JPH07113276B2 - Rotating robot and steel posture adjustment method - Google Patents

Description

The present invention relates to a rotary robot that temporarily receives a steel frame member conveyed by a crane robot and adjusts the posture in a mounting direction, and a steel frame posture adjusting method.

[Conventional technology]

The construction of middle- and high-rise buildings is roughly divided into steel frame assembly, rebar assembly, formwork assembly, concrete placing, and formwork dismantling. Among them, in the steel frame assembly work of columns and beams,
There are operations for material transportation, temporary joining, re-installation, and main joining. In these operations, first, a crane is used to lift and transport the steel frame to a predetermined position, and the members are temporarily joined with each other by, for example, temporary tightening bolts.
The distortion is corrected and the steel frame is finally fixed (main joining) by welding or bolts. These operations in the conventional steel frame assembly are almost manual operations such as a clerk, except that a crane is used for transporting the steel frames, and a few jigs are used for joining.

[Problems to be Solved by the Invention]

As described above, the conventional steel frame construction is dangerous and time consuming because it takes a lot of time for the steel craftsmen to work at a high place after hoisting and transporting the steel frame in place using a crane. However, there was a problem that it required highly skilled technology.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a rotary robot and a steel frame posture adjusting method capable of automatically adjusting the posture of a steel frame without manual labor.

[Means for Solving the Problems]

To this end, the present invention is a rotary robot that receives a steel frame member conveyed by a crane robot and adjusts the posture in the mounting direction. The rotary table receives the steel frame member, and the distance between the rotary table and the steel frame member at the rear position of the rotary table. Two distance sensors for measurement and a rotation mechanism for controlling rotation of the rotary table are provided, and the posture of the steel frame member is measured by the two distance sensors, the rotation mechanism is controlled, and the posture of the steel frame member is adjusted in the mounting direction. It is characterized by doing so. Further, in the case of a pillar steel frame that is a heavy object, a rotary table is placed on the lower pillar steel frame, and the upper pillar steel frame for adjusting the attitude is received thereon and the attitude of the steel frame member is adjusted in the mounting direction.

[Action]

Since the rotary robot of the present invention uses two distance sensors, the posture of the steel frame member can be measured from the distances to the steel frame member measured by each of them, and the rotation mechanism can be controlled from the outputs of the two distance sensors. The turntable can be rotated so that a signal is generated and the posture of the steel frame member matches the mounting direction. By using a hard rubber cushion material for this rotary table, it is possible to prevent the vibration of the member when the member is received by the rotary table.

〔Example〕

 Hereinafter, embodiments will be described with reference to the drawings.

FIG. 1 is a diagram showing an embodiment of a rotary robot according to the present invention, and FIG. 2 is a diagram for explaining posture detection and adjustment of a steel frame. In the figure, 1 is a rotary table, 2 and 4 are cushion materials, 3 is a distance sensor, 5 is a timing belt, 6 and 14 are cylindrical roller bearings, 7 and 9 and 15 are servomotors, and 8, 10 and 16 are shown.
Is a speed reducer, 11 is a linear guide, 12 is a linear bearing, 13 is a square screw, 17 is a gear, and 18 is a beam.

In FIG. 1, a rotary table 1 uses a cushion material 2 such as hard rubber to prevent shake when a member is placed, and a lower portion thereof is rotatably supported by a cylindrical roller bearing 6. The rotation is controlled by the servo motor 7 and the speed reducer 8 via the timing belt 5. As the distance sensor 3, for example, a pair of ultrasonic sensors is used, which is attached to the rear of the rotary table 1 and measures the distance to a steel frame member such as a pillar or a beam temporarily received by the rotary table 1. A linear guide 11 and a linear bearing 12 are slidably supported between the base portion and the base portion, and the servo motor 9 and the speed reducer 10 are vertically movable via a square screw 13. . The cylindrical roller bearing 14, the servomotor 15, the speed reducer 16, and the gear 17 further rotatably support the entire rotary robot for steel frame construction. In this way, the arm is extended horizontally from the vertical turning axis, and the size and structure are such that the rotary table 1 is located above the member mounting position. Therefore, when connecting to the positioning robot at the foundation,
After the girders and columns are gripped by the positioning robot by the elevating and revolving mechanism, the rotary table can be lowered and retracted.

