JP7223637B2 - Gripping device, gripping and transporting device, and transportation/installation method using gripping device - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Act Sankei Shimbun, Fuji Sankei Business i, Nikkan Kogyo Shimbun, Kensetsu Tsushin Shimbun, Kensetsu Sangyo Shimbun, published on November 13, 2018, Kensetsu Tsushin Shimbun, published on November 19, 2018, Nikkei Published in XTECH, Yomiuri Shimbun on November 20, 2018, Nikkan Kogyo Shimbun on April 18, 2019, and Nikkei Architecture on December 13, 2018

Article 30, Paragraph 2 of the Patent Act applies Published on TV Tokyo program "World Business Satellite (WBS)" broadcast from 23:00 on November 12, 2018

Article 30, Paragraph 2 of the Patent Act applies. Published on November 12, 2018 at Kajima Corporation's construction site "(tentative name) Kashima Fushimi Building"

Article 30, Paragraph 2 of the Patent Law applies On May 7, 2019, it was published in Kajima Corporation's internal newsletter "Monthly Report KAJIMA," which is also distributed outside the company.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gripping device for gripping and transporting an object to be gripped, such as an exterior wall material (outer wall panel), a gripping and transporting device having the same, and a transportation/installation method using the gripping device.

Conventionally, when installing exterior wall materials such as curtain walls on the outer periphery of a building, cranes or other cranes are used to hoist the exterior wall materials from the construction yard on the ground to a predetermined floor, and the workers install the structural materials of the building. A method of manually connecting an exterior wall material to a connecting member connected to a wall and attaching it to a predetermined position is often used (see, for example, Patent Document 1).

However, this construction method requires a site for setting up a construction yard on the outer periphery of the building.

In response to this, various methods have been proposed and put into practical use, in which exterior wall materials are transported onto the floor of a predetermined floor using construction elevators and cranes installed inside the building, and the exterior wall materials are installed from the inside of the building.

In Patent Document 2, "a support stand that can horizontally move and stop on the floor surface of a building, a lifting guide frame that is erected on the support stand and has a pair of left and right guide frames, and a pair of the same guide frames an elevating frame mounted slidably in the vertical direction between the guide-side frames and lifted and lowered by the elevating means; A rotating means for rotating the projecting frame from a horizontal state to a vertical state and vice versa with respect to the elevating frame, and a turning means provided at an appropriate lower part of the projecting frame to turn the single long panel for construction sideways. A handling device for a long panel for construction, characterized in that it is provided with means for supporting the long panel for construction in a state in which it is held, and for slightly sliding in the lateral direction the single unit of the long panel for construction with the unit sandwiched therebetween." ing.

In Patent Document 3, ``A telescopic boom is arranged on a vehicle so that it can be raised, lowered, and swiveled, and at least when the telescopic boom is laid down, the axis of the telescopic boom can be vertical, and when the telescopic boom is raised, the axis can be horizontal. A first shaft that is swingably attached to the tip of the telescopic boom and a shaft that lies in a horizontal plane perpendicular to the first shaft and is rotatable about the first shaft regardless of the swing of the first shaft. and a gripping device attached to the second shaft, wherein when one side of the vehicle and the telescopic boom are positioned parallel to each other in a plan view, at least gripping is performed by the gripping device A working vehicle characterized by the length of the second shaft being determined so that the elongated member protrudes from one side of the vehicle."

In Patent Document 4, "a frame is provided on a vehicle body facing forward, this frame support plate is attached so as to be rotatable, and this support plate is provided with a mounting portion and a wall material clamp protruding laterally from the mounting portion. A wall material carrying and mounting device characterized by mounting a mounting portion in an attachment attached to the wall." is disclosed.

JP 2013-87502 A Japanese Utility Model Laid-Open No. 56-76848 Japanese Utility Model Laid-Open No. 6-43151 JP-A-3-93971

However, in the above-described conventional gripping device and gripping and transporting device, it is necessary to grip the exterior wall material temporarily placed (placed flat) with the plate surface facing the vertical direction, and to transport the exterior wall material to a predetermined position and attach the exterior wall material. Since it is complicated, it is possible to more efficiently and preferably grip the gripping target object such as the outer wall material, and furthermore, make it possible to set the gripping target object at the desired position more efficiently and with high accuracy. development was strongly desired.

