JPH07324487A - Horizontal conveying system - Google Patents

Abstract

PURPOSE:To enhance the efficiency of conveying work of construction materials or the like and shorten a construction period and reduce construction cost as well by laying out continuously a plurality of conveying mounts provided with a running mechanism and a turntable and a conveyer mechanism between two points. CONSTITUTION:A large number of conveying mounts V are prepared where the conveying mounts V are provided with a base mount 41, running mechanisms 42 which run the base mount and a turntable 43 and a conveying mechanism 44. A plurality of conveying mounts V are continuously laid out between two points separated from each other, thereby constituting a carriage line L. The turntable 43 is turned in each specified direction on each of the conveying mounts V and the conveying mechanism 44 is operated, thereby carrying a loaded carrier article in the arbitrary direction. Since such conveyed articles are delivered one after another in the conveying line L, there is formed a conveyer which function between the separated two points with consistency. Furthermore, assembling robots 40 are laid out at the head of the conveying line L so that a conveyed article may be installed to a desired position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a horizontal transfer system suitable for transferring materials and the like on each construction floor when constructing a building such as a high-rise building.

[0002]

2. Description of the Related Art Conventionally, when a building such as a high-rise building is constructed, a tower crane is installed on a building under construction, and the tower crane is used to construct materials such as pillars, beams and floor boards. (Transported goods) are lifted from the ground to the construction floor and are hung until the assembly (temporary fixing) is completed. In addition, when carrying to the construction floor by a vertical transportation device such as an elevator, the materials transported to the construction floor are
Transporting equipment such as a dolly, forklift, and trolley transports it to a predetermined position on the construction floor and builds it in a predetermined position. After constructing each construction floor in this way, the transfer device is relocated to the upper floor, and then the above-mentioned work is repeated in the same manner to build the building up to the top floor. .

[0003]

However, the above-described conventional conveying apparatus has the following problems. First, when a traveling path such as a rail is laid on the construction floor in order to cause a carrier device such as a trolley to travel, it goes without saying that it takes time and effort to install and replace it. Further, in the transport device that moves along such a traveling path,
Since the transport device reciprocates on the traveling path, a time interval (hereinafter, referred to as “cycle time”) from when one transport object is loaded to when the next transport object is loaded becomes long, There is a problem that the progress of the construction depends on the progress of the material transportation work, which causes the extension of the construction period.
On the other hand, it is conceivable to increase the number of transfer devices in order to improve the efficiency of the transfer work. However, doing so would complicate a large number of transfer devices on the construction floor, and the operator who operates them However, there is also a problem that labor costs will rise. In addition, since the weight of each transport device is large with respect to the transport capability (loading capacity) of each transport device, the location where the vehicle can travel may be limited to, for example, a beam. Furthermore, there is also a problem that long objects such as girders and main columns and heavy objects cannot be transferred by a transfer device such as a truck, a forklift, and a trolley. Moreover, in order to build up the material conveyed to the predetermined position, it is necessary to lift the material with a crane or the like to perform the work, and since the material is unstable when the material is lifted with the crane, the positioning work is troublesome. There is a problem of this. The present invention has been made in consideration of the above points, and it is possible to improve the efficiency of the work of transferring a material such as a material and to shorten the construction period of a building and reduce the cost. It is an object to provide a transportation system.

[0004]

The invention according to claim 1 is
A horizontal transport system for horizontally transporting a material such as a material, wherein a transport line including a plurality of transport carriages is formed between two positions separated from each other, and each of the transport carriages is a base. A traveling mechanism for horizontally moving the base, a table provided on the base and rotatable in a horizontal plane, and a conveyed object provided on the table and placed on the table And a conveyor mechanism for moving the carriage in one direction.

According to a second aspect of the present invention, in the horizontal transport system according to the first aspect, an assembling robot for loading a transported object at a predetermined position is arranged at the head of the transportation line, and the assembly robot is assembled. A robot is provided with a base that is provided with a traveling mechanism and is movable in a horizontal direction, and a gripping mechanism that is provided on the base via a rotatable and telescopic arm and that grips a transported object. It has a feature.

The invention according to claim 3 is the invention according to claim 1 or 2.
In the horizontal transport system described above, the base of the transport carriage is provided with a convex portion and a concave portion that is fitted to this in order to rigidly connect one transport carriage to another transport carriage, and the convex It is characterized in that a lock mechanism for engaging the portion and the concave portion in a fitted state is provided.

[0007]

According to the first aspect of the invention, a plurality of transport carriages each including a traveling mechanism and a conveyor mechanism for moving the placed transported object in one direction are arranged between two positions separated from each other. It is configured to form a transfer line. In such a carrier, the carried object can be moved in any direction by operating the conveyor mechanism and turning the table. Since the transfer line is formed by such a transfer carriage, it means that a conveyor is configured between two positions separated from each other, so that the transfer object can be transferred to a predetermined position. Moreover, since each transport carriage is provided with the traveling mechanism, even if the position at which the transport object is to be transported changes as the construction progresses, each transport carriage can be moved to deform the transport line. In addition, even if the transported object to be transported is a long object or a heavy object, it is possible to cope with this by arranging multiple rows of the transportation vehicles in parallel or increasing the arrangement density of the transportation vehicles. Becomes

According to the second aspect of the present invention, the assembly robot is provided at the head of the transfer line for arranging the transfer object at a predetermined position. As a result, it is possible to hold the material conveyed by the carrier truck of the carrier line, for example, materials such as columns, beams, floor boards, etc. by the gripping mechanism of the assembly robot and build it in a predetermined position.

According to a third aspect of the present invention, the base of the carrier is provided with a convex portion and a concave portion fitted therein, and a lock mechanism for engaging the convex portion and the concave portion in a fitted state. And Accordingly, by fitting the concave portions and the convex portions of the one carrier truck and the other carrier truck and engaging with each other by the lock mechanism, the one carrier truck and the other carrier truck can be rigidly connected. .

