JPH0826664B2 - Pillar assembly method using a robot - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a pillar assembly method using a robot for gripping a steel frame member conveyed by a crane robot and grasping the steel frame member, and attaching the steel frame member to an already built steel frame.

[Prior Art] The construction method for middle- and high-rise buildings is roughly divided into steel frame assembly, rebar assembly, formwork assembly, concrete placement, and formwork dismantling. Among them, the work of assembling steel frames of columns and beams includes the work of member transportation, temporary joining, rebuilding, and main joining. In these operations, first, a crane is used to hoist 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, in the conventional steel frame construction, after the steel frame is hoisted and transported to a predetermined position by using the crane, it is almost dangerous for the steel worker to perform the work at a high place, which is dangerous. In addition, there is a problem that it requires a long working time and requires highly skilled technology in terms of accuracy.

In order to solve this problem, in Japanese Patent Laid-Open No. 62-244971, Japanese Patent Laid-Open Publication No. 62-244971 discloses a mobile scaffolding robot in which an upper scaffold and a lower scaffold are connected by a telescopic boom so that the scaffold can move in the vertical direction. A steel frame erection work robot that is loaded on the vehicle and a steel frame erection device that includes verticality measuring means, a crane robot, and a control device that controls the steel frame erection device and the crane robot. We are proposing to eliminate the work at high places by automating the acquisition.

In the above-mentioned JP-A-62-244971, the crane robot conveys the upper pillar to be assembled to an approximate position based on the position data of the already installed lower pillar, and then temporarily joins the lower part of the upper pillar. A method is used to adjust the position while being held by the robot. However, since the temporary joining robot alone cannot bear the load of the column, it is necessary to make adjustments by the temporary joining robot while the crane robot suspends the upper part of the column. Control and the position control of the lower part of the column by the temporary joining robot have to be performed, and there are problems that the control becomes complicated and the time required for the alignment becomes long.

The present invention is to solve the above problems, and an object thereof is to provide a pillar assembling method using a robot capable of automatically assembling the pillar by adjusting the attitude of the pillar in a short time with simple control. To do.

[Means for Solving the Problem] For that purpose, the pillar assembly method using the robot of the present invention is
Between the upper floor frame 30 and the lower floor frame 39, a leg expansion and contraction mechanism that expands and contracts by a hydraulic cylinder, and gripping devices 33 and 37 for gripping a girder in each of the upper floor frame and the lower floor frame,
A mobile scaffolding robot 21 that self-climbs by grasping a girder by one of the floor frame grasping devices and extending and contracting a leg extension mechanism, a rotary table 1 and a positioning robot 24 that are movably installed on the upper floor frame,
An imaging device installed on the upper floor frame, which measures the position data of the already installed lower column, and a crane robot 28 which hoists the girder and column on the rotary table.
An image pickup device installed in the crane robot for measuring position data of an upper column to be assembled, and the column already lifted in a state in which the column is lifted by the crane robot and the column is set on the rotary table. The position data of the pillar and the position data of the upper pillar to be assembled are compared and calculated, the rotary table is rotated so that they match, then the upper pillar is gripped by the positioning robot, and then the crane robot and the positioning robot cooperate to perform the upper operation. The feature is that the pillar is lifted and the rotary table is retracted, and the upper pillar is inserted into the lower pillar.

It should be noted that the numbers added to the above-mentioned configurations are for comparison with the drawings in order to facilitate the understanding of the present invention, and the configurations of the present invention are not limited thereby.

[Operation] In the present invention, first, the position data of the lower pillar is measured by the imaging device installed on the upper floor frame 30 before the pillar is lifted, and the upper part is measured by the imaging device installed on the crane robot 28. The position data of the pillar is measured, and the upper pillar is set on the turntable 1 by the crane robot 28. Next, the position data of the lower pillar and the position data of the upper pillar are compared and calculated, and the rotary table 1 is rotated so that they match each other. Then, after the upper pillar is gripped by the positioning robot 24, the crane robot 28 and the positioning robot 24 The upper column is lifted by cooperative work, the rotary table 1 is retracted, and the upper column is inserted into the lower column.

Embodiments Embodiments of the present invention will be described below with reference to the drawings.

