JP7091160B2 - Structure construction method - Google Patents

Description

The present invention relates to a formwork construction method, a formwork block, and an attachment.

Conventionally, as a technique in such a field, a method of constructing a formwork of a dam by arranging a large number of formwork blocks in the horizontal direction and the vertical direction is known (see, for example, Patent Document 1). In this construction method, concrete blocks are stacked on the upstream side and the downstream side to construct a formwork. Then, concrete is filled between the formwork on the upstream side and the formwork on the downstream side to construct a dam that integrates the whole.

Japanese Patent Application Laid-Open No. 58-20809

In this type of structure, unmanned construction is required to improve efficiency. In addition, this type of structure may be constructed in places where there is a risk of disaster. For example, formwork for dams is often constructed in places where there is a risk of natural disasters, and in such cases, unmanned construction is particularly necessary. An object of the present invention is to provide a structure construction method suitable for unmanned construction of structure construction.

The method for constructing a formwork of the present invention is a mold in which formwork blocks are arranged horizontally and vertically on a heavy machine to which an attachment capable of gripping the formwork blocks is attached to form a formwork composed of a plurality of formwork blocks. The formwork block comprises a frame forming step, the formwork block has a through hole penetrating from the upper surface to the lower surface including a tapered portion that expands downward, and the attachment is a tip portion including a plurality of radially expanding and contracting portions. The tip is inserted into the tapered part from above to expand the plurality of claws in the radial direction, and the formwork block is gripped with the multiple claws pressed against the inner wall surface of the tapered part. The formwork block is released by shrinking the claw part in the radial direction and removing the tip part from the tapered part.

According to the above-mentioned construction method, the heavy machine grips the formwork block by a relatively simple operation such as inserting the tip portion of the attachment into the tapered portion from above and expanding the claw portion in the radial direction. At this time, since the tapered portion has a shape that increases in diameter as it goes downward, the formwork block is hard to fall off from the attachment and is securely gripped. After the heavy equipment moves the gripped formwork block to a predetermined position and installs it, the formwork is performed by a relatively simple operation such as shrinking multiple claws in the radial direction and removing the tip of the attachment from the taper part. Release the block. In this way, since the movement required for gripping and releasing the formwork block is a combination of simple movements by the attachment, it is possible to move and install the formwork block in the same stable manner at all times, and unmanned construction is possible. Suitable for execution by.

Further, the formwork block has an upper surface uneven portion provided on the upper surface and a lower surface uneven portion provided on the lower surface and having a shape that fits with the upper surface uneven portion. The formwork blocks may be stacked in the vertical direction so as to fit the uneven portion on the lower surface. According to this configuration, it is relatively easy to recognize that the formwork blocks are stacked in the correct position, so that it is suitable for execution by unmanned construction.

Further, the upper surface uneven portion is a convex portion extending linearly on the upper surface, and the lower surface uneven portion is a concave groove extending parallel to the convex portion on the lower surface. The formwork blocks may be arranged horizontally so that the grooves are linearly continuous with each other. According to this configuration, when the formwork blocks are arranged in a straight line in the horizontal direction, it is relatively easy to recognize that the formwork blocks are installed in the correct positions, so that it is suitable for execution by unmanned construction. There is.

The attachment may further have a cushioning portion that faces the upper surface of the formwork block when the tip is inserted into the tapered portion and cushions contact with the upper surface. In this case, damage to the formwork block due to contact with the attachment can be suppressed.

In the formwork forming step, an image pickup device for imaging the formwork block, a block position recognition means for recognizing the positional relationship of the formwork block with respect to the attachment by image processing of the image data obtained by the image pickup device, and a block position recognition means are used. A construction system with a heavy machine driving means that grips the formwork block with an attachment based on the recognized positional relationship and drives the heavy machine to move and install it in a predetermined position is used so that the formwork blocks are arranged. You may. With the above construction system, unmanned construction becomes feasible.

