Juxtaposing method for elastic member and concrete panel

Abstract

To provide a juxtaposing method for an elastic member and a concrete panel that can prevent slipping down and that can be easily installed.SOLUTION: The present invention relates to an elastic member 1 which is freely detachably engageable with lip channel steels 110a and 110b, located on one main surface of a concrete panel 100 to be cured in an autoclave, recessed in a thickness direction, and extending along the one main surface, and which is composed of an elastic body. The elastic member 1 comprises: a plate-like body 11; a first convex part 12 protruding from one main surface of the body 11; and a second convex part 13 protruding in a second direction along the one main surface of the body 11 from a tip end in a first direction in which the first convex part 12 protrudes, and having an opposing surface 31 facing the one main surface of the body 11.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an elastic member for use in autoclave-cured concrete panels and a method for juxtaposing concrete panels. [Background technology]

[0002] Patent Document 1 discloses a damage prevention device that is placed between multiple concrete forming materials that are leaned against and loaded on a curing rack, thereby preventing the concrete forming materials from coming into contact with each other. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2002-210724 A Summary of the Invention [Problem to be solved by the invention]

[0004] The damage prevention tool described in Patent Document 1 has a steel frame, so if the steel frame comes into contact with the back surface of the exterior building material, the back surface of the exterior building material may be damaged. In addition, the work of hanging multiple damage prevention tools on the lip while the exterior building material is standing upright requires multiple people, which results in poor work efficiency.

[0005] The present invention has been made in consideration of the above problems, and has an object to provide an elastic member that can be easily attached to the lip channel steel of a concrete panel, and a method for juxtaposing concrete panels. [Means for solving the problem]

[0006] (1) The present invention relates to an elastic member made of an elastic body, which is capable of being engaged with and disengaged from a lip channel steel located on one main surface of a concrete panel to be cured in an autoclave and recessed in the thickness direction and extending along the one main surface. The elastic member includes a plate-shaped main body, a first protrusion protruding from the one main surface of the main body, and a second protrusion protruding in a second direction along the one main surface of the main body from a tip end of the first protrusion in the first direction and having an opposing surface opposing the one main surface of the main body.

[0007] In the concrete panel with the lip channel open upward, the elastic member is arranged so that the first convex portion and the second convex portion enter the opening of the lip channel. Then, when the concrete panel is erected, the elastic member is engaged with the lip channel, and the main body of the elastic member covers the lip channel. Therefore, when multiple concrete panels are arranged in a state where they are leaned against each other, the main body of the elastic member is located between the lip channel of one concrete panel and the surface of the other concrete panel, so that the lip channel does not contact the surface of the concrete panel.

[0008] (2) A tip of the second protrusion may be closer to the first protrusion than one end of the main surface of the main body in the second direction.

[0009] It is easy to insert the first convex portion and the second convex portion into the opening of the lip channel steel.

[0010] (3) The first convex portion and the second convex portion may extend from one end to the other end on one main surface of the main body in a third direction intersecting the first direction and the second direction.

[0011] The position of the elastic member engaging with the lip channel steel is stabilized.

[0012] (4) The present invention relates to a juxtaposition method using a juxtaposition device that engages the elastic member with the concrete panel and juxtaposes the concrete panels for autoclave curing, the juxtaposition method including a panel arranging step of arranging the concrete panel with one main surface on which the lip channel steel is located facing upward, a specifying step of specifying a protruding direction of the second convex portion for the elastic member supplied from a parts feeder with one main surface of the main body facing downward based on an output from a distance measuring sensor, a holding step of holding the elastic member with a robot arm, an elastic member arranging step of operating the robot arm based on the protruding direction of the second convex portion specified in the specifying step to arrange the elastic members at a plurality of positions so that the second convex portion protrudes in the same direction from the first convex portion and the second convex portion enters an opening in the lip channel steel, and a juxtaposition step of erecting the concrete panel so that the second convex portion extends downward from the first convex portion, and juxtaposing a plurality of the concrete panels.

[0013] The elastic members supplied by the parts feeder can be arranged on the lip channel steel of the concrete panel with the second protrusions facing in the same direction, automating the process of arranging multiple concrete panels side by side for autoclave curing by engaging the elastic members with the lip channel steel of the concrete panel. Effect of the Invention

