JPS62246487A - Wall-member mounting robot in push-up system - Google Patents
Wall-member mounting robot in push-up systemInfo
- Publication number
- JPS62246487A JPS62246487A JP8612786A JP8612786A JPS62246487A JP S62246487 A JPS62246487 A JP S62246487A JP 8612786 A JP8612786 A JP 8612786A JP 8612786 A JP8612786 A JP 8612786A JP S62246487 A JPS62246487 A JP S62246487A
- Authority
- JP
- Japan
- Prior art keywords
- wall
- robot
- wall member
- push
- member mounting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000003466 welding Methods 0.000 claims description 16
- 238000009434 installation Methods 0.000 claims description 6
- 230000003028 elevating effect Effects 0.000 claims description 3
- 230000032258 transport Effects 0.000 description 16
- 238000004519 manufacturing process Methods 0.000 description 12
- 238000010276 construction Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000009415 formwork Methods 0.000 description 6
- 230000002787 reinforcement Effects 0.000 description 4
- 230000003014 reinforcing effect Effects 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、地上１階に設置したプラントにおいて、１階
分の建物をロボット等の機械を用いて集中的に生産し、
１階分の躯体工事完了後に階高骨だけ上方にブツシュア
ップすることを繰り返すことによって建物全体を生産す
るプッシュアップシステムにおける壁部材取り付けロボ
ットに関する。[Detailed Description of the Invention] [Industrial Application Field] The present invention is a plant installed on the first floor above the ground, in which a one-story building is intensively produced using machines such as robots,
The present invention relates to a wall member mounting robot in a push-up system that produces an entire building by repeatedly pushing up only the floor height bones upward after completing the frame work for one floor.
一般に、中高層のコンクリート建物を建築する場合、最
上階まで柱を建て、梁、プレースを取り付け、足場を組
んで、これを利用して各階の外壁作業を行っている。こ
のような従来の工法では、壁部材を所定の位置に運搬す
るには専らクレーンが使われ、壁部材取り付けの溶接作
業は人手によっていた。Generally, when constructing a mid-to-high rise concrete building, columns are erected up to the top floor, beams and places are attached, scaffolding is erected, and these are used to construct the exterior walls of each floor. In such conventional construction methods, cranes were used exclusively to transport wall members to predetermined positions, and welding work for attaching wall members was done manually.
しかしながら、このような従来の工法では、機械を用い
てシステム的に建物を生産し、建築における自動化率を
向上させ、労働生産性の向上を図ることは困難であると
共に、足場の組み解体に時間と手間がかかり、また安全
性にも問題があった。However, with such conventional construction methods, it is difficult to systematically produce buildings using machines, improve the automation rate in construction, and improve labor productivity, and it is time-consuming to assemble and dismantle scaffolding. This was time-consuming and also had safety issues.
本発明は上記問題点を解決しようとするもので、建築方
法としてプッシュアップシステムを採用し、壁部材取り
付け作業を機械化することにより、建築の生産性の向上
を図ると共に、足場の組み解体を不要にし、外壁作業の
安全性を高めることを目的とする。The present invention aims to solve the above problems, and by adopting a push-up system as a construction method and mechanizing the wall member installation work, it aims to improve construction productivity and eliminates the need to assemble and dismantle scaffolding. The purpose is to increase the safety of exterior wall work.
そのために本発明のプッシュアップシステムにおける壁
部材取り付けロボットは、軌道をガイドとして走行する
台車と、台車上に昇降手段を介して設けられたテーブル
と、テーブルの中央部に設けられた壁部材仮固定手段と
、壁部材仮固定手段の両側に設けられた本固定手段とか
らなることを特徴とする。To this end, the wall member mounting robot in the push-up system of the present invention includes a trolley that travels using a track as a guide, a table provided on the trolley via an elevating means, and a wall member temporary fixing robot provided at the center of the table. and permanent fixing means provided on both sides of the wall member temporary fixing means.
