JPH07127270A - Positioning device for building member - Google Patents

Abstract

PURPOSE:To guide a steel-frame unit to an erecting position with high precision by supporting a freely rotating turntable having sucking boards, while allowing the turntable to freely rise and fall, and fine-adjusting the directions of horizontal movement and rotation of the turntable according to the position and attitude of the steel-frame unit. CONSTITUTION:A steel-frame unit U is guided above a positioning device 1 and a marker provided on the lower side of the unit U is detected by a camera 13 to detect the position and attitude of the unit, and a piston cylinder mechanism 11 is operated to move a sliding table 3 to the center position of a steel beam and a turntable 5 is rotated to locate sucking boards 4 below the marker. Next, as the distance derived from the output of a distance sensor 14 is corrected by an inclination sensor 15, an extension arm 6 is extended to raise the turntable 5, the small sucking boards are brought into contact with the lower surface of the steel beam, and an air pressure unit 22 is used for evacuation, thereby sucking the steel beam. When necessary the turntable 5 is rotated to move the sliding table 3 horizontally to determine the directions of rotation and horizontal movement of the steel-frame unit 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a building member positioning device for positioning a building member that is hoisted and suspended by a lifting machine.

[0002]

2. Description of the Related Art As is well known, in building construction of a building, for example, a hoisting machine such as a tower crane hoists and suspends a building member such as a steel frame, and carries it to a predetermined installation position. The work such as positioning is performed by human confirmation by communication between the worker and the operator of the tower crane.

On the other hand, recently, as a construction method of a building, a building member such as a steel frame is preassembled on the ground into a unit, and the unitized building member is lifted and hung to bring it to an installation position. A method of construction that significantly increases work efficiency is being studied.

[0004]

[Problems to be Solved by the Invention]
It is necessary to accurately position a large-scale and heavy unitized building member, and relying on the human confirmation work by communication between the worker and the operator of the tower crane as described above, Although it requires a large number of workers, there is a problem that not only the work efficiency is low, but also high accuracy cannot be obtained, and the merit of the construction method cannot be obtained sufficiently.

The present invention has been made in view of the above-mentioned problems, and is a member that enables highly accurate positioning of a unitized building member that is hoisted and suspended by a hoisting machine and enhances construction efficiency. The purpose is to provide a placement device.

[0006]

A building member positioning device according to the present invention relates to a device for guiding a building member that is hoisted and suspended by a lifting machine to an installation position and positioning the building member. An apparatus body that can move in any direction on the work floor, a slide table that is horizontally slidable on the apparatus body, and a slide table that is vertically movable above the slide table. A rotary table that locks a suspended building member and guides it to an installation position; an elevating mechanism that is disposed on the slide table and supports the rotary table from below to set its height. A detection unit for detecting the position / orientation of a building member that is lifted and suspended by the lifting machine, and controls the lifting mechanism, the slide table, and the rotary table based on the output of the detection unit And a suction mechanism having a suction plate for sucking the building member suspended by the lifting machine and locking the building member, which is provided on the rotary table. There is.

[0007]

In the building member positioning apparatus according to the present invention, the building member positioning apparatus is moved in advance by the traveling means of the apparatus body and placed in advance at a predetermined position on the work floor. Then, the position / orientation of the building member that is hoisted and suspended by the lifting machine is detected from below by the detection unit, and the elevating mechanism, the slide table and the rotary table are controlled by the control unit based on the output, and the building member is The rotary table is lifted from directly below and is rotated to suck the suction plate of the suction mechanism. Further, in this state, the slide table is translated, and the elevating mechanism is contracted to move the rotary table to guide the building member to the installation position and position it.

[0008]

Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. 1 to 4 show an embodiment of a building member positioning device (hereinafter, referred to as "positioning device" in embodiments) according to the present invention. In these drawings, reference numeral 1 indicates a positioning device.

As shown in FIGS. 1 and 2, the positioning device 1 includes a device body 2, a slide table 3 slidably arranged on the device body 2 in the horizontal direction, and an upper portion of the slide table 3. A turntable (rotary table) 5 provided with a suction plate 4 for guiding a steel frame unit (building member, see FIG. 5) U described later to a predetermined installation position; The turntable 5 is supported from below, and a pantograph-shaped extension arm (elevating mechanism) 6 for vertically moving the turntable 5 to set its height is provided.

The apparatus main body 2 is equipped with four crawlers (traveling means) 7 along the lower edge thereof,
These crawlers 7 ... Can translate and rotate on the work floor in any direction. Optical sensors 8 for detecting laser light emitted from a laser oscillator (not shown) arranged on the work floor are arranged on the side surface of the apparatus body 2.

The slide table 3 is formed in the shape of a plate having a substantially square shape in plan view, and is disposed in the lower surface of the slide table 3 at approximately the center of the upper surface of the apparatus main body 2 with the bearing balls 10 ... A hydraulically operated piston-cylinder mechanism 11 that allows the slide table 3 to move in a horizontal plane is connected to two adjacent side surfaces of the slide table 3 (see FIG. 3). Further, the extension arm 6 and a hydraulically operated piston / cylinder mechanism 12 for expanding and contracting the extension arm 6 are arranged on the upper surface of the slide table 3, and the turntable 5 is translated separately from the apparatus main body 2. It is configured so that it is possible and the height position can be set.

