JPH08246680A - Automatic carrier for external wall member, and control apparatus therefor - Google Patents

Abstract

PURPOSE: To install external wall members on predetermined positions on a building frame quickly and safely by automatic operation, and to make control on execution of work effective in a rationalized way with installation and control of a monitoring mechanism in operation and structural members executed collectively. CONSTITUTION: A guide member 2 that goes round the circumference of a building frame is provided all round at the front ends of horizontal brackets 1 projecting horizontally in cantilevered condition from positions higher than the uppermost story of the building frame A, and a trolley 3 for suspending an external wall panel T with chain rails is installed on the guide member. A traveling encoder for measuring rotation of a hoisting apparatus is provided at the trolley 3, and a carriage control apparatus is provided in parallel with the guide member 2, while a transport control apparatus (a) and a monitor (c) are provided at the ground. A loading position operation panel (b1), manually operated at a position where the external wall panel is hung up, and a portable wireless apparatus (b2), carried and manually operated by a worker, are provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic transfer control device for automatically transferring an outer wall member of a building to a predetermined position designated by the automatic transfer device.

[0002]

2. Description of the Related Art A precast concrete curtain wall outer wall member (hereinafter referred to as a PC-CW member) or a metal curtain wall outer wall member to be mounted on an outer wall of a building is mounted on a stationary tower crane used for building a main body of a building. This is done by a lifting construction machine such as a mobile crane, and an operator slings an outer wall member such as a PC-CW member transported by a truck by the lifting construction machine,
An operator of the construction machine is hoisted and mounted at a predetermined position according to a wireless communication instruction from a worker standing on the ground or at a mounting location.

Further, the applicant of the present invention has disclosed in Japanese Unexamined Patent Publication No. 4-306364 that a lifting device is provided on a conveyance guide member v of a PC member u provided around a building t between brackets t that are projected from the uppermost floor of the building A. w is movably mounted, and is hung and conveyed through the lifting device w in the U-shaped PC member mounting device x movably mounted along the wall surface of the building.
A method of suspending the C member u, supporting it on a supporting member built in the device x, and erecting the member with a hydraulic cylinder to attach the PC member u to the outer wall of the building frame was proposed. (See Figure 8)

[0004]

However, since the former method is mostly manual work, workability is poor and there is a problem in safety. The latter method is a method for automatically attaching to the outer wall of a PC-CW member or the like, but there is no problem in the accuracy and safety of the automatic transfer device and the accurate attaching work of the outer wall member to a preset attaching position. I couldn't say that.

The present invention has been proposed in view of the above problems of the prior art, and an object of the present invention is to provide an automatic transfer device for safely and quickly transferring an outer wall member and an automatic transfer device. The monitoring mechanism that operates normally and the attachment management of the members are integrated, the construction management is rationalized, and the outer wall members are automatically conveyed to the predetermined mounting positions. The point is to provide a transfer control device.

[0006]

In order to achieve the above object, an automatic transfer control device for an outer wall member according to the present invention has a bracket horizontally extending from a position one step higher than the uppermost floor of the building frame to the outer periphery of the building. A guide member is provided that circulates around the building skeleton and extends between the front ends of the brackets, and a trolley of a carrier device in which a lifting device is suspended is movably mounted on the guide member and the guide is provided. The chain rail is arranged along the side wall of the member, and the trolley is provided with a distance measuring device that meshes with the chain rail and measures the rotation of the winding cylinder of the lifting device.

According to a second aspect of the present invention, a trolleybus duct for power supply, control, and video is installed in parallel with the guide member that orbits the building, and a transfer control device is provided in the transfer device, and The transport control device includes a microcomputer and a control device, a monitor device, and a suspension position operation panel that is manually operated at the suspension position, and a wireless operation device that is manually carried by a worker.

According to a third aspect of the present invention, the outer wall of the building is constructed so that the horizontal direction and the vertical direction are provided in a matrix to indicate the mounting positions of the outer wall members.

[0009]

According to the automatic transporting apparatus for the outer wall member of the present invention, the bracket is ejected horizontally in the outer peripheral direction from a position higher than the uppermost floor of the building frame, and the building frame is extended between the respective bracket tip ends. A guide member that circulates is arranged,
The outer wall member suspended by the lifting device is vertically driven by driving the trolley around the building by driving the trolley in which the lifting device in the transport device is suspended along the guide member. It is conveyed in the axial direction and the horizontal axis direction.

