Assembly equipment and scaffolding assembly system

Abstract

This method eliminates the need for ground space other than the existing scaffolding installation space, and also eliminates the need for large-scale equipment to lift the existing scaffolding. [Solution] The assembly device 5 for assembling the temporary scaffolding 1 comprises a self-propelled traveling device 6 configured to travel on the top floor 1A of the already assembled temporary scaffolding 1, and a manipulator 7 provided on the traveling device 6 for gripping the members 10 that constitute the temporary scaffolding 1 of the new floor 1B to be assembled on the top floor 1A of the temporary scaffolding 1, and for assembling them at predetermined locations on the new floor 1B.

Description

Technical Field

[0001] The present invention relates to an assembling device for assembling a temporary scaffold and a scaffold assembling system.

Background Art

[0002] At construction and demolition sites of buildings such as buildings and houses, and structures such as dams, bridges, tunnels, and roads, temporary scaffolds are assembled along these buildings and structures. Conventionally, the assembly and disassembly of temporary scaffolds have generally been performed manually by workers such as professional craftsmen. In the assembly work by workers, workers are arranged on each floor of the scaffold, and the scaffold materials are transferred one by one by hand, and the workers on the top floor assemble the scaffold materials. However, in the assembly work by workers, a large amount of manpower and working hours are required, the work efficiency is low, and there are problems such as an increase in construction costs and construction periods.

[0003] In order to improve such manual assembly and disassembly work of temporary scaffolds, scaffold assembly methods using various devices have been proposed. For example, Patent Document 1 describes a method of automatically assembling the first and second stages of a scaffold using a large number of devices installed on a ground setting base. Further, Patent Document 2 describes a method of lifting a scaffold assembled on the ground by a lift and inserting a new scaffold into the empty space below it. Similarly, Patent Document 3 describes a method of integrally lifting a scaffold for one or more floors assembled on the ground by a lifter, assembling the scaffold for the lower floor in the empty space below it, and then lowering the lifted scaffold onto the scaffold for the lower floor and connecting them to each other.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Patent Document 3

[0005] However, the scaffolding assembly methods described in Patent Documents 1 to 3 require a separate space on the ground for assembling the new scaffolding, in addition to the space for installing the existing, pre-assembled scaffolding. This presents a problem in locations where ground space is limited, making scaffolding assembly difficult. Furthermore, the scaffolding assembly methods described in Patent Documents 2 and 3 require large-scale equipment such as elevators and hoists to lift the existing, pre-assembled scaffolding.

[0006] Therefore, the present invention has been made in view of the above-mentioned conventional problems, and aims to provide a temporary scaffolding assembly device and scaffolding assembly system that does not require ground space other than the installation space of the existing scaffolding, and does not require large-scale equipment for lifting the existing scaffolding. [Means for solving the problem]

[0007] To solve the above problems, according to one aspect of the present invention, An assembly device for assembling temporary scaffolding, A self-propelled vehicle configured to travel on the top floor of a pre-assembled temporary scaffolding, A manipulator provided on the aforementioned traveling device, which grips a component of the temporary scaffolding for a new floor to be assembled on the top floor of the aforementioned temporary scaffolding, and assembles it to a predetermined location on the new floor, An assembly apparatus is provided that includes the following.

[0008] The aforementioned traveling device is The base frame on which the manipulator is installed, Attached to the base frame, a plurality of wheels including at least one drive wheel, It may be provided with the following features.

[0009] The aforementioned traveling device is Brakes provided on the base frame, or on some or all of the multiple wheels, It may also be possible to further incorporate this feature.

[0010] The aforementioned traveling device is The base frame on which the manipulator is installed, A travel guide member is provided so as to protrude from the base frame in the left-right direction and extends along the travel direction of the travel device, Equipped with, When the assembly device travels along the top floor of the temporary scaffolding using the traveling device, the traveling guide material may temporarily or permanently contact the support columns or handrails of the temporary scaffolding to guide the assembly device's movement while maintaining its posture.

[0011] The length of the travel guide material in the direction of travel may be made longer than the spacing between the support columns of the temporary scaffolding.

[0012] The aforementioned traveling device is configured to be able to travel on the floorboard of the uppermost floor of the temporary scaffolding, The aforementioned wheel is At least three front wheels are provided on the front side in the direction of travel at the lower part of the base frame, At least three rear wheels are provided on the rear side in the direction of travel at the lower part of the base frame, Includes, At least the rear wheels are configured to slide rearward in the direction of travel relative to the base frame, In a plan view of the assembly device, in which an opening is provided in a part of the floor plate, the front wheel located at one end of the front wheels is not in contact with the floor plate, and the front wheel located at the other end of the front wheels, and all of the rear wheels that have slid backward in the direction of travel are in contact with the floor plate, The center of gravity position of the assembly device may be arranged on the side of the front wheel disposed on the other end side rather than on a virtual straight line connecting a front wheel disposed on the central side among the front wheels and a rear wheel disposed on one end side of the rear wheel that has slid rearward in the traveling direction.

[0013] The traveling device is configured to be able to travel on the handrail on the top floor of the temporary scaffolding. The wheels may include at least two sets of wheels attached to both sides in the left - right direction of the base frame and placed on the handrail.

[0014] The wheels have a cross - sectional shape that engages with the upper side of the handrail, or may be provided with a wheel guide member that restricts the left - right movement of the wheels with respect to the handrail.

[0015] The wheels include at least two sets of normal traveling wheels configured to project or retract in the left - right direction from the base frame, and at least two sets of strut - passing wheels configured to project or retract in the left - right direction from the base frame. And The traveling device may be configured to be able to pass over the handrail where the struts of the temporary scaffolding exist by alternately projecting or retracting the normal traveling wheels and the strut - passing wheels.

[0016] The traveling device further includes an anti - derailment device having a locking member attached to the base frame and hooked on the handrail at at least one of the front or rear of the base frame. It may be further provided.

[0017] The traveling device further includes a fall - prevention device having a telescopic linear member connecting the base frame and the strut on the top floor of the temporary scaffolding. It may be further provided.

[0018] The aforementioned traveling device is The base frame is further equipped with a portable power supply that is installed thereon and supplies power to the drive wheels and the manipulator, Multiple portable power supplies are detachably mounted on the base frame. The manipulator may operate using power supplied from at least one of the multiple portable power supplies to remove other portable power supplies from the base frame and to install a new portable power supply in the position where the other portable power supplies were removed.

[0019] To solve the above problems, according to another aspect of the present invention, The above assembly device and, A transport device for transporting at least one component of a temporary scaffold from the ground to the top floor of an already assembled temporary scaffold, Equipped with, The assembly device provides a scaffolding assembly system that uses the components transported to the top floor of the temporary scaffolding by the transport device to assemble temporary scaffolding for a new floor on top of the top floor. [Effects of the Invention]

[0020] According to the present invention, it is not necessary to require ground space other than the installation space of the existing scaffolding, and it is also not necessary to have a large-scale device for lifting the existing scaffolding. [Brief explanation of the drawing]

[0021] [Figure 1] These are a side view (a) and a front view (b) showing a temporary scaffold assembled by the scaffold assembly system according to the first embodiment of the present invention. [Figure 2] This is a perspective view showing temporary scaffolding assembled by the scaffolding assembly system according to the same embodiment. [Figure 3] This is a partially enlarged perspective view of Figure 2. [Figure 4]This is a flowchart showing the method for assembling temporary scaffolding according to the same embodiment. [Figure 5] This is a perspective view showing the assembly apparatus according to the same embodiment. [Figure 6] This is a perspective view showing an assembly device installed on the top floor of a temporary scaffolding according to the same embodiment. [Figure 7] This is a perspective view showing the assembly of a support column by a manipulator according to the same embodiment. [Figure 8] This is a perspective view showing the assembly of a handrail using the manipulator according to the same embodiment. [Figure 9] This is a side view showing the assembly of a handrail using a manipulator according to the same embodiment. [Figure 10] These are a side view (a), a front view (b), and a perspective view (c) showing an assembly device equipped with a travel guide material according to the same embodiment. [Figure 11] This is a plan view showing the positional relationship between the assembly device according to the same embodiment and the floor surface of the top floor of the temporary scaffolding. [Figure 12] This is a perspective view showing an assembly apparatus according to a second embodiment of the present invention. [Figure 13] These are a plan view (a) and a side view (b) showing the assembly apparatus according to the same embodiment. [Figure 14] These are cross-sectional views (a), perspective views (b), and (c) showing specific examples of the wheel engagement structure of the running gear according to the same embodiment. [Figure 15] This is a side view showing an assembly device equipped with a travel guide material according to the same embodiment. [Figure 16] These are plan view (a), side view (b), front view (c), and DD cross-sectional view (d) showing specific examples of derailment prevention devices and fall prevention devices provided in the assembly apparatus according to the same embodiment. [Figure 17] This is an enlarged front view showing an example of the configuration of the derailment prevention device 110 of the running gear according to the same embodiment. [Figure 18] This is a process diagram showing the wheel replacement operation of the running gear according to the same embodiment. [Figure 19] A perspective view showing the wheel replacement operation of the running gear according to the same embodiment. [Figure 20] This is a schematic diagram showing an example of changing the power supply of an assembly apparatus according to the first embodiment of the present invention. [Figure 21] These are a side view (a), a front view (b), and a top view (c) showing a temporary scaffold assembled by a scaffold assembly system according to a third embodiment of the present invention. [Modes for carrying out the invention]

[0022] Preferred embodiments of the present invention will be described in detail below with reference to the attached drawings. The dimensions, materials, and other specific numerical values ​​shown in these embodiments are merely examples to facilitate understanding of the invention and do not limit the present invention unless otherwise specified. In this specification and drawings, elements having substantially the same function and configuration are denoted by the same reference numerals to avoid redundant explanations, and elements not directly related to the present invention are omitted from the illustrations.

[0023] [1. Overview of the scaffolding assembly system] First, an overview of the scaffolding assembly system 2 for assembling a temporary scaffolding 1 according to the first embodiment of the present invention will be described with reference to Figures 1 to 3. Figure 1 is a side view (a) and a front view (b) showing the temporary scaffolding 1 assembled by the scaffolding assembly system 2 according to this embodiment. Figure 2 is a perspective view showing the temporary scaffolding 1 assembled by the scaffolding assembly system 2 according to this embodiment. Figure 3 is a partially enlarged perspective view of Figure 2.

[0024] [1.1. Temporary scaffolding configuration] First, the temporary scaffolding 1 according to this embodiment will be described with reference to Figures 1 to 3. As shown in Figures 1 to 3, the temporary scaffolding 1 is a temporary structure used as a platform for workers to perform their tasks. The temporary scaffolding 1 is erected along the construction site at various construction sites and other locations. For example, the temporary scaffolding 1 is installed along the walls of buildings and structures at construction and demolition sites for buildings such as office buildings and houses, or structures such as dams, bridges, tunnels, and roads. The temporary scaffolding 1 in the illustrated example has a rectangular parallelepiped shape that extends horizontally (X direction) along the longitudinal direction of the construction site and is assembled in the vertical direction (Z direction).

[0025] Furthermore, the three-dimensional shape of the temporary scaffolding 1 is not limited to the illustrated example, but can be any three-dimensional shape that corresponds to the building or structure being constructed, such as a vertically elongated rectangular prism, a bent shape such as a V-shape or a U-shape, a curved shape, or a shape with steps where the height changes in the vertical direction (Z direction).

[0026] The temporary scaffolding 1 is constructed using multiple types of scaffolding materials 10. The scaffolding materials 10 are components (materials for the temporary scaffolding 1) that make up the temporary scaffolding 1. The scaffolding materials 10 are made of metal materials such as aluminum, steel, and copper, and from the viewpoint of lightness, it is preferable that they be made of aluminum. The scaffolding materials 10 may be structural materials that make up the structure of the temporary scaffolding 1, or they may be functional materials that provide a predetermined function to the structure of the temporary scaffolding 1.