本発明のプッシュアップシステムにおける壁部材取り付
けロボットは、中央の仮固定装置、両側の溶接装置から
なる３台のマニピユレータで壁部材取り付けロボットを
構成し、このロボットを建物外周に敷設された軌道上を
走らせ、中央の仮固定装置で壁部材を所定位置にセット
した後、両側の溶接装置で本固定するようにして外壁作
業を機械化することにより無足場で出来るようにし、足
場の組み解体も不要にする。The wall member mounting robot in the push-up system of the present invention consists of three manipulators consisting of a temporary fixing device in the center and a welding device on both sides, and the robot moves on a track laid around the outer periphery of the building. After the wall members are set in place using the temporary fixing device in the center, they are permanently fixed using welding devices on both sides. By mechanizing the exterior wall work, it can be done without scaffolding, and there is no need to assemble or dismantle scaffolding. do.
［実施例〕
先ず、本発明によるプッシュアップシステムについて概
略説明する。[Example] First, a push-up system according to the present invention will be briefly described.
第５図は、ブツシュアンプシステムの全体構成を示す図
である０図中、１０は最上階部分、１１は上階、１２は
下階、１３はブツシュアップ￥装置・１４は柱搬送ロボ
ット、１５は柱、１６は軌道、１７は壁部材搬送ロボッ
ト、１８は壁部材取付ロボット、１９は梁、２ｏはプレ
ース、２１は型わく昇降架台、２２は配筋ロボット、２
３は先組鉄筋、２４はコンクリート打設・均らしロボッ
ト、２５はトレミー管、２６はパイブレーク、２７は支
持脚である。Figure 5 is a diagram showing the overall configuration of the bush amplifier system. In Figure 0, 10 is the top floor, 11 is the upper floor, 12 is the lower floor, 13 is the bush up device, and 14 is the pillar transport robot. , 15 is a column, 16 is a track, 17 is a wall member transport robot, 18 is a wall member mounting robot, 19 is a beam, 2o is a place, 21 is a mold frame lifting frame, 22 is a reinforcement robot, 2
3 is a pre-assembled reinforcing bar, 24 is a concrete placing/leveling robot, 25 is a tremie pipe, 26 is a pie break, and 27 is a support leg.
このプッシュアップシステムはロボットや制御技術を導
入して自動化率を高めた建築生産システムで、地上に設
置したプラントで１階部分の建物を集中的に生産し、こ
れを階高分だけ上方にブツシュアップするというサイク
ルを繰り返すことにより建物を生産する。This push-up system is a building production system that increases the automation rate by introducing robots and control technology.It uses a plant installed on the ground to intensively produce the first floor of the building, and then pushes it upward by the floor height. Buildings are produced by repeating the cycle of building up buildings.
先ず、根切り、基礎、ＢＩＦの躯体工事までは従来通り
の建築工程で行う０次に、ブツシュアップ装！１３、型
わく昇降架台２１、建物外周の軌道１６等で構成される
プラントを？ａＷし、このプラントを用いてベントハウ
スから生産を開始する。First, root cutting, foundations, and BIF frame work are carried out using the conventional construction process.Following that, the butshu-up installation is carried out! 13. A plant consisting of a mold frame lifting platform 21, a track 16 around the building, etc.? aW and start production from the bent house using this plant.
このプラントでの生ゆ作業は、作業高さによって上階と
下階に分けられて、柱生産は下階で行われ、床生産およ
び構造壁生産は上階で行われる。各作業は次のように行
われる。Raw operations at this plant are divided into upper and lower floors depending on the working height, with column production occurring on the lower floor and floor production and structural wall production occurring on the upper floor. Each task is performed as follows.
■柱生産・・・柱搬送ロボット１４が現場に搬入された
柱をブツシュアップ装Ｗ１３まで運ぶ、ブツシュアップ
装置１３内で柱の位置決めが行われ、上階１１の柱と溶
接接合される。■Column production: The column transport robot 14 transports the pillars brought to the site to the bushing up equipment W13. The pillars are positioned within the bushing up equipment 13 and welded to the pillars on the upper floor 11. .