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to an embodiment shown in the drawings. Here, for example, an example of applying the horizontal transfer system of the present invention when constructing a 150-story skyscraper will be described. Here, prior to this, the building to be constructed will be described. As shown in FIG. 1, a building 1 constructed by applying the horizontal transportation system according to the present invention is, for example, a 150-story skyscraper. As shown in FIG. 2, this building 1 has pillars C and beams B.
Is a steel frame structure composed of a pillar steel frame (material) 2 and a beam steel frame (material) 3, respectively, a slab S is a PC floor plate (material) 4, an outer wall W is a curtain wall plate (material; hereinafter referred to as "CW plate") 5 The structure is composed of.

As shown in FIG. 1, a transportation system A for constructing such a building 1 has a stockyard 6 provided on a ground portion G on the side of the building 1 under construction, and a building 1.
A vertical transfer device (vertical transfer means) 7 provided along the side surface of the building 1, a base yard 8 provided on a side surface of the construction floor 1a of the building 1, and a horizontal transfer device (horizontal transfer device) disposed on the construction floor 1a. Transport system) 9 (see FIG. 2).

As shown in FIG. 1, in the stockyard 6, a stock section 10 for storing a certain amount of materials transported from the factory by a truck (not shown) and the stock section 1
A mounting mechanism 11 for unloading materials from 0 and mounting them on the vertical transfer device 7 is provided. The mounting mechanism 11 has a configuration in which a rail 12 is laid between the stock section 10 and the lower end of the vertical transfer device 7, and a moving carriage 13 reciprocates on the rail 12 with materials placed on the upper surface thereof. There is.

As shown in FIGS. 1 to 3, the vertical conveyors 7 are provided on the side surface of the building 1, for example, two at regular intervals. Each vertical transfer device 7 has a guide rail 15 extending vertically along the side surface of the building 1.
And a plurality of carriages 16 arranged at intervals along the guide rails 15.

As shown in FIG. 3, each guide rail 15
Has a configuration in which a plurality of unit members 17 having a certain length in the vertical direction, for example, the same length as the floor height of the building 1, are vertically arranged. Each unit material 17 has a pair of rail members 19 having the same length as the plate 18 and extending vertically, attached to the front surface side of the plate-shaped plate 18, and the unit material 17 itself on the back surface side. A gripping bracket (not shown) for detachably fixing to the building 1 under construction is provided.

Each carriage 16 is composed of bases 20 and 20 which are guided by the guide rails 15 and moved up and down by a drive mechanism (not shown), and a support arm 21 provided on each base 20 for supporting materials to be conveyed. There is.
As shown in FIGS. 4A and 4B, the support arm 21
Is provided on the base 20 so as to be horizontally traversable along the unit material 17 and rotatable in a horizontal plane. Further, as shown in FIGS. 3 and 5, a jack mechanism 22 which is vertically expandable and contractible is provided on the upper surface of the support arm 21 so that the material supported by the jack mechanism 22 can be moved up and down. Has become.

As shown in FIG. 5, in such a vertical carrying device 7, materials, for example, pillar steel frames 2 are sequentially arranged like a bucket relay by the carriages 16, 16, ... Which are vertically spaced from each other. It is designed to be handed over and transported. That is, as shown in FIG. 5A, the jack mechanism 2 of the support arms 21 and 21 of the carriage 16 is provided.
The column steel frame 2 is placed on the surface 2 and is raised along the guide rail 15. On the other hand, the support arms 21 and 21 of the other carriage 16 ′ located above the carriage 16 are swung to be in a state parallel to the unit material 17. Then, when the carriage 16 supporting the pillar steel frame 2 reaches just below the upper carriage 16 ′, the jack mechanism 22 of the lower carriage 16 is extended to raise the pillar steel frame 2. Next, as shown in FIG. 5B, the support arms 21 and 21 of the upper carriage 16 ′ are attached to the unit material 17
The jack mechanism 22 is swung so as to be orthogonal to the position below the pillar steel frame 2 on the jack mechanism 22. Subsequently, as shown in FIG. 5C, the pillar mechanism 2 is moved to the upper carriage 1 by lowering the jack mechanism 22 of the lower carriage 16.
Hand over to 6 '. Then, the upper carriage 16 ′ that has received the pillar steel frame 2 is raised toward the next carriage 16 and the lower carriage 16 is lowered to the original position. By repeating the above operation, the pillar steel frame 2
Are sequentially transferred to the upper carriage 16 and vertically conveyed.

As shown in FIG. 3, the base yard 8
Is provided with a transfer mechanism 25 for transferring the material vertically transported by the vertical transport device 7 to the horizontal transport device 9. The transfer mechanism 25 includes the vertical transfer devices 7, 7
The guide rails 26, 26 disposed on the outer side of the building 1 and having a vertical length corresponding to the second floor of the building 1, and a transfer arm 27 disposed between the guide rails 26, 26. There is.

The transfer arm 27 has a rod member 27a extending in a horizontal direction and an arm member 27 extending orthogonally thereto.
b, 27b and 27b are integrally provided at positions (only one of which is shown) corresponding to each vertical transport device 7. The rod 27a is supported at its both ends by the guide rails 26, 26 so as to be vertically movable and rotatable about its axis, whereby the transfer arm 2a.
7 is configured to be movable up and down and rotatable. Also,
A large number of rollers (not shown) are provided on the surface of each arm member 27b. By rotating these rollers (not shown) by a drive mechanism (not shown), the material placed on the arm member 27b is armed. The material 27b can be easily moved in the extending direction.