The formwork block of the present invention is a formwork block that is arranged in a plurality of horizontal and vertical directions to form a formwork, and includes a tapered portion that expands in diameter toward the bottom and has a through hole penetrating from the upper surface to the lower surface. It has an upper surface uneven portion provided on the upper surface and a lower surface uneven portion provided on the lower surface and having a shape that fits with the upper surface uneven portion, and the inner wall surface of the tapered portion has an angle formed by the conical axis and the bus. It presents a conical surface of a right cone at 3-15 °. Such a formwork block can be suitably used for the above-mentioned method for constructing a formwork.

The attachment of the present invention is an attachment that is attached to a heavy machine and grips a formwork block having a through hole penetrating from the upper surface to the lower surface, including a tapered portion that expands in diameter toward the bottom, and is a plurality of attachments that expand and contract in the radial direction. It has a tip including a claw, and the tip is inserted into the taper from above to expand multiple claws in the radial direction, and the formwork is in a state where multiple claws are pressed against the inner wall surface of the taper. The block is gripped, the plurality of claws are contracted in the radial direction, and the tip is removed from the tapered portion to release the formwork block. Such an attachment can be suitably used for the method for constructing a formwork as described above.

According to the present invention, it is possible to provide a structure construction method suitable for unmanned construction of structure construction.

It is sectional drawing of the sabo dam to which the formwork construction method of this embodiment is applied. (A) is a perspective view of the formwork block, and (b) is a side view thereof. (A) is a front view showing a state in which formwork blocks are stacked, and (b) is a side view thereof. (A) is a front view of the attachment, and (b) is a bottom view thereof. (A) is a cross-sectional view showing a expanded state of the block holding portion, and (b) is a cross-sectional view showing a reduced diameter state of the block holding portion. (A) is a diagram showing the arrangement of sensors and the like of the unmanned construction system, and (b) is a block diagram of the unmanned construction system.

Hereinafter, the method of constructing the formwork, the formwork block, and the embodiment of the attachment according to the present invention will be described in detail with reference to the drawings. The present embodiment relates to a method for constructing a formwork 103, which is a residual formwork on the downstream side of the sabo dam 101 shown in FIG.

[Formwork]
As shown in FIG. 1, the sabo dam 101 includes a formwork 103 constructed by diagonally stacking a large number of reinforced concrete formwork blocks 1 on the downstream side. In the construction of the sabo dam 101, the formwork blocks 1 are arranged on the existing formwork 103 on the downstream side to construct the formwork 103 for one stage (or several stages) of the formwork block 1 and upstream. The lower part of the sabo dam 101 is constructed by repeating the process of constructing the earth and sand formwork 105 on the side, placing soil cement 107 between the formwork 103 and the earth and sand formwork 105, and rolling. The upper part of the sabo dam 101 extends vertically in the vertical direction, and is constructed by stacking formwork blocks 3 different from the formwork block 1 in the horizontal direction and the vertical direction.

[Formwork block]
The formwork block 1 will be described with reference to FIG. When words such as "vertical", "horizontal", "upper", and "lower" are used in the following description, they correspond to the posture of the formwork block 1 when it is installed as a part of the formwork 103. When words such as "right" and "left" are used, the left bank side of the formwork block 1 when installed as a part of the formwork 103 is "left" and the right bank side is "right". .. Further, when terms such as "upstream side" and "downstream side" are used, they correspond to the upstream side and the downstream side of the formwork block 1 when installed as a part of the formwork 103.

As shown in FIG. 2, the formwork block 1 has an upper surface 11 and a lower surface 13 forming a horizontal plane, and has a square columnar shape forming a parallelogram when viewed from a line of sight in the left-right direction. The dimensions of the formwork block 1 are, for example, a length of 1500 mm in the upstream / downstream direction, a width of 1500 mm in the left-right direction, and a height of about 700 mm in the vertical direction. The side surface 17 on the downstream side of the formwork block 1 is inclined with respect to the vertical surface, and finally forms a part of the wall surface on the downstream side of the formwork 103. The upstream side surface 15 of the formwork block 1 is parallel to the downstream side surface 17 and comes into contact with the soil cement 107 as the formwork surface of the formwork 103. The tilt angles of the side surfaces 15 and 17 correspond to the tilt angles of the formwork 103 (FIG. 1).