One aspect of the gripping device of the present invention is a gripping device attached to an arm portion of a traveling carriage for gripping and transporting an object to be gripped, comprising: a support platform connected to and attached to the arm portion; a gripping frame that is supported by the support frame so as to be able to move forward and backward in a first direction by a mechanism and that grips the gripped object by a gripping mechanism; wherein the slide mechanism is provided on the support frame; a guide member extending in one direction to support the gripping frame and guide it in the first direction; a slide screw shaft; a slide nut that is screwed onto the slide screw shaft and advances and retreats in the first direction along with forward and reverse rotation of the slide screw shaft; and a nut holder to which the gripping mechanism is fitted, the gripping mechanism being supported by the guide member and provided on the gripping base so as to be able to move forward and backward in the first direction, and the gripping object being held therebetween on one side. A stationary gripping member having a gripping surface disposed thereon, and a second gripping member provided so as to be movable forward and backward in a second direction perpendicular to the first direction and facing the stationary gripping member. a gripping screw shaft rotatably supported by the stationary gripping member around a rotation axis extending in the second direction; a gripping nut that is screwed together and connected to the movable-side gripping member, and that advances and retreats in the second direction along with forward and reverse rotation of the gripping screw shaft.

One aspect of the gripping and transporting device of the present invention is a gripping and transporting device for gripping and transporting an object to be gripped, comprising a traveling carriage and an arm portion of the traveling carriage to grip the object to be held. and the gripping device of the above aspect.

One aspect of the transportation/installation method using the gripping device of the present invention is a method of gripping and transporting the gripped object using the gripping device of the above aspect, and installing the gripped object at a predetermined position. a gripping device moving step of moving the gripping device so that the gripping object is arranged between the fixed side gripping member and the movable side gripping member by running the carriage; and rotating the slide screw shaft. a gripping positioning step of advancing the gripping base and arranging the gripping surface of the fixed-side gripping member and the gripping surface of the movable-side gripping member at predetermined positions on one side and the other side of the gripped object, respectively; a gripping step of rotating a gripping screw shaft to advance the movable gripping member and gripping the gripping target with the fixed gripping member and the movable gripping member; and gripping the gripping target with the gripping device. a temporary installation step of temporarily installing the gripped object in the vicinity of a predetermined installation position while aligning the orientation of the gripped object by operating the arm portion; and a final installation step of rotating the gripping platform to advance the gripping base, moving the gripped object to a predetermined installation position, and attaching the gripped object.

According to the above-described aspect of the present invention, an object to be grasped such as an outer wall material can be grasped more efficiently and favorably than in the conventional art, and the object to be grasped can be placed at a desired position more efficiently and with high precision. it becomes possible to

1 is a diagram showing a gripping and transporting device according to an embodiment of the present invention, and is a diagram illustrating a state in which a gripping device grips an exterior material of a temporarily placed (flat) gripped object. FIG. 1 is a view showing a gripping and transporting apparatus according to an embodiment of the present invention, in which after gripping an exterior material of an object to be gripped by the gripping apparatus, the arm portion and the rotation drive mechanism of the traveling carriage are operated to transport the exterior material. It is a figure which shows the state which is. FIG. 10 is a view showing a gripping and carrying device according to an embodiment of the present invention, showing a state in which an exterior material is transported to an installation position while being oriented. 1 is a plan view showing a gripping device according to one embodiment of the present invention; FIG. FIG. 4 is a plan view showing a support base of the gripping device according to one embodiment of the present invention; 6 is a view taken along line X1-X1 in FIG. 5; FIG. 6 is a view taken along line X2-X2 of FIG. 5; FIG. 6 is a view taken along line X3-X3 of FIG. 5; FIG. 6 is a view taken along line X4-X4 in FIG. 5; FIG. FIG. 4 is a plan view showing a gripping base of the gripping device according to one embodiment of the present invention; 11 is a view taken along line X1-X1 in FIG. 10; FIG. 11 is a view taken along line X2-X2 of FIG. 10; FIG. FIG. 5 is a diagram showing a state in which the outer wall material of the object to be gripped is gripped by the gripping base of the gripping device according to the embodiment of the present invention; It is a figure which shows the state which removed the forward/backward connection member and connection member of the holding|grip platform of the holding|gripping apparatus which concerns on one Embodiment of this invention, (a) is a side view, (b) is a top view. FIG. 4 is a diagram showing a method of setting an outer wall material of a gripped object at a predetermined position using a gripping device (and a gripping and transporting device) according to an embodiment of the present invention;

A gripping device, a gripping and transporting device, and a transportation/installation method using the gripping device according to an embodiment will be described below with reference to FIGS. 1 to 15 .

First, in the present embodiment, an object to be grasped according to the present invention is an exterior wall material (outer wall panel) such as a curtain wall, and a grasping device, a grasping and transporting device, and a transporting/installation method using the grasping device according to the present invention are described. Description will be given assuming that the apparatus and method are for installing exterior wall materials on the outer periphery of a building such as a high-rise building.

However, the object to be gripped according to the present invention does not necessarily have to be an exterior wall material. It can be applied to gripping, transportation, and installation of all other members (objects to be gripped) including building members such as lumber.