On both sides of such a transfer mechanism 25, a maintenance chamber 2 for accommodating or carrying out a carrier V of a horizontal carrier 9 described later is provided.
8 and 28 are formed. Each maintenance room 28
It has floors 28a and 28b having the same floor height as that of the building 1, and the openings 2 formed in the respective floors 28a and 28b.
The carriage V can be taken in and out from 9, 29. In addition, an elevator 30 is installed in each maintenance room 28.
Is provided, and the carrier V is installed on the upper and lower floors 28a,
It can be moved up and down between 28b. A communication passage 31 is provided on the surface side of the upper transfer arm 27 between the maintenance chambers 28 (the side away from the building 1) to connect the maintenance chambers 28, 28 on both sides.
The communication passage 31 is formed with entrances and exits 32, 32 communicating with the floors 28a, 28a on both sides, from which the transport vehicle V can come and go between the maintenance room 28 and the communication passage 31. And the communication passage 31
Openings 33 (only one of which is shown) are formed on the floor surface at positions corresponding to the vertical transfer devices 7, 7, respectively, and the opening 33 has a plate-like shape for mounting the transfer carriage V. A lifting pallet 34 is detachably provided. The lift pallet 34 can be supported on the transfer arm 27. In addition, a controller 3 for operating each part of the base yard 8 is provided in the communication passage 31.
5, the drive source 36 is housed.

As shown in FIG. 6A, such a base yard 8 is provided with a climbing mechanism 37 for raising and lowering the base yard 8 along the building 1 on the back side thereof. This climbing mechanism 37 is provided in the base yard 8.
Are installed in the upper part, middle part and lower part of the
Is configured to include gripping mechanisms 38a, 38b, and 38c capable of gripping and releasing. The gripping mechanism 38a is provided on the upper portion of the base yard 8 via a jack (not shown) that is driven to expand and contract in the vertical direction. In addition, the gripping mechanism 38
b is a gripping mechanism 38 fixed to the lower part of the base yard 8.
A jack that is telescopically driven in the vertical direction (not shown)
Is attached through. These gripping mechanisms 38a,
38b and 38c are in a state of gripping the column steel frame 2 in a normal state, and thereby the base yard 8 is supported by the building 1.

In such a climbing mechanism 37, the base yard 8 is climbed upward as follows. First, as shown in FIG. 6B, after the upper gripping mechanism 38a is rearranged upward,
As shown in (c), the gripping mechanism 38b at the intermediate portion is relocated upward. Subsequently, as shown in FIG. 6D, the lower gripping mechanism 38c is opened, and the jack (not shown) is contracted. Then, since the gripping mechanism 38c is fixed to the base yard 8, the base yard 8 is lifted together with the gripping mechanism 38c. Then, by closing the gripping mechanism 38c again, the base yard 8 has been climbed by about 1/2 floor. Thereafter, as shown in FIGS. 6E to 6G, the above steps are repeated in the same manner to complete the climbing of one floor of the base yard 8.

As shown in FIG. 2, the horizontal transfer device 9 is provided.
Has a configuration in which a plurality of transport vehicles V are arranged in a row on a slab S that has already been laid to form a transport line L, and an assembly robot 40 is disposed at the tip thereof.

As shown in FIG. 7, each carriage V has a base 41 which is rectangular in a plan view, a traveling mechanism 42 provided on the lower surface of the base 41, and a turn provided on the upper surface of the base 41. A table (table) 43 and a conveyor mechanism 44 provided on the turntable 43 are provided.

As shown in FIG. 8, the traveling mechanism 42 includes a crawler 45 arranged along two opposite sides of the base 41.
a, 45a and crawlers 45b, 45b arranged along two sides of the base 41 that are orthogonal to the two sides. Each crawler 45 has a plate 46, 46,
Are connected in a bendable manner to form an endless so-called caterpillar, which is circulated and driven by an electric motor (not shown). Each plate 46 is rotatably provided with a cylindrical free roller 47 having an axis along the driving direction of the crawler 45. In the traveling mechanism 42 having such a configuration, for example, the crawler 45
When a and 45a are cyclically driven, the carrier V moves in the driving direction and is self-propelled. At this time, the crawlers 45a are arranged orthogonally to the crawlers 45a.
The free rollers 47 of the rollers 5b and 45b rotate around their axes as the carrier V moves, and do not hinder the driving of the crawlers 45a and 45a. Also, when the crawlers 45b and 45b are driven to circulate, the transport vehicle V similarly moves to the crawlers 45b and 45b.
It is adapted to move in the driving direction of b. Further, by simultaneously driving the crawlers 45a, 45a and 45b, 45b, the carriage V can be moved diagonally. As a result, the carriage V
Is configured to be capable of self-propelled in any direction in the horizontal plane.

As shown in FIG. 7, the turntable 43
Is circular in a plan view, and is rotatable about its central axis in a horizontal plane by a turning mechanism (not shown) provided in the base 41. The conveyor mechanism 44 provided on the upper surface of the turntable 43 is configured by a plurality of endless conveyor belts 48 arranged side by side. Each of the conveyor belts 48 is circularly driven by a drive mechanism (not shown). In addition, turntable 4
Spherical auxiliary rollers 49 rotatably supported in arbitrary directions are provided at four corners of the base 41 around the circumference 3.

In each of the transport carts V as described above, the material placed on the conveyor mechanism 44 of the turntable 43 is swung by the turning mechanism (not shown), and each conveyor belt 48 of the conveyor mechanism 44 is rotated.
Can be moved in any direction by circulating the drive. At this time, the material protruding from the turntable 43 is supported by the auxiliary roller 49.

Further, a convex portion 50 and a concave portion 51 are formed on each of the four side surfaces of the base 41 of the carrier V. The convex portion 50 has a frusto-conical shape whose diameter becomes smaller as the distance from the side surface of the base 41 increases. on the other hand,
The concave portion 51 has a shape that fits into the convex portion 50.
Then, as shown in FIG. 9, the one carriage V and the other carriage V are mutually inserted by inserting and fitting the convex portion 50 and the concave portion 51 with the side surfaces of the base 41 facing each other. Can be connected. At this time, the convex portion 50 and the concave portion 51 are provided with a lock mechanism (not shown) so that they can be mechanically coupled by engaging with each other in a fitted state. Further, when the convex portion 50 and the concave portion 51 are mechanically connected to each other, they are electrically connected to each other so that the control system is connected and the power supply can be performed. As shown in FIG. 10, by fitting the protrusions 50 and the recesses 51 and locking them by a lock mechanism (not shown), when a plurality of carrier vehicles V are continuously connected in one direction, the whole is integrated. As a result, it becomes a conveyor having rigidity.