First, a mobile scaffolding robot equipped with the positioning robot for steel frame construction of the present invention will be described.

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, and FIG.
The figure is a plan view of a mobile scaffolding robot. In the figure, 21 is a mobile scaffolding robot, 22 is a beam, a 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, 30 is an upper floor frame, 31 is a clamping device, 32 is a guide rail, 33 and 37 are gripping devices, 34 is a turntable, 35
Reference numerals 36 and 36 denote hydraulic cylinders, and 39 denotes a lower floor frame.

In Fig. 3, the mobile scaffolding robot 21 for steel frame construction is
The upper floor frame 30 and the lower floor frame 39 has girders 33, 37 for lifting up and down on the side surface, and at the same time has a leg extension mechanism extending between the upper floor frame 30 and the lower floor frame 39 by a hydraulic cylinder. In addition, it has a mechanism for reducing the upper and lower floor surfaces, and when it is transported, it is reduced to a compact size so that it can be easily transported 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 columns and beam steel frames and measures the posture of the column steel frames by the imaging device (ITV) 28a. The rotating robot 25 adjusts the posture of the pillar and the girder steel frame, and the positioning robot 24 supports the pillar and the girder steel frame and positions the existing steel frame. Further, the sensing device 26 is provided with an image pickup device (ITV), and measures the pins at both ends of the beam and the pin holes of the joint, and measures the center position and posture of the pillar steel frame.

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
Positioning robot 24 and rotary robot 25 installed on 21
Perform each work in cooperation with the crane robot 28.

The mobile scaffolding robot for steel frame construction has guide rails 32 laid along the upper surface of the upper floor frame 30 as shown in FIG. 4 and FIG. The welding robot 23, the positioning robot 24, the rotary robot 25, etc. are allowed to freely move 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. The girder to secure the upper floor frame 30 to the position of the upper girder on the upper floor, and hydraulic cylinders 35, 36
It is possible to raise the lower floor frame 39 to the next floor by reducing.

FIG. 1 is a partial sectional view showing an embodiment of a positioning robot used in the present invention.

The positioning robot 24 has a
It comprises a moving housing 102, a vertical movement shaft 103, a turning device 104, a sliding shaft 105, rotary shafts 106, 107, 108, and a gripping device 109.

The traveling housing 101 has wheels at the bottom and is movable on a guide rail 32 (FIG. 5) by a motor (not shown). The traveling housing 101 is formed with a through hole 101a that allows the vertical movement shaft 103 to descend.

The moving housing 102 includes a linear guide 110 and a bearing 11.
It is movably supported on the traveling housing 101 by 1, and moves on the X axis by transmitting the rotation of the electric motor 112 to the rack 113 and the pinion 114. Further, the moving housing 102 has a clamp 115 fixed to the traveling housing 101.
Thus, the reaction force when a load is applied to the gripping device 109 is supported.

Further, a vertical movement shaft 103 is supported in the moving housing 102 by a bearing 116 so as to be vertically movable, and the vertical movement shaft 103 is moved vertically (Z-axis direction) by an electric motor 117 and a rack and pinion mechanism 119.

The swivel device 104 is rotatably supported by a bearing 120 on the vertical movement shaft 103, and also supports a sliding shaft 105 by a bearing 121 so as to be movable in the horizontal direction. While turning by the gear 123, horizontal direction (Y axis) by the electric motor 125 and the ball screw mechanism 126
Go to

The gripping device 109 is connected to the sliding shaft 105 via rotary shafts 106, 107, 108, and the rotary shafts 106, 107, 108 are rotated as shown by an electric motor (not shown). This gripping device 10
9 is moved by a hydraulic cylinder 127 to grip a steel frame.
Confirmation of this grip is performed by a touch sensor such as a magnetic sensor. Further, a load detection sensor is provided to detect an overload transmitted from the crane robot 28.

An encoder is provided in each of the electric motors, and each electric motor is driven based on the mounting position data detected by the sensing device, and the girder or column received on the rotary robot 25 is grasped by the gripping device 109. It is gripped and conveyed to the mounting position detected by the sensing device.
At this time, the wire for hoisting the girder or column is left connected and the crane robot 28 bears each weight.

