JPH035572A - Steel frame assembly system employing robot - Google Patents

Abstract

PURPOSE:To automatically assemble together steel frames by a method wherein position data of a steel frame member conveyed by a crane robot and an already driven steel frame is detected and compared and computed, and by means of an output therefrom, various robots are controlled in coordination. CONSTITUTION:Position data is detected from a moving scaffold robot 21 on which various working robots are mounted and which has a photographing device to detect position data of an already driven pillar and a crane robot 28 lifting steel frames to the moving scaffold robot 21 and detecting position data for steel frames intended to be assembled together, and the data position is compared and computed. By means of an output therefrom, the crane robot 28 and a positioning robot 24 are controlled in coordination, and a steel frame, e.g. pillars, beams, is automatically regulated so as to be coincided with a mounting direction to assemble together the steel frames. This system performs automation of a steel frame work with high positioning precision without using a labor, and shortens a term of works.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a steel frame assembly system using a robot for grasping a bundled steel frame member carried by a crane robot and attaching it to an already erected steel frame. .

[Conventional technology]

The construction methods for medium-to-high-rise buildings are divided into several steps: steel frame construction, reinforcing steel assembly, formwork assembly, concrete pouring, and formwork dismantling.
There is work such as transporting parts, temporary joining, rebuilding, and final joining. In these operations, first, a crane is used to lift and transport the steel frame to a predetermined position, and each member is temporarily joined using temporary bolts, for example, and then positioning in three axes, straightening distortion, welding, etc. The steel frame is finally fixed with bolts (
Main bonding). These tasks in conventional steel frame assembly are mostly carried out manually by steeplejacks and other workers, with only the use of cranes to transport the steel frames and the use of a few jigs for joining.

[Problem to be solved by the invention] As mentioned above, in conventional steel frame work, after the steel frame is lifted and transported to a predetermined position using a crane, the work is mostly done at height by a steeplejack craftsman. However, there were problems in that it was dangerous, time-consuming, and required highly skilled techniques in terms of accuracy.

The present invention solves the above problems, and aims to provide a positioning robot for steel construction that can automatically adjust the posture of steel frames and assemble steel frames without manual intervention. It is.

[Means for Solving the Problems] To this end, the steel frame assembly system using robots of the present invention is equipped with various working robots, and has gripping devices 33, 37.
While self-climbing using a hydraulic cylinder,
A mobile scaffold robot 21 that assembles steel frames such as girders and columns, a crane robot 28 that lifts the steel frames onto the mobile scaffold robot 21, and a positioning robot that grasps the lifted steel frames and positions them at predetermined locations. 24,
The mobile scaffolding robot 21 has an imaging device that detects positional data of columns that have already been erected, and the crane robot 28 has an imaging device 28a that detects positional data of the steel frame to be assembled. The present invention is characterized in that the position data of the columns erected in the number and the position data of the steel frames to be assembled are compared and calculated, and based on the output, the crane robot 28 and the positioning robot 28 are jointly controlled to assemble the steel frames.

Note that the numbers added to the above configurations are for comparison with the drawings, and the configurations of the present invention are not limited thereby.

[Effect]

In the present invention, first, as shown in FIG. 6, for example,
Before the pillar is lifted, the center position and orientation of the lower pillar are measured by the sensing device 26 on the mobile scaffolding robot 21, and the center position W (X, Y) and orientation θ of the pillar cross section are measured and calculated. , imaging device 28a of the crane robot 28
Measure the position of the upper column and place the upper column on the rotary table 1.Next, the column position data is output to the positioning robot 24, and each electric motor is driven to set the gripping device 109 at a predetermined position. After that, Figure 8 Ca)
Grasp the upper column on the rotary table 1 as shown in the figure.

Next, the crane robot 28 and the positioning robot 24
After the upper column is lifted and positioned a predetermined distance above the lower column by a coordinated operation, the rotary table 1 is retracted from the top of the lower column as shown in FIG. 8(b). Next, the position of the upper column measured by the imaging device 28a of the crane robot 28 and the position of the lower column are compared, and the positioning robot 24 is rotated so that the two coincide.
Insert the pillar as shown in Figure (c).

