JPH0776489B2 - Steel erection device and steel erection system - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a steel frame erection device and a steel frame erection system in which a steel frame erection in a middle and high-rise building is robotized.

[Conventional technology]

The construction method for middle- and high-rise buildings is roughly divided into steel frame assembly, rebar assembly, formwork assembly, concrete placing, and formwork dismantling. Among them, in the steel erection work of columns and beams,
There are operations for material transportation, temporary joining, re-installation, and main joining. In these works, first, the crane is used to convey the steel frame to a predetermined position, and the temporary fastening bolts are used to temporarily join the members, and then the three axes are positioned and re-distorted, and the steel frame is welded or bolted. Are finally fixed (main bonding). These operations in the conventional steel frame assembly are almost manual work, except for using a crane for transporting the steel frames and using a few jigs for joining.

[Problems to be solved by the invention]

As mentioned above, in the conventional steel frame assembly work that is mainly performed by manual work, it is indispensable for the work of a hawker to work at a high place.
Among the various types of work performed at the construction site, the level of danger is high, and it is the first type of dangerous work. Further, there is a problem that it is difficult to reduce the assembly time because it is a manual work.

The present invention is to solve the above problems, eliminates manual work at high places in the assembly work of columns and beam steel frames, improves work safety, and shortens the construction period. The purpose is to provide a steel frame erection system.

[Means for solving problems]

Therefore, the steel frame erection device of the present invention is a mobile scaffolding robot in which an upper scaffold and a lower scaffold are connected by a telescopic boom so as to be movable in the vertical direction, and a steel frame assembly loaded on the upper scaffold and the lower scaffold. It is characterized by having a work robot, and the steel erection system is
It is characterized by comprising the steel frame erection device, a crane robot, and control means for controlling the steel frame erection device and the crane robot.

[Action]

In the steel erection device of the present invention, while temporarily moving the steel frame of the columns and beams that have been transported using the steel frame assembly work robot while vertically moving the work area surrounded by the columns using the mobile scaffolding robot, Since the main joining can be performed, the steel frame can be automatically constructed. Therefore, in the steel-frame erection system, the steel-frame erection system can be automated by combining a crane robot with this steel-frame erection device and presetting and controlling these work procedures. Preventing disasters because you can eliminate work
Work efficiency can be improved.

〔Example〕

 Hereinafter, embodiments will be described with reference to the drawings.

FIG. 1 is a diagram showing a configuration of one embodiment of a steel frame erection device according to the present invention, FIG. 2 is a diagram for explaining a work flow of the steel frame erection device, FIG. 3 is a conceptual diagram of a welding robot, and FIG. FIG. 5 is a diagram for explaining the operation sequence of the mobile scaffolding robot, and FIG. 5 is a diagram for explaining one example of a block-based steel erection system. In the figure, 1 is an upper scaffold, 2 is a lower scaffold, 3 is a gripping device, 4 is a temporary joining robot, 5 and 7 are welding robots, 6 is a verticality measuring device, 8 and 17 are rails, and 9 and 18 are turntables. , 10 is a telescopic boom, 11 is a column steel member, 12 is a beam steel member, 13 is a traveling carriage, 14 is a laser transmitter, 15 is a clamp device, 16 is a control device, 19 is a crane robot, 20 is a mobile scaffolding Shows a robot.

The steel erection device shown in FIG. 1 is a mobile scaffolding robot composed of an upper scaffold 1, a lower scaffold 2, a gripping device 3, a verticality measuring device 6, and a telescopic boom 10, and the like. The temporary joining robot 4, the joining robots 5 and 7, etc.

The mobile scaffolding robot includes an upper scaffold 1, a lower scaffold 2, four telescopic booms 10 that connect the upper and lower parts, four upper and lower gripping devices 3, four upper and lower turntables, and four vertical degrees. The measuring device 6 is configured to move up and down by expanding and contracting the telescopic boom 10 while one of the gripping devices 3 loaded on the upper scaffold 1 and the lower scaffold 2 holds the beam steel member. Although not shown in the figure for moving the entire robot, it has a loading mobile vehicle and a towing truck on which a hydraulic unit as a drive source is loaded. Further, a rail 8 for moving the robot is installed on each scaffold, and a hydraulic control valve unit is loaded on the lower scaffold 2.

