JP2021095758A - Structure construction method, attachment, precast product and construction machine - Google Patents

Abstract

To provide a structural construction method, attachments, precast products, and construction machine that facilitate construction to be used in the case of constructing a structure by installing precast products on a predetermined installation surface.SOLUTION: There is provided a structural construction method for constructing a gutter 100 by placing a U-shaped gutter blocks 1 on an installation surface 109, comprising: a holding process in which the U-shaped gutter block 1 is held by a holding attachment 27 in such a way that a block holding part 37 on the holding attachment 27 attached to a robot arm 25 of a construction robot 20 is engaged with a holding hole 7 on the bottom plate 3 of the U-shaped gutter block 1; and an installation process in which the U-shaped gutter block 1 is installed at a predetermined position on the installation surface 109 in a posture in which the bottom plate 3 is placed along the installation surface 109 by driving the robot arm 25 and the holding attachment 27 by the construction robot 20.SELECTED DRAWING: Figure 2

Description

The present invention relates to structure construction methods, attachments, precast products, and construction machines.

Conventionally, for example, a gutter constructed by arranging a large number of U-shaped groove blocks, which is a precast product, is known. In this type of gutter, for example, the ground is excavated at the planned construction position of the gutter to form a ditch, and foundation crushed stone and paving mortar are laid on the bottom surface of the ditch, and U-shaped groove blocks are continuously placed on the paving mortar. Installed and built.

Japanese Patent No. 6388286

In the method of constructing the gutter as described above, for example, in order to install the U-shaped groove block at a predetermined position on the mortar, complicated work such as lifting and suspending the U-shaped groove block with a wire or the like is compared. There were many targets. An object of the present invention is to provide a structure construction method, an attachment, a precast product, and a construction machine that facilitate construction when a precast product is installed on a predetermined installation surface to construct a structure. To do.

The structure construction method of the present invention is a structure construction method in which a precast product is installed on a predetermined installation surface to construct a structure including the precast product, and is held attached to an arm of a predetermined construction machine. By the holding process in which the holding portion provided in the attachment is engaged with the holding hole provided in the precast product and the precast product is held in the holding attachment, and the arm and the holding attachment are driven by the construction machine. The precast product is provided with an installation process in which the bottom plate of the precast product is installed at a predetermined position on the installation surface in a posture of being along the installation surface.

Further, the bottom slab is provided with a height adjusting portion for adjusting the height of the bottom slab from the installation surface, and the height adjusting portion may have a through hole penetrating the bottom slab in the thickness direction. Good.

Further, in the structure construction method of the present invention, the height adjusting portion has an adjusting leg portion that is screwed into the through hole and protrudes downward from the bottom slab and is grounded to the installation surface, and is provided on the holding attachment. The adjustment operation unit may further include an adjustment step in which the downward protrusion amount of the adjustment leg portion is adjusted by rotating the adjustment leg portion, and the height of the bottom slab is adjusted.

Further, the holding attachment may include an attachment main body portion that can be attached to and detached from the arm, and a holding portion that protrudes from the attachment main body portion.

In addition, the construction machine is further provided with an injection arm provided separately from the arm, and an injection attachment for injecting a filler between the bottom slab and the installation surface is detachably attached to the injection arm. It may be said that it has been done.

Further, the holding hole may include a non-penetrating recess provided on the upper surface of the bottom slab, and the through hole may penetrate from the bottom surface of the recess to the lower surface of the bottom slab.

Further, in the structure construction method of the present invention, the bottom slab is provided with an injection hole penetrating the bottom slab in the thickness direction, and the bottom slab is passed through the injection hole by driving the injection arm and the injection attachment by a construction machine. An injection step in which the filler is injected between the and the installation surface may be further provided.

The attachment of the present invention is an attachment for holding a precast product by being attached to an arm of a predetermined construction machine. The precast product is provided with a plurality of holding holes and can be attached to and detached from the arm. The attachment main body is provided with a plurality of holding portions that protrude from the attachment main body at positions corresponding to the holding holes and are engaged with the holding holes to hold the precast product.

The attachment of the present invention is an attachment for injecting a filler between the bottom slab of a precast product and the installation surface, which is attached to the arm of a predetermined construction machine and installed on a predetermined installation surface, and is a bottom slab. Is provided with a plurality of injection holes that penetrate the bottom plate in the thickness direction, and the attachment main body that can be attached to and detached from the arm and the injection holes that protrude from the attachment main body at positions corresponding to the injection holes. It is provided with a plurality of filler supply units for supplying the filler to the vehicle.

The precast product of the present invention is a precast product that forms a part of a structure that is installed and constructed on a predetermined installation surface by a predetermined construction machine, and is a bottom slab arranged along the installation surface and a bottom slab. A holding hole that includes a non-penetrating recess provided on the top surface and is engaged with the holding part of the construction machine, a through hole that penetrates from the bottom surface of the recess to the bottom surface of the bottom slab, and a bottom slab screwed into the through hole. It is provided with an adjusting leg portion that protrudes downward from the ground and touches the installation surface, and a height adjusting portion that can adjust the amount of the adjusting leg protruding downward by rotating the adjusting leg portion.