[0014] According to the present invention, the elastic member can be easily attached to the lip channel steel of the concrete panel, and the work of arranging a plurality of concrete panels side by side for autoclave curing can be automated. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a perspective view of a concrete panel 100 prior to autoclave curing. [Diagram 2] FIG. 2 is a perspective view of a concrete panel 100 with an elastic member 1 engaged therewith. [Diagram 3]FIG. 3 is a perspective view showing the elastic member 1. As shown in FIG. [Figure 4] FIG. 4 is a plan view of the elastic member 1. As shown in FIG. [Diagram 5] FIG. 5 is a side view of the elastic member 1. As shown in FIG. [Figure 6] FIG. 6 is a perspective view of concrete panels 100 arranged side by side before autoclave curing. [Figure 7] FIG. 7 is a cross-sectional view taken along line VII-VII in FIG. [Figure 8] FIG. 8 is a schematic diagram showing an apparatus 200 for juxtaposing the concrete panels 100 . [Figure 9] FIG. 9 is a schematic plan view showing the holding arm 210 holding the concrete panel 100. As shown in FIG. [Figure 10] FIG. 10 is a plan view showing the overall configuration of the part feeder 220. As shown in FIG. [Figure 11] FIG. 11 is a side view showing the overall configuration of the parts feeder 220. As shown in FIG. [Figure 12] FIG. 12 is a plan view showing the positional relationship between the second transport path 227, the third transport path 228, and the elastic member 1. As shown in FIG. [Figure 13] FIG. 13 is a plan view showing another positional relationship between the second transport path 227, the third transport path 228, and the elastic member 1. As shown in FIG. [Figure 14] FIG. 14 is a perspective view showing the elastic member 1 that has fallen into the third transport path 228. As shown in FIG. [Figure 15] FIG. 15 is a plan view showing still another positional relationship between the second transport path 227, the third transport path 228, and the elastic member 1. As shown in FIG. [Figure 16] Figure 16 shows a plan view of the elastic member 1 located at the removal position 500, Figure 16(a) shows a side view of the elastic member 1 with the second convex portion 13 extending forward, and Figure 16(b) shows a side view of the elastic member 1 with the second convex portion 13 extending rearward. [Figure 17] FIG. 17 is a schematic plan view showing the mounting arm 230 that holds the elastic member 1. As shown in FIG. [Figure 18] FIG. 18 is a flowchart showing the flow of the operation of the juxtaposition device 200. [Figure 19] FIG. 19 is a plan view showing a rotational state of the elastic member 1. As shown in FIG. [Figure 20] FIG. 20 is a schematic perspective view of an attachment arm 230 for attaching the elastic member 1 to the concrete panel 100. As shown in FIG. [Figure 21] FIG. 21 is a schematic plan view showing a holding arm 210 for juxtaposing the concrete panel 100 on the curing rack 400. As shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, an embodiment of the present invention will be described with reference to the drawings as appropriate. Note that the embodiment described below is merely an example in which the present invention is realized, and it goes without saying that the embodiment can be appropriately modified without departing from the gist of the present invention.

[0017] Hereinafter, the directions related to the elastic member 1 and the concrete panel 100 are indicated as a vertical direction 7, a front-rear direction 8, and a left-right direction 9. The front-rear direction 8 and the left-right direction 9 are both horizontal directions perpendicular to the vertical direction 7 and perpendicular to each other. The vertical direction 7 is the direction in which the main surface of the concrete panel 100 installed lying down faces, which is the so-called thickness direction of the concrete panel 100. The vertical direction 7 is the direction in which the main surface of the elastic member 1 faces, which is the so-called thickness direction of the main body 11 of the elastic member 1. The left-right direction 9 is the longitudinal direction of the concrete panel 100 installed lying down. The left-right direction 9 is the direction in which the first convex portion 12 of the elastic member 1 extends along the main surface. The front-rear direction 8 is the short side direction of the concrete panel 100 installed lying down. The front-rear direction 8 is the direction in which the second convex portion 13 of the elastic member 1 protrudes from the first convex portion 12.

[0018] [Concrete Panel 100] 1 and 2, the concrete panel 100 is a plate body having a rectangular outer shape in a plan view. The concrete panel 100 is precast concrete, and is manufactured by molding concrete into a panel shape using a formwork in a factory, and then removing the formwork and curing the panel in an autoclave.

[0019] As shown in Fig. 1, a surface 102 of a concrete panel 100 (an example of another main surface of the concrete panel 100) is a surface that faces outward in an exterior wall, and is provided with an uneven pattern or the like for design purposes. The pattern on the surface 102 is formed by a formwork. A lip channel steel 110a is embedded in the concrete panel 100. A part of the lip channel steel 110a is exposed on a back surface 101 (an example of one main surface of the concrete panel 100).

[0020] The lip channel steel 110a is a so-called C-shaped steel material, and extends along the left-right direction 9, which is the longitudinal direction of the concrete panel 100. In this embodiment, two lip channel steels 110a, 110b are positioned on the concrete panel 100 with a gap between them in the front-rear direction 8. The lip channel steels 110a, 110b are embedded in the concrete panel 100 by placing them in a formwork and pouring concrete into the formwork. The lip channel steels 110a, 110b are used to fix the concrete panel 100 with metal fittings or the like when placing the concrete panel 100 as an exterior wall of a house.

[0021] The lip channel steels 110a, 110b each have a groove extending in the left-right direction 9. In this embodiment, the groove of the lip channel steel 110a located at the rear in the front-rear direction 8 is indicated as groove 103a, and the groove of the lip channel steel 110b located at the front is indicated as groove 103b. The grooves 103a, 103b recess the back surface 101 of the concrete panel 100 downward.

[0022] The groove 103a opens upward on the back surface 101. The opening of the groove 103a is defined by a pair of lips 111a, 112a of a lip channel steel 110a. The lips 111a, 112a have a flat plate shape that is elongated in the left-right direction 9. The lips 111a, 112a slightly protrude upward from the back surface 101 of the concrete panel 100.

[0023] The groove 103b opens upward on the back surface 101. The opening of the groove 103b is defined by a pair of lips 111b, 112b of the lip channel steel 110b. The lips 111b, 112b have a flat plate shape that is elongated in the left-right direction 9. The lips 111b, 112b protrude slightly upward from the back surface 101 of the concrete panel 100.

[0024] [Elastic member 1] 2 to 5, the elastic member 1 is made of silicone rubber. The elastic member 1 includes a main body 11, a first convex portion 12, and a second convex portion 13. Since the entire elastic member 1 is made of silicone rubber, even if the elastic member 1 comes into contact with the concrete panel 100, the effect of the contact can be reduced.

