JP2878652B2 - Steel frame assembly method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technical field related to a steel frame assembling method for transporting a steel frame to an assembling position in a construction work of a building or the like.

[0002]

2. Description of the Related Art Generally, in construction work of a building or the like,
Scaffolding is provided around a building to be constructed, workers are arranged, a steel frame is hung and lifted by a crane, and the steel frame is transported to an assembly position by a worker's assistance.
However, use of a robot instead of a worker is being studied from the viewpoint of ensuring the safety of the worker and the efficiency of transporting the steel frame.

Conventionally, as a steel frame assembling method using a robot, for example, Kashima Technical Research Institute Annual Report No. 43, 1995
Is described in “Development of Robot System for Predicting and Grasping of Swing of Suspended Load” on pages 275 to 280 on December 20, 2013.

[0004] This conventional steel frame assembling method is based on a crane that suspends and lifts a steel frame, and a three-dimensional position of a steel frame that is mounted on pillars and beams that are already assembled and that is suspended by the crane. , A robot having a visual sensor for detecting a posture, cooperating with a robot for capturing a steel frame, and, when transporting the steel frame to an assembling position, a controller having arithmetic means for predicting the deflection of the steel frame from a detection signal of the visual sensor. The robot catches the robot in synchronization with the swing of the steel frame. As a visual sensor, a CCD using two slit lights is used.
A system that detects the three-dimensional position and orientation of a steel frame from the coordinates of pixels on the imaging surface of a camera and a histogram of normal vectors is adopted (see Japanese Patent Application Laid-Open No. 6-281433).

In this conventional steel frame assembling method, since the robot synchronizes with the deflection of the steel frame, the impact and load applied to the robot when capturing the steel frame are attenuated.

[0006]

In the above-described conventional steel frame assembling method, the equipment position of the robot is selected at an appropriate place near the assembling position, such as a column or a beam, which is considered to be optimal according to experience. However, in the equipment position, the robot may not be able to tune in position due to the inherent deflection of the steel frame suspended by the crane being lifted to the assembly position. is there. For this reason, there is a problem that the installation position of the robot must be changed, and the assembling work becomes inefficient.

Further, there is a problem that the robot may be damaged if a sudden large impact or load is applied to the robot capturing the steel frame due to sudden factors such as a gust of wind or slipping of the hanging fixture.

The present invention has been made in consideration of the above problems, and has been made in consideration of the inherent swing of a steel frame suspended by a crane which is lifted to an assembly position. An object of the present invention is to provide a steel frame assembling method capable of increasing the load-bearing capacity of a robot.

[0009]

In order to solve the above-mentioned problems, the steel frame assembling method according to the present invention employs the following means.

That is, according to the first aspect, a crane which suspends and lifts a steel frame, and a three-dimensional position of a steel frame which is mounted on a column, a beam or the like which is already assembled and which is suspended by the crane. When a robot having a visual sensor for detecting a posture and cooperating with a robot that captures a steel frame and transporting the steel frame to an assembling position is used, a robot having a calculation unit that predicts the deflection of the steel frame from a detection signal of the visual sensor is used. In a steel assembly method that synchronizes and captures the movement of a steel frame, the robot has a moving mechanism that can move along columns, beams, etc., and an outrigger that reinforces load bearing at the equipment position. After moving the robot to the optimal equipment position and operating the outrigger by the controller having the calculation means for selecting the optimal equipment position of the robot from
It is characterized in that the robot is captured in synchronization with the deflection of the steel frame.

According to this means, the optimum equipment position of the robot for capturing the steel frame is selected from the detection signal of the visual sensor for the inherent deflection of the steel frame suspended by the crane lifted to the assembly position. And move the robot. Operating the outrigger reinforces the load-bearing capability of the robot.

According to a second aspect of the present invention, in the steel frame assembling method according to the first aspect, at least two hands, each of which is selected from an operation state in which the robot is mounted on a pillar, a beam or the like to support its own weight, and a release state in which it is released. And a hand unit is used for both capturing the steel frame and moving the robot.

According to this means, the robot can be made compact by using the hand part for both purposes.