[Example] Embodiments of the present invention will be described below with reference to the drawings.

First, a mobile scaffolding robot equipped with the steel frame industrial positioning robot of the present invention will be explained.

FIG. 3 is an external view of a mobile scaffolding robot equipped with various working robots, FIG. 4 is a side view of the mobile scaffolding robot, and FIG. 5 is a plan view of the mobile scaffolding robot. In the figure, 21 is a mobile scaffolding robot, 22 is a small beam, a mounting device installation position, 23 is a welding robot, 24 is a positioning robot, 25 is a rotating robot, 26 is a sensing device, 27 is a moving cart, 28
is a crane robot, 30 is an upper floor frame, 31 is a clamp device, 32 is a guide rail, 33 and 37 are gripping devices, 34 is a turntable, 35 and 36 are hydraulic cylinders,
39 indicates a lower floor frame.

In FIG. 3, the mobile scaffolding robot 21 for steel construction works is
It has girder gripping devices 33, 37 for raising and lowering on the sides of the upper floor frame 30 and the lower floor frame 39, and a leg extension mechanism that extends and contracts with a hydraulic cylinder between the upper floor frame 30 and the lower floor frame 39, Furthermore, it has a reduction mechanism for the upper and lower floor surfaces, and by reducing the size to a compact size during transportation, it can be easily transported by truck. The movement of the mobile scaffolding robot 21 is carried out by loading it on a mobile cart 27, which is driven manually with the short side of the mobile scaffolding robot 21 loaded in a direction parallel to the long side of the mobile scaffolding robot 21. Ru.

A welding robot 23 is mounted on the upper floor of the mobile scaffolding robot 21.
Various working robots such as a positioning robot 24, a rotating robot 25, and a sensing device 26 are mounted.

Among the work robots, the crane robot 28 lifts columns and beam steel frames, and also uses an imaging device (ITV) 28a.
Measure the posture of the column steel frame. The rotating robot 25 adjusts the posture of the columns and the girder steel frame, and the positioning robot 24 supports the column and the girder steel frame and positions them on the existing steel frame. Further, the sensing device 26
It is equipped with an imaging device (ITV) to measure the pins at both ends of the beam and the pin holes in the finishing section, as well as the center position and posture of the column steel frame.

In this way, the mobile scaffolding robot 21 is equipped with various work robots and performs self-climbing work using the gripping devices 33 and 37 and hydraulic cylinders to assemble girders and column steel frames. A positioning robot 24 and a rotating robot 25 installed on a mobile scaffolding robot 21 perform their respective tasks in cooperation with a crane robot 28.

The mobile scaffolding robot for steel construction has a guide rail 32 laid along the upper surface of the upper floor frame 30 as shown in FIGS. 4 and 5, and a turntable 34 placed in the corner, A welding robot 23, a positioning robot 24, a rotating robot 25, etc., such as the above, can freely move on the upper floor frame 30. Then, the turntable 3 at the center and corner of each side, which is the robot working position.
4 is provided with a clamping device 31 for the robot base in case a member load is applied to the rotating robot.

The leg extension/retraction mechanism is configured to extend/retract the three stages of booms using two hydraulic cylinders 35 and 36, respectively, as shown in the figure. Therefore, by gripping the girder with the gripping device 37 and fixing the lower floor frame 39, and by extending the hydraulic cylinders 35 and 36, the upper floor frame 30 can be raised to the upper floor, and the gripping device 3 of the upper floor frame 3o
3 grips the girder to fix the upper floor frame 3o at the position of the girder on the upper floor, and by contracting the hydraulic cylinders 35 and 36, the lower floor frame 39 can be raised to the next floor.

FIG. 1 is a partially sectional view showing one embodiment of a positioning robot used in the present invention.

The positioning robot 24 generally includes a traveling housing 101.
, moving housing 102, vertical movement shaft 103, rotation device 1
04, sliding shaft 105, rotating shaft 106.107.10.8
, a gripping device 109.

