JP3065166B2 - Positioning device for frame structures - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning device for a frame structure capable of accurately positioning a positioning table on each frame portion of the frame structure, and for example, on a panel generated at the time of assembling a hull block or the like. This is effective for positioning of a welding robot when performing automatic welding of a part framed by a transformer and a longe.

[0002]

2. Description of the Related Art One of the construction methods of large structures is a block construction method, which is also employed in the construction of large ships, in which blocks, which are various framework structures, are combined.

For example, a hull slab block, which is one of the frame structures, has a flat panel 1 as shown in FIG.
A plurality of rows of longes 2 are arranged on the surface of the transformer, and the transformers 3 are arranged at regular intervals in a direction orthogonal to the longes 2,
Each of the intersections 5 of the framed portions 4 surrounded by three sides or four sides formed by the panel 1, the longe 2, and the transformer 3 is welded.

[0004] Such a hull flat plate block B first comprises:
After disposing the components such as the panel 1, the longitude 2, and the transformer 3, and performing temporary welding and assembling, the assembly is conveyed onto a surface plate, and the intersection 5 of the framed portions 4 is fully welded. Is done.

Conventionally, when performing the main welding of the hull flat plate block B, an operator performs welding while setting several automatic welding devices in each framed portion 4.
The use of automatic welding by a welding robot is being studied for the purpose of further improving the efficiency of welding work.

[0006]

In order to perform automatic welding by such a welding robot, welding is performed on each panel 1 of the tentatively assembled hull flat plate block B, a part 2 framed by a longe 2 and a transformer 3. It is necessary to transport and install the robot, and unless the positioning of the welding robot is performed with high precision, welding cannot be performed automatically according to a program taught in advance.

On the other hand, for example, one of the hull flat plate blocks B is as large as about 25 m × 25 m, and if it is intended to develop a transfer device capable of positioning the respective framed portions 4 with high precision, a very large transfer is required. A positioning device is required.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems in the prior art, and will provide a positioning device for a framed structure which can be positioned with high accuracy by a simple device even with a large framed structure. It is assumed that.

Another object of the present invention is to provide a positioning device for a framework structure, which can perform the process from the transfer to the framework structure to the positioning with high precision.

[0010]

In order to solve the above-mentioned problems, a positioning device for a frame structure according to the present invention comprises: a positioning table disposed on a bottom plate of the frame structure and having a traveling wheel ;
Positioning provided on both sides of this positioning table in the positioning direction
A retractable positioning arm in a direction, the positioning
Arm at the same pressure stroke
Press against the wall, run the positioning table with the reaction force,
It is positioned at the center on the bottom plate .

In the positioning apparatus for a frame structure according to the present invention, the positioning table according to the first invention is provided with running wheels capable of traveling in a positioning direction and a direction orthogonal thereto, and the positioning arm and the positioning arm of the positioning table are provided. At the front end, a suction member is provided, which is attached in a direction perpendicular to the frame structure and is suctioned to the wall surface of the framework structure. A positioning arm is provided.

Further, the positioning device for a framework structure according to the present invention includes a transport mechanism for transporting the positioning table of the first and second aspects of the invention to the framework structure for coarse positioning with a traveling mechanism driven to travel. And a traversing mechanism that is traversed in a direction orthogonal to this, and a winding type elevating mechanism that is driven up and down along an extendable telescopic guide.

[0013]

According to the positioning device for the frame structure, both sides of the positioning table having wheels and capable of traveling in the positioning direction are provided.
The positioning arm, which is extended with a constant pressure equal stroke, protrudes from it and presses it against both side walls of the frame structure , and the reaction force
The positioning table is run to position the positioning table at the center on the bottom plate. Regardless of the location of the first positioning table, the positioning table can always be positioned on the center bottom plate on both side walls.

Thus, the welding robot is operated based on the center of the wall of the frame structure, so that automatic welding to the frame structure such as a large hull flat plate block can be easily performed.

According to the positioning device for a framed structure, the positioning direction of the positioning table provided with wheels and capable of traveling in the direction perpendicular to the positioning direction is the same as in the first invention. A positioning arm that is extended and contracted with an equal pressure stroke is protruded and applied to both side walls of the framed structure so that the positioning table is moved to the center so that positioning is performed. After the suction member is sucked to the wall, the telescopic positioning arm is adjusted to a certain length while the suction member is being sucked, and the positioning table is run to position it at a certain position from the wall. Regardless of the position of the positioning table, it can always be positioned at a predetermined position with respect to the three side walls.