According to a third aspect of the present invention, in the steel frame assembling method of the first or second aspect, a load sensor for detecting a load applied from the steel frame captured by the robot is provided, and a load exceeding an allowable range is applied to the robot from the captured steel frame. The feature is that the steel frame is released when it is released.

In this means, damage to the robot can be avoided by once releasing the captured steel frame.

According to a fourth aspect of the present invention, in the steel frame assembling method according to any one of the first to third aspects, a bolt inserting manipulator for inserting a bolt for assembling a steel frame into a steel frame is mounted on a robot and transported to an assembly position. The invention is characterized in that the steel frame is captured by a robot and bolts for steel frame assembly are inserted through the steel frame.

In this means, the bolt is inserted through the steel frame, with the robot capturing the steel frame temporarily.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a steel frame assembling method according to the present invention will be described below with reference to the drawings.

In this embodiment, a crane 1 and a robot 2 cooperate with each other, as in the above-described conventional example.

The crane 1 is of a general construction lifting type, and lifts a steel frame 3 by suspending it.

The robot 2 is of a type equipped so as to be attached to columns and beams 4 which are already assembled steel frames 3, and moves along the columns and beams 4 and is suspended by the crane 1. The steel frame 3 is captured in synchronization with the steel frame 3.

As shown in detail in FIG. 1, the robot 2 has two hand units 2a connected by a main unit 2b. The hand portion 2a is formed by assembling a pair of L-shaped holding pieces 2a 'to the support frame 2a "so that they can approach and separate from each other. When the holding pieces 2a' approach, the steel frame 3 (post, beam, etc. 4) is held. It can be attached and released.
The main body 2b includes two shafts 2c, 2 arranged in the orthogonal direction.
d, the hand part 2a is rotatable at both ends.
Are connected to each other, and the length can be changed by dividing itself. Therefore, the robot 2 constitutes an articulated robot having seven degrees of freedom. In addition, the actuator 5a which changes seven degrees of freedom is
Although not shown in FIG. 1, the hand section 2a and the main body section 2b
And the shaft 2d.

The one hand portion 2a of the robot 2 is provided with an outrigger 6 having a structure like a support leg between the hand portion 2a and the steel frame 3 (posts, beams, etc. 4).
The other hand unit 2a is provided with a load sensor 7 for detecting a load applied to the hand unit 2a. Also,
A visual sensor 8 (similar to the above-described conventional example) for detecting a three-dimensional position and posture of the steel frame 3 suspended by the crane 1 and a bolt for assembling the steel frame into the steel frame 3 are inserted into the main body 2b. A bolt insertion manipulator 9 and a bolt insertion manipulator actuator 5b are provided.

A controller 1 for controlling the robot 2
0, as shown in detail in FIG.
And a driver 10b for transmitting a drive command to the actuators 5a and 5b of the robot 2, and a memory 10c connected to the input unit 11 for inputting and storing various information. The detection signals of the load sensor 7 and the visual sensor 8 provided in the robot 2 are transmitted to the CPU 10a. Two arithmetic means 10d and 10e are interposed between the CPU 10a and the visual sensor 8. One calculating means 10d predicts the deflection of the steel frame 3 suspended on the crane 1 from the detection signal of the visual sensor 8, and selects the operation of the actuator 5a for synchronizing and capturing the robot 2 with the deflection of the steel frame 3. , And a circuit configuration for calculating an operation amount and the like. Further, another one of the arithmetic means 10 e predicts the deflection of the steel frame 3 suspended on the crane 1 from the detection signal of the visual sensor 8, and synchronizes the robot 2 with the deflection of the steel frame 3 to capture the robot 2. There is provided a circuit configuration for selecting the most suitable equipment position.

According to this embodiment, at the time of assembling the steel frame, the memory 10c of the controller 10
Enter various information in The information includes a steel frame assembly design drawing of a building to be built, an assembling position (connection point), a weight and a size of the steel frame 3 of each part, and the like.

Then, an assembling position A where the steel frame 3 is to be assembled is instructed to the controller 10 using the input unit 11 or the like. At this time, the robot 2 is waiting at the equipment position B ′ near the previously assembled position A ′.

