Window frame angles, window frame anchors, holders, window frame brackets, robots, methods and systems

Abstract

The present invention provides sash angles, sash anchors, holders, sash brackets, robots, methods, and systems that can simplify the sash installation process compared to conventional methods. [Solution] According to one aspect of the present invention, a sash angle is provided, comprising a bottom portion and a side portion, wherein the bottom portion forms a contact surface with the building frame opening, and the side portion is formed to be substantially perpendicular to the bottom portion and configured to be in contact with a sash anchor attached to the sash, and the angle of the side portion with respect to the bottom portion is greater than 90 degrees.

Description

Technical Field

[0001] The present invention relates to an angle for sash, an anchor for sash, a holder, a bracket for sash, a robot, a method, and a system.

Background Art

[0002] Patent Document 1 discloses a sash unit.

[0003] This sash unit is a sash unit that can be attached to the outer wall of a building from the indoor side of the building. It includes a glass frame disposed within an opening formed in the outer wall, a glass plate disposed within the opening and held by the glass frame, and a frame joined to the glass frame at the outer periphery of the glass frame. The frame is fixed to the outer wall by inserting a fixing member (screw) from the indoor side in a direction perpendicular to the in-plane direction of the frame (Y-axis direction).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, the sash installation process consists of various processes such as material loading, setup, erection, welding, and mortar filling. In particular, erection is a process that requires a certain degree of skill. Therefore, in order to simplify the sash installation process, it is conceivable to automate or semi-automate erection and welding, but no specific technology has been known.

[0006] In view of the above circumstances, the present invention aims to provide an angle for sash, an anchor for sash, a holder, a bracket for sash, a robot, a method, a system, etc. that can simplify the sash installation process more than before. [Means for solving the problem]

[0007] According to one aspect of the present invention, a sash angle is provided, comprising a bottom portion and a side portion, wherein the bottom portion forms a contact surface with the building frame opening, and the side portion is formed to be substantially perpendicular to the bottom portion and configured to be in contact with a sash anchor attached to the sash, and the angle of the side portion with respect to the bottom portion is greater than 90 degrees.

[0008] In the window frame installation process, window frame angles and window frame anchors may be used. In this case, the window frame anchor attached to the window frame and the window frame angle in contact with the structural opening frame are welded together to attach the window frame to the structural opening frame.

[0009] Even when the sash anchor and sash angle were aligned and brought into contact, it was sometimes impossible to ensure sufficient contact accuracy. This was due to variations in the dimensional accuracy of at least one of the sash anchor and sash angle, which caused the welded joint to lift even when their relative positions were aligned. In this condition, welding defects were likely to occur when welding the sash anchor and sash angle.

[0010] Therefore, in one aspect of the present invention, the sash angle is formed with a bottom surface and a side surface that are substantially vertical, and the angle of the side surface relative to the bottom surface is set to an angle greater than 90 degrees. In this configuration, the edge of the side surface of the sash angle is inclined toward the sash anchor, making it easier to ensure the accuracy of contact with the sash anchor. Therefore, if the edge of the side surface of the sash angle and the contact point with the edge of the sash anchor (for example, the side surface of the sash anchor) are welded together, welding defects can be reduced.

[0011] Therefore, according to one aspect of the present invention, the sash mounting process can be made easier than in the conventional method.

Brief Description of the Drawings

[0012] [Figure 1] It is a diagram showing an overview of the system 100 and the sash 600. [Figure 2] It is a diagram showing the configuration of the sash angle 200. [Figure 3] It is a diagram showing the configuration of the holder 300. [Figure 4] It is a diagram showing the configuration of the sash anchor 400. [Figure 5] It is a diagram showing the configuration of the sash bracket 700. [Figure 6] It is a diagram showing the configuration of the robot 500. [Figure 7] It is a diagram showing the attachment process of the sash 600 according to the present embodiment. [Figure 8] It is a diagram showing the attachment process of the sash 600 according to the present embodiment. [Figure 9] It is a diagram showing the attachment process of the sash 600 according to the present embodiment. [[ID=XXX]] [[ID=XXX]] [Figure 10] It is a diagram showing another form of the sash angle 200. [Figure 11] It is a diagram showing another form of the holder 300. [Figure 12] It is a diagram showing another form of the sash bracket 700. [Figure 13] It is a diagram showing a state where the sash angle 200F is welded to another form of the sash anchor 400.

Modes for Carrying Out the Invention

[0013] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Various characteristic matters shown in the following embodiments can be combined with each other.

[0014] 1. Overview In the first section, an overview of the present embodiment will be described.

[0015] 1-1. Sash Angle Note: There are some tags in the original text that seem to be repeated or have incorrect numbering (e.g., lines 24 - 30 with the same description and tags - [Figure 10] ). I have left them as they are in the translation. Also, the two tags marked as "XXX" seem to be incorrect in the original, but I've translated them as-is. If there are specific corrections or clarifications needed for these parts, please let me know. The sash angle includes a bottom surface portion and a side surface portion. The bottom surface portion forms a contact surface with the body opening frame. The side surface portion is formed to be substantially perpendicular to the bottom surface portion and forms a contact surface with an anchor attached to the sash. The angle of the side surface portion with respect to the bottom surface portion is an angle exceeding 90 degrees.

