JPH035571A - Multifunction robot for building work - Google Patents

Abstract

PURPOSE:To automate assembly of a floor member and placing of concrete and to save a labor by a method wherein a grasping device having an expandable and rotatable concrete placing device and a grasping claw is coupled to a moving truck to control a position by means of a computer. CONSTITUTION:A concrete placing device comprising a moving truck 2, an elevating working table 3, a rotary support table 4, an expandable arm 5, a slewing arm 6, a concrete forced feed pipe 7, and a revolving pipe 9 is moved in a position above a floor member 21 to place concrete. Concrete is then placed as the expendable arm 5, the slewing arm 6, and the revolving pipe 9 are rotated. A floor member grasping device 20 to control conveyance and handling by means of a computer is attached to the expandable arm 5, and the floor member 21 is grasped by the grasping device 20. Further, the expandable arm 5 and the elevating working table 3 are operated and conveyed in a working space. This constitution automates assembly of a floor and placing of concrete, and saves a labor.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a multifunctional robot for construction work, which is used for construction work and is capable of transporting various members and pouring concrete.

[Conventional technology]

Heavy floor construction methods for mid-to-high-rise buildings can be broadly divided into the following operations: material transportation, reinforcing bar arrangement, formwork assembly, concrete pouring, and formwork dismantling. Most of these operations in conventional floor assembly are done manually.

[Problem to be solved by the invention]

However, the conventional heavy construction method of floor construction requires heavy labor as it involves handling heavy members in areas with poor footing.In particular, concrete pouring work requires carrying heavy concrete pouring pipes in areas with poor footing on reinforcing bars. There was a problem with having to move around. For this reason, automated devices have been developed that individually perform these series of tasks, but it is difficult to transport multiple types of automated devices to sites where space is limited.

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a multifunctional robot that can automatically assemble floor members and place concrete with as little manpower as possible.

[Means to solve the problem]

To this end, the multifunctional robot for construction work of the present invention includes a movable trolley 2 whose position is controlled by a computer, an elevating workbench 3 provided on the movable dolly 2 so as to be able to move up and down, and an elevating workbench 3 that can extend, contract, rotate, and A gripping device M20 having a telescoping arm 5 which is supported to be able to rise and fall, and the telescoping arm 5 having a swing arm 6, a concrete pumping pipe 7, and a swing pipe 9, a concrete placing device, a rotating shaft 25, and a gripping claw 27. and can be detachably attached.

Note that the numbers added to the above configurations are for comparison with the drawings, and the configurations of the present invention are not limited thereby.

[Effect]

In the present invention, as shown in FIG. 5, for example, the computer moves the movable cart 2 based on the coordinates of the center position of the floor member 21, and then extends, rotates and lowers the telescopic arm 5 to 20 at a position directly above the center of the floor member 21, the gripping device 20 scans the floor member 21 with the ultrasonic sensor 28 and measures its position and orientation.Based on this, the computer adjusts the rotation axis 25. rotate it,
The gripping claws 27 are locked to the reinforcing bars 29. Next, floor member 2
1 to the position of the floor assembly room space 33, the telescopic arm 5 is extended, rotated and lowered to transport the floor member 21 to the desired position, and the gripping claws 27 are separated from each other. The connection with the floor member 21 is released, and the centering is completed.

Next, the gripping device 20 is removed and the swing arm 6, concrete pumping pipe 7, and swing pipe 9 are attached. Then, as shown in FIG. 2, concrete is supplied from the concrete pressure pipe 7 while extending and contracting the telescopic arm 5 onto the floor member 17 to be poured. At this time, the telescopic arm 5, the swing arm 6, and the swing pipe 9 are connected to circle A in the figure.
By rotating as shown in B and C, the floor member 17
It is possible to supply concrete evenly over the surface.

〔Example〕

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

FIG. 1 is a side view of the multifunctional construction robot of the present invention when it is used for concrete pouring, FIG. 2 is an explanatory diagram of its operating state, and FIG. 3 is a side view of the robot when it is not in use.

The multifunctional robot 1 generally includes a moving cart 2 and an elevating workbench 3.
, a rotation support device 4, a telescoping arm 5 and a rotating arm 6,
It consists of a concrete placing device consisting of a concrete pressure pipe 7 and a turning pipe 9.

The movable trolley 2 has wheels 10 and is moved by an electric motor (not shown), and the movable trolley 2 can be fixed by driving an expansion/contraction device 11 using hydraulic pressure to extend the fixed #11a. Further, the movable trolley 2 is provided with an elevating work platform 3 via a telescoping device 12 operated by hydraulic pressure.

The lifting workbench 3 is provided with a rotary support device 4 that supports the telescoping arm 5 .
is expanded/contracted and rotated in the horizontal direction, and also rotated in the vertical direction by the vertical cylinder 8. The telescopic arm 5 is
It is of a telescopic type, and a swing arm 6 is rotatably attached to the tip thereof, and the swing arm 6 is rotated in the horizontal direction by an electric motor 15.

