JPH0539671A - Conveying method for construction member - Google Patents

Abstract

PURPOSE:To efficiently convey construction members to individual stories of a multi-story building and easily realize unmanned construction. CONSTITUTION:A vertical circulation type lift device 15 with many pallets 19 arranged from the lowest story to the highest story of a building and having the same interval as that of the stories of the building 10 and multiple multi- function robots 33 with conveying and assembling functions of construction members are provided. When the multi-function robots 30 are autonomously traveled, the construction members are conveyed onto the pallets 19, and the construction members on the pallets 19 are conveyed to the stories of the building 10 by the circulating action of the lift device 15.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of conveying building members suitable for unmanned construction of a building, and particularly in a building constructed on multi-storey floors, vertically transports factory-produced slab units and other building members. The present invention relates to a transportation method for

[0002]

2. Description of the Related Art In recent years, in the construction of office buildings and the like, a method is being adopted in which pillars, beams, floors, outer walls, etc. are unitized by factory production, and the units are carried into a construction site and assembled. Conventionally, such a unitized building member has been carried into a construction floor by using a crane, a lift installed along a building, or a transfer robot.

[0003]

However, since the conventional carrying method using such a carrying device has a limited carrying capacity, the building members required for each floor of a multi-storey building can be carried without delay. If this is attempted, it is necessary to add cranes, lifts, etc., which raises the problem of increased transportation costs. In addition, recently, in addition to labor shortage and lack of skilled workers in the entire industry, due to serious labor shortage, unmanned construction using robot technology is also used in the construction industry like other manufacturers. It is moving in the direction. However, the above-described conventional transfer method is not suitable for unmanned construction of a building, has poor feasibility, and has a problem of requiring a lot of manpower.

The present invention has been made in view of the above circumstances, and provides a method of transporting a building member, which can efficiently transport the building member to each floor of a multi-storey building and easily realize unmanned construction. The purpose is to do.

[0005]

In order to achieve the above object, the present invention is endlessly arranged from the lowest floor to the highest floor in a core space formed in a building and has a large number of floor spaces equal to the floor space of the building. A vertical circulation type lift device having a pallet and a plurality of multi-functional robots having a function of transporting and assembling building members are provided, and various building members are placed on the pallet of the lift device by autonomously moving the multi-functional robot. It is characterized in that the building members on the pallet are carried into and out of the building by the circulation operation of the lift device. Further, the present invention is characterized in that the equipment unit is installed in the core space using the lift device.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 1 to 4 are schematic configuration diagrams of the entire transport mechanism for carrying out the method of the present invention. In the figure,
10 is a multi-story building, which is mainly used for pile driving,
Excavation work of the underground pit and foundation work have been completed, and the frame work has been completed by assembling the pillar unit 11, the beam unit 12, etc., and, if necessary, the outer wall panel 13a and the outer wall panel with an air conditioner. The thing which attached 13b is shown. Inside the building 10, a core space 1 for transporting over a plurality of spans on the outer wall side, for example, 3 spans.
4, a vertical circulation type lift device 15 is installed in the core space 14.

The lift device 15 includes sprockets 16a, 16 arranged on the uppermost floor and the lowermost floor of the core space 14.
b and 17a, 17b (only one side is shown in the figure),
The upper and lower sprockets 16a, 16b and 17a,
Endless chain 18 wound between 17b
a, 18b and both endless chains 18a, 18
It is composed of a large number of pallets 19 mounted between floors b at floor intervals, a drive device 20 for driving the endless chains 18a and 18b to travel, and a control panel 21 for controlling the drive device 20.

FIG. 5 shows an example of the guide structure for the pallet 19 in the lift device 15. The four corners of the pallet 19 are provided on the guide rails 22 and 22 with the guide shoe 19.
The pallet 19 is movably and horizontally supported via a and 19b, and both ends of the pallet 19 (a direction perpendicular to the paper surface in FIG. 5) are rotatably connected to the endless chains 18a and 18b.

At the upper end of the building 10, as shown in FIG. 1, a truss 23 for installing a curing roof is installed, and on this truss 23, a curing roof 24 inflated by air,
is set up. In the figure, 25 is an axial panel installed in the space between the truss 23 and the curing roof 24, and 26 is the truss 23.
It is an illuminating lamp that can be lifted up and down.