Thus, the welding robot is operated with reference to the three walls of the frame structure, so that automatic welding to the frame structure such as a large hull flat plate block can be easily performed.

Further, according to the positioning device for a framed structure, a transport mechanism for transporting the positioning table of the first and second inventions to both side walls of the framed structure or a portion having three walls is provided. The traveling mechanism has the same configuration as the overhead traveling crane and is driven by a traveling mechanism, the traversing mechanism is traversed in a direction perpendicular to the traveling crane, and the winding type elevating mechanism is equipped with a telescopic guide to prevent shaking. Since the positioning accuracy is performed by the positioning table itself, it is only necessary to roughly perform the positioning by the transport mechanism, so that the structure of the transport mechanism can be simplified.

[0018] This makes it possible to carry out the process from the transfer of the positioning table to the framework structure to the final positioning easily and with high accuracy, and also to easily perform automatic welding of the framework structure such as a large hull flat plate block by a welding robot. it can.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the drawings. 1 to 6 relate to an embodiment of a positioning device for a framework structure according to the present invention, FIG. 1 is a perspective view showing a part of the entire configuration as seen through, FIG. 2 is a side view, FIG.
4 is a front view, FIG. 5 is a schematic perspective view of a positioning arm, and FIG. 6 is a schematic perspective view of a telescopic positioning arm.

The positioning device 10 for this frame structure is
For example, a hull flat plate block B for constructing a hull is used as a frame structure, and is used for positioning a welding robot R at each framed portion.

The positioning device 10 for the frame structure is
As shown in FIGS. 1 to 4, a positioning table 11 to be positioned is provided.
Four spherical wheels 12 are mounted as traveling wheels that can travel in a positioning direction Y connecting the and the adjacent longitudinal 2 and a direction X orthogonal to the positioning direction Y.

As shown in FIGS. 1, 2, 4, and 5, two positioning arms 13, 14 are arranged on both sides of the positioning table 11 in the positioning direction Y, respectively. Can be expanded and contracted by an equal pressure and an equal stroke.

The positioning arm 1 has the same pressure equal stroke.
As shown in FIG. 5, for example, as shown in FIG. 5, two support blocks 15 and 16 are attached to both sides of the positioning table 11 in the positioning direction Y, and a rack is formed on one side of the round bar. The round racks 17 and 18 mesh with the pinions 19 and 20 so as to be expandable and contractible, and toothed pulleys 21 and 22 are provided integrally with the respective pinions 19 and 20. Guide pulleys 23 fixed to the support blocks 15 and 16 are attached to these toothed pulleys 21 and 22.
One toothed belt 25 guided by the belt 24 is hung, and both ends of the toothed belt 25 are connected to a rodless cylinder 26 which is one driving source. In addition, 2
Reference numeral 7 denotes a drive tensioner for adjusting the tension of the toothed belt 25.

Therefore, when the toothed belt 25 is moved by the rodless cylinder 26, the toothed belt 2
5, the toothed pulleys 21 and 22 are rotated by the same amount, and the pinions 19 and 20 integral with the toothed pulleys 21 and 22 are also rotated by the same amount, whereby the round racks 17 and 18 are moved by the same amount in the positioning direction Y. It is expanded and contracted and driven with an equal stroke. Since each of the round racks 17 and 18 is expanded and contracted by one rodless cylinder 26, the pressing force also becomes constant.

The positioning in the positioning direction Y by the positioning arms 13 and 14 is performed, as shown in FIG. 13,
When the extension arm 14 is extended, the positioning arms 13 and 14 are extended on both sides with an equal pressure equal stroke, and the longitudinal arms 2 and
One of the positioning arms 13
, The positioning table 11 is run by the reaction force, and the positioning table 11 is positioned at the center between the longes 2 where the positioning arms 13 and 14 on both sides hit the longities 2 and 2.

By positioning in this manner,
Regardless of the position of the first positioning table 11, the positioning table 11 is positioned between the longitudinals 2 and 2, and the positioning arms 13 and
If the position 14 is the positioning direction Y, the positioning can be easily performed at the center between the longitudinals 2 and 2 with high accuracy.

