JPH0693735A - Method and device for automatic placing of exterior wall - Google Patents

Abstract

PURPOSE:To provide an exterior wall member placing device equipped with a running device, lift, reach, and tilting device, with which the exterior wall member grasped by a gripping device can be placed without interfering with a ceiling, floor, or scaffold. CONSTITUTION:At a spacing S2, reflex type photoelectric switches 20, 21 are installed at a gripping device 16 in such a way as parallel with the surface of the grasped exterior wall member 1 at a distance S1 therefrom, and a reflex board 22 is fixed to the top of the wall member 1. At a spacing S4, photoelectric switches 23, 24 are installed in the lower part of a placing device 10 at a distance S3 from the floor 3, and a reflex board 25 is fixed to the bottom of the wall member 1. These switches are turned on and off according to the reception of reflected light. The placing works consist of stretching a reach 14 while the member 1 is tilted in the T direction, elevating a lift 13, and placing the member in the gap 5 formed between the ceiling 2, floor 3 and scaffold 4. A control device 27 receives signals of the switches On or Off, judges the distance of the member 1 from any obstacle, controls the speed of the reach 14 with lift 13, and prevents collision automatically.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an outer wall building apparatus for holding an outer wall member such as an ALC plate of a building and performing traveling, lifting, reaching and tilting to build the outer wall member.

[0002]

2. Description of the Related Art FIG. 9 is an explanatory view of a conventional method for constructing an outer wall member, in which an ALC plate 1 which is an outer wall member is attached to a ceiling 2 and a floor 3.
Inserted into the gap 5 between the scaffold 4 and the outer side of and, and attached at the position indicated by the two-dot chain line.

In the installation method, the ALC plate 1 is mounted on a carriage 30 and conveyed to the end of the floor 3, and is connected by a chain block 31 fixed to the ceiling 2 and a wire 32. Worker 3
3 operates the chain block 31 to lift the ALC plate 1 into the gap 5 to build it.

However, since this method is laborious for the operator and takes a lot of time, in recent years, FIG.
The outer wall building device 40 as shown in FIG.

The trolley 11 provided with the traveling device 12 for traveling the outer wall building device 40 includes an ALC plate 1 which is an outer wall member.
A lift device 13 for moving up and down is mounted.

A reach device 14 for moving the ALC plate 1 back and forth is attached to the lift device 13, and a tilt device 15 for inclining the ALC plate 1 is fixed to the tip thereof. A gripping device 16 for gripping the ALC plate 1 is axially attached to the tilt device 15.

As for the installation, as shown in FIG. 11, the operator causes the holding device 16 of the installation device 40 to hold the ALC plate 1. Next, the ALC plate 1 is operated by traveling in the D direction by the traveling device 12, tilting in the T direction by the tilt device 15, lift in the L direction by the lift device 13, and reach in the RF direction by the reach device 14. Insert into the gap 5,
Install between the ceiling 2 and the floor 3.

[0008]

However, according to the above method, the operator can perform a combined operation of running, tilting, lifting and reaching of the outer wall erection device while observing the interference between the ceiling, floor and scaffolding and the ALC plate. Since it has to be performed, the operation is complicated and the ALC plate is often collided with the ceiling, floor or scaffold, which causes the ALC plate to be damaged.

The present invention has been made in view of the above problems, and provides an automatic outer wall erection device and method capable of easily erection without causing the ALC plate to collide with the ceiling, floor or scaffold. Is intended.

[0010]

[Means for Solving the Problems] To achieve the above object,
First Embodiment of Automatic Exterior Wall Building Apparatus and Method Thereof according to the Present Invention
In the invention of claim 1, in an outer wall erection device including a gripping device for the outer wall member and a device for performing lift, reach, tilt and travel, the grip portion of the outer wall member is predetermined in parallel with the wall surface of the outer wall member. It is characterized in that it comprises two reflection type photoelectric switches mounted at given intervals and a reflection plate for the photoelectric switch mounted on the upper end portion of the outer wall member. Are two reflection type photoelectric switches mounted on the lower portion of the outer wall building device in parallel with the floor surface at a predetermined interval, and for the photoelectric switch mounted on the lower end portion of the outer wall member. A third aspect of the present invention is a control device that receives a signal from the photoelectric switch and outputs a predetermined control signal to each of the traveling, lift, reach, and tilt devices. In the fourth aspect of the present invention, in the outer wall automatic erection device, when the erection work is performed at a constant tilt speed, the control device includes a photoelectric switch attached to the grip portion. A control signal is sent to the reach device to decrease the reach speed when both of them receive the reflected light and to increase the reach speed when both of the photoelectric switches receive no of the reflected light. In the fifth aspect of the present invention, when the building work is performed at a constant tilt speed in the outer wall automatic building device, the control device is attached to a lower portion of the outer wall building device. 2 photoelectric switches
A control signal is output to the lift device to decrease the lift speed when neither of them receives reflected light and to increase the lift speed when both of the photoelectric switches receive reflected light. In the sixth aspect of the present invention, in the outer wall automatic erection device, the outer wall automatic erection device while shortening the reach so as to hold the outer wall member in a fixed position during the erection work. When the vehicle travels at a constant speed, the control device reduces the reach speed to low when both photoelectric switches attached to the grip portion do not receive reflected light, and both photoelectric switches reflect. When light is received, a control signal for increasing the reach speed is output to the reach device.