As shown in FIG. 2, the assembly robot 40
In the same manner as the transport carriage V, a traveling mechanism (not shown) that is capable of traveling in two directions orthogonal to the lower surface is provided, and a turntable (not shown) that is freely rotatable is provided on the upper surface. There is. And turntable (not shown)
A gripping arm (arm) 52, which is composed of, for example, a hydraulic cylinder that is expandable and contractible is provided on the top. The grip arm 52 has its base end pivotally supported by a turntable (not shown), and is rotatable within an extension plane. A plurality of types of gripping mechanisms 53 are attachable to and detachable from the tip of the gripping arm 52 for gripping or supporting various materials. In such an assembly robot 40, the gripping mechanism 53 grips or supports the material, and the traveling mechanism (not shown) moves the material to an arbitrary position while gripping the material and builds it in a predetermined position. You can do it. When the material is received and installed, the gripping mechanism 53 can be moved to an arbitrary position by turning a turntable (not shown) and turning and extending / contracting the holding arm 52.

Next, the carrier V of the horizontal carrier 9 described above.
11 to 17 for the method of transporting each material according to FIG.
Will be described with reference to. As shown in FIG. 11, for example, when the pillar steel frame 2 and the beam steel frame 3 for studs are transported, the transport carriages V, V, ... Are arranged in a line at substantially equal intervals to form the transport line L1. Then, by driving the conveyor mechanism 44 (see FIG. 2) of each transport carriage V in one direction, these transport carriages V, V, ... Of the transport line L1 constitute a so-called belt conveyor, whereby the pillar steel frame 2, The beam steel frame 3 is conveyed in the longitudinal direction. When the transportation direction of the pillar steel frame 2 and the beam steel frame 3 is changed in such a transportation line L1, the transportation vehicles V, V, ... Are arranged as shown in FIG. And FIG.
As shown in (b) to (d), each conveyor mechanism 44
By driving (see FIG. 2) the traveling directions of the column steel frame 2 and the beam steel frame 3, respectively, the conveying directions of the column steel frame 2 and the beam steel frame 3 are changed.

Further, as shown in FIG. 13, when a material having a projection such as a pillar steel frame 2 for a main pillar is transported,
Similarly to the case shown in FIG. 11, the transport carriages V, V, ... Are arranged along the direction in which the pillar steel frame 2 is to be transported to form the transport line L2. And the joint bracket 2 of the pillar steel frame 2
At the portion a, the carrier V is arranged in front of and behind the joining bracket 2a, and the pillar steel frame 2 is kept in a horizontal lying position. Then, similarly to the above, by driving the conveyor mechanism 44 (see FIG. 2) while the carrier vehicle V is fixed, the pillar steel frame 2 is moved along the carrier line L2 as shown in FIG.
3 Move in the direction of the middle arrow (a). At this time, the carrier V1 supporting the end portion of the pillar steel frame 2 on the joint bracket 2a side is moved integrally with the pillar steel frame 2. Then, as shown by an arrow (b) in the drawing, the carrier vehicle V2 located in front of the joining bracket 2a in the traveling direction (an arrow (a) in the drawing) is positioned laterally in the row so as not to interfere with the joining bracket 2a. It is temporarily evacuated, and after the joining bracket 2a and the carriage V1 have passed, the joint bracket 2a is moved to a gap formed behind the moved carriage V1. By repeating the above operation, the pillar steel frame 2 having the protrusion can be transported in the direction in which the transport line L2 extends.

Further, as shown in FIG. 14, when a plate-like material such as the PC floor board 4 and the CW board 5 is conveyed, two rows of the carriages V, V, ... Are arranged along the direction to be carried. The transport lines L3 are formed by forming them in parallel with each other. And
By driving the conveyor mechanism 44 of each transport carriage V, the PC floor board 4, the CW board 5, etc. are transported along the transport line L3.

Furthermore, when the column steel frame 2 and the beam steel frame 3 are conveyed in the lateral direction, that is, in the direction orthogonal to the axis,
As shown in FIG. 15A or 15B, the carrier V
A plurality of rows are formed in parallel to form the transfer lines L4, L.
Make up 5. Then, the column steel frame 2 and the beam steel frame 3 to be transported
Are placed and transported such that their axes are orthogonal to the extending direction of the transport lines L4, L5. At this time, each of the carriages V is provided with the convex portion 50 and the concave portion 51 shown in FIG.
.. are rigidly connected to each other, the carriages V, V, ... In each row are integrated, and the column steel frame 2 and the beam steel frame 3 can be smoothly transferred between the carriages V, V. Moreover, even when the column steel frame 2 and the beam steel frame 3 are heavy,
The load can be distributed over the entire row of the carriage V.

Further, there is also a method of carrying in the following manner without forming a line by the carriage V as described above.
That is, as shown in FIG.
V, ... Are arranged at a certain distance so as to support the column steel frame 2 or the beam steel frame 3 to be conveyed at both ends thereof, and these are set as a set. Then, a plurality of sets of the carriages V thus configured are arranged at substantially constant intervals, and the carriage line L6 is provided.
To form. Then, both ends of the pillar steel frame 2 and the beam steel frame 3 are located at the start point of the transport line L6, and the first set of transport carriages V,
V, ... Place on top. Next, as shown in FIG. 16 (b), each carriage V of this set is moved at a constant speed in the carrying direction. Next, after stopping these transport carriages V near the second set of transport carriages V ′, V ′, ... Standing at a predetermined position, the conveyor mechanism 44 (see FIG. 2) is driven. , The pillar steel frame 2 and the beam steel frame 3 that have been placed are transferred (Fig. 1
6 (c)). After this, as shown in FIG.
The first set of transport carriages V, V, ... Are moved toward their original positions, and the second set of transport carriages V ′, V ′, ... It moves toward the third set of carriages (not shown) waiting at the separated positions. In this way, in the transport line L6, the column steel frame 2 and the beam steel frame 3 are transported as if they were bucket relays, so that the transport work can be performed with a small number of transport carriages V.