[0025] The main body 11 has a rectangular outer shape in a plan view. An upper surface 202 (an example of one main surface of the main body 11) of the main body 11 is flat. A lower surface 201 (an example of the other main surface of the main body 11) of the main body 11 is also flat. A length D1 in the front-rear direction 8 corresponding to the short side of the rectangle of the main body 11 is greater than a length L1 (see FIG. 7) of the gap 114 between the pair of lips 111a, 112a (D1>L1). In addition, a length D1 in the up-down direction 7 of the main body 11 is greater than a length L2 (see FIG. 7) from the rear end of the pair of lips 111a to the front end of 112b in FIG. 1.

[0026] The first convex portion 12 protrudes downward from the lower surface 201 of the main body 11. The first convex portion 12 extends from the left end to the right end of the main body 11 in the left-right direction 9. The length D2 of the first convex portion 12 in the front-rear direction 8 is shorter than the length L1 of the gap 114 between the pair of lips 111a, 112b (D2 < L1). Thereby, the first convex portion 12 has a dimension in the front-rear direction 8 that can pass through the gap 114 between the pair of lips 111a, 112a from above and be inserted into the inside of the lip groove-shaped steel 110a. The position of the first convex portion 12 on the lower surface 201 is on the other end side (rear end side) rather than one end (front end) of the lower surface 201 of the main body 11 in the front-rear direction 8. Thereby, a part of the lower surface 201 of the main body 11 (the surface facing the opposing surface 31 described later) is located between the first convex portion 12 and one end (front end) of the lower surface 201 of the main body 11.

[0027] The surface of the first convex portion 12 facing forward is a connecting surface 41 that connects the surface located on the front end side of the lower surface 201 of the main body 11 and the opposing surface 31 of the second convex portion 13 described later. The length D3 of the connecting surface 41 in the up-down direction 7 is, for example, larger than the length L3 of the pair of lips 111a, 112a in the front-rear direction 8 (D3 >= L3). In the present embodiment, the connecting surface 41 curves backward. Also, the corner between the connecting surface 41 and the lower surface 201 of the main body 11 is chamfered into a curved surface shape. The corner between the connecting surface 41 and the opposing surface 31 is chamfered into a curved surface shape. Thereby, stress concentration at the corner can be suppressed, so the strength of the elastic member 1 is ensured.

[0028] The second convex portion 13 extends forward along the lower surface 201 from the tip (lower end portion) of the first convex portion 12. Similar to the first convex portion 12, the second convex portion 13 extends from the left end to the right end of the main body 11. The front end of the second convex portion 13 is located behind the front end of the main body 11. The surface facing upward of the second convex portion 13 is the opposing surface 31 that faces the lower surface 201 of the main body 11. The length D4 of the second convex portion 13 in the front-rear direction 8 is shorter than the length L1 of the gap 114 between the pair of lips 111a, 112a (D4 < L1). The sum of the length D2 of the first convex portion 12 in the vertical direction 7 and the length D4 of the second convex portion 13 in the vertical direction 7 is shorter than the length L1 of the gap 114 between the pair of lips 111a, 112a (D2 + D4 < L1). The first convex portion 12 and the second convex portion 13 have dimensions that allow them to pass through the gap 114 between the pair of lips 111a, 112a from above and be inserted into the inside of the lip groove section steel 110a. In the vertical direction 7, the length D5 from the connection surface 41 of the first convex portion 12 to the rear end of the main body 11 is larger than the length L1 of the gap 114 between the lips 111a, 112a (D5 > L1). Thereby, the rear end portion on the lower surface 201 of the main body 11 can be brought into contact with the upper surface 113a of the lip 111a.

[0029] In the present embodiment, the space surrounded by the lower surface 201 of the main body 11, the first convex portion 12, and the second convex portion 13 is referred to as an engagement recess 14. The engagement recess 14 opens in the left-right direction 9 and forward.

[0030] [Usage method of the elastic member 1] As shown in Figs. 6 and 7, the elastic member 1 is used in an engaged state in which the engagement recesses 14 are engaged with the lips 111a, 112a of the concrete panel 100 erected in the curing rack 400. In the engaged state, the upper surface 202 of the elastic member 1 abuts against the upper surfaces 113a, 114a of the lips 111a, 112a. The elastic member 1 abuts against the upper surfaces 113a, 114a of the lips 111a, 112a and the lower surface 115a of the lip 112a, and is supported by three surfaces. This maintains the elastic member 1 in an engaged state. A plurality of elastic members 1 are attached to the lip 112a of one lip channel steel 110a and the lip 112b of the other lip channel steel 110b along the left-right direction 9. For example, in Fig. 2, three elastic members 1 are attached to each of the lip channel steels 110a, 110b. 6 and 7 show an example in which the elastic member 1 is not attached to the rearmost concrete panel 100 arranged side by side.

[0031] The lower surface 201 of the elastic member 1 attached to the concrete panel 100 can come into contact with the surface 102 of another concrete panel 100 arranged side by side behind the attached concrete panel 100. This prevents contact between the juxtaposed concrete panels 100 and between the lip channel steels 110a, 110b and the concrete panels 100, even if one of the concrete panels 100 adjacent in the front-to-rear direction 8 sways or warps.

[0032] [Concrete panel 100 juxtaposition device 200] Next, the juxtaposition device 200 for the concrete panels 100 will be described with reference to FIGS. The juxtaposition device 200 for concrete panels 100 is a device that attaches elastic members 1 to the concrete panels 100 before autoclave curing, and juxtaposes the concrete panels 100 with the elastic members 1 attached in a curing rack 400 for autoclave curing. As shown in Fig. 8, the juxtaposition device 200 includes a holding arm 210 (an example of a robot arm), a parts feeder 220, a mounting arm 230 (an example of a robot arm), and a control device 240.