Of the turntables 9, the one on the upper scaffold is for turning the robot and turns 90 °, and the one on the lower scaffold is ± 135 because it is necessary to project the robot out of the scaffold during pillar welding. ° Turn. Also, each turntable 9
Is equipped with a clamp device for fixing the robot.

The verticality measuring device 6 is one in which a laser oscillator is arranged at the corner of a pillar, and in order to measure the verticality, the laser oscillator must be horizontal, so the entire cylinder has two axes. It may be held by a variable mechanism.

The temporary joining robot 4 is composed of an arm 3 axis, a wrist 2 axis, and a running and gripping device, and the arm positions the steel frame member. Since the temporary joining robot 4 works at the reference position on the scaffold, it is relatively easy to find the joining position of the pillar and the beam. In the case of a pillar, one robot grabs the tip of the steel frame hung by a crane and moves it to the central axis position. In the case of a beam, the robot is grasped by two robots, one at each end, and aligned with the joint. In this case, the robot cannot bear the load of the steel frame, so when the arm is operated, the load on the arm is detected, the crane operator can correct the plane coordinates, and the steel frame is suspended by the crane. This is done in cooperation with the robot arm. It should be noted that the wrist moves to change the posture of the gripping device with respect to gripping the pillar and the beam. Therefore, it is only necessary to move the two axes at a constant angle.

The vehicle is driven by four-wheel DC power supply on the rail 8 and the stop position is
It is identified by the marking on the mobile scaffolding robot. When the temporary joining of one member is completed, it moves to the next work position based on the input command which is sequentially programmed.
The turn table 9 installed on the scaffold is used to change the direction at the corner on the scaffold.

Welding of columns is performed by one welding robot 7 for each column from two positions on the right side and the left side when the columns are viewed from above the lower scaffold 2. The welding robot 7 is mounted on a rectangular traveling carriage 13 as shown in FIG.
Clamp on top and rotate the turntable 18 to get closer to the pillar. Similarly, the left and right welding positions are changed by rotating the turntable 18.

The welding of the beam is performed by moving one welding robot 5 from the upper scaffold 1 to two beams.
The welding robot 5 includes three axes of arms, three axes of wrists, and a traveling device, and the welding machine is installed on the traveling device. However, in the case of column welding, the position of the column joint is about 2 m above the lower scaffold base plate, so one arm for vertical movement is added to the arm.

In the steel frame erection of the present invention using the steel frame erection device shown in FIG. 1, the steel frame members are transported based on the conventional truck crane. Then, the temporarily joined steel frames are temporarily joined by the temporary joining robot loaded on the upper scaffolding of the mobile scaffolding robot, and the column steel frames temporarily joined are straightened by the gripping device loaded on the mobile scaffolding robot. The main joining of the pillars is performed by the welding robot loaded on the lower scaffolding of the mobile scaffolding robot while maintaining the warped state by the mobile scaffolding robot, and the main joining of the beams is also performed. The steel frame erection using the steel frame erection device according to the present invention, as shown in FIG. 2, performs a temporary assembly of columns and beams by repeating slinging, lifting, positioning, and temporary joining of the steel frame members, Distorted,
Perform main bonding and inspection. By repeating the above procedure, one block of steel frame surrounded by columns will be built from the first floor to the top floor. FIG. 3 shows a conceptual diagram of a beam welding robot used for this work.

Next, the operation sequence of the mobile scaffolding robot will be described with reference to FIG. 4 in relation to the operation sequence of other robots. Incidentally, (a) to (f) in FIG. 4 correspond to (d) to (f) described below.

(A) First, a mobile scaffolding robot is placed on a moving carriage and carried into a block to be built by a towing vehicle that also serves as a hydraulic unit that is a drive source.

After positioning and locating the moving carriage by the outrigger, the upper scaffold of the mobile scaffolding robot is raised, and the steel members conveyed by the crane are temporarily joined to the beams 1 and 2 sequentially by the temporary joining robot. At this time, the temporary joining robot travels on the rails on the scaffold and moves to the work position.

(B) When the pillar 1, the beam 1, and the beam 2 are assembled, the gripping device loaded on the upper scaffold grabs the beam 2, and then the verticality is measured by the laser device installed on the upper scaffold and on the ground, and its displacement The stroke of the gripping device is changed by the hydraulic servo control according to the size and direction of the column, so that the pillar is controlled to be vertical and straightening is performed.

After that, the beam 1 and the beam 2 are sequentially welded by the welding robot loaded on the upper scaffold while changing the stroke of the telescopic boom. This welding is carried out by a total of four robots, with one robot sharing the two welding parts for each beam.