[0016] It is preferable that at least one of the bottom surface portion and the side surface portion has a detection portion detectable by a sensor.

[0017] It is preferable that 3 or more detection portions are provided on the bottom surface portion and / or 3 or more detection portions are provided on the side surface portion.

[0018] 1-2. Sash Anchor The sash anchor includes an attachment portion and a side surface portion. The attachment portion is configured to be attachable to the sash. The side surface portion is configured to face the side surface portion of the sash angle.

[0019] It is preferable that the attachment portion has a detection portion detectable by a sensor.

[0020] It is preferable that 3 or more detection portions are provided on the side surface portion. [[ID=2�]]

[0021] 1-3. Holder The holder includes a gripping portion and a holding portion. The gripping portion is configured to be grippable by a jig. The holding portion forms a contact surface with the sash angle and is configured to hold the position with respect to the body opening frame.

[0022] It is preferable that the holding portion is configured to be able to fix a material that can be adsorbed to the body opening frame.

[0023] It is preferable that the holding portion is configured to be able to change the fixing position of the material.

[0024] It is preferable that the material and the body opening frame are magnets.

[0025] 1-4. Sash Bracket The sash bracket consists of a sash angle and a holder. The holder is attached to the sash angle.

[0026] 1-5. Robots The robot comprises an arm and a control unit. The arm has a jig at its tip. The arm is configured to grip a sash bracket using the jig. The control unit controls the arm to move the sash bracket to a predetermined position while it is gripping the sash bracket.

[0027] It is preferable for the control unit to control the arm so that the side portion of the sash angle comes into contact with the side portion of the sash anchor. It is preferable for the control unit to control the arm so that the bottom portion of the sash angle comes into contact with the building opening frame. It is preferable for the control unit to control the arm so that the side portion of the sash angle is pressed against the sash anchor and conforms to it, and the bottom portion of the sash angle is pressed against the building opening frame and conforms to it.

[0028] 1-6. Method for fixing the sash to the structural opening frame. The method for fixing a sash to a structural opening frame comprises a first step, a second step, a third step, a fourth step, and a fifth step. In the first step, the sash bracket is grasped. In the second step, the side of the sash angle is brought into contact with the side of the sash anchor. In the third step, the bottom of the sash angle is brought into contact with the structural opening frame. In the fourth step, the side of the sash angle is pressed against the side of the sash anchor and conformed to it, and the bottom of the sash angle is pressed against the structural opening frame and conformed to it. In the fifth step, the side of the sash angle and the side of the sash anchor are joined together, and the bottom of the sash angle is joined to the structural opening frame.

[0029] 1-7. System The system comprises a sash anchor, a sash bracket, and a robot. The robot performs each step of the method for fixing the sash to the structural opening frame.

[0030] 2.Details Section 2 will describe the details of this embodiment.

[0031] 2-1. System Figure 1 shows a schematic diagram of the system 100 and sash 600. The system 100 comprises a sash angle 200, a holder 300, a sash anchor 400, and a robot 500. The robot 500 performs each step of the method for fixing the sash 600 to the structural opening frame 800, which will be described later. The sash 600 includes a frame 610 and a window frame 620. The frame 610 is a member for fitting and supporting the glass. The window frame 620 is a frame-shaped member that is configured around the outer circumference of the frame 610 and is in contact with the structural opening frame 800 to support the frame 610. Details of the configuration of the system 100 will be described later.

[0032] 2-2. Window frame angle 200 Figure 2 shows the configuration of the sash angle 200. The sash angle 200 includes a bottom portion 210 and a side portion 220.

[0033] The bottom portion 210 is configured to form a contact surface with the structural opening frame 800. The bottom portion 210 is formed to spread out in a flat plate shape. The bottom portion 210 is provided with fixing holes 211. The fixing holes 211 are holes for passing the fixing magnets 327 of the holder 300 through. That is, the sash angle 200 can be temporarily fixed (hereinafter also referred to as "temporarily fixed") to the structural opening frame 800 by the fixing magnets 327 of the holder 300 being attracted to the structural opening frame 800 through the fixing holes 211. In this embodiment, the structural opening frame 800 is described as being made of iron.

[0034] As shown in Figure 2(A), the bottom surface 210 has detection holes 212 (detection parts) that can be detected by, for example, a sensor (not shown) of the robot 500. There are four detection holes 212 on the bottom surface 210. The sash angle 200 can assume any orientation in six axes, including three axes (X-axis, Y-axis, Z-axis) and their rotational directions (roll, pitch, and yaw) in a Cartesian coordinate system. Therefore, by providing three or more detection holes 212 that can be detected by the sensor, the robot 500 can detect the orientation of the sash angle 200 in six axes, including the three axes and their rotational directions. Even if there is only one or two detection holes 212, the robot 500 can grasp the position and orientation of the sash angle 200 by detection by the sensor. With this configuration, in addition to three-axis position correction for the sash anchor 400, six-axis correction including three-axis rotation correction can be automated or semi-automated.