■構造壁生産・−壁部材搬送ロボット１７が建物周囲を
移動して梁仕口、プレース２０、梁１９を運ぶ、壁部材
取付ロボット１Ｂがこれらの部材を１スパン毎に取付け
ていく、接合には溶接を用いる。■ Structural wall production - The wall component transport robot 17 moves around the building and carries the beam joints, places 20, and beams 19. The wall component installation robot 1B installs these components span by span. uses welding.
■床生産・・−・型枠昇降架台２１を上昇させて型枠を
形成する。配筋ロボット２２が型枠昇降架台２１上を走
行して先組鉄筋２３を配筋する。先組鉄筋２３と柱との
接合には、配筋用溶接ロボットを用いる。その後、コン
クリート打設・均らしロボット２４を建設周囲にめぐら
したパイプに接続し、コンクリート打設と同時に荒均ら
しを行う、コンクリートの締め固めは、型枠昇降架台２
１に設置したパイブレークを作動させて行う、コンクリ
−１・の仕上げには、セルフレベリング材を用いる。■Floor production: Formwork is formed by raising the formwork lifting frame 21. A reinforcement robot 22 moves on the formwork lifting frame 21 and arranges the pre-assembled reinforcing bars 23. A reinforcement welding robot is used to join the preassembled reinforcing bars 23 and the columns. After that, a concrete pouring/leveling robot 24 is connected to the pipes surrounding the construction, and rough leveling is performed at the same time as concrete pouring.The compaction of concrete is performed using the formwork lifting frame 24.
A self-leveling material is used to finish concrete 1, which is done by operating the pie break installed in 1.
この後コンクリートの養生を待ち、型枠昇降架台２１を
下降させ脱型することによって１階分の建物ができあが
る。Thereafter, the concrete is allowed to cure, and the form lifting platform 21 is lowered to remove the mold, thereby completing a one-story building.
■プ、シュアツブー柱の数だけ設置したプ・ノシエアソ
ブ装置１３により、柱を把持して、階高分だけ、既にで
き上がった分の建物を上昇させる。- Pressure-association devices 13 installed as many times as there are pillars grasp the pillars and raise the already completed building by the height of the floors.
以上、Φ〜■の作業を順次繰り返すことにより建物全体
ができ上がる。By repeating the steps Φ to ■ in sequence, the entire building is completed.
なお、このシステムにおいては、自動化施工の観点から
、柱は角形鋼管、床は場所打ちコンクリート無梁板構造
、構造壁は建物外周壁の鉄骨梁とプレースであることが
望ましい。In addition, in this system, from the viewpoint of automated construction, it is desirable that the columns be square steel pipes, the floor be a cast-in-place concrete beamless board structure, and the structural walls be placed with the steel beams of the outer peripheral wall of the building.
第１図は第５図のプッシュアップシステムにおいて用い
られる本発明の壁部材取り付けロボットを示し、第２図
は壁部材取り付けロボットが壁部材を取り付けている様
子を示している０図中、３０は台車、３１は軌道、３２
は車輪、３３はテーブル、３４は仮固定装置、３５．３
６は溶接装置、３７．３日、３９は多関節アーム、４０
は部材把１、）部、４１．４２は溶接棒、４３は昇降装
置、４４は壁部材搬送ロボット、４５はブソシュア・ノ
ブ装置、４６は柱、４７は梁仕口、４８はプレース、４
９は梁である。FIG. 1 shows the wall member mounting robot of the present invention used in the push-up system of FIG. 5, and FIG. 2 shows the wall member mounting robot mounting a wall member. Trolley, 31 is track, 32
is a wheel, 33 is a table, 34 is a temporary fixing device, 35.3
6 is a welding device, 37.3 days, 39 is an articulated arm, 40
41.42 is a welding rod, 43 is a lifting device, 44 is a wall member transport robot, 45 is a bushosure knob device, 46 is a column, 47 is a beam joint, 48 is a place, 4
9 is a beam.
