JP2756617B2 - Moving equipment for working on the side of the building - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving apparatus for working on the side of a building, which is advantageous for automating the side construction of a building having a large-area side surface on a lower floor such as a factory building.

[0002]

2. Description of the Related Art When performing side construction of a building such as installation of an outer wall or painting work, a temporary scaffold for work is first erected by an eavesman or the like so as to surround the side of the building. Next, the outer wall material made of a lightweight cellular concrete plate or the like is transported to the lower part of the temporary scaffold near the mounting position. next,
The outer wall material is lifted to the mounting position by the simple lifting means installed on the temporary scaffold, and the installation work on the temporary scaffold performs the installation work of the outer wall material. Next, after the installation of the outer wall material is completed, the sealing work seals the joint while moving on the temporary scaffold. In addition, depending on the specifications, the painter performs painting while moving on the temporary scaffold to finish the outer wall. After the installation and finishing work of the outer wall material is completed, the temporary scaffolding will be dismantled and removed by tombyards etc. while repairing the outer wall part of the fixed trace of the wall connecting material to prevent the scaffold from falling.

[0003]

However, such a conventional construction method has the following problems. Since a scaffold for work is required, a large amount of scaffolding materials and a large number of tombs are required for erection and dismantling. External wall construction and the like require a plurality of different tasks, and require multiple types of technicians. It is a work at a high place, and because of the outside work, unsafe work is forced by the weather and the schedule is delayed due to rainfall and the like. The finishing work on the shadow of the scaffolding is troublesome and uneven painting is possible, and the appearance of the outer wall is poor due to the repair of the wall connecting material traces to prevent the scaffold from falling. Therefore, without using the conventional temporary scaffold,
It is conceivable that a work robot automatically performs the side construction of these buildings. In this case, how to move the work robot up, down, left, and right on the side of the building becomes a problem. The present invention has been devised in view of the above circumstances, and an object of the present invention is to provide a moving apparatus for side work of a building that is advantageous when a work robot automatically performs side work of the building.

[0004]

In order to achieve the above object, the present invention provides a guide rail installed at the upper end of a side surface of a building along the side surface and extending horizontally. A traveling frame suspended so as to be able to travel, and a lifting frame for mounting a work robot, which is vertically movably disposed on the traveling frame, are provided, and the guide rail is supported by a receiving beam that supports an eaves gutter. It is characterized by. Further, the present invention is characterized in that a leg portion is provided at a lower portion of the traveling frame so as to be capable of extending and contracting up and down and to contact the ground by extending. Further, the present invention is characterized in that a rollable roller is provided at a lower portion of the traveling frame, the roller being in contact with a lower portion of a side surface of the building.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below in connection with the case of performing a side construction of a two-story factory building. FIG. 1 is a schematic perspective view of a side work moving device according to the present invention. A side work moving device 3 is provided on a side surface 1A of a two-story factory building 1. FIG. As shown in a front view in FIG. 2 and a sectional side view in FIG. 3, the moving device 3 has a guide rail 5 extending horizontally along the side 1A at the upper end of a building side 1A, And an apparatus main body 7 that moves along the line 5. The apparatus main body 7 includes a traveling frame 11 suspended movably on the guide rail 5 and an elevating frame 13 for mounting a work robot, which is disposed on the traveling frame 11 so as to be vertically movable.
And

FIG. 8 is a view showing the completion of the eaves gutter. The guide rail 5 reinforces the steel-made receiving beam 17 of the eaves gutter 15 as shown in FIGS. I do. The traveling frame 11 includes left and right vertical frames 19 and 19 and upper and lower frames 21 and 23. The vertical frame 19 and the upper frame 21 are formed of a plurality of pipe materials. Are arranged. The upper frame 21 is provided with a wheel 27 that engages with the guide rail 5 with a bracket 29.
The wheels 27 are rotated by the power of a traveling motor (not shown) supported by the bracket 29,
The traveling frame 11 travels along the guide rail 5.
An extendable leg 31 is provided in a lower frame 23 located below each vertical frame 19. In this embodiment, the leg 31 is constituted by a jack.
Is extended, the lower part thereof is grounded, the weight applied to the traveling frame 11 is borne by the legs 31, and when moving, it is contracted to separate from the ground.

The lower frame 23 is provided with a roller 33 which can be brought into contact with the lower part of the building 1.
By rolling the lower part of the vehicle, the posture of the traveling frame 11 during traveling is stabilized. Left and right vertical frame 1
9 are vertically extending guide rails 35, respectively.
The lifting frame 13 is provided with rollers 37 at both ends engaged with the lifting guide rail 35.

For raising and lowering the lifting frame 13, for example, a lifting motor may be provided on the lifting frame 13 and the roller 37 may be driven to rotate by the power of the lifting motor so as to be raised or lowered. , 23 may be arranged respectively, a chain may be mounted between the two sprockets, this chain may be connected to the lifting frame 13, and the chain may be raised and lowered by being driven by a motor for lifting and lowering. A work robot 41 and a control panel 43 are mounted on the elevating frame 13, and the work robot 41 can perform an outer wall material 45 mounting operation, a drilling operation, and a bolt tightening operation. The work robot 41 is controlled.