[0035] The side portion 220 is configured to be in contact with the side portion 420 of the sash anchor 400 attached to the sash 600. The side portion 220 is formed to be substantially perpendicular to the bottom portion 210. More specifically, as shown in Figure 2(B), the angle θ of the side portion 220 with respect to the bottom portion 210 is greater than 90 degrees. Specifically, for example, it may be 90.5, 91.0, 91.5, 92.0, 92.5, 93.0, 93.5, 94.0, 94.5, or 95.0 degrees, and may also be within the range between any two of the values ​​exemplified here. For example, when the angle θ is 92.0 degrees, pressing the side portion 220 against the side portion 420 of the sash anchor 400 makes it easier for the edge 221 of the side portion 220 to contact the side portion 420 compared to when the angle θ is 90.0 degrees. Therefore, in this state, the edge 221 of the side portion 220 and the side portion 420 can be easily joined by various joining means. In this embodiment, welding will be described as an example of a joining means.

[0036] The sash angle 200 may be made of iron. Therefore, the sash angle 200 is configured to be held by a retaining magnet 328 fixed to the holding portion 320 of the holder 300.

[0037] The configuration of the sash angle 200 allows for easier contact between the sash angle 200 and the sash anchor 400 than in conventional designs.

[0038] 2-3. Holder 300 Figure 3 shows the configuration of the holder 300. The holder 300 comprises a gripping portion 310 and a holding portion 320.

[0039] As shown in Figure 3(A), the gripping portion 310 is formed to protrude approximately perpendicularly from the holding portion 320. The gripping portion 310 is configured to be gripped by the jig 531 of the robot 500. The gripping portion 310 is configured, for example, as a hexagonal prism. Because the gripping portion 310 is hexagonal prism-shaped, the robot 500 can determine the phase of the holder 300 when the jig 531 of the robot 500 is gripping the holder 300. That is, the robot 500 can correct the gripping position of the holder 300 according to the phase of the holder 300. The gripping portion 310 may also be polygonal in shape, and if it is polygonal, it will have the same function as the hexagonal prism shape. Therefore, by using the holder 300, the sash angle 200 and the sash anchor 400 can be easily brought into contact.

[0040] The holding portion 320 has a mounting hole 321, two mounting holes 322, an upper adjustment screw 323, a lower adjustment screw 324, two upper adjustment screws 325, two lower adjustment screws 326, a fixing magnet 327 (second material), and two holding magnets 328 (first material). In this embodiment, the first material and the second material of the claim are described as magnets. The holding portion 320 forms a contact surface 329 with the sash angle 200. The contact surface 329 is the surface of the holding portion 320 opposite to the surface on which the gripping portion 310 is formed.

[0041] A fixing magnet 327 is fixed to the mounting hole 321. The fixing magnet 327 is a second material for temporarily fixing the sash angle 200 to the structural opening frame 800. In other words, the holding part 320 is configured to be able to fix the fixing magnet 327 in the mounting hole 321.

[0042] Retaining magnets 328 are fixed to each of the two mounting holes 322 (hereinafter also simply referred to as "mounting holes 322"). The retaining magnets 328 are the first material for holding the sash angle 200 to the contact surface 329. In other words, the retaining part 320 is configured to be able to fix the retaining magnets 328 in the mounting holes 322.

[0043] Because the holder 300 has a fixing magnet 327 and a holding magnet 328, the sash angle 200 can be temporarily fixed to the building opening frame 800 more easily than in the conventional method.

[0044] The upper adjustment screw 323 and the lower adjustment screw 324 are provided corresponding to the mounting hole 321. As shown in Figure 3(B), the upper adjustment screw 323 is provided above the lower adjustment screw 324 with reference to the contact surface 329 of the holding part 320. The lower adjustment screw 324 is provided closer to the contact surface 329 than the upper adjustment screw 323. The upper adjustment screw 323 fixes the magnet placed in the mounting hole 321 in a position as a holding magnet. That is, the upper adjustment screw 323 fixes the magnet in a position that holds the sash angle 200 to the contact surface 329. The lower adjustment screw 324 fixes the magnet placed in the mounting hole 321 in a position as a fixing magnet. That is, the lower adjustment screw 324 fixes the magnet in a position that temporarily fixes the sash angle 200 to the building frame opening 800.

