔞ࡋ࡚ࣜࣝࢱ࣒ᢕᣢィ⏬ࢆ⾜࠺ࡇࡀ࡛ࡁ ࡇࡳࢆ㜵ࡄࡓࡵࡣ࡛ࡁࡿࡔࡅప࠸⨨ࡽᢲࡍࡇ ࡿࠋᗫᲠ≀ࡢရ┠㸪እᙧࡢ㏆ఝᴃ㸪⨨㸪ྥࡁ࡞ ࡀᮃࡲࡋ࠸ࠋ㸰ࡘࡵࡣ㸪ᤕᤊ⨨タ⨨㠃ࡢ㛫ᦶ ࡢሗᇶ࡙࠸࡚㸪ᅗ㸱♧ࡍࣇ࣮ࣟࡋࡓࡀࡗ࡚㸱 ᧿ຊࡀ⏕ࡌࡿࡓࡵࣟ࣎ࢵࢺ࣮࣒ࡢ㈇Ⲵࡀࡁࡃ ࡘࡢᅇືస࣮ࣔࢻࡢ୰ࡽ㐺ษ࡞ືస࣮ࣔࢻࢆ㑅ᢥ ࡞ࡿࡇ࡛࠶ࡿࠋヱࢫࣛࢲࡀ⎔ቃࡢ᥋ゐᛂࡌ࡚ ࡍࡿࠋ࣮ࣔࢻ㹆㸦ಖᣢ㸧ࢆᇶᮏ㸪ᢕᣢࡋࡃ࠸ᑠ≀ ཷືⓗືࡃࡇࡼࡗ࡚㸪ຊไᚚࢆࡏࡎᢲࡋືస ࡸⷧ≀ࡣ࣮ࣔࢻ㹎㸦ᤲᘬ㸧ࡍࡿࠋ⤒㊰㞀ᐖ≀ࡀ࠶ ࡢᦶ᧿ຊࢆῶࡽࡍࡇࡀ࡛ࡁࡿࠋࡲࡓ㧗ࡉࡢ⨨ไᚚ ࡿሙྜࡣ㸪࣮ࣔࢻ㹅㸦ᢕᣢ㸧ࡼࡿ✵୰ᦙ㏦ษࡾ᭰ ࢆ⾜ࢃࡎᤕᤊ⨨ඛ➃ᑐ㇟≀タ⨨㠃ࡢ㝽㛫ࢆ↓ ࠼ࡿࠋ 80 東急建設技術研究所報 No.40 ࣮ࣔࢻ㹎3XVKLQJ ᅗ㸯ࡢࡼ࠺ᖖࢶ࣓ࢆୖࡆࡓ≧ែ࡛㸪ᅗ㸳♧ࡍ ࡼ࠺ᑐ㇟≀㔜ᚰᅇ⟽㏆ഐࢆ㏻ࡿ┤⥺⤒㊰ἢࡗ ࡓᢲࡋືసࢆ⾜࠺ࠋࡇࢀࡼࡗ࡚㸪ࢶ࣓ࡼࡿಖᣢࡢ ᡂຌ⋡ࡀẚ㍑ⓗప࠸≀㸦ࢶ࣓ࡢ㛫㝸ࡼࡾࡶᑠࡉ࠸≀ࡸ㸪 ࢶ࣓ඛ➃ࡢ✺㉳ᖜࡼࡾࡶ㧗ࡉࡀప࠸ⷧ≀➼㸧ᑐࡋ࡚ 㸪 ⤒㊰ୖࡢ࣮࢝ࣈ࠾ࡅࡿᑐ㇟≀ࡢ㐓⬺ࢆῶࡽࡍࡇ ࡀ࡛ࡁࡿࠋࡲࡓᅗ㸳♧ࡍࡼ࠺㸪ᅇ⟽ࡢṇ㠃 ࡽᢞධࡍࡿᢡࢀ⥺⤒㊰ࡍࡿࡇ࡛㸪㞄ࡢᅇ⟽ ࡢⴠୗࢆ㜵ࡄࠋ⤒㊰ୖ㞀ᐖ≀ࡀ࠶ࡗࡓሙྜࡣ㸪ᅗ 㸳ୖẁࡢ◚⥺ࡢࡼ࠺ࡢᅇ⟽ೃ⿵ࡢ⤒㊰ษ ࡾ᭰࠼ࡿࡇ࡛ᅇ㑊ࡍࡿࠋࡲࡓ࣮ࣔࢻ㹆ྠᵝ㸪 Ⅼ㸯̓ࡽⅬ㸯ࡢືస୰ࡢᑐ㇟≀ୖࡆࡓ ࡇࢆ᥋ゐࢭࣥࢧ᳨࡛▱ࡋࡓሙྜࡣ㸪ᅗ㸳ୗẁࡢ◚ ⥺♧ࡍࡼ࠺࡞Ⅼ㸰̓ࢆ⤒⏤ࡍࡿ⤒㊰ษࡾ᭰࠼ࡿࠋ ᅗ㸲 ືస࣮ࣔࢻ㹆㸭㹅࡛ࡢ⤒㊰ィ⏬㸸 㯮ࡣ⤒⏤Ⅼࢆ㸪㉥࠸୕ゅࡣࣁࣥࢻࡢྥࡁ ࢆ㸪▮༳ࡣ⤒㊰ࡢྥࡁࢆ⾲ࡍ㸬 ࣮ࣔࢻ㹅*UDVSLQJ ࡇࡢ࣮ࣔࢻ࡛ࡣᑐ㇟≀ࢆࢶ࣓࡛ᣳࡳ㸪✵୰ᦙ㏦ࡍࡿ ࡇ࡛ᖸ΅ࢆ㜵ࡄࠋ࣮ࣔࢻ㹆㹎ࡣࢥࣥ࣋⾲㠃ἢ ࡗࡓ⤒㊰࡛࠶ࡿࡓࡵ㸪ᑐ㇟≀ࡀ」ᩘᐦ᥋ࡋ࡚࠸ࡿ㸪 ⛣㏦୰ࡢᗫᲠ≀ࢆᕳ㎸ࢇ࡛㑅ู⢭ᗘࢆపୗࡉࡏࡿ ᜍࢀࡀ࠶ࡿࠋࡇࡢࡼ࠺࡞ࢣ࣮ࢫ࡛ࡣ࣮ࣔࢻ㹅ࡀ᭷ຠ࡛ ࠶ࡿࠋᅗ㸲ࡢୗഃ♧ࡍࡼ࠺㸪ᑐ㇟≀ࢆᢕᣢࡍࡿࡲ ࡛ࡣ࣮ࣔࢻ㹆ྠᵝࡢ⤒㊰ࢆࡾ㸪ࡑࡇࡽᅇ⟽ࡲ ࡛ࡣⅬ㸲̓ࡽⅬ㸴̓ࡢ⤒㊰ࢆ㎺ࡿࡇ࡛✵୰ᣢ ࡕୖࡆ࡚⛣㏦ࡍࡿࠋ≉ᢕᣢࡋࡸࡍ࠸㛗≀ࡸཌ≀ᑐ ࡋ࡚᭷ຠ࡞࣮ࣔࢻ࡛࠶ࡿࠋ ྛ࣮ࣔࢻࡢ⤒⏤Ⅼ⟬ฟࣝࢦࣜࢬ࣒ ୖグ㸱ࡘࡢືస࣮ࣔࢻ࡚ඹ㏻ࡋ࡚㸪⤒㊰ࡣⅬ P1 㹼P6㸪P1̓㸪P2̓㸪P6̓ࡢィ㸷Ⅼ࡛ᵓᡂࡍࡿࠋ࣏ࢫࢺ ᅗ㸳 ືస࣮ࣔࢻ㹎࡛ࡢ⤒㊰ィ⏬ ࣟࣇࡢࡃⅬࡣ㸪㸩㹘㍈᪉ྥᑐ㇟≀ࡢ᭱㧗ࡉ LOZ ࡔࡅࡎࡽࡋࡓⅬࡍࡿࠋ Ⅼ P1 ࡢ⨨ࡣᑐ㇟≀㏆ఝᴃࡢ⾲㠃ࡽᑡࡋࡔࡅ㞳 ࣮ࣔࢻ㹆+ROGLQJ ࢀࡓ⨨ࡋ㸪ᑐ㇟≀㔜ᚰ PO㸪ᅇ⟽ୖࡢ┠ᶆⅬ PG㸪 ࡇࡢ࣮ࣔࢻ࡛ࡣᢕᣢᢲࡋືస㸦ᤲᘬ㸧ࢆྠ⾜ ᑐ㇟≀ࡢ▷㍈ゅᗘ AOS㸪▷㍈㛗 LOS㸪㛗㍈㛗ࡉ LOL ࢆࡶ ࠺ࠋᅇ㌿ࢶ࣓ࢆࡗ࡚ᑐ㇟≀ࡢᢕᣢࢆヨࡳࡘࡘ㸪ࢥࣥ ⟬ฟࡍࡿࠋ࡞࠾࣮ࣔࢻ㹆㸭㹅࣮ࣔࢻ㹎࡛ࡣࡑࢀ ࣋ୖἢࡗࡓ⤒㊰ࢆ㎺ࡿࠋࡇࢀࡼࡾ㸪ࡣᢕ ࡒࢀ␗࡞ࡿ⟬ฟ᪉ἲࢆ⏝࠸ࡿࠋ㹘㍈ᅇࡾࡢゅᗘ P1R ࡣ㸪 ᣢ࡛ࡁ࡞ࡗࡓሙྜ࡛ࡶ㸪ࢶ࣓ࡼࡿᢚ࠼ࡘࡅ㸦ಖᣢ㸧 ᑐ㇟≀ࡢ▷㍈ゅᗘࡸ㸪ᑐ㇟≀㔜ᚰࡽࡳࡓ┠ᶆⅬࡢ᪉ ࡸᢲࡋືస࡛⿵ࡍࡿࡇࡀ࡛ࡁࡿࠋࢶ࣓ࡼࡿᢕᣢ ゅࢆࡶ⟬ฟࡍࡿࠋ ࡸಖᣢࡢᡂຌ⋡ࢆ㧗ࡵࡿࡓࡵ㸪⤒㊰ࡣᅗ㸲ࡢࡼ࠺࡞ᢡ Ⅼ P2 ࡣ㸪P1 ࡼࡾࡶᴃ⾲㠃㏆࠸⨨ࡍࡿࠋゅ ࢀ⥺ᆺࡍࡿࠋᴃࡀᑐ㇟≀ࢆ㸪ᐇ⥺ࡀ⤒㊰ࢆ♧ࡍࠋ ᗘ P2R ࡣ㸪P1R ྠࡌࡍࡿࠋ ᑐ㇟≀ࡢ▷㍈᪉ྥࡽࣁࣥࢻࢆ᥋㏆ࡉࡏ㸪ಖᣢࡋࡓᚋ Ⅼ P3 ࡣ㸪ᑐ㇟≀㔜ᚰ PO ࡍࡿࠋゅᗘ P3R ࡣ㸪┤ᚋ ࡣᅇ⟽ྥࡗ࡚┤⥺⤒㊰ࢆ㎺ࡿࠋࡉࡽ㸪ᅇ⟽ ࡢ⤒⏤Ⅼྥ࠺᪉ྥࡍࡿࠋ ࡢ┤๓࡛ࡶᢡࢀ⥺⤒㊰ࡍࡿࡇ࡛㸪ᢕᣢ࡛ࡁ࡚࠸࡞ Ⅼ P4 ࡢ⨨ࡣ㸪ᑐ㇟≀㔜ᚰ PO㸪┠ᶆⅬ PG㸪➨㸯⤒ ࠸ሙྜ㞄ࡢᅇ⟽ⴠࡋ࡚ࡋࡲ࠺ࡇࢆ㜵ࡄࠋࡲ ⏤Ⅼ P1 ࢆࡶ⟬ฟࡍࡿࠋゅᗘ P4R ࡣ㸪┤ᚋࡢ⤒⏤Ⅼ ࡓ㸪ᗫᲠ≀ࡢ㔞ࡀከࡃᐦ᥋ࡋ࡚࠸ࡿሙྜࡣ㸪ᤕᤊ ྥ࠺᪉ྥࡍࡿࠋ ⨨ࡀᑐ㇟≀㏆ࡢูࡢᗫᲠ≀ࡢࡾୖࡆࡼࡿᤕᤊ Ⅼ P5 ࡣ㸪┠ᶆⅬ PG ࡽ௵ព㊥㞳Ǽy ࡔࡅ㔜ᚰഃࡢⅬ ኻᩋࡸࣟ࣎ࢵࢺ࣮࣒ࡢ㈇Ⲵቑࡀᠱᛕࡉࢀࡿࠋࡇ ࡍࡿࠋゅᗘ P5R ࡣ┠ᶆⅬྥ࠺᪉ྥࡍࡿࠋ ࢀࢆ㜵ࡄࡓࡵ㸪Ⅼ㸯̓ࡽⅬ㸯ࡢືస୰ࡢᑐ㇟ Ⅼ P6 ࡣ㸪┠ᶆⅬ PG ࡍࡿࠋ ≀ୖࡆࡓࡇࢆ᥋ゐࢭࣥࢧ᳨࡛▱ࡋࡓሙྜࡣ㸪༶ ௨ୖࡢἲ๎ᇶ࡙࠸࡚㸪ࣟ࣎ࢵࢺࡢືస⤒㊰ࢆ⟬ฟ ᗙⅬ㸰̓ࡢ⤒㊰ษࡾ᭰࠼ࡿ㸦ୖࡆᅇ㑊ືస㸧ࠋ ࡍࡿࠋ 81 東急建設技術研究所報 No.40 ᅗ㸴 ゎయࢥࣥࢡ࣮ࣜࢺሢࡢ⢏ᚄศᕸ ᅗ㸷 ືస࣮ࣔࢻ㹆࠾ࡅࡿᅇືస ᅗ㸵 ࢥࣥࢡ࣮ࣜࢺ௨እࡢᘓタ⏘≀ࡢ⢏ᚄศᕸ ᅗ㸯㸮 ືస࣮ࣔࢻ㹆࠾ࡅࡿᅇᡂຌ⋡ ୍ᐃࡢഴྥࡀ࠶ࡿࠋࡇࢀࢆᐃ㔞ⓗᢕᥱࡍࡿࡓࡵ㸪ᐇ 㝿ࡢゎయ⌧ሙࡽฟࡉࢀࡓᗫᲠ≀ࡢࢧࢬศᕸࡘ ࠸࡚㸪㐣ཤࡢㄪᰝࢹ࣮ࢱᇶ࡙࠸ࡓ⤫ィศᯒࢆヨࡳࡓࠋ ศᯒᑐ㇟ࡣࢥࣥࢡ࣮ࣜࢺᵓ㐀≀ࡢゎయ⌧ሙ㸰ࣨᡤࡋ ࡓࠋᅗ㸴ࢥࣥࢡ࣮ࣜࢺሢ㸪ᅗ 7 ࡣࡑࢀ௨እࡘ࠸࡚ ࡢࢧࢬศᕸࢆ♧ࡍࠋᶓ㍈ࡣࡩࡿ࠸┠ࡢ୍㎶ࡢࡁࡉ㸪 ⦪㍈ࡣࡩࡿ࠸ࢆ㏻㐣ࡋࡓ㉁㔞ศ⋡࡛࠶ࡿࠋࡑࡢ⤖ᯝ㸪 ᑐ㇟≀ࡢ᭱㛗ࡉࡣ 300 mm ௨ୗ࡛࠶ࡗࡓࠋ40 mm ௨ ୗࡢᑐ㇟≀ࡣ㑅ูࢩࢫࢸ࣒ࡢ๓ฎ⌮㒊ศ࠶ࡿ࣮ࣟࣝ ࢫࢡ࣮࡛ࣜࣥࡩࡿ࠸ⴠࡉࢀࡿࡇࢆ⪃៖ࡋ㸪ᑐ㇟≀ ࡢᐃࢧࢬࡣ 40㹼300 mm ࡍࡿࠋయࡢ 50 wt㸣ࡀ ㏻㐣ࡍࡿࡩࡿ࠸┠ࡢࡁࡉ㸦d50㸧ࢆᖹᆒࢧࢬ⪃࠼ ࡿ㸪ࢥࣥࢡ࣮ࣜࢺሢࡣ 120s40 mm㸪ࡑࢀ௨እࡣ 75 ᅗ㸶 ᐇ㦂࡛⏝࠸ࡓᘓタ⏘≀ࡢࢧࣥࣉࣝ s15 mm ࡛࠶ࡗࡓࠋᑐ㇟≀ࡢ᭱㉁㔞ࡘ࠸࡚ࡣ㸪ࢥ ࣟ࣎ࢵࢺࣁࣥࢻࡢᛶ⬟ホ౯ᐇ㦂 ࣥࢡ࣮ࣜࢺሢࡢᖹᆒࢧࢬࡼࡾࡶࡁ࠸ࢥࣥࢡ࣮ࣜࢺ 㛤Ⓨࡋࡓࣁࣥࢻ࠾ࡼࡧືస࣮ࣔࢻࡢᛶ⬟ホ౯ᐇ㦂ࢆ㸪 ሢࡣ࣮ࣟࣝࢫࢡ࣮ࣜࣥࡼࡗ࡚ྲྀࡾ㝖ࢀࡿ௬ᐃࡋ㸪 ḟࡢࡼ࠺⾜ࡗࡓࠋ ┤ᚄ 120 mm ࡢࢥࣥࢡ࣮ࣜࢺሢࢆᐃࡍࡿࠋࡑࡢᙧ≧ ᑐ㇟≀ࡢ᮲௳ ࢆ௬⌫ࡍࡿ㉁㔞ࡣ 2.1 kg ࡛࠶ࡿࡇࡽ㸪ࡉࡽ ࡢవ⿱ࢆຍ࠼࡚ 2.5 kg ࢆ᭱㉁㔞ᐃࡍࡿࠋ ᘓタ⏘≀ࡢᙧ≧ࡸࡁࡉࡣ༓ᕪู࡛࠶ࡿࡶࡢࡢ㸪 82 東急建設技術研究所報 No.40 ௨ୖࡢศᯒᇶ࡙࠸࡚㸪ᑐ㇟≀ࡢࢧࣥࣉࣝࡣᅗ㸶 ♧ࡍࡶࡢࢆ⏝࠸ࡓࠋᐇ㝿ࡢゎయ⌧ሙ࡛᥇㞟ࡋࡓ㸳ရ┠ 㸦ࢥࣥࢡ࣮ࣜࢺሢ㸪ᮌࡃࡎ㸪࣑ࣝࢽ࣒࢘∦㸪ᗫࣉࣛ ࢫࢳࢵࢡ㸪ࡑࡢࡢᘓᮦ㸧ࢆࡑࢀࡒࢀ㸱㸮ಶࡎࡘ⏝ព ࡋࡓࠋ࡞࠾㕲ࡃࡎࡣ☢ຊ㑅ูᶵ࡛ẚ㍑ⓗᐜ᫆ྲྀࡾ㝖 ࡃࡇࡀ࡛ࡁࡿࡓࡵᑐ㇟እࡋࡓࠋࡇࢀࡽࢆᖜ㸯㹫ࡢ ࣋ࣝࢺࢥࣥ࣋ୖࣛࣥࢲ࣒㓄⨨ࡋ࡚ᦙ㏦ࡋ㸪ࣟ࣎ ࢵࢺࡢྍື⠊ᅖ฿㐩ࡋࡓࡽࢥࣥ࣋ࢆṆࡉࡏ㸪ྛ ືస࣮ࣔࢻࡼࡿᅇືసࢆ⾜࡞ࢃࡏࡓࠋࣟ࣎ࢵࢺࣁ ࣥࢻࡣ FANUC ♫ࡢᆶ┤ከ㛵⠇ᆺࣟ࣎ࢵࢺ M-10iA ࡢඛ ➃ྲྀࡾࡅࡓࠋᅇᡂຌ⋡ࡢᐃ⩏ࡣ㸪ࡇࡢືసࡼ ࡗ࡚ᅇ⟽ࡢᢞୗᡂຌࡋࡓಶᩘࢆ㸪ືసᅇᩘ࡛ ࡗࡓ್ࡋࡓࠋືసᅇᩘࡣရ┠ẖ 30 ᅇ௨ୖࡎࡘヨ⾜ ࡋࡓࠋᑐ㇟≀ࡢ⨨ྥࡁࡣ㸪ⴭ⪅ࡽࡀ㛤Ⓨࡋࡓ⏬ീ ุᐃ⨨ 1) ࢆ⏝࠸࡚ィ ࡋࡓࠋࡲࡓཷືࢫࣛࢲࡢᖜ ࡣ 200 mm ࡋࡓࠋ ࢶ࣓ࢆࡗࡓືస࣮ࣔࢻ㹆ࡢ᳨ドᐇ㦂 ᅗ㸯㸯 ືస࣮ࣔࢻ㹅࠾ࡅࡿᅇືస ᅗ㸷㸪࣮ࣔࢻ㹆ࡼࡿࣟ࣎ࢵࢺ࣮࣒ࡢືసࢆ 