Further, the positioning table 11 has a structure shown in FIGS.
As shown in the figure, the telescopic positioning arm 28 is arranged only in front of one side in a direction X perpendicular to the direction Y of positioning by the positioning arms 13 and 14.

As shown in FIG. 6, the telescopic positioning arm 28 is slidable with two guide rods 29 supported by two sliding support blocks 30 attached to the positioning table 11, respectively. The distal ends of the two guide rods 29 are connected by a connecting plate 31. Two electromagnets 32 are attached to the front surface of the connecting plate 31 as attracting members. Further, a rod of a power cylinder 33 attached to the positioning table 11 is connected to the back surface of the connecting plate 31 and is slid, and the power cylinder 33 is capable of extending and contracting the length of the rod constantly. I can do it.

Therefore, the telescopic positioning arm 28
The rod of the power cylinder 33 is extended, and the electromagnet 32 attached to the connecting plate 31 is attracted to the tip of the X direction, for example, the transformer 3. Then, after the electromagnet 32 attracts the transformer 3, the positioning table 1 remains in the attracted state.
In this state, the rod of the power cylinder 33 is expanded and contracted to a predetermined length.

Then, the positioning table 11 travels along the telescopic positioning arm 28 attracted by the electromagnet 32,
The electromagnet 32 is always positioned at a certain distance from the attracted transformer 3 (where the rod of the power cylinder 33 is fixed).

On such a positioning table 11, FIGS.
As shown in FIG. 3, the movable table 34 is disposed and the LM guide 3
5, and the rod of a pneumatic cylinder 36 fixed to the positioning table 11 is connected so that the moving table 34 can be moved to two positions at both front and rear ends.

Then, a device to be positioned, such as a welding robot R, is attached to the movable table 34.

Next, the positioning table 11 on which the welding robot R or the like is mounted is positioned by combining the Y-direction positioning arms 13 and 14 of the framework structure positioning device 10 and the X-direction telescopic positioning arm 28. The case will be described with reference to the flowcharts shown in FIGS.

The positioning device 10 for the framed structure is transported by any transporting device and moves to a predetermined position by ± 30.
After being roughly positioned with an accuracy of about mm, it is precisely positioned as follows.

(A) When the positioning table 11 of the frame structure positioning device 10 is conveyed onto the panel 1 which is a frame structure, it is detected that the magnetic proximity sensor attached to the bottom of the positioning table 11 has landed. And not shown (described later)
The transport device is stopped and positioning of the framework structure by the positioning device 10 is started.

(B) The positioning arms 13 and 14 which are extended and contracted at equal pressure strokes are extended to both sides in the positioning direction by the rodless cylinder 26, and the front ends of the positioning arms 11 and 2 are brought into contact with the positioning tables 11 and 2 so that the positioning tables 11 and 2 are moved. Center in the middle between.

(C) After a certain time, the electromagnet 32 is energized, and the telescopic positioning arm 28 attached to the front of the positioning table 11 is started to be extended by the power cylinder 33. The final end is detected by a magnetic limit switch attached to the telescopic positioning arm 28.

(D) The electromagnet 32 at the tip of the telescopic positioning arm 28 approaches the transformer 3 which is the front wall, and detects, for example, 20 mm before, by a photoelectric sensor attached to the connecting plate 31 and expands it to the left and right. Positioning arm 1
Reduce 3,14. The completion of the contraction of the positioning arms 13 and 14 is detected by a magnetic proximity sensor.

(E) When the electromagnet 32 is attracted to the transformer 3, the telescopic positioning arm 28 is telescopically stopped at a predetermined position. The various positions of the telescopic positioning arm 28 are detected by a magnetic limit switch attached to the telescopic positioning arm 28. During the extension, the attraction, and the adjustment to the fixed length of the telescopic positioning arm 28, the fact that the electromagnet 32 is not detached from the transformer 3 is monitored by the photoelectric sensor attached to the connecting plate 31.

(F) Thereafter, the positioning arms 13 and 14 on both sides in the positioning direction Y are pushed again to perform centering, and thereafter, during positioning, for example, during welding by the welding robot R, the pressurized fluid to the rodless cylinder 26 is released. Continue to supply.