[0045] The upper adjustment screw 325 and the lower adjustment screw 326 are provided corresponding to the mounting hole 322. The upper adjustment screw 325 is provided above the lower adjustment screw 326 with reference to the contact surface 329 of the holding part 320. The lower adjustment screw 326 is provided closer to the contact surface 329 than the upper adjustment screw 325. The upper adjustment screw 325 fixes the magnet placed in the mounting hole 322 in a position as a holding magnet. That is, the upper adjustment screw 325 fixes the magnet in a position that holds the sash angle 200 to the contact surface 329. The lower adjustment screw 326 fixes the magnet placed in the mounting hole 322 in a position as a fixing magnet. That is, the lower adjustment screw 326 fixes the magnet in a position that temporarily fixes the sash angle 200 to the building frame opening 800.

[0046] The fixing magnet 327 and the retaining magnet 328 may be fitted with stoppers (not shown) that contact the tip of each screw. Taking the mounting hole 321 as an example, when the adjustment screw upper 323 is tightened to the retaining part 320, the magnet in the mounting hole 321 is fixed in the position as the fixing magnet 327 by the stopper. The same applies to the mounting hole 322. In other words, the retaining part 320 is configured to allow the fixing positions of the retaining magnet 328 (first material) and the fixing magnet 327 (second material) to be changed. The configuration of the holder 300 is suitable for use depending on the method of positioning the sash angle 200.

[0047] 2-4. Window frame anchor 400 Figure 4 shows the configuration of the sash anchor 400. The sash anchor 400 includes a mounting portion 410 and a side portion 420.

[0048] The mounting portion 410 includes a frame mounting portion 411 and a window frame contact portion 412. The frame mounting portion 411 is mechanically attached to the frame 610 of the sash 600 by a clip-like mechanism. The window frame contact portion 412 contacts the window frame 620 of the sash 600 when the frame mounting portion 411 is attached to the frame 610. In other words, the mounting portion 410 is configured to be attachable to the sash 600.

[0049] The side portion 420 forms a surface substantially perpendicular to the mounting surface of the mounting portion 410 to the sash 600. The side portion 420 is configured to face the side portion 220 of the sash angle 200 when the mounting portion 410 is attached to the sash 600. The side portion 420 has detection holes 421 (detection parts) that can be detected by, for example, a sensor of the robot 500. There are four detection holes 421 on the side portion 420. By providing three or more detection holes 421 in this way, the orientation of the sash anchor 400 can be detected, similar to the bottom surface 210 of the sash angle 200. With this configuration, in addition to 3-axis position correction for the sash angle 200, 6-axis correction including 3-axis rotation correction can be automated or semi-automated.

[0050] The sash anchor 400, when used together with the sash angle 200, can prevent joint defects caused by misalignment in the three axes and their rotational directions.

[0051] 2-5. Window frame bracket 700 Figure 5 shows the configuration of the sash bracket 700. Figure 5(A) shows the sash bracket 700 in a plan view. Figure 5(B) shows the sash bracket 700 in a bottom view. The sash bracket 700 comprises a sash angle 200 and a holder 300.

[0052] The sash angle 200 is held by a retaining magnet 328 fixed to the holding portion 320 of the holder 300. The sash bracket 700 is gripped by a jig 531 attached to the tip of the arm 530 of the robot 500 and pressed against the sash anchor 400 when the sash angle 200 is held by the holder 300. In other words, the holder 300 is configured to hold the sash angle 200.

[0053] By holding the sash angle 200 in the holder 300 to form a unit and using it as a sash bracket 700, positioning relative to the sash anchor 400 can be achieved more easily than before.

[0054] 2-6. Robot 500 Figure 6 shows the configuration of the robot 500. The robot 500 comprises a main body 510, wheels 520, arms 530, and a control unit 540.

[0055] The main body 510 is constructed in a housing-like manner and includes components, wiring, power, and a control unit 540 for operating the robot 500. The main body 510 is equipped with four wheels 520. The four wheels 520 may be, for example, front-wheel drive or rear-wheel drive. The four wheels 520 may be omni-wheels, which are wheels that can move in all directions, or they may be Mecanum wheels. With this configuration, the robot 500 can move to various locations and perform the installation work of the sash 600.

[0056] The arm 530 is attached to the upper side of the main body 510. The arm 530 extends upward relative to the main body 510 and is configured to extend forward of the main body 510 via a joint. The arm 530 has a jig 531 at its tip. The jig 531 is configured, for example, in the shape of a gripper and is capable of gripping various objects. The arm 530 is configured to grip the sash bracket 700 using the jig 531. That is, the arm 530 uses the jig 531 to grasp the gripping portion 310 of the holder 300 of the sash bracket 700 and moves the sash angle 200 of the sash bracket 700 so as to press it against the sash anchor 400 attached to the sash 600.

[0057] The control unit 540 controls the arm 530 to move the sash bracket 700 to a predetermined position while gripping the sash bracket 700. The control unit 540 performs processing and control of the overall operation related to the robot 500. The control unit 540 is, for example, a Central Processing Unit (CPU) not shown. The control unit 540 realizes various functions related to the robot 500 by reading predetermined programs stored in a memory unit not shown. That is, information processing by software stored in the memory unit is concretely realized by the control unit 540, which is an example of hardware, and can be executed as each functional unit included in the control unit 540. Note that the control unit 540 is not limited to being a single unit, and may be implemented with multiple control units 540 for each function, or a combination thereof.

