| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for grinding and cleaning of concrete wall surface capable of grinding and cleaning a downward wall surface of a concrete structure with good accuracy and efficiency in an homogeneous state by using an articulated robot including a water jet injection nozzle.SOLUTION: A rectangular shaped area inscribed in an outer circumferential shape of a virtual cutout surface P3 obtained by cutting a virtual curved surface P1 of a maximum movable area drawn by an arm tip part 16a of an articulated robot 11 with a virtual surface P2 positioned with a predetermined height from an installation surface P0 of a robot base 15 and parallel with the installation surface P0 is made to be a reference block B, a downward wall surface 20 of a concrete structure is sectionalized to a plurality of rectangular shaped unit construction blocks 21 based on this rectangular shaped reference block B. The downward wall surface 20 of the concrete structure is ground/cleaned in an installed and fixed state by traveling and moving a device 10 for grinding and cleaning of concrete wall surface along a base surface 23 per rectangular construction block 22 comprising the plurality of the unit construction blocks 21. |