図において、壁部材取り付けロボットは、建物外周に敷
設された軌道３Ｌをガイドとしてステアリングのついた
車輪３２により走行し、先ず、中央の仮固定装置３４が
、部材の把持、揚重、回転、位置決め等を行う多関節ア
ーム３７、アームの先端に取り付けられた部材把持部４
０で壁部材は送ロボフト４４より部材を取り出し、左右
の梁仕口４７、左右のプレース４８、梁４９の順に各部
材の取り付け用ピン孔に合わせて仮固定する０次に、仮
固定の終わった部材毎に、左右の溶接装置３５．３６が
、多関節アーム３８．３９の先端に設けられた溶接棒４
１．４２で部材のフランジ、ウェブの溶接をし本固定す
る。ｌ−スパンの取り付け作業が終了すると、隣接した
壁部材取りつけ場所へ移動する。なお、このロボットの
部材把持部は、各作業に対応するように交換することが
できる。In the figure, the wall component mounting robot runs on wheels 32 with steering using a track 3L laid around the outer periphery of the building as a guide. A multi-joint arm 37 for performing operations such as the above, and a member gripping section 4 attached to the tip of the arm
At 0, take out the wall members from the feeding robot hoft 44 and temporarily fix them by aligning them with the mounting pin holes of each member in the order of the left and right beam joints 47, left and right places 48, and beams 49.0 Next, when the temporary fixing is finished, For each member, left and right welding devices 35, 36 are connected to a welding rod 4 provided at the tip of a multi-jointed arm 38, 39.
1. At step 42, weld the flanges and webs of the members and finally fix them. Once the L-span installation work is complete, move to the adjacent wall member installation location. Note that the member gripping section of this robot can be replaced to correspond to each task.
第３図は本発明による壁部材取り付けロボットによる構
造壁生産平面図、第４図は構造壁生産の作業フローを示
す図で、図中、５０はトラック、５１は壁部材、５２は
壁部材搬送ロボット、５３は軌道、５４は壁部）Ａ取り
付けロボット、５５はブツシュアンプ装置、５６は型枠
昇降架台である。Fig. 3 is a plan view of structural wall production by the wall member mounting robot according to the present invention, and Fig. 4 is a diagram showing the work flow of structural wall production. In the figure, 50 is a truck, 51 is a wall member, and 52 is a wall member transport 53 is a track, 54 is a wall-mounted robot, 55 is a bushing amplifier device, and 56 is a formwork lifting frame.
図において、先ずトラック運転手と玉掛は作業員が、ト
ラック５０に装備しであるクレーンで１スパン分の梁仕
口、プレース、梁等の壁部材５【を壁部材搬送ロボット
５２へ荷下ろしする。その際、運搬経路が狭いので、壁
部材５１を壁部材搬送［１ボツト５２上に立てて並べる
。その後、壁部材搬送ロボット５２は、建物外周に敷設
された軌ｉ！ｉ５３上を通って壁部材取り付けロボット
５４のいる場所まで走行する。そして壁部材の仮固定に
より、積載している壁部材がなくなると、次のスパンの
部材を取りに戻る。In the figure, first, a truck driver and a sling worker use a crane installed on a truck 50 to unload wall members 5 such as beam joints, places, beams, etc. for one span onto a wall member transport robot 52. . At this time, since the transport route is narrow, the wall members 51 are arranged vertically on the wall member transport [1 bot 52]. Thereafter, the wall member transport robot 52 moves the track i! The vehicle passes over i53 and travels to the location where the wall member attachment robot 54 is located. When the wall members are temporarily fixed and the loaded wall members are exhausted, the operator returns to pick up the members for the next span.