[0011]

According to the above construction, the outer wall member gripping portion of the outer wall erection device is provided at a predetermined interval in parallel with the outer wall member wall surface.
Since each photoelectric switch is mounted and the reflection plate of the photoelectric switch is mounted on the upper end portion of the outer wall member, the distance between the upper portion of the outer wall member and the obstacle can be detected depending on whether or not the reflected light is shielded.

Since two photoelectric switches are mounted on the lower portion of the outer wall building device at a predetermined interval in parallel with the floor surface, and a reflection plate of the photoelectric switch is mounted on the lower end portion of the outer wall member, the shielding of reflected light is prevented. The distance between the outer wall member and the floor can be detected depending on the presence or absence.

A control device for receiving a signal from the photoelectric switch and outputting a control signal to the traveling, lift, reach, and tilt devices of the outer wall erection device is provided, and when the erection work is performed at a constant tilt speed, the gripping operation is performed. Because the reach speed is controlled to be low when both photoelectric switches mounted on the part are receiving reflected light, and the reach speed is controlled to be high when neither of them is receiving reflected light. The distance between the upper portion of the outer wall member and the obstacle is automatically kept within a certain range during the work.

When performing the construction work with a constant tilt speed,
The control device sets the lift speed to a low speed when neither of the photoelectric switches attached to the lower part of the outer wall building device is receiving the reflected light, and sets the lift speed to be lower when both of the photoelectric switches are receiving the reflected light. Since the high speed control is performed, the distance between the lower end of the outer wall member and the floor surface is automatically maintained within a certain range during the work.

When the vehicle is traveling at a constant speed while shortening the reach so as to hold the outer wall member at a fixed position during the construction work, the above-mentioned control device causes the two photoelectric switches mounted on the grip portion to reflect. Since the reach speed is slow when not receiving light, and the reach speed is fast when both are receiving reflected light, the distance between the upper part of the outer wall member and the obstacle is set to work. Inside is automatically kept within a certain range.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of an automatic outer wall building apparatus and method according to the present invention will be described in detail below with reference to the drawings.

FIG. 1 is a side view showing the structure of an outer wall automatic installation device 10, 11 is a carriage, 12 is a traveling device, 13 is a lift device, 14 is a reach device, 15 is a tilt device, and 1 is a device.
Reference numeral 6 is a gripping device, and 1 is an ALC plate which is an outer wall member.

It should be noted that 2 is a ceiling, 3 is a floor, and 4 is a scaffold, and there is a gap 5 between the ceiling 2 and the floor 3 and the scaffold 4.

The sensor A20 consisting reflective photoelectric switch in parallel with the wall surface of the ALC plate 1, and a sensor B21 are mounted at intervals S ₂ is the gripping device 16. Sensor B21
The distance between the ALC plate 1 and the ALC plate 1 is S ₁ . The reflector 22 for the sensor A20 and the sensor B21 is attached to the upper end of the ALC plate 1.

Sensors C23 and D24, which are reflection type photoelectric switches and are parallel to the floor 3, are mounted on the lower portion of the carriage 11 at an interval S ₄ . The distance between the sensor D24 and the floor 3 is S _3. Reflectors 25 for the sensors C23 and D24 are attached to the lower end of the ALC plate 1.

The reach device 14 is equipped with a limit switch 26 which operates at the shortest reach, and the carriage 11 receives signals from the respective sensors and sends control signals to the traveling, lift, reach and tilt devices. Output control device 27
Is installed.

In the state shown in FIG. 1, the irradiation light from the sensor A20 and the sensor B21 is reflected by the reflection plate 22 and received by the respective sensors A20 and B21. In this case, the sensor A20 and the sensor B21 are in the OFF state.

Sensor A20 and sensor B21 are OFF
At this time, the distance between the ceiling 2 and the ALC plate 1 is S ₁ + S ₂ or more. In this case, the control device 27 receives the detection signal from each sensor and outputs a low speed control signal to the reach device 14.

Further, the irradiation light of the sensor C23 and the sensor D24 does not hit the reflection plate 25, the sensor C23 and the sensor D24 do not receive the light, and the sensors C23 and D24 are O.
In the N state.