A through hole 19 is formed in the central portion of the formwork block 1 so as to vertically penetrate from the upper surface 11 to the lower surface 13. The through hole 19 includes a tapered portion 22 whose diameter increases downward. The tapered portion 22 has a conical trapezoidal shape and has an inner wall surface 21 exhibiting a conical surface of a straight cone. The angle (angle α in the figure) formed by the conical axis A and the bus B of the conical surface formed by the inner wall surface 21 is preferably in the range of 3 to 15 °. The entire center of gravity M of the formwork block 1 is located in the through hole 19 and is located on the conical axis A.

A ridge portion 23 (upper surface uneven portion) extending linearly in the left-right direction is formed so as to project upward from the upper surface 11. The ridge portion 23 is located upstream of the through hole 19 and has a semi-circular cross-sectional shape. The lower surface 13 is formed with a concave groove 27 (lower surface uneven portion) extending linearly in the left-right direction in parallel with the convex portion 23. The concave groove 27 is located on the upstream side of the through hole 19 and has a semicircular cross-sectional shape having a diameter slightly larger than that of the convex portion 23. When the formwork blocks 1 are stacked in the vertical direction, the convex portion 23 of the lower formwork block 1 is fitted into the concave groove 27 of the upper formwork block 1. Further, when the convex portion 23 and the concave groove 27 are fitted as described above, the side surface 17 of the lower formwork block 1 and the side surface 17 of the upper formwork block 1 are aligned on the same plane. It has such a positional relationship.

[Formwork construction method]
Subsequently, a method of constructing the formwork 103 using the formwork block 1 will be described. When constructing the formwork 103, the formwork blocks 1 are gripped and moved one by one by the heavy machine 31 (FIG. 6) and arranged in the left-right direction and the up-down direction (formwork forming step). In the left-right direction, as shown in FIG. 3A, the formwork blocks 1 are arranged in a straight line in the horizontal direction so that the convex portions 23 and the concave grooves 27 are linearly continuous. In the vertical direction, as shown in FIG. 3B, the formwork blocks 1 are joined to each other by fitting the concave groove 27 of the upper formwork block 1 into the convex portion 23 of the lower formwork block 1. Stacked diagonally. Further, as shown in FIG. 3A, the formwork blocks 1 are stacked in a staggered manner when viewed from the line of sight in the upstream / downstream direction. The formwork 103 (FIG. 1) on the downstream side of the sabo dam 101 is constructed by the large number of formwork blocks 1 stacked as described above. Since the construction of this type of formwork 103 is often carried out in a place where there is a risk of a natural disaster, it is preferable to carry out the construction by unmanned construction.

[Attachment for heavy equipment]
Subsequently, a mechanism by which the heavy machine 31 grips and releases the formwork block 1 in order to grip the formwork block 1 with the heavy machine 31 and move / install it at a desired position will be described. An attachment 33 capable of gripping the formwork block 1 as shown in FIGS. 4 and 5 is attached to the tip of the arm of the heavy machine 31 (FIG. 6). A block holding portion 35 is provided at the tip of the attachment 33. The block holding portion 35 is inserted and removed into the tapered portion 22 through the opening on the upper surface 11 side of the through hole 19 of the formwork block 1. At the time of this insertion / removal, the entire attachment 33 is translated in the direction of the central axis H in a posture in which the central axis H of the block holding portion 35 is aligned with the conical axis A. In the following description of the structure of the block holding portion 35, when the terms "axial direction", "diameter direction", and "circumferential direction" are used, the conical axis A direction of the tapered portion 22 into which the block holding portion 35 is inserted, Corresponds to the radial direction and the circumferential direction.

The block holding portion 35 includes a plurality of movable claws 37 (claw portions) arranged at equal intervals in the circumferential direction. In the following description, the case where the number of movable claws 37 is 6 is described as an example as shown in the figure, but the number of movable claws 37 may be appropriately changed. However, in order for the formwork block 1 to be gripped in a well-balanced and stable manner in a manner as described later, it is preferable that the movable claws 37 are arranged at equal intervals in the circumferential direction and that three or more movable claws 37 are present. ..