(G) After a predetermined time, the power supply to the electromagnet 32 is cut off, the front telescopic positioning arm 28 is contracted, and the end is detected by the magnetic limit switch.

(H) The moving table 34 on which the welding robot R is mounted is pushed out to the front end by the pneumatic cylinder 36, and this is detected by the set switch of the pneumatic cylinder 36.

(I) After the positioning of the welding robot R is thus performed, the automatic welding of the intersection 5 of one framed portion 4 of the hull flat plate block B by the welding robot R is started.

(J) During this automatic welding, the welding robot R
Is moved back to the rear end, and the rear end position is detected by the set switch of the pneumatic cylinder 36.

(K) The automatic welding by the welding robot R ends.

(L) The movable table 34 on which the welding robot R is mounted is pulled back to the rear end, and the positioning arms 13 and 14 projecting on both sides are contracted.

(M) Thus, the automatic welding of one frame portion 4 is completed.

When there is no response from each sensor after a certain period of time during the automatic positioning and the automatic welding,
An alert is issued immediately and work is stopped.

Then, the next welding of the frame portion 4 is performed by repeating the same steps as described above.

Next, a description will be given of a transport mechanism provided in the positioning device 10 for the frame structure according to the present invention with reference to FIGS.

This transport mechanism 40 is for roughly positioning and transporting the positioning device 10 to each frame portion 4 of the framework structure, and comprises a traveling mechanism, a traversing mechanism, and a lifting mechanism.

The transport mechanism 40 of this embodiment is a semi-portable overhead traveling crane, and the traveling mechanism 41 includes a traveling girder 42 having a substantially cross shape, and a traveling rail 44a attached to the upper part of a gantry 43 and a traveling rail 44a. The vehicle is driven to travel along the laid traveling rail 44b. Since the transport by the transport mechanism 40 is performed by the NC command via the PLC, the traveling position is detected by the magnetic scale and feedback-controlled.

A traversing mechanism 45 that travels in a direction perpendicular to the traveling direction of the traveling mechanism 41 has a traversing rail 46 attached along the upper surface of the traveling girder 42, and two clubs 47 run along the traversing rail 46. It is designed to be traversed. Then, the traversing positions of these clubs 47 are also detected by the magnetic scale and are feedback-controlled.
Further, the lifting mechanism 48 is provided with a wire hoisting device 49 mounted on the club 47 so that the wire is wound or unwound to raise and lower the hook at the tip. The hook suspended by this wire, when it is lifted or hung, cannot sway even during rough positioning, so in order to prevent this, the upper end of the telescopic guide 50 is fixed to the club 47 and the lower end is connected to the hook. It is fixed and has a wire running inside. The telescopic guide 50 is configured by connecting four units having a rectangular angle structure so as to be able to expand and contract. The upper and lower ends of the elevating position by the elevating mechanism 48 are detected by limit switches.

Thus, despite the vertical movement by the wire, the left / right and front / rear movements are restricted by the telescopic guide 50, and the vertical movement can be prevented while preventing the swing.

The traveling mechanism 41, the traversing mechanism 45, and the elevating mechanism 48 can move to an arbitrary position on a plane and move up and down, and the use of the telescopic guide 50 enables coarse positioning within a range of ± 30 mm.

The transport mechanism 40 has a welding robot R suspended and transported at the lower end of a telescopic guide 50.
And the like, a tanning table 51 for reversing the welding robot R by 180 degrees is provided.
Is suspended.

The other construction is almost the same as that of a normal overhead traveling crane, and the description is omitted.

Next, the rough positioning operation performed using the transport mechanism 40 will be described with reference to the flowchart shown in FIG.

(A) Recognizing the origin position of a work hull flat plate block B, for example, and manually positioning the Y direction position by the traveling girder 42, the X direction position by the club 47, and the Z direction position by the lifting mechanism 48. I do.

As a result, the positioning device 10 on which the welding robot R is mounted is roughly positioned.

(B) The positioning device 10 is operated, and the welding robot R is precisely positioned.

(C) Automatic welding is performed by a welding robot.

(D) After completion of the automatic welding, the positioning device 1
The positioning by 0 is released, and the sheet can be transported to the next position.

(E) One transformer 3 of the framework structure B
It is determined whether or not the welding of all the framed portions 4 arranged along is completed by comparing with a preset value, and it is determined whether or not the club 47 needs to traverse.