The traveling housing 101 has wheels at its lower part and is movable on a guide rail 32 (FIG. 5) by a motor (not shown). The travel housing 101 includes a vertical movement shaft 1.
A through hole 101a is formed to allow the lowering of 03.

The moving housing 102 is movably supported on the traveling housing 101 by a linear guide 110 and a bearing 111, and is moved on the X-axis by transmitting the rotation of the electric motor 112 to the rack 113 and the pinion 114.

Further, the moving housing 102 is connected to the traveling housing 101.
The clamp 115 fixed to supports the reaction force when a load is applied to the gripping device 109.

Furthermore, a vertically moving shaft 103 is supported by a bearing 116 in the movable housing 102 so as to be vertically movable.
03 is moved up and down (in the Z-axis direction) by an electric motor 117 and a rank and pinion mechanism 119.

The swing device 104 is rotatably supported by a bearing 120 on a vertical moving shaft 103, and a sliding shaft 105 is supported by a bearing 120.
1 so as to be movable in the horizontal direction, and the sliding shaft 1
05 is rotated by an electric motor 122 and a gear 123, and also rotates by an electric motor 125 and a ball screw mechanism 1.
26 to move in the horizontal direction (Y axis).

The gripping device 109 has a rotation axis of 1°6.10 on the sliding shaft 105.
7.108, and the rotating shafts 106.107.
108 is rotated as shown in the figure by an electric motor (not shown). This gripping device 109 is moved by a hydraulic cylinder 127 to grip the steel frame. This confirmation of gripping is performed by a tuff sensor such as a magnetic sensor, and a load detection sensor is provided to detect an overload transmitted from the crane robot 28.

Each of the above electric motors is equipped with an encoder.
Each electric motor is driven based on data of the mounting position detected by the sensing device, and the girder or column received on the rotary robot 25 is gripped by the gripping device 109 and transported to the mounting position detected by the sensing device. It is something.

At this time, the wires for lifting the girders and columns remain connected, and each weight is borne by the crane robot 28.

Next, referring to FIG. 2, a rotating robot related to the present invention will be explained. The rotating robot 25 is disposed on the traveling housing 101 together with the positioning robot 24 .

In FIG. 2(a), a rotary table 1 uses a cushion material 2 such as hard rubber to prevent vibration when a member is placed on it, and the lower part is rotatable with a cylindrical roller bearing 6. It is pivotally supported, and its rotation is controlled by a servo motor 7 and a speed reducer 8 via a timing belt 5. It is supported to be slidable up and down by a linear guide 11 and a linear bearing 12, and can be moved up and down via a square screw 13 by a servo motor 9 and a reduction gear a10. The cylindrical roller bearing 14, the servo motor 15, the speed reducer 16, and the gear 17 further rotatably support the entire rotating robot for steel construction work. In this way, the rotary table 1 is sized and structured so that the arm extends horizontally from the vertical pivot axis, and the rotary table 1 is positioned above the mounting position.

Therefore, when connected to the positioning robot on the traveling housing 101, the rotary table can be lowered and evacuated after the positioning robot grips the girder or column using the lifting and turning mechanism.

Adjustment of the posture using the above-mentioned rotary robot for steel construction is possible when two distance sensors (ultrasonic sensors) 3 are installed parallel to the direction X, as shown in Fig. 2(b). Then, the girder 18 is temporarily supported on the rotary table 1, and the two distance sensors 3 measure the distances z, , ii', respectively to the members.
Measure. Then, the rotary table 1 is rotated until the distance difference between both sensors becomes 0.

Next, the column assembly system of the present invention will be explained. 6th
The figure is a diagram for explaining the column tube assembly sequence.

First, before the pillar is lifted, the sensing device 26 on the moving scaffolding robot 21 determines the center position and orientation of the lower pillar.
(i), as shown in Figure 7(a), move the imaging device (rTV) above the lower column and
As shown in Figure (b), this is done by measuring and calculating the center position (X, Y) and direction θ of the column cross section.

