JPS62259787A - Robot for construction - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Application The present invention relates to a self-propelled construction robot used for erection work.

B. Conventional technology Traditionally, in construction work at a construction site, such as positioning a horizontal beam, the horizontal beam is lifted by a crane and brought close to the target position, and then the worker manually moves the horizontal beam. The horizontal beam is lowered by a crane and connected to the target connection while positioning it with the target connection.

C1 Problems to be Solved by the Invention However, the above-mentioned positioning work is carried out at high places, and involves handling heavy objects, which is accompanied by danger. Also,
In addition to the crane operator, there is a worker who controls the swing of the hoisted horizontal beam from the ground using a rope, and two workers who position the horizontal beam at each connection point where both ends of the beam are connected. This requires a large number of workers and a large number of workers.

An object of the present invention is to provide a construction robot capable of positioning a member to be positioned, such as a horizontal beam, lifted by a crane in a horizontal plane.

Means for Solving the D0 Problem The first invention provides a traveling body, an The handling arm includes a handling arm whose tip is movable in a vertical direction perpendicular to the horizontal plane, and a gripping device provided at the tip of the handling arm.

The second invention includes a traveling body, an X-Y stage mounted on the traveling body and moving in the X direction in a horizontal plane and a Y direction perpendicular thereto, and an X-Y stage provided on the X-Y stage with its tip perpendicular to the horizontal plane. The vehicle includes a vertically movable handling arm, a gripping device provided at the tip of the handling arm, and a fixing device that transmits a lateral load acting on the traveling body to an external member via the gripping device.

The construction robot self-propels to any location using the E1 action traveling body. The handling arm is driven to bring the gripping device close to a positioning target member such as a horizontal beam suspended by a crane, and then the target member is gripped by the gripping device. Since the weight of the target part is supported by the crane, the handling arm hardly shares the weight of the target part. X
- Positioning in the horizontal plane is performed by moving the target member in the X direction or positioning direction in the horizontal plane using the Y stage. Next, the target member is positioned in the vertical direction by the handling arm while maintaining its position in the horizontal plane.

Here, when the center of lifting of the target member by the crane moves, the center of gravity of the target member and the center of lifting shift, and a lateral load acts on the construction robot via the gripping device and the handling arm. In the second invention, since the construction robot is fixed to the external member by the fixing device, the lateral load is transmitted to the external member via the fixing device, and as a result, the construction robot Kawaguchi is prevented from falling.

F. Embodiment FIGS. 1 to 5 show an embodiment of the present invention. In FIG. 1 showing the overall configuration, a traveling body 1 equipped with, for example, rubber crawlers is driven by a hydraulic motor or the like. A body frame 2 is attached to the traveling body 1, and is equipped with an electric motor (not shown) that is powered by a cable 3 from a power source at a construction site, a hydraulic pump (not shown) that is driven by the electric motor, and the like. Further, an X-Y stage 10, the details of which are shown in FIGS. 2(a) and 2(b), is installed on the main body frame 2. and,
A handling arm 20 whose details are shown in FIG. 3 is installed on the X-Y stage lo, and the handling arm 20
A gripping device 4°, the details of which are shown in FIG. 4, is attached to the tip. Furthermore, a fixing device 5o configured similarly to the gripping device 40 is attached to the main body frame 2.

The XY stage 10 will be described in detail based on FIGS. 2(a) and 2(b).

[X-Y stage] O is two rails 11 extending in the X direction perpendicular to the traveling direction of the traveling body 1 on the main body frame 2.
．． 12 and its ray/l/ 11, 12 d along X
It has an X stage 13 that moves in the direction, and a hydraulic cylinder 14 for driving the X stage, and furthermore, two rails 1.5 extending in the Y direction perpendicular to the X direction on the X stage 13.
．． 16, a Y stage 17 that moves in the Y direction along the rails 15 and 16, and a hydraulic cylinder 18 for driving the X stage. Base end 141 of hydraulic cylinder 14
is connected to the bracket 21 of the main body frame 2, and the piston rod 142 is connected to the bracket 1 on the back side of the X stage 13.
31. Base end 181 of hydraulic cylinder 18
is connected to a bracket 132 on the top surface of the X stage 13, and the piston rod 182 is connected to a bracket 171 on the back surface of the Y stage 17. Therefore, due to the expansion and contraction of the hydraulic cylinder 14, the X stage 13 moves to the rail 11. ,
Along I2, the Y stage 17 is moved along the rails 15, 16 by expansion and contraction of the hydraulic cylinder 18.