As shown in FIGS. 1 to 3, the gripping and transporting device A of the present embodiment is a device for gripping and transporting an outer wall material P of an object to be gripped, and for installing and attaching it to a predetermined position. and a gripping device B that is attached to the arm portion 2 of the traveling carriage 1 and grips the outer wall material P.

The traveling carriage 1 includes a board-shaped base 3, a plurality of wheels 4 attached to the lower end surface of the base 3, and a base end connected to the rear end side of the base 3 and extending forward. a rotating drive mechanism 5 attached to the tip of the arm portion 2; and a counterweight 6 detachably disposed on the base 3.

The traveling carriage 1 of the present embodiment includes drive wheels and driven wheels as the wheels 4, and is configured to be self-propelled by driving the drive wheels with a drive mechanism.

The base end of the arm 2 is connected to the base 3 so as to be rotatable about a rotation axis M1 extending in a lateral direction (width direction T2) orthogonal to the front-rear direction T1, and an expansion mechanism (elevating drive mechanism) such as a hydraulic cylinder is provided. 7 is provided so that it can be raised and lowered (up and down, up and down).

In addition, the traveling trolley 1 may be configured to travel by human power, for example.
The arm part 2 is provided so as to be able to be raised and lowered, and the base end side is connected and supported so as to be rotatable about a rotation axis extending in the vertical direction T3, and is provided so as to be rotatable about the rotation axis extending in the vertical direction T3. good. Further, the arm portion 2 may be configured to be extendable in the axial direction extending in the extension direction by including a plurality of arms and booms, or may be configured to be articulated at a plurality of points. The traveling truck 1 of the present embodiment has a weight of, for example, less than 1000 kg with the counterweight 6 removed, and is configured to be transportable to a predetermined floor by a construction elevator or the like with the counterweight 6 removed.

The gripping device B is connected to the distal end of the arm section 2 via the rotation drive mechanism 5 . At this time, a frame 8 having a rectangular shape in plan view is integrally connected to the rotation drive mechanism 5 , and the frame 8 is detachably connected to the gripping device B by bolting or the like. is attached to the tip of the arm portion 2 via the .

Further, in this embodiment, the gripping device B is attached to the arm portion 2 so as to be rotatable about the yaw axis M2 and the pitch axis M3 by being driven by the rotation drive mechanism 5 .

More specifically, as shown in FIG. 4, the gripping device B of the present embodiment includes a support frame B1 connected to the arm portion 2 and attached, and a support frame B1 which is movable back and forth in the first direction R1 by the slide mechanism 10. B1, and a gripping frame B2 for gripping the outer wall material P of the gripping target object by the gripping mechanism 11 is provided.

For example, as shown in FIGS. 5 to 9 (and FIG. 4), the support frame B1 of the present embodiment is formed by integrating a vertical member 12, a horizontal member 13, and a diagonal member 14 made of metal such as a square steel pipe or shaped steel. It is assembled and formed into a substantially rectangular frame shape in a plan view so as to have desired strength and durability. Note that the support base B1 only needs to have desired strength and durability, and does not necessarily have to be formed in a generally rectangular frame shape in a plan view.

The slide mechanism 10 is provided on the support frame B1 and extends in the first direction R1 to support the gripping frame B2 and guide it in the first direction R1. A slide screw shaft 16 rotatably supported around a rotation axis O1 extending in the direction R1 is screwed into the slide screw shaft 16, and advances and retreats in the first direction R1 as the slide screw shaft 16 rotates forward and backward. and a nut holder 18 provided on the grip base B2 and into which the slide nut 17 is fitted.

As shown in FIGS. 10 to 13 (and FIG. 4), the gripping mechanism 11 is supported by a guide member 15 and provided on a gripping platform B2 so as to be able to advance and retreat in a first direction R1. and a fixed-side gripping member 20 having a gripping surface 20a arranged on one side between the A movable gripping member 21 having a gripping surface 21a disposed on the other side with an outer wall material P of an object to be gripped interposed therebetween, and a fixed gripping member 20 rotatably around a rotation axis O2 extending in the second direction R2. A gripping screw shaft 22 is axially supported, and a gripping screw shaft 22 is screwed into the gripping screw shaft 22 and connected to the movable side gripping member 21. The gripping screw shaft 22 advances and retreats in the second direction R2 as the gripping screw shaft 22 rotates forward and backward. and a gripping nut 23 for holding.

Here, in the gripping device B of the present embodiment, the guide members 15 are provided on both end sides of the support frame B1 in the third direction R3 orthogonal to the first direction R1 and the second direction R2. .