Next, the rotary robot related to the present invention will be described with reference to FIG. The rotary robot 25 is arranged on the traveling housing 101 together with the positioning robot 24.

In FIG. 2 (a), the 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 rotatable 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 while being pivotally supported. The linear guide 11 and the linear bearing 12 are slidably supported in the vertical direction, and the servo motor 9 and the speed reducer 10 can vertically move through the square screw 13.
Cylindrical roller bearing 14, servo motor 15, speed reducer 16, gear 17
Further rotatably supports 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 the positioning robot is also connected on the traveling housing 101, the rotary table can be lowered and retracted after the positioning robot grips the girder or column by the lifting and turning mechanism.

Adjusting the posture using the above rotary robot for steel frame construction,
As shown in FIG. 2B, if two distance sensors (ultrasonic sensors) 3 are arranged in parallel with the mounting direction X, the girder 18 is temporarily received on the turntable 1 and the two distances are set. The sensors 3 measure the distances l ₁ and l ₂ to the respective members.
Then, the rotary table 1 is rotated until the distance difference between both sensors becomes zero.

Next, the pillar assembly system of the present invention will be described. FIG. 6 is a diagram for explaining the order of assembling the trabecular bone.

First, before the pillar is lifted, the center position and direction of the lower pillar are measured by the sensing device 26 on the mobile scaffolding robot 21 (i). This is as shown in FIG.
This is performed by moving the image pickup device (ITV) above the lower pillar and measuring and calculating the center position (X, Y) of the pillar cross section and the direction θ as shown in FIG. 7 (b).

Next, since the column member is heavier than the girder, the rotary table 1 of the rotary robot 25 is placed on the lower column. Then, the crane robot 28 compares and calculates its own position and the center position of the lower column, and sets the upper column on the turntable 1 (ii). Then, the posture of the upper column on the turntable 1 is adjusted (iii). This is done by the imaging device (ITV) 28a of the crane robot 28.
Similarly to the description of FIG. 7, the center position (X, Y) of the cross section of the column and the direction θ are measured and calculated, and this is compared with that of the lower column, and the rotary table 1 is rotated so that they coincide with each other.

Next, after outputting the data of the center position (X, Y) of the column cross section and the direction θ to the positioning robot 24 and driving each electric motor to set the gripping device 109 at a predetermined position, FIG. As shown in (4), the upper column on the turntable 1 is gripped (iv). Then, the crane robot 28 and the positioning robot 24 cooperate with each other to lift the upper pillar and position it above the lower pillar by a predetermined distance (v).
The turntable 1 is retracted from the top of the lower column as shown in FIG.

Next, in step (vi), the relative positions of the upper and lower column sections are measured and final confirmation is performed. If correction is required, the position / orientation of the pillar is corrected by the positioning robot 24. If the work is defective, an alarm is issued, and if OK, the pillar is inserted as shown in FIG. 8 (c). Finally, the final target position data of the positioning robot 24 and the load on the gripping device are checked to complete the assembly.

It should be noted that the present invention is not limited to the above-mentioned embodiments, and various types can be changed.

For example, in the above embodiment, the pillar assembly is described, but it may be applied to the girder assembly. In this case,
After adjusting the posture of the girder by the rotary table 1 as described with reference to FIG. 2B, the positioning robot 24 grips the girder and moves it to the detected pin hole position of the girder, and moves the girder to the girder joint. To be attached to.

[Effects of the Invention] As is apparent from the above description, according to the present invention, the lower column is rotated by rotating the rotary table in a state where the column is lifted by the crane robot and the column is set on the rotary table. Since it is possible to position the upper column with the crane robot, it is not necessary to make adjustments while the upper part of the column is being suspended by the crane robot as in the past, and the posture of the column can be adjusted in a short time with simple control. , The pillar can be assembled automatically.