Also in such a bucket brigade system, the conveying line L7 is formed as shown in FIGS. 17 (a) to 17 (c) to convey the pillar steel frame 2 and the beam steel frame 3 in the lateral direction. You can do it. At this time,
As shown in FIG. 7 (b), the pillar steel frame 2 and the beam steel frame 3 are connected from one set of the carriages V, V, ... To the next set of carriages V ′,
When delivering to V ', ..., the conveying vehicle V and the conveying vehicle V'which oppose are connected by the said convex part 50 and the recessed part 51 (refer FIG. 7). Of course, PC floor board 4, C
W board 5, stairs, etc., are also the above-mentioned transfer line L6 or L
Needless to say, it can be transported by the bucket relay system of No. 7.

Next, the construction method for constructing the building 1 by using the transportation system A including the stockyard 6, the vertical transportation device 7, the base yard 8, and the horizontal transportation device 9 as described above will be described with reference to FIGS. It will be described with reference to FIG. In addition,
All the devices of the transport system A are controlled so that their operations are automatically performed by remote control.

(Construction of 1F above ground) First, as shown in FIG. 18, after constructing an underground skeleton (not shown) and a slab S1 of 1F above ground, a horizontal transfer device 9 is mounted on the slab S1.
A predetermined number of the carriages V and the assembly robots 40 are arranged.
At this time, the carrier vehicles V, V, ... Are placed on the slab S1 from the stockyard 6 (see FIG. 1) installed on the ground part G on the side of the building 1 toward the position where each material should be built. The transport lines L are formed by arranging them in rows, and the assembly robot 40 is disposed at the tip of the transport lines L. Further, the disposition of the transport carriage V on the transport line L is, as shown in FIGS. 11 to 17, a layout suitable for the type of material to be transported. Furthermore, as shown in FIG.
Each carrier vehicle V is positioned above the beam B on the slab S1 so that its load is supported by the frame of the building 1.

Then, the column steel frame 2 of the column C, the beam steel frame 3 of the beam B 3, and the CW plate 5 of the outer wall W which compose the ground floor 1F are sequentially shown in FIG.
Transported from the stock section 10 shown in FIG. 1 to the building 1 by the moving carriage 13, transferred to the carrying carriage V, and arranged on the slab S1 in a line to form the carrying carriages V, V, ... We will hand over to 40 in sequence. Then, the assembling robot 40 located at the tip of the row builds up the pillar steel frame 2, the beam steel frame 3, and the CW plate 5 that have been conveyed in a predetermined position, and the pillar C, the beam B, and the outer wall W on the ground 1F. To form. At this time, the column steel frame 2, the beam steel frame 3, the CW plate 5
The building work of 1 is carried out sequentially from the side of the building 1 away from the stockyard 6. Then, as the work progresses, the carrier V and the assembly robot 40
The transport line L formed by is deformed by moving the transport vehicles V and the assembly robot 40 by self-propelled. Further, the carriage V that has become unnecessary due to the shortening of the carriage line L is made to stand by in an empty space on the slab S1.

As shown in FIG. 19 (a), in parallel with the work of constructing the pillar steel frame 2 and the beam steel frame 3, the pillar steel frame 2 located on the outer peripheral portion of the ground 1F is assembled at a different base yard. 8, the unit material 17 and the carriage 16 of the vertical transport device 7 are attached.

Then, the PC floor plate 4 constituting the slab S2 to be formed on the beam B on the ground 1F is transferred from the stock section 10 (see FIG. 1) to the carriage 16 of the vertical transfer device 7. Next, the carriage 16 is lifted by a drive mechanism (not shown) to position the supported PC floor plate 4 above the beam B on the ground 1F. Then, as shown in FIG. 19B, the transfer arm 27 of the base yard 8 is attached to the guide rail 2.
6, the rod 27a is positioned below the carriage 16 on which the PC floor plate 4 is placed. Then
As shown in FIG. 19C, the transfer arm 27 is attached to the rod 27.
After turning around the axis of a to make it horizontal, the PC floor plate 4 on the carriage 16 is transferred to the transfer arm 27 by lowering the jack mechanism 22.

On the other hand, the gripping arms 52 of the assembling robots 40, 40 on the slab S1 on the ground 1F are extended and positioned at the same level as the transfer arm 27. At this time,
9 (c) and FIG. 20 (a), each of the assembly robots 40 has a gripping mechanism 5 including a turntable 43 and a conveyor mechanism 44 similar to those of the carriage V shown in FIG.
Attach 3a. In addition, as shown in FIG. 20A, the assembly robot 40 is arranged such that two sets of the assembly robots face each other and the gripping mechanisms 53a and 53a are connected to each other. Then, FIG. 19D and FIG.
As shown in (b), the PC supported on the transfer arm 27
The floor board 4 is rotated by a roller (not shown) provided on the surface of the arm member 27b, so that the assembly robot 4
It is transferred onto the zero gripping mechanism 53a. Then, FIG.
As shown in (c), the gripping mechanism 53a of the assembly robots 40, 40 rotates the PC floorboard 4 in a predetermined direction in which it should be built. After this, FIG. 19 (e) and FIG.
As shown in (d), the gripping arm 52 is contracted to P
The C floor board 4 is built on the beam B at the position closest to the base yard 8.

Then, as shown in FIG. 21, the elevator 30 (see FIG. 3) in the base yard 8 is used to make the ground 1F.
The carrier V which has been arranged on the slab S1 is replaced with the PC floor board 4 on the upper floor which has already been built. Then, in the same manner as described above, the vertical transfer device 7 and the base yard 8 transfer the PC floorboard 4 transferred to the 2F above the ground to the transfer carriage V that has been rearranged to the upper floor, and the assembly robot 40 has already built it. Build next to the PC floorboard 4.