Thus, the traveling distance of the trolley is determined by the distance measuring device provided on the trolley of the transporting device meshing with the chain rail arranged along the side wall of the guide member so that the hoisting device has a winding cylinder. The rotation of the winding cylinder is measured by a distance measuring device that measures the rotation of the lifting device, and the vertical lifting distance of the lifting device is measured. According to the invention of claim 2, a trolley bus duct for power supply, control, and video is installed in parallel with the guide member that circulates around the building, is automatically conveyed to the mounting position of the outer wall member, and the operation is switched to manual. A worker near the mounting position of the outer wall member operates the lifting device control device by operating the portable wireless operation device to mount the outer wall member at a predetermined position.

The monitor device installed on the ground is operated in the control room and the television camera installed in the carrier device is operated to send an image to the monitor device through the video trolleybus duct. Confirmation of the installation status of outer wall members and safety are confirmed. According to the invention of claim 3, the transport position where the horizontal and vertical directions are assigned to the matrix on the outer wall of the building is manually operated by the hanging position operation panel, the outer wall member mounted on the truck is slung, and the load is hung. It moves to the suspending position, operates the operating device, and automatically transfers by the transfer control device. Then, the transfer control device sends power and signals to the lifting control device of the lifting device through the power supply, control, and trolley bus ducts according to the designated attachment position and control procedure input in advance, and The hoisting device hoists to a specified height and stops, the trolley is driven to travel to a predetermined horizontal position and stops, and the hoisting device is further driven to lower the car to a predetermined vertical height. , By the specified outer wall member,
The mounting position of each outer wall member is encoded, the vertical height and the horizontal distance of the mounting position of the outer wall plate are measured in advance from the starting point of the transport device, and the mounting position of each outer wall member is set to the control device of the transport device. input.

[0012]

The present invention will be described below with reference to the illustrated embodiments. In FIG. 1, A is a building frame. The brackets 1 are cantilevered horizontally at predetermined intervals in the outer circumferential direction of the building frame A from a position higher than the uppermost layer of the building frame, and the tip of each bracket 1 is extended. A guide member (hanger rail) 2 is suspended so as to circulate the building frame A over a space, and a carrier device B including an electric trolley 3 and a lifting device is movable across the respective guide members 2. It is mounted on.

A transfer control device a, an operating device b, and a monitor device c are installed in a control room installed on the ground or at an arbitrary position, and a hoisting position operating panel b ₁ and an outer wall are installed near the hoisting position of the outer wall member. portable radio apparatus b ₂ is provided membered work in the vicinity of the plate mounting position is carried, the portable radio apparatus b ₂
Other than that are connected by a power cable f and a communication cable. (See FIG. 1) In the figure, a ₂ is a control device.

2, 3 and 4 show the transport device B,
The trolley 3 traveling on the guide member 2 has wheels 301 traveling on the lower flange 202 with the web 201 of the hanger rail forming the guide member sandwiched between them, a traveling wheel motor 302 for driving the wheels 301, and a trolley 3 arranged below the wheels. The chain rail 4 comprises the suspension rod 303 of the trolley body provided, the chain rail 4 is arranged along the web 201 of the hanger rail, the sprocket 5 is meshed with the chain rail 4, and the chain gear 4 travels through the reduction gear 6. Encoder 7
Is attached and fixed to the trolley 3. Further, a trolleybus duct 8 for supplying electric power to the traveling motor 302 and a control and video trolleybus duct 9 for transmitting a control signal and video are arranged along the hanger rail.

Further, the lifting device 10 is suspended on the suspension rod 303 of the trolley, and the lifting device 10 includes the wire rope 13
The wire rope 13 is unwound and wound up by rotating the up-and-down drum 11 around which is wound by the up-and-down drive motor 12. A sheave 14 is suspended at the tip of the wire rope 13, and a suspender 15 is further mounted on the sheave 14. Further, the transfer device B is provided with a transfer device control device e for controlling the drive of the traveling motor 302 of the trolley and the drive control of the lifting drive motor 12 of the lifting device 10. In FIG. 3, reference numeral 17 is an elevating electromagnetic brake, and 18 is a drum cover.

FIG. 5 shows the structure of the operation and control device of the transfer device.
Indicates success. Among the transport control devices a, a micro computer
Data a₁Is a CPU (Central Process Unit) 20
・ CRT (CRT display) 21 ・ Keyboard 22 ・
It is composed of a printer 23 and is connected to each of the CPU 20.
Has been continued. Control device a ₂Operate with sequencer 24
It is composed of a circuit 26, a power circuit 25, and a multiplex transmission device 27.
ing.

In this transfer control device a, by assigning outer wall member mounting positions, the vertical directions V _{1 to} V ₇ and the horizontal directions H _{1 to} V of the member mounting positions are marked, and the horizontal distance H ₁ and vertical distance of the mounting position are designated. V ₁ (see FIG. 6) measured by the type, the other automatic-manual switching, setting of the lifting speed, setting of the running speed, the command of the hoisting-down, command of the running and stopping, emergency stop of the abnormality A command, a mounting record at the end of mounting, a mounting list, and a list output are set and input in advance.