㐃⥆┿࡛♧ࡍࠋᑐ㇟≀࡛࠶ࡿᮌࡃࡎࡢ▷㍈ࡀᅇ⟽ ࢆྥ࠸࡚࠸࡞࠸ࡓࡵ㸪2 ⛊㹼3 ⛊ࡅ࡚ࣁࣥࢻࡢ ྥࡁࡀࡁࡃኚࡋ࡚࠸ࡿࠋࡇࡢࡼ࠺࡞ሙྜ࠾࠸࡚ ࣮ࣔࢻ㹆ࡼࡿᅇືసࢆᡂຌࡉࡏࡿࡓࡵࡣ㸪ᑐ㇟ ≀ࢆࢶ࣓࡛ࡋࡗࡾᢕᣢ࡛ࡁ࡚࠸ࡿᚲせࡀ࠶ࡿࠋ ᐇ㦂⤖ᯝࢆᅗ㸯㸮♧ࡍࠋရ┠ࢆᖹᆒࡍࡿ㸷 㸮㸣௨ୖࡢᡂຌ⋡࡞ࡾ㸪┠ᶆᛶ⬟ࢆ‶ࡓࡋࡓࠋᮌࡃ ࡎ࣑ࣝࢽ࣒࢘ࡢᡂຌ⋡ࡀ㧗ࡗࡓࡢࡣ㸪⣽㛗ࡃᥗ ࡳࡸࡍ࠸ᙧ≧ࡢᑐ㇟≀ࡀከࡗࡓࡓࡵ⪃࠼ࡽࢀࡿࠋ ࡲࡓ㸪ᡂຌ⋡ࡢపୗせᅉࡋ࡚ 1) ࡢᑐ㇟≀ࡼࡿ㜼 ᐖ㸪2) ⷧ≀ࡢࡾ㉺࠼㸪3) ᑠ≀ࡢ㐓⬺㸪➼ࡀ࠶ࡗࡓࠋ ᅗ㸯㸰 ືస࣮ࣔࢻ㹅࠾ࡅࡿᅇᡂຌ⋡ せᅉ 1 ࡘ࠸࡚ࡣ࣮ࣔࢻ㹅ࢆ㸪せᅉ 2 3 ࡘ࠸࡚ࡣ ࣮ࣔࢻ㹎ࢆే⏝ࡍࡿࡇ࡛㸪ࡉࡽᡂຌ⋡ࢆྥୖ࡛ࡁ ࡛㸪ᡂຌ⋡ࢆ㧗ࡵࡽࢀࡿྍ⬟ᛶࡀ࠶ࡿࠋ ࡿྍ⬟ᛶࡀ࠶ࡿࠋࡲࡓ㸪ࢶ࣓ࡸࢫࣛࢲࡢᙧ≧ࡶᕤ ࢶ࣓ࢆࢃ࡞࠸ືస࣮ࣔࢻ㹎ࡢ᳨ドᐇ㦂 ኵࡢవᆅࡀṧࡉࢀ࡚࠸ࡿ ᅗ㸯㸱ືసࢆ♧ࡍࠋ㔠ᒓࡃࡎ㸦࣑ࣝࢽ࣒࢘㸧 ࢶ࣓ࢆࡗࡓືస࣮ࣔࢻ㹅ࡢ᳨ドᐇ㦂 ࢆࣂࣥࣃ࡛ᢲࡍࡇ࡛㸪᭱ᑠ㝈ࡢࣁࣥࢻ᪕ᅇ㔞࡛ᑐ㇟ ᅗ㸯㸯㸪࣮ࣔࢻ㹅ࡼࡿࣟ࣎ࢵࢺ࣮࣒ࡢືస ≀ࢆᅇ⟽ᢞୗ࡛ࡁࡿࡇࡀ☜ㄆ࡛ࡁࡓࠋືస࣮ࣔ ࢆ♧ࡍࠋ㔠ᒓࡃࡎ㸦࣑ࣝࢽ࣒࢘㸧ࢆࢶ࣓࡛ᢕᣢࡋ࡚ ࢻ㹆࠾࠸࡚᪕ᅇ㐓⬺ࡋ࡚ࡋࡲ࠺ࡼ࠺࡞ࢣ࣮ࢫ࡛ ᣢࡕୖࡆࡿࡇ࡛㸪⤒㊰ୖࡢ㸰ࡘࡢᗫᲠ≀ࢆᕳࡁࡇࡲ ࡣ㸪ࡇࡢືస࣮ࣔࢻ㹎ࡀ᭷ຠ࡛࠶ࡿ⪃࠼ࡽࢀࡿࠋ ࡎ㸪ᑐ㇟≀ࢆᅇ⟽ᢞୗ࡛ࡁࡿࡇࡀ☜ㄆ࡛ࡁࡓࠋ ୖࡆᅇ㑊ືసࡢ᳨ドᐇ㦂 ᐇ㦂⤖ᯝࢆᅗ㸯㸰♧ࡍࠋࡑࡢࡢᘓᮦ௨እࡢ㸲ရ ᅗ㸯㸲ୖࡆᅇ㑊ືసࡢᡂຌࢆ♧ࡍࠋᗫࣉࣛࢫ ┠ࢆᖹᆒࡍࡿ 39㸣ࡢᡂຌ⋡࡞ࡗࡓࠋࡲࡓ㸪ࡑࡢ ࢳࢵࢡࢆᅇࡍࡿືసࡢ㏵୰࡛㸪㏆ࡢࢥࣥࢡ࣮ࣜࢺ ࡢᘓᮦࡣ୍ᗘࡶᅇᡂຌࡋ࡞ࡗࡓࠋࡇࡢ⤖ᯝࡽ㸪 0㹼1 ⛊ࡢ㛫࡛ୖࡆࡓࡀ㸪᥋ゐࢭࣥࢧࡀṇᖖാࡁ㸪 ⌧≧࡛ࡣ✚ᴟⓗ࣮ࣔࢻ㹅ࡼࡿᅇືసࢆ⾜࠺ᡓ␎ ືసࢆ࢟ࣕࣥࢭ࡛ࣝࡁ࡚࠸ࡿࠋࡉࡽ㸪1㹼2 ⛊ࡢ㛫࡛ ࡣᚓ⟇࡛࡞࠸ゝ࠼ࡿࠋ࣮ࣔࢻ㹆ࡼࡿᅇືసࢆᇶ ᑡࡋᑐ㇟≀ഃࣁࣥࢻࡢ⨨ࢆಟṇࡋ࡚ࣜࢺࣛࡋ࡚ ᮏࡋ㸪ᕳࡁ㎸ࡳࡓࡃ࡞࠸≀ࡀ⤒㊰ୖ࠶ࡗࡓሙྜ㸪 ࠸ࡿࠋ2㹼3 ⛊ࡢ㛫࡛ࡣࢥࣥࢡ࣮ࣜࢺୖࡆࡎᢕᣢ ࣮ࣔࢻ㹅ษࡾ᭰࠼ࡿ࠸ࡗࡓᡓ␎ࡀᮃࡲࡋ࠸ࠋ࣮ࣔ ᡂຌࡋ㸪ᑐ㇟≀ࢆᅇ⟽ᢞୗ࡛ࡁ࡚࠸ࡿࠋࡇࡢࡼ ࢻ㹆ྠᵝᮌࡃࡎ࣑ࣝࢽ࣒࢘ࡢᡂຌ⋡ࡀ㧗ࡗ ࠺ୖࡆᅇ㑊ືసࢆᡂຌࡉࡏࡿࡓࡵࡣ㸪⤒⏤Ⅼ PV2 ࡓࡢࡣ㸪⣽㛗ࡃᥗࡳࡸࡍ࠸ᙧ≧ࡢᑐ㇟≀ࡀከࡗࡓࡓ ࡢ⨨ࢆ࡛ࡁࡿࡔࡅᑐ㇟≀㏆࡙ࡅࡿࡇࡀ㔜せ࡛࠶ ࡵ⪃࠼ࡽࢀࡿࠋࡑࡢࡢᘓᮦࡢᡂຌ⋡ࡀᴟ➃ప ࡿࠋࡋࡋ㏆࡙ࡅࡍࡂࡿᗘࡣᑐ㇟≀ୖࡆ࡚ࡋ ࡗࡓࡢࡣ㸪ⷧࡃ࡚ᗈ࠸ᙧ≧ࡀከࡗࡓࡓࡵ⪃࠼ࡽࢀ ࡲ࠺ࡓࡵ㸪ࢺ࣮ࣞࢻ࢜ࣇࡢ㛵ಀ࡞ࡿࠋ ࡿࠋᨵၿⅬࡋ࡚㸪ࢶ࣓ࡢᙧ≧ࡸ㓄⨨ࢆኚ᭦ࡍࡿࡇ 83 東急建設技術研究所報 No.40 ᅗ㸯㸲 ືస࣮ࣔࢻ H ࠾ࡅࡿୖࡆᅇ㑊ືస ᅗ㸯㸱 ືస࣮ࣔࢻ㹎࠾ࡅࡿᅇືస ⌧ሙࡽ᥇㞟ࡋࡓᘓタᗫᲠ≀ᑐࡍࡿᅇᡂຌ⋡ࢆ᳨ ࠾ࢃࡾ ドࡋࡓ⤖ᯝ㸪ᘓタ⏘≀ࡢ࠺ࡕせ㸳ရ┠㸦ࢥࣥࢡࣜ ᘓタ⏘≀ࢆ୰㛫ฎ⌮タ⛣㏦ࡍࡿ๓ゎయ⌧ሙ ࣮ࢺሢ㸪ᮌࡃࡎ㸪࣑ࣝࢽ࣒࢘ࡃࡎ㸪ᗫࣉࣛࢫࢳࢵࢡ㸪 ࡛⮬ື㑅ูࡍࡿࣟ࣎ࢵࢺࢩࢫࢸ࣒ࡢせ⣲ᢏ⾡ࡋ࡚㸪 ࡑࡢࡢᘓᮦ㸧ࢆ㸷㸮㸣௨ୖࡢᡂຌ⋡࡛㑅ู࣭ᅇ࡛ ࢥࣥࢡ࣮ࣜࢺࡸ㕲ࡢࡼ࠺࡞㔜㔞≀ࢆྵࡴᐃᙧࡢᘓタ ࡁࡿࡇࢆ☜ㄆࡋࡓࠋࡲࡓᅇືసࡢᡤせ㛫ࡣᑐ㇟ ᗫᲠ≀ࡢᅇ㐺ࡋࡓ㸪㸰ᮏࡢࢶ࣓ࢆࡗࡓᢕᣢືస ≀ࡢ୍ಶ࠶ࡓࡾ㸱㹼㸲⛊࡛࠶ࡿࡇࡀ☜ㄆ࡛ࡁࡓࠋ 㸪ࣂࣥࣃࡼࡿᢲࡋືసࢆ⤌ࡳྜࢃࡏࡿࡇࡀྍ⬟ ᚋࡣࡉࡽᡂຌ⋡ࢆ㧗ࡵࡿࡓࡵ㸪ࢶ࣓ࡸࢫࣛࢲ ࡞ࣟ࣎ࢵࢺࣁࣥࢻࢆタィ㸪〇సࡋࡓࠋࡲࡓࡑࡢไᚚ᪉ ࡢᙧ≧㸪ືస࣮ࣔࢻࡢ࠸ศࡅ᪉㸪⤒㊰ィ⏬ࣝࢦࣜ ἲࡋ࡚㸪㸱ࡘࡢືస࣮ࣔࢻ㸦㹆㸸ಖᣢ㸪㹅㸸ᢕᣢ㸪 ࢬ࣒➼ࡘ࠸࡚㸪ࡉࡽ࡞ࡿ᳨ウࢆຍ࠼࡚࠸ࡃࠋ 㹎㸸ᤲᘬ㸧ࢆᵓ⠏ࡋࡓࠋࡇࢀࡽࢆ⏝࠸࡚㸪ᐇ㝿ࡢゎయ ㅰ ㎡ ᮏ◊✲ࡣ㸪ᖹᡂ㸰㸱㹼㸰㸳ᖺᗘ⎔ቃ┬⎔ቃ◊✲⥲ྜ᥎㐍㈝⿵ຓᴗ㸦ḟୡ௦㸧ࡢ୍㒊ࡋ࡚⾜ࢃࢀࡓ ཧ⪃ᩥ⊩ 1) Takuya Gokyuu, Satoru Nakamura et. al., “Sorting system for Recycling of Construction Byproducts with Bayes’ TheoremBased Robot Vision,” J. Robotics and Mechatronics (JRM), Vol. 23, No. 6, pp. 1066–1072, 2011. 2) A. T. Miller, S. Knoop et.al., “Automatic Grasp Planning Using Shape Primitives,” Proc. IEEE Int. Conf. on Robotics and Automation, pp. 14–19, 2003. 3) T. Tsuji, K. Harada et. al., “Grasp Planning for a Multifingered Hand with a Humanoid Robot,” J. Robotics and Mechatronics, Vol. 22, No. 2, pp. 230-238, 2010. ROBOT HAND VALIDATION OF SORTING PERFOMANCE TO CONSTRUCTION BYPRODUCTS FROM ACTUAL DEMOLITION SITE Daisuke Inoue and Satoru Nakamura We propose a robot hand mechanism for sorting construction byproducts on a belt conveyor with over 90% accuracy. The hand consists of 4 mechanisms; a tilt bumper, two claws, a passive slider, touch sensors. The byproduct that cannot be grasped is manipulated for pushing by the bumper actuated with an air dumper. The slider is on the bumper tip in order to avoid getting over the thin byproducts during the pushing motion. On the other hand, graspable objects are grasped between the claws and the bumper. If there are other byproducts in the path, it can be avoided by grasping it and lifting it into the air. 84
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