After that, the transfer vehicle V on the slab S1 on the 1F above the ground is sequentially replaced with the slab S2 on the 2F above the ground, and the PC
The building of the floorboard 4 is sequentially carried out from a position close to the base yard 8 to a position separated from the base yard 8. At this time, the PC floor boards 4 are installed in the order shown in FIG. 22 (numbered order in the figure). After all slabs S2 on the ground 2F have been built, the assembly robot 40 on the slab S1 on the ground 1F is moved to the elevator 3 in the base yard 8.
0 (see FIG. 3), and refill on the slab S2 on the second floor.

(Construction of 2F above ground) As shown in FIG. 23 (a), the construction of 2F above ground is carried out in the same manner as the construction of 1F above ground.
The pillar C, the beam B, and the outer wall W will be built. At this time, the pillar steel frame 2, the beam steel frame 3, and the CW plate 5 are transported onto the slab S2 on the ground 2F as follows. As shown in FIG. 24A, the pillar steel frame 2 and the beam steel frame 3, which are rod-shaped members, are first moved from the stock portion 10 to the carriage 1 of the vertical transport device 7.
Reprinted in 6. At this time, as shown in FIG. 3, when the column steel frame 2 and the beam steel frame 3 to be transported are long, the both ends of the column steel frame 2 and the beam steel frame 3 are connected to the carriage 16 of the left and right vertical transport devices 7. , 16. And in FIG.
As shown in (a), the carriage 16 is raised by a drive mechanism (not shown) and the jack mechanism 22 is extended to position the pillar steel frame 2 and the beam steel frame 3 above the slab S2 on the ground 2F. Next, as shown in FIG. 24B, the transfer arm 27 of the base yard 8 is attached to the guide rail 2
6, the rod 27a is moved downward and positioned below the carriage 16. Then, as shown in FIG.
After the transfer arm 27 is turned around the axis of the rod 27a to be in a horizontal state, the jack mechanism 22 is lowered to transfer the column steel frame 2 and the beam steel frame 3 on the carriage 16 to the transfer arm 27. After that, as shown in FIG. 24D, the column steel frames 2 and the beam steel frames 3 are transferred to the carrier carriage V of the carrier line L formed in a row on the slab S2 on the ground 2F.
Then, as shown in FIG. 23 (a), the pillar steel frame 2 and the beam steel frame 3 are carried to the leading assembly robot 40 by the carrying line L, and are assembled at a predetermined position by the assembly robot 40. . In addition, C which is a plate-shaped member
The W board 5 is exactly the same as the PC floor board 4 shown in FIG. 19 (a), and the moving carriage 13, the carriage 16, the transfer arm 27,
It is placed on the carrier V in a recumbent state and transported to the ground 2F,
Build it in place.

After the pillar steel frame 2, the beam steel frame 3 and the CW plate 5 on the ground 2F are built in this way, the vertical conveyor 7 is extended as follows. First, as shown in FIG. 25A, the base yard 8 is climbed by the climbing mechanism 37 (see FIG. 6), for example, about 1/2 of the floor height. Then, after the unit material 17 to be replenished is mounted on the carriage 16 of the vertical transport device 7 from the stock section 10 (see FIG. 1), the carriage 16 is raised and the already installed unit material 17 is installed.
Located at the top of the. Next, as shown in FIG. 25B, the transfer arm 27 of the base yard 8 is lowered and swung to a horizontal state, and the unit material 17 on the carriage 16 is received. Subsequently, as shown in FIG. 25 (c), the transfer arm 27 is lifted up above the pillar steel frame 2 on the ground 2F, and one end of the unit material 17 is gripped by the assembly robot 40 on the slab S2 on the ground 2F. Mechanism 5
Hold with 3. Then, as shown in FIG. 25D, the transfer arm 27 is lowered while the unit material 17 is held by the holding mechanism 53, and the unit material 17 is brought into a vertical state. Next, as shown in FIG. 25E, after the gripped unit material 17 is connected and fixed onto the already installed unit material 17, the gripping by the gripping mechanism 53 is released. In this way, the extension work of the unit material 17 is completed.

Then, in the same manner as shown in FIG. 6, the base yard 8 is climbed by the climbing mechanism 37 along the guide rail 15 of the extended unit material 17 and is relocated upward by one floor (FIG. 23 (b)). Then, after this, the slab S3 on the 3F above the ground is built and the transport carriage V is refilled in parallel with it, in the same manner as the construction method on the 1F above.

Further, when the transport carriage V is refilled, the elevator 30 of the base yard 8 is used, and FIG.
As shown in, the lifting pallet 34 of the base yard 8 is also used. To do this, first, as shown in FIG. 26A, the transfer arm 27 is placed in a horizontal state and positioned directly below the elevating pallet 34. Then, the lifting pallet 34
Is removed from the opening 33 and placed on the transfer arm 27.
Then, as shown in FIG. 26B, the transfer arm 27 is lowered to bring the elevating pallet 34 to the same level as the slab S. Then, as shown in FIG. 26C, after the carrier V is mounted on the lifting pallet 34, the transfer arm 27 is mounted.
To expose the lifting pallet 34 to the opening 33,
The carriage V on the lift pallet 34 is stored in the communication passage 31. By repeating this and storing a predetermined number of transport vehicles V in the communication passage 31, the base yard 8 is climbed. Next, by performing the above work in the reverse order, the carrier V in the communication passage 31 is moved to the slab S on the upper floor.
To be transferred to. By doing so, the transfer cart V can be efficiently refilled.

(Construction method up to 150F above ground) The building 1 is sequentially constructed from the lower floors to the upper floors by repeating the above-described construction method on the 2F above ground in the same manner. At this time, as shown in FIG. 27, as the vertical transport device 7 is extended, the carriage 1
6 is added sequentially. And 15 above the ground on the top floor of Building 1
When the building is completed up to 0F, the building 1 as shown in FIG. 1 is completed.