The gripping base B2 is supported by a pair of guide members 15 so as to be able to advance and retreat, respectively, and a pair of forward/backward connecting members 24 to which the fixed-side gripping member 20 is detachably connected. A connecting member 25 that is connected to and bridged with the forward/backward connecting member 24, and a nut holder 18 is provided at the center of the connecting member 25 in the third direction R3 (see FIGS. 4, 10, and 11).

Connecting portions 26 for connecting the frame 8 attached to the arm portion 2 by bolting are provided on both end portions of the support frame B1 in the third direction R3 (see FIG. 4).

In the gripping device B of this embodiment, the fixed-side gripping member 20 has a gripping surface 20a, is connected to the guide member 15 and extends in the first direction R1, and extends on one side of the outer wall material P of the gripped object. It is formed including a fixed-side grip portion 27 arranged and a fixed-side support portion 28 connected to the fixed-side grip portion 27 and extending in the second direction R2.

The movable-side gripping member 21 has a gripping surface 21a, extends in the first direction R1, and has a movable-side gripping portion 29 arranged on the other side of the outer wall material P of the object to be gripped. and a movable-side support portion 30 that connects and extends in the second direction R2.

As shown in FIG. 12, the fixed-side support portion 28 and the movable-side support portion 30 are each formed in the shape of a square tube (tubular, cylindrical). It is fitted and provided so that it can advance and retreat in the direction R2. The gripping screw shaft 22 is pivotally supported by the fixed side support portion 28 and disposed inside the fixed side support portion 28 and the movable side support portion 30 , and the gripping nut 23 is fixed to the movable side support portion 30 . is provided.

Both gripping surfaces 20a and 21a of the fixed-side gripping portion 27 and the movable-side gripping portion 29, and the side surface of the fixed-side support portion 28 facing the first direction R1 on the fixed-side gripping portion 27 side are provided with rubber plates or the like. An elastic body 31 is attached. At this time, rectangular plate-shaped plate materials are integrally attached to the fixed-side gripping portion 27 and the movable-side gripping portion 29 by welding or the like, and an elastic body 31 is attached to this plate material to form gripping surfaces 20a and 21a. It is Then, by using a plate material of a desired size and attaching an elastic body 31 of a desired size to this plate material, the gripping surfaces 20a and 21a are formed to have a desired area, elasticity, and coefficient of friction. It is

In the gripping device B of this embodiment, as shown in FIG. 4 (FIGS. 5, 7, 9, and 10 to 13), the ends of the screw shaft 16 for slide and the screw shaft 22 for gripping are connected to the electric impact force. Tool connecting portions 32 and 33 for connecting an electric tool such as the screw shaft 16 and the screw shaft 22 for gripping to forward and reverse rotation. Of course, it is also possible to connect a manual tool such as a ratchet to the tool connecting portions 32 and 33 to rotate the screw shaft 16 for slide and the screw shaft 22 for gripping forward and backward.

In the gripping device B and the gripping and transporting device A of this embodiment, which are configured as described above, by rotating the gripping screw shaft 22 of the gripping mechanism 11, the fixed side gripping member 20 is rotated as shown in FIGS. The movable-side gripping member 21 can be relatively advanced and retracted (lifted/lowered) in the second direction R2, and the gripping surfaces 20a and 21a of the fixed-side gripping member 20 and the movable-side gripping member 21 sandwich the object to be gripped. The outer wall material P can be gripped.

Further, by rotating the sliding screw shaft 16 of the slide mechanism 10, the gripping platform B2 can be advanced and retreated (slid) in the first direction R1 relative to the supporting platform B1.

The gripping frame B2 is movably supported by the guide member 15 of the supporting frame B1, and the slide nut 17 screwed onto the sliding screw shaft 16 of the supporting frame B1 is attached to the nut holder 18 provided on the gripping frame B2. Since they are only fitted together, the guide member 15 (the support frame B1 through the guide member 15) supports the load acting when the outer wall material P of the gripped object is transported, and this load is used for sliding. It is possible to prevent the nut 17 and the slide screw shaft 16 from being acted upon.

As a result, a large local stress does not occur in the slide screw shaft 16, and durability and reliability of the slide mechanism 10 and thus the gripping device B can be ensured.

In the gripping device B and the gripping and transporting device A of this embodiment, guide members 15 are provided on both end sides of the support frame B1 in the third direction R3, so that a pair of The guide member 15 can support the load that acts when the outer wall material P of the object to be gripped is transported, and the load reliably acts on the slide nut 17 and the slide screw shaft 16, resulting in a large local stress. can be prevented from occurring.
As a result, it becomes possible to stably move the grip platform B2 forward and backward (sliding) in the first direction R1.