Next, since the column members are heavier than the girders,
The rotary table 1 of the rotary robot 25 is placed on the lower column. In the crane robot 28, 1. Compare and calculate the own position and the center position of the lower pillar, and place the upper pillar on the rotary table 1 (i+). Then,
Adjust the posture of the upper column on the rotary table 1 (iii
). This is the imaging device (IT) of the crane robot 28.
V) Using 28a, measure and calculate the center position (X, Y) and direction θ of the column cross section in the same way as explained in FIG. Rotate 1.

Next, the positioning robot 24 determines the center position (X
, Y) and direction θ, and after driving each electric motor and setting the gripping device 109 at a predetermined position, as shown in FIG. Grasping (iv).

Next, the crane robot 28 and the positioning robot 24
After the upper column is lifted and positioned a predetermined distance above the lower column (V) by the cooperative work of (V), the rotary table 1 is retracted from the top of the lower column as shown in FIG. 8(b).

Next, in step (vi), the relative positions of the upper and lower column cross sections are measured and final confirmation is made, and if correction is required, the position and orientation of the column is corrected by the positioning robot 24, and if the work is defective, an alarm is issued. , if it is OK, insert the pillar as shown in FIG. 8(e). And finally, positioning robot 2
4. Check the final target position data and the load on the gripping device, and complete the assembly.

It should be noted that the present invention is not limited to the above-mentioned embodiments, and the inoculation can be varied.

For example, in the above embodiment, the attitude of the pillar is adjusted by the rotary table 1 in the susotesup (111), but the rotary table 1 is used only for temporarily placing the pillar, and the positioning robot 24 adjusts the attitude of the pillar. This may be performed after gripping.

Furthermore, for example, although the above embodiment describes the assembly of columns, it may also be applied to the assembly of girders, and in this case, as explained in FIG. After adjusting the posture, the positioning robot 24 grips the girder, moves it to the detected pin hole position of the beam joint, and attaches the girder to the beam joint.

[Effects of the Invention] As is clear from the above description, according to the present invention, the postures of the upper and lower columns are measured by the sensor of the crane robot and the sensor of the moving scaffold, and the cooperation between the crane robot and the positioning robot is improved. By assembling columns, the posture of steel members such as columns and beams can be automatically adjusted to match the mounting direction.

In addition, by cooperating with mobile scaffolding robots and work robots such as positioning robots and welding robots, steel frame work can be performed automatically without the use of human hands such as steeplejacks. Moreover, the safety of construction work can be improved, and the clearness of positioning can be increased, so that the construction period can be shortened.

[Brief explanation of drawings]

FIG. 1 is a partial sectional view showing one embodiment of the positioning robot used in the present invention, FIG. 2(a) is a diagram showing one embodiment of the rotating robot used in the present invention, and FIG. Diagram for explaining posture detection and adjustment of steel frames; Figure 3 is an external view of a mobile scaffolding robot equipped with various work robots; Figure 4
The figure is a side view of the mobile scaffolding robot, Figure 5 is a plan view of the mobile scaffolding robot (/ ), Figures 6 and 8 are diagrams for explaining an example of the assembly process of the column members, and Figure 7 is the column. It is a figure for explaining the position measurement method of a member. 21... Mobile scaffolding robot, 24... Positioning robot, 28... Crane robot, 28a... Imaging device, 33.37... Gripping device. Figure 1 4

Claims (1)

[Claims] (1) A mobile scaffolding robot equipped with various work robots that assembles steel frames such as girders and columns while self-climbing using gripping devices and hydraulic cylinders, and a mobile scaffolding robot that lifts the steel frames onto the mobile scaffolding robot. The mobile scaffolding robot includes a crane robot and a positioning robot that grips a lifted steel frame and positions it at a predetermined location.
The crane robot has an imaging device that detects positional data of the already erected columns, and the crane robot has an imaging device that detects the positional data of the steel frame to be assembled, and the crane robot has the imaging device that detects the positional data of the already erected columns. A steel frame assembly system using a robot, characterized in that the crane robot and the positioning robot are cooperatively controlled to assemble the steel frame by comparing and calculating the position data of the steel frame and the position data of the steel frame to be assembled.