JP2775357B2 - Mobile production plant for construction - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile construction factory for construction in which a multi-story building, such as a factory building, is wide and planar and unmanned.

[0002]

2. Description of the Related Art Conventionally, when constructing a building, parts, such as post columns, beams, floor slab form units, etc., which have been processed in advance in a factory, are carried into a construction site, and the parts are transferred using a transfer robot or a crane. The building is constructed by assembling the parts in a construction order by a construction robot which is transported to an assembly position and waits at the assembly position.

[0003]

However, in the conventional construction method as described above, a part is hung by a crane or the like into a receiving area of the transfer robot in accordance with the operation of the construction robot, and the part is received by the transfer robot. A complicated parts transfer process of transporting the parts to the construction robot is required, which makes the parts transfer and carry-in management troublesome and requires human intervention, as well as low construction productivity and realization of unmanned construction. Above was a big neck. Moreover,
Since various parts for building construction are generally placed in a specially stacked area, it is troublesome to select and transport parts to the receiving area, making unmanned construction more difficult. I have.

[0004] The present invention has been made in view of such circumstances, and can realize unmanned construction of a building.
It is an object of the present invention to provide a mobile fabrication builder for construction that can be produced without being affected by time zones.

[0005]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a building constructed on a plurality of floors, having a roof and walls covering a construction work area, and a direction change for automatically driving the building. A plurality of possible traveling vehicles, an automatic warehouse that is installed in the building and manages access to building components, and is installed in the upper part of the building and a construction work area connected thereto, and predetermines building components in the automatic warehouse. Transport means for automatically transporting the building parts to a set assembling position, and a building component which is disposed movably in a horizontal and vertical direction on a surface of the building facing the building to be constructed and which is transported by the transport means according to a construction procedure. An assembling robot to be attached, and a joining robot arranged on a surface of the building facing the building to be constructed so as to be movable in a horizontal and vertical direction, and joining a joint of the building components assembled by the assembling robot. Characterized by comprising a. Also,
According to the present invention, a building to be constructed is divided into a plurality of construction section units corresponding to a construction work area of a construction mobile fabrication factory, and each of the divided construction section units is constructed at the construction mobile fabrication factory. Work is performed, and in the section, assembly / joining / floor construction and exterior wall construction are sequentially performed by the assembling robot and the joining robot from the first floor to all floors.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. In FIG. 1 to FIG. 3, reference numeral 10 denotes a construction type mobile manufacturing plant for constructing a building 12 while moving on a floor 11 constructed of a mat slab or the like. The mobile manufacturing plant 10 includes a building 13 constructed at a height corresponding to 4 to 5 floors, and a movable type factory is provided on a lower surface of a base portion 13a of the building 13 as shown in FIGS. A plurality of traveling vehicles 14 moving in the manufacturing factory 10 and the mobile manufacturing factory 10
A plurality of hydraulic jacks 15 are fixed to the floor 11 on the floor 11. The traveling carriage 14 is the base 1
3a via a turntable so as to be pivotable, and as shown in FIGS. 29 and 30, the endless roller 14a
And an electric driving device (not shown) for driving the same.

The interior of the building 13 is divided into four areas 16 to 19 in the horizontal direction (vertical direction in FIGS. 2 and 3). The areas 16 and 18 are used as an automatic warehouse. The first automatic warehouse 16 stores long parts such as pillars among the parts constituting the building 12, and the second automatic warehouse 18.
Stores parts such as beams, floor slab form units, and outer walls. The areas 17 and 19 are used for an operation room or the like for managing and controlling the entire mobile manufacturing plant 10.