In the gripping device B and the gripping and transporting device A of the present embodiment, tools are connected to the tool connection portions 32 and 33 at the ends of the slide screw shaft 16 and the grip screw shaft 22, respectively, and the screw shafts 16 and 22 are connected by the tools. 22 can be rotated to move forward and backward for sliding and gripping.
As a result, for example, using a general-purpose tool such as an electric tool or a ratchet wrench, the gripping/releasing operation of the outer wall material P of the gripped object and the slide movement operation of the outer wall material P of the gripped object and the grip base B2 can be easily performed. becomes possible.

In addition, the forward/backward connecting member 24 is movably supported by each guide member 15, and the fixed side gripping member 20 is detachably connected to the forward/backward connecting member 24, whereby the fixed side gripping of the gripping base B2 with respect to the supporting base B1 is performed. It becomes possible to easily attach and detach the member 20 (and the movable-side gripping member 21). In other words, as shown in FIG. 14, the fixed side gripping member 20 (and the movable side gripping member 21) of the gripping base B2 can be separated from the advancing/retreating connecting member 24 and the connecting member 25. As shown in FIG. Furthermore, by continuing to rotate the gripping screw shaft 22 , the gripping nut 23 can be separated from the gripping screw shaft 22 , that is, the movable gripping member 21 can be separated from the fixed gripping member 20 .

As a result, it is possible to improve handling properties such as assembly and transportation of the gripping device B, storage properties, maintenance properties, and the like. Furthermore, the fixed-side gripping member 20 and the movable-side gripping member 21 can be attached to either one end side or the other end side of the advance/retreat connection member 24 in the first direction R1. That is, depending on the position and orientation of the outer wall material P of the object to be grasped, the direction in which the ends of the outer wall material P of the fixed-side gripping member 20 and the movable-side gripping member 21 are inserted may be set to one side of the first direction R1. Either one side or the other side can be freely selected, which improves usability and makes it possible to carry out gripping, transporting, and setting work of the exterior wall material P more efficiently.

In the gripping device B and the gripping and transporting device A of the present embodiment, the pair of advancing/retreating connecting members 24 are connected by the connecting member 25, so that the pair of advancing/retreating connecting members 24 are moved by forward and reverse rotation of the screw shaft 16 for slide. Furthermore, the pair of fixed-side gripping members 20 and the pair of movable-side gripping members 21 can be synchronously moved forward and backward.
As a result, for example, even when the external wall material P of the object to be gripped is gripped and a load is applied, the movement (sliding motion) of the gripping platform B2 can be stabilized.

In addition, by providing the nut holder 18 in the center of the connecting member 25 that connects the pair of advance/retreat connecting members 24, the rotational force of the slide screw shaft 16 can be transferred from the slide nut 17 to the connecting member 25, and from the connecting member 25 to the connecting member 25. can be evenly and smoothly transmitted from the pair of advance/retreat connection members 24 to the pair of fixed-side gripping members 20, and the forward and reverse rotation of the slide screw shaft 16 preferably enables the pair of advance/retreat connection The members 24, and thus the pair of stationary gripping members 20 and the pair of movable gripping members 21, can be advanced and retracted in synchronism.
As a result, for example, even when the outer wall material P of the object to be gripped is gripped and a load is applied, the movement of the gripping base B2 can be more reliably stabilized.

In the gripping device B and the gripping and transporting device A of the present embodiment, the connecting portion (connecting portion with bolts and nuts) 26 between the arm portion 2 of the traveling carriage 1 and the support frame B1 is located at both ends in the third direction R3, That is, by being provided at portions close to each of the pair of guide members 15, the load transmitted from the gripping frame B2 to the pair of guide members 15 of the support frame B1 and supported by the pair of guide members 15 can be efficiently transferred. can be transmitted to the arm portion 2.
As a result, for example, the load borne by the pair of guide members 15 does not become excessive, and even when the outer wall material P of the object to be gripped is gripped and the load acts, the forward/backward movement of the gripping platform B2 is prevented. Operation can be more reliably stabilized.

In the gripping device B and the gripping and transporting device A of this embodiment, the fixed gripping member 20 and the movable gripping member 21 are respectively a fixed side support portion 28, a movable side support portion 30, a fixed side grip portion 27, and a movable side gripping portion 27. A fixed-side support portion 28 and a movable-side support portion 30 are formed in a cylindrical (tubular) shape, and the support portions 28 and 30 are fitted to each other to rotate the gripping screw shaft 22. In addition, the movable-side gripping member 21 can be suitably advanced and retracted (gripping the outer wall material P, releasing the gripping).