The work robot 41 has an arm 47 which can be controlled to move in a three-dimensional direction.
An adsorption board 51 for holding the outer wall material 45 via the attachment 49 is provided, and a perforation / bolt fastening device 53 is provided. The control panel 43 is provided with a control device such as a microcomputer, for example. The control device is in accordance with a program pre-installed therein, or when a keyboard is separately connected to the control device. The operation of the work robot 41 and the elevating motor is controlled so that the outer wall material 45 is mounted at a predetermined position in order from the lower side to the upper side of the side surface 1A of the building in accordance with the input content from the keyboard. When the installation of the outer wall material 45 on the portion facing 11 is completed,
The operation of the traveling motor is controlled so that the traveling frame 11 is moved laterally, and the legs 31 are controlled so that the traveling frame 11 is extended during work and reduced during movement.

Next, an operation of attaching the outer wall member 45 will be described. First, the leg 31 is reduced to move the apparatus main body 7, the leg 31 is grounded at a predetermined position on the side surface 1 </ b> A of the building, and the apparatus main body 7 is fixed. Next, as shown in FIG. 4 and FIG.
Thereby, the mounting hole 57 is opened at a predetermined position of the stud 55. Next, as shown in FIG. 5, the truck 59 on which the outer wall material 45 is loaded faces the apparatus main body 7 and is stopped.

Next, an outer wall material 45 is
Is lifted from the carrier and brought into contact with a predetermined position of the stud 55 as shown in FIG. Next, as shown in FIG. 10, the outer wall material 45 is fastened to the stud 55 by the screw bolt 61 through the mounting hole 57 by the perforation / bolt fastening device 53. When the outer wall material 45 is fastened to the stud 55, the outer wall material 45 is again lifted from the carrier, and the outer wall material 45 is removed.
Are sequentially attached to the upper part of the outer wall material 45 already fastened to the stud 55. Then, after the work of attaching the outer wall material 45 on the entire surface of the building side 1A facing the apparatus body 7 is completed, the hole formed by the head of the screw bolt 61 formed on the surface of the outer wall material 45 is closed, and the joint is sealed. Then, painting is performed and the side work is completed.

These operations may be performed by the operation robot 41 by adding various devices.
From the arm 47 to the suction plate 51 and the drilling / bolt tightening device 53
7, a sealing painting device 63 may be attached to the arm 47 as shown in FIG. 7, and the sealing painting device 63 may be used. Alternatively, another device body 7 different from the device body 7 may be suspended on the guide rail 5. And this device body 7
The work robot 41 having the sealing coating device 63 mounted thereon is mounted thereon, and the device main body 7 including the sealing coating device 63 is moved to a position where the outer wall material 45 has been mounted by the device main body 7. Good.

According to this embodiment, a temporary scaffold is not required, and after the work is completed, the work of removing the guide rail 5 from the receiving beam 17 of the eaves gutter 15 is sufficient. After the repair work, the work robot 41 is mounted on the elevating frame 13, so that the efficiency of the side work of this kind of building can be remarkably improved. Although the guide rail 5 is attached using the receiving beam 17 of the eaves gutter 15 in the embodiment, the guide rail 5 may be attached using the roof of the building 1 or a member on the roof side. The work on the side of the building is not limited to the work of attaching the outer wall material 45 and the work of sealing painting, but can be applied to various works.

[0014]

As is clear from the above description, the present invention
A guide rail is provided at the upper end of the side surface of the building along the side surface and extended in the horizontal direction, a traveling frame suspended on the guide rail so as to be able to travel, and a vertically movable movable member mounted on the traveling frame. And a lift frame for mounting the work robot, and the guide rail is supported by a support beam supporting an eaves gutter. Therefore, a moving apparatus for working on the side of a building, which is advantageous in automatically performing the building on the side of the building with a working robot, can be obtained.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view of a side work moving device.

FIG. 2 is a front view of the side work moving device.

FIG. 3 is a cross-sectional side view of the side work moving device.

FIG. 4 is an explanatory diagram of a drilling operation by a work robot.

FIG. 5 is an explanatory diagram for carrying an outer wall material into the apparatus main body.

FIG. 6 is an explanatory diagram of attaching an outer wall material by a work robot.

FIG. 7 is an explanatory diagram of a work robot including a sealing application device.

FIG. 8 is a diagram showing the completion of finishing the eaves gutter.

FIG. 9 is a perspective view showing an attached state of an outer wall material to the stud.

FIG. 10 is a sectional side view showing a state where an outer wall material is attached to a stud.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Two-storey factory building 3 Side work moving device 5 Guide rail 7 Device main body 11 Traveling frame 13 Elevating frame 41 Work robot 45 Exterior wall material

Claims (3)

(57) [Claims] 1. A guide rail installed at the upper end of a side surface of a building so as to extend along the side surface and extend in a horizontal direction; a traveling frame suspended so as to be able to travel on the guide rail; An elevating frame for mounting a work robot arranged so as to be movable up and down , wherein the guide rail is supported by a receiving beam supporting an eaves gutter.
A moving device for working on the side of a building. 2. The side work moving device for a building according to claim 1, wherein a leg portion that extends and contracts up and down and contacts the ground by being extended is provided at a lower portion of the traveling frame. 3. The side of a building at a lower portion of the traveling frame.
Rollable roller abutting on the lower part of the surface is provided
The moving device for side work of a building according to claim 1.