As shown in FIG. 5, a first automatic warehouse 16 for storing long parts such as pillars holds a large number of long parts 20 in a vertical state and transfers them endlessly from a carry-in port 16a to a delivery port 16b. The stock conveyor 22 is provided. The stock conveyor 22 is composed of a pair of transfer belts 22 made of an endless chain or the like which is horizontally separated by a predetermined distance vertically.
and a grip 22b which can be opened and closed and attached to the transfer band 22a at regular intervals. The long part 20 such as a column which is carried in a suspended state by the crane 70 at the entrance 16a. Hold by 22b.
Then, at the transfer port 16b, the long parts 20 stocked on the stock conveyor 22 are transferred to an assembly robot described later.

As shown in FIGS. 1 and 6, a second automatic warehouse 18 for storing parts 21 such as beams and floor slab form units is disposed so as to be able to travel in the height direction of the building 13 over substantially the entire length thereof. An endless running chain 23 is provided, and a number of lifting racks 24 mounted horizontally on the running chain 23 at predetermined intervals.
The delivery of 1 is performed by the delivery device 25 provided on the base 13a side of the building 13. 6 to 8 show a specific example of a system for delivering the parts 21 to the lifting rack 24. The delivery device 25 for the parts 21 includes a lift installed at the lowermost end of the base 13a and directly below the lifting rack 24. Lifting mechanism 25a and the lifting mechanism 25a
And a loading stage 25b that automatically travels between the parts receiving position outside the automatic warehouse 18.

When the building parts 21 are stored in the automatic warehouse 18, the trailer 26 with the crane loaded with the building parts 21 is moved to the place where the mobile manufacturing plant 10 is located as shown in FIG. Is stopped at a position facing the carry-in port 18a provided on the lower side surface of the. Thereafter, the building components 21 on the trailer 26 are lifted one by one using the crane 26a of the trailer 26 and placed in a predetermined alignment state on the loading stage 25b waiting at the component receiving position. At this time, by inputting each part code and an address code preset in the lifting rack 24 by operating an input device or the like installed in the operation room 17 or 19, the storage in the automatic warehouse 18 is performed. Parts can be automatically managed by computer. When the unloading onto the loading stage 25b is completed, the loading stage 25b is placed on the lift rack 24 waiting at the component loading position from the loading port 18a as shown in FIGS. 7 (a) and 7 (b). Move automatically. Thereafter, as shown in FIGS. 8A and 8B, the lift-up mechanism 25a is raised to lift the building component 21 on the loading stage 25b, and in this state, the loading stage 25b automatically receives the component. Move to the position and wait for receiving the next storage component. When the loading stage 25b retracts to the component receiving position, the lift-up mechanism 25a descends and places the building component 21 on the lifting rack 24. Therefore,
The automatic storage of the building parts 21 in the automatic warehouse 18 becomes possible.

On the front of the building 13 facing the building 12 constructed by the mobile manufacturing plant 10, parts 20 and 21 are provided.
At least one articulated assembling robot 27 for assembling the parts in a predetermined state and a plurality of articulated welding robots 28 for welding joints between the parts assembled to each other are vertically and horizontally. It is provided movably. In each welding robot 28, the joining condition of each received part is stored in memory, so that each welding robot 28 repeatedly performs a welding operation according to a respective welding program.

FIG. 9 shows a structure for automatically moving the assembling robot 27 and the welding robot 28 in the vertical and horizontal directions.
A first movable body 30 that is horizontally suspended between the vertical guide rails 29 and that automatically travels vertically along the rail 29, and a second movable body that automatically travels along the first movable body 30 in the left-right direction. And a movable body 31.

The building 13 has a cabin 32 covering the ceiling and the top of the building 12 under construction. The top of the cabin 32 is covered by a roof 33 made of a translucent material. Thereby, the building 12 and the building 12 under construction are
Enables the incorporation of natural light into the interior. Building 13
At the center of the ceiling, a hoist guide rail 34 extending linearly in the direction of the building 12 under construction is installed horizontally, and one end of a swing rail 35 is connected to one end of the guide rail 34 by a hinge 34a. At the same time, the other end of the swing rail 35 is supported by a circular guide rail 36 attached to the lower surface of the hut assembly 32 covering the building 12 under construction. On the swing rail 35, columns, etc.
An assembly hoist 37 for transporting the building component 21 from the automatic warehouse 18 to the building installation position is supported so as to be able to travel.
Are movably supported by the guide rail 34 and the swivel rail 35.