Further, by forming the fixed-side support portion 28 and the movable-side support portion 30 in the shape of a square tube (square tube shape), the grasping screw shaft 22 can be moved by simply fitting the support portions 28 and 30 together so as to move back and forth. is rotated, the movable side support portion 30 to which the gripping nut 23 is connected and fixed does not co-rotate with the fixed side support portion 28, and the movable side gripping member 21 is preferably attached to the fixed side gripping member 20 You can move forward and backward. That is, it is possible to move forward and backward appropriately without separately providing a co-rotation prevention mechanism.

In the gripping device B and the gripping and transporting device A of the present embodiment, elastic bodies 31 are provided on both gripping surfaces 20a and 21a of the fixed-side gripping portion 27 and the movable-side gripping portion 29, and on the side surface of the fixed-side support portion 28. As a result, the outer wall material P of the object to be grasped can be suitably grasped and transported without being damaged.

Here, in the gripping device B and the gripping and transporting device A of the present embodiment, the fixed side gripping member 20 and the movable side gripping member 21 are provided with swinging members, and the swinging members form the gripping surfaces 20a and 21b. good too.

With this configuration, when gripping the gripping object (P) with the fixed-side gripping part 27 and the movable-side gripping part 29, one side surface or the other side of the gripping object (P) can be Even if the surfaces are not parallel or flat (uneven), the swinging member swings according to the shape of these surfaces, and the orientation of the gripping surfaces 20a and 21a changes according to the object to be gripped ( It can be adapted to the shape of the surface of P).
As a result, the object to be grasped (P) can be grasped regardless of the shape of the surface on one side or the surface on the other side of the object to be grasped (P), in other words, regardless of the shape of the object to be grasped (P). The orientation of the gripping surfaces 20a and 21a is automatically adjusted to the shape of , and the gripping object (P) can be preferably gripped.

In the gripping and transporting apparatus A of this embodiment, the gripping apparatus B is attached to the arm portion 2 of the traveling carriage 1 through the rotation drive mechanism 5 so as to be rotatable about the yaw axis M2 and the pitch axis M3.
As a result, when gripping the outer wall material P of the gripping target, the gripping device B is arranged near the outer wall material P of the gripping target, and after rotating the gripping device B around the yaw axis M2, By rotating M3, the relative position of the grasping device B with respect to the outer wall material P of the grasped object can be adjusted, and as shown in FIGS. It becomes possible to suitably grasp and carry in a holding state.

In the gripping and transporting apparatus A of the present embodiment, it is preferable that the traveling drive mechanism of the traveling carriage 1 and the raising and lowering drive mechanism and rotation drive mechanism of the arm portion 2 can be driven by remote control.
With this configuration, the traveling of the traveling carriage 1, the raising and lowering of the arm portion 2, and the orientation of the gripping device B can be operated by remote control, and the gripping and transporting device A excellent in handleability can be realized.

On the other hand, when using the gripping device B of the present embodiment to grip and transport the outer wall material P of the gripping object and set it at a predetermined position, the following steps are taken as shown in FIGS. As shown, the traveling carriage 1 is driven, and the gripping device B is moved so that the outer wall material P is disposed between the fixed side gripping member 20 and the movable side gripping member 21 (gripping device moving step).

Next, the slide screw shaft 16 is rotated to advance the gripping frame B2, and the gripping surface 20a of the fixed gripping member 20 and the movable gripping member 20 are placed at predetermined positions on one side and the other side of the outer wall material P, respectively. The gripping surface 21a of the member 21 is arranged (gripping positioning step).

Next, the gripping screw shaft 22 is rotated to advance (raise) the movable gripping member 21, and the outer wall material P is gripped by the fixed gripping member 20 and the movable gripping member 21 (gripping step).

The traveling carriage 1 is driven while holding the outer wall material P by the gripping device B, and the outer wall material P is temporarily installed near a predetermined installation position while adjusting the direction of the outer wall material P by operating the arm portion 2 (temporary installation step). : state shown in FIG. 15).

Then, the slide screw shaft 16 is rotated to advance the grip base B2, and the exterior wall material P is moved to a predetermined installation position (in FIG. 15, the installation position adjacent to the previously installed exterior wall material P) and attached ( main installation process).

As a result, it becomes possible to grasp the outer wall material P of the object to be grasped and install it at a predetermined position more easily than in the conventional art.

After the outer wall material P is permanently installed, the gripping screw shaft 22 is reversely rotated to retract the movable side gripping member 21, and the gripping state of the outer wall material P is released. In addition, the slide screw shaft 16 is reversely rotated to retract the gripping frame B2, and the fixed side gripping member 20 and the movable side gripping member 21 are moved outward from one side and the other side of the exterior wall material P which has been installed. The gripping device B is retracted by operating the arm portion 2 of the traveling carriage 1 and the like. Thus, the step of installing the exterior wall material P is completed.