一方、壁部材取り付けロボット５４は、壁部材搬送ロボ
ット５２上の梁仕［１を１木ずつ取り上げ、柱に予めセ
ットし−Ｃある冶具に仮固定し、その後柱と梁仕口を溶
接接合する。梁仕口の接合完了後、壁部材取り付けロボ
ット５４は、プレースを１本ずつ取り上げ、梁仕口と上
階の梁についているプレース仕口に予めセットしである
治具に仮固定する。その後、順次各部を壁部材取り付け
ロボットが溶接接合し、１スパン分の構造壁を完成させ
る。On the other hand, the wall component mounting robot 54 picks up the beam joints [1] on the wall component transport robot 52 one by one, sets them on columns in advance, temporarily fixes them to a jig, and then welds and joins the columns and beam joints. . After the beam joints are joined, the wall member attachment robot 54 picks up the places one by one and temporarily fixes them to a jig that has been set in advance to the beam joints and the place joints attached to the beams on the upper floor. After that, each part is sequentially welded and joined by a wall member attachment robot to complete a structural wall for one span.
ｌスパン分の作業が終了すると、壁部材取り付けロボッ
ト５４は、軌道５３上を通って次の取り付け位置へ移動
する。When the work for l span is completed, the wall member mounting robot 54 moves along the track 53 to the next mounting position.
（発明の効果）
以上の説明から明らかなように、本発明によれば、中央
の仮固定装置、両側の溶接装置からなる３台のマニピュ
レータで壁部材取り付けロボットを構成し、このロボッ
トを建物外周に敷設された軌道上を走らせ、中央の仮固
定装置で壁部材を所定位置にセットした後、両側の溶接
装置で本固定するようにしたので、外壁作業が機械化さ
れて生産性、安全性が向上すると共に、外壁作業がロボ
ットにより無足場で出来るようになり、足場の組み解体
も不要になる。(Effects of the Invention) As is clear from the above description, according to the present invention, a wall member mounting robot is configured with three manipulators consisting of a temporary fixing device in the center and a welding device on both sides, and this robot is attached to the outside of a building. After the wall members were set in place using a temporary fixing device in the center, they were permanently fixed using welding devices on both sides, which mechanized exterior wall work and increased productivity and safety. Along with improvements, exterior wall work can now be done without scaffolding by robots, and there is no need to assemble or dismantle scaffolding.
第１図はブツシュアンプシステムにおいて用いられる本
発明の壁部材取り付けロボットを示す図、第２図は本発
明の壁部材取り付けロボットが壁部材を取り付けている
様子を示す図、第３図は本発明による壁部材取り付けロ
ボットによる構造壁生産平面図、第４図は構造壁生産の
作業フローを示す図、第５図は、プッシュアップシステ
ムの全体構成を示す図である。
１０・・・最上階部分、１１・・・上階、１２・・・下
階、！３・・・ブツシュアップ’！ａＷ、ｌ ４・・・
柱搬送ロボット、１５・・・柱、１６・・・軌道、１７
・・・壁部材搬送ロボット、１８・・・壁部材取付ロボ
ット、１９・・・梁、２０・・・プレース、２１・・・
型わく昇降架台、２２・・・配筋ロボット、２３・・・
先組鉄筋、２４・・・コンクリート打設・均らしロボッ
ト、２５・・・トレミー管、２６・・・パイブレーク、
２７・・・支持脚、３０・・・台車、３１・・・軌道、
３２・・・車輪、３３・・・テーブル、３４・・・仮固
定装置、３５．３６・・・溶接装置、３７．３８．３９
・・・多関節アーム、４０・・・部材把持部、４１．４
２・・・溶接棒、４３・・・昇降装置、４４・・・壁部
材搬送ロボット、４５・・・ブツシュアップ装置、４６
・・・柱、４７・・・梁仕口、４８・・・プレース、４
９・・・梁 、５０・・・トランク、５１・・・壁部材
、５２・・・壁部材搬送ロボット、５３・・・軌道、５
４・・・壁部材取り付けロボット、５５・・・ブツシュ
アップ装置、５６・・・型枠昇降架台
出 願 人 早稲用大学システム科学研究所（外１１
名）
代理人弁理士 蛭 川 昌 信 （外２名）（電−命な
よド５ｏ笑）工）FIG. 1 is a diagram showing the wall component mounting robot of the present invention used in the bush amplifier system, FIG. 2 is a diagram showing the wall component mounting robot of the present invention attaching a wall component, and FIG. 3 is a diagram showing the wall component mounting robot of the present invention used in the bush amplifier system. FIG. 4 is a plan view of structural wall production by the wall member mounting robot according to the invention, FIG. 4 is a diagram showing the work flow of structural wall production, and FIG. 5 is a diagram showing the overall configuration of the push-up system. 10...Top floor part, 11...Upper floor, 12...Lower floor,! 3...Bootshu up'! aW, l 4...