Next, the construction operation of this embodiment will be described. When constructing a building, as shown in Fig. 10, a plane of 3 span x 3 span is taken as one block (construction unit),
When the mobile manufacturing plant 10 performs the assembly, joining, floor work, and outer wall work in close proximity, and the construction from the first floor to the top floor is completed in that block, the mobile manufacturing plant 10 moves to the next block. , Do construction in the next block. That is,
The whole building 12 is automatically constructed by moving the mobile manufacturing plant 10 sequentially from the first block in the direction of the arrow.

Next, the construction procedure in the block will be described with reference to FIGS.
This will be described with reference to FIG. First, a correlation position between the construction place of the building and the mobile fabrication factory 10 is detected, and the fabrication factory 10 is moved to the construction location of the first block by the traveling cart 14 in accordance with the position data, and the hydraulic jack 15 is extended. By doing so, the manufacturing factory 10 is fixed at the construction position of the first block. At this time, in each of the automatic warehouses 16 and 18 of the production plant 10, building components 2 necessary for building
It is assumed that 0 and 21 are subdivided and stored. Thereafter, when the construction control system (not shown) installed in the operation rooms 17 and 19 starts, the stock conveyor 22 is operated by the automatic loading / unloading system (not shown) of the automatic warehouse 16, and the length of the stock conveyor 22 is held. The length component, that is, one of the first pillars 20a is transported to the carry-out port 16b and stopped. As a result, the turning rail 35 is moved to the automatic warehouse 1
6 and the hoist 37 for assembling the column also moves onto the carry-out port 16b, and the hoist 37
The upper end of the pillar 20a is hung on the automatic slinging device 37a suspended from the ceiling and suspended. Thereafter, the first rail 20a is conveyed to a position close to a predetermined position by rotating the swing rail 35 and operating the hoist 37, and the assembly robot 27 detects a predetermined coordinate position and moves the first rail 20a. As shown in FIG. 11, it is assembled to a column base 39 fixed on the floor 11. Hereinafter, the same operation is repeated to assemble the first node 20a in the first block.

FIGS. 17A and 17B show the first joint 20
This shows a column base 39 for assembling a and an assembling state, and is temporarily fixed by inserting a coupling pin 40 screwed into a lower end of the first node post 20a into an insertion hole 39a of the column base 39.

When the assembly of the first pillar 20a shown in FIG. 11 is completed, the elevating rack 24 in the automatic warehouse 18 in which the second-story girders 21a are stored is moved to the carry-out port 18b to be on standby. Thereafter, the guide rail 34 and the swing rail 35
Is placed on the elevating rack 24 waiting at the carry-out port 18b, and the second floor girder 21a placed thereon is gripped and lifted by the automatic slinging device 38a to a predetermined assembly position. Transport to Then, the assembling robot 27 is operated to assemble the second-floor girder 21a to the first column 20a. Hereinafter, the same operation is repeated to assemble the second floor girder 21a in the first block. FIG. 12 shows the assembled state.

FIG. 21 to FIG. 24 show that the girder 21a is
5 shows details of a temporary girder temporary joint to be attached to a. In FIG. 21, reference numeral 41 denotes a lower flange receiving / backing metal for the girder 21a provided on the column 20a, and reference numeral 42 denotes a girder 21.
Positioning pins that are combined with the positioning holes 41a of the lower flange receiving material and backing metal 41 attached to a, 43 are web plate welding backing metal attached to the girder 21a, 44 is a feeding device for the backing metal 43, 45 is It is a backing metal for upper flange welding.