In this embodiment, in the gripping device moving step, for example, as shown in FIG. The relative position of the gripping device B with respect to the outer wall material P is aligned by rotating around the pitch axis M3.
In this way, the relative position of the holding device B with respect to the external wall material P placed flat can be easily adjusted, and the external wall material P can be suitably held and transported in a cantilevered state.

Further, in the gripping device B and the gripping and transporting device A of the present embodiment, if the fixed side gripping member 20 and the movable side gripping member 21 are connected to one end side of the forward/backward connecting member 24 in the first direction R1, 15 can be advanced (slidably moved) in the direction of the solid line arrow shown in FIG. It can advance (slide) in the direction of the arrow.

As a result, for example, when the outer wall material P is installed at a position where a pillar material, a wall material, or the like becomes an obstacle, the connection positions of the fixed-side gripping member 20 and the movable-side gripping member 21 with respect to the forward/backward connecting member 24 are set to one side. By changing from the end side to the other end side or from the other end side to the one end side, it is possible to easily cope with the situation.

Furthermore, when the exterior wall material P is permanently installed, the gripping state of the exterior wall material P is released, and the gripping platform B2 is retracted by rotating the slide screw shaft 16 in the reverse direction, the gripping platform B2 is moved from the column material, wall material, or the like. It may be impossible to remove the fixed-side gripping member 20 and the movable-side gripping member 21 from one surface side and the other surface side of the external wall material P, which has been installed, to the outside due to interference with an obstacle.

On the other hand, in the gripping device B and the gripping and transporting device A of the present embodiment, by continuing to rotate the gripping screw shaft 22, the gripping screw shaft 22 is moved to the gripping nut 23, and the fixed side gripping member 20 to the movable side gripping. Member 21 can be separated.
As a result, even if the fixed-side gripping member 20 and the movable-side gripping member 21 cannot be removed from one surface side and the other surface side of the permanently installed exterior wall material P, the fixed-side gripping member 20 can be removed. By separating the movable side gripping member 21 and, if necessary, removing the fixed side gripping member 20 from the forward/backward connecting member 24, the outside wall material P that has been installed is fixed to the outside from one side and the other side. It becomes possible to remove the side gripping member 20 and the movable side gripping member 21 and operate the arm portion 2 of the traveling carriage 1 to retract the gripping device B. FIG.

Therefore, according to the gripping device B, the gripping and transporting device A, and the transportation/installation method using the gripping device B of the present embodiment, gripping objects such as outer wall materials can be gripped more efficiently and favorably than in the conventional art. Furthermore, it is possible to more efficiently and accurately place the object to be grasped at a desired position.

Although the gripping device, the gripping and transporting device, and the transportation/installation method using the gripping device according to the present invention have been described above, the present invention is not limited to the above-described embodiments, and the gist thereof is as follows. It can be changed as appropriate within a range that does not deviate.

Reference Signs List 1 traveling carriage 2 arm 3 base 4 wheel 5 rotation drive mechanism 6 counterweight 7 expansion mechanism 8 frame 10 slide mechanism 11 gripping mechanism 15 guide member 16 slide screw shaft 17 slide nut 18 nut holder 20 fixed side gripping member 20a Gripping surface 21 Movable gripping member 21a Gripping surface 22 Gripping screw shaft 23 Gripping nut 24 Retractable connecting member 25 Connecting member 26 Connecting portion 27 Fixed gripping portion 28 Fixed side supporting portion 29 Movable gripping portion 30 Movable supporting portion 31 Elastic body 32 Tool connection part 33 Tool connection part A Grasping and transporting device B Grasping device B1 Support base B2 Grasping base O1 Rotational axis O2 Rotational axis P External wall material (external wall panel, object to be grasped)
R1 First direction R2 Second direction R3 Third direction T1 Front-back direction T2 Width direction T3 Up-down direction

Claims (15)