When the assembling position A is instructed by the controller 10, the visual sensor 8 of the robot 2 confirms the assembling position A as shown in FIG. And C of the controller 10
The operation selection and the operation amount of the actuator 5a of the robot 2 are calculated between the PU 10a and the memory 10b, and a drive command is transmitted to the actuator 5a via the driver 10b.

When the actuator 5a is driven, the robot 2 assembles while holding the column, beam or the like 4 by one hand 2a and rotating and expanding / contracting the other hand 2a and the main body 2b. It extends to another position of the column, beam or the like 4 approaching the position A, and clamps and mounts the column, beam or the like 4 with the other hand part 2a. Then, the one hand portion 2a, which has previously sandwiched and attached the column, beam, etc. 4, is separated from the column, beam, etc. 4, and is operated in the same manner as the other hand portion 2a. As a result, robot 2
Moves along the pillars, beams and the like 4 like a shark insect, approaches the assembly position A, and stops near the assembly position A.

The robot 2 stopped near the assembly position A
As shown in FIG. 4, the three-dimensional position and posture of the steel frame 3 suspended by the crane 1 are detected by the visual sensor 8. The detection signal of the visual sensor 8 is transmitted to the calculating means 10e of the controller 10, and is calculated with information on the steel frame 3 and the like of the memory 10c to predict the deflection of the steel frame 3 suspended on the crane 1, An optimal mounting position B of the robot 2 for synchronizing and capturing the deflection of the steel frame 3 with the deflection of the steel frame 3 (that is, the impact and load when capturing the steel frame 3 can be most attenuated) is selected. Then, an operation selection, an operation amount, and the like of the actuator 5a of the robot 2 are calculated between the CPU 10a of the controller 10 and the memory 10b, and a drive command is transmitted to the actuator 5a via the driver 10b. On the other hand, the detection signal of the visual sensor 8 is also transmitted to another calculating means 10d of the controller 10, and is calculated with information on the steel frame 3 and the like of the memory 10c, and the deflection of the steel frame 3 suspended by the crane 1 is calculated. Is calculated, and the operation selection, the operation amount, and the like of the actuator 5a of the robot 2 for synchronizing and capturing the swing of the steel frame 3 are calculated.

When the actuator 5a is driven, the robot 2 moves to the equipment position B. This movement is
Very short distance.

The robot 2 having moved to the equipment position B separates the hand portion 2a provided with the load sensor 7 from the column, beam or the like 4 in order to capture the steel frame 3 suspended by the crane 1. At the same time, the outrigger 6 provided on another hand unit 2a is operated.

Subsequently, the robot 2 moved to the equipment position B
Is immediately followed by the actuator 5a from the driver 10b.
In response to a drive command to the cranes 1, a swing operation or the like is performed in synchronization with the swing of the steel frames 3 suspended by the crane 1, and the steel frames 3 suspended by the crane 1 are captured. The capture of the steel frame 3 is performed by the same operation as the clamping of the columns, beams, and the like 4 of the hand portion 2a.

When the steel frame 3 suspended by the crane 1 is captured, the robot 2 detects the load on the robot 2 from the steel frame 3 by the load sensor 7.

When the detection signal transmitted from the load sensor 7 is a load exceeding the allowable range of the robot 2, the CPU 10a of the controller 10
To release the pinching of the hand portion 2a of the robot 2 for releasing the robot. As a result, the robot 2 is not damaged by a large load or the like. Thereafter, the three-dimensional position of the steel frame 3 suspended on the crane 1 by the visual sensor 8,
The posture is detected again, and the movement to the equipment position B is performed again.
Synchronization and capture are performed.

When the detection signal transmitted from the load sensor 7 is a load within the allowable range of the robot 2, the drive command from the driver 10b to the actuator 5a causes
The captured steel frame 3 is transported to the assembly position A in cooperation with the crane 1. At this time, even if a large load or the like is applied to the robot 2 due to a sudden
Since the load resistance of the robot 2 is reinforced, the robot 2 does not lose its posture and is not damaged.

With respect to the steel frame 3 transported to the assembly position A, the driver 10b issues a drive command to the actuator 5b, so that the bolt 3 is inserted into the steel frame 3 by the manipulator 9 for bolt insertion.
A bolt for steel frame assembly is inserted. At this time, the function of temporarily stopping the steel frame 3 is performed while maintaining the capture of the steel frame 3 by the hand unit 2a of the robot 2.