[0027] Here, with reference to Figure 3, specific examples of the multiple types of scaffolding materials 10 that constitute the temporary scaffolding 1 according to this embodiment will be described. As shown in Figure 3, the scaffolding material 10 includes, for example, a support column 11, a handrail 12, a leading handrail 13, a floorboard support member 14, and a floorboard 15.

[0028] The support columns 11 are structural members installed to extend vertically (in the Z-direction) of the temporary scaffolding 1. By connecting multiple support columns 11 vertically, a support structure is built to support the vertical load of the temporary scaffolding 1. The structure of the temporary scaffolding 1 enclosed by four support columns 11 becomes the repeatable structural unit of the temporary scaffolding 1.

[0029] The handrail 12 is a structural member provided on the long side (XZ plane), which is the side of the temporary scaffolding 1 that extends in the longitudinal direction (X direction). The handrail 12 is installed on the long side of the temporary scaffolding 1 so as to extend horizontally in the longitudinal direction (X direction). The handrail 12 horizontally connects two adjacent support columns 11, 11 in the X direction. On each floor of the long side of the temporary scaffolding 1, multiple levels of handrails 12, 12 may be provided vertically (two levels in the example of Figure 3), or only one level of handrail 12 may be provided.

[0030] The leading handrail 13 is a structural member installed on the long side (XZ plane) of the temporary scaffolding 1. The leading handrail 13 consists, for example, of one handrail 13a and two crossing members 13b and 13c. The handrail 13a is installed on the long side of the temporary scaffolding 1 so as to extend horizontally in the longitudinal direction (X direction). The handrail 13a horizontally connects two adjacent support columns 11, 11 in the X direction. The ends of the crossing members 13b and 13c are rotatably connected to both ends of the handrail 13a. The crossing members 13b and 13c are installed so as to intersect each other in an X shape on the long side (XZ plane) of the temporary scaffolding 1. The crossing members 13b and 13c function as braces for the structure and reinforce the rectangular frame consisting of the two left and right support columns 11, 11 and the handrail 13a on the top.

[0031] In this embodiment, as shown in Figure 3, two-tiered handrails 12, 12 are installed on one of the two long sides (XZ planes) of the temporary scaffolding 1 (the XZ plane on the far side in the Y direction in Figure 3), and a lead handrail 13 is installed on the other long side (the XZ plane on the near side in the Y direction in Figure 3). However, the present invention is not limited to this example, and for example, handrails 12 may be installed on both long sides of the temporary scaffolding 1 without using the lead handrail 13. Alternatively, lead handrails 13 may be installed on both long sides without using the handrails 12. For the sake of explanation, in the following, both the handrails 12 and the lead handrails 13a may be collectively referred to as "handrail 12".

[0032] The floorboard support members 14 are structural members provided on the short side (YZ plane), which is the side of the temporary scaffolding 1 that extends in the short side direction (Y direction). The floorboard support members 14 are installed on the short side of the temporary scaffolding 1 so as to extend horizontally in the short side direction (Y direction). The floorboard support members 14 horizontally connect two adjacent support columns 11, 11 in the Y direction. On each floor of the short side of the temporary scaffolding 1, multiple levels of floorboard support members 14, 14 may be provided vertically (three levels in the example of Figure 3), or only one level of floorboard support member 14 may be provided.

[0033] The floorboards 15 are components that make up the floor surface of each floor of the temporary scaffolding 1. The floorboards 15 are roughly rectangular flat flooring materials, and are installed so as to extend horizontally (X direction) along the longitudinal direction of the temporary scaffolding 1. Hooks are provided at both ends of the floorboards 15 in the longitudinal direction (X direction), and these hooks are attached to the floorboard support members 14, 14. As a result, the floorboards 15 are supported at both ends in the longitudinal direction (X direction) by the floorboard support members 14, 14, and thus function as the floor of each floor of the temporary scaffolding 1. Therefore, workers and assembly equipment 5 can move on the floorboards 15 on each floor of the temporary scaffolding 1. In the example shown in Figure 3, multiple floorboards 15, 15 (for example, two) are arranged side by side in the short-side direction (Y direction). This makes it possible to remove one of the two floorboards 15, 15, and then install a staircase 17 (see Figure 1) for workers to ascend and descend in the opening created by removing that floorboard 15.

[0034] The temporary scaffolding 1 according to this embodiment is constructed by combining the multiple types of scaffolding materials 10 described above in three dimensions. Known connecting members can be used to connect the multiple types of scaffolding materials 10. For example, the temporary scaffolding 1 may be a wedge-type scaffolding that uses wedges or the like as connecting members.

[0035] [1.2. Overall Configuration of the Scaffolding Assembly System] Next, the overall configuration of the scaffolding assembly system 2 according to this embodiment will be described with reference to Figures 1 to 3. The scaffolding assembly system 2 according to this embodiment is a system for assembling temporary scaffolding 1. The scaffolding assembly system 2 includes a group of devices for automatically performing at least a part of the assembly work of temporary scaffolding 1 without relying on manual labor by workers.

[0036] As shown in Figures 1 and 2, the scaffolding assembly system 2 comprises a transport device 3 and an assembly device 5. The transport device 3 is a device for transporting multiple types of scaffolding materials 10 that constitute the temporary scaffolding 1. In addition to the scaffolding materials 10, the transport device 3 can also transport other materials and tools, for example. The transport device 3 transports the scaffolding materials 10, etc., from the ground floor (e.g., 1F) to the top floor 1A of the already assembled temporary scaffolding 1. The assembly device 5 is installed on the top floor 1A of the temporary scaffolding 1 and is a device for assembling the scaffolding materials 10 on the top floor 1A. The assembly device 5 uses the scaffolding materials 10 that have been transported to the top floor 1A of the temporary scaffolding 1 by the transport device 3 to assemble the temporary scaffolding 1 of the new floor 1B on the top floor 1A.

[0037] In the examples in Figures 1 and 2, the sections of temporary scaffolding 1 from the 1st floor (ground floor) to the 4th floor are shown already assembled. In this case, the top floor 1A is the 4th floor section of the assembled temporary scaffolding 1, and the new floor 1B is the 5th floor section of temporary scaffolding 1 that will be newly assembled on top of the top floor 1A. In the following explanation, the section of temporary scaffolding 1 that has already been assembled from the ground floor (e.g., the 1st floor) to the top floor 1A (e.g., the 4th floor) will be referred to as the "existing scaffolding," and the section of new floor 1B (e.g., the 5th floor) that will be newly assembled on top of the top floor 1A (e.g., the 4th floor) will be referred to as the "new scaffolding."

[0038] As shown in Figures 1 and 2, the transport device 3 transports the scaffolding materials 10 from the ground floor (e.g., the 1st floor) to the top floor 1A (e.g., the 4th floor) of the temporary scaffolding 1. The assembly device 5 is installed on the top floor 1A of the already assembled existing scaffolding and is configured to be self-propelled on the top floor 1A in the longitudinal direction (X direction) of the temporary scaffolding 10. The assembly device 5 receives the scaffolding materials 10 transported to the top floor 1A by the transport device 3, travels on the top floor 1A, and moves to the assembly position of the scaffolding materials 10 on the new floor 1B. Then, the assembly device 5 adjusts the orientation of the scaffolding materials 10 and assembles the scaffolding materials 10 to the predetermined position on the existing scaffolding on the top floor 1A, thereby assembling the new scaffolding on the new floor 1B.

[0039] [1.3. Schematic Configuration of the Conveying System] Next, the schematic configuration of the conveying device 3 according to this embodiment will be described with reference to Figures 1 to 3. As shown in Figures 1 to 3, the conveying device 3 is installed on one side (long side) in the longitudinal direction (X direction) of the already assembled temporary scaffolding 1 (existing scaffolding), and conveys the scaffolding material 10 along the long side. The conveying device 3 comprises a plurality of guide rollers 31, at least one endless traction member 32, at least one drive unit 33, and a plurality of mounting members 34.

[0040] The guide rollers 31 are rollers that guide the circumferential movement of the endless traction member 32. The guide rollers 31 are attached to multiple locations on the long side of the existing scaffolding and guide the circumferential movement of the endless traction member 32 along the long side of the existing scaffolding. The guide rollers 31 are positioned at locations where the direction of travel of the endless traction member 32 changes. In the example shown in Figures 1 to 3, five guide rollers 31 are positioned at five locations on the long side of the existing scaffolding where the direction of travel of the endless traction member 32 changes between the vertical direction (Z direction) and the horizontal direction (X direction). A single endless traction member 32 is suspended from these multiple guide rollers 31. With these guide rollers 31, the direction of travel of the endless traction member 32 can be changed while supporting the endless traction member 32.

[0041] The endless traction member 32 is an endless traction member suspended from the plurality of guide rollers 31. The endless traction member 32 is composed of, for example, an endless chain, wire, belt, rope, or other wire material. The endless traction member 32 is installed so as to be able to circumvent a single continuous circular path 30 along the longitudinal side (long side: XZ plane) of the already assembled temporary scaffolding 1. In this embodiment of the conveying device 3, only one endless traction member 32 is provided, but multiple endless traction members 32 (for example, an endless traction member for towing the mounting member 34 and an endless traction member 32 for maintaining the posture of the mounting member 34) may be provided.

[0042] The drive unit 33 is connected to the endless traction member 32 and generates a driving force to make the endless traction member 32 rotate along the circular path 30. In the example shown in Figures 1 and 2, the drive unit 33 is positioned at the corner of the X-direction end of the first floor of the existing scaffolding and is connected to the endless traction member 32 at this corner. The drive unit 33 comprises, for example, an electric motor 33a and a gear 33b provided on the output shaft of the electric motor 33a. The gear 33b of the drive unit 33 is engaged with the endless traction member 32, which is made of, for example, a chain. By driving the electric motor 33a of the drive unit 33 to rotate the gear 33b, the rotational power of the gear 33b is transmitted to the endless traction member 32, causing the endless traction member 32 to move in its longitudinal direction and rotate along the circular path 30.

[0043] As shown in Figures 2 and 3, the mounting member 34 is a mounting device for detachably attaching the scaffolding material 10 to the endless traction member 32. The mounting member 34 consists of mounting devices such as hooks and brackets that can hold the scaffolding material 10, and is attached to the endless traction member 32. The mounting member 34 may be fixedly attached to a predetermined position on the endless traction member 32. However, it is preferable that the mounting member 34 be rotatably attached to the endless traction member 32 so that the orientation of the mounting member 34 is appropriate according to the transport conditions. For example, in the example in Figure 3, the orientation of the mounting member 34 when transported vertically (Z direction) along the vertical movement path 30A of the endless traction member 32 is parallel to the longitudinal direction of the endless traction member 32. On the other hand, the orientation of the mounting member 34 when transported horizontally (X direction) along the horizontal movement path 30B of the endless traction member 32 is perpendicular to the longitudinal direction of the endless traction member 32.

[0044] In this embodiment, multiple mounting members 34 are attached at predetermined intervals along the longitudinal direction of the endless traction member 32. The mounting members 34 move together with the endless traction member 32 as the endless traction member 32 rotates, and transport the scaffolding material 10 they hold from the ground to the top floor 1A. It is preferable that the shape, size, and holding function of the mounting members 34 are adjusted according to the length and shape of the scaffolding material 10 to be transported. In the example in Figure 3, a relatively long mounting member 34A is used to transport a relatively long support column 11 of the scaffolding material 10. On the other hand, a relatively short mounting member 34B is used to transport a relatively short floorboard support 14.

[0045] In the transport device 3 configured as described above, the endless traction member 32 is moved along a predetermined circular path 30 on the long side of the existing scaffolding. At this time, for example, a worker on the ground sequentially attaches the scaffolding materials 10 to be transported to a plurality of mounting members 34 attached to the endless traction member 32, thereby holding the scaffolding materials 10 in place. As a result, the plurality of scaffolding materials 10 held by the plurality of mounting members 34 can be automatically transported sequentially from the ground to the top floor 1A as the endless traction member 32 moves around. Therefore, compared to the conventional method in which a worker manually transports the scaffolding materials 10 from the ground to the top floor 1A, the transport operation of the scaffolding materials 10 can be made significantly more efficient and labor-saving.

[0046] Here, the circumferential path 30 of the endless traction member 32 according to this embodiment will be described. The circumferential path 30 is the transport path for the scaffolding material 10 and is a continuous and integrated path along the movement trajectory of the endless traction member 32. In other words, the circumferential path 30 is a closed loop path. The overall shape of the circumferential path 30 can be a variety of shapes, such as rectangular, polygonal, or elliptical, as long as it is a continuous and integrated loop path along the long side surface (XZ plane) of the temporary scaffolding 1. For example, as shown in Figures 1 to 3, in this embodiment, the circumferential path 30 of the endless traction member 32 is a loop path that is bent in a roughly L-shape along the long side surface (XZ plane) of the temporary scaffolding 1.

[0047] Furthermore, the circumferential path 30 of the endless traction member 32 according to this embodiment includes at least one vertical movement path 30A and at least one horizontal movement path 30B. The vertical movement path 30A is a transport path that extends vertically (Z direction) from the ground to the top floor 1A along the support column 11 provided at the longitudinal end (X direction) of the long side surface of the temporary scaffolding 1. The horizontal movement path 30B is a transport path that extends horizontally (X direction) along the longitudinal direction of the top floor 1A on the long side surface of the temporary scaffolding 1. The endless traction member 32 that circulates along the circumferential path 30 including the vertical movement path 30A and the horizontal movement path 30B is driven by the same drive device 33. In other words, the transport operation of the scaffolding material 10 along the vertical movement path 30A and the transport operation of the scaffolding material 10 along the horizontal movement path 30B are performed by the driving force of the same drive device 33.

[0048] By moving multiple sets of mounting members 34 and scaffolding materials 10 together with the endless traction member 32 in the vertical direction (Z direction) along the vertical movement path 30A, multiple scaffolding materials 10 can be simultaneously transported from the ground to the top floor 1A. Then, guide rollers 31 provided at the intersection of the vertical movement path 30A and the horizontal movement path 30B on the top floor 1A change the direction of travel of the endless traction member 32 from the vertical direction (Z direction) to the horizontal direction (X direction). Subsequently, by moving multiple sets of mounting members 34 and scaffolding materials 10 together with the endless traction member 32 in the horizontal direction (X direction) along the horizontal movement path 30B, multiple scaffolding materials 10 can be simultaneously transported along the longitudinal direction of the top floor 1A to the vicinity of a predetermined assembly position.

[0049] The designated assembly location is the location on the top floor 1A where the scaffolding materials 10 are assembled on the new floor 1B. The assembly device 5 installed on the top floor 1A sequentially assembles multiple scaffolding materials 10 to multiple assembly locations on the new floor 1B above the top floor 1A, thereby enabling the new floor 1B to be assembled on top of the top floor 1A. In this case, if the necessary scaffolding materials 10 have been transported in advance by the transport device 3 to the vicinity of each assembly location on the new floor 1B, the assembly device 5 can receive the transported scaffolding materials 10 and easily and quickly assemble them to each assembly location.

[0050] As described above, the circulating path 30 of the endless traction member 32 using the transport device 3 according to this embodiment allows for the continuous and smooth execution of the vertical (Z-direction) transport operation of the scaffolding material 10 via the vertical movement path 30A and the horizontal (X-direction) transport operation of the scaffolding material 10 via the horizontal movement path 30B as a series of operations. Therefore, the automatic transport operation of the scaffolding material 10 by the transport device 3 can be made more efficient and labor-saving. Furthermore, the configuration of the drive mechanism (e.g., drive device 33) that generates the driving force necessary for automatic transport can be simplified, and the number of such drive mechanisms can be reduced, making the transport device 3 more compact and cost-effective.

[0051] Furthermore, by adjusting the arrangement and number of guide rollers 31 of the conveying device 3, the length of the endless traction member 32, etc., the arrangement and shape of the circumferential path 30 of the conveying device 3 on the long side surface (XZ plane) of the existing scaffolding can be freely changed. Therefore, the height, length, arrangement, etc. of the circumferential path 30 of the conveying device 3 can be flexibly changed in response to changes in the height in the Z direction and the length in the X direction of the temporary scaffolding 1 during assembly. Thus, the conveying device 3 can flexibly and easily respond to changes in the height and length of the temporary scaffolding 1 during assembly, as well as to its conversion to other temporary scaffolding 1, thereby improving the flexibility, versatility, and reusability of the conveying device 3.

[0052] [1.4. Schematic Configuration of the Assembly Device] Next, the schematic configuration of the assembly apparatus 5 according to this embodiment will be described with reference to Figures 1 to 3.

[0053] As shown in Figures 1 to 3, the assembly device 5 is installed on the top floor 1A of the already assembled temporary scaffolding 1 (existing scaffolding) and is used to assemble the temporary scaffolding 1 (new scaffolding) of the new floor 1B on top of the top floor 1A. The assembly device 5 is a self-propelled assembly device configured to be able to travel along the longitudinal direction (X direction) of the top floor 1A. The assembly device 5 moves to a predetermined assembly position on the top floor 1A and assembles the scaffolding material 10 to a predetermined location (the predetermined assembly position) on the new floor 1B.

[0054] The assembly device 5 comprises a self-propelled traveling device 6 and a manipulator 7. The traveling device 6 is a self-propelled traveling device configured to travel on the top floor 1A of the temporary scaffolding 1. The manipulator 7 is mounted on the traveling device 6 and grips the scaffolding material 10 that constitutes the temporary scaffolding (new scaffolding) of the new floor 1B, and assembles it to a predetermined assembly position on the new floor 1B.

[0055] Since the assembly device 5 with this configuration is self-propelled, it can freely travel along the top floor of the temporary scaffolding 1 and automatically move to a predetermined assembly position, and can also receive the scaffolding materials 10 that have been transported to the top floor 1A by the transport device 3. Furthermore, since the assembly device 5 is equipped with a manipulator 7, it can grip the scaffolding materials 10 with the manipulator 7, adjust the posture and position of the gripped scaffolding materials 10, and then properly assemble them to a predetermined assembly position on the new floor 1B above the top floor 1A.

[0056] Thus, the assembly device 5 has a self-propelled function that automatically travels to the top floor 1A of the existing scaffolding, and an assembly function that automatically assembles the scaffolding materials 10 of the new floor 1B on the top floor 1A. Furthermore, the assembly device 5 has a compact configuration with a size and weight that does not pose any problems when installed on the top floor 1A of the existing scaffolding. In addition, the assembly device 5 is configured to be able to handle not only the assembly work of the temporary scaffolding 1, but also the dismantling work.

[0057] Furthermore, as the assembly of the temporary scaffolding 1 progresses, the number of floors of the top floor 1A and the new floor 1B will change, resulting in the need to switch the construction floor on which assembly work is performed. In other words, after the new floor 1B (for example, the 5th floor) is assembled on top of the current construction floor, top floor 1A (for example, the 4th floor), the new floor 1B (for example, the 5th floor) becomes the next top floor, and the next new floor (for example, the 6th floor) is assembled on top of that next top floor (for example, the 5th floor). For this reason, the assembly device 5 needs to move from the current construction floor, top floor 1A (for example, the 4th floor), to the next construction floor, top floor (for example, the 5th floor), when the construction floor is switched. The assembly device 5 is configured to easily handle such construction floor switching operations. For example, the assembly device 5 can be easily moved from the current construction floor to the upper construction floor by using a simple lifting device such as a chain block. Furthermore, the assembly device 5 is configured to be easily assembled, disassembled, and transported by workers, and during relocation work, the assembly device 5 may be partially disassembled and moved to the upper construction floor.

[0058] [1.5. Summary] As described above, according to the scaffolding assembly system 2 of this embodiment, the transport device 3 can automatically transport multiple scaffolding materials 10 from the ground to the top floor 1A by circulating the endless traction member 32 along the circular path 30. At this time, the transport device 3 can automatically transport multiple scaffolding materials 10 attached to the endless traction member 32 via the mounting member 34 simultaneously along the circular path 30. Therefore, the transport device 3 has high transport efficiency, and labor can be saved by eliminating the need for manual transport by workers. Furthermore, the transport device 3 can automatically and continuously transport multiple scaffolding materials 10 along the horizontal movement path 30B to the vicinity of a predetermined assembly position on the newly constructed floor 1B. Therefore, the assembly device 5 installed on the top floor 1A can receive the scaffolding materials 10 transported to the vicinity of the assembly position and easily and efficiently assemble them at that position.

[0059] Furthermore, the assembly device 5, using its self-propelled travel device 6, can freely travel along the top floor 1A of the existing scaffolding and automatically move to the vicinity of the predetermined assembly position on the new floor 1B. In addition, the assembly device 5 can receive the scaffolding materials 10 transported from the transport device 3 using its manipulator 7 and properly assemble them at the predetermined assembly position on the new floor 1B. As a result, the assembly device 5 can automatically assemble the new scaffolding on the new floor 1B on top of the existing scaffolding on the top floor 1A.

[0060] Therefore, according to the scaffolding assembly system 2 of this embodiment, the new floor 1B can be assembled on the top floor 1A of the temporary scaffolding 1 using a compact, self-propelled assembly device 5. As a result, the assembly device 5 is installed within the already assembled temporary scaffolding 1 (existing scaffolding), and the assembly work of the new floor 1B can be carried out within the existing scaffolding. Consequently, there is no need to prepare ground space for assembling the temporary scaffolding (new scaffolding) of the next new floor, separate from the installation space for the existing scaffolding. Thus, the temporary scaffolding 1 can be easily and efficiently assembled even in locations with limited ground space.

[0061] Furthermore, according to the scaffolding assembly system 2 of this embodiment, the assembly device 5 assembles the new floor 1B on the top floor 1A of the temporary scaffolding 1, eliminating the need to use large-scale equipment such as elevators and hoists to lift the assembled existing scaffolding, as in the prior art described in Patent Documents 2 and 3. Also, since the assembly device 5 has a lightweight and compact configuration, there is no need to use large-scale equipment such as hoists to install the assembly device 5 on the top floor 1A of the existing scaffolding. Therefore, the equipment required for the assembly work of the temporary scaffolding 1 can be simplified, improving work efficiency and reducing assembly costs. In addition, even if the installation location of the temporary scaffolding 1 is a place where it is difficult to transport and install large-scale equipment such as hoists (for example, a narrow place or a place without road access), the simple assembly device 5 and transport device 3 can be easily transported and installed to construct the temporary scaffolding 1 effectively.

[0062] [2. Overall flow of scaffolding assembly method] Next, with reference to Figure 4, a method for assembling the temporary scaffolding 1 using the scaffolding assembly system 2 according to this embodiment will be described. Figure 4 is a flowchart showing the method for assembling the temporary scaffolding 1 according to this embodiment. In the following description, an example will be described in which the first floor portion of the temporary scaffolding 1 is assembled manually by a worker, and then the assembly device 5 automatically assembles the second floor and above. However, the present invention is not limited to this example, and for example, the assembly device 5 may also automatically assemble the first floor portion.

[0063] As shown in Figure 4, in the scaffolding assembly method according to this embodiment, first, the worker installs the transport device 3 and assembly device 5 of the scaffolding assembly system 2 at predetermined positions on the temporary scaffolding 1 (S10-S12).

[0064] In detail, as shown in Figures 1 and 2, the worker installs the transport device 3 along a predetermined circular path 30 on the long side (XZ plane) of the already assembled temporary scaffolding 1 (existing scaffolding) (S11). Specifically, the worker attaches a plurality of guide rollers 31 to predetermined locations on the long side of the existing scaffolding (locations where the circular path 30 changes direction), and then suspends the endless traction member 32 from these guide rollers 31. This forms a circular path 30 of a predetermined shape for the endless traction member 32 on the long side of the existing scaffolding. Furthermore, the worker installs the drive device 33 so that the gear 33b of the drive device 33 engages with the endless traction member 32 at the corner portion near the ground of the circular path 30. This makes it possible to move the endless traction member 32 in a circular motion along the circular path 30 using the driving force of the drive device 33. Furthermore, the worker attaches a plurality of mounting members 34 at predetermined intervals to multiple locations on the endless traction member 32. Alternatively, the mounting member 34 may be attached to the endless traction member 32 in advance, and the endless traction member 32 with the mounting member 34 attached may be suspended from the guide roller 31.

[0065] Furthermore, as shown in Figures 1 and 2, the worker installs the assembly device 5 on the top floor 1A of the existing scaffolding (S12). For this installation of the assembly device 5, for example, a simple lifting device such as a chain block may be used to lift the assembly device 5 to the top floor 1A. Alternatively, the worker may carry the disassembled assembly device 5 to the top floor 1A and reassemble the assembly device 5 by hand on the top floor 1A. The worker may also set up the control unit, battery, etc. of the assembly device 5, and adjust the position and orientation of the assembly device 5 so that it can operate normally once installed on the top floor 1A.

[0066] Next, the worker sets multiple scaffolding materials 10 to be transported into the transport device 3 (S20-S21). Specifically, as shown in Figures 2 and 3, the worker attaches various scaffolding materials 10 (support columns 11, handrails 12, leading handrails 13, floorboard support members 14, etc.) for assembling the new floor 1B to multiple attachment members 34 attached at predetermined intervals to the endless traction member 32 (S21). In this embodiment, multiple scaffolding materials 10 to be transported are set into the transport device 3 to improve transport efficiency, but the invention is not limited to this example, and at least one scaffolding material 10 to be transported may be set into the transport device 3.

[0067] Next, the transport device 3 transports the scaffolding material 10 to a predetermined position on the top floor 1A (S30). Specifically, the drive unit 33 of the transport device 3 is operated to make the endless traction member 32 circulate along the circular path 30, thereby transporting the scaffolding material 10, which is attached to the endless traction member 32 by the attachment member 34, from the ground to a predetermined position on the top floor 1A. In this transport operation by the transport device 3, as shown in Figures 2 and 3, the scaffolding material 10 is lifted upward (Z direction) from the ground to the top floor 1A along the vertical movement path 30A of the circular path 30, and then moves horizontally (X direction) along the longitudinal direction of the top floor 1A along the horizontal movement path 30B to a predetermined position on the newly constructed floor 1B.

[0068] The scaffolding material 10, transported to the top floor 1A by the transport device 3, is automatically transferred from the transport device 3 to the assembly device 5 (S40). In other words, the assembly device 5 automatically receives the scaffolding material 10 transported by the transport device 3 from the transport device 3 (S41). At this time, the assembly device 5 travels on the top floor 1A using the travel device 6 to move to the position where the scaffolding material 10 transported to the top floor 1A by the transport device 3 is located. Next, the assembly device 5 uses the manipulator 7 to grasp the scaffolding material 10 held by the mounting member 34 of the transport device 3, and pulls the grasped scaffolding material 10 out of the mounting member 34.

[0069] Subsequently, the assembly device 5, while still gripping the scaffolding material 10, travels along the top floor 1A using the travel device 6 to the vicinity of the predetermined assembly position on the new floor 1B (S50). Next, the assembly device 5 adjusts the position and orientation of the scaffolding material 10 using the manipulator 7, and then assembles the scaffolding material 10 to the assembly position on the new floor 1B (S51).

[0070] The assembly device 5 repeats the above-described operation of receiving the scaffolding materials 10 (S41), traveling on the top floor 1A (S50), and assembling the scaffolding materials 10 (S51) for multiple scaffolding materials 10 that have been transported to the top floor 1A by the transport device 3. In this way, the assembly device 5 automatically assembles the new scaffolding for the new floor 1B on top of the existing scaffolding for the top floor 1A. Note that if the transport device 3 transports the scaffolding materials 10 to the vicinity of the assembly position on the new floor 1B and the scaffolding materials 10 are handed over from the transport device 3 to the assembly device 5 near the assembly position, the assembly device 5 does not need to travel to the vicinity of the assembly position (S50) after receiving the scaffolding materials 10 (S41) as shown in Figure 4. In this case, the assembly device 5 repeatedly performs the operation of receiving the scaffolding material 10 (S41) and the operation of assembling the scaffolding material 10 (S51), thereby automatically assembling the new scaffolding for the new floor 1B on top of the top floor 1A of the existing scaffolding.

[0071] In this way, through the collaborative work of the transport device 3 and the assembly device 5, a new scaffolding for the new floor 1B (a temporary scaffolding for one floor) is newly constructed on top of the existing scaffolding for the top floor 1A, and the construction of the new floor 1B is completed (S60, S61).

[0072] Next, the floor relocation work (construction floor switching work) is performed (S70-S73). Specifically, the worker handles some of the relocation work (S70). Specifically, the worker sets the components for the relocation work to be transported (for example, tools used for the relocation work; not shown) on the transport device 3. Specifically, the worker attaches the components for the relocation work to a plurality of attachment members 34 that are attached at predetermined intervals to the endless traction member 32 of the transport device 3. The transport device 3 transports the components for the relocation work from the ground to the top floor 1A, similar to the transport of the scaffolding material 10 (S71). Next, the worker uses the components for the relocation work (tools, etc.) that have been transported to the top floor 1A by the transport device 3 to perform the floor relocation work related to the transport device 3 (S72). The repositioning operation of the transport device 3 (S72) involves reattaching the guide rollers 31 to the long side of the existing scaffolding, and adjusting and repositioning the length of the endless traction member 32. As a result, the transport device 3 can transport the scaffolding materials 10 to the new floor 1B (new top floor 1A) above the original top floor 1A. Furthermore, the assembly device 5 also undergoes a repositioning operation on the construction floor (S73). For example, the assembly device 5 can be easily moved from the current construction floor (original top floor 1A) to the upper construction floor (new top floor 1A) by using a simple lifting device such as a chain block. The repositioning operation of the assembly device 5 (S73) lifts the assembly device 5 from the original top floor 1A to the new floor 1B (new top floor 1A), installs it on the new top floor 1A, and performs any necessary re-setup of the assembly device 5. As a result, the assembly device 5 becomes able to travel on the new top floor 1A.

[0073] After the relocation work of the construction floor (S70-S73) is carried out, the work of assembling a new floor 1B on top of the new top floor 1A is carried out in the same manner as above (S20-S51). Then, once the construction of the new floor 1B is completed (S60, S61), the relocation work of the construction floor (S70-S73) is carried out again. By repeating this assembly work (S20-S51) and relocation work (S70-S73), the new scaffolding for the new floor 1B is constructed one floor at a time on top of the existing scaffolding for the top floor 1A.

[0074] As a result, once the overall construction of the planned temporary scaffolding 1 is complete, the workers lift down the assembly device 5 from the top floor 1A of the completed temporary scaffolding 1 to the ground (S80). In this lift-down operation of the assembly device 5, for example, a simple lifting device such as a chain block may be used to suspend the assembly device 5 from the top floor 1A to the ground. Alternatively, the workers may carry the disassembled assembly device 5 from the top floor 1A to the ground.

[0075] Subsequently, the workers remove and recover the transport device 3 and assembly device 5 from the completed temporary scaffolding 1 (S90-S92). For example, the workers remove the guide rollers 31, endless traction member 32, and drive device 33 of the transport device 3 from the long side of the completed temporary scaffolding 1 (S91). The workers also disassemble and remove the assembly device 5, which was lifted down to the ground in S80, as needed (S92). The assembly device 5 and transport device 3 removed in this manner may be reused in the dismantling work of the temporary scaffolding 1, or they may be reused at another temporary scaffolding construction site.

[0076] As described above, according to the assembly method of the temporary scaffolding 1 of this embodiment, the transport device 3 and assembly device 5 of the scaffolding assembly system 2 can be used to automatically transport and assemble the scaffolding materials 10. Therefore, compared to manual assembly by workers, manpower and working time can be significantly reduced, thereby increasing work efficiency and reducing construction costs and construction period. Furthermore, the temporary scaffolding 1 can be constructed using the assembly device 5, which has a compact device configuration and is installed on the top floor 1A of the existing scaffolding, and the transport device 3, which has a compact device configuration and is installed on the long side of the existing scaffolding. Therefore, no ground space other than the installation space of the existing scaffolding is required, and large-scale equipment such as elevators and hoists to lift the existing scaffolding is also unnecessary.

[0077] [3. Configuration of the assembly device] Next, the configuration of the assembly device 5 according to this embodiment will be described in more detail with reference to Figures 5 and 6. Figure 5 is a perspective view showing the assembly device 5 according to this embodiment. Figure 6 is a perspective view showing the assembly device 5 installed on the top floor 1A of the temporary scaffolding 1 according to this embodiment.

[0078] [3.1. Overall Configuration of the Assembly Device] As described above, the assembly device 5 according to this embodiment has a self-propelled function that automatically travels on the top floor 1A of the existing scaffolding, and an assembly function that automatically assembles the scaffolding materials 10 of the new floor 1B on the top floor 1A. For this reason, the assembly device 5 comprises a self-propelled traveling device 6 and a manipulator 7 provided on the traveling device 6. The traveling device 6 is configured to travel on the top floor 1A of the temporary scaffolding 1. The manipulator 7 is configured to grip the scaffolding materials 10 that constitute the temporary scaffolding (new scaffolding) of the new floor 1B and assemble them to a predetermined assembly position on the new floor 1B.

[0079] As shown in Figure 5, the assembly apparatus 5 according to this embodiment includes, in addition to the traveling device 6 and manipulator 7, a control device 50 and a power supply 52. ​​The control device 50 controls the operation of each part of the assembly apparatus 5. For example, the control device 50 controls the traveling operation of the assembly apparatus 5 by the traveling device 6, and controls the gripping and assembly operations of the scaffolding material 10 by the manipulator 7 of the assembly apparatus 5. The power supply 52 is composed of a portable power source such as a portable battery. The power supply 52 supplies power to operate each part of the assembly apparatus 5 (for example, the drive wheels of the traveling device 6, the manipulator 7, and the control device 50).

[0080] [3.2. Running gear] Next, with reference to Figures 5 and 6, the traveling device 6 of the assembly device 5 according to this embodiment will be described in detail. As shown in Figure 6, the traveling device 6 of the assembly device 5 according to this embodiment is configured to travel in the longitudinal direction (X direction) on the floor plate 15 of the top floor 1A of the already assembled temporary scaffolding 1 (existing scaffolding). Therefore, the traveling device 6 of the assembly device 5 according to this embodiment is configured to travel on the floor plate 15 of the existing scaffolding.

[0081] As shown in Figure 5, the running gear 6 comprises a base frame 60 on which the manipulator 7 is installed, a plurality of wheels 64 attached to the base frame 60, and brakes (not shown).

[0082] The base frame 60 is the base that constitutes the body of the assembly device 5. The base frame 60 functions as a structure that supports the traveling device 6 and the manipulator 7 of the assembly device 5. From the viewpoint of weight reduction, it is preferable that the base frame 60 be made of a frame material made of a lightweight metal material such as aluminum.

[0083] The base frame 60 is composed of, for example, a lower frame 61 and an upper frame 62. The lower frame 61 is a base provided on the lower side of the assembly device 5. The lower frame 61 in the example shown in Figure 5 has a structure in which frame materials are assembled into a rectangular frame shape. Multiple wheels 64 of the running device 6 are mounted on the lower side of the lower frame 61. The upper frame 62 is a base provided on the upper side of the assembly device 5. The upper frame 62 is fixed to the upper side of the lower frame 61. The upper frame 62 in the example shown in Figure 5 has a structure in which frame materials are assembled into a rectangular parallelepiped frame shape. A manipulator 7 is installed in the upper center of the upper frame 62.

[0084] The wheels 64 are provided to enable the assembly device 5 to travel on the floorboard 15 of the top floor 1A of the existing scaffolding. The wheels 64 are attached to the lower part of the lower frame 61 of the base frame 60 and make contact with the floorboard 15 of the top floor 1A. The wheels 64 include drive wheels 65 and driven wheels 66. The drive wheels 65 are wheels equipped with a drive source (e.g., an electric motor 65a) that generates rotational driving force and rotate by the rotational driving force they generate. The driven wheels 66 do not have a drive source and are wheels that move in conjunction with the other drive wheels 65. In the following description, the drive wheels 65 and driven wheels 66 may also be collectively referred to as wheels 64.

[0085] In the traveling device 6 according to this embodiment, as shown in Figure 5, four wheels 64 are provided on the front and rear sides of the assembly device 5 in the front-to-rear direction (X direction), for a total of eight wheels 64. The four front wheels 64 are rotatably mounted on the front edge of the rectangular frame-shaped lower frame 61. Similarly, the four rear wheels 64 are rotatably mounted on the rear edge of the rectangular frame-shaped lower frame 61. Of the four wheels 64 on the front and rear sides, the two outer wheels 64 in the left-to-right direction (Y direction) of the assembly device 5 may be designated as drive wheels 65, and the two inner wheels 64 in the left-to-right direction (Y direction) may be designated as driven wheels 66. The drive wheels 65 are equipped with a drive source such as an electric motor 65a. The electric motor 65a is connected to the power supply 52 and is driven by electricity from the power supply 52 to generate a driving force that rotates the drive wheels 65.

[0086] As described above, the traveling device 6 of the assembly device 5 according to this embodiment includes a total of eight wheels 64 attached to the lower frame 61 of the base frame 60, for example. Of these, four wheels 64 (drive wheels 65) are attached to the four corner portions at the bottom of the lower frame 61. By arranging at least four wheels 64 (drive wheels 65) in a balanced manner in the front-rear direction (X direction) and left-right direction (Y direction) of the assembly device 5 at the bottom of the base frame 60, the assembly device 5 can travel stably and quickly on the floorboard 15 of the top floor 1A of the existing scaffolding, as shown in Figure 6. Furthermore, by providing four additional wheels 64 (driven wheels 66) in addition to these four wheels 64 (drive wheels 65), the assembly device 5 can travel on the floorboard 15 even more stably.

[0087] Furthermore, in this embodiment, of the eight wheels 64, four wheels 64 attached to the four corners of the lower part of the lower frame 61 of the base frame 60 are drive wheels 65. The rotational driving force of these four drive wheels 65 enables the traveling device 6 to self-propel on the floorboard 15 of the top floor 1A of the existing scaffolding.

[0088] In this embodiment, the running device 6 achieves the self-propelled function of the assembly device 5 by using drive wheels 65 as the wheels 64. However, the self-propelled function of the assembly device of the present invention is not limited to this wheel drive example, and other drive devices may be provided to achieve the self-propelled function. For example, a towing device (not shown) may be provided as such other drive devices. In this case, the assembly device 5 may be towed by the towing device by rewinding the wire with the hook at the end of the wire extending from the towing device hooked onto the support column 11 of the temporary scaffolding 1, thereby making the assembly device 5 self-propelled. Alternatively, a pressing device (not shown) having a pressing member that can move in and out in an inclined direction toward the floor plate 15 may be provided as the other drive device. In this case, the assembly device 5 may be propelled by generating a thrust force by pressing the pressing member (e.g., friction pad) of the pressing device against the floor plate 15 from the inclined direction, thereby making the assembly device 5 self-propelled on the floor plate 15.

[0089] Furthermore, it is preferable that the running gear 6 is equipped with a brake (not shown) to slow the running motion of the assembly device 5. The brake may be provided on some or all of the multiple wheels 64. For example, a brake may be provided on at least one of the four drive wheels 65 to create a braked drive wheel. By braking the rotation of the wheels 64 with the brake, the running speed of the assembly device 5 by the running gear 6 can be reduced or the assembly device 5 can be stopped. The brake may also be provided on parts of the running gear 6 other than the wheels 64. For example, a brake may be provided on the lower frame 61 of the base frame 60, and when the assembly device 5 is running on the floor plate 15, the running motion of the assembly device 5 may be slowed by pressing a pressing member provided by the brake against the floor plate 15.

[0090] As described above, the traveling device 6 of the assembly device 5 according to this embodiment is equipped with a plurality of wheels 64, including a drive wheel 65, and a brake. This allows the assembly device 5 to travel under its own power smoothly on the floorboard 15 of the top floor 1A of the existing scaffolding and stop at a desired position. The self-propelled function and stopping function of the traveling device 6 are controlled by the control device 50. For example, in order to stop the assembly device 5 at a predetermined stopping position, the control device 50 may, for example, detect the amount of rotation of the wheels 64 using a sensor, or detect the position of the support columns 11 of the temporary scaffolding 1 using an image sensor. Based on the detection information from such sensors, the control device 50 may measure the current position of the assembly device 5 or determine the stopping position of the assembly device 5.

[0091] In this embodiment, the traveling device 6 of the assembly device 5 is equipped with a total of eight wheels 64 and a total of four drive wheels 65, as shown in Figure 5. However, the present invention is not limited to this example, and the number and arrangement of the wheels 64 and drive wheels 65 of the traveling device 6 can be modified as appropriate. For example, the traveling device 6 may be equipped with at least two wheels 64 (one at the front and one at the rear) as long as it can travel on the floorboard 15 of the top floor 1A of the existing scaffolding, or it may be equipped with four wheels 64 at the four corners of the lower frame 61 of the base frame 60. Also, as long as the traveling device 6 is equipped with at least one drive wheel 65, the other wheels may be driven wheels. Furthermore, the arrangement of the wheels 64 is not limited to the example shown in Figure 5, where the wheels 64 are biased to be arranged only on the front and rear sides in the front-rear direction (X direction) of the assembly device 5. For example, wheels 64 may also be arranged in the center of the assembly device 5 in the front-rear direction (X direction).

[0092] Furthermore, in order to adjust the direction of travel when the assembly device 5 travels on the floor plate 15 using the wheels 64 of the running device 6, at least some of the wheels 64 may have a swivel function as needed. This makes it possible to adjust the direction of travel of the assembly device 5 so that it aligns with the longitudinal direction (X direction) of the existing scaffolding. Alternatively, the direction of travel of the assembly device 5 may be automatically adjusted by changing the orientation of the wheels 64 with the swivel function using the control device 50.

[0093] Furthermore, while the running gear 6 according to this embodiment has a self-propelled function that moves by the driving force of the wheels 64, including the drive wheels 65, the self-propelled function of the running gear of the present invention is not limited to this example. For example, crawlers may be provided in place of the wheels 64 at the lower part of the base frame 60 of the running gear 6, and the self-propelled function of the running gear 6 may be realized by the driving force of the crawlers.

[0094] As described above, the assembly device 5 according to this embodiment is installed on the floorboard 15 of the top floor 1A of the temporary scaffolding 1 and is equipped with a self-propelled traveling device 6, which allows it to move freely in the longitudinal direction (X direction) on the floorboard 15. Here, the location on which the assembly device 5 travels is the floorboard 15 of the top floor 1A of the temporary scaffolding 1, which is a relatively unstable and wobbly place. In contrast, the traveling device 6 of the assembly device 5 according to this embodiment has a plurality of wheels 64 that are well-balanced at the lower part of the base frame 60, so it is possible to move stably and smoothly on the floorboard 15 of the top floor 1A.

[0095] Furthermore, the assembly device 5 itself has a compact and lightweight configuration, and its width in the left-right direction (Y direction) is narrower than the width in the left-right direction (Y direction) of the top floor 1A of the existing scaffolding. Therefore, the assembly device 5 can be installed in the narrow space on the floor plate 15 of the top floor 1A, can travel suitably through this narrow space, and can travel smoothly without interfering with the scaffolding materials 10 of the newly constructed floor 1B that are assembled around the top floor 1A.

[0096] [3.3. Manipulator] Next, with reference to Figures 5 to 9, the manipulator 7 of the assembly apparatus 5 according to this embodiment will be described in detail.

[0097] The manipulator 7 of the assembly apparatus 5 according to this embodiment is a device for assembling scaffolding materials 10. The manipulator 7 has a gripping function for gripping the scaffolding materials 10, a position adjustment function for moving the gripped scaffolding materials 10 to the vicinity of a predetermined assembly position, a posture adjustment function for adjusting the posture of the moved scaffolding materials 10, and an assembly function for assembling the scaffolding materials 10 after posture adjustment to a predetermined assembly position on the newly constructed floor 1B.

[0098] As shown in Figure 5, the manipulator 7 is mounted on the traveling device 6. Specifically, the manipulator 7 is installed, for example, on the upper frame 62 of the base frame 60 of the traveling device 6. The manipulator 7 is a robotic device that has functions similar to human upper limbs and was developed for the purpose of replacing human manual work.

[0099] As shown in Figure 5, the manipulator 7 according to this embodiment is composed of an arm-type articulated robot, for example, a 6-axis vertical articulated robot. The manipulator 7 comprises a robot arm 70 and a robot hand 72 provided at the tip of the robot arm 70.

[0100] The robot arm 70 is mounted on the upper surface of the base frame 60 of the assembly device 5 and is positioned to move in various directions within the space above the assembly device 5. The robot arm 70 is composed of a combination of multiple joints 70a and multiple links 70b. The joints 70a are the parts that correspond to the joints, and in the case of a human upper limb, they correspond to the shoulder, elbow, and wrist. The links 70b are the rod-shaped parts that connect the joints 70a, and in the case of a human upper limb, they correspond to the bones. The multi-joint structure consisting of joints 70a and links 70b allows the robot arm 70 to perform complex movements similar to those of a human upper limb. For example, if the manipulator 7 is a 6-axis vertical multi-joint robot, the robot arm 70 has three joints 70a and two links 70b, as shown in Figure 5, and can move in the 6 axial directions. These six axes are, for example, the L-axis (the axis that moves the entire robot arm 70 back and forth), the S-axis (the axis that rotates the entire robot arm 70), the U-axis (the axis that moves the arm portion of the robot arm 70 up and down), the R-axis (the axis that rotates the arm portion of the robot arm 70), the T-axis (the axis that rotates the wrist portion of the robot arm 70), and the B-axis (the axis that moves the wrist portion of the robot arm 70 up and down).

[0101] The robot hand 72 is attached to the tip of the robot arm 71. The robot hand 72 functions like a human hand and performs handling tasks such as grasping and rotating objects. In this embodiment, the robot hand 72 is configured to grasp scaffolding material 10, rotate the grasped scaffolding material 10 to adjust its orientation, and move the grasped scaffolding material 10 to assemble it to a predetermined assembly position on the newly constructed floor 1B.

[0102] Furthermore, depending on the type of scaffolding material 10 to be assembled (for example, support columns 11, handrails 12, leading handrails 13, floorboard support members 14, etc.), multiple types of robot hands 72 may be prepared in advance and configured to be detachably attached to the tip of the robot arm 71. This allows for the appropriate robot hand 72 to be replaced as needed depending on the type of scaffolding material 10 to be assembled, enabling the assembly of multiple types of scaffolding material 10 to be performed appropriately and smoothly using the same manipulator 7.

[0103] The configuration of the manipulator 7 has been described above. The operation of the manipulator 7 in the above configuration is controlled by the control device 50. When assembling scaffolding materials 10 for a new floor 1B on the top floor 1A of an existing scaffold, the type of scaffolding material 10, assembly position, and orientation are predetermined in a pattern. For this reason, a computer program is created to operate the traveling device 6 and the manipulator 7 of the assembly device 5, and the control device 50 controls the traveling device 6 and the manipulator 7 according to the program, so that the assembly device 5 can automatically perform the assembly work of multiple types of scaffolding materials 10.

[0104] The procedure for this assembly work will now be explained in detail. First, the assembly device 5 travels on the floorboard 15 of the top floor 1A of the existing scaffolding using the traveling device 6, moves to a predetermined position on the top floor 1A, and stops at that predetermined position. During this movement, it is preferable that the manipulator 7 can be retracted so that it does not interfere with the scaffolding materials 10 of the newly constructed floor 1B that have already been assembled. The transport device 3 transports the scaffolding materials 10 from the ground to the vicinity of the predetermined position on the top floor 1A, and supplies the scaffolding materials 10 to the assembly device 5 in a predetermined position. The assembly device 5, having moved to the predetermined position, uses the manipulator 7 to receive the scaffolding materials 10 transported by the transport device 3. Specifically, the manipulator 7 of the assembly device 5 grasps and lifts the scaffolding materials 10 transported by the transport device 3 and removes them from the mounting member 34 of the transport device 3.

[0105] Next, the assembly device 5, while still gripping the scaffolding material 10 with the manipulator 7, travels along the floorboard 15 of the top floor 1A, moves to the vicinity of the predetermined assembly position on the new floor 1B, and stops. During this movement, the assembly device 5 adjusts the orientation of the gripped scaffolding material 10 to an appropriate position so that it does not interfere with the existing scaffolding, and then travels along the top floor 1A.

[0106] Furthermore, the assembly device 5, having moved to the vicinity of the assembly position, uses the manipulator 7 to adjust the orientation of the gripped scaffolding material 10 to an orientation suitable for assembly. Subsequently, the assembly device 5 uses the manipulator 7 to move the orientation-adjusted scaffolding material 10 and assemble it to the predetermined assembly position on the newly constructed floor 1B.

[0107] To facilitate such assembly work, the assembly device 5 may be equipped with, for example, an image sensor (not shown) for imaging the area around the assembly device 5. The assembly device 5 can use the image sensor to image the scaffolding materials 10 supplied from the conveying device 3, and by analyzing the captured images, it can identify the type of scaffolding material 10 (support column 11, handrail 12, leading handrail 13, floorboard support material 14, etc.) and confirm the position of the scaffolding material 10. This allows the manipulator 7 of the assembly device 5 to appropriately grip the scaffolding materials 10 conveyed by the conveying device 3. Furthermore, when assembling the gripped scaffolding materials 10 to a predetermined assembly position, the assembly device 5 can analyze the captured images to confirm the assembly position of the scaffolding materials 10, and to confirm and adjust the position of the gripped scaffolding materials 10.

[0108] Here, with reference to Figures 7 to 9, a specific example of the assembly work of various scaffolding materials 10 by the manipulator 7 of the assembly device 5 according to this embodiment will be described. Figure 7 is a perspective view showing the assembly work of a support column 11 by the manipulator 7 according to this embodiment. Figures 8 and 9 are a perspective view and a side view, respectively, showing the assembly work of a handrail 12 by the manipulator 7 according to this embodiment. For the sake of explanation, in Figures 7 and 8, parts of the assembly device 5 other than the manipulator 7 are omitted from the illustration.

[0109] As shown in Figure 7, when the manipulator 7 assembles the four support columns 11 of the new floor 1B, the assembly device 5 first travels on the floorboard 15 of the top floor 1A using the travel device 6, moves to the center position of the four support columns 11 to be assembled, and stops. Then, the assembly device 5 uses the manipulator 7 to sequentially assemble the support columns 11 received from the transport device 3 to the four assembly positions of the support columns 11 of the new floor 1B on the existing scaffolding of the top floor 1A. At this time, the manipulator 7 uses the robot hand 72 to grasp the support column 11 and then adjusts the orientation of the grasped support column 11 so that it extends in the vertical direction (Z direction). Then, the manipulator 7 inserts the adjusted support column 11 from above the existing support column 11 (not shown) of the existing scaffolding of the top floor 1A and assembles it. The manipulator 7 assembles the other three support columns 11 in the same manner. This completes the assembly of the four support columns 11 in one section of the newly constructed floor 1B.

[0110] Next, as shown in Figures 8 and 9, the assembly device 5 uses the manipulator 7 to sequentially assemble the handrails 12 received from the transport device 3 to their assembly positions on the existing scaffolding of the top floor 1A and the new floor 1B. At this time, the manipulator 7 uses the robot hand 72 to grasp the handrail 12 and then adjusts the orientation of the grasped handrail 12 so that it extends horizontally (in the X direction) along the long side of the temporary scaffolding 1. Then, the manipulator 7 assembles the handrail 12, after adjusting its orientation, between the two support columns 11 in the long side direction (X direction) of the new floor 1B. The support columns 11 are equipped with one-touch mounting brackets for attaching the handrails 12, and the manipulator 7 can fix the handrails 12 to the support columns 11 by inserting the ends of the handrails 12 into these mounting brackets. The manipulator 7 assembles the other handrails 12 in the same manner. As a result, multiple handrails 12 are assembled between the two support columns 11 in the long-side direction (X direction) of the newly constructed floor 1B.

[0111] Furthermore, the assembly device 5 uses the manipulator 7 to assemble the floor support members 14 received from the transport device 3 to their assembly positions on the new floor 1B. At this time, the manipulator 7 uses the robot hand 72 to grasp the floor support member 14 and then adjusts the orientation of the grasped floor support member 14 so that it extends horizontally (Y direction) along the short side of the temporary scaffolding 1. The manipulator 7 then assembles the floor support member 14, after adjusting its orientation, between the two support columns 11 in the short direction (Y direction) of the new floor 1B. The support columns 11 are equipped with one-touch mounting brackets for attaching the floor support members 14, and the manipulator 7 can fix the floor support member 14 to the support columns 11 by inserting the end of the floor support member 14 into these mounting brackets. The manipulator 7 assembles the other floor support members 14 in the same manner. As a result, multiple floorboard support members 14 are assembled between the two support columns 11 in the short-side direction (Y direction) of the newly constructed floor 1B.

[0112] In addition, the assembly device 5 uses the manipulator 7 to assemble the lead handrail 13 received from the transport device 3 to the assembly position of the lead handrail 13 on the new floor 1B. At this time, the manipulator 7 uses the robot hand 72 to grasp the handrail 13a of the lead handrail 13, and then adjusts the orientation of the grasped handrail 13a so that it extends horizontally (in the X direction) along the long side of the temporary scaffolding 1. Then, the manipulator 7 assembles the handrail 13a of the lead handrail 13, after adjusting its orientation, between the two support columns 11 in the long direction (X direction) of the new floor 1B. Next, the manipulator 7 sequentially grasps the two cross members 13b and 13c of the lead handrail 13 and attaches the free ends of the grasped cross members 13b and 13c to the predetermined locations on the support columns 11. The support column 11 is equipped with a one-touch mounting bracket for attaching the handrail 13a and cross members 13b and 13c of the pre-installed handrail 13. The manipulator 7 can fix the handrail 13a and cross members 13b and 13c to the support column 11 by inserting the ends of the handrail 13a and cross members 13b and 13c into this mounting bracket. In this way, the pre-installed handrail 13 is assembled between the two support columns 11 in the long side direction (X direction) of the newly constructed floor 1B.

[0113] As described above, the manipulator 7 of the assembly device 5 according to this embodiment can suitably assemble multiple types of scaffolding materials 10 that constitute the new floor 1B on the top floor 1A.

[0114] Furthermore, although the manipulator 7 fixes the scaffolding material 10 as described above, this state may be a temporary assembly with a weak connection. Therefore, it is possible to reinforce the connection between the scaffolding material 10 by driving wedges into the connection points. For this purpose, two or more types of robot hands 72 may be prepared for the manipulator 7, including a robot hand for assembling the scaffolding material 10 and a robot hand for driving in wedges, and two or more types of robot hands 72 may be held on the base frame 60 of the assembly device 5. This allows the robot hands 72 of the manipulator 7 to be flexibly replaced according to the work content of the assembly device 5.

[0115] Furthermore, the work of fixing the scaffolding materials 10, such as the handrail 12, the leading handrail 13, and the floorboard support material 14, to the one-touch mounting bracket attached to the support column 11, and the work of driving wedges into the connection points of the scaffolding materials 10 to strengthen the connection after fixing them, are common operations in the aforementioned wedge-type scaffolding.

[0116] Furthermore, in the examples shown in Figures 5 to 9, one manipulator 7 is installed on one assembly device 5, but the present invention is not limited to such examples, and for example, multiple manipulators 7 may be installed on one assembly device 5. Alternatively, multiple assembly devices 5 may be installed on the top floor 1A of an existing scaffold. By doing so, the assembly work of the scaffolding materials 10 can be divided among multiple manipulators 7, making the assembly work more efficient and faster.

[0117] Furthermore, although a 6-axis robot arm type manipulator 7 was used in the examples shown in Figures 5 to 9, the manipulator of the present invention is not limited to such examples, and other types of manipulators, such as cylindrical coordinate type or SCARA type manipulators, may be used. Also, the manipulator of the present invention is not limited to the example of the manipulator 7, as long as it is an assembly device capable of performing the assembly work of the scaffolding material 10 as described above, and its detailed configuration can be modified as appropriate. In addition, the robot hand 72 of the manipulator 7 is not limited to the example of a two-jaw chuck gripping hand shown in Figure 5, but may be a three-jaw chuck gripping hand, or a multi-point suction hand, for example. Furthermore, although the drive method of the manipulator 7 was electric, manipulators with various other drive methods, such as hydraulic or pneumatic, may also be used. When using a hydraulic or pneumatic manipulator, it is preferable to mount the drive unit on the base frame 60 to eliminate the need for hydraulic or pneumatic piping from outside the assembly device 5.

[0118] [3.4. Driving guide material] Next, with reference to Figure 10, the travel guide material 8 that guides the movement of the assembly apparatus 5 according to this embodiment will be described. Figure 10 is a side view (a), a front view (b), and a perspective view (c) of the assembly apparatus 5 equipped with the travel guide material 8 according to this embodiment.

[0119] As shown in Figure 10, the assembly device 5 according to this embodiment is equipped with a travel guide member 8. The travel guide member 8 has the function of guiding the movement of the assembly device 5 as it travels in the longitudinal direction (X direction) on the floor plate 15 of the top floor 1A.

[0120] As described above, the location on which the assembly device 5 travels is on the floorboards 15 of the top floor 1A of the temporary scaffolding 1, which is a relatively unstable and wobbly location. In particular, if the assembly precision of the multiple floorboards 15 on the top floor 1A is not high, or if there are steps between adjacent floorboards 15, the assembly device 5 is prone to wobbling when traveling on the floorboards 15 of the top floor 1A. For this reason, it is preferable to provide a mechanism to guide the movement of the assembly device 5 so that it can travel as straight as possible along the longitudinal direction (X direction) of the top floor 1A.

[0121] Therefore, as shown in Figure 10, the traveling device 6 of the assembly device 5 according to this embodiment includes a pair of left and right traveling guide members 8, 8 attached to both sides of the base frame 60 in the left-right direction (Y direction). The traveling guide members 8 are rod-shaped members that extend along the traveling direction (X direction) of the assembly device 5 and are installed protruding outward from the base frame 60 in the left-right direction (Y direction). The traveling guide members 8 are attached to the left-right side surfaces of the base frame 60 via support members 81. The support members 81 are support members that protrude outward from the base frame 60 in the left-right direction (Y direction).

[0122] The amount of Y-direction overhang of the travel guide members 8 by the support section 81 is adjusted so that the Y-direction width of the assembly device 5, including the travel guide members 8, 8 on both the left and right sides, is less than or equal to the distance between the Y-direction support columns 11, 11 of the top floor 1A. Furthermore, if the mounting height of the travel guide members 8 to the base frame 60 is lower than the height of the support columns 11 of the top floor 1A, the travel guide members 8 are positioned at a height that allows them to contact the support columns 11 of the top floor 1A.

[0123] When the assembly device 5 travels along the longitudinal direction (X direction) on the floor slab 15 of the top floor 1A of the existing scaffolding by the travel device 6, it is guided by a pair of travel guide members 8, 8 protruding from both the left and right sides of the base frame 60. That is, the travel guide members 8, 8 temporarily or permanently contact the support columns 11, 11 on both sides in the Y direction of the top floor 1A as needed to correct the direction of travel of the assembly device 5 or support its posture. For example, when traveling on a loose floor slab 15, even if the assembly device 5 loses its balance and sways from side to side or is about to tip over, the left and right travel guide members 8, 8 contact the support columns 11, 11 and support the assembly device 5. As a result, the travel guide members 8, 8 suppress swaying and tipping of the assembly device 5, so that the assembly device 5 can travel as straight as possible along the longitudinal direction (i.e., the direction of travel: X direction) of the top floor 1A.

[0124] Furthermore, while the assembly device 5 is in motion, the travel guide members 8, 8 may temporarily contact the support columns 11, 11 as needed, or they may be in constant contact. Specifically, if the travel guide members 8, 8 are configured to temporarily contact the support columns 11, 11, for example, the protruding length of the support parts 81, 81 can be adjusted so that a predetermined gap in the Y direction is created between the left and right travel guide members 8, 8 and the left and right support columns 11, 11, and the travel guide members 8, 8 can be attached to both the left and right sides of the base frame 60. As a result, the Y-direction width of the assembly device 5, including the travel guide members 8, 8 on both sides, becomes less than the distance between the support columns 11, 11 in the Y direction of the top floor 1A. Therefore, when the assembly device 5 is moving normally in a straight line in the X direction on the top floor 1A, the travel guide members 8 do not contact the support columns 11, but the travel guide members 8 will temporarily contact the support columns 11 only when the assembly device 5 is swaying from side to side or is about to tip over. Even with this configuration where the travel guide material 8 temporarily contacts the support column 11, the assembly device 5 can be properly guided during its movement.

[0125] On the other hand, if the travel guide members 8, 8 are configured to be in constant contact with the support columns 11, 11, for example, as shown in Figure 10(b), the protruding length of the support parts 81, 81 can be adjusted so that there is no gap in the Y direction between the left and right travel guide members 8, 8 and the left and right support columns 11, 11, and the travel guide members 8, 8 can be attached to both the left and right sides of the base frame 60. This makes the Y-direction width of the assembly device 5, including the left and right travel guide members 8, 8, approximately the same as the distance between the support columns 11, 11 in the Y direction of the top floor 1A. Furthermore, by providing biasing members such as springs to the support parts 81, 81, the travel guide members 8, 8 can be biased to be pushed out to the left and right sides (Y direction) by the support parts 81, 81, and pressed against the left and right support columns 11, 11. This ensures that the left and right travel guide members 8, 8 are in constant contact with the left and right support columns 11, 11 while the assembly device 5 is running. In this case, even if there is some looseness in the assembly of the support columns 11, 11 on the top floor 1A, causing dimensional changes, the travel guide members 8, 8 are biased in the Y direction by the biasing members of the support parts 81, 81, and move in and out in the Y direction to follow the dimensional changes of the support columns 11, 11 due to the looseness, so that they can always be in contact with the left and right support columns 11, 11. Even with this configuration in which the travel guide members 8, 8 are always in contact with the support columns 11, 11, the movement of the assembly device 5 can be properly guided.

[0126] As described above, by providing the travel guide material 8, the assembly device 5 can travel stably on the floorboard 15 of the top floor 1A of the existing scaffolding without its direction of travel swaying from side to side, losing its posture significantly, or getting caught on the assembled support columns 11, etc., thanks to the travel guide function of the travel guide material 8. Therefore, the assembly device 5 can travel smoothly in the appropriate direction along the longitudinal direction (X direction) of the top floor 1A, so that the assembly work of the scaffolding materials 10 can be carried out efficiently and smoothly.

[0127] Also, as shown in FIGS. 10(a) and (c), it is preferable that the length L1 of the traveling guide member 8 in the traveling direction (X direction) is longer than the distance W between the columns 11, 11 in the X direction on the uppermost floor 1A of the existing scaffold (L1 > W). Thereby, regardless of the relative positional relationship between the assembling device 5 traveling in the X direction and the plurality of columns 11 arranged at equal intervals W in the X direction, when the assembling device 5 loses its posture or wobbles during traveling, the traveling guide member 8 of the assembling device 5 can contact at least one column 11. Therefore, the traveling guide member 8 having a length L1 longer than the distance W between the columns 11, 11 in the X direction can more stably exhibit the traveling guide function of the assembling device 5.

[0128] Also, when the length L1 of the traveling guide member 8 is long as described above, during the replacement work on the construction floor (see S70 to S73 in FIG. 4), the long traveling guide member 8 interferes with the existing scaffold of the newly constructed floor 1B that has been assembled, making it difficult to move the assembling device 5 to the upper construction floor. Therefore, as shown in FIG. 10(c), one or both ends 8a of the traveling guide member 8 may be of a collapsible structure, and the traveling guide member 8 may be configured to be foldable, such that the length L2 of the folded traveling guide member 8 is shorter than the distance W between the columns 11, 11 in the X direction (L2 < W). Alternatively, although not shown, the traveling guide member 8 may be of a telescopic structure, such that the length L3 (not shown) of the contracted traveling guide member 8 is shorter than the distance W between the columns 11, 11 in the X direction (L3 < W). It is preferable to have a structure that can adjust the length of the traveling guide member 8 to be short in this way. Thereby, during the replacement work of the assembling device 5, the traveling guide member 8 of the assembling device 5 can be shortened to miniaturize the assembling device 5, so that the assembling device 5 can be moved to the upper construction floor by passing through the gap of the newly constructed scaffold of the newly constructed floor 1B that has been assembled. Therefore, the replacement work of the assembling device 5 provided with the traveling guide member 8 can be smoothly carried out.

[0129] In Figure 10, an example was described in which the travel guide material 8 guides the assembly device 5's movement in the X direction, and the objects of contact of the travel guide material 8 are the support columns 11, 11 on both sides in the Y direction. However, the example is not limited to this case; for example, the objects of contact of the travel guide material 8 may be the handrails 12, 12 on both sides in the Y direction. In this case, the installation height of the travel guide material 8 should be approximately the same as the height of the handrails 12, and the travel guide material 8 should be positioned at a height that allows it to contact the handrails 12. As a result, when the assembly device 5 travels in the longitudinal direction (X direction) on the floor plate 15 of the top floor 1A, the pair of travel guide materials 8, 8 protruding from both the left and right sides of the base frame 60 can temporarily or permanently contact the handrails 12, 12 on both sides in the Y direction of the top floor 1A as needed, correcting the direction of travel of the assembly device 5 or supporting its posture, thereby guiding the movement of the assembly device 5.

[0130] [3.5. Addressing openings in the floor surface of temporary scaffolding] Next, with reference to Figure 11, the assembly device 5's handling of the case where an opening 16 exists in the floor surface of the top floor 1A of the temporary scaffolding 1 will be described. Figure 11 is a plan view showing the positional relationship between the assembly device 5 according to this embodiment and the floor surface of the top floor 1A of the temporary scaffolding 1.

[0131] As shown in Figure 11(a), the temporary scaffolding 1 is composed of multiple sections 20A to C (hereinafter sometimes collectively referred to as "section 20") that are repeated in the longitudinal direction (X direction). Section 20 is a constituent unit of the temporary scaffolding 1, and is, for example, a rectangular area surrounded by four adjacent support columns 11. For example, in this embodiment, considering the workability when relocating construction floors, the planar size (area) of the assembly device 5 is smaller than the planar size of one section 20 of the temporary scaffolding 1.

[0132] Furthermore, the floor surface of the top floor 1A of the existing scaffolding is constructed by laying down multiple floorboards 15. In the example shown in Figure 11, two floorboards 15 are installed in one section 20 of the temporary scaffolding 1. Each floorboard 15 is long in the X direction, and the two floorboards 15 are arranged side by side in the Y direction. In the temporary scaffolding 1, an opening 16 may be provided in a part of the floor surface of the temporary scaffolding 1 for purposes such as installing stairs 17 (see Figure 1) for workers to go up and down. In this case, as shown in Figure 11(a), no floorboards 15 are installed in the floor surface of section 20A at the location of the opening 16. Therefore, in order for the assembly device 5 to smoothly travel and stop on the floorboards 15 of the top floor 1A of the temporary scaffolding 1, it is necessary to address the opening 16 formed in the floor surface.

[0133] Therefore, in the assembly apparatus 5 according to this embodiment, the arrangement of the multiple wheels 64 of the running gear 6 is devised, and the front wheel unit 67 and rear wheel unit 68 of the running gear 6 are configured to slide in and out of the base frame 60 in the X direction. In this embodiment, both the front wheel unit 67 and the rear wheel unit 68 are configured to slide in the X direction, but the invention is not limited to this example. For example, either the front wheel unit 67 or the rear wheel unit 68 may be configured to slide in the X direction, and the other may be fixed.

[0134] The assembly device 5 in the example shown in Figure 11 has, for example, four wheels at the front and four at the rear, for a total of eight wheels 64. For the sake of explanation, in the following, of the eight wheels 64, the four wheels 64 installed on the front side of the base frame 60 in the X direction (left side in Figure 11) will be referred to as "front wheels 64", and the four wheels 64 installed on the rear side of the base frame 60 in the X direction (right side in Figure 11) will be referred to as "rear wheels 64".

[0135] The running gear 6 of the assembly device 5 comprises a front wheel unit 67 and a rear wheel unit 68. The front wheel unit 67 is a unit that includes four front wheels 64. The rear wheel unit 68 is a unit that includes four rear wheels 64. The front wheel unit 67 is configured to slide and move forward in the X direction (left side in Figure 11) relative to the base frame 60, and the rear wheel unit 68 is configured to slide and move backward in the X direction (right side in Figure 11) relative to the base frame 60.

[0136] With this configuration of the traveling device 6, the assembly device 5 can access the opening 16 in the floor surface of the top floor 1A of the temporary scaffolding 1, and can stop on the floor surface of the section 20A where the opening 16 is located.

[0137] In other words, as shown in Figure 11(a), when the assembly device 5 travels through sections 20B and 20C where there is no opening 16 and two floor plates 15 are present, or when it stops within sections 20B and 20C, the front wheel unit 67 and rear wheel unit 68 of the travel device 6 are close to the base frame 60 and do not slide in the front-rear direction.

[0138] On the other hand, as shown in Figure 11(b), when traveling through or stopping within a section 20A where an opening 16 exists and there is only one floor plate 15, the running gear 6 changes its structure to accommodate the opening 16. For example, as shown in Figure 11(b), when the assembly device 5 stops within section 20A, the number of wheels 64 that can make contact with the floor plate 15 decreases because an opening 16 is provided in part of the floor surface of section 20A. Therefore, the rear wheel unit 68 of the running gear 6 slides and extends to the rear side in the X direction (right side in Figure 11) relative to the base frame 60. As a result, the rear wheel unit 68 is positioned within the adjacent section 20B to section 20A, and the four rear wheels 64E~H of the rear wheel unit 68 make contact with the floor plate 15 of section 20B.

[0139] In this way, when the assembly device 5 stops in the compartment 20A with the opening 16, as shown in Figure 11(b), the two front wheels 64C and 64D located on one end of the front wheels 64 in the Y direction (the lower side in Figure 11) are located above the opening 16 and are therefore not in contact with the floor plate 15, while the two front wheels 64A and 64B located on the other end in the Y direction (the upper side in Figure 11) are in contact with the floor plate 15 of compartment A, and all four rear wheels 64E to H that have slid backward are in contact with the floor plate 15 of compartment 20B.

[0140] When the assembly device 5 in the state shown in Figure 11(b) is projected onto the XY plane and viewed from above, as shown in Figure 11(c), the center of gravity 21 of the assembly device 5 is located on the other end in the Y direction (upper side of Figure 11(c)) relative to the virtual line 22. Here, the virtual line 22 is a virtual line connecting the front wheel 64B, which is located on the center side in the Y direction of the two front wheels 64A and 64B that are in contact with the ground, and the rear wheel 64H, which is located on one end in the Y direction (lower side of Figure 11) of the four rear wheels 64E to H that have slid backward in the X direction. In other words, the virtual line 22 is a line connecting the front wheel 64B and the rear wheel 64H that are in contact with the ground.

[0141] If the center of gravity 21 of the assembly device 5, viewed from above, is located on the other end of the Y-direction (upper side in Figure 11(c)) relative to the virtual line 22, then the center of gravity 21 of the assembly device 5 will be located on the side of the six grounded wheels 64A, 64B, 64E-64H relative to the virtual line 22. In other words, the center of gravity 21 of the assembly device 5 will be located inside the virtual trapezoid (see Figure 11(c)) formed by connecting the six grounded wheels 64A, 64B, 64E-H. Therefore, in this case, the assembly device 5 can maintain an upright position without tipping over, even if the two wheels 64C and 64D are not installed.

[0142] As described above, according to the structure of the traveling device 6 in this embodiment, even if the assembly device 5 stops on an opening 16, such as a staircase 17 connecting the upper and lower floors, provided in a part of the floor surface of the uppermost floor 1A, it can stand upright without losing balance and falling over. Therefore, the assembly device 5 can perform assembly work within the section 20A where the opening 16 is located.

[0143] In the example shown in Figure 11, the solution described is for when the opening 16 is located in section 20A and the assembly device 5 enters section 20A from the right side. However, the same solution can be used when the opening 16 is located on the opposite side. For example, if the opening 16 is located in section 20C and the assembly device 5 enters section 20C from the left side, the front wheel unit 67 of the running gear 6 should slide forward in the X direction relative to the base frame 60 (to the left in Figure 11) and be positioned within section 20B.

[0144] Furthermore, if extending either the front wheel unit 67 or the rear wheel unit 68 in the X direction results in a greater distance between the front wheel unit 67 and the rear wheel unit 68 in the X direction than the X-direction length of section 20, the assembly device 5 can maintain its upright position on section 20 where the opening 16 is located. Therefore, regardless of the direction in which the assembly device 5 enters section 20 where the opening 16 is located, it is sufficient to configure at least one of the front wheel unit 67 or the rear wheel unit 68 to slide in the X direction relative to the base frame 60. Also, if the distance between the front wheel unit 67 and the rear wheel unit 68 in the X direction in the original running gear 6 is greater than the X-direction length of section 20, the assembly device 5 can maintain its upright position even if it enters section 20 where the opening 16 is located, so it is not necessary to configure the front wheel unit 67 and the rear wheel unit 68 to slide in the X direction.

[0145] Furthermore, although the example in Figure 11 shows four front wheels 64 and four rear wheels 64, the assembly device 5 can stand on its own without falling over if two of the three front wheels 64—one at the center in the Y direction and one at one end—make contact with the floor plate 15 in the compartment 20A with the opening 16. In this case, it is preferable that the one front wheel 64 in the center in the Y direction is a cylindrical wheel (not shown) that extends long in the Y direction, and that the width of this central front wheel 64 is wider than that of the front wheels 64 at both ends. This allows the cylindrical front wheel 64 that extends long in the Y direction to partially make contact with the floor plate 15 located on the lower or upper side of the compartment 20A, regardless of whether the opening 16 is located on the upper or lower side in the Y direction. Furthermore, if it is determined that the opening 16 is located on either one side in the Y direction within the compartment 20A (either the upper or lower side in Figure 11), then the wheel width of the central wheel 64 in the Y direction does not need to be increased, and that central wheel 64 can be positioned on the side within the compartment 20A where the opening 16 does not exist (the side where the floorboard 15 exists). This makes it possible to accommodate the opening 16 even when three front wheels 64 and three rear wheels 64 are provided.

[0146] [4. Configuration of the assembly device that travels along the handrail] [4.1. Overall Structure] Next, with reference to Figures 12 to 19, the configuration of the assembly device 5 that travels on the handrail 12 of the uppermost floor 1A of the existing scaffolding according to the second embodiment of the present invention will be described. Figure 12 is a perspective view showing the assembly device 5 according to the second embodiment. Figure 13 is a plan view (a) and a side view (b) showing the assembly device 5 according to the second embodiment.

[0147] The assembly device 5 according to the first embodiment described above (see Figures 5 and 6, etc.) was equipped with a traveling device 6 configured to travel on the floor surface (floor plate 15) of the top floor 1A of the existing scaffolding. In contrast, the assembly device 5 according to the second embodiment (see Figures 12 and 13, etc.) is equipped with a traveling device 9 configured to travel on the handrail 12 of the top floor 1A of the existing scaffolding.

[0148] As shown in Figures 12 and 13, the assembly device 5 according to the second embodiment has a self-propelled function that automatically travels on the top floor 1A of the existing scaffolding, and an assembly function that automatically assembles the scaffolding materials 10 of the new floor 1B on the top floor 1A. For this purpose, the assembly device 5 comprises a self-propelled traveling device 9 and a manipulator 7 provided on the traveling device 9. The traveling device 9 is configured to travel on the handrail 12 of the top floor 1A of the temporary scaffolding 1. The manipulator 7 is configured to grip the scaffolding materials 10 that constitute the temporary scaffolding (new scaffolding) of the new floor 1B and assemble them to a predetermined assembly position on the new floor 1B. Furthermore, the assembly device 5 according to the second embodiment comprises a control device 50 (not shown in Figures 12 and 13) that controls the operation of each part of the assembly device 5, and a power supply 52 (not shown in Figures 12 and 13) which is composed of a portable power supply or the like.

[0149] The manipulator 7 according to the second embodiment comprises a robot arm 70 and a robot hand 72 provided at the tip of the robot arm 70. The manipulator 7 of the assembly apparatus 5 according to the second embodiment has the same functions and configuration as the manipulator 7 of the assembly apparatus 5 according to the first embodiment, so a detailed explanation is omitted.

[0150] [4.2. Running gear] The traveling device 9 of the assembly apparatus 5 according to the second embodiment includes a base frame 90 on which the manipulator 7 is installed, a plurality of wheels 94 attached to the base frame 90, and brakes (not shown).

[0151] The base frame 90 is the base that constitutes the body of the assembly device 5. The base frame 90 functions as a structure that supports the traveling device 9 and the manipulator 7 of the assembly device 5. From the viewpoint of weight reduction, it is preferable that the base frame 90 be made of a frame material made of a lightweight metal material such as aluminum. Multiple wheels 94 of the traveling device 9 are mounted on the lower side of the base frame 90. The manipulator 7 is installed in the upper center of the base frame 90. A control device 50 and a power supply 52, etc. (not shown) are installed inside the base frame 90.

[0152] The wheels 94 are provided to enable the assembly device 5 to travel along the handrail 12 on the long side of the top floor 1A of the existing scaffolding in the longitudinal direction (X direction) of the existing scaffolding. The wheels 94 are attached, for example, to both sides in the Y direction of the base frame 90 and are placed on the handrail 12 on the long side of the existing scaffolding on the top floor 1A.

[0153] The wheels 94 are mounted on both sides of the base frame 90 in the left-right direction (Y direction) and include at least two sets of wheels that rest on the handrails 12 on the long side of the existing scaffolding on the top floor 1A. In the running gear 9 of the example in Figures 12 and 13, there are six sets of wheels 94 on each side of the base frame 90 of the assembly device 5 in the left-right direction (Y direction), for a total of 12 wheels 94. The six wheels 94 on one side in the Y direction are rotatably mounted on the left side of the base frame 90. Similarly, the six wheels 94 on the other side in the Y direction are rotatably mounted on the right side of the base frame 90.

[0154] The wheels 94 include drive wheels and driven wheels. For example, at least some of the wheels 94 (12 in the example of Figure 13) may be drive wheels and the others may be driven wheels, or all of the wheels 94 (12 in the example of Figure 13) may be drive wheels. The drive wheels are equipped with a drive source such as an electric motor, and are driven by electricity from the power supply 52 to generate a driving force that rotates the drive wheels. This rotational driving force of the drive wheels enables the running device 9 to self-propel along the handrail 12 on the top floor 1A of the existing scaffolding.

[0155] Furthermore, it is preferable that the running gear 9 is equipped with a brake (not shown) to slow the running motion of the assembly device 5. The brake may be provided on some or all of the multiple wheels 94. For example, a brake may be provided on at least one of the drive wheels to create a braked drive wheel. By braking the rotation of the wheels 94 with the brake, the running speed of the assembly device 5 by the running gear 9 can be reduced or the assembly device 5 can be stopped. The brake may also be provided on parts of the running gear 9 other than the wheels 94. For example, a brake may be provided on the base frame 90, and when the assembly device 5 is running on the handrail 12, the running motion of the assembly device 5 may be slowed by pressing a pressing member provided by the brake against the handrail 12 or a support column 11, etc.

[0156] Thus, the traveling device 9 of the assembly device 5 according to the second embodiment includes a plurality of wheels 94, including drive wheels, and brakes. This allows the assembly device 5 to suitably self-propel along the long-side handrail 12 of the uppermost floor 1A of the existing scaffolding and stop at a desired position. The self-propelling and stopping functions of the traveling device 9 are controlled by the control device 50. For example, the control device 50 may, for instance, detect the amount of rotation of the wheels 94 using a sensor, or detect the position of the support columns 11 of the temporary scaffolding 1 using an image sensor, in order to stop the assembly device 5 at a predetermined stopping position. Based on the detection information from such sensors, the control device 50 may measure the current position of the assembly device 5 or determine the stopping position of the assembly device 5.

[0157] In the second embodiment, the traveling device 9 of the assembly device 5 is equipped with a total of 12 wheels 94, as shown in Figures 12 and 13. However, the present invention is not limited to this example, and the number and arrangement of the wheels 94 and drive wheels 65 of the traveling device 9 can be modified as appropriate. For example, the traveling device 9 only needs to be equipped with at least two sets of wheels 94 (two wheels on the left and two wheels on the right) as long as it can travel on the handrail 12 of the top floor 1A of the existing scaffolding. Also, the traveling device 9 can be equipped with at least one drive wheel, and the other wheels may be driven wheels. Furthermore, the arrangement of the wheels 94 is not limited to the example shown in Figure 12, where the wheels 64 are evenly distributed on both sides of the assembly device 5 in the left-right direction (Y direction). For example, the wheels 94 may be arranged biasedly on the front and rear sides of both sides of the assembly device 5 in the left-right direction (Y direction).

[0158] Furthermore, while the running gear 9 according to the second embodiment has a self-propelled function that moves by the driving force of the wheels 94, including the drive wheels, the self-propelled function of the running gear of the present invention is not limited to such examples. For example, crawlers may be provided in place of the wheels 94 at the lower part of the base frame 90 of the running gear 9, and the self-propelled function of the running gear 9 may be realized by the driving force of the crawlers.

[0159] As described above, the assembly device 5 according to the second embodiment is a compact and lightweight device, and the width of the assembly device 5 in the left-right direction (Y direction) is about the same as the width of the top floor 1A of the existing scaffolding in the left-right direction (Y direction). The assembly device 5 is placed on two handrails 12, 12 in the long-side direction of the top floor 1A of the temporary scaffolding 1, and is equipped with a self-propelled traveling device 9, so that it can travel along the handrails 12, 12 in the longitudinal direction (X direction).

[0160] With this configuration, the traveling device 9 can utilize the two handrails 12, 12 along the long side of the top floor 1A of the existing scaffolding as traveling rails, and can travel freely on the handrails 12. Therefore, it can travel smoothly on the top floor 1A of the existing scaffolding regardless of the presence or absence of floorboards 15, openings 16, or obstacles on the floor surface of the top floor 1A.

[0161] Furthermore, the travel location for the assembly device 5 according to the first embodiment was on the floorboard 15 of the top floor 1A of the temporary scaffolding 1, which is a relatively unstable and wobbly location. In contrast, the travel location for the assembly device 5 according to the second embodiment is on the handrail 12 of the top floor 1A, which is a relatively stable location, and the left and right wheels 94 of the travel device 9 can be reliably positioned on the handrail 12. Therefore, in the second embodiment, it is possible to travel stably and smoothly on the handrail 12 of the top floor 1A.

[0162] [4.3. Wheel engagement structure] Here, with reference to Figure 14, an engagement