When the sensors C23 and D24 are ON, the distance between the floor 3 and the ALC plate 1 is S ₃ + S ₄ or more. In this case, the control device 27 outputs a low speed control signal to the lift device 13.

Tilt device 15 of automatic exterior wall building device 10
Is operated in the direction of the arrow T and the state shown in FIG. 2 is reached,
The light emitted from the sensors A20 and B21 is shielded by the ceiling 2, the sensors A20 and B21 do not receive the reflected light, and the sensors A20 and B21 are turned on.

When the sensors A20 and B21 are ON, the distance between the ceiling 2 and the ALC plate 1 becomes S ₁ or less, and there is a risk of collision. In this case, the control device 27 is the reach device 1
4 outputs a high speed control signal.

Light emitted from the sensors C23 and D24 is reflected by the reflection plate 25, and the light emitted from the sensors C23 and D24.
24 receives the light, and the sensors C23 and D24 are turned off.

Sensor C23 and sensor D24 are OFF
At this time, the distance between the floor 3 and the ALC plate 1 is S ₃ or less, which may cause a collision. In this case, the control device 27 is the lift device 1.
A high-speed control signal is output to 3.

Next, an outer wall building method by the outer wall automatic building device 10 will be described. 3 to 6 are explanatory views of the outer wall automatic installation process. As shown in FIG. 3, the gripping device 16 grips the ALC plate 1 at the shortest reach (r ₁ ) so that the angle with the floor 3 becomes θ _1. To do.

Next, when the operator turns on an automatic installation switch (not shown), the lift device 13 and the reach device 1
4. The tilt device 15 operates in the directions of arrows L, RF, and T to move the ALC plate 1 to the longest reach (r ₂ ) shown in FIG.
Is moved to a position where the angle of ALC1 is θ ₂ .

Here, in order to continue the next work, it is necessary to shorten the reach to the shortest (r ₁ ) position. Therefore, when the operator turns on an automatic reach shortening switch (not shown), the angle θ ₂ of the ALC plate 1 is held, the reach device 14 is shortened in the arrow RR direction, and the carriage 11 is moved in the arrow D direction by the traveling device 12. When the position shown in FIG. 5 is reached, the limit switch 26 is turned on, and the control device 27 receives the signal and stops the reach and the traveling.

After that, the lift is again in the L direction and the reach is R.
In the F direction, the tilt operates in the T direction to perform the building work, and as shown in FIG. 6, an angle θend with the floor surface of the ALC plate 1
When it reaches 75 ° to 80 °, the automatic installation work ends. The subsequent construction work can be easily performed manually by the operator.

During this period, as described above, the control device 27 receives the distance signal between the ALC plate 1 and the ceiling 2 and the floor 3 from each sensor, outputs the speed control signal to the reach device and the lift device, and outputs the speed control signal to the ALC plate 1. When there is a risk of collision with the ceiling 2 and the floor 3, the reach or lift speed is increased to prevent the collision.

The above operation will be described with reference to a flow chart.
FIG. 7 is a flow chart of the control of the reach speed and the lift speed during the construction work with a constant tilt speed. In the flowchart, F represents high speed and S represents low speed.

At step 101, automatic operation is started to start lift and reach at a constant tilt speed. In step 102, data (θ, sensors A, B, C, D
Signal).

In step 103, it is determined whether or not θ = θend, and if YES, the automatic operation ends in step 104. If NO, the process proceeds to step 105.

At step 105, it is judged whether the reach speed is F or not. If it is F, the routine proceeds to step 106, where S
In the case of, the process proceeds to step 108.

At step 106, the sensor A is turned off.
If YES, a signal S is output to the reach device in step 107. If NO, the process returns to the step 102.

In step 108, it is determined whether or not the sensor B is ON, and if YES, a signal F is output to the reach device in step 109. If NO, the process returns to the step 102.

Next, in step 110, the lift speed is determined. If the speed is F, the process proceeds to step 111, and if it is S, the process proceeds to step 113.

In step 111, it is determined whether or not the sensor C is ON. If YES, a signal S is output to the lift device in step 112. If NO, the process returns to the step 102.

At step 113, the monsa D is turned off.
If YES, a signal F is output to the lift device in step 114. If NO, the process returns to the step 102.

FIG. 8 is a flow chart of the reach speed control when the reach is shortened at a constant ALC plate angle θ and a constant traveling speed. In step 201, the automatic operation is started, and the reach shortening operation is started at a constant traveling speed.

In step 202, data (signals of reach shortest limit switch LS, sensors A and B) are read.

In step 203, the limit switch (LS
) Is ON, and if YES, the routine automatically ends in step 204, and if NO, the routine proceeds to step 205.

In step 205, it is determined whether or not the reach speed is F. If it is F, the routine proceeds to step 206, and if it is S, the routine proceeds to step 208.