On the other hand, a concrete pressure pipe 7 is supported between the rotary support device 4 and the tip of the swing arm 6. As shown in FIG. 2, the concrete pressure pipe 7 is connected to a concrete supply source by a flexible hose 16, and is connected by a joint 7a which can be bent at a plurality of points. Further, a swing pipe 9 is rotatably attached to the tip of the concrete pressure-feeding pipe 7, and can be rotated horizontally by an electric motor (not shown).

FIG. 3 shows the multifunctional robot 1 in a contracted and folded state when being carried in or moved, in which the telescoping device 11, 12 and the telescoping arm 5 are contracted, and the rotating arm 6, concrete pumping pipe 7, The rotating pipe 9 is rotated to the state shown in the figure.

The operation of the multifunctional robot of the present invention having the above configuration will be described in a second section.
To explain with a diagram, first, after moving the multifunctional robot to a place where no flooring material has been placed, the telescopic arm 5 is extended and contracted over the flooring material 17 to be poured, and the concrete pumping pipe 7 is moved. Supply concrete. At this time, concrete can be evenly supplied onto the floor member 17 by rotating the telescopic arm 5, the swing arm 6, and the swing pipe 9 as shown in circles A, B, and C in the figure.

FIG. 4(a) is a plan view of the floor member gripping device 20, and FIG. 4(b) is a side view showing a state in which the floor member 21 is gripped.

In the multifunctional robot 1 described above, the rotating arm 6,
The concrete pressure pipe 7 and the swing pipe 9 are removed, and the floor member gripping device 20 shown in FIG. 4 is attached to the telescopic arm 5.
It can be attached to. The floor member gripping device 20 has a connector 22 with the telescopic arm 5, a rotating shaft 25 rotated by an electric motor 23, and two gripping parts 26 fixed to the rotating shaft 25. Four gripping claws 27 are movably provided. This gripping claw 27 is operated by hydraulic pressure or an electric motor. Moreover, ultrasonic sensors 28 are attached to both ends of the two gripping parts 26.

Next, according to FIG. 5, the floor member gripping device 2 having the above configuration is
The effect of 0 will be explained.

The floor member 21 is manufactured in advance by integrating reinforcing bars 29 and formwork 30 in a factory, and is transported, handled, and positioned on site by a floor member gripping device 20 controlled by a computer. First, based on the coordinates of the center position of the floor member 21 transported by the transport robot 31, the computer moves the moving cart 2, then extends, rotates and lowers the telescopic arm 5, and moves the gripping device 20 to the floor member 21. Set it directly above the center of the The gripping device 20 scans the floor member 21 using ultrasonic sensors 28 provided at the four corners to measure its position and orientation.Based on this, the computer rotates the rotation shaft 25 and moves the gripping claws 27 to the first position. As shown in FIG. 4(b), after it is inserted between the reinforcing bars 29, the gripping device 20 is lowered, and then the pair of gripping claws 27 are brought close to each other so that the gripping claws 27 are engaged with the reinforcing bars 29.

When the gripping device 20 grips the floor member 21, the telescopic arm 5
is shortened, rotated and raised, and transported to the work space 32, and then the elevating work platform 3 is raised to the position of the floor assembly space 33. Then, extend the telescopic arm 5,
The floor member 21 is rotated and lowered to be conveyed to the desired position, and the gripping claws 27 are separated from each other to release the engagement with the floor member 21, thereby completing the setting.

〔Effect of the invention〕

As is clear from the above description, according to the multifunctional robot for construction work of the present invention, it is possible to automatically assemble a floor and place concrete under computer control.

Moreover, if the gripping device according to the present invention is used, formwork installation,
No demolition work is required, and flooring materials can be automatically transported and installed.

Therefore, steel frame work can be performed automatically without the need for manual work such as a craftsman. Moreover, the safety of the construction work can be improved, the positioning accuracy can be increased, and the construction period can be shortened.

[Brief explanation of the drawing]

Fig. 1 is a side view of the multifunctional robot for construction work of the present invention when used for concrete pouring, Fig. 2 is an explanatory diagram of its usage state, Fig. 3 is a side view showing the non-use state, and Fig. 4 Figure (a) is a plan view of the floor member gripping device, figure (b) is a side view showing the state in which the floor member is gripped, and Fig. 5 is the use of the multifunctional robot for construction work of the present invention for gripping the floor member. FIG. 2... Moving trolley, 3... Elevating work platform, 5... Telescopic arm, 6... Swivel arm, 7... Concrete pressure feeding pipe, 9... Swivel pipe, 20... Gripping device ,
25... Rotating shaft, 27... Gripping claw.

Claims (1)

[Claims] (1) A mobile cart whose position is controlled by a computer,
The movable cart has an elevating work platform that can be freely raised and lowered, and a telescoping arm that is supported by the elevating work platform so as to be able to expand and contract, rotate, and raise and lower, and the telescoping arm is equipped with a swing arm, a concrete pumping pipe, and a swing pipe. A multifunctional robot for construction work, characterized in that a concrete placing device having a concrete placement device and a gripping device having a rotating shaft and a gripping claw can be detachably connected.