Pillar transport robot, 15... Pillar, 16... Trajectory, 17
...Wall member transport robot, 18...Wall member mounting robot, 19...Beam, 20...Place, 21...
Mold lifting platform, 22... Reinforcement robot, 23...
Pre-assembled reinforcing bars, 24... Concrete placement/leveling robot, 25... Tremy pipe, 26... Pie break,
27... Support leg, 30... Trolley, 31... Track,
32...Wheel, 33...Table, 34...Temporary fixing device, 35.36...Welding device, 37.38.39
...Multi-joint arm, 40...Member gripping section, 41.4
2... Welding rod, 43... Lifting device, 44... Wall member conveyance robot, 45... Bush up device, 46
... Pillar, 47... Liang Shiguchi, 48... Place, 4
9... Beam, 50... Trunk, 51... Wall member, 52... Wall member transport robot, 53... Trajectory, 5
4...Wall component attachment robot, 55...Button up device, 56...Formwork elevating rack Application Person: Wase University Institute of Systems Science (external 11)
Name) Representative Patent Attorney Masanobu Hirukawa (2 others)
Claims (5)
手段を介して設けられたテーブル、テーブルの中央部に
設けられた壁部材仮固定手段、壁部材仮固定手段の両側
に設けられた本固定手段からなるプッシュアップシステ
ムにおける壁部材取り付けロボット。(1) A trolley that travels using a track as a guide, a table mounted on the trolley via an elevating means, a wall member temporary fixing means provided in the center of the table, and a book provided on both sides of the wall member temporary fixing means. A wall member mounting robot in a push-up system consisting of fixing means.
セットするハンドリング部を先端に有する多関節アーム
を備えていることを特徴とする特許請求の範囲第１項記
載のプッシュアップシステムにおける壁部材取り付けロ
ボット。(2) The push-up system according to claim 1, wherein the temporary fixing means includes a multi-jointed arm having a handling portion at its tip for gripping the wall member and setting it in a predetermined position. Robot for attaching wall parts.
とする特許請求の範囲第２項記載のプッシュアップシス
テムにおける壁部材取り付けロボット。(3) A wall member mounting robot in a push-up system according to claim 2, wherein the handling section is replaceable.
合する溶接棒を先端に有する多関節アームを備えている
ことを特徴とする特許請求の範囲第１項記載のプッシュ
アップシステムにおける壁部材取り付けロボット。(4) In the push-up system according to claim 1, the main fixing means includes a multi-jointed arm having a welding rod at the tip for welding and joining the temporarily fixed wall members. Wall component installation robot.