Further, a camera (detection section) 13 for catching a marker (not shown) attached at a predetermined position on the lower surface of the beam steel frame of the steel frame unit U is provided in the approximate center of the upper surface of the slide table 3, and a slide. A laser-type non-contact distance sensor (detection unit) 14 for measuring the distance from the table 3 to the steel frame unit U and an inclination sensor 15 for detecting the inclination of the slide table 3 due to the deformation of the traveling machine 7 are installed. ing.

The turntable 5 is composed of an annular frame member having a predetermined width. The frame member is arranged on the lower frame member 5a fixed on the extension arm 6 and on the lower frame member 5a. It is provided with an upper frame member 5b which rotates relative to the lower frame member 5a by a gear mechanism (not shown) driven by a motor.

A suction mechanism 1 having a suction plate 4 is provided on the upper surface of the upper frame member 5b where the apex of an equilateral triangle is formed in plan view.
6 are provided (see FIG. 2). The suction plate 4 is shown in FIG.
As shown in (a), a small suction cup 4a is provided on the peripheral portion of the upper surface, and the small suction cup 4a is vacuumed between the small suction cup 4a and the lower surface of the beam steel frame of the steel frame unit U.
Are configured to be attracted to the lower surface of the steel frame unit U.

Further, as shown in FIG. 4 (b), the suction plate 4
A damper 17 made of an oil damper or an air damper is disposed at the substantially central portion of the lower surface of the suction plate 4. The damper 17 is adjacent to the damper 17 and constantly abuts on the lower surface of the suction plate 4 so that the horizontalness of the steel frame unit U is increased. A potentiometer 18 for detecting the vertical movement of 4 ...
A coil spring 19 is provided surrounding the damper 17 and the potentiometer 18, and the small suction cup 4
are configured to reduce the impact when the steel frame unit is attracted to the lower surface of the U-beam of the steel frame unit and the change in the load due to the lowering of the steel frame unit U.

Further, in the main assembly 2 of the apparatus, a battery unit 20 as a power source of the positioning apparatus 1, a hydraulic unit 21 for adjusting the hydraulic pressure of the piston / cylinder mechanisms 11 and 12, vacuum suction of the small suction cups 4a. A pneumatic unit 22 for carrying out the above and a communication unit 23 for enabling remote control are mounted. In addition to these units, the device body 2 based on the outputs of the optical sensors 8 ...
Position control on the work floor, camera 13, distance sensor 14
Also, the control of the hydraulic unit 21 based on the detection output of the tilt sensor 15 and the output of the potentiometer 18 are fed back, and the extension arm 6 based on this is fed back.
A controller unit (control unit) 24 that performs various controls such as correction of the above is mounted.

Next, the operation of the positioning apparatus 1 according to this embodiment will be described with reference to FIGS. 5 to 8 together with the erection work procedure of the steel frame unit U using the positioning apparatus 1. In the figure, reference symbol U indicates a steel frame unit composed of steel columns and beams preassembled on the ground, and H indicates a lifting jig suspended from the lower end of the wire of the tower crane.

First, the steel frame unit U is assembled on the ground, a marker is attached to a predetermined position of the beam steel frame, and the marker is hung and suspended by a tower crane (not shown). As shown, while transmitting the erection position of the steel frame unit U to the communication unit 23, the crawler 7 is driven to move the extension arm 6 according to a laser oscillator (not shown) in which the positioning device 1 is arranged on the work floor. Move it in a contracted state,
The positioning device 1 is fixed at a predetermined position.

When the steel frame unit U is guided above the positioning device 1, the steel frame unit U is moved as shown in FIG.
A marker (not shown) attached to the lower surface of the beam steel frame of the steel frame unit U is detected by the camera 13 to detect its position / posture, and the piston / cylinder mechanism 11 is operated to slide to the central position of the beam steel frame of the steel frame unit U. The table 3 is moved and the turntable 5 is rotated to position the suction plates 4 ... Then, while correcting the distance based on the output of the distance sensor 14 with the output of the tilt sensor 15, the extension arm 6 is extended to raise the turntable 5, and at the same time, the small sucker 4a is attached to the lower surface of the beam steel frame of the steel frame unit U. Are brought into contact with each other, and the air pressure unit 22 evacuates and adsorbs. In addition, here, the output of the potentiometer 18 is fed back to the piston / cylinder mechanism 12 so that the length of the spring 19 is kept constant, and the extension arm 6 is expanded / contracted so that the load of the steel frame unit U is as described above. The tower crane is loaded so that only the suction force by the suction of the suction cups 4 works between the steel frame unit U and the turntable 5, and the output of the potentiometer 18 (see FIG. 4B) is output. When the levelness of the base steel frame unit U exceeds the allowable range, the extension arm 6 is contracted to perform the work again.