The movable claw 37 extends in the axial direction and has a long plate shape having a thickness in the circumferential direction. As shown in FIG. 5, the base end portion of the movable claw 37 is hinged to the main body portion 41 of the block holding portion 35 at the hinge portion 39, and the movable claw 37 rotates about the hinge portion 39. It is possible. When the movable claw 37 rotates about the hinge portion 39, the tip portion of the movable claw 37 advances and retreats in the radial direction. In addition, in FIGS. 5A and 5B, in order to make it easy to understand the operation of the movable claw 37, only the two movable claws 37 located opposite to each other are shown, but the other four movable claws 37 are movable. The claw 37 operates in the same manner.

These six movable claws 37 operate so as to advance and retreat the tip portion in the radial direction by a mechanism described below. The block holding portion 35 includes a drive rod 43 extending on the central axis H. The drive rod 43 is located surrounded by six movable claws 37, and expands and contracts in the axial direction with respect to the main body 41 by, for example, hydraulic drive. Due to this expansion and contraction, the rod head 45 formed in a cylindrical shape at the tip of the drive rod 43 reciprocates on the central axis H. Further, a notch 37a is formed at the tip of each movable claw 37, and an elastic ring 47 (for example, a rubber ring-shaped member) is bridged over these six notches 37a. The elastic ring 47 urges the tips of the six movable claws 37 inward in the radial direction.

In the above mechanism, as shown in FIG. 5A, when the drive rod 43 is extended toward the tip side and the rod head 45 moves toward the tip side, the rod head 45 becomes the six movable claws 37. Interfering with the inner end face, the tips of the six movable claws 37 are synchronously pushed outward in the radial direction. The block holding portion 35 is in a state in which the movable claw 37 is expanded in the radial direction. Hereinafter, this state is referred to as a "diameter expansion state". Further, as shown in FIG. 5B, when the drive rod 43 is shortened to the proximal end side, the rod head 45 does not interfere with the movable claw 37, and the tips of the six movable claws 37 are elastic. It moves inward in the radial direction due to the elastic force of the ring 47. The block holding portion 35 is in a state in which the movable claw 37 is contracted in the radial direction. Hereinafter, this state is referred to as a "diameter reduction state".

As described above, the block holding portion 35 of the attachment 33 has a diameter-expanded state (FIG. 5A) in which the six movable claws 37 are expanded in the radial direction by expanding and contracting the drive rod 43, and six movable parts. It is possible to take two states, a reduced diameter state (FIG. 5 (b)) in which the claw 37 is reduced in the radial direction.

Here, the diameter of the upper end opening 22a of the tapered portion 22 of the formwork block 1 is larger than the radial width of the block holding portion 35 in the reduced diameter state and larger than the radial width of the block holding portion 35 in the enlarged diameter state. Is also set to be small. According to this dimensional setting, the block holding portion 35 can be inserted into the tapered portion 22 from above in a reduced diameter state (FIG. 5 (b)). After that, as shown in FIG. 5A, by shifting the block holding portion 35 to the enlarged diameter state in the tapered portion 22, the block holding portion 35 cannot be removed from the tapered portion 22. If the attachment 33 is lifted upward along the central axis H from this state, the outer end faces of the six movable claws 37 are caught on the inner wall surface 21, so that the formwork block 1 is supported by the block holding portion 35.

That is, by the operation of the attachment 33 and the block holding portion 35 as described above, the attachment 33 of the heavy machine 31 can grip the formwork block 1. Here, the inner wall surface 21 is supported at six contact points with the six movable claws 37 at uniform positions in the circumferential direction, and the center of gravity M of the formwork block 1 is a conical axis A in the through hole 19. Since it is located on the top, the formwork block 1 is stably and well-balancedly gripped by the attachment 33. In particular, when the attachment 33 grips the formwork block 1, the upper surface 11 and the lower surface 13 of the formwork block 1 are stabilized in a horizontal posture. Therefore, in the formwork forming step, it is possible to stably move the formwork block 1 from the temporary storage place to the installation position in a horizontal posture.