FIGS. 22 (a) and 22 (b) show details of the upper flange joint of the girder 21a. The back flange 45 for welding the upper flange includes a holding bolt 46 and a loose hole 47.
The backing plate 45 is slidably supported in the direction of the post 20a, and the backing plate 45 is brought into close contact with the post 21a by pulling out the stopper 48a of the spring-type backing plate feeding device 48, so that it can be temporarily fixed.

FIG. 23 shows the details of the web plate joint portion of the girder 21a. The back plate 43 for welding the web plate is supported by a holding bolt 49 and a loose hole 50 so as to be slidable in the nodal column direction. By pulling out the stopper 44a of the gold feeding device 44, the backing metal 43 is brought into close contact with the node 20a and can be temporarily fixed.

FIGS. 24 (a) and 24 (b) show the details of the lower flange joint portion. The lower flange 21A of the large beam 21a uses the positioning pin 42 for positioning the lower flange receiving material and backing metal 41. It is placed on the backing metal 41 in a state of being merged with the hole 41a. Then, both sides A are temporarily fixed by temporary welding.

After the temporary joint of the second floor girder 21a to the column 20a is completed in this way, the welding robot 28 is operated to operate the column 20a and the column base 3
9 is automatically welded. Further, the second-floor girder 21a and the node 20a are automatically welded through the backing metal.

FIG. 25 shows that the girder 21a is connected to the column 20a.
Shows an example of welding to a welding head 28a.
Is connected to a sensor electromagnet 61 via a telescopic rod 60, and the electromagnet 6 provided with the sensor electromagnet 61 on the column 21a.
2, the welding position between the girder 21a and the node 20a is determined.

When the assembling and welding of the second floor girders 21a are completed, the lifting rack 24 on which the second floor slab form unit 21b is placed is moved to the carry-out port 18b of the automatic warehouse 18 and stands by. Thereafter, the assembling hoist 38 is operated to lift the floor slab form unit 21b on the elevating rack 24, and is transported by the assembling hoist 38 and the swivel rail 35 to near a predetermined position. Then, the assembling robot 27 detects a predetermined coordinate position and assembles the floor slab form unit 21b on the girder 21a. Subsequently, the floor form unit 21b is appropriately welded to the girder 21a by the assembling robot 28. FIG. 13 shows this state. Thereafter, as shown in FIG. 14, the assembling hoist 38, the assembling robot 27, and the welding robot 28 of the mobile manufacturing plant 10
The girder 21c on the third floor is assembled in the same manner as above. Subsequently, as shown in FIG. 15, the floor slab form unit 21b for the third floor is assembled and welded to the girder 21c on the third floor.

FIG. 26 shows details of the floor slab form unit 21b. A pair of small beams 51 to be assembled and welded between the large beams 21a, a beam member 52 for joining the small beams 51, and a small It is composed of a deck form 53 joined on the beam 51 and a floor slab arrangement 54 laminated on the deck form 53.
Then, the floor slab form unit 21b is suspended by the automatic slinging device 38a via the suspension attachment 55.

FIG. 16 shows a case in which the construction procedure shown in FIGS. 11 to 15 is set as step 1 and the fourth floor to the roof floor are assembled as steps 2 on the first to third floors assembled in step 1. FIG. In addition, when joining the 2nd pillar 20b for the 4th floor-roof floor to the 1st pillar 20a, as shown in FIGS. 18-20, the several connection pin 56 is attached to the lower end surface of the 2nd pillar 20b. The connecting pin 56 is screwed into the first joint post 20a.
Is temporarily joined by being inserted into an insertion hole 57 formed in the upper end surface of the. Thereafter, as shown in FIG. 27, the joint between the first joint 20a and the second joint 20b is automatically welded by the welding robot 28 in the same manner as in FIG. Further, as shown in FIG. 20, the connecting pin 56 is inserted through the insertion hole 57 into the conical pipe 58, so that the shoulder of the conical portion 56a of the connecting pin 56 stops at the end of the pipe 58, thereby preventing the pipe 58 from coming off. I do.