6 to 8 show a multi-slab unit (hereinafter simply referred to as a slab unit) assembled in the building 10.
An example is shown. This slab unit 27 is a precast concrete plate (hereinafter referred to as a concrete plate).
29, and the equipment unit 30 embedded in the back surface (ceiling surface) of this concrete board 29. Equipment unit 30
Is composed of an air conditioner, a lighting device, etc., and on its surface, as shown in FIG.
Louver 30b for lighting equipment, fire detector, speaker,
Units 30c such as temperature and humidity sensors are provided respectively. Further, in the concrete plate 29, pipes / cables 31 for the air conditioner are embedded.
1 is piping / cable 31 of the adjacent slab unit 27
The concrete board 29 is provided with a plurality of outlets / telephone outlets 32 on the surface thereof. 33 in the figure is
It is a multi-functional robot that transports and assembles the slab unit 27 and other building members. It automatically transports the building members to the specified assembly position according to the construction information consisting of the bar code provided on the building members, and performs automatic assembly. I am supposed to do it. In FIG. 1, reference numeral 41 is a robot for welding floors, wall plates and the like, 42 is a work monitoring robot, 43 is a cleaning robot, and 44 is a discharge material compression press machine provided under the floor on the first floor.

Next, a slab unit is formed by using a transfer system including the lift device 15 and the multi-function robot 33.
The case of performing other construction will be described. The construction order of each building member to the building 10 is performed from the construction of each floor, and after the floor construction is completed, the construction of various equipment units is successively performed. In the floor construction, that is, the construction of the slab unit, first, the truck 34 (see FIG.
The slab unit 27 carried in by (see) is lifted by the truck 34 and the crane 34a, and placed on the waiting robot 33. Each robot 33 having received the slab unit 27 gets on the pallet 19 from the carry-in port 15a of the lift device 15. Robot 33 is on pallet 19
When getting on, the construction information consisting of a bar code provided on the slab unit 27 (consisting of how to assemble the slab unit, information about the assembling position information and information such as the transportation floor) is read by a reading device (not shown) of the lift device 15. The driving device 20 is driven by the control panel 21 according to the read information, and the slab unit 27 is transported to the designated floor together with the robot 33. The slab unit 27 transported to the designated floor is driven by the robot 33 to autonomously travel as shown in FIGS. 3A and 3B, whereby the slab unit 27 is transported to the designated floor according to the construction information including the barcode provided on the slab unit 27. Carry it to the specified mounting position of and mount it. Then, the empty robot 33 that has completed the assembly of the slab unit 27.
2 is loaded onto the pallet 19 of the lift device 15 again and is conveyed to the carry-out port 15b as the lift device 15 travels in the direction of the arrow shown in FIG. 2B, and automatically travels from the carry-out port 15b to the slab unit receiving position. .. Hereinafter, by repeating the same operation, the slab units on each floor are automatically laid.

9 and 10 show a slab unit 27.
It shows an example of laying in a slide puzzle type. In this case, as shown in FIG. 10, the robot 33 holding the slab unit 27 is transported by the lift device 15 to the floor where the slab unit has been installed. Then, by activating the robot 33, the lift device 1
Move from the pallet 19 of 5 to the floor F already constructed,
Automatically drive to the slab unit assembly position on the floor F. By extending the elevating part 33a of the robot 33 during this transportation, the slab unit 27 is held at the same horizontal level as the floor one floor above the constructed floor F, and the slab unit 27 is built in this state. 10 beam units 12
Attach to. Similarly, slab units 27 sequentially transported by the lift device 15 and the robot 33 are arranged in a slide puzzle manner as shown in FIG. 9 to perform floor construction from the lower floor to the upper floor.

When the construction of the slab unit on each floor is completed, the equipment units such as the water heating unit and the toilet unit on each floor are assembled. 4A and 4B are explanatory views of the installation of the equipment unit, and the equipment unit 35 is installed using the lift device 15. That is, the lift device 15
The robot 33 loads the equipment units 35 one by one onto the packet 19 every time the vehicle runs for one floor. As a result, the necessary equipment unit 35 is incorporated in each floor, and the lift device 15 is stopped and locked at a predetermined position, so that the lift device 1 can be installed as shown in FIGS.
Toilet unit 35 on each floor except the top floor on the return side of 5
b is installed, and a water heater unit 35a is installed on each floor except the uppermost floor on the outward path side. The power receiving and transforming unit 36 and the generator unit 37 are installed on the top floor. In FIG. 4, 38 is a passenger elevator installed in the core space 14, 39 is a water tank unit installed on the basement floor, and 40 is a pump unit also installed on the basement floor.