[0058] By using the robot 500, the positioning of the sash angle 200 and the sash anchor 400 can be automated or semi-automated.

[0059] 2-7. Installation process for sash 600 Figures 7 to 9 show the installation process of the sash 600 according to this embodiment. First, the control unit 540 of the robot 500 moves the jig 531 of the arm 530 to the position of the gripping portion 310 of the holder 300 of the sash bracket 700. Next, the control unit 540 grips the gripping portion 310 of the holder 300 with the jig 531. Then, with the sash bracket 700 in the gripped state, the control unit 540 controls the arm 530 to move the sash bracket 700 so that the side portion 220 of the sash angle 200 comes into contact with the side portion 420 of the sash anchor 400, and the bottom portion 210 of the sash angle 200 comes into contact with the building opening frame 800. Next, the control unit 540 controls the arm 530 so that the bottom surface 210 of the sash angle 200 abuts against the structural opening frame 800, while pressing the side surface 220 of the sash angle 200 against the side surface 420 of the sash anchor 400.

[0060] In the installation process of the sash 600 in this embodiment, when the sash bracket 700 is moved in the direction of arrow 441 and pressed against the side portion 420 of the sash anchor 400, the sash angle 200 is aligned while following the direction of arrow 442. That is, in the installation process of the sash 600 in this embodiment, the sash angle 200 is pressed against the sash anchor 400 and aligned while following its shape. Here, the robot 500 can align the sash angle 200 with the sash anchor 400 simply by moving the arm 530 straight toward the sash anchor 400. Therefore, according to this embodiment, there is no need to complexly control the movement of the arm 530, and it is possible to reduce installation errors of the sash 600 caused by miscontrol of the arm 530.

[0061] After positioning the sash bracket 700, the control unit 540 of the robot 500 releases the grip from the holder 300's gripping portion 310 to the jig 531 and brings the welding jig (not shown) closer to the sash bracket 700 and the sash anchor 400. Subsequently, the control unit 540 controls the arm 530 and the welding jig to weld the side portion 420 of the sash anchor 400 to the side portion 220 of the sash angle 200, forming a welded joint 910. Subsequently, the control unit 540 similarly controls the arm 530 and the welding jig to weld the side portion 220 of the sash angle 200 to the building opening frame 800, forming a welded joint 920. At this time, the sash angle 200 is temporarily fixed in position by the fixing magnet 327 of the holder 300, making it less likely to cause welding defects due to misalignment.

[0062] According to the installation process for the sash 600 in this embodiment, the installation process for the sash 600 can be made easier than in the conventional method by using the robot 500.

[0063] The installation process for the sash 600 is described as follows: The method for fixing the sash 600 to the structural opening frame 800 comprises a first step, a second step, a third step, a fourth step, and a fifth step. In the first step, the sash bracket 700 is grasped. In the second step, the side portion 220 of the sash angle 200 is brought into contact with the side portion 420 of the sash anchor 400. In the third step, the bottom portion 210 of the sash angle 200 is brought into contact with the structural opening frame 800. In the fourth step, while the bottom portion 210 of the sash angle 200 is brought into contact with the structural opening frame 800, the side portion 220 of the sash angle 200 is pressed against and conformed to the side portion 420 of the sash anchor 400. In the fifth step, the side portion 220 of the sash angle 200 is joined to the side portion 420 of the sash anchor 400, and the bottom portion 210 of the sash angle 200 is joined to the structural opening frame 800.

[0064] According to the installation process for the sash 600 in this embodiment, the installation process for the sash 600 can be made easier than in the conventional method.

[0065] Although various embodiments of the present invention have been described above, these are presented as examples only and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents.

[0066] 4. Variations Section 4 describes modified examples of this embodiment.

[0067] Figure 10 shows another form of the sash angle 200. In Figure 10, sash angle 200A, sash angle 200B, sash angle 200C, sash angle 200D, and sash angle 200E are shown as examples of other forms. As shown in Figure 10, the sash angles 200A to E may have their positions and number of fixing holes, which are holes for passing the fixing magnet 327 of the holder 300, changed, their positions and number of detection holes detectable by the sensor may be changed, and the width of the bottom and side portions may be changed.

[0068] Figure 11 shows another form of holder 300. In Figure 11, holder 300A is shown as an example of another form. As shown in Figures 11(A) and (B), holder 300A may be fixed by fixing the magnet fixed in the center mounting hole below the adjustment screw, or by fixing the magnets fixed in the left and right mounting holes above the adjustment screw.