FIGS. 28 (a) to 28 (d) show the operation procedure of the traveling carriage 14 and the hydraulic jack 15 when the direction of the mobile manufacturing factory 10 is changed. As shown in (a) of FIG. 28, when the traveling trolley 14 in which the mobile manufacturing plant 10 can travel in the left-right direction is turned so that it can travel in a direction perpendicular to the paper surface, first, FIG. As shown in (b), the hydraulic jack 15 is extended and the movable manufacturing plant 10 is lifted up. Next, as shown in FIG.
Turn. Thereafter, as shown in FIG. 28D, the hydraulic jack 15 is contracted to lift down the mobile manufacturing plant 10 and the traveling vehicle 14 is grounded.

As described above, in this embodiment, there is provided an automatic warehouse which has an automatic traveling vehicle capable of changing directions and which manages access to various building components in a building covered with a work area roof and walls. Transport means such as an assembly hoist for automatically transporting building parts of the automatic warehouse to a predetermined assembly position; and an assembling robot for mounting the building parts transported by the transport means in accordance with a construction procedure. A mobile manufacturing factory is constructed by incorporating a welding robot that welds the joints between building components. This manufacturing factory performs assembly, joining, floor work, and outer wall work in units of construction sections of 3 span x 3 span. When the building was completed from the first floor to all floors in sequence, the building was moved to the next construction section and the building was constructed, so the building was produced continuously for 24 hours regardless of the weather and the time zone. Rukoto can, it is possible to shorten the construction period due to this, it is possible to ensure the quality, and it is possible to realize unmanned construction.

In the above embodiment, the case where the welding robot is used to join the joints and joints of the assembled building parts has been described. However, the present invention is not limited to this, and the joints and joints are joined using bolts and the like. It may be a robot that does. Further, the present invention is not limited to the construction of a pure steel structure such as a factory, but can be similarly applied to a concrete prefab.

[0030]

As described above, according to the present invention, there is provided an automatic warehouse having an automatic traveling vehicle, and having a work area covered with a roof and walls, for managing access to building components, and further comprising an automatic warehouse. Transport means for automatically transporting the building components in the building to a predetermined assembly position, an assembling robot for assembling the building parts transported by the transport means in accordance with the construction procedure, and joining the assembled building parts A mobile manufacturing factory is constructed by incorporating a joining robot. The mobile manufacturing factory performs assembly, joining, floor work, etc. for each work section in order from the first floor to all floors. The construction of the building was moved to the construction zone unit of, so that the building can be produced continuously without being affected by the weather and the time zone, thereby shortening the construction period and securing the quality. It is possible to realize the unmanned construction.

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional view of an entire configuration showing an embodiment of the present invention.

FIG. 2 is a plan view of the uppermost part of a manufacturing factory in the present embodiment.

FIG. 3 is a cross-sectional plan view of an intermediate portion in FIG. 1;

FIG. 4 is a perspective view of a part of a traveling mechanism in a manufacturing factory according to the embodiment.

FIG. 5 is a perspective view of the automatic warehouse in the present embodiment.

FIG. 6 is a schematic diagram of an automatic warehouse in the present embodiment.

FIG. 7A is a front view showing a state in which parts are delivered to an automatic warehouse. (B) is a side view of (a).

FIG. 8A is a front view showing a state in which parts are delivered to an automatic warehouse. (B) is a side view of (a).

FIG. 9 is a perspective view of a main part showing a traveling mechanism of the assembling and welding robot in the embodiment.

FIG. 10 is an explanatory diagram showing a construction procedure in this embodiment.

FIG. 11 is an explanatory diagram showing an assembling state of the first knot in the construction procedure of the embodiment.

FIG. 12 is an explanatory diagram showing a state of assembling and welding a second-story girder in the construction procedure of the present embodiment.

FIG. 13 is an explanatory view showing a state of assembling and welding the floor slab form unit for the second floor in the construction procedure of the present embodiment.