(C) When the block surrounded by one column is completely built, the gripping device of the upper scaffold grabs the beam 2, releases the lower scaffold from the moving carriage, and lifts the beam 1 with the gripping device of the lower scaffold. Grab

(D) With the lower scaffold grasping the beam 1, the upper scaffold is lifted up, and the temporary joining robot sequentially performs the temporary joining of the second joint of the column and the beam 3.

(E) When the temporary joining of the beams 3 is completed, the gripping device for the upper scaffold grabs the beams 4, and then the lower scaffolds are lifted to grab the beams 2. Then, the upper scaffold is raised with the lower scaffold fixed, and the beam 4 is temporarily joined by the welding robot.

(F) After the temporary joining of the beams 4 is finished, the beams 4 are grasped by the gripping device of the upper scaffold, and the second column knot is re-distorted in the same manner as in (b). After the warping is completed, the columns 2 and 1 are joined by the welding robot loaded on the lower scaffold. Since welding is performed on four pillars at the same time, a total of four welding robots are arranged at each corner of the lower scaffold as shown in FIG.

After the main welding of the columns, the upper scaffold is moved as in (b), and the welding robot sequentially welds the beams 3 and 4.

After this, the columns of 3 nodes, the temporary joining of the beams, the straightening, and the main joining are
The same repetitive work as in (d), (e), and (f) above is performed.

Next, the order of steel-frame erection performed by using the steel-frame erection device robotized as described above will be described with reference to FIG.
FIG. 5 (a) is a plan view of the second to seventh floors, and when the steel frame construction of this building is performed, first, the crane robot 19 and the mobile scaffolding robot 20 are installed (FIG. 5 (b)). Then, the column temporary assembly (FIG. 5 (c)) is performed. In addition, the 1st column is to be constructed manually. Next, beam temporary assembly (Fig. 5 (d))
Then, the mobile scaffolding robot 20 and the verticality measuring device are used to rebuild the building (Fig. 5 (e)). Rebuilding is performed by the mobile scaffolding robot 20 and the verticality measuring system using a laser beam in synchronization with each other. As a reference point at this time, the 1st node is the ground block, the 2nd node is the 1st node where the main welding is completed, and the 3rd node is the same 2nd node. And first, the mobile scaffolding robot
Main welding (dotted circle in Fig. 5 (f)) was performed using the welding robot loaded on the upper scaffold of 20, and climbing of the mobile scaffolding robot 20 was performed, and the welding robot loaded on the lower scaffold was used. Main welding (dotted circle in Fig. 5 (g))
I do. Then, the process moves to the temporary assembly of the next pillar (FIG. 5 (h)) and the same work is repeated. FIG. 2 shows the above work flow.

In order to perform the above work, the crane robot
Numerical data is input in advance for the beam position so that the beam can be automatically conveyed to the approximate position. The plane coordinates are obtained by detecting and calculating the swinging body angle and the boom angle at the tip position of the boom. Further, by detecting the rope feed length, the coordinates in the height direction are obtained and positioned at the steel frame transport position. In addition, an iron clamp is attached to the steel frame so that the crane operator can attach and detach the steel frame. Furthermore, in order to keep the posture of the steel frame constant, it is advisable to add a detent device to the wire.

FIG. 6 is a block diagram showing the configuration of the control system of the steel frame erection system of the present invention, FIG. 7 is a component division diagram of the steel frame erection system, and FIG. 8 is the entire steel frame erection by the steel frame erection system of the present invention. It is a figure for explaining the one way procedure. In the figure,
31 is an input unit, 32 is an analysis processing unit, 33 is a work procedure registration unit, 34
Is a work data registration unit, 35 is a verticality measurement unit, 36 is a crane robot controller, 37 is a mobile scaffolding robot controller, 38 is a temporary joining robot controller, 39 is a main welding robot controller, and 40 is a crane robot.