[0069] Figure 12 shows another form of the sash bracket 700. In Figure 12, the sash bracket 700A is shown as an example of another form. For example, as shown in Figure 12(A), two fixing holes 211A are provided in the sash angle 200A, and as shown in Figure 12(B), fixing magnets 327A are fixed to the left and right mounting holes of the holder 300, respectively. In this case, the rotation of the sash angle 200A is restricted by the fixing magnets 327A protruding from the two fixing holes 211A. In this way, the sash angle 200A can be temporarily fixed to the building frame opening 800 in a manner that restricts the rotation of the sash angle 200A.

[0070] Figure 13 shows a state in which a sash angle 200F is welded to another form of sash anchor 400. In Figure 13, a welding angle 400A is shown as an example of another form. In this embodiment, a configuration in which multiple sash anchors 400 are attached to a sash 600 at intervals is illustrated, but the embodiment is not limited to this. Instead of sash anchors 400, a welding angle 400A that covers the entire side of the sash 600 may be attached to the sash 600, and the sash angle 200F may be welded to the welding angle 400A. In Figure 13, a welded joint 910A is formed by welding the sash angle 200F and the welding angle 400A, and a welded joint 920A is formed by welding the sash angle 200F to the building frame opening 800.

[0071] In this embodiment, a robot 500 was used as an example to describe the entity that performs the sash 600 installation process, but it is not limited to this. The entity that performs the process may be, for example, a dedicated machine that is specifically designed to perform the sash 600 installation process.

[0072] In this embodiment, welding was described as an example of a means of joining the sash angle 200 and the sash anchor 400, but the method is not limited to this. The joining means may be, for example, brazing, adhesive, riveting, bolt and nut fastening, crimping, etc.

[0073] In this embodiment, a (detection) hole was used as an example of the detection unit, but it is not limited to this. The detection unit may be, for example, a one-dimensional code such as a barcode, a two-dimensional code such as a QR code (registered trademark), a pattern using lines or colors, a three-dimensional shape, etc.

[0074] The sensors mounted on the Robot 500 and other specialized machines may be camera sensors capable of reading two-dimensional information, laser sensors capable of reading three-dimensional information, etc. The sensors may be appropriately used in conjunction with the detection unit described above.

[0075] In this embodiment, the detection hole 212, which serves as the detection unit, is provided on the bottom surface 210, but the embodiment is not limited to this. The detection hole 212 may be provided only on the side surface 220. In other words, at least one of the bottom surface 210 and the side surface 220 of the sash angle 200 may have a detection unit that can be detected by a sensor.

[0076] In this embodiment, the number of detection holes 212 in the sash angle 200 has been described as four, but it is not particularly limited. Specifically, for example, it could be 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, and it could be within the range of any two of the numbers exemplified here. In particular, it is preferable that the detection units be provided at least three on the bottom surface and / or at least three on the side surfaces. With this embodiment, the robot 500 can be made to perform correction in six axes, including three-axis rotation correction in addition to three-axis position correction for the sash anchor 400.

[0077] In this embodiment, iron is used as an example material for the sash angle 200, but it is not limited to this. The sash angle 200 may be a ferromagnetic material such as cobalt, nickel, or gadolinium. With such an embodiment, it is possible to position the sash angle 200 more easily than in the conventional method with a simple configuration.

[0078] In this embodiment, iron is used as an example material for the structural opening frame 800, but it is not limited to this. The structural opening frame 800 may be made of a ferromagnetic material such as cobalt, nickel, or gadolinium. With this embodiment, the positioning of the sash angle 200 can be made easier than in the conventional method with a simple configuration.

[0079] In this embodiment, the detection hole 421, which serves as the detection unit, is provided on the side portion 420, but the embodiment is not limited to this. The detection hole 421 may be provided only on the mounting portion 410. In other words, at least one of the mounting portion 410 and the side portion 420 of the sash anchor 400 may have a detection unit that can be detected by a sensor.

[0080] In this embodiment, the number of detection holes 421 in the sash anchor 400 has been described as four, but it is not particularly limited. Specifically, for example, it could be 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, and it could be within the range of any two of the numbers exemplified here. In particular, it is preferable that the detection units be provided in three or more locations on the mounting portion and / or three or more locations on the side portion. With this embodiment, the robot 500 can be made to perform correction in six axes, including three-axis rotation correction in addition to three-axis position correction with respect to the sash angle 200.

[0081] Even when these modifications are adopted, the effects and advantages of this embodiment will still be exhibited. Furthermore, it is possible to combine this embodiment with its modifications, and with each other, as appropriate.

[0082] 8. Other The product may be provided in any of the following embodiments.

[0083] (1) An angle for a sash, comprising a bottom portion and a side portion, wherein the bottom portion forms a contact surface with the building frame opening, the side portion is formed to be substantially perpendicular to the bottom portion and is configured to be in contact with a sash anchor attached to the sash, and the angle of the side portion with respect to the bottom portion is greater than 90 degrees.

[0084] In this configuration, the sash angle and the sash anchor can be brought into contact more easily than in the conventional method.