Next, the handling arm 2o will be explained in detail based on FIG.

A pedestal 21 is installed on the X stage 17, and the pedestal 21
A first arm 22 is rotatably connected in the R1 direction. The first arm 22 is connected to a servo motor 23 mounted within the frame 21. It is driven by a transmission member 24 and a reduction gear 25. The first arm 22 has a second arm 26 with an R
A servo motor 27 connected rotatably in two directions and mounted within the frame 21. It is driven by a speed reducer 30 mounted within the transmission member 28, 29 and the first arm 22. A wrist 31 is provided at the tip of the second arm 26 and rotates in the R3 direction around its fine point.
is the servo motor 3 installed in the second arm 26
2. It is driven by a reduction gear 33, a transmission member 34, and a bevel gear 35.

Note that 36 and 37 are the first and second arms 2, respectively.
This is an off brake for 2.26.

The gripping device 40 will be described in detail based on FIG.

The rotary table 41 is connected to the wrist 31 of the handling arm 20.
is fixed to. Two gripping fingers 42 and 43 are rotatably connected to the rotary table 41 so as to face each other, and a hydraulic cylinder 44 is interposed between the two gripping fingers 42 and 43. Gripping members 45 and 46 are pin-coupled to the tips of the gripping fingers 42 and 43. This gripping device 40
grip the horizontal beam 100 as shown.

Note that the fixing device 50 is constructed in exactly the same manner except for the rotary table 41, and the reference numbers of the components are given in parentheses in FIG. 4.

FIG. 5 shows an example of the control system 60 of the present invention.

First, to explain the hydraulic control system, a hydraulic pump 61 is connected to the output shaft of an electric motor 62, and the hydraulic pump 61 is connected to the hydraulic cylinders 1, 4, 18 for driving the X and Y stages via electromagnetic switching valves 63 to 68. 1, a hydraulic cylinder 44 of the gripping device 40, and a hydraulic cylinder 54 of the fixing device 50,
They are connected to traveling hydraulic motors 69 and 70, respectively.

Next, to explain the electrical control system, the operation box 71
is connected to each electromagnetic switching valve 63 through the electromagnetic valve controller 73.
68 solenoid, each electromagnetic switching valve 63 to 68
is switched into position by a solenoid. Further, the operation box 71 is connected to each servo motor 23, 27.32 via a servo controller 72, and each servo motor 23.
27. Rotate and drive 32.

The operation of the construction robot configured as above will be explained.

The handling arm 20 is folded as shown by the dashed line in FIG. 1 and is allowed to travel to a predetermined location. This is controlled by the electromagnetic switching valves 67 and 68 according to the command from the operation box 71.
This is done by controlling the two left and right hydraulic motors 69 and 70 by appropriately switching the two hydraulic motors 69 and 70. Next, the pillar 200 that has already been erected from the floor is gripped by the fixing device 50. That is, the traveling hydraulic motors 69 and 70 are controlled to align the center of the gripping column 200 with the center of the construction robot, and the hydraulic cylinder 54
moves forward with the gripping fingers 52 and 53 released, contracts the hydraulic cylinder 54, and grips the column 200 with the gripping members 55 and 56.
Grip with.

Thereafter, the servo motors 23, 27 are controlled via the servo controller 72 in response to a command signal from the operation box 71, and the first and second arms 22, 26 are placed in the postures shown in FIG. Then, the horizontal beam 100, which is being lifted by a crane (not shown), is gripped by the gripping device 40 at the tip of the handling arm 20. That is, first, the electromagnetic switching valve 64 is switched to operate the hydraulic cylinder 18, and the X stage 17 is moved in the Y direction.
is located directly below the horizontal beam 100. Similarly to the gripping by the fixing device 50, the hydraulic cylinder 44 is extended and the gripping fingers 42, 43 are released, and the servo motor 23.2
7 to rotate the first or second arm 22.26 to position the horizontal beam 100 between the gripping fingers 42.43, and contract the hydraulic cylinder 44 at the appropriate position to reduce the gripping member 45.
46 grips the horizontal beam 100.