The input unit 31 is for inputting procedures and data to be registered in the work procedure registration unit 33 and work data registration unit 34, and for inputting work execution instructions. The work procedure is a work procedure of each robot according to the work flow of steel frame construction, and the work data is data necessary for each work, such as a stacking position of each member, a transfer destination, a fixed position, and the like. In addition, when the designation of each member, the transport destination, and the fixed position of each member are registered for each work procedure, the stacking position of each member need only be held as work data. The analysis processing unit 32 analyzes the input information from the input unit 31, registers work procedures and work data, controls each controller based on a work execution command, and performs vertical distortion during warping work during work execution. The degree is measured and the controller is controlled according to the distortion. The crane robot controller 36 controls the crane robot according to the work procedure registered in the work procedure registration unit 33, and the other controllers similarly control the respective robots according to the work procedure registered in the work procedure registration unit 33. To do. For example, in the temporary column assembly work procedure, first, the crane robot controller 36 controls the crane robot according to the designation of the members to be transported, the stacking position, the transport destination, and the fixed position, and the designated member is transferred from the stacking position to the transport destination. Transport to near the joining position. Then, the members conveyed by the temporary joining robot controller 38 are held and temporarily joined at a predetermined position.

FIG. 7 shows an example of the component division of the above system. As shown in FIG. 7, the steel frame erection system is roughly divided into a column steel frame erection system S11, a beam steel erection system S12, a re-installation system S13, and a joining system S1.
Composed of 4. In the column steel frame erection system S11, the finished column base is used by using the processed column steel frame member that has been temporarily placed at a predetermined position on the site or has already been attached with the reinforcing bar on the carrier bed of the transport vehicle that has arrived within the lifting machine work area. Pillar assembly and temporary joining are performed on the foundation by a crane robot, a mobile scaffolding robot, and a temporary joining robot. Similarly, in the beam steel frame erection system S12, the processed beam steel frame member, which is temporarily placed at the predetermined position on the site or has already been installed with the reinforcing bar on the carrier bed of the transport vehicle that has arrived within the lifting machine work area, is used as a crane robot. Beam assembly and temporary joining are performed by a mobile scaffolding robot and a temporary joining robot. And rebuilding system S13, joining system S
At 14, the mobile scaffolding robot, the verticality measuring device, and the main welding robot distort and perform the main joining of the upper columns and beams. Column and beam steel frames are assembled and constructed on the column base of the frame thus completed.

FIG. 8 shows a procedure for assembling a steel frame by the steel frame erection system described above. First, at the start, as shown in FIG. 8 (a), the mobile scaffolding robots R1 and R2 are installed in the a and c construction sections, and the crane robot 40 is installed to construct a steel frame from the first floor to the top floor. Subsequently, as shown in FIG. 8 (b), the mobile scaffolding robots R1 and R2 are set up to work sections d and i to construct a steel frame from the first floor to the top floor. Similarly, when the steel frames of the construction sections b, f, m, and o are constructed as shown in FIGS. 8 (c) and 8 (d), the setup of the mobile scaffolding robots R1 and R2 is changed as shown in FIG. 8 (e). And the setup of the crane robot 40 is performed, and the steel frames of the work sections i, n and subsequently the work sections h, k, g, j are constructed. In this way, the construction section a consisting of four pillars at the beginning,
By constructing the steel frames c, i, m, and o, and then constructing the steel frames of the work section sandwiched between them, work efficiency can be improved.

FIG. 9 is a diagram showing an embodiment of a column steel member applied to the steel erection device and system of the present invention, and FIG. 10 is a column-column connection using the column steel member shown in FIG. FIG. 11 is a diagram for explaining the method, FIG. 11 is a diagram showing one embodiment of a beam steel member applied to the steel frame erection device and steel frame erection system of the present invention, and FIG. 12 is a column steel frame shown in FIG. FIG. 12 is a diagram for explaining a pillar-to-beam joining method for joining members and the steel beam members shown in FIG. 11. In the drawing, 41, 47 and 48 are column steel members, 42 is a fitting recess, 43 is a fitting protrusion, 44 is a column-equipped joint bracket, 45 is a pre-assembled rebar, 46 is a temporary hoop fixing, 51 is a beam steel member, 52 is a flange splice, 53 is a fitting pin, 54 is a pin hole, 55
Is a reinforcing plate, and 56 and 57 are welded parts.

The beam steel member 41 of the present invention shown in FIG.
Is provided at the upper end and a fitting convex member 43 is provided at the lower end to join the fitting convex members 43 by a fitting method, and a column-equipped joint bracket 44 is provided to join the beams. That is,
When performing steel frame assembly using this pillar steel member,
As shown in FIG. (A), the pillar steel frame member 48 to be assembled by using a crane is conveyed to the upper end of the existing pillar steel frame member 47, and the self-weight of the pillar steel frame member 48 is used to fit the upper end of the pillar steel frame member 47. Insert the fitting protrusion at the lower end into the recess and temporarily join it, and then position it in the three axial directions and correct the distortion, and weld the surroundings (A, B) as shown in Fig. 10 (b). To join.