In the adjustment of the posture using the rotary robot, assuming that two distance sensors (ultrasonic sensors) 3 are arranged in parallel to the mounting direction X as shown in FIG. Temporarily receive and measure the distances l ₁ and l ₂ to the respective members by the two distance sensors 3. Then, the rotary table 1 is rotated until the distance difference between both sensors becomes zero.

Next, a mobile scaffolding robot equipped with the rotary robot according to the present invention will be described.

3 is an external view of a mobile scaffolding robot equipped with various work robots, FIG. 4 is a side view of the mobile scaffolding robot, and FIG. 5 is a plan view of the mobile scaffolding robot. In the figure, 21 is a mobile scaffolding robot, 22 is a beam mounting device installation position, 23 is a welding robot, 24 is a positioning robot, 25 is a rotating robot, 26 is a sensing device, 27 is a moving carriage, 28 is a crane robot, and 30 is Upper floor frame, 31 is a clamping device, 32 is a guide rail, 33 and 37 are gripping devices, 34 is a turntable, 35 and
36 is a hydraulic cylinder, 38 is a pit, and 39 is a lower floor frame.

In FIG. 3, the mobile scaffolding robot 21 has a girder holding device 3 for lifting a girder on the side surfaces of the upper floor frame and the lower floor frame.
In addition to having 3, 37, it also has a leg expansion and contraction mechanism that expands and contracts by a hydraulic cylinder between the upper floor frame and the lower floor frame, and further has a reduction mechanism for the upper and lower floor surfaces so that it can be reduced to a compact size during transportation. This makes it easy to transport by truck. The mobile scaffolding robot 21 is moved by being loaded on the mobile platform 27, and the mobile platform 27 is manually driven by loading the short side of the mobile platform 21 in a direction parallel to the long side of the mobile platform 21. It

Various working robots such as a welding robot 23, a positioning robot 24, and a rotating robot 25, and a sensing device 26 are mounted on the upper floor surface of the mobile scaffolding robot 21. Among the work robots, the crane robot 28 lifts the pillar and beam steel frames, the rotating robot 25 adjusts the posture of the pillar and girder steel frames, and the positioning robot 24 supports the pillar and girder steel frames by gripping them. It is something to do. In addition, the sensing device 26 measures the pin holes of the joints at both ends of the beam and the positions and postures of the pillar steel frame pins and the joints.

As described above, the mobile scaffolding robot 21 is equipped with various work robots, and while performing self-climbing using the gripping devices 33 and 37 and the hydraulic cylinder, performs the work of assembling the girder and the column steel frame. Mobile scaffolding robot 21
Welding robot 23 and positioning robot 24 installed above,
The rotary robot 25 cooperates with the crane robot 28 to perform each work.

As shown in FIGS. 4 and 5, the mobile scaffolding robot lays guide rails 32 along the upper surface of the upper floor frame 30 and arranges turntables 34 at the corners as shown in FIG. The welding robot 23, the positioning robot 24, the rotary robot 25, etc. are allowed to move freely on the upper floor frame 30. The turntables 34 at the center and corners of each side, which are the robot working positions, are provided with the clamp device 31 of the robot base portion when a load is applied on the rotary robot. As shown in the figure, the leg extending / contracting mechanism is adapted to extend and retract the three-stage boom by two hydraulic cylinders 35 and 36, respectively. Therefore, it is possible to raise the upper floor frame 30 to the upper floor by gripping the girder by the gripping device 37 to fix the lower floor frame 39 and extending the hydraulic cylinders 35 and 36, and the gripping device 33 of the upper floor frame 30. Thus, the girder is gripped to fix the upper floor frame 30 to the position of the girder on the upper floor, and the hydraulic cylinders 35 and 36 are contracted, whereby the lower floor frame 39 can be raised to the next floor.

Next, the steel frame assembling work will be described. FIG. 6 is a diagram for explaining a steel frame assembling order.

In the steel frame assembling work using the mobile scaffolding robot, first, as shown in FIG. 6 (a), the crane robot 28 lifts and conveys the steel frame column to build the steel frame column. Next, as shown in FIG.
Then, the mobile scaffolding robot 21 is positioned and loaded, and the crane robot 28 lifts and conveys the beam to assemble the 2F beam as shown in FIG. Subsequently, as shown in FIG. 3D, the leg extension mechanism is extended to raise the upper floor frame of the mobile scaffolding robot 21, and the 3F beam is assembled. After assembling the beams for 2F in this way, the beams on the upper floor (3F) are grasped by the grasping device attached to the upper floor frame of the mobile scaffolding robot 21 as shown in FIG. Self-climbing is performed by reducing the expansion / contraction mechanism, and the lower floor frame is fixed by gripping the beam on the lower floor (2F) with the gripping device attached to the lower floor frame. After that, extend the leg extension mechanism to assemble the 4F beam, reduce the leg extension mechanism to self-climb to the 3rd floor of the lower floor frame, assemble the 5F beam, and self climb to the 4F. go.

FIG. 7 is a diagram for explaining an example of the assembling work of the pillar member, and FIG. 8 is a diagram for explaining the attitude adjusting method of the pillar member.

Since the column member is heavier than the girder, the rotating table is placed on the lower column member, and unlike the operation of the girder described in FIG. 2, the rotating table of the rotating robot (AR) is different. The pillar member is hung and positioned while standing upright, and is set by the flow shown in FIG. 7 (a).
The posture of the upper pillar member thus set is adjusted using the distance sensor of the rotary robot and the ITV of the sensing device (SU) as shown in FIG. In this case, as shown in FIG. 7, a mark 41 for posture adjustment is attached to the column member 40 in advance, and the mark 41 is checked by the ITV 42 separately from the posture adjustment by the distance sensor 44, so that 90 ° or its integer. Prevents positioning at a doubled position. In FIG. 7, 43 is a sensing device and 45 is a mobile scaffolding robot.

The present invention is not limited to the above embodiment, and various modifications can be made. For example, in the above embodiment, the ultrasonic sensor is used as the distance sensor, but a contact type sensor or another distance sensor which measures the distance by the stroke of the contact arm may be used.

〔The invention's effect〕

As is clear from the above description, according to the present invention, the posture is measured by the two distance sensors and the rotary table that temporarily receives the member is controlled, so that the posture of the steel frame member such as the pillar or the beam is automatically adjusted. Can be adjusted to match the mounting direction. In addition, by cooperating with a work robot such as a mobile scaffolding robot, a positioning robot, and a welding robot, it is possible to automatically perform a steel frame work without using a manpower such as a steel worker. In addition, it is possible to improve the safety of the construction, increase the positioning accuracy, and shorten the construction period.

[Brief description of drawings]