[0085] (2) A sash angle as described in (1) above, wherein at least one of the bottom surface and the side surface has a detection part that can be detected by a sensor.

[0086] In this embodiment, in addition to 3-axis positional correction for sash anchors, 6-axis correction including 3-axis rotational correction can be automated or semi-automated.

[0087] (3) In the sash angle described in (2) above, the detection unit is provided in three or more places on the bottom surface and / or three or more places on the side surface.

[0088] In this configuration, the robot can perform corrections in six axes, including not only three-axis positional correction for the sash anchor but also three-axis rotational correction.

[0089] (4) A sash anchor comprising a mounting portion and a side portion, wherein the mounting portion is configured to be attachable to a sash, and the side portion is configured to face the side portion of the sash angle described in any one of (1) to (3) above when the mounting portion is attached to the sash.

[0090] According to this embodiment, when used together with a sash angle according to one embodiment of the present invention, it is possible to prevent joint defects due to misalignment in six axes, including the three axial directions and the rotational direction thereof.

[0091] (5) A sash anchor as described in (4) above, wherein at least one of the mounting portion and the side portion has a detection portion that can be detected by a sensor.

[0092] In this embodiment, in addition to 3-axis positional correction for the sash angle, 6-axis correction including 3-axis rotational correction can be automated or semi-automated.

[0093] (6) A sash anchor as described in (5) above, wherein the detection unit is provided in three or more locations on the mounting portion and / or three or more locations on the side portion.

[0094] In this configuration, the robot can perform corrections in six axes, including not only three-axis position correction with respect to the sash angle, but also three-axis rotation correction.

[0095] (7) A holder comprising a gripping portion and a holding portion, wherein the gripping portion is configured to be gripped by a jig, the holding portion forms a contact surface with the sash angle described in any one of (1) to (3) above, and the holding portion is configured to be able to fix a first material for holding the sash angle to the contact surface and a second material for temporarily fixing the sash angle to the building frame opening.

[0096] According to this embodiment, the sash angle according to one embodiment of the present invention can be temporarily fixed to the building opening frame more easily than in the conventional method.

[0097] (8) A holder as described in (7) above, wherein the holding portion is configured to change the fixing positions of the first material and the second material, respectively.

[0098] This embodiment is suitably used depending on the method for positioning the sash angle.

[0099] (9) A holder as described in (7) or (8) above, wherein the first material and the second material are magnets, and the sash angle and the building frame opening are ferromagnetic materials.

[0100] According to this embodiment, a simple configuration makes it possible to position the sash angle more easily than in the conventional method.

[0101] (10) A bracket for a sash, comprising a sash angle as described in any one of (1) to (3) above and a holder as described in any one of (7) to (9) above, wherein the holder is configured to hold the sash angle.

[0102] According to this embodiment, positioning relative to the sash anchor can be achieved more easily than in the conventional method.

[0103] (11) A robot comprising an arm and a control unit, wherein the arm has a jig at its tip, the arm is configured to grip the sash bracket described in (10) using the jig, and the control unit controls the arm to move the sash bracket to a predetermined position while the sash bracket is being gripped.

[0104] According to this embodiment, the positioning of the sash angle and the sash anchor can be automated or semi-automated.

[0105] (12) A robot as described in (11) above, wherein the control unit controls the arm to move the sash bracket so that the side surface of the sash angle comes into contact with the side surface of the sash anchor described in any one of (4) to (6) above, the control unit controls the arm to move the sash bracket so that the bottom surface of the sash angle comes into contact with the building opening frame, and the control unit controls the arm to press the side surface of the sash angle against the side surface of the sash anchor while the bottom surface of the sash angle comes into contact with the building opening frame.

[0106] In this configuration, the installation process for window frames can be made easier than in conventional methods by using a robot.

[0107] (13) A method for fixing a sash to a structural opening frame, comprising a first step, a second step, a third step, a fourth step, and a fifth step, wherein in the first step, the sash bracket described in (10) above is grasped; in the second step, the side portion of the sash angle is brought into contact with the side portion of the sash anchor described in any one of (4) to (6) above; and in the third step, the sash angle A method comprising: bringing the bottom surface of the sash angle into contact with the structural opening frame; in the fourth step, bringing the bottom surface of the sash angle into contact with the structural opening frame, while pressing the side surface of the sash angle against the side surface of the sash anchor; and in the fifth step, joining the side surface of the sash angle and the side surface of the sash anchor, as well as joining the bottom surface of the sash angle and the structural opening frame.

[0108] According to this embodiment, the installation process for window frames can be made easier than in the conventional method.

[0109] (14) A system comprising a sash angle as described in any one of (1) to (3) above, a sash anchor as described in any one of (4) to (6) above, a holder as described in any one of (7) to (9) above, and a robot as described in (11) or (12) above, wherein the robot performs each step of the method described in (13) above.