FIG. 11 shows an embodiment of a beam steel member joined to the pillar steel member. Beam steel member 51 shown in FIG.
A flange splice 52 is welded to both ends thereof, and a fitting pin 53 is provided on the flange splice 52. Therefore, when the beam steel frame member 51 is joined to the column steel frame member shown in FIG. 9 to perform the steel frame assembly, as shown in FIG. 12 (a), the column-equipped joint bracket 44 of the column steel frame member is used.
A pin hole 54 is provided in the pin hole, and a fitting pin of the beam steel frame member is fitted into the pin hole to temporarily join the beam steel frame member to the column steel frame member. Then, after positioning and correcting the distortion,
As shown in FIGS. 12B and 12C, the reinforcing plate 55 is applied and welded to perform the main welding.

As mentioned above, the main work of steel frame erection includes transportation of parts, temporary joining, re-installation, main joining, etc. Conventionally, most of the work other than the transportation of parts is done manually, and also in terms of construction method. Although suitable methods and members have been adopted, in the present invention, by using a robotized steel erection device,
Furthermore, by using members with a structure suitable for automation, it became possible to automate temporary joining and rebuilding work.

Needless to say, the present invention can be modified in various ways and is not limited to the above embodiments.

〔The invention's effect〕

As is clear from the above description, according to the present invention, since the steel frame assembly is robotized, it is possible to use a large member, and it is possible to improve work accuracy, improve productivity by automation, and shorten the construction period. . Also, since work at height is eliminated,
It is possible to improve safety and reduce disasters. Furthermore, since temporary materials such as scaffolds are not required, the cost of temporary installation can be reduced, and the number of days for assembling and disassembling the materials can be eliminated to shorten the construction period.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of one embodiment of a steel frame erection device according to the present invention, FIG. 2 is a diagram for explaining a work flow of the steel frame erection device, FIG. 3 is a conceptual diagram of a welding robot, and FIG. FIG. 5 is a diagram for explaining the operation sequence of the mobile scaffolding robot, FIG. 5 is a diagram for explaining one embodiment of a block-based steel erection system, and FIG. 6 is a control of the steel erection system of the present invention. FIG. 7 is a block diagram showing the configuration of the system, FIG. 7 is a component division diagram of the steel frame erection system, FIG. 8 is a diagram for explaining the entire steel frame erection procedure by the steel frame erection system of the present invention, and FIG. 9 is The figure which shows one Example of the pillar steel-frame member applied to the steel-frame erection apparatus and steel-frame erection system of this invention, FIG. 10 demonstrates the pillar one pillar joining method using the pillar steel-frame member shown in FIG. FIG. 11 is a beam applied to the steel erection device and the steel erection system of the present invention. The figure which shows one Example of a steel frame member, 12th
The figure is a figure for demonstrating the column-beam joint construction method of the column steel-frame member shown in FIG. 9, and the beam steel-frame member shown in FIG. 1 ... Upper scaffold, 2 ... Lower scaffold, 3 ... Gripping device, 4 ... Temporary joining robot, 5 and 7 ... Welding robot, 6 ... Verticalness measuring device, 8 and 17 ... Rail, 9 and 18 ... Turntable, 10 ... Telescopic boom, 11 ... Column steel member, 12 ... Beam steel member, 13 ... Truck, 14 ... Laser transmitter, 15 ... Clamping device, 16 ... Control device, 19 and 40 ... Crane robot, 20 ...
Mobile scaffolding robot, 31 ... Input unit, 32 ... Analysis processing unit, 33 ...
Work procedure registration unit, 34 ... Work data registration unit, 35 ... Verticality measurement unit, 36 ... Crane robot controller, 37 ... Mobile scaffolding robot controller, 38 ... Temporary joining robot controller, 39 ... Main welding robot controller.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (71) Applicant 999999999 Sato Industry Co., Ltd. 1-11 Sakuragicho, Toyama City, Toyama Prefecture (71) Applicant 999999999 Shimizu Corporation 2-16-1 Kyobashi, Chuo-ku, Tokyo (71) ) Applicant 999999999 Taisei Corporation 1-25-1 Nishishinjuku, Shinjuku-ku, Tokyo (71) Applicant 999999999 Takenaka Corporation Ltd. 4-27, Honmachi, Higashi-ku, Osaka-shi, Osaka (71) Applicant 999999999 Toda Construction Co., Ltd. Company 1-7-1, Kyobashi, Chuo-ku, Tokyo (71) Applicant 999999999 Fujita Co., Ltd. 4-6-115 Sendagaya, Shibuya-ku, Tokyo (71) Applicant 999999999 2-chome Akasaka, Minato-ku, Tokyo 999999999 No. 6 (71) Applicant 999999999 Hitachi Zosen Corporation 1-6-14 Edobori, Nishi-ku, Osaka-shi, Osaka (72) Inventor Yukio Hasegawa Tokyo 3-4-1 Okubo, Shinjuku-ku, Research Institute for Systems Science, Waseda University (72) Inventor Yasuo Inoue 3-543, Shibaencho, Kawaguchi City, Saitama Prefecture (543) Kazuhiko Arai 2-9-16 Nakamachi, Urawa City, Saitama Prefecture (72) Inventor Yusuke Matsushita Lions Mansion Kagurazaka No. 3-102, 16 Tsukiji-cho, Shinjuku-ku, Tokyo (72) Inventor Shinji Yamashita 91-1 Mita, Atsugi-shi, Kanagawa Prefecture (72) Nobuhiro Okuyama Setagaya-ku, Tokyo 1-20-8 Shirota Shimizu Construction Dormitory (72) Inventor Akira Tsubota 2-5-14 Minamisuna, Koto-ku, Tokyo Inside the Takenaka Corporation Technical Research Institute (72) Inventor Masato Mori Kohoku-ku, Yokohama-shi, Kanagawa No. 246, Machi (72) Inventor Toru Shinozaki 24 Shimogido, Shimotsuma-shi, Ibaraki (72) Inventor Ryoji Yoshitake 1521-93 Nogayacho, Machida-shi, Tokyo (72) Inventor Shu Takeda 18 Manda, Hiratsuka-shi, Kanagawa Prefecture Hiratsuka Dormitory No. 311 (72) Inventor Kazuo Kunio 1-6-14 Edobori, Nishi-ku, Osaka City, Osaka Prefecture Hitachi Shipbuilding Co., Ltd.