As described above, in this embodiment, the vertical circulation type lift device 15 having the pallets 19 at the floor space of the building and the plurality of multifunction robots 33 for carrying and assembling the building members are provided. Since it is configured to convey building members in combination, it is possible to efficiently convey the necessary building members to each floor of a multi-storey building, facilitate the automation of the conveyance, and facilitate unmanned construction of various building members. Can be realized. Moreover, since the equipment unit 35 is installed in the installation core space 14 using the lift device 15, the installation of the equipment unit 35 in the building becomes easy. Furthermore, a curing roof 2 is provided on the upper end of the building 10.
By installing 4, 24 including night and holiday work
All-time weather work is possible.

[0015]

As described above, according to the present invention, a vertical circulation lift having pallets at the floor space of a building,
Since a plurality of multi-functional robots having a function of assembling and assembling building members are combined to carry the building members, a large number of building members can be simultaneously carried to a plurality of floors, and This has the effect of facilitating automatic transfer of the building members to the assembly position and easily realizing unmanned construction of the building. In addition, it is possible to easily install equipment units such as a water heating unit and a toilet unit by using the lift device.

[Brief description of drawings]

FIG. 1 is an overall schematic configuration diagram showing an embodiment of a transport system according to the present invention.

2A and 2B show a schematic configuration of a wrist device in the present embodiment, FIG. 2A is a plan view thereof, and FIG. 2B is a sectional view thereof.

3A and 3B show a state in which a building member is conveyed and assembled in the present embodiment, FIG. 3A is a schematic plan view thereof, and FIG. 3B is a schematic sectional view.

4A and 4B show an assembled state of an equipment unit in the present embodiment, FIG. 4A is a schematic plan view thereof, and FIG. 4B is a schematic sectional view.

FIG. 5 is a detailed view of a part of the lift device according to the present embodiment.

FIG. 6 is a plan view of a slab unit used in this embodiment.

7 is a sectional view of the slab unit shown in FIG.

FIG. 8 is a bottom view of the slab unit shown in FIG.

FIG. 9 is an explanatory plan view showing an example of assembling the slab unit in the present embodiment.

FIG. 10 is an operation explanatory view of the robot showing an assembled state of the slab unit in the present embodiment.

[Explanation of symbols]

 10 building 11 pillar unit 12 beam unit 13a, 13b outer wall panel 14 core space 15 lift device 16a, 16b, 17a, 17b sprocket 18a, 18b endless chain 19 pallet 20 drive device 21 control panel 23 truss 24 curing roof 27 slab unit 33 multi Functional Robot 35 Equipment Unit

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shikatsu Ichikawa 4-6-15 Sendagaya, Shibuya-ku, Tokyo Stock company Fujita (72) Inventor Tatsuo Isobe 4-6-15 Sendagaya, Shibuya-ku, Tokyo Formula company Fujita (72) Inventor Toshio Uchida 4-6-15 Sendagaya, Shibuya-ku, Tokyo Stock company Fujita (72) Inventor Yoshitaka Watanabe 4-6-15 Sendagaya, Shibuya-ku, Tokyo Share Fujita (72) Inventor Noriyuki Ogimura 4-6-15 Sendagaya, Shibuya-ku, Tokyo Fujita Co., Ltd. (72) Inventor Shinichi Sugino 4-6-15 Sendagaya, Shibuya-ku, Tokyo Fujita Co., Ltd. (72 ) Inventor Shunichi Konishi 4-6-15 Sendagaya, Shibuya-ku, Tokyo Within Fujita Co., Ltd.

Claims (2)

[Claims] 1. A vertical circulation type lift device, which is endlessly arranged from the lowest floor to the highest floor in a core space formed in a building and has a large number of pallets equal to the floor space of the building, and the transportation of building members. And a plurality of multi-functional robots having an assembling function, the multi-functional robot autonomously travels to carry in and out various building members on the pallet, and the building device builds the building members on the pallet by the circulation operation of the lift device. The method for transporting building members is characterized in that it is transported to each floor of. 2. The method of transporting a building member according to claim 1, wherein the equipment unit is installed in the core space by using a lift device.