Thereafter, the capture of the steel frame 3 by the hand portion 2a of the robot 2 and the operation of the outrigger 6 are released, and
The robot 2 is moved to the next assembly position and equipment position.

As described above, in addition to the illustrated embodiment, the operation of the crane 1 can be controlled by the controller 10.

[0039]

As described above, in the steel frame assembling method according to the present invention, the steel frame is detected from the detection signal of the visual sensor in response to the inherent vibration of the steel frame suspended by the crane lifted to the assembly position. Since the optimal equipment position of the robot when capturing is selected and the robot is moved, the position of the robot does not become impossible or inadequate, and the equipment position of the robot can be changed. Since it is not necessary, there is an effect that the assembling work can be performed efficiently.

Further, since the load resistance of the robot is reinforced by the outrigger, there is an effect that the robot does not change its posture due to sudden factors or the like and is not damaged.

[Brief description of the drawings]

FIG. 1 is a perspective view of one step showing an embodiment of a steel frame assembling method according to the present invention.

FIG. 2 is a control block diagram of a robot which is a main part of the embodiment of the steel frame assembling method according to the present invention.

FIG. 3 is a perspective view of a step preceding FIG. 1;

FIG. 4 is a perspective view of a step following FIG. 3;

FIG. 5 is a flowchart showing an operation of each part of the embodiment of the steel frame assembling method according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Crane 2 Robot 2a Hand part 3 Steel frame 4 Column, beam, etc. 5a, 5b Actuator 6 Outrigger 7 Load sensor 8 Visual sensor 9 Manipulator for bolt insertion 10 Controller 10d, 10e Calculation means A, A 'Assembly position B, B' Equipment position

──────────────────────────────────────────────────の Continuing on the front page (72) Inventor Katsura Ogasawara 2-9-1, Tobita-Ki, Chofu-shi, Tokyo Kashima Construction Co., Ltd. (72) Inventor Hiroshi Uchimura 19-1, Tobita-Kiyita, Chofu-shi, Tokyo No. Kajima Corporation Technical Research Institute (56) References JP-A-6-281433 (JP, A) JP-A-5-65766 (JP, A) JP-A-62-249771 (JP, A) JP 5-33497 (JP, A) JP-A-4-315664 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) E04G 21/14

Claims (4)

(57) [Claims] 1. A crane for suspending and lifting a steel frame, and a visual sensor for detecting a three-dimensional position and posture of a steel frame mounted on a column, a beam, or the like, which is an already assembled steel frame, and suspended by the crane. When the robot is provided with a sensor and cooperates with a robot that captures the steel frame, and when the steel frame is transported to the assembly position, the robot having a calculation unit that predicts the deflection of the steel frame from the detection signal of the visual sensor is used to control the robot to shake the steel frame. In a steel frame assembly method that synchronizes and captures, the robot is equipped with a moving mechanism that can move along columns, beams, etc., and an outrigger that reinforces load bearing at the equipment position. After moving the robot to the optimal equipment position and operating the outrigger by the controller having the calculation means for selecting the equipment position, the robot is synchronized with the deflection of the steel frame and captured. Steel assembly method characterized by the fact that 2. The steel frame assembling method according to claim 1, further comprising at least two hand portions each of which is selected from an operation state in which the robot is attached to a column, a beam, and the like to support its own weight and a release state in which the robot is released. A method of assembling a steel frame, wherein the part is used for both capturing the steel frame and moving the robot. 3. The steel frame assembling method according to claim 1 or 2, further comprising a load sensor for detecting a load applied from the steel frame captured by the robot, wherein the steel frame is loaded when a load exceeding an allowable range is applied to the robot from the captured steel frame. A steel frame assembly method characterized by being released. 4. The steel frame assembling method according to claim 1, wherein the robot is provided with a bolt insertion manipulator for inserting a bolt for steel frame assembly into a steel frame, and the robot of the steel frame transported to the assembly position. Maintain capture,
A steel frame assembling method characterized by inserting a steel frame assembling bolt through a steel frame.