FIG. 14 is an explanatory diagram showing a state of assembling and welding the third-story girder in the construction procedure of the present embodiment.

FIG. 15 is an explanatory view showing a state of assembling and welding of the floor slab form unit for the third floor in the construction procedure of the present embodiment.

FIG. 16 is an explanatory diagram showing a construction order in this embodiment.

FIG. 17A is a perspective view of a column base. (B) is a partial cross-sectional view showing a temporary connection structure between the node and the column base.

FIG. 18 is a perspective view showing a joint structure of the connecting columns in this embodiment.

FIG. 19 is an enlarged cross-sectional view of a node connecting portion in the present embodiment.

FIG. 20 (a) is a cross-sectional view of a node connecting portion. (B) is an enlarged view of a part of (a).

FIG. 21 is a perspective view showing a temporary connection structure between a node and a girder in the present embodiment.

FIG. 22 (a) is a plan view of a temporary joint portion of the upper flange portion of the girder. (B) is sectional drawing which follows the bb line | wire of (a).

FIG. 23A is a plan view of a temporary connection portion of a girder web plate portion. (B) is sectional drawing which follows the bb line | wire of (a).

FIG. 24 (a) is a side view of a temporary connection portion of a lower portion of a large beam. (B) is a plan view thereof.

FIG. 25 is a perspective view showing a welded state between the node and the girder in the present embodiment.

FIG. 26 is a perspective view of a partially cut-out portion of the floor slab form unit in the present embodiment.

FIG. 27 is a perspective view showing a welding state of the joint columns in this embodiment.

FIGS. 28 (a) to (d) are explanatory views showing a procedure for changing the direction of a manufacturing factory.

FIG. 29 is a cross-sectional view of the traveling vehicle in the present embodiment.

30 is a sectional view taken along line AA of FIG. 29.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Mobile manufacturing factory 12 Building 13 Building 14 Traveling trolley 15 Hydraulic jack 16, 18 Automatic warehouse 20, 21 Construction parts 27 Assembly robot 28 Welding robot 32 Hut set 33 Roof 34 Guide rail 35 Swivel rail 37, 38 Hoist for assembly

────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Nobuyuki Arai 4-6-115 Sendagaya, Shibuya-ku, Tokyo Fujita Co., Ltd. (72) Inventor Yoshiaki Castle 4-6-115 Sendagaya, Shibuya-ku, Tokyo Fujita Corporation (56) References JP-A-4-254665 (JP, A) JP-A-3-90769 (JP, A) JP-A-5-18013 (JP, A) JP-A-4-330170 (JP, A) (58) Field surveyed (Int.Cl. ⁶ , DB name) E04G 21/16

Claims (3)

(57) [Claims] 1. A building having a roof and walls covering a plurality of floors and covering a construction work area; a plurality of directionally movable traveling carts for automatically driving the building; and being installed in the building, An automatic warehouse that manages access to building components, and a transfer unit that is installed in an upper part of the building and a construction work area connected to the building and that automatically transfers building components in the automatic warehouse to a predetermined assembly position; An assembling robot which is disposed movably in a horizontal and vertical direction on a surface facing the building to be assembled, and assembles building parts transported by the transporting means in accordance with a construction procedure; A mobile robot for construction, wherein the mobile robot is provided so as to be movable in a horizontal and vertical direction on a surface, and which joins joint parts of the building components assembled by the assembly robot. Place. 2. The building to be constructed is divided into a plurality of work section units corresponding to the construction work area of the construction mobile fabrication factory, and the construction work is performed by the construction mobile fabrication factory for each of the divided work section units. 2. The mobile manufacturing plant for construction according to claim 1, wherein the process is performed. 3. The construction type mobile manufacturing plant according to claim 2, wherein the assembly robot, the joining robot, and the joining robot perform the assembling / joining / floor work and the outer wall work sequentially from the first floor to all floors in the section.