(F) When moving to the adjacent framed portion arranged along one transformer 3, the motor is wound up by the elevating mechanism 48 and stopped at the upper end position detected by the limit switch.

(G) The club 47 is driven in a traversing direction and stopped by feeding back while detecting a predetermined position on a magnetic scale.

(H) Positioning device 10 with lifting mechanism 48
, And stops at the lower end position detected by the limit switch, thereby completing the coarse positioning.

(I) When the welding of all the framed portions 4 along one transformer 3 in (e) is completed, the frame is wound up by the elevating mechanism 48 and stopped at the upper end position detected by the limit switch. I do.

(J) Whether or not all welding operations have been completed is determined by comparison with a preset set value, and it is determined whether or not it is necessary to recover the welding robot R or the positioning device 10 or to continue the operation. judge.

(K) When the work is continued, the traveling girder 42 is moved to move to the next transformer 3.
The moving position is stopped by feeding back while detecting a predetermined position on the magnetic scale.

(L) It is determined whether or not it is necessary to weld the opposite surface of the transformer 3 which has been welded up to now.

(M) When welding the opposite surface of the transformer 3, the turntable 51 provided below the telescopic guide 50 is rotated to set the welding robot R to one position.
After being turned over by 80 degrees, conveyance and welding are performed in accordance with the steps after the above (g) such as traversing by the club 47.

(N) When all the welding operations have been completed, the lifting operation is performed by the elevating mechanism 48 and stopped at the upper end position detected by the limit switch.

(O) The club 47 is traversed, and the position is detected by a magnetic scale to the retracted position on the traveling girder 42 outside the predetermined distance between the traveling rails 44a and 44b, stopped and retracted.

(P) The traveling girder 42 travels, stops by feedback while detecting the position with a magnetic scale to a predetermined retreat position, and retreats.

(Q) Thus, all the transporting and positioning, and the automatic welding by the welding robot R are completed.

By performing the transport positioning by the transport mechanism 40 in this manner, the influence of the swing of the hook suspended by the wire can be eliminated, and the coarse positioning can be performed within a range of about ± 30 mm. 1
In combination with 0, a large-scale device is not required, and high-precision positioning can be finally performed.

In the above embodiment, a hull slab block was described as an example of the frame structure. However, the present invention is not limited to this and can be applied to other frame structures such as blocks.

Further, changes may be made to each component without departing from the gist of the present invention.

[0080]

As described above in detail with one embodiment, according to the positioning apparatus for a frame structure of the present invention, the equal-pressure equal stroke is applied from both sides of the positioning table having wheels and capable of traveling in the positioning direction. Protrude the positioning arm extended in step 2 and press it against both side walls of the framework structure.
Since the positioning table is moved by force and the positioning table is positioned at the center on the bottom plate, it can always be positioned with high accuracy on the center bottom plate on both side walls regardless of the location of the first positioning table. .

Thus, the welding robot is operated with reference to the center of the wall of the frame structure, so that automatic welding to the frame structure such as a large hull flat plate block can be easily performed.

According to the positioning apparatus for a frame structure of the present invention, the positioning direction of the positioning table provided with wheels and capable of traveling in the direction perpendicular thereto is determined in the same manner as in the first invention. A positioning arm that is extended and contracted by an equal pressure stroke on both sides in the direction is protruded and applied to both side walls of the framed structure so that the positioning table is moved to the center to perform positioning. After adsorbing the suction member at the tip of the wall to the wall, the telescopic positioning arm was adjusted to a certain length while the suction member was being adsorbed and the positioning table was run, so that it was positioned at a certain position from the wall, Irrespective of the position of the first positioning table, the positioning can always be performed with high accuracy at a predetermined position with respect to the three side walls.

Thus, the welding robot is operated with reference to the three walls of the framework structure, and automatic welding to the framework structure such as a large hull flat plate block can be easily performed.

Further, according to the positioning apparatus for a framed structure of the present invention, the transfer mechanism for transferring the positioning tables of the first and second inventions to both side walls of the framed structure or to a portion having a wall in three directions. A traveling mechanism driven by traveling, a traversing mechanism traversed in a direction perpendicular to this, and a winding type elevating mechanism are provided with a telescopic guide to prevent shaking, so the precise positioning accuracy is the positioning table itself. Therefore, it is only necessary to roughly perform positioning by the transport mechanism, and the structure of the transport mechanism can be simplified.