[0033] As shown in FIG. 9, the holding arm 210 is a robot arm whose tip can move and rotate in the up-down direction 7, the front-rear direction 8, and the left-right direction 9 by axial control using, for example, a servo motor (not shown). A holding device 211 for holding the concrete panel 100 is located at the tip of the holding arm 210. The holding device 211 has a plurality of claws 212 that hold or release the concrete panel 100 by engaging with the lip 112a and the lip 111b. The claws 212 hold and release the concrete panel 100 by engaging and disengaging with the lip 112a and the lip 111b in response to the operation of a servo motor (not shown) located inside the holding device 211. The claws 212 enter the inside of the lip channel steels 110a, 110b, for example, from the gaps 114 (openings) of the lip channel steels 110a, 110b. The claw portion 212 moves so as to sandwich the lip 112a and the lip 111b together in response to the rotation of the servo motor, thereby engaging with and disengaging from the concrete panel 100. The holding arm 210 and the holding device 211 (servomotor) operate based on a control signal output from a control device 240, which will be described later.

[0034] 10, the part feeder 220 is a device that supplies the elastic member 1 that is engaged with and disengaged from the concrete panel 100. The part feeder 220 is, for example, a vibration feeder. The part feeder 220 includes a hopper 219 and a conveying device 222.

[0035] The hopper 219 is a device for feeding the elastic member 1 into the conveying device 222. As shown in Fig. 10 and Fig. 11, the hopper 219 is, for example, a belt-type conveyor and extends in the left-right direction 9. The left end of the hopper 219 is located higher than the right end. The left end of the hopper 219 is located above the conveying device 222. The hopper 219 is located on the floor surface F.

[0036] The conveying device 222 is a device that conveys the elastic member 1 put in from the hopper 219 while adjusting the direction and posture of the elastic member 1. The conveying device 222 includes a bowl 223, an attachment 224, and a vibrator 225.

[0037] The bowl 223 is located directly below the left end of the hopper 219. The bowl 223 is a tray for the elastic members 1 fed from the hopper 219. The bowl 223 is a so-called stepped bowl that has a circular outer shape in a plan view and is recessed downward like a mortar. A long plate-shaped first conveying path 226 (rail) that extends spirally along the inner circumference is located in the bowl 223. The first conveying path 226 is a conveying path that conveys the elastic members 1 radially outward and upward from the bowl 223. One end of the first conveying path 226 in the width direction is connected to the inner peripheral surface of the bowl 223. The upper surface of the first conveying path 226 is a support surface that supports the elastic members 1 being conveyed.

[0038] The attachment 224 is positioned along the outer periphery of the bowl 223. The attachment 224 is supported by the bowl 223. The attachment 224 is a transport mechanism that further transports the elastic member 1 transported from the first transport path 226. The attachment 224 is connected to the upper end of the first transport path 226 (the tip in the direction in which the elastic member 1 is transported (hereinafter also referred to as the transport direction)). The attachment 224 includes a second transport path 227, a third transport path 228, and a rod body 229.

[0039] The second conveying path 227 is connected to the tip of the first conveying path 226 in the conveying direction. The second conveying path 227 is plate-shaped and configured in an arc shape along the outer periphery of the bowl 223. The upper surface of the second conveying path 227 is an inclined surface 218 (see FIG. 12) that inclines upward and toward the outer periphery (diametrically outward). A step is located between the radially outer upper surface of the second conveying path 227 and the radially inner upper surface, and a step surface 217 that is a surface connecting the two is configured. The step surface 217 extends along the conveying direction of the second conveying path 227. The tip of the second conveying path 227 in the conveying direction is located above the third conveying path 228.

[0040] The third conveying path 228 is located below the second conveying path 227 and is configured in an arc shape. The outer periphery of the third conveying path 228 is located radially outward of the outer periphery of the second conveying path 227. The third conveying path 228 includes a bottom plate 216 and an outer periphery wall 235.

[0041] The bottom plate 216 is plate-shaped and is located below the second conveying path 227 in the vertical direction 7. The outer periphery of the bottom plate 216 is located radially outward from the outer periphery of the second conveying path 227. The upper surface of the bottom plate 216 is an inclined surface 233 that inclines upward and radially outward, similar to the second conveying path 227. A step is located between the radially outer upper surface of the bottom plate 216 and the radially inner upper surface of the bottom plate 216, and a step surface 234 that is a surface connecting the two is configured. The step surface 234 extends along the conveying direction in which the elastic member 1 is conveyed on the bottom plate 216. The tip of the bottom plate 216 in the conveying direction is connected to the removal position 500. In addition, the bottom plate 216 may have a notch (not shown) for removing the elastic member 1 from the third conveying path 228, the first convex portion 12 or the second convex portion 13 of which is not in contact with the step surface 234. The notch is formed at a certain distance (for example, a distance sufficiently longer than the longitudinal length of the elastic member 1) radially inward from the step surface 234, on the tip side of the bottom plate 216 further from the rod body in the transport direction.

[0042] The outer peripheral wall 235 is a wall that stands upward from the radially outer edge of the bottom plate 216. The outer peripheral wall 235 extends along the bottom plate 216. The height of the outer peripheral wall 235 is greater than the length of the main body 11 of the elastic member 1 in the short direction in the up-down direction 7. The distance between the outer peripheral wall 235 and the radially outer end of the second conveying path 227 is greater than the thickness of the elastic member 1 (the sum of the plate thickness of the main body 11 and the protruding height of the first convex portion 12).