Further, after that, as shown in FIG. 5B, by shifting the block holding portion 35 to the reduced diameter state, the block holding portion 35 can be removed from the tapered portion 22, and the heavy machine 31 can be used as a formwork. Block 1 can be released. Here, regarding the shape of the tapered portion 22, if the angle α in FIG. 2B is in the range of 3 to 15 °, the formwork block 1 is reliably held in the expanded state of the block holding portion 35, and the diameter is reduced. In this state, it becomes easy to set that the block holding portion 35 can be reliably removed from the tapered portion 22.

Further, the block holding portion 35 is provided with a cushioning material 49 (cushioning portion) for cushioning contact with the upper surface 11 of the formwork block 1. As an example of a specific configuration, at least a part of the six movable claws 37 is formed with an overhanging portion 51 extending outward in the radial direction, and the overhanging portion 51 faces the upper surface 11 of the formwork block 1. The cushioning material 49 is attached as described above. In the present embodiment, as shown in FIG. 4B, the three movable claws 37 are provided with overhanging portions 51, and the three cushioning materials 49 are arranged at equal intervals in the circumferential direction. In the state where the formwork block 1 is gripped by the attachment 33, there is a positional relationship such that a gap is formed between the cushioning material 49 and the upper surface 11. As the cushioning material 49, for example, an elastic material such as a rubber block is used. Alternatively, for example, a coil spring or the like may be used as the cushioning material 49.

Further, the block holding portion 35 has a cord body 42 attached to the tip portion 41a of the main body portion 41. The cord 42 is suspended vertically downward by gravity from the tip 41a of the main body 41 at a position surrounded by the six movable claws 37. As the cord 42, a string, a chain, or the like can be used. Due to the presence of the cord 42, when the block holding portion 35 is inserted into the tapered portion 22 from above vertically, the cord 42 hanging vertically downward from the tip portion 41a serves as a marker, and the block holding portion 35 is formed through the through hole 19 It facilitates the operation of aligning vertically above. After the above alignment, the cord 42 is inserted into the tapered portion 22 together with the movable claw 37. At this time, even if the lower end of the cord 42 reaches the ground or the like of the temporary storage place through the lower end opening of the through hole 19, the cord 42 comes into contact with the ground or the like in a loosened state, so that the block holding portion 35 moves up and down. Does not get in the way. The cord 42 as described above may be omitted.

[Unmanned construction]
Subsequently, in constructing the formwork 103, a method for the heavy machine 31 to grasp and move the formwork block 1 to accurately place the formwork block 1 in a desired position, and an unmanned construction system 110. , 6 will be described with reference to FIG. As described above, the construction of the formwork 103 is preferably unmanned construction, and the operation of the heavy machine 31 is unmanned by the unmanned construction system 110.

The heavy machine 31 has a lower traveling body 61, an upper swivel body 63 that swivels horizontally with respect to the lower traveling body 61, a boom 65 that can rotate with respect to the upper swivel body 63, and a boom 65 that can rotate with respect to the boom 65. It includes an arm 66 and the above-mentioned attachment 33 attached to the tip of the arm 66. The unmanned construction system 110 is attached to each part of the heavy machine 31 and includes sensors 67 for detecting the state of the heavy machine 31. The sensors 67 include a sensor that detects the turning angle of the upper swivel body 63 with respect to the lower traveling body 61, a sensor that detects the rotation angle of the boom 65 with respect to the upper swivel body 63, and a rotation angle of the arm 66 with respect to the boom 65. A sensor for detecting the posture of the block holding portion 35 with respect to the arm 66, and the like are included.