(Dismantling / removing the transport system A)
In order to dismantle and remove the transport system A after building the building 1, first, the transport vehicle V of the horizontal transport device 9 and the assembly robot 40 are lowered to the ground part G by the vertical transport device 7.
Next, while lowering the base yard 8 by 1F, removing the unit material 17 attached to the side surface of the building 1,
The CW plate 5 is attached to the removed portion. Then, when the base yard 8 is lowered to the ground portion G, the base yard 8 is dismantled, whereby the dismantling and removal of the transport system A is completed.

In the horizontal transfer device 9 described above, the transfer carriages V, V, ... Are arranged between the vertical transfer device 7 and the position where the material is to be built to form the transfer line L. . This conveyor line L constitutes a conveyor, so to speak, so that a large amount of materials can be conveyed in a horizontal direction in a short cycle time without using a conventionally used truck, forklift, trolley, or the like. It is possible to significantly improve the transportation efficiency. Moreover, by matching the interval of material transportation by the transportation line L with the construction work, the transportation work and the construction work are linked, and the building 1 can be constructed smoothly without waste, and the cost is reduced. It becomes possible. Further, the material can be put on standby on the transfer line L, and the transfer line L can have a function as a buffer. Further, since each transport carriage V is provided with the traveling mechanism 42, even if the position where the material is transported is changed as the construction progresses, each transport carriage V can be moved to deform the transport line L. . Further, even when the material to be transported is a long object or a heavy object, it is possible to cope with this by arranging a plurality of rows of the transportation vehicles V in parallel or increasing the arrangement density of the transportation vehicles V. It will be possible. In addition, the materials can be transported by using these transport vehicles V like a bucket relay, and by doing so, it is possible to perform the transport work with a minimum number of vehicles.

In the horizontal transfer device 9, the transfer line L
An assembly robot 40 is arranged at the head of the. The assembly robot 40 is provided with a traveling mechanism (not shown), and the gripping arm 5 is rotatable and expandable.
2 is provided with a gripping mechanism 53. As a result, the material transported by the transport line L can be built in a predetermined position without using a crane or the like. Therefore, compared with the case where the construction work is performed by suspending with a crane or the like, the positioning of each material can be performed easily, and the work efficiency can be improved. Further, when the PC floor board 4 is laid, the assembly robot 40 is placed on the slab S laid on the entire surface of the lower floor and the work is performed from below, so that the work can be performed safely.

Further, the convex portion 5 is formed on the base 41 of the transport carriage V.
0 and a concave portion 51 are provided, and the convex portion 50 and the concave portion 51 are provided.
And a lock mechanism (not shown) for engaging the two with each other in a fitted state. As a result, the plurality of transport carriages V can be rigidly connected and the rows of the transport carriages V can be integrated, so that the load of the transport object to be transported can be dispersed in the entire transport line L,
Even heavy objects can be transported.

Further, according to the transfer system A, the stock yard 6, the vertical transfer device 7, the base yard 8, and the horizontal transfer device 9 are provided. Since materials can be transported, work safety can be improved without being affected by the wind, and materials can be transported without any obstacle even if there are existing buildings or roads nearby. You can Further, the transfer efficiency is not influenced by the skill of the operator. Furthermore, the transport system A
It is also possible to automate the construction of the building 1 by programming the operation of each device in advance.

Further, the elevator 3 is installed in the base yard 8.
0 is provided, and the refilling work of the transfer carriage V of the horizontal transfer device 9 and the assembly robot 40 can be easily performed, and the work efficiency can be improved also from this point.

The stock yard 6, the vertical transfer device 7, the base yard 8, and the horizontal transfer device 9 of the transfer system A of the above embodiment may have a configuration other than the above. For example, the vertical transfer device 7 may be configured to have a plurality of transfer stands on an endless belt such as a belt conveyor, and may be circularly driven. Of course, the number of installed vertical transport devices 7 is not limited to two. In addition, as for the base yard 8, the material is vertically conveyed by the device 7.
Any structure may be used as long as it can be transferred from the horizontal transfer device 9 to the horizontal transfer device 9. In addition, the horizontal transfer device 9
With respect to the configurations of the transport vehicle V and the assembly robot 40 configuring the above, any configuration may be applied as long as it does not depart from the gist of the present application. Further, although the configuration is such that the transport carriage V is located directly above the beam B, it may of course be arranged at a position other than directly above the beam B as long as the load can be supported. Further, a main roof or a temporary roof may be installed above the horizontal transport device 9, that is, above the construction floor to prevent intrusion of wind and rain. Moreover, in this case, since the material can be transported by the horizontal transport device 9 on the construction floor, it is not necessary to provide an overhead crane, which can simplify the main or temporary roof structure. In addition to the above-mentioned pillar steel frame 2, beam steel frame 3, PC floor board 4, and CW board 5, other materials such as wall panels and stairs that constitute the inner wall of the building 1 and various equipment can be used in the transport system A. It goes without saying that they can be transported. Further, the horizontal transfer device 9 can be applied to construction work other than the construction of the building 1 as long as it conveys a conveyed product in the horizontal direction, and in that case, the same effect as above can be obtained. it can.

[0055]

As described above, according to the horizontal transfer system of the first aspect of the present invention, there is provided a transfer carriage provided with a traveling mechanism and a conveyor mechanism for moving a placed transfer object in one direction. A plurality of transfer lines are arranged between two positions separated from each other. With this transport line, a conveyor was constructed between two positions that were separated from each other, so long as the trolley that was conventionally used for transporting goods,
Large quantities can be transported horizontally in a short cycle time without using a forklift or trolley.
The transport efficiency can be significantly improved. Moreover, by matching the interval of material transportation on the transportation line with the construction work, the transportation work and the construction work can be linked, and construction of the building can be performed smoothly without waste.
Further, this makes it possible to shorten the construction period and reduce the cost. Further, it is also possible to put the material on the transfer line in a standby state so that the transfer line has a function as a buffer. Moreover, since each transport carriage is provided with the traveling mechanism, even if the position at which the transport object is to be transported changes as the construction progresses, each transport carriage can be moved to deform the transport line. Further, even when the transported object to be transported is a long object or a heavy object, it is possible to transport the transported object by arranging a plurality of rows of the transportation vehicles in parallel or increasing the arrangement density of the transportation vehicles. it can. Also,
With these carrier trucks, like a bucket brigade,
It is also possible to carry out the transfer work with the minimum number of units. As described above, in the horizontal transfer system, the transfer line can be formed into various forms corresponding to the objects to be transferred, which enables efficient transfer work.