In step 206, it is determined whether or not the sensor B is ON, and if YES, a signal S is output to the reach device in step 207. In the case of NO, the processing returns to before step 202.

In step 208, it is determined whether or not the sensor A is OFF, and if YES, a signal F is output to the reach device in step 209. In the case of NO, the processing returns to before step 202.

[0050]

As described in detail above, according to the present invention, two reflection type photoelectric conversion devices are provided in the outer wall member holding portion of the building outer wall building device in parallel with the wall surface of the held outer wall member at a predetermined interval. Since the switch is mounted and the reflection plate is mounted on the upper end of the outer wall member, it is possible to detect the distance between the upper portion of the outer wall member and the obstacle such as the ceiling depending on whether the photoelectric switch receives the reflected light.

Further, since two reflection type photoelectric switches are attached to the lower portion of the outer wall building device at a predetermined interval and a reflecting plate is attached to the lower end portion of the outer wall member, depending on whether the photoelectric switch receives the reflected light or not. It is possible to detect the distance between the lower portion of the outer wall member and an obstacle such as the floor.

A control device for receiving a signal from the sensor and outputting a control signal to each of the traveling, lift, reach, and tilt devices is provided, and when the distance between the outer wall member and the obstacle becomes small, there is a risk of collision. The control device receives the signal from the sensor and outputs the control signal to the required device to perform the speed control so as to avoid the collision, so that the operator does not collide the outer wall member with the ceiling or floor, and automatically. (EN) An automatic outer wall erection device and method that can easily construct an outer wall.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of an automatic exterior wall building device of the present invention.

FIG. 2 is an explanatory view of the function of the sensor of the external wall automatic building device of the present invention.

FIG. 3 is a first process diagram of an outer wall automatic building operation of the outer wall automatic building apparatus of the present invention.

FIG. 4 is a second process diagram of the outer wall automatic installation work.

FIG. 5 is a third process diagram of the outer wall automatic installation work.

FIG. 6 is a final process diagram of the outer wall automatic installation work.

FIG. 7 is a flowchart of an outer wall automatic installation work.

FIG. 8 is a flowchart of a reach automatic shortening operation of the external wall automatic building device.

FIG. 9 is an explanatory diagram of conventional outer wall building work.

FIG. 10 is an overall perspective view of a conventional outer wall building device.

FIG. 11 is an operation explanatory view of a conventional outer wall building device.

[Explanation of symbols]

 1 ALC Board 2 Ceiling 3 Floor 4 Scaffold 5 Gap 10 Outer Wall Automatic Installation Device 12 Traveling Device 13 Lifting Device 14 Reach Device 15 Tilt Device 16 Grasping Device 20 Sensor A 21 Sensor B 22, 25 Reflector 23 Sensor C 24 Sensor D 26 Limit switch 27 Control device

Claims (6)

[Claims] 1. A gripping device for an outer wall member, traveling, lift,
An outer wall erection device including a device for performing a reach and a tilt, which is mounted on a grip portion of the outer wall member in parallel with a wall surface of the outer wall member at a predetermined interval.
An outer wall automatic installation device, comprising: individual reflection type photoelectric switches; and a reflection plate for the photoelectric switches mounted on an upper end portion of the outer wall member. 2. Two reflective photoelectric switches mounted on the lower portion of the outer wall building device in parallel with the floor surface at a predetermined interval, and the reflection type photoelectric switch mounted on the lower end portion of the outer wall member. The automatic outer wall erection device according to claim 1, further comprising a reflection plate for a photoelectric switch. 3. Receiving a signal from the photoelectric switch,
The automatic outer wall erection device according to claim 2, further comprising a control device that outputs a predetermined control signal to each of the traveling, lift, reach, and tilt devices. 4. In the exterior wall automatic erection device, when the erection work is performed at a constant tilt speed, the control device:
The reach speed is reduced when two photoelectric switches attached to the gripping portion receive the reflected light, and the reach speed is increased when neither of the photoelectric switches receives the reflected light. A method of automatically constructing an outer wall, comprising outputting a control signal to the reach device. 5. In the outer wall automatic erection device, when the erection work is performed at a constant tilt speed, the control device:
When neither of the two photoelectric switches attached to the lower part of the outer wall building device is receiving the reflected light, the lift speed is reduced, and when both of the photoelectric switches are receiving the reflected light. A method for automatically constructing an outer wall, comprising outputting a control signal for increasing a lift speed to the lift device. 6. The outer wall automatic building apparatus, wherein when the outer wall automatic building apparatus is run at a constant speed while shortening the reach so as to hold the outer wall member at a fixed position during the building operation, The control device decreases the reach speed when neither of the two photoelectric switches attached to the grip portion receives the reflected light, and when the two photoelectric switches receive the reflected light. A method for automatically constructing an outer wall, which comprises outputting a control signal for increasing the reach speed to the reach device.