[0043] The rod body 229 is located below the second transport path 227. The rod body 229 protrudes from below the second transport path 227 toward above the third transport path 228. The rod body 229 is, for example, a cylinder. The protruding tip of the rod body 229 is curved in an arc shape so as to cross the upper surface of the third transport path 228 in the width direction. The tip of the rod body 229 is curved, for example, from a direction along the second transport path 227 to a direction crossing the width direction of the second transport path 227. The distance from the upper surface of the third transport path 228 to the rod body 229 is shorter than the length of the elastic member 1 in the short direction.

[0044] The vibrator 225 is a device that vibrates the bowl 223 and the attachment 224. The vibrator 225 is located, for example, below the bowl 223 and the attachment 224. The vibrator 225 supports the bowl 223 and the attachment 224. The vibrator 225 vibrates the bowl 223 and the attachment 224, thereby moving the elastic member 1. The vibrator 225 is located on the floor surface F.

[0045] [Parts feeder 220 operation] A plurality of elastic members 1 are supplied onto the conveyor in hopper 219, and move leftward on the conveyor. A plurality of elastic members 1 that have moved to the left end of hopper 219 drop downward and are fed into bowl 223. The elastic members 1 fed into bowl 223 move within bowl 223 along first transport path 226 due to the vibration of bowl 223.

[0046] The multiple elastic members 1 move along the first conveying path 226. Of the multiple elastic members 1, some of the elastic members 1 fall from the first conveying path 226 due to contact with other elastic members 1, etc. The fallen elastic members 1 move again along the first conveying path 226. As a result, the elastic members 1 placed in the bowl 223 move while being aligned along the conveying direction (clockwise direction in FIG. 10) on the first conveying path 226.

[0047] The elastic member 1 that has passed through the first transport path 226 moves to the second transport path 227. As shown in Fig. 12, in the second transport path 227, the elastic member 1 moves on the second transport path 227 with the first convex portion 12 or the second convex portion 13 in contact with the step surface 217. The elastic member 1 that has passed through the second transport path 227 drops into the third transport path 228 located at the end of the second transport path 227 in the transport direction.

[0048] 13, in the second conveying path 227, the elastic member 1 in which the first convex portion 12 or the second convex portion 13 is not in contact with the step surface 217 slides radially outward due to the inclined surface 218 of the second conveying path 227. The elastic member 1 slides down from the second conveying path 227 to the third conveying path 228. When the elastic member 1 leaves the second conveying path 227 and falls towards the third conveying path 228, it falls while being inverted in the up-down direction 7. The fallen elastic member 1 moves in the conveying direction towards the position of the rod body 229.

[0049] A part of the elastic member 1 that has fallen onto the third conveying path 228 has the first convex portion 12 facing downward, and the first convex portion 12 or the second convex portion 13 comes into contact with the step surface 234. On the other hand, as shown in FIG. 14, the elastic member 1 that is in contact with the radially inner surface of the outer circumferential wall 235 while leaning against it and is not yet turned over comes into contact with the rod body 229 by moving in the conveying direction. The elastic member 1 is forcibly turned over by coming into contact with the rod body 229. As shown in FIG. 15, the forcibly turned over elastic member 1 is conveyed along the third conveying path 228 (the upper surface of the bottom plate 216) with the first convex portion 12 facing downward and the first convex portion 12 in contact with the step surface 234, like the other elastic members 1. In addition, even if the first convex portion 12 does not abut along the step surface 234 on the third conveying path 228, the posture of the first convex portion 12 of the elastic member 1 is controlled during conveying so that it abuts along the step surface 234 due to the inclination of the inclined surface 233 and the vibration of the attachment 224.

[0050] The elastic member 1 that has dropped from the leading end of the second conveying path 227 in the conveying direction passes through the position of the rod body 229 and meets up with the elastic member 1 that has been conveyed along the third conveying path 228 in the third conveying path 228. The joined elastic member 1 is conveyed to a removal position 500 located at the end of the third conveying path 228 in the conveying direction.

[0051] 16(a) and (b), a distance measuring sensor 221 that measures a distance L in the horizontal direction from a predetermined one side to the first convex portion 12 or the second convex portion 13 is located at the take-out position 500. An output indicating the measurement result of the distance measuring sensor 221 is output to the control device 240 described later.

[0052] 17, the mounting arm 230 is a robot arm whose tip can move and rotate in the up-down direction 7, the front-rear direction 8, and the left-right direction 9, for example, by axial control using a servo motor (not shown). At the tip of the mounting arm 230, a suction device 231 capable of adsorbing the upper surface 202 of the elastic member 1 (main body 11) is positioned. The suction device 231 holds the elastic member 1 using a suction cup that adsorbs the upper surface 202 of the elastic member 1. Meanwhile, the suction device 231 releases its hold on the elastic member 1 by releasing the suction. The mounting arm 230 operates based on a control signal output from a control device 240, which will be described later.

[0053] The control device 240 is, for example, an information processing device such as a personal computer. The control device is electrically connected to the holding arm 210, the distance measurement sensor 221, and the attachment arm 230. The control device 240 includes a CPU 241, a memory 242, and a communication IF 243.