Further, as shown in FIG. 7, a marker (not shown) attached to the lower surface of the beam steel frame of the steel frame unit U.
Is captured from below by the camera 13, the turntable 5 is rotated as necessary, and the slide table 3 is translated, so that the steel frame unit U is aligned in the rotational direction and the translational direction.

Then, as shown in FIG. 8, the tower crane is gradually lowered, and along with this, the suction plate 4 and the extension arm 6 are expanded and contracted to position and fix the steel frame unit U at a predetermined installation position. After the unit U is welded and fixed to the existing steel frame body, the suction cups 4 ... Are detached, the extension arms 6 are contracted, and the turntable 5 is retracted downward. By repeating the above steps, the erection of the steel frame units U ... Is advanced and the construction of the steel frame body is completed.

As described above, the positioning device 1 is equipped with the crawlers 7 ... As the traveling means and can be translated / rotated at any position on the work floor.
A slide table 3 which can be slid horizontally is provided on the main body 2 of the apparatus, and an extension arm 6 is provided on the slide table 3 so that the extension arm 6 can extend and retract. The table 5 is movably supported, and the camera 13
Since the distance sensor 14 detects the position / orientation of the steel frame unit U suspended by a tower crane and controls them based on the output thereof, the crawler 7 moves and the rough position thereof. Adjust the slide table 3 according to the position and orientation of the steel frame unit U.
Is finely adjusted in the translational direction with the turntable 5 and with the turntable 5 in the rotational direction, and further, by guiding the steel frame unit U to the erected position while the suction cups 4 ... Positioning can be performed accurately and efficiently, and remote control is also possible by the communication unit 23, and the worker can be released from a dangerous work environment at a high place.

The positioning device 1 according to this embodiment is
The invention is not limited to the positioning of the steel frame unit U, but can be applied to positioning of building members such as deck plate steel plate, full / half PC floor slab, and PC beam. In this case, the dimensions of the positioning device 1,
The shape of the turntable 5 and the number of the suction discs 4 arranged on the turntable 5 are not limited to those in the above embodiment,
It goes without saying that the position can be appropriately changed according to the building member to be positioned.

Further, in the present embodiment, the suction mechanism 16 having the suction plates 4 ... Is provided on the upper surface of the turntable 5, and the suction unit 4 is sucked to lock the steel frame unit U. 5 and an architectural member suspended by a lifting machine may be provided with engaging projections or engaging grooves for engaging with each other, or these and the suction mechanism 16 may be used together.

Further, in this embodiment, the turntable 5 itself is rotatable, but it is also possible to dispose the extension arm 6 on the slide table 3 side provided with a rotatable portion rotatable in a horizontal plane.

[0026]

According to the building member positioning apparatus of the present invention, the building member positioning apparatus is moved by the traveling means of the apparatus main body to be arranged at a predetermined position on the work floor in advance, and is lifted by a lifting machine. The position / orientation of the lowered building member is detected by the detection unit from below, and the lifting unit and the slide tail are controlled by the control unit based on the output to raise the rotary table from directly under the building member and While rotating the suction table of the suction mechanism to suck the slide table, the slide table is translated, and the lifting mechanism is contracted to move the rotary table to guide the building member to the installation position and to position it. Since it is possible to position the building member with high accuracy, it is possible to improve the construction efficiency and
Workers can be freed from dangerous work environments at high altitudes.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of a building member positioning device according to the present invention.

FIG. 2 is a plan view of the device.

FIG. 3 is a plan view showing details of a device body of the device.

4A and 4B show details of a rotary table of the apparatus, in which FIG. 4A is a plan view and FIG. 4B is a side view.

FIG. 5 is a schematic view showing a building process of a building member using the building member positioning device of the embodiment.

FIG. 6 is a schematic view showing a building process of a building member using the building member positioning device of the embodiment.

FIG. 7 is a schematic view showing a building process of a building member using the building member positioning device of the embodiment.

FIG. 8 is a schematic view showing a building process of a building member using the building member positioning device of the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Building member positioning device 2 Device main body 3 Slide table 4 ... Suction board 5 Rotating table 6 Lifting mechanism 7 ... Traveling means 13, 14 Detection part 16 Adsorption mechanism 24 Control part

Claims (1)

[Claims] 1. A building member positioning device for guiding a building member suspended by a lifting machine to an installation position and positioning the building member, wherein the building member positioning device includes a traveling means and is movable in an arbitrary direction on a work floor. An apparatus main body, a slide table horizontally slidably arranged on the apparatus main body, and a building member that is vertically arranged above the slide table and is hung and suspended by the lifting machine. A rotary table that can be stopped and guided to an installation position about a vertical axis; a lift mechanism that is disposed on the slide table and supports the rotary table from below to set its height; A detection unit that detects the position / orientation of a building member that is lifted and suspended by a heavy machine, and a control unit that controls the lifting mechanism, the slide table, and the rotary table based on the output of the detection unit, The building member positioning device, wherein the rotary table is provided with a suction mechanism including a suction plate that sucks a building member that is hoisted and suspended by the lifting machine and locks the building member.