At this time, since the horizontal beam 100 is lifted by a crane, the weight of the horizontal beam 100 is not shared by the handling arm 20. Then, the position of the horizontal beam 100 in the horizontal plane is adjusted by appropriately driving the X stage 13 and the make a decision. This is also performed by controlling the electromagnetic switching valves 63 and 64 using command signals from the operation box 71.

Then, while lowering the crane, the horizontal beam 100 is lowered by rotating the first arm 22° and the second arm 26 while maintaining the position of the horizontal beam 100 in the horizontal plane, and the horizontal beam 100 is lowered to the column 200.
It leads to the connection part 300 with. This is also performed by controlling the servo motors 23 and 27 using command signals from the operation box 71. Note that when it is necessary to rotate the horizontal beam 100 in a horizontal plane for positioning, the servo motor 32 is used.
The wrist 31 may be rotated by controlling the .

The construction robot described above is used on an unfinished floor, and the work space is accessed through a normal door size of 9.
It is small and lightweight since it must be entered through an entrance/exit of approximately 0cm x 180cm. Also,
The number of parts that such construction robots handle is several 100k.
Although the target member weighs between several tons and is lifted by a crane, if the lifting center of the crane is misaligned with the gripping center of the construction robot's gripping device, a lateral load may act and cause the construction robot to fall. There is. When the target member weighs several tons, the outrigger normally used cannot avoid falling over. Therefore, as in this example.

By attaching the fixing device 50 to the main body frame 2 and fixing the construction robot to an already completed pillar or the like, it is possible to reliably prevent the robot from falling over. Note that 1. Normally, the end of the horizontal beam 100 is connected to the tip of the column 200 held by the fixing device 50, so the center position of the X-Y stage 10 in the X direction can be easily aligned with the center of the fixing device 50. If this is done, positioning of the horizontal beam 100 in the X direction becomes extremely easy.

In the above description, the handling arm 20 is composed of two mutually rotatable arms 22 and 26, but a so-called multi-stage telescopic boom may also be used as the handling arm 20. When using a telescopic boom, position the horizontal beam in the horizontal plane with the telescopic boom in a vertical position, and then when lowering the horizontal beam using a crane, simply retract the telescopic boom to position the horizontal beam in the vertical direction. So,
Compared to the vertical positioning using two rotating arms as in the above embodiment, the horizontal beam can be lowered easily while maintaining its position in the horizontal plane.

In addition, a hydraulic pump is driven by an electric motor supplied with power from the site, and the X-Y stage 201 gripping device 40. Fixing device 5
0. Although the traveling motors 69 and 70 are driven, a prime mover may be mounted to drive a hydraulic pump. Alternatively, they may all be driven by electric motors instead of hydraulic pressure. Furthermore, the handling arm may be rotated by a hydraulic motor.

Furthermore, if the fixing device 50 is rotatably provided with respect to the main body frame 2 and configured to grip a long object in a horizontal direction, the handling arm 20 can grip and transport the long object. Improves the stability of construction robots.

Effects of the G1 invention According to the first invention, the positioning of horizontal beams, etc. during erection work can be performed by a robot, contributing to safety and labor saving.

Further, according to the second invention, the lateral load acting on the construction robot according to the first invention is transmitted to the external member and absorbed, so that this kind of construction robot, which is required to be small and lightweight, can be used. Even if a very large lateral load acts on the width 2 weight, falling is reliably prevented.

[Brief explanation of drawings]

FIG. 17 is a diagram showing the overall configuration of one embodiment of the present invention.
Figures (a) and (b) show an example of the X-Y stage, where (a) is a plan view, (b) is a sectional view taken along line bb, and Figure 3 is a diagram showing an example of the handling arm. FIG. 4 is a diagram showing an example of a gripping device, and FIG. 5 is a block diagram showing an example of a control system. 1: Running body 10: X-Y stage 20:
Handling arm 40: Gripping device 50: Fixing device

Claims (1)

[Claims] 1) A traveling body, an
- A construction robot characterized by comprising a handling arm provided on a Y stage and whose tip is movable in a vertical direction perpendicular to the horizontal plane, and a gripping device provided at the tip of the handling arm. 2) a traveling body, an X/Y stage mounted on the traveling body and moving in the
- A handling arm that is installed on the Y stage and whose tip can be moved in a vertical direction perpendicular to the horizontal plane, a gripping device that is installed at the tip of the handling arm, and a lateral load that acts on the traveling body through the gripping device. A construction robot characterized by comprising: a fixing device that transmits the information to an external member.