[0054] The memory 242 is composed of a RAM, a ROM, and an EEPROM. The memory 242 stores a program for operating the holding arm 210, a program for identifying the orientation of the elastic member 1 based on the output of the distance measuring sensor 221, and a program for operating the mounting arm 230. The memory 242 also stores in advance the number and positions of the elastic members to be mounted on one concrete panel 100. The memory 242 stores the number of concrete panels 100 to be arranged side by side on one curing rack 400. The CPU 241 increments the number of elastic members 1 already mounted on one concrete panel 100 and the number of concrete panels 100 arranged side by side on the curing rack 400 in response to the completion of the installation operation of the elastic members 1 and the completion of the arrangement operation of the concrete panels, and stores them in the memory 242. The CPU 241 acquires the output from the distance measuring sensor 221 via the communication IF 243.

[0055] [Operation of the juxtaposition device 200 for the concrete panels 100] Next, the operation of the juxtaposing device 200 for the concrete panels 100 will be described with reference to FIGS. As shown in Fig. 18, the CPU 241 operates the holding arm 210 to execute a panel arrangement step in which the pre-autoclave cured concrete panel 100 is arranged with the back surface 101 facing upward (step S1). After the holding arm 210 arranges the concrete panel 100 on the support stand 300 capable of supporting the concrete panel 100 with the front surface 102 facing downward as shown in Fig. 9, the holding arm 210 is released from the concrete panel 100 by the holding device 211.

[0056] Next, the CPU 241 acquires the output from the distance measurement sensor 221 and executes a determination step of determining the orientation of the elastic member 1 (the orientation of the second convex portion 13) located at the take-out position 500 of the part feeder 220 (step S2). In the determination process, the orientation of the elastic member 1 is determined according to the distance L to the first convex portion 12 or the second convex portion 13 indicated by the output of the distance measurement sensor 221. When the distance L indicated by the output from the distance measurement sensor 221 is smaller than a predetermined value (see FIG. 16(a)), it is determined that the second convex portion 13 is located opposite the distance measurement sensor 221 and that the orientation of the elastic member 1 is such that the second convex portion 13 extends in the direction toward the distance measurement sensor 221 (forward). When the distance L indicated by the output from the distance sensor 221 is greater than a predetermined value (see Figure 16 (b)), the first convex portion 12 is located opposite the distance sensor 221, and the orientation of the elastic member 1 is determined to be such that the second convex portion 13 extends in the opposite direction (rearward) from the direction toward the distance sensor 221.

[0057] Next, the CPU 241 controls the mounting arm 230 to execute a holding step of holding the upper surface 202 of the elastic member 1 (step S3). In the holding step, the suction device 231 of the mounting arm 230 is moved to directly above the elastic member 1 positioned at the take-out position 500. The suction device 231 starts a suction operation, thereby holding the elastic member 1 positioned at the take-out position 500.

[0058] Next, the CPU 124 executes the elastic member arrangement step by controlling the mounting arm 230. First, the CPU 124 adjusts the orientation of the elastic member 1 (step S4). Here, the CPU 124 operates the mounting arm 230 based on the protruding orientation of the second convex portion 13 identified in the identification step. The CPU 124 rotates the elastic member 1 with the vertical direction 7 as the axial direction based on the orientation of the second convex portion 13 identified in the identification step. The mounting arm 230 rotates the elastic member 1 so that the orientation of the second convex portion 13 faces the direction (forward) from the opening of the lip channel steel 110a toward the lower lip 112a. As shown in FIG. 19, for example, when the second convex portion faces left (see FIG. 16(b)), the CPU 124 controls the suction device 231 to rotate the elastic member 1, for example, half a turn clockwise, with the vertical direction 7 as the axis when viewed from above. For example, when the second protrusion faces forward (see FIG. 16(a)), the CPU 124 does not rotate the elastic member 1.

[0059] 20, in an elastic member placement step, the CPU 241 places the elastic member 1 on the lip channel steels 110a, 110b by controlling the attachment arm 230 (step S5). The attachment arm 230 inserts the first convex portion 12 and the second convex portion 13 into the openings of the lip channel steels 110a, 110b, and moves the elastic member 1 downward to engage the elastic member 1 with the lower lips 112a, 112b. The attachment arm 230 releases the retention of the elastic member 1 after the elastic member 1 engages with the lips 112a, 112b.

[0060] Next, it is determined whether a predetermined number of elastic members 1 have been attached to one concrete panel 100 (step S6). If a predetermined number of elastic members 1 have been attached (step S6_YES), the process proceeds to step S7. If a predetermined number of elastic members 1 have not been attached (step S6_NO), the process returns to step S2. When arranging a plurality of elastic members 1, the CPU 241 arranges the elastic members 1 at a plurality of positions with the second convex portion 13 protruding from the first convex portion 12 in the same direction, and with the second convex portion 13 entering the opening in the lip channel steel 110a, 110b. As a result, the elastic members 1 are arranged at a plurality of positions with the second convex portion 13 facing the lips 112a, 112b of the lip channel steel 110a, 110b.

[0061] In step S7, the CPU 241 operates the holding arm 210 to execute a juxtaposition process of juxtaposing the concrete panels 100. In the juxtaposition process, the concrete panel 100 is held again by the holding device 211 of the holding arm 210. As shown in Fig. 21, the holding arm 210 rotates and moves to raise the concrete panel 100 from a state in which the back surface 101 of the concrete panel 100 faces upward to a state in which the back surface 101 of the concrete panel 100 faces backward. The holding arm 210 juxtaposes the upright concrete panel 100 on the curing rack 400 (see Fig. 6).