A gripping device attached to an arm portion of a traveling carriage for gripping and transporting an object to be gripped,
a support frame attached by connecting to the arm;
a grasping base that is supported by the support base so as to be able to move forward and backward in a first direction by a slide mechanism and that grasps the grasped object by a grasping mechanism;
The slide mechanism is
a guide member provided on the support frame and extending in the first direction to support and guide the gripping frame in the first direction;
a slide screw shaft provided on the support frame and rotatably supported around a rotation axis extending in the first direction;
a slide nut that is screwed onto the slide screw shaft and advances and retreats in the first direction along with forward and reverse rotation of the slide screw shaft;
a nut holder provided on the gripping platform and fitted with the slide nut;
The gripping mechanism is
a fixed-side gripping member that is supported by the guide member and is provided on the gripping base so as to be able to move forward and backward in the first direction, and that has a gripping surface disposed on one side of the gripped object;
a movable-side gripping member which is orthogonal to the first direction and is provided so as to be able to move back and forth in a second direction facing the fixed-side gripping member, and which has a gripping surface disposed on the other side with the gripped object interposed therebetween; ,
a gripping screw shaft rotatably supported by the fixed-side gripping member about a rotation axis extending in the second direction;
a gripping nut screwed onto the gripping screw shaft and connected to the movable side gripping member, the gripping nut advancing and retreating in the second direction along with forward and reverse rotation of the gripping screw shaft;
gripping device. An end portion of the slide screw shaft and the gripping screw shaft is a tool connection portion for connecting a tool to rotate the slide screw shaft and the gripping screw shaft in forward and reverse directions.
A gripping device according to claim 1 . The guide members are provided on both end sides of the support frame in a third direction orthogonal to the first direction and the second direction,
The gripping platform is
a pair of advance/retreat connection members each supported by the pair of guide members so as to be advanceable and retreatable, and to which the fixed-side gripping member is detachably connected;
a connecting member that extends in the third direction and is connected to the pair of forward/backward connecting members,
3. A gripping device according to claim 1 or claim 2. The nut holder is provided at the center of the connecting member in the third direction,
4. Grasping device according to claim 3. Connecting portions for connecting to the arm portions are provided on both end side portions of the support frame in the third direction, respectively.
5. A gripping device according to claim 3 or claim 4. The fixed-side gripping member is
a fixed-side gripping portion having the gripping surface, extending in the first direction connected to the guide member, and arranged on one side of the gripping object;
a fixed-side support portion connected to the fixed-side grip portion and extending in the second direction;
The movable-side gripping member is
a movable gripping portion having the gripping surface, extending in the first direction, and arranged on the other side of the gripping object;
a movable-side support portion connected to the movable-side grip portion and extending in the second direction;
The fixed side support portion and the movable side support portion are each formed in a cylindrical shape,
provided by fitting the movable side support portion inside the fixed side support portion so as to be able to move back and forth in the second direction;
The gripping screw shaft is axially supported by the fixed side support portion and disposed inside the fixed side support portion and the movable side support portion, and the grip nut is fixed to the movable side support portion. is being
A gripping device according to any one of claims 1 to 5. The fixed-side support portion and the movable-side support portion are formed in a square tube shape,
7. Grasping device according to claim 6. elastic bodies are attached to both gripping surfaces of the fixed-side gripping portion and the movable-side gripping portion, and to a side surface of the fixed-side support portion facing the first direction on the fixed-side gripping portion side,
A gripping device according to claim 6 or claim 7. The fixed-side gripping member and the movable-side gripping member each include a swinging member,
a gripping surface is formed by the rocking member;
A gripping device according to any one of claims 1 to 8. wherein the object to be grasped is an exterior wall material;
10. Grasping device according to any one of claims 1 to 9. A gripping and transporting device for gripping and transporting an object to be gripped,
a traveling trolley;
The gripping device according to any one of claims 1 to 10, which is attached to the arm portion of the traveling carriage and grips the gripping object,
Grasping and conveying device. The gripping device is attached to the arm portion of the traveling carriage so as to be rotatable about the yaw axis and the pitch axis via a rotation drive mechanism.
12. A gripping and carrying device according to claim 11. The traveling drive mechanism of the traveling carriage, the hoisting drive mechanism of the arm portion, and the rotation drive mechanism are driven by remote control,
13. A gripping and carrying device according to claim 12. A method for gripping and transporting the gripping object using the gripping device according to any one of claims 1 to 10 and installing the gripping object at a predetermined position, comprising:
a gripping device moving step of moving the gripping device such that the gripping object is disposed between the fixed-side gripping member and the movable-side gripping member;
The slide screw shaft is rotated to advance the gripping platform, and the gripping surface of the fixed-side gripping member and the gripping surface of the movable-side gripping member are positioned at predetermined positions on one side and the other side of the gripped object, respectively. a gripping and positioning step of arranging the
a gripping step of rotating the gripping screw shaft to advance the movable-side gripping member, and gripping the gripping object with the fixed-side gripping member and the movable-side gripping member;
The traveling vehicle is driven while the gripping device grips the gripped object, and the gripped object is temporarily installed near a predetermined installation position while adjusting the orientation of the gripped object by operating the arm unit. an installation process;
a main installation step of rotating the slide screw shaft, advancing the gripping base, moving the gripped object to a predetermined installation position, and attaching the gripped object;
A transportation and installation method using a gripping device. The gripping device moving step includes:
The gripping device is arranged near the gripped object, and after rotating the gripping device about the yaw axis, it is rotated about the pitch axis so that the relative position of the gripping device with respect to the gripped object is adjusted. bottom,
A transportation/installation method using the gripping device according to claim 14.

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