The monitor device c is composed of a monitor 2801, a demodulator 2802 and a distributor 2803, and monitors the operation of the carrier device via a video trolleybus duct 9 from a television camera attached to the carrier device. The operation device b operates the operation signal 28 by an operation button (not shown), and is connected to the sequencer 24, and further connected to the operation device b and the hanging position operation panel b ₁ . (See FIG. 5) Next, the carrier control device is connected to the multiplex transmitter 30 via the video trolleybus duct 9 through which the multiplex transmitter 27 of the carrier control device a transmits a control signal, and the sequencer 31 and the operation circuit 32 are connected. And a power circuit 33, respectively. The portable radio receiver 34 is connected to the sequencer 31, the operation circuit 32 and the camera rotation device 36 of the television camera 37 are connected, and the television camera 37 is connected to the demodulator 3
It is connected to the video trolleybus duct 9 via 5.

The power circuit 33 is connected to the lifting / lowering electromagnetic brake 17, the lifting / lowering drive motor 12 (for high speed) and the lifting / lowering drive motor 12a (for low speed), and the traveling motor 302, respectively, to drive power from the power supply trolleybus duct 8. It is receiving power. Further, the sequencer 31 is connected to the running encoder 7 and the encoder 16 (distance measuring device) of the transport device, and is further connected to a limit stop switch S for lifting and running.

Next, the mounting operation of the outer wall member by each of the above devices will be described with reference to FIG. First, a program in which the operating procedure is set is started, and the worker prepares for unloading from the manually transported truck by the suspended load position operation panel b ₁ installed near the suspended position of the outer wall member by mode switching. The outer wall member is slung on the lifting device 15 of the lifting device of the transport device, moved to the lifting position of the lifting device, set, and temporarily stopped.

Next, the operating device switches to the automatic mode, the member mounting position (for example, T (C.4)) is designated, the switch is turned ON, and an operation command is issued. The hoisting device is operated to drive and control the lifting drive motor 12 to hoist it, the initial speed is low, the middle speed is high, the speed is further reduced, the hoisting distance is measured by the encoder 16 and stopped at the upper limit, and then the trolley travels. Motor 302 drives horizontally (horizontal axis)
The horizontal distance H ₁ is controlled to be low speed / high speed to stop at the specified travel distance, and the vertical distance V _{1 is set} to low speed / high speed in the vertical direction (vertical axis).
The speed is controlled to be low, the horizontal traveling distance is measured by the encoder 7, and the vehicle stops at the designated position.

At the mounting position, the worker holds the portable radio b ₂
Operate to cancel the automatic mode and switch to the manual mode to attach the outer wall member while finely adjusting the horizontal and vertical positions with respect to the mounting position, remove the hanger, and switch to the automatic mode again to reverse the above operation. In this direction, the robot is moved up and down, moved, and lowered to the original suspension position to complete automatic conveyance to the specified position, and then returns to the next mounting position to repeat the number of external wall members to be mounted.

In this way, when mounting the outer wall member, the mounting positions are assigned, the mounting positions are represented by reference numerals, the outer wall members are marked with the reference numerals, and the horizontal distance H ₁ and the vertical distance V ₁ of the mounting positions are shown. The measured value is input to the microcomputer, and the transfer device automatically transfers it to the specified position while measuring the horizontal distance H ₁ and the vertical distance V ₁ , and when performing fine adjustment at the time of mounting or at a mounting position that has not been input. Is manually operated and installed by a portable radio.

The outer wall member attached to the outer wall is instructed by the microcomputer to store the outer wall member attachment position, manage the daily work amount and the work completion amount, and output it by the printer 23 as necessary. This carrier is 1
It is possible to install a plurality of units and operate them according to a program set by the transfer control device, and further improve efficiency in a wide range of work.

[0025]

As described above, the automatic transfer device for the outer wall member according to the present invention has a structure in which the building is provided between the tips of the brackets which are horizontally projected from the position higher than the uppermost floor of the building frame to the outer circumference of the building. Since the trolley that moves in the horizontal direction around the body is mounted, the trolley can be freely moved in the horizontal direction. Furthermore, since a lifting device that can be vertically raised and lowered is suspended on the trolley, by suspending the outer wall member by the lifting device, the outer wall member can move vertically on the outer wall surface of the building. Become.

Further, the chain rail is arranged along the side wall of the guide member, and the trolley is provided with a distance measuring device which meshes with the chain rail and measures the rotation of the winding cylinder of the lifting device. The vertical lifting distance of the outer wall member suspended by the lifting device is measured. Therefore, by presetting horizontal and vertical attachment positions of the outer wall member to the outer wall surface of the building, the outer wall member can be transported to a designated position on the outer circumference of the building.