[0062] Next, it is determined whether or not the predetermined number of concrete panels 100 have been arranged side by side on the curing rack 400 (Step S8). If the predetermined number of concrete panels 100 have been arranged side by side on the curing rack 400 (Step S8_YES), the processing according to this flow ends. On the other hand, if the predetermined number of concrete panels 100 have not been arranged side by side on the curing rack 400 (Step S8_NO), the processing returns to Step S1.

[0063] [Functions and Effects of Elastic Member 1 According to the Embodiment] In the concrete panel 100 with the lip channel steels 110a, 110b open upward, the elastic member 1 is arranged so that the first convex portion 12 and the second convex portion 13 enter the openings of the lip channel steels 110a, 110b. Then, when the concrete panel 100 is erected, the elastic member 1 is engaged with the lip channel steels 110a, 110b, and the main body 11 of the elastic member 1 covers the lip channel steels 110a, 110b. Therefore, when a plurality of concrete panels 100 are arranged in a state of leaning against each other, the main body 11 of the elastic member 1 is located between the lip channel steels 110a, 110b of one concrete panel 100 and the surface 102 of the other concrete panel 100, so that the lip channel steels 110a, 110b do not come into contact with the surface 102 of the concrete panel 100. This makes it possible to protect the surface 102 of the concrete panel 100 from contact. The elastic member 1 can be easily attached to the lip channel steels 110a, 110b simply by engaging and disengaging with one of the lips 112a, 112b.

[0064] When attaching the elastic member 1, it becomes easy to insert the first convex portion 12 and the second convex portion 13 into the opening of the lip channel steel 110a defined by the pair of lips 111a, 112a.

[0065] Since the connecting surface 41 and the opposing surface 31 can be made wide, the posture of the elastic member 1 attached to the lip 112a is stable.

[0066] With the second convex portions 13 of the elastic members 1 supplied by the parts feeder 220 facing in the same direction, multiple elastic members 1 can be arranged on the lip channel steels 110a, 110b of the concrete panel 100. This automates the process of engaging the elastic members 1 with the lip channel steels 110a, 110b of the concrete panel 100 and arranging multiple concrete panels 100 side by side for autoclave curing.

[0067] (Modification) In the above embodiment, the outer shape of the main body 11 in plan view is rectangular, but is not limited thereto. The outer shape of the main body 11 in plan view can be various shapes such as circular, polygonal, etc., as long as the contact with the pair of lips 111a, 112a is maintained. In addition, the length of the main body 11 in the left-right direction 9 may be extended to widen the area of ​​the lip 112a with which one elastic member 1 abuts. In this case, the first convex portion 12 and the second convex portion 13 may be extended according to the extended main body 11, or a plurality of engagement recesses 14 may be formed by a plurality of first convex portions 12 and second convex portions 13. This reduces the exposed area of ​​the lip 112a, thereby further suppressing contact between the concrete panel 100 and the lip channel steel 110a.

[0068] In the above embodiment, the second protrusion 13 protrudes in one direction in the vertical direction 7 relative to the first protrusion 12, but it may protrude in both directions in the vertical direction 7. This allows the engagement recesses 14 to be located both above and below the first protrusion 12, improving versatility in the orientation when engaging the elastic member 1 with the lip 112a. This makes it easier to engage and disengage the elastic member 1 with the lip 112a.

[0069] Furthermore, the second convex portion 13 may protrude from the entire outer periphery of the tip of the rectangular parallelepiped first convex portion 12 in the front-rear direction 8 and the left-right direction 9 in a flange-like shape. The first convex portion 12 may be cylindrical and protrude from the entire peripheral surface of the tip of the first convex portion 12 in a flange-like shape in the radially outward direction. The opposing surface 31 of the protruding second convex portion 13 may face the lower surface 201 of the first convex portion 12 in any direction. This does not limit the direction in which the elastic member 1 is attached to the lips 112a, 112b. In other words, the engagement recess 14 can be opposed to the lips 112a, 112b in both the front-rear direction 8 and the left-right direction 9. This makes it possible to attach the elastic member 1 to the concrete panel 100 without the adjustment process. The elastic member 1 can be attached more efficiently, and the juxtaposition can be more efficiently performed.

[0070] In the above embodiment, the first protrusion 12 and the second protrusion 13 extend from the right end to the left end of the main body 11, but the present invention is not limited to this. A plurality of first protrusions 12 and second protrusions 13 may be positioned along the left-right direction 9.

[0071] In the above embodiment, the first convex portion 12 and the second convex portion 13 are described as separate bodies, but the present invention is not limited to this. The first convex portion 12 and the second convex portion 13 may be integral. The first convex portion 12 and the second convex portion 13 may be integrally formed in a shape that curves and protrudes forward and downward from the lower surface 201 of the main body 11. The first convex portion 12 and the second convex portion 13 may be integrally formed in a shape that obliquely protrudes forward and downward from the lower surface 201 of the main body 11.

[0072] In addition, in the above embodiment, the number and positions of the elastic members 1 attached to one concrete panel 100 are not particularly limited, but it is preferable for them to be attached in locations where large warping is expected or locations close to the top surfaces of adjacent concrete panels 100.

[0073] In the above embodiment, the sum of the length D2 of the first protrusion 12 in the up-down direction 7 and the length D4 of the second protrusion 13 in the up-down direction 7 is shorter than the length L1 of the gap 114 between the pair of lips 111a, 112a, but is not limited thereto. The sum of the length D2 and the length D4 may be longer than the length L1. In this case, the length D2 may be shorter than the length L1. As a result, the elastic member 1 may be inserted and slid from the openings at both ends of the lip channel steels 110a, 110b in the left-right direction 9, and may be locked at a predetermined position of the lips 112a, 112b. As a result, the elastic member 1 can be more effectively prevented from falling off the lip channel steels 110a, 110b.