Further, the unmanned construction system 110 includes a camera 69 (imaging device). The camera 69 captures, for example, the vicinity of the block holding portion 35 of the attachment 33, the vicinity of the unconstructed formwork block 1, the vicinity of the formwork block 1 already installed as the formwork 103, and the like. The camera 69 may be attached to the attachment 33 with the block holding portion 35 facing, for example. Further, the camera 69 may be attached to another portion of the heavy machine 31, may be installed at the construction site, or may be installed on a flying object such as a drone flying at the construction site. Alternatively, a plurality of cameras installed in each of the above embodiments may be adopted in combination.

Further, the unmanned construction system 110 includes a construction control unit 71 (block position recognition means) that executes a predetermined calculation based on information input as an electric signal from the sensors 67 and the camera 69. As the construction control unit 71, for example, a computer is used. The construction control unit 71 may be installed in the heavy machine 31, or may be installed in an office or the like at the construction site. Further, the unmanned construction system 110 includes a heavy machine operation unit 73 (heavy machine drive means) that operates the heavy machine 31 in accordance with a command signal from the construction control unit 71. The heavy equipment operation unit 73 may be, for example, an actuator group installed in the driver's seat of the heavy equipment 31 and directly operating the operation lever of the arm 66, the operation lever of the attachment 33, and the like in the driver's seat. Further, as this actuator, an artificial muscle or the like using air may be adopted.

In the above-mentioned unmanned construction system 110, the construction control unit 71 performs image processing on the image pickup data input from the camera 69 to determine the positional relationship between the block holding unit 35 and the through hole 19 of the unconstructed formwork block 1. Can be recognized. Then, the construction control unit 71 calculates the necessary drive of the attachment 33 based on the recognized positional relationship, and further controls the heavy equipment operation unit 73 based on the information input from the sensors 67. Is transmitted to operate the heavy equipment 31. By the processing of the construction control unit 71 as described above, the block holding portion 35 of the attachment 33 is inserted into the tapered portion 22 along the conical axis A, the diameter of the movable claw 37 is expanded, and the formwork block 1 is gripped. The operation is performed automatically. Further, by the same control, the construction control unit 71 recognizes the position of the formwork block 1 already installed as the formwork 103, and holds the gripped formwork block 1 at a position adjacent to the installed formwork block 1. Can be installed automatically.

In addition, in order to facilitate recognition of the positions of the block holding portion 35 and the formwork block 1 and their positional relationship with each other, a marker 75 visible by the camera 69 is attached to the attachment 33, the upper surface 11 of the formwork block 1, and the like. You may. As the marker 75, for example, a two-dimensional bar code may be used. Further, as the marker 75, a visible paint or the like may be applied to the surface of the mold block 1. Further, when the gripped formwork block 1 is installed in a straight line adjacent to the already installed formwork block 1, the ridges 23 themselves are used as the marker 75, and the ridges 23 are linearly continuous with each other. The formwork block 1 may be aligned as described above. In this case, an easily visible paint may be applied onto the ridge portion 23.

With the unmanned construction system 110 as described above, the formwork forming step of arranging the formwork blocks 1 in the horizontal direction and the vertical direction to form the formwork 103 composed of a plurality of formwork blocks 1 is automatically performed unmanned. Can be run on.

Further, the unmanned construction system 110 may further include a display monitor 77 that displays images taken from the camera 69, and a manual operation unit 79 that accepts a human remote manual operation on the heavy machine 31. The display monitor 77 and the manual operation unit 79 are installed in, for example, an office at a construction site. In this case, instead of the fully automatic execution by the construction control unit 71, the worker remotely controls the heavy machine 31 with the manual operation unit 79 while looking at the display monitor 77 in the office or the like, thereby forming the above-mentioned formwork. Can be executed. Alternatively, it is also possible to perform a part of the work of the formwork forming process or only a part of the movement of the heavy machine 31 by remote control of the operator.

[Action effect]
According to the method for constructing the formwork 103 of the present embodiment, the formwork block 1, and the attachment 33 described above, the block holding portion 35 at the tip of the attachment 33 is inserted into the tapered portion 22 from above, and the movable claw 37 is radially inserted. The heavy machine 31 grips the formwork block 1 by a relatively simple operation such as expanding to. At this time, since the tapered portion 22 has a shape that increases in diameter as it goes downward, the formwork block 1 is hard to fall off from the attachment 33 and is securely gripped.