Thus, the steps from the transfer of the positioning table to the framework structure to the final positioning can be performed easily and with high accuracy, and the automatic welding by the welding robot of the framework structure such as a large hull flat plate block can be easily performed. it can.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a part of an entire configuration according to an embodiment of a positioning device for a framework structure according to the present invention.

FIG. 2 is a side view of an embodiment of the positioning device for a framework structure according to the present invention.

FIG. 3 is a plan view of an embodiment of a positioning device for a framework structure according to the present invention.

FIG. 4 is a front view of an embodiment of a positioning device for a framework structure according to the present invention.

FIG. 5 is a schematic perspective view of a positioning arm portion according to an embodiment of the positioning device for the framework structure of the present invention.

FIG. 6 is a schematic perspective view of a telescopic positioning arm portion according to an embodiment of the positioning device for the framework structure of the present invention.

FIG. 7 is a flowchart showing a first half of a positioning operation according to an embodiment of the positioning device for a framework structure of the present invention.

FIG. 8 is a flowchart showing a second half of the positioning operation according to the embodiment of the positioning device for the framework structure of the present invention.

FIG. 9 is a front view of a transport mechanism according to an embodiment of the positioning device for the framework structure of the present invention.

FIG. 10 is a plan view of a transport mechanism according to an embodiment of the positioning device for the frame structure of the present invention.

FIG. 11 is a side view of a transport mechanism according to an embodiment of the positioning device for the framework structure of the present invention.

FIG. 12 is a flowchart showing the operation of the transport mechanism according to one embodiment of the positioning device for the framework structure of the present invention.

FIG. 13 is a schematic perspective view of a hull flat plate block as an example of the framework structure of the positioning device for the framework structure according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Positioning apparatus to frame structure 11 Positioning stand 12 Spherical wheel 13,14 Positioning arm 15,16 Support block 17,18 Round rack 19,20 Pinion 21,22 Toothed pulley 23,24 Guide pulley 25 Toothed belt 26 Rod Less cylinder 27 Drive tensioner 28 Telescopic positioning arm 29 Guide rod 30 Sliding support block 31 Connecting plate 32 Electromagnet 33 Power cylinder 34 Moving table 35 LM guide 36 Pneumatic cylinder 40 Transport mechanism 41 Travel mechanism 42 Travel girder 44 Travel rail 45 Traverse mechanism 46 Traversing rail 47 Club 48 Elevating mechanism 49 Wire hoisting device 50 Telescopic guide 51 Turntable B Hull flat plate block R Welding robot X Positioning direction Y Direction perpendicular to X

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Ryo Endo 3-1-1-15 Toyosu, Koto-ku, Tokyo Ishikawa-jima-Harima Heavy Industries Co., Ltd. Toji Technical Center (72) Inventor Nobuo Izuuchi Kanaicho, Machida-shi, Tokyo 1978-29 (72) Inventor Naofumi Ito 3-10-35 Midoricho, Koganei-shi, Tokyo Twin No.201 Koganei (58) Fields investigated (Int.Cl. ⁷ , DB name) B25J 19/00 B25J 5/00

Claims (3)

(57) [Claims] 1. A traveling wheel disposed on a bottom plate of a framework structure.
A positioning base with, and a extendable positioning arm in the positioning direction is provided in the positioning direction on both sides of the positioning base, Shin said positioning arm at equal pressure or the like stroke
To the side wall of the framework structure, and the reaction force
Run the positioning table and position it at the center on the bottom plate.
That, the positioning device to the framework structure, characterized in that. 2. A positioning wheel is provided on the positioning table so that it can run in a positioning direction and a direction perpendicular to the positioning table. And a telescopic positioning arm for positioning the suction member by moving the positioning table by extending and contracting to a predetermined length after adsorbing the suction member to a wall surface.
A positioning device for the frame structure according to the above. A transport mechanism for transporting the positioning table to the framework structure for coarse positioning, a traveling mechanism driven to travel, a traverse mechanism driven to traverse in a direction perpendicular to the transport mechanism,
The positioning device for a framework structure according to claim 1 or 2, comprising a winding type lifting mechanism driven up and down along an extendable telescopic guide.