FIG. 1 is a diagram showing an embodiment of a rotary robot according to the present invention, FIG. 2 is a diagram for explaining posture detection and adjustment of a steel frame, and FIG. 3 is an external view of a mobile scaffolding robot equipped with various work robots. Fig. 4 is a side view of the mobile scaffolding robot, Fig. 5 is a plan view of the mobile scaffolding robot, Fig. 6 is a diagram for explaining a steel frame assembling order, and Fig. 7 is an example of an assembling work of a pillar member. FIG. 8 is a diagram for explaining the posture adjusting method of the column member. 1 ... rotary table, 2 and 4 ... cushion material, 3 ... distance sensor, 5 ... timing belt, 6 and 14 ... cylindrical roller bearing,
7, 9 and 15 ... Servo motor, 8, 10 and 16 ... Reducer, 11 ...
Linear guide, 12 ... Linear bearing, 13 ... Square screw, 17 ... Gear, 18 ... Beam.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (71) Applicant 999999999 Sato Industry Co., Ltd. 1-11 Sakuragi-cho, Toyama City, Toyama Prefecture (71) Applicant 999999999 Shimizu Corporation 1-3-2 Shibaura, Minato-ku, Tokyo (71) ) Applicant 999999999 1-25-1, Nishishinjuku, Shinjuku-ku, Tokyo (71) Applicant 999999999 Takenaka Corporation 4-1-1-13, Honmachi, Chuo-ku, Osaka-shi, Osaka (71) Applicant 999999999 Toda Construction Co., Ltd. 1-7-1, Kyobashi, Chuo-ku, Tokyo (71) Applicant 999999999 Fujita Co., Ltd. 4-6-1, Sendagaya, Shibuya-ku, Tokyo (71) Applicant 999999999 Komatsu Ltd. Akasaka, Minato-ku, Tokyo 2-3-6 (71) Applicant 999999999 Hitachi Zosen Corporation 1-6-14 Edobori, Nishi-ku, Osaka-shi, Osaka (72) Inventor Yukio Hasegawa Higashi 3-4-1 Okubo, Shinjuku-ku, Tokyo Inside Waseda University Institute of Systems Science (72) Inventor Toshio Nakamura 1-15-11, Kanda, Chiyoda-ku, Tokyo 6F Kubota Building (72) Inventor Toshikazu Miyajima Tobita, Chofu-shi, Tokyo 2 -19-1 (72) Inventor Yusuke Matsushita No. 102 Hyons Mansion, 16 Tsukiji-cho, Shinjuku-ku, Tokyo (72) Inventor Shinji Yamashita 47-3 Mita, Atsugi, Kanagawa Prefecture (72) Nobuhiro Okuyama Tokyo Metropolitan Port 4-15-33 Shibaura-ku Shibaura Shimizu Building 4F (72) Inventor Masahiro Nishimura 1-25-1, Nishishinjuku, Shinjuku-ku, Tokyo (72) Inventor Haruo Hoshino 2-5-14 Minamisuna, Koto-ku, Tokyo Takenaka Corporation (72) Inventor Toru Shinozaki Toru Shinozaki 1-3-3 Kyobashi, Chuo-ku, Tokyo Kashihara Building 5th floor (72) Inventor Ryoji Yoshitake 4-6-15 Sendagaya, Shibuya-ku, Tokyo (72) Inventor Hiroshi Asano 1200 Manda, Hiratsuka-shi, Kanagawa (72) Inventor Masayuki Terao 1-6-14 Edobori, Nishi-ku, Osaka City, Osaka Prefecture Hitachi Zosen Corporation House

Claims (4)

[Claims] 1. A rotary robot that temporarily receives a steel frame member conveyed by a crane robot and adjusts the posture in a mounting direction. The rotary table temporarily receives the steel frame member, and the steel frame member is provided at a position behind the rotary table. Is equipped with two distance sensors for measuring the distance of the rotary table and a rotation mechanism for controlling the rotation of the rotary table, the posture of the steel member is measured by the two distance sensors, the rotation mechanism is controlled, and the posture of the steel member is mounted in the mounting direction. A rotating robot characterized by being adjusted to. 2. The rotary robot according to claim 1, wherein a hard rubber cushion material is used for the rotary table. 3. The rotary robot according to claim 1, wherein the rotary robot is supported by a lift support mechanism having a linear guide and a linear bearing. 4. A steel frame construction comprising a rotary table for temporarily receiving a steel member, two distance sensors for measuring a distance to the steel member at a rear position of the rotary table, and a rotary mechanism for controlling rotation of the rotary table. It is a steel frame posture adjustment method using a rotating robot.The rotary table is placed on the lower column steel frame and the posture is adjusted on the upper column steel frame to temporarily adjust the posture of the steel member in the mounting direction. A steel posture adjustment method characterized by