許請求の範囲第４項記載のプッシュアップシステムにお
ける壁部材取り付けロボット。(5) A wall member mounting robot in a push-up system according to claim 4, wherein the welding rod is replaceable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61086127A JP2548536B2 (en) | 1986-04-16 | 1986-04-16 | Robot for mounting wall member in push-up system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61086127A JP2548536B2 (en) | 1986-04-16 | 1986-04-16 | Robot for mounting wall member in push-up system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62246487A true JPS62246487A (en) | 1987-10-27 |
| JP2548536B2 JP2548536B2 (en) | 1996-10-30 |
Family
ID=13878040
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61086127A Expired - Lifetime JP2548536B2 (en) | 1986-04-16 | 1986-04-16 | Robot for mounting wall member in push-up system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2548536B2 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0399775A (en) * | 1989-09-12 | 1991-04-24 | Hitachi Zosen Corp | Welding equipment for steel frame materials of multistoried structure |
| JPH055366A (en) * | 1991-06-27 | 1993-01-14 | Takenaka Komuten Co Ltd | Structural body constructing method |
| WO2010026889A1 (en) * | 2008-09-03 | 2010-03-11 | 本田技研工業株式会社 | Workpiece mounting system, workpiece mounting method, sunroof unit holding device, and sunroof unit holding method |
| JP2010058626A (en) * | 2008-09-03 | 2010-03-18 | Honda Motor Co Ltd | Sunroof unit holding device and sunroof unit holding method |
| EP2193887A1 (en) * | 2001-09-05 | 2010-06-09 | ABB Inc. | Multiple arm robot arrangement |
| JP2019108750A (en) * | 2017-12-19 | 2019-07-04 | 大和ハウス工業株式会社 | Building construction system |
| JP2019148118A (en) * | 2018-02-27 | 2019-09-05 | 株式会社産業工学エンジニアリング | Scaffold assembly apparatus and method |
| JP2020530080A (en) * | 2017-07-31 | 2020-10-15 | ベセリル エルナンデス ヘルマン | Automated and robotized construction systems and methods |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59183777U (en) * | 1983-05-26 | 1984-12-07 | 株式会社明電舎 | manipulator device |
| JPS619393A (en) * | 1984-06-26 | 1986-01-16 | Agency Of Ind Science & Technol | Submerged working robot with service portion of movable type |
-
1986
- 1986-04-16 JP JP61086127A patent/JP2548536B2/en not_active Expired - Lifetime
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59183777U (en) * | 1983-05-26 | 1984-12-07 | 株式会社明電舎 | manipulator device |
| JPS619393A (en) * | 1984-06-26 | 1986-01-16 | Agency Of Ind Science & Technol | Submerged working robot with service portion of movable type |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0399775A (en) * | 1989-09-12 | 1991-04-24 | Hitachi Zosen Corp | Welding equipment for steel frame materials of multistoried structure |
| JPH055366A (en) * | 1991-06-27 | 1993-01-14 | Takenaka Komuten Co Ltd | Structural body constructing method |
| EP2193887A1 (en) * | 2001-09-05 | 2010-06-09 | ABB Inc. | Multiple arm robot arrangement |
| EP2193888A3 (en) * | 2001-09-05 | 2010-10-13 | ABB Inc. | Multiple arm robot arrangement |
| WO2010026889A1 (en) * | 2008-09-03 | 2010-03-11 | 本田技研工業株式会社 | Workpiece mounting system, workpiece mounting method, sunroof unit holding device, and sunroof unit holding method |
| JP2010058626A (en) * | 2008-09-03 | 2010-03-18 | Honda Motor Co Ltd | Sunroof unit holding device and sunroof unit holding method |
| US9592611B2 (en) | 2008-09-03 | 2017-03-14 | Honda Motor Co., Ltd. | Workpiece mounting system, workpiece mounting method, sunroof unit holding device, and sunroof unit holding method |
| JP2020530080A (en) * | 2017-07-31 | 2020-10-15 | ベセリル エルナンデス ヘルマン | Automated and robotized construction systems and methods |
| JP2019108750A (en) * | 2017-12-19 | 2019-07-04 | 大和ハウス工業株式会社 | Building construction system |
| JP2019148118A (en) * | 2018-02-27 | 2019-09-05 | 株式会社産業工学エンジニアリング | Scaffold assembly apparatus and method |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2548536B2 (en) | 1996-10-30 |
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