JPH0754486A - Transport and fitting method of architectural member by automatic carrier - Google Patents

Abstract

PURPOSE:To increase workability, by inputting numbers of architectural members and receiving data from a data base and transporting them by an automatic carrier through a data pattern and positioning and fitting them. CONSTITUTION:An unmanned carrier V is transferred from a station 10 to a load-receiving position P1. The member number is input into a data base DB of a local controller CU by barcodes discriminating members or the like through a transmitter-receiver C. Next, data for transfer place, posture, and fitting position are input into the control disk of carrier V in accordance with the member number from the data base DB. The members W are held by a grasping attachment A of the carrier V and automatically transported to the fitting position P2 through an induction cable and positioned and further finely positioned for fitting to fix it.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for transporting and mounting building members by an automated guided vehicle in a construction method in which the entire building is sequentially pushed up and constructed.

[0002]

2. Description of the Related Art Generally, in such a construction method, members are not automatically conveyed. Therefore, work efficiency is poor,
Lack of safety. In addition, in a general construction method, a drive device and materials are partially and automatically transported by a crane-like device.

[0003]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a method for transporting and attaching building members by a safe automated guided vehicle which improves work efficiency in a construction method of sequentially pushing up the entire building.

[0004]

According to the method of the present invention, an automatic guided vehicle is moved from a station, a building member number is input to a control means, and data of a transfer place / posture / final position / posture is received from a database and automatically sent. After the building member is gripped by the gripping mechanism of the carrier, the local control, the automatic transfer and positioning in the pattern of the above-mentioned data by the guide cable, etc. are performed and the positioning is performed minutely for mounting, and then the automatic carrier is stationed. It is characterized by returning to.

[0005]

In the present invention, the data of the transportation place, the posture, and the final position and the posture are received from the database by the building member number, and are automatically conveyed while being grasped by the automatic conveyance vehicle, thereby improving the work efficiency and safety. .

[0006]

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

FIG. 1 shows a schematic of an apparatus for carrying out the present invention.

In FIG. 1, a working floor F has a station 10 of an automated guided vehicle V equipped with a grip attachment A.
Is provided. Between the station 10 and the mounting position P2, a guide cable GC as shown in the beam outline drawing of FIG. 2 is laid. On the other hand, the working floor F is provided with a local control controller CU having a database DB, and wirelessly communicates with the transceiver C of the automatic guided vehicle V by a transmission / reception signal (not shown). The automated guided vehicle V receives the construction member W at the load receiving position P1 and automatically conveys it to the mounting position P2.
It should be noted that instead of the guide cable GC, a guide line such as a guide tape for magnetism or light may be used.

FIG. 3 shows an example of the grip attachment. The automatic guided vehicle V1 is provided with a grip attachment A1 so as to be movable rearward. A gripper G1 is provided on the attachment A1 so as to be vertically movable, and the base 1 of the gripper G1 can be extended and contracted rearward,
Moreover, it is supported on the floor F by the rollers 2.

FIGS. 4 and 5 show another example of the gripping attachment, in which the gripping attachment A2 having the gripper G2 is supported by the automated guided vehicle V2 so as to be able to move back and forth, move up and down, and rotate freely. .

6 and 7 also show another example of the grip attachment, in which the grip attachment A3 is provided movably in the vertical direction on the mast 3 which is vertically expandable and contractible, and the panel wall material W1 is attached to the attachment A3. This is an example in which a gripper G3 for holding vertically is provided. Reference numeral 4 is a cushion.

FIGS. 8 and 9 also show another example of the gripping attachment, in which the gripping attachment A4 provided on the automatic guided vehicle V4 is provided with the gripper G4 for vertically gripping the large and heavy panel wall material W2. is there.

10 and 11 also show another example of the gripping attachment, in which the gripping attachment A5 is provided on the retractable mast 3 of the automated guided vehicle V5 so as to be movable up and down, and the pair of arms 5 projecting from the attachment A5. , A beam 7 is provided by the rack and pinion mechanism 6 so as to be able to move back and forth and traverse, a magnet 9 is provided on the beam 7 by the rack and pinion mechanism 6 and a pair of rods 8, and the floor deck plate W3
It is an example in which the is hung.

FIG. 12 shows a local controller C.
The peripheral configuration of U is shown. The controller CU is provided with a transfer management system S including an upper PDB management system S1 and an upper construction planning system S2, and performs wireless communication with the control panel VC of the automated guided vehicle V and the control panel RC of the robot R. It is supposed to do.

The upper PDB management system S1 has a P
There are provided a DB internal member transfer sequence database, a member-based transfer operation parameter database, a transfer schedule and a performance database.

The upper construction planning system S2 is provided with respective systems for changing the member number, the transportation sequence simulation, and the collision examination sequence route.

The transfer management system S includes transfer progress record management, member order instruction data communication, member gripping type operation pattern plan data communication, transfer route overlapping work review route instruction communication, transfer next instruction review and standby move instruction communication. Each system of robot work start instruction communication is provided.

The local control controller CU includes
Each operation sequence management communication, multiple unmanned guided vehicle communication management,
Local safety management alarm output and local transport input processing system at the time of failure are provided.

The control boards VC and RC are provided with respective systems for operation sequence control, local safety management sensing, on-site fine adjustment measurement control, and emergency operation such as emergency stop.

Next, with reference to FIG. 13 and FIG. 14, a mode of carrying and attaching building members will be described.

The automated guided vehicle V is moved from the station 10 to the load receiving position P1 (step S1), and the member number is assigned to the local control controller CU by a member recognition barcode or the like.
To the database DB (step S2). Then, the transportation place, the posture, the mounting position, and the posture data according to the member number are input from the database DB to the control panel VC (step S3). Then, the building member is automatically or manually gripped (step S4), and the unmanned guided vehicle V is automatically carried to the mounting position P2 via the guide cable GC and positioned by a control command from the local control unit CU. During this time, the position and orientation are fed back from the automatic guided vehicle V to the local control controller CU (step S5). Then, fine positioning for attachment is performed automatically or manually (step S6).
When the installation is completed, the automated guided vehicle V is returned to the station 10 (step S7).

15 to 17 show a work flow and an information exchange sequence in transporting a beam which is a long member (not shown). Note that the same step numbers are assigned to steps that are substantially the same as those in FIG.

[0023]

As described above, according to the present invention, in a construction method in which the entire building is sequentially pushed up and constructed, building members are automatically conveyed and attached to improve the efficiency and safety of the work and shorten the construction period. be able to.

[Brief description of drawings]

FIG. 1 is a side view illustrating the outline of an apparatus for carrying out the present invention.

FIG. 2 is a beam plan view illustrating an induction cable.

FIG. 3 is a side view showing an example of a grip attachment.

FIG. 4 is a side view showing another example of the grip attachment.

5 is a rear view of FIG.

FIG. 6 is a side view showing another example of the grip attachment.

FIG. 7 is a rear view of FIG.

FIG. 8 is a side view showing another example of the grip attachment.

9 is a rear view of FIG.

FIG. 10 is a side view showing another example of the grip attachment.

11 is a rear view of FIG.

FIG. 12 is a peripheral configuration diagram of a local transport controller.

FIG. 13 is a control flowchart.

FIG. 14 is a beam plan view illustrating a control mode.

FIG. 15 is a diagram for explaining a work flow of beam transportation and an information exchange sequence.

FIG. 16 is a view showing a sequel to FIG. 15;

FIG. 17 is a drawing showing a continuation of FIG. 16;

[Explanation of symbols]

 A, A1 to A5 ... Grip attachment C ... Transceiver CU ... Local control controller DB ... Database F ... Working floor G, G1 to G5 ... Gripper GC ... Induction cable P1 ... Receiving position P2 ... Mounting position R ... Robot RC, VC ... Control panel V, V1-V5 ... Unmanned guided vehicle W ... Building member W1, W2 ... Panel wall Material W3 ... Deck plate 1 ... Base 2 ... Roller 3 ... Mast 4 ... Cushion 5 ... Arm 6 ... Rack and pinion mechanism 7 ... Beam 8 ... Rod 9・ ・ ・ Magnet 10 ・ ・ ・ Station

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Takezo Miyamoto 1-2-7 Moto-Akasaka, Minato-ku, Tokyo Within Kashima Construction Co., Ltd. (72) Inventor Mitsuteru Kishi 1-2-2 Moto-Akasaka, Minato-ku, Tokyo No. 7 Kashima Construction Co., Ltd.

Claims (1)

[Claims] 1. An automatic guided vehicle is moved from a station, a building member number is input to a control means, data of a transfer place / posture / final position / posture is received from a database, and a building member is gripped by a gripping mechanism of the automatic guided car. And local control,
Conveyance of building members by automatic carrier characterized by automatically conveying and positioning in the pattern of the above-mentioned data using an induction cable, etc., performing micropositioning for mounting, and then mounting the automatic carrier to the station.・ How to install.