Claims (10)

[Claims] 1. A steel erection device for robotizing steel erection work, comprising a mobile scaffolding robot in which an upper scaffold and a lower scaffold are connected by a telescopic boom so that the scaffolding robot can move in the vertical direction. A steel frame erection device comprising a steel frame assembly work robot loaded on an upper scaffold and a lower scaffold. 2. A mobile scaffolding robot has gripping means for gripping a beam on each of an upper scaffold and a lower scaffolding, and grips a beam by the gripping means on one scaffold to extend and retract a telescopic boom. The steel erection device according to claim 1, wherein the steel erection device is movable in any direction. 3. The mobile scaffolding robot has verticality measuring means, and controls the verticality of the pillar while changing the stroke of the gripping means to measure the verticality and perform straightening. The steel erection device according to claim 2. 4. The steel erection device according to claim 1, wherein a temporary joining robot and a main joining robot are loaded on an upper scaffold as steel frame assembly work robots. . 5. The steel frame erection device according to claim 1, wherein a main joining robot is loaded on a lower scaffold as a steel frame assembly work robot. 6. The steel frame erection device according to claim 4, wherein the steel frame assembly work robot is movable on a rail. 7. A mobile scaffolding robot in which an upper scaffold and a lower scaffold are connected by a telescopic boom so that the scaffold can be moved in a vertical direction, a steel frame assembly work robot mounted on the upper and lower scaffolds, and verticality measurement. A steel-frame erection system comprising: a steel-frame erection device including means; a crane robot; and a control device that controls the steel-frame erection device and the crane robot. 8. The control device registers the work procedure of the steel frame erection and the data necessary for the execution of each work procedure so that the robots of the crane robot and the steel erection device are registered based on the work procedure and the data. The steel frame erection system according to claim 7, wherein the steel frame is controlled and constructed. 9. The work procedure for constructing a steel frame is characterized in that a steel frame is constructed from the first floor to the top floor for each construction section surrounded by columns. The steel erection system described. 10. The work procedure for constructing a steel frame is characterized in that a steel frame is assembled in a work area surrounded by four pillars first, and then a steel frame is assembled in an intermediate work area. The steel erection system according to any one of claims 6 to 9.