Further, since the inner wall surface 21 of the tapered portion 22 is a conical surface, the inner wall surface 21 is supported at six contact points with the six movable claws 37 at uniform positions in the circumferential direction. Further, since the center of gravity M of the formwork block 1 is located on the conical axis A in the through hole 19, the formwork block 1 is stably and well-balancedly gripped by the attachment 33.

After the heavy machine 31 moves the gripped formwork block 1 to a predetermined position and installs it, it performs a relatively simple operation such as contracting the movable claw 37 in the radial direction and removing the block holding portion 35 from the tapered portion 22. Release the formwork block 1. As described above, since the movement required for gripping and releasing the formwork block 1 is a combination of simple movements by the attachment 33, the formwork block 1 can be moved and installed in the same stable manner at all times. Suitable for execution by unmanned construction.

Further, the formwork block 1 has a convex portion 23 and a concave groove 27, and the formwork blocks 1 are stacked in the vertical direction so that the convex portion 23 and the concave groove 27 are fitted with each other. It is relatively easy to recognize that the block 1 is stacked in the correct position. Further, since the formwork blocks 1 are arranged in the horizontal direction so that the convex portion 23 and the concave groove 27 are linearly continuous, the camera 69 or the like relatively indicates that the formwork blocks are installed at the correct positions. It is easily recognizable. As described above, the alignment of the formwork block 1 is relatively easy, and it is suitable for execution by unmanned construction. Further, when the soil cement 107 (see FIG. 1) is compacted, a lateral pressure in the upstream / downstream direction from the soil cement 107 acts on the formwork block 1, but the ridge portion 23 and the concave groove 27 are fitted to each other. As a result, the position of the formwork block 1 is less likely to shift due to the lateral pressure.

Further, when the block holding portion 35 is inserted into the tapered portion 22, the arm 66 of the heavy machine 31 may be lowered too much (the block holding portion 35 is inserted into the tapered portion 22 deeper than expected). On the other hand, since the cushioning material 49 is provided on the attachment 33, even in the above case, when the cushioning material 49 comes into contact with the upper surface 11 of the formwork block 1, the contact is buffered and the vicinity of the through hole 19 is present. Damage is suppressed.

Further, in the method of constructing the formwork 103 of the present embodiment, the unmanned construction system 110 recognizes the positional relationship between the formwork block 1 and the attachment 33 based on the image data of the camera 69, and based on this positional relationship. Unmanned construction such as driving a heavy machine 31 becomes feasible.

Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and may be modified without changing the gist described in each claim.
The configurations of the respective embodiments may be combined and used as appropriate. For example, in the formwork block 1 of the embodiment, the convex portion 23 is formed on the upper surface 11 and the concave groove 27 is formed on the lower surface 13, but upside down, the concave groove 27 is formed on the upper surface 11 and the concave groove portion 23 is formed on the lower surface 13. May be formed. Further, the cross-sectional shapes of the ridge portion 23 and the concave groove 27 are not limited to the semicircular shape, and may be appropriately changed such as a quadrangular cross section. Further, the construction method, formwork block, and attachment of the present invention are not limited to the remaining formwork of the sabo dam as in the embodiment, but are not limited to the remaining formwork of the sabo dam, river revetment and revetment, coastal revetment and revetment, tide embankment, and landslide. Countermeasures It can also be applied to the construction of residual formwork for revetment soil, residual formwork for dams, gravity retaining walls, etc. Further, the present invention is particularly suitable under the condition of unmanned (automated) construction of the above-mentioned structure.

1 ... Formwork block, 11 ... Top surface, 19 ... Through hole, 21 ... Inner wall surface, 22 ... Tapered part, 23 ... Convex part (upper surface uneven part), 27 ... Concave groove (lower surface uneven part), 31 ... Heavy machine, 33 ... Attachment, 35 ... Block holding part (tip part), 37 ... Movable claw (claw part), 49 ... Cushioning material (cushioning part), 69 ... Camera (imaging device), 71 ... Construction control unit (block position recognition means) ), 73 ... Heavy machine operation unit (heavy machine driving means), 103 ... Formwork, A ... Conical shaft, B ... Bus.