According to the horizontal transfer system of the second aspect, the assembly robot is arranged at the head of the transfer line, and the assembly robot is provided with a swingable and extendable arm on the base having the traveling mechanism. A gripping mechanism is provided through the structure. With such an assembling robot, it is possible to build a conveyed object, such as a member such as a pillar, a beam, or a floor plate, which has been conveyed by a carrier, at a predetermined position without using a crane or the like. Therefore, compared with the case where the construction work is performed by suspending with a crane, each material can be easily positioned, and the work efficiency can be improved.
Further, when the floor board is laid by this assembly robot, the assembly robot is arranged on the slab laid on the entire surface of the lower floor and the work is performed from below, so that the work can be performed safely.

According to the horizontal transfer system of the third aspect of the present invention, the base of the transfer vehicle is provided with the convex portion and the concave portion fitted therein, and the lock for engaging the convex portion and the concave portion in the fitted state. The structure is provided. This makes it possible to rigidly connect a plurality of transport carriages and integrate the transport lines. Therefore, it becomes possible to disperse the load of the conveyed product over the entire conveyance line, and it is possible to cope with this even if the conveyed product is a heavy load.

[Brief description of drawings]

FIG. 1 is a perspective view showing an example of a building constructed by applying a transfer system including a horizontal transfer system according to the present invention.

FIG. 2 is a perspective view mainly showing the horizontal transport system.

FIG. 3 is a perspective view mainly showing a transfer device of the transfer system.

FIG. 4 is a plan view showing an operating state of a carrier frame provided in the vertical carrier device of the carrier system.

FIG. 5 is a side view of the same.

FIG. 6 is a side view showing a method of refilling the transfer device.

FIG. 7 is a perspective view showing a carrier truck of the horizontal carrier system.

FIG. 8 is a perspective view showing a traveling mechanism of the carrier vehicle.

FIG. 9 is a plan view showing a connection structure of the transport vehicle.

FIG. 10 is a side view showing a state in which a plurality of the transportation vehicles are connected.

FIG. 11 is a perspective view showing an example of a transport line formed using the transport vehicle.

FIG. 12 is a plan view showing an arrangement of transport carriages when the transport direction is changed on the transport line.

FIG. 13 is a view showing another example of the carrying line, and is a perspective view showing a line configuration when carrying an article having a projection.

FIG. 14 is a perspective view showing a line configuration when a flat object is conveyed.

FIG. 15 is a perspective view showing a line configuration when a conveyed product is conveyed laterally.

FIG. 16 is a perspective view showing a line configuration when carrying out a bucket-relay type conveyance.

FIG. 17 is a perspective view showing another example of the line configuration when carrying in a bucket brigade type.

FIG. 18 is a view showing a construction process on the ground 1F of the building, which is a side view showing a state in which a pillar is erected.

FIG. 19 is a side view showing a state where the slab is installed.

FIG. 20 is a plan view of the same.

FIG. 21 is a side view showing the state following FIG.

FIG. 22 is a plan view showing an example of the order of laying slabs.

FIG. 23 is a side view showing a construction process on the second floor above the building.

FIG. 24 is a side view showing a step of transferring a column steel frame and a beam steel frame from the vertical transfer device to the horizontal transfer system.

FIG. 25 is a side view showing a step of extending a rail of the vertical transport device.

FIG. 26 is a side view showing a step of refilling the transport carriage of the horizontal transport system.

FIG. 27 is a perspective view showing a state in which the building is being constructed.

[Explanation of symbols]

 2 Column steel frame (materials) 3 Beam steel frame (materials) 4 PC floor board (materials) 5 CW board (materials) 9 Horizontal transfer device (horizontal transfer system) 10 Stock section 40 Assembly robot 41 Base 42 Travel mechanism 43 Turntable 44 Conveyor Mechanism 50 Convex part 51 Recessed part 52 Gripping arm (arm) 53 Gripping mechanism L Transfer line V Transfer cart

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Tadashi Okano 1-3-2 Shibaura, Minato-ku, Tokyo Shimizu Construction Co., Ltd. (72) Inventor Haruo Nakazawa 1-3-2 Shibaura, Minato-ku, Tokyo Shimizu Construction Co., Ltd. (72) Inventor Naohisa Sunaga 1-3-2 Shibaura, Minato-ku, Tokyo Shimizu Construction Co., Ltd.

Claims (3)

[Claims] 1. A horizontal transport system for horizontally transporting a transported material such as a material, wherein a transport line including a plurality of transport carriages is formed between two positions separated from each other, and each of the transports is formed. A trolley, a traveling mechanism for horizontally moving the pedestal, a table provided on the pedestal and rotatable in a horizontal plane, and a table provided on the table and provided on the table. A horizontal transfer system comprising: a conveyor mechanism for moving a placed transfer object in one direction. 2. The horizontal transfer system according to claim 1, further comprising an assembly robot arranged at the head of the transfer line for building the transferred object at a predetermined position, the assembly robot including a traveling mechanism. A horizontal transfer system including a base that is movable in the horizontal direction and a gripping mechanism that is mounted on the base via a rotatable and retractable arm for gripping a transported object. . 3. The horizontal transfer system according to claim 1 or 2, wherein one base carriage is rigidly connected to another base carriage on the base of the carrier carriage, and the convex portion is fitted to the convex portion. And a lock mechanism that engages the convex portion and the concave portion in a fitted state with each other.