According to the second aspect of the present invention, a trolley bus duct for power supply, control, and video is installed in parallel with the guide member that orbits the building, and a trolley that travels horizontally along the guide member. , A power supply, a control, and a video trolley bus duct by a transfer control device and an operating device, which consist of a hoisting device that is vertically hoisted, and various control signals are sent to the hoisting device. The outer wall member is automatically transported to a pre-designated position, and this operation is performed while monitoring the monitor device, so the operator can operate it in a safe place and manually operate the hanging position operation panel of the outer wall material. It can be operated manually by a wireless operating device carried by the operator at the operation and installation position, and therefore can be operated flexibly according to the work situation at the work site. Since the cut, it is achieved to improve the work capacity and safety of the work.

According to the third aspect of the present invention, the horizontal and vertical directions are given to the outer wall of the building as a matrix, the mounting positions of the respective wall members are coded, and the vertical position of the mounting position is higher than the starting point of the automatic carrier. And the distance in the horizontal direction are measured in advance, each outer wall member mounting position is input to the transport device control device, and the outer wall member whose mounting position is designated by the automatic transport control device is suspended on the guide member. The specified mounting position is stored by, the total amount of work for one day is totaled, and the total work volume is managed. By outputting the data to a printer as necessary, the work management is smoothly performed.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of an automatic transfer device for an outer wall member and an automatic transfer control device according to the present invention.

FIG. 2 is a vertical cross-sectional view showing a state in which a trolley is suspended on a guide member that is installed on a bracket that protrudes from the uppermost floor of the building body.

FIG. 3 is a front view of a device in which a trolley and a lifting device are suspended on a guide member, and the lifting device is equipped with a transport device control device.

FIG. 4 is a view on arrow EE of FIG.

FIG. 5 is a system block diagram of an automatic transport device.

FIG. 6 is a schematic diagram in which an outer wall of a building is divided into a matrix.

FIG. 7 is a flowchart showing a mounting process of the outer wall member.

FIG. 8 is a perspective view showing a conventional construction method.

[Explanation of symbols]

A building frame B carrier device T outer wall board a carrier control device a ₁ microcomputer a ₂ controller b operating device b ₁ hanging position operating panel b ₂ portable wireless device b ₃ hanging position operating panel c monitoring device f power cable 1 Bracket 2 Guide member 201 Web 202 Flange 3 Trolley 301 Wheel 302 Motor for traveling wheel 303 Suspension rod 4 Chain rail 5 Sprocket 6 Reduction gear 7 Encoder for traveling 8 Power supply trolleybus duct 9 Video trolleybus duct 10 Lifting device 11 Lifting Drum 12 Elevating drive motor 13 Wire rope 14 Sheave 15 Lifting tool 16 Encoder 17 Elevating electromagnetic brake 18 Drum cover 20 CPU 21 CRT 22 Keyboard 23 Printer 24 Sequencer 25 Power circuit 26 Operation circuit 2 Multiplex transmission apparatus 28 operating signals 2801 monitored 2802 demodulator 2803 distributor 29 controlling trolley duct 30 multiplex transmission apparatus 31 - Kensa 32 operating circuit 33 the power circuit 34 of the portable radio receiver 35 demodulator 36 camera rotation device 37 television camera

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Toshiaki Kanoshi 2-3-5 Tagawa, Yodogawa-ku, Osaka City, Osaka Prefecture Kannauchi Electric Works Co., Ltd.

Claims (3)

[Claims] 1. A bracket is ejected horizontally from a position one step higher than the uppermost floor of the building frame over the outer periphery of the building, and a guide member for circling the building frame is provided between the front end portions of the brackets. A trolley of a transfer device in which a lifting device is suspended is movably mounted on the guide member, a chain rail is arranged along a side wall of the guide member, and the trolley is meshed with the chain rail, An automatic conveying device for an outer wall member, comprising a distance measuring device for measuring the rotation of a winding cylinder of a lifting device. 2. A power supply, control, and video trolleybus duct is installed in parallel with the guide member that orbits the building, a transfer control device is provided in the transfer device, and a microcomputer is provided on the ground. An automatic transfer control device for an outer wall member including a transfer control device including a control device, a hanging position operation panel that is provided with a monitor device, and is manually operated at a hanging position, and a wireless operation device that is carried by a worker and manually operated. . 3. The automatic conveyance control device for an outer wall member according to claim 2, wherein the outer wall of the building is configured to indicate a mounting position of the outer wall member by assigning a reference numeral to a matrix in a horizontal direction and a vertical direction.