[0074] Also, the rotation direction and the rotation amount of the elastic member 1 in the adjustment process of the above embodiment are merely examples. Any rotation direction or rotation amount may be used as long as the protruding direction of the second protrusion 13 faces the lips 112a, 112b from the openings of the lip channel steels 110a, 110b. Also, the rotation direction and the rotation amount may be appropriately determined depending on the orientation of the second protrusion 13 at the take-out position 500, which is determined by the arrangement of the parts feeder 220.

[0075] In the above embodiment, the elastic member 1 is engaged with the lips 112a, 112b, but this is not limited thereto. The elastic member 1 may be engaged with the lips 111a, 111b in the front-rear direction 8. In other words, it is sufficient that the elastic member 1 is engaged with the lip on one side in the front-rear direction 8. When the elastic member 1 is engaged with the lips 111a, 111b, the concrete panel 100 is rotated so that the rear side faces downward when juxtaposed, and is juxtaposed to the curing rack 400.

[0076] [Appendix 1] An elastic member that is made of an elastic body and can be freely engaged with and disengaged from a lip channel steel that is located on one main surface of a concrete panel to be cured in an autoclave, is recessed in a thickness direction, and extends along the one main surface, A plate-shaped body, A first protrusion protruding from one main surface of the main body; a second protrusion protruding from a tip end of the first protrusion in a first direction along the one main surface of the main body and having an opposing surface opposing the one main surface of the main body; An elastic member comprising:

[0077] [Appendix 2] The elastic member according to claim 1, wherein a protruding length of the second convex portion is shorter than a distance in the second direction from the first convex portion to one end of one principal surface of the main body.

[0078] [Appendix 3] The elastic member according to claim 1 and claim 2, wherein the first convex portion and the second convex portion extend from one end to the other end on one principal surface of the main body in a third direction intersecting the first direction and the second direction.

[0079] [Appendix 4] 4. A method of juxtaposing concrete panels using an juxtaposing device, comprising: engaging an elastic member according to any one of claims 1 to 3 with said concrete panels and juxtaposing said concrete panels for autoclave curing, said method comprising the steps of: a panel placement process of operating a first robot arm to place the concrete panel with one main surface on which the lip channel steel is located facing upward; a step of determining a protruding direction of the second convex portion based on an output from a distance measuring sensor with respect to the elastic member that is supplied in a state in which one main surface of the main body faces downward in the parts feeder; a holding step in which a second robot arm holds an upper surface of the elastic member; An orientation adjustment process in which the second robot arm is operated based on the protruding direction of the second convex portion identified in the identification process, so as to adjust the protruding direction of the second convex portion in a direction from the opening in the lip channel steel toward one of a pair of lips; an engaging step of moving the second robot arm to engage the elastic member with one of the lips; a changing step of operating the first robot arm to change the orientation of the concrete panel so that one of the lips that engages the elastic member is positioned below the other of the lips; a juxtaposition process of operating the first robot arm to juxtapose the concrete panels whose orientation has been changed in the changing process; The juxtaposition method comprises: [Explanation of symbols]

[0080] 1. Elastic member 11 Main unit 12...First protrusion 13...Second protrusion 14 Engagement recess 31... Opposing surface 41 Connection surface 100···Concrete panel 101: Back surface (one main surface of the concrete panel 100) 102...Surface 110a, 110b...Lip channel steel 111a, 112a, 111b, 112b... Lip 200... Parallel equipment 201.... Bottom surface (one main surface of the body) 220···Parts feeder 221... Distance measuring sensor 230... Attachment arm (robot arm)

Claims

1. An elastic member that is made of an elastic body and can be freely engaged with and disengaged from a lip channel steel that is located on one main surface of a concrete panel to be cured in an autoclave, is recessed in a thickness direction, and extends along the one main surface, A plate-shaped body, A first protrusion protruding from one main surface of the main body; An elastic member comprising: a second convex portion that protrudes in a second direction along one main surface of the main body from a tip portion in a first direction in which the first convex portion protrudes, and has an opposing surface that faces the one main surface of the main body.

2. The elastic member according to claim 1 , wherein a tip of the second protrusion is closer to the first protrusion than one end of one main surface of the main body in the second direction.

3. The elastic member according to claim 1 , wherein the first convex portion and the second convex portion extend from one end to the other end on one main surface of the main body in a third direction intersecting the first direction and the second direction.

4. 13. A method of aligning concrete panels using an aligning device that engages the elastic member according to claim 1 with the concrete panels and aligns the concrete panels for autoclave curing, comprising the steps of: a panel placement process for placing the concrete panel with one main surface on which the lip channel steel is located facing upward; a step of determining a protruding direction of the second convex portion based on an output from a distance measuring sensor with respect to the elastic member that is supplied in a state in which one main surface of the main body faces downward in a parts feeder; a holding step in which a robot arm holds the elastic member; an elastic member arrangement process for operating the robot arm based on the protruding direction of the second convex portion identified in the identification process, so as to make the direction in which the second convex portion protrudes from the first convex portion the same, and arranging the elastic members at a plurality of positions in a state in which the second convex portion enters the opening in the lip channel steel; and a juxtaposition step of erecting the concrete panel so that the second convex portion extends downward from the first convex portion, and juxtaposing a plurality of the concrete panels.

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