[Brief description of drawings]

FIG. 1 is a partial sectional view showing an embodiment of a positioning robot used in the present invention, FIG. 2 (a) is a view showing an embodiment of a rotary robot used in the present invention, and FIG. FIG. 3 is a diagram for explaining the posture detection and adjustment of the steel frame, FIG. 3 is an external view of a mobile scaffolding robot equipped with various work robots, and FIG.
FIG. 5 is a side view of the mobile scaffolding robot, FIG. 5 is a plan view of the mobile scaffolding robot, FIGS. 6 and 8 are views for explaining an example of an assembly process of the pillar member, and FIG. 7 is a position of the pillar member. It is a figure for explaining a measuring method. 21 ... Mobile scaffolding robot, 24 ... Positioning robot, 28 ... Crane robot, 28a ... Imaging device, 33, 37 ... Gripping device.

Front page continuation (71) Applicant 999999999 Sato Industry Co., Ltd. 11-11 Sakuragicho, Toyama City, Toyama Prefecture (71) Applicant 999999999 Shimizu Corporation 2-16-1 Kyobashi, Chuo-ku, Tokyo (71) Applicant 999999999 Taisei Corporation 1-25-1 Nishishinjuku, Shinjuku-ku, Tokyo (71) Applicant 999999999 Takenaka Corporation, 1-1-1 Honmachi, Chuo-ku, Osaka-shi, Osaka (71) Applicant 999999999 Toda Construction Co., Ltd. Company 1-7-1, Kyobashi, Chuo-ku, Tokyo (71) Applicant 999999999 Fujita Co., Ltd. 4-6-15 Sendagaya, Shibuya-ku, Tokyo (71) Applicant 999999999 2-3 Akasaka, Minato-ku, Tokyo 999999999 No. 6 (71) Applicant 999999999 Hitachi Shipbuilding Co., Ltd. 1-6-14 Edobori, Nishi-ku, Osaka-shi, Osaka (72) Inventor Yukio Hasegawa 3-4-1 Okubo, Shinjuku-ku, Tokyo Inside Waseda University Institute of Systems Science ( 72) Inventor Toshio Nakamura 1-15-11 Uchikanda, Chiyoda-ku, Tokyo Kubota Building 6F (72) Inventor Toshikazu Miyajima 2-19-1 Tobita, Chofu-shi, Tokyo (72) Inventor Yusuke Matsushita Lions Mansion No. 102, 16 Tsukiji-cho, Shinjuku-ku, Tokyo Shinji Yamashita Atsugi, Kanagawa Prefecture City Mita 47-3 (72) Inventor Nobuhiro Okuyama 4-15-33 Shibaura, Minato-ku, Tokyo Shibaura Shimizu Building 4F (72) Inventor Masahiro Nishimura 1-2-25-1 Nishi-Shinjuku, Shinjuku-ku, Tokyo (72) Inventor Hoshino Haruo 2-5-14 Minamisuna, Koto-ku, Tokyo Takenaka Corporation Technical Research Laboratory (72) Inventor Toru Shinozaki 1-3-3 Kyobashi, Chuo-ku, Tokyo Kashiwara Building 5th Floor (72) Inventor Ryoji Yoshitake Tokyo 4-6-15 Sendagaya, Shibuya-ku (72) Inventor Hiroshi Asano 1200 Manda, Hiratsuka-shi, Kanagawa (72) Inventor Masayuki Terao 1-6-14 Edobori, Nishi-ku, Osaka, Osaka (56) References JP-A-62-244971 (JP, A)

Claims (1)

[Claims] 1. A gripping device for gripping a girder in each of the upper floor frame and the lower floor frame, and a gripping device for gripping a girder between the upper floor frame and the lower floor frame, and a gripping device for one floor frame. A mobile scaffolding robot that self-climbs by grasping a cross beam and extending and contracting a leg extension mechanism, a rotary table and a positioning robot that are movably installed on the upper floor frame, installed on the upper floor frame, and already installed. An imaging device that measures the position data of the lower pillar, a crane robot that hoists the girder and the pillar on the rotary table, and an imaging device that measures the position data of the upper pillar that is installed and assembled on the crane robot. Equipped with the crane robot to lift the pillars and set the pillars on the turntable. The position data of the already installed lower column and the position data of the upper column to be assembled are compared and calculated, and the rotary table is rotated so that they match each other, and then the upper column is gripped by the positioning robot and then positioned with the crane robot. A pillar assembling method using a robot, characterized in that the upper pillar is lifted by a robot's cooperative work, the rotary table is retracted, and the upper pillar is inserted into the lower pillar.