Claims (4)

It is a structure construction method for constructing a structure containing a plurality of arranged concrete blocks.
A heavy machine equipped with an attachment capable of gripping the block, comprising a block arranging step of arranging the blocks horizontally or vertically.
The block is
A through hole that penetrates from the upper surface to the lower surface, including a tapered portion that expands in diameter toward the bottom ,
With a visible marker located on the surface of the block ,
The attachment is
It has a tip that includes multiple claws that expand and contract in the radial direction.
The tip portion is inserted into the tapered portion from above to expand the plurality of the claw portions in the radial direction, and the block is gripped with the plurality of the claw portions pressed against the inner wall surface of the tapered portion.
The block is released by contracting the plurality of the claw portions in the radial direction and removing the tip portion from the tapered portion .
In the block arrangement step,
An image pickup device that captures an image of the block, a block position recognition means that recognizes the positional relationship of the block with respect to the heavy machine and the positional relationship between the blocks arranged by image processing of the image data obtained by the image pickup device, and a block position recognition means. A construction system having a heavy machine driving means for gripping the block with the attachment and driving the heavy machine to move and install the block at a predetermined position based on the positional relationship recognized by the block position recognizing means is used.
When the block gripped by the attachment is installed in a straight line adjacent to the other blocks already installed in the horizontal direction, the block position recognition means uses the marker to adjacent the blocks to each other. Recognizing that is a straight line,
A method for constructing a structure, wherein a paint that is easily visible by the image pickup apparatus is applied to the marker . It is a structure construction method for constructing a structure containing a plurality of arranged concrete blocks.
A heavy machine equipped with an attachment capable of gripping the block, comprising a block arranging step of arranging the blocks horizontally or vertically.
The block is
A through hole that penetrates from the upper surface to the lower surface, including a tapered portion that expands in diameter toward the bottom ,
With a visible marker located on the top surface of the block ,
The attachment is
It has a tip that includes multiple claws that expand and contract in the radial direction.
The tip portion is inserted into the tapered portion from above to expand the plurality of the claw portions in the radial direction, and the block is gripped with the plurality of the claw portions pressed against the inner wall surface of the tapered portion.
The block is released by contracting the plurality of the claw portions in the radial direction and removing the tip portion from the tapered portion .
In the block arrangement step,
An image pickup device that captures an image of the block, a block position recognition means that recognizes the positional relationship of the block with respect to the heavy machine and the positional relationship between the blocks arranged by image processing of the image data obtained by the image pickup device, and a block position recognition means. A construction system having a heavy machine driving means for gripping the block with the attachment and driving the heavy machine to move and install the block at a predetermined position based on the positional relationship recognized by the block position recognizing means is used.
When the block gripped by the attachment is installed in a straight line adjacent to the other blocks already installed in the horizontal direction, the block position recognition means uses the marker to adjacent the blocks to each other. Recognizing that is a straight line,
The marker is a two-dimensional bar code provided on the upper surface of the block, which is a method for constructing a structure. The block is
An uneven portion on the upper surface, which is either a convex portion or a concave groove extending linearly on the upper surface, and a concave-convex portion on the upper surface.
It has a lower surface uneven portion which is either a convex portion or a concave groove having a shape extending parallel to the upper surface uneven portion on the lower surface and fitting into the upper surface uneven portion.
In the block arrangement step,
The blocks are stacked in the vertical direction so that the upper surface uneven portion and the lower surface uneven portion are fitted with each other, and the blocks are linearly continuous with each other. The structure construction method according to claim 1 or 2, which is arranged in the horizontal direction. In the block arrangement step, when the block gripped by the attachment is installed in a straight line adjacent to the other blocks installed in the horizontal direction in the horizontal direction, the block position recognition means is adjacent to the block. The structure construction method according to claim 3, wherein the uneven portions on the upper surface are linearly continuous with each other.

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