[0110] In this configuration, the installation process for window frames can be made easier than in conventional methods by using a robot. Of course, this is not always the case. [Explanation of Symbols]

[0111] θ: angle 100: System 200: Angles for window frames 200A: Angle for window frames 200B: Angle for window frames 200C: Angle for window frames 200D: Angle for window frames 200E: Angle for window frames 200F: Angle for window frames 210: Bottom part 211: Fixing hole 211A: Fixing hole 212: Detection hole 220: Side part 221: Edge 300: Holder 300A: Holder 310: Grip part 320: Holding part 321: Mounting holes 322: Mounting holes 323: Adjustment screw top 324: Adjustment screw below 325: Adjustment screw top 326: Adjustment screw below 327:Fixing magnet 327A: Fixed magnet 328: Holding magnet 329: Contact surface 400: Anchor for window frames 400A: Welding angle 410: Mounting part 411: Frame mounting section 412: Window frame contact area 420: Side part 421: Detection hole 441: Arrow 442: Arrow 500: Robot 510: Main body 520 :Wheel 530: Arm 531: Jig 540: Control Unit 600: Sash 610 :Stile 620: Window frame 700: Window frame bracket 700A: Window frame bracket 800: Structural opening frame 910: Welded section 910A: Welded section 920: Welded section 920A: Welded section

Claims

1. It is an angle for window frames, Including the bottom and side parts, The bottom portion forms a contact surface with the structural opening frame. The aforementioned side portion is formed to be substantially perpendicular to the aforementioned bottom portion and is configured to be in contact with the sash anchor attached to the sash. The angle of the side surface relative to the bottom surface is greater than 90 degrees. Angle bracket for window frames.

2. In the sash angle according to claim 1, At least one of the bottom portion and the side portion has a detection portion that can be detected by a sensor. Angle bracket for window frames.

3. In the sash angle according to claim 2, The detection unit is provided with three or more on the bottom surface and / or three or more on the side surface. Angle bracket for window frames.

4. It is an anchor for window frames, Including the mounting part and the side part, The aforementioned mounting portion is configured to be attachable to the sash, The side portion is configured to face the side portion of the sash angle described in claim 1 when the mounting portion is attached to the sash. Anchors for window frames.

5. In the sash anchor according to claim 4, At least one of the mounting portion and the side portion has a detection portion that can be detected by a sensor. Anchors for window frames.

6. In the sash anchor according to claim 5, The detection unit is provided in three or more locations on the mounting portion and / or three or more locations on the side portion. Anchors for window frames.

7. It is a holder, It comprises a gripping part and a holding part, The gripping portion is configured to be gripped by a jig, The retaining portion forms a contact surface with the sash angle described in claim 1. The holding portion is configured to be able to fix a first material for holding the sash angle to the contact surface, and a second material for temporarily fixing the sash angle to the building frame opening. Holder.

8. In the holder according to claim 7, The holding portion is configured to allow the fixing positions of the first material and the second material to be changed. Holder.

9. In the holder according to claim 7, The first material and the second material are magnets, The aforementioned sash angle and the aforementioned structural opening frame are made of ferromagnetic material. Holder.

10. It is a bracket for window frames, The sash angle according to claim 1 and the holder according to claim 7 are provided, The holder is configured to hold the sash angle, Window frame bracket.

11. It is a robot, It comprises an arm and a control unit, The aforementioned arm has a jig at its tip, The arm is configured to grip the sash bracket described in claim 10 using the jig, The control unit controls the arm to move the sash bracket to a predetermined position while gripping the sash bracket. robot.

12. In the robot according to claim 11, The control unit controls the arm to move the sash bracket so that the side surface of the sash angle comes into contact with the side surface of the sash anchor described in claim 4. The control unit controls the arm to move the sash bracket so that the bottom surface of the sash angle comes into contact with the building frame opening. The control unit controls the arm so that the bottom surface of the sash angle abuts against the structural opening frame, and the side surface of the sash angle presses against the side surface of the sash anchor, conforming to its shape. robot.

13. A method for fixing a sash to a structural opening frame, It comprises a first step, a second step, a third step, a fourth step, and a fifth step, In the first step, the sash bracket described in claim 10 is grasped, In the second step, the side portion of the sash angle is brought into contact with the side portion of the sash anchor described in claim 4. In the third step, the bottom surface of the sash angle is brought into contact with the building frame opening. In the fourth step, the bottom surface of the sash angle is brought into contact with the structural opening frame, and the side surface of the sash angle is pressed against the side surface of the sash anchor to conform to it. In the fifth step, the side portion of the sash angle and the side portion of the sash anchor are joined together, and the bottom portion of the sash angle and the structural opening frame are joined together. method.

14. It is a system, The invention comprises a sash angle according to any one of claims 1 to 3, a sash anchor according to any one of claims 4 to 6, a holder according to any one of claims 7 to 9, and a robot according to claim 11 or 12. The robot performs each step of the method according to claim 13. system.

Images