The construction machine of the present invention is a construction machine used in a structure construction method for constructing a structure including a precast product by installing a precast product on a predetermined installation surface, and the precast product is the precast product. A holding hole provided at any part of the product, a through hole that penetrates the bottom plate of the precast product in the thickness direction, and an adjustment leg that is screwed into the through hole and protrudes downward from the bottom plate and touches the installation surface. A height adjusting part including a part and a height adjusting part that can adjust the amount of protrusion of the adjusting leg downward by the rotation of the adjusting leg, and a holding attachment for holding the precast product is attached. The holding attachment is provided with a first arm to be attached, and the attachment main body that can be attached to and detached from the first arm protrudes from the attachment main body at a position corresponding to the holding hole, and is engaged with the holding hole to form a bottom plate. It has a holding portion for holding, and an adjusting operation portion that protrudes from the attachment main body portion at a position corresponding to the adjusting leg portion and engages with the upper end portion of the adjusting leg portion to rotate the adjusting leg portion.

Precast products also have an injection hole that penetrates the bottom slab in the thickness direction, and a second arm to which an injection attachment for injecting filler through the injection hole is attached between the bottom slab of the precast product and the installation surface. It may be prepared.

The injection attachment includes an attachment main body that can be attached to and detached from the second arm, and a filler supply unit that protrudes from the attachment main body at a position corresponding to the injection hole and supplies the filler to the injection hole. It may be that.

According to the present invention, it is possible to provide a structure construction method, an attachment, a precast product, and a construction machine that facilitate construction when a precast product is installed on a predetermined installation surface to construct a structure. it can.

It is a side view of the gutter constructed by the gutter construction method which concerns on embodiment. (A) is a perspective view of the U-shaped groove block, and (b) is a perspective view showing only the bottom plate of the U-shaped groove block of FIG. 2 (a) cut out and enlarged. (A) is a cross-sectional view of IIIa-IIIa of the U-shaped groove block of FIG. 2, and (b) is a cross-sectional view of IIIb-IIIb thereof. (A) is a side view of the construction robot, and (b) is a plan view thereof. It is a perspective view which looked at the holding attachment from the bottom. It is a perspective view which looked at the attachment for injection from the bottom. (A) is a cross-sectional view showing a holding process, and (b) is a cross-sectional view showing an enlarged vicinity of a holding hole in the adjusting step. (A) and (b) are sectional views showing an installation process. (A) and (b) are sectional views showing an injection process. It is sectional drawing of the bottom slab which concerns on a modification. (A) is a cross-sectional view of a block holding portion and a holding hole according to a modified example, and (b) is a plan view thereof. It is a perspective view which shows the robot arm and the bottom slab which concerns on a modification. It is a cross-sectional view of XIII-XIII of the bottom plate of FIG.

Hereinafter, the structure construction method, attachments, precast products, and construction machines according to the embodiment of the present invention will be described in detail with reference to the drawings. In each drawing, the parts necessary for explanation may be exaggerated and depicted, so that the dimensional ratios and shapes of the parts do not always match between the drawings. In addition, when using terms that include the concepts of upper and lower, such as "upper surface / lower surface" and "upper / lower", precast products should correspond to the vertical direction in which they are installed as part of the structure, and are used for construction machines. And attachments shall correspond to the vertical direction in the main usage conditions.

The precast product according to the present embodiment is the U-shaped groove block 1 shown in FIG. 2A, and the structure construction method according to the present embodiment is described above in the rainwater drainage work as shown in FIG. This is a gutter construction method in which a large number of U-shaped groove blocks 1 are continuously arranged to construct a gutter 100. Further, the construction machine according to the present embodiment is a construction robot 20 (see FIG. 4) used in the above-mentioned gutter construction method, and the construction robot 20 is a plurality of robots 20 for handling the U-shaped groove block 1 and the like. The robot arm 25 is provided. Although details will be described later, the holding attachment 27 (see FIG. 5) and the injection attachment 29 (see FIG. 6) according to the present embodiment are attached to the robot arm 25 of the construction robot 20.

The outline of the method of constructing the gutter 100 according to the present embodiment is as follows. As shown in FIG. 1, the ground is excavated at the planned construction position of the gutter 100 to form the groove 103, and crushed stone is laid on the bottom surface of the groove 103 to form the crushed stone layer 105. Then, the U-shaped groove block 1 is installed on the upper surface 109 (hereinafter, also referred to as “installation surface 109”) in a posture in which the bottom slab 3 is placed along the upper surface 109 of the crushed stone layer 105. After that, the filler 111 is filled between the bottom slab 3 and the installation surface 109. This is repeated, and a large number of U-shaped groove blocks 1 are continuously arranged and installed in the longitudinal direction of the groove 103 (direction orthogonal to the paper surface in FIG. 1), and the ground around the U-shaped groove block 1 is backfilled. The gutter 100 is constructed.

[U-shaped groove block]
The configuration of the U-shaped groove block 1 described above will be described. FIG. 2A is a perspective view of the U-shaped groove block 1. FIG. 2B is a perspective view in which only the bottom plate 3 of the U-shaped groove block 1 of FIG. 2A is cut out and enlarged. FIG. 3A is a sectional view taken along line IIIa-IIIa of the U-shaped groove block 1, and FIG. 3B is a sectional view taken along line IIIb-IIIb of the U-shaped groove block 1.

As shown in FIG. 2, the U-shaped groove block 1 includes a flat bottom slab 3, and the bottom slab 3 constitutes a section of the bottom wall of the gutter 100 (see FIG. 1). Side plates 5 stand up from both ends of the bottom plate 3. The U-shaped groove block 1 is a precast product made of reinforced concrete.

As shown in FIGS. 2 and 3, the bottom slab 3 is formed with a plurality of holding holes 7, a plurality of height adjusting portions 9, and a plurality of injection holes 11. The holding hole 7, the height adjusting portion 9, and the injection hole 11 are arranged symmetrically with respect to the longitudinal direction of the U-shaped groove block 1 and also symmetrically with respect to the width direction. In the present embodiment, as shown in the figure, the number of holding holes 7 is 4, the number of height adjusting portions 9 is 4, and the number of injection holes 11 is 2. One holding hole 7 is arranged at each of the four corners of the bottom plate 3. The holding hole 7 is formed on the upper surface 3a of the bottom slab 3 as a columnar recess. Since the depth of the recess is shallower than the thickness of the bottom slab 3, the holding hole 7 does not penetrate the bottom slab 3. A female screw portion 7b is formed on the inner surface of the cylinder of the holding hole 7.

One height adjusting portion 9 is provided corresponding to each holding hole 7. As shown in FIG. 3A, the height adjusting portion 9 includes a through hole 15 and an adjusting leg portion 17. The through hole 15 is formed concentrically with the holding hole 7 and has a circular shape having a smaller diameter than the holding hole 7. The through hole 15 penetrates the bottom slab 3 in the thickness direction from the bottom surface 7a of the holding hole 7 to the bottom surface 3b of the bottom slab 3. A female screw is cut on the inner surface of the through hole 15, and the adjusting leg 17 is screwed into the female screw.

The adjusting leg portion 17 is formed on a screw rod portion 17a screwed into the female screw of the through hole 15, a disc-shaped grounding portion 17b provided at the lower end of the screw rod portion 17a, and an upper end surface of the screw rod portion 17a. It is provided with a tool hole 17c and a drilled hole 17c. The upper portion of the adjusting leg portion 17 projects upward from the bottom surface 7a of the holding hole 7, and is located at a position lower than the upper surface 3a of the bottom plate 3. The lower portion of the adjusting leg portion 17 (the lower portion of the screw rod portion 17a and the ground contact portion 17b) protrudes downward from the lower surface 3b of the bottom plate 3. The U-shaped groove block 1 is installed with the adjusting leg portion 17 as a leg in a state where the grounding portion 17b is grounded on the installation surface 109 (see FIG. 1).

According to such a height adjusting portion 9, by applying a suitable tool to the tool hole 17c and rotating the adjusting leg portion 17, the downward protrusion amount H of the adjusting leg portion 17 as described above can be obtained. It is adjustable. Then, the height of the bottom slab 3 from the installation surface 109 can be adjusted by adjusting the protrusion amount H of the adjusting leg portion 17. Therefore, even if there is an error from the design in the vertical position of the installation surface 109, the vertical position of the bottom plate 3 can be adjusted as designed by canceling the error. The upper portion of the adjusting leg portion 17 projects upward from the bottom surface 7a of the holding hole 7, but may sneak below the bottom surface 7a if it is necessary to adjust the protrusion amount H.

As shown in FIG. 3B, the circular injection hole 11 is formed so as to penetrate the bottom slab 3 from the upper surface 3a to the lower surface 3b in the thickness direction. The diameter of the injection hole 11 may be about the same as the diameter of the holding hole 7. Although details will be described later, the filler 111 (see FIG. 1) can be injected into the space between the installation surface 109 and the bottom slab 3 through the injection hole 11.

[Construction robot]
Subsequently, the construction robot 20 used in the gutter construction method of the present embodiment and the attachment attached to the construction robot 20 will be described. FIG. 4A is a side view of the construction robot 20, and FIG. 4B is a plan view of the construction robot 20.

As shown in FIG. 4, the construction robot 20 is installed on the main body 21, the crawlers 23 provided on both side surfaces of the main body 21 to enable the construction robot 20 to run on its own, and the upper surface of the main body 21. It also includes a plurality of robot arms 25 (four in the present embodiment) and a control unit 24 that integrally controls the construction robot 20. The four robot arms 25 have the same configuration, but when the robot arms 25 are distinguished from each other, they are referred to as a first arm 25a, a second arm 25b, a third arm 25c, and a fourth arm 25d, respectively.

As the robot arm 25, for example, a general-purpose 6-axis vertical articulated robot arm can be adopted. A holding attachment 27 for holding the U-shaped groove block 1 is detachably attached to the tip of the first arm 25a as an end effector. A fluid filler 111 (see FIG. 1) is injected into the tip of the second arm 25b (injection arm) as an end effector between the bottom plate 3 of the installed U-shaped groove block 1 and the installation surface 109. An injection attachment 29 for this purpose is detachably attached. Another holding attachment 27 is detachably attached to the tip of the third arm 25c as an end effector. Further, another injection attachment 29 is detachably attached to the tip of the fourth arm 25d as an end effector.

Further, a filler container 34 that houses the filler 111 and pumps the filler 111 is detachably attached to the side surface of the main body 21. The filler container 34 and each injection attachment 29 are connected via a hose 34a, and the filler 111 is conveyed from the filler container 34 to each injection attachment 29 through the hose 34a.

Subsequently, the holding attachment 27 will be described with reference to FIG. The holding attachment 27 includes a box-shaped attachment main body 35 having a mechanism for attaching / detaching to / from the robot arm 25, four block holding portions 37 protruding downward from the attachment main body 35, and a lower end surface of each block holding portion 37. It includes an adjustment operation unit 39 that protrudes further downward from the center.

The block holding portion 37 has a cylindrical shape and extends downward from each of the four corners of the attachment main body portion 35. The block holding portion 37 can be rotated around its own axis by a drive mechanism (not shown) built in the attachment main body portion 35, as shown by an arrow A in the drawing. A male screw portion 37a is formed at the lower end of the side surface of the cylinder of the block holding portion 37. The diameter of the block holding portion 37 is substantially the same as the diameter of the holding hole 7 (see FIG. 2) of the U-shaped groove block 1 described above, and the male screw portion 37a is screwed with respect to the female screw portion 7b of the holding hole 7. It is possible. Further, the arrangement of the four block holding portions 37 is the same as the arrangement of the four holding holes 7 of the U-shaped groove block 1 described above.

According to this configuration, the four block holding portions 37 are inserted into the holding holes 7 of the U-shaped groove block 1 while rotating, and the tips of the block holding portions 37 are screwed into the holding holes 7. , The holding attachment 27 holds the U-shaped groove block 1. Then, by driving the robot arm 25 in such a holding state, the held U-shaped groove block 1 can be moved to a desired position / orientation. Further, when the U-shaped groove block 1 is moved to a desired destination (for example, on the installation surface 109) and each block holding portion 37 is rotated in the reverse direction, the U-shaped groove block 1 is released from the holding attachment 27. The U-shaped groove block 1 is installed.

The adjustment operation unit 39 has a round bar shape, penetrates the center of the block holding unit 37 up and down, and extends on the cylindrical axis of the block holding unit 37. The lower end of the adjustment operation unit 39 projects downward from the lower end surface of the block holding unit 37, and the upper end of the adjustment operation unit 39 is connected to a drive mechanism (not shown) built in the attachment main body 35. By this drive mechanism, the adjustment operation unit 39 can rotate around its own axis independently of the block holding unit 37, as shown by the arrow B in the drawing. Further, the adjustment operation unit 39 may be movable in the own axis direction by the drive mechanism. In this case, the adjustment operation unit 39 can be expanded and contracted from the lower end surface of the block holding unit 37. Further, a tool portion 39a is formed at the lower end portion of the adjustment operation portion 39, and the tool portion 39a fits into the tool hole 17c (see FIG. 3) of the height adjusting portion 9 of the U-shaped groove block 1 described above. .. In the example of FIG. 3 and the like, the shapes of the tool portion 39a and the tool hole 17c are quadrangular, but these shapes may be changed as appropriate.

According to this configuration, in a state where the four block holding portions 37 are screwed into the holding holes 7, each of the tool portions 39a is inserted into the tool holes 17c and the adjusting operation portion 39 is rotated. The protrusion amount H (see FIG. 3A) of the adjusting leg portion 17 in the height adjusting portion 9 can be adjusted.

Subsequently, the injection attachment 29 will be described with reference to FIG. The injection attachment 29 includes a box-shaped attachment main body 41 having a mechanism for attaching and detaching to and from the robot arm 25, and two filler supply units 43 protruding downward from the attachment main body 41. The filler supply unit 43 has a circular tubular shape, and a discharge port 43a of the filler 111 is opened at the lower end of the filler supply unit 43. The filler 111 is conveyed from the filler container 34 to each filler supply unit 43 through a hose 34a (see FIG. 4) and a flow path (not shown) in the attachment main body 41, and is discharged from each discharge port 43a. .. Further, the arrangement of the two filler supply portions 43 is the same as the arrangement of the two injection holes 11 (see FIG. 2) of the U-shaped groove block 1 described above.

According to this configuration, after the U-shaped groove block 1 is installed on the installation surface 109, each filler supply unit 43 is connected to the injection hole 11 of the U-shaped groove block 1 and filled from the filler container 34. When the material 111 is pumped, the filler 111 is filled between the bottom slab 3 and the installation surface 109 through the injection hole 11. In this case, the connection state between the filler supply unit 43 and the injection hole 11 may be, for example, a state in which the lower end portion of the filler supply unit 43 is inserted into the injection hole 11, or the filling state may be filled. The lower end surface of the material supply unit 43 may be in close contact with the upper surface 3a of the bottom slab 3 around the injection hole 11. As the filler 111, a curable filler (for example, mortar, air-kneaded mortar, curable resin, foamable curable material, etc.) can be used. Further, the filler 111 may be a non-curable filler (sand or the like). When the filler 111 is a powdery material (for example, air-kneaded mortar, sand, etc.), the filler 111 may be pumped by air from the filler container 34.

In the construction robot 20 as described above, for traveling of the crawler 23, operation of the robot arm 25, rotation of the block holding portion 37, rotation and expansion / contraction of the adjusting operation portion 39, pumping of the filler 111 by the filler container 34, and injection. Operations such as discharging and stopping the filler 111 by the attachment 29 are executed under the control of the control unit 24 (for example, a computer) of the construction robot 20, for example.

[Gutter construction method]
Subsequently, the details of the gutter construction method using the above-mentioned construction robot 20 will be described with reference to FIGS. 7 to 9. In this gutter construction method, first, as described above, the ground is excavated at the planned construction position of the gutter 100 to form a groove 103, and crushed stone is laid on the bottom surface of the gutter 103 to form a crushed stone layer 105 (FIG. FIG. 1). After that, the holding step, the adjusting step, the setting step, and the injection step described below are executed.

(Holding process)
As shown in FIG. 7A, first, in the holding step, the construction robot 20 inserts the holding attachment 27 between the side plates 5 of the U-shaped groove blocks 1 that have been temporarily distributed and temporarily placed. In this way, the corresponding block holding portions 37 are screwed into the four holding holes 7 on the upper surface 3a side of the bottom slab 3 while rotating. As a result, as shown in an enlarged manner in FIG. 7B, the four block holding portions 37 are screwed into the holding holes 7, respectively, and the construction robot 20 holds the U-shaped groove block 1. ..

(Adjustment process)
After that, in the adjustment step, the construction robot 20 holds the U-shaped groove block 1 as described above (see FIG. 7B) and enters the tool hole 17c of the adjusting leg 17 of the U-shaped groove block 1. On the other hand, the tool portion 39a of the adjustment operation unit 39 is inserted, and the adjustment operation unit 39 is rotated. By this operation (adjustment operation), the protrusion amount H of the adjustment operation unit 39 is adjusted.

There is an error from the design in the vertical position of the installation surface 109 (see FIG. 1), but in the adjustment step, the protrusion amount H is adjusted so as to cancel this error. That is, when the U-shaped groove block 1 after adjusting the protrusion amount H is installed on the installation surface 109 with the adjusting leg portion 17 as a leg, the vertical position of the bottom slab 3 and the vertical position of the U-shaped groove block 1 as a whole are designed. Become a street. Further, by executing the above-mentioned protrusion amount H adjustment at each of the four corners of the bottom plate 3, the inclination of the bottom plate 3 is also adjusted as designed. In order to enable such adjustment of the protrusion amount H, the construction robot 20 is provided with sensors (not shown) for detecting the position of the installation surface 109 and non-landing, and is U-shaped in the adjustment process. The position of the installation surface 109 and the non-landing position at the planned installation position of the groove block 1 may be recognized in advance by the above sensors.

(Installation process)
After that, in the installation process, as shown in FIG. 8A, the construction robot 20 drives and holds the first arm 25a and the holding attachment 27, and holds the U-shaped groove block 1 and the bottom plate 3 on the installation surface. Install on the installation surface 109 in a posture along the 109. Here, the U-shaped groove block 1 is installed with the adjusting leg portion 17 as a leg in a state where the grounding portion 17b is grounded on the installation surface 109. For example, here, the U-shaped groove block 1 is installed adjacent to the gutter 100 that has already been completed halfway. As described above, since the protrusion amount H of the adjustment operation unit 39 has been adjusted in the adjustment step, the vertical position and inclination of the U-shaped groove block 1 installed here as a whole are as designed.

After that, as shown in FIG. 8B, the construction robot 20 rotates the four block holding portions 37 to remove them from the holding holes 7, and the holding attachment 27 holds the U-shaped groove block 1. Is released, and the holding attachment 27 is separated from the U-shaped groove block 1.

(Injection process)
After that, in the injection step, as shown in FIG. 9A, the construction robot 20 inserts the injection attachment 29 between the side plates 5 of the U-shaped groove block 1 installed as described above. In this way, the corresponding filler supply portions 43 are connected to the two injection holes 11 on the upper surface 3a side of the bottom slab 3. Then, when the filler 111 is sent out from the filler container 34 (see FIG. 4), the filler 111 is injected between the bottom slab 3 and the installation surface 109 through the injection hole 11 as shown in FIG. 9 (b). And fill. Here, the adjusting leg 17 is buried in the filler 111. Prior to the injection of the filler 111, the formwork for the filler 111 may be installed in the space between the bottom slab 3 and the installation surface 109. After that, the construction robot 20 separates the injection attachment 29 from the U-shaped groove block 1 by driving the second arm 25b. When the filler 111 is curable, the injected filler 111 is cured and the U-shaped groove block 1 is reliably positioned. After the U-shaped groove block 1 is installed, the holding hole 7 and the injection hole 11 are filled with mortar or the like in order to form the upper surface 3a of the flat bottom slab 3. Alternatively, the holding hole 7 and the injection hole 11 may be filled with a dedicated hole filling member.

By repeating the holding process, the adjusting process, the installation process, and the injection process as described above, a large number of U-shaped groove blocks 1 are installed on the installation surface 109 so as to be continuous, and the necessary parts are backfilled. The gutter 100 is constructed.

When each of the above steps is repeatedly executed, the construction robot 20 may drive and move the crawler 23 as needed. Further, since the construction robot 20 includes two holding attachments 27 and two injection attachments 29, it is possible to handle two U-shaped groove blocks 1 at the same time. For example, during the execution of the adjustment step and the installation step by one holding attachment 27, the parallel work such as executing the next holding step of the U-shaped groove block 1 by the other holding attachment 27 becomes possible. Further, during the execution of the injection step by one injection attachment 29, parallel work such as preparing for the next injection step by the other injection attachment 29 becomes possible.

Further, the holding process, the adjusting process, the installation process, and the injection process as described above are realized by the control unit 24 of the construction robot 20 controlling and operating each part of the construction robot 20 according to a predetermined construction program. Will be done. Further, the construction robot 20 may autonomously execute the above control, and the gutter construction method may be executed unattended. The construction robot 20 is appropriately provided with various sensors (not shown) for acquiring the information necessary for the above control. The sensors include, for example, a GPS device for recognizing the current position of the construction robot 20, the position of the groove 103, the position and non-landing of the installation surface 109, the position and posture of the U-shaped groove block 1, and the like. Includes cameras and the like for Further, in order to facilitate the above recognition process, a predetermined marker that can be recognized by the above sensors may be attached to each part of the ground or the U-shaped groove block 1. Further, each part of the construction robot 20 may be driven by an electric power source such as a motor, or may be driven hydraulically.

Subsequently, the action and effect according to the present embodiment will be described.

In the present embodiment, since the construction robot 20 holds the U-shaped groove block 1 by the holding attachment 27 and installs it at a predetermined place, it is compared with the work of lifting and suspending the U-shaped groove block with a wire or the like. Therefore, the construction of the gutter 100 is easy and the safety is high. Further, the vertical position and inclination of the U-shaped groove block 1 to be installed are adjusted by the presence of the height adjusting portion 9 of the U-shaped groove block 1 and the adjusting operation unit 39 of the holding attachment 27, so that the U-shaped groove block 1 is formed in advance. Extremely high accuracy is not required for the vertical position of the installation surface 109, and the allowable range of non-landing of the installation surface 109 is also large. Therefore, the work of forming the installation surface 109 (the work of forming the crushed stone layer 105) is simplified, and the construction of the gutter 100 is facilitated.

Further, since the height adjusting portion 9 has a structure in which the adjusting leg portion 17 screwed into the through hole 15 is rotated to adjust the downward protrusion amount H from the bottom slab 3, the protrusion amount H can be adjusted with high accuracy. It can be adjusted, and as a result, high positional accuracy of the gutter 100 can be obtained.

Further, since the through hole 15 of the height adjusting portion 9 is formed on the bottom surface 7a concentrically with the holding hole 7, the holding hole 7 and the through hole 15 are arranged separately as compared with the case where the holding hole 7 and the through hole 15 are arranged separately. The number of holes formed in the bottom plate 3 is reduced, and the complexity of manufacturing the U-shaped groove block 1 is alleviated. In addition, the work of finally filling these holes with mortar or the like is also reduced. Further, since the holding hole 7, the height adjusting portion 9, and the injection hole 11 are arranged symmetrically with respect to the longitudinal direction and the width direction of the U-shaped groove block 1, the holding attachment 27 stabilizes the U-shaped groove block 1 in the vicinity of the center of gravity. Can be held and moved. Further, due to the symmetry of the shape of the U-shaped groove block 1 as described above, the control of the installation orientation of the U-shaped groove block 1 by the construction robot 20 is reduced.

Although one embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment, and may be modified without changing the gist described in each claim.
Each configuration of the above embodiment and each configuration according to each of the following modifications may be used in combination as appropriate.

For example, the precast product of the present invention is not limited to the U-shaped groove block and may be an L-shaped precast product. The structure construction method of the present invention may be applied to a retaining wall construction method in which the L-shaped precast products are arranged to construct an L-shaped retaining wall. Then, the attachment and the construction machine of the present invention may be applied to the retaining wall construction method.

Further, the construction machine in the present invention is not limited to the construction robot 20 having a plurality of arms, and may be any one provided with at least one arm capable of moving the U-shaped groove block 1 held. Further, instead of the construction robot 20, a heavy machine (construction machine) provided with an arm to which the attachment can be attached and detached may be used. Heavy equipment is preferable in that it can be prepared relatively easily at a construction site as compared with a robot as described above. On the other hand, if a robot equipped with a general-purpose vertical articulated robot arm is adopted, the arm can generally be driven with high accuracy as compared with a heavy machine, so that the installation position of the U-shaped groove block 1 can be controlled with high accuracy. It is preferable in that respect. Further, since many of the robots as described above are generally smaller than heavy machinery, they are preferable in that they can be installed in a narrow space.

The number of holding holes 7, height adjusting portions 9, and injection holes 11 formed in the U-shaped groove block 1 is not limited to that of the embodiment, and can be appropriately changed. The number of these is not limited to a plurality and may be a single number. According to the form in which three or more height adjusting portions 9 are provided (excluding the form in which all the height adjusting portions 9 are located on the same straight line), the inclination of the bottom slab 3 (U-shaped groove block 1). Since the inclination) can be adjusted in the biaxial direction, it is preferable that three or more height adjusting portions 9 are provided. Further, the arrangement of the holding hole 7, the height adjusting portion 9, and the injection hole 11 is not limited to that of the embodiment, and can be changed as appropriate.

Further, in the embodiment, the holding hole 7 and the height adjusting portion 9 are provided at concentric positions, but the present invention is not limited to this, and the holding hole 7 and the height adjusting portion 9 are each bottom plate. It may be provided at a distance of 3. Further, in the embodiment, the holding hole 7 is a non-penetrating recess that does not penetrate the bottom slab 3, but the holding hole 7 may be a hole that penetrates the bottom slab 3. At this time, the holding hole 7 and the injection hole 11 may be shared. That is, the through hole penetrating the bottom slab 3 may have both the functions of the holding hole 7 and the injection hole 11. According to this configuration, the number of holes and the like formed in advance in the U-shaped groove block 1 can be reduced.

Further, as shown in FIG. 10, the holding hole 7 is a non-penetrating recess that does not penetrate the bottom slab 3, and the injection hole 11 is held so as to penetrate from the bottom surface 7a of the recess to the bottom surface 3b of the bottom slab 3. It may be provided concentrically with the hole 7. In this case, the height adjusting portion 9 is provided at a position away from the holding hole 7 and the injection hole 11.

When the number and arrangement of the holding holes 7, the height adjusting portion 9, and the injection hole 11 are changed as described above, of course, the block holding portion 37, the adjusting operation portion 39, and the filler supply portion 43 are used. The number and arrangement of the above may be changed accordingly.

Further, in the embodiment, one robot arm 25 holds and moves the U-shaped groove block 1, but for example, a plurality of robot arms 25 hold and move one U-shaped groove block 1. Good.

Further, the form in which the holding attachment 27 holds the U-shaped groove block 1 is not limited to the form in which the block holding portion 37 is screwed into the holding hole 7, and may be a form as shown in FIG. .. As shown in FIG. 11, at the lower end of the cylindrical main body portion 84 of the block holding portion 83, overhanging keys 85 overhanging on both sides in the radial direction are provided. On the other hand, the holding hole 81 of the bottom slab 3 penetrates the bottom slab 3 in the thickness direction, and in a plan view, as shown in FIG. 11B, the block holding portion 83 including the overhanging key 85 is inserted. It has a shape. Then, as shown in FIG. 11B, the column main body portion is in a state where the block holding portion 83 is inserted into the holding hole 81 from the upper surface 3a side of the bottom slab 3 and the overhang key 85 protrudes below the bottom slab 3. 84 is rotated 90 °. As a result, the overhanging key 85 is hooked on the lower surface 3b of the bottom plate 3, and the holding attachment 27 holds the U-shaped groove block 1.

Further, the overhang key 85 may be movable and may be configured to be able to appear and fall in the radial direction from the outer peripheral surface of the cylindrical body portion 84. In this case, the holding hole 81 may be simply a circular hole in a plan view. Then, in this case, after the column body portion 84 is inserted into the holding hole 81 from above in a state where the overhang key 85 is pulled into the inside of the column body portion 84, the overhang key 85 is outside the bottom plate 3 below. You just have to overhang it.

Further, in the embodiment, the holding hole 7 is provided on the upper surface 3a of the bottom plate 3 of the U-shaped groove block 1, but the holding hole 7 is, for example, the inner side surface 5a of the side plate 5 of the U-shaped groove block 1 ( It may be provided in FIG. 1). That is, the holding hole 7 may be provided at any position on the inner wall surface of the U-shaped groove block 1 (for example, the upper surface 3a of the bottom plate 3 and the inner side surface 5a of the side plate 5). Alternatively, it is not essential that the holding hole 7 is provided on the inner wall surface of the U-shaped groove block 1, and the holding hole 7 is formed on the outer wall surface of the U-shaped groove block 1 (for example, the lower surface of the bottom plate 3 and the side plate 5). It may be provided on the outer side surface, the upper end surface of the side plate 5, etc.). Even when the holding hole 7 is provided on a surface other than the upper surface 3a (inner side surface 5a, etc.) of the bottom plate 3, the height adjusting portion 9 needs to be separately provided on the bottom plate 3.

When the holding holes 7 are provided on the inner side surface 5a of the side plate 5, for example, one holding hole 7 may be provided at each central portion of the opposite inner side surfaces 5a, and each inner side surface 5a may be provided. A plurality of holding holes 7 may be provided in each. When the holding hole 7 is provided on the inner side surface 5a, the holding attachment for holding the U-shaped groove block 1 corresponds to the holding hole 7 from the side surface of the attachment main body 35 (FIG. 5), for example. Depending on the number and arrangement, the block holding portion 37 (FIG. 5) may be configured to extend in the horizontal direction.

Further, the holding hole 7 provided on the inner side surface 5a of the side plate 5 may be manually filled with mortar or the like after the U-shaped groove block 1 is installed, or may be filled with a dedicated hole filling member. .. Alternatively, the holding hole 7 provided on the inner side surface 5a is less likely to interfere with the water flow in the gutter 100 as compared with the case where the holding hole 7 is provided on the upper surface 3a of the bottom slab 3, so that the holding hole 7 is left as it is even after the gutter 100 is completed. May be good.

Further, the holding hole provided on the inner side surface 5a may be the holding hole 7 having the female screw portion 7b as described with reference to FIG. 2, and instead of this, the holding hole 81 described with reference to FIG. 11 may be used. May be adopted. In this case, the holding attachment for handling the U-shaped groove block 1 has a block holding portion 83 (FIG. 11) extending in the horizontal direction instead of the block holding portion 37 extending in the horizontal direction as described above. You may.

An example of the above-described modification will be described with reference to FIGS. 12 and 13. In the modified example, the same or equivalent components as those in the above-described embodiment are designated by the same reference numerals, and duplicate description will be omitted. FIG. 12 is a perspective view showing a bottom slab 203 cut out from the U-shaped groove block 201 according to the modified example and a holding attachment 227 corresponding to the bottom slab 203. FIG. 13 is a cross-sectional view of XIII-XIII of the bottom plate 203.

In the bottom plate 203 of the U-shaped groove block 201 in this modification, two holding holes 7 located at both ends in the longitudinal direction and a total of four height adjustments located on both sides of each holding hole 7 in the width direction are adjusted. A portion 9 and two injection holes 11 are provided.

In this modification, one holding attachment 227 is attached to each of the two robot arms 25 (for example, the first arm 25a and the third arm 25c) of the construction robot 20. The holding attachment 227 is formed from a box-shaped main body portion 235, a block holding portion 37 protruding downward from the main body portion 235, a beam-shaped portion 236 protruding from the main body portion 235 on both sides in the width direction, and each beam-shaped portion 236. Each includes an adjustment operation unit 39 protruding downward.

The U-shaped groove block 201 is held by the first arm 25a via the holding attachment 227 on one end side in the longitudinal direction, and is held by the third arm 25c via the holding attachment 227 on the other end side in the longitudinal direction. Then, the U-shaped groove block 201 is moved by the cooperation of the first arm 25a and the third arm 25c. In this way, the U-shaped groove block 201 is held and moved by the two arms of the construction robot 20.

Specifically, the block holding portion 37 of one holding attachment 227 is screwed into the holding hole 7 on one end side in the longitudinal direction, and the block holding portion 37 of the other holding attachment 227 is on the other end side in the longitudinal direction. It is screwed into the holding hole 7 of. Then, from such a holding state, the two adjusting operation portions 39 provided in each holding attachment 227 are inserted into the through holes 15 of the corresponding height adjusting portions 9, and the tool portions 39a are inserted into the tool holes 17c. In this state, each adjusting leg 17 is rotated to adjust each protrusion amount H. In this way, one U-shaped groove block 201 may be handled by the two robot arms 25 of the construction robot 20.

1,201 ... U-shaped groove block (precast product), 3,203 ... bottom plate, 3b ... bottom surface, 7 ... holding hole (recess), 7a ... bottom surface, 9 ... height adjustment part, 11 ... injection hole, 15 ... Through hole, 17 ... adjustment leg, 27,227 ... holding attachment, 29 ... injection attachment, 20 ... construction robot (construction machine), 25 ... robot arm, 25b ... second arm (injection arm), 35 ... Attachment main body, 37, 83 ... Block holding part, 39 ... Adjustment operation part, 43 ... Filler supply part, 81 ... Holding hole, 100 ... Side groove (structure), 109 ... Installation surface, H ... Projection amount ..

Claims (13)

A structure construction method in which a precast product is installed on a predetermined installation surface to construct a structure containing the precast product.
A holding portion provided in a holding attachment attached to an arm of a predetermined construction machine is engaged with a holding hole provided in the precast product, and the precast product is held in the holding attachment. Process and
An installation process in which the precast product is installed at a predetermined position on the installation surface in a posture in which the bottom plate of the precast product is placed along the installation surface by driving the arm and the holding attachment by the construction machine. A structure construction method. The bottom slab is provided with a height adjusting portion for adjusting the height of the bottom slab from the installation surface.
The structure construction method according to claim 1, wherein the height adjusting portion has a through hole penetrating the bottom slab in the thickness direction. The height adjusting portion has an adjusting leg portion that is screwed into the through hole, projects downward from the bottom slab, and is in contact with the installation surface.
The adjustment operation unit provided on the holding attachment further includes an adjustment step in which the downward protrusion amount of the adjustment leg portion is adjusted by rotating the adjustment leg portion, and the height of the bottom slab is adjusted. The structure construction method according to claim 2. The holding attachment is
The structure construction method according to any one of claims 1 to 3, further comprising an attachment main body portion that can be attached to and detached from the arm and the holding portion that protrudes from the attachment main body portion. The construction machine further includes an injection arm provided separately from the arm.
The structure according to any one of claims 1 to 4, wherein an injection attachment for injecting a filler is detachably attached to the injection arm between the bottom plate and the installation surface. How to build things. The holding hole includes a non-penetrating recess provided on the upper surface of the bottom slab.
The structure construction method according to claim 3, wherein the through hole penetrates from the bottom surface of the recess to the bottom surface of the bottom slab. The bottom slab is provided with an injection hole that penetrates the bottom slab in the thickness direction.
The structure according to claim 5, further comprising an injection step in which a filler is injected between the bottom slab and the installation surface through the injection hole by driving the injection arm and the injection attachment by the construction machine. How to build things. An attachment that is attached to the arm of a given construction machine to hold a precast product.
The precast product is provided with a plurality of holding holes.
An attachment body that can be attached to and detached from the arm
An attachment including a plurality of holding portions that protrude from the attachment main body at positions corresponding to the holding holes and are engaged with the holding holes to hold the precast product. An attachment for injecting a filler between the bottom slab of a precast product attached to a predetermined construction machine arm and installed on a predetermined installation surface and the installation surface.
The bottom slab is provided with a plurality of injection holes penetrating the bottom slab in the thickness direction.
An attachment body that can be attached to and detached from the arm
An attachment including a plurality of filler supply portions that protrude from the attachment main body at positions corresponding to the injection holes and supply the filler to the injection holes. A precast product that forms part of a structure that is installed and constructed on a predetermined installation surface by a predetermined construction machine.
The bottom slab placed along the installation surface and
A holding hole including a non-penetrating recess provided on the upper surface of the bottom slab and with which the holding portion of the construction machine is engaged
The adjusting leg includes a through hole penetrating from the bottom surface of the recess to the lower surface of the bottom slab, and an adjusting leg portion that is screwed into the through hole and projects downward from the bottom slab and touches the installation surface. A precast product including a height adjusting portion that allows the downward protrusion amount of the adjusting leg portion to be adjusted by rotating the portion. A construction machine used in a structure construction method in which a precast product is installed on a predetermined installation surface to construct a structure containing the precast product.
The precast product is
A holding hole provided in any part of the precast product,
The adjusting leg includes a through hole that penetrates the bottom plate of the precast product in the thickness direction, and an adjusting leg that is screwed into the through hole and protrudes downward from the bottom plate and touches the installation surface. It is equipped with a height adjustment unit that can adjust the amount of protrusion of the adjustment leg downward by rotation.
A first arm to which a holding attachment for holding the precast product is attached.
The holding attachment is
An attachment body that can be attached to and detached from the first arm
A holding portion that protrudes from the attachment main body at a position corresponding to the holding hole and is engaged with the holding hole to hold the bottom plate.
A construction machine having an adjustment operation unit that protrudes from the attachment main body at a position corresponding to the adjustment leg and engages with the upper end of the adjustment leg to rotate the adjustment leg. The precast product further includes an injection hole that penetrates the bottom plate in the thickness direction.
The construction machine according to claim 11, further comprising a second arm to which an injection attachment for injecting a filler through the injection hole is attached between the bottom plate of the precast product and the installation surface. The injection attachment is
An attachment body that can be attached to and detached from the second arm
The construction machine according to claim 12, further comprising a filler supply unit that protrudes from the attachment main body at a position corresponding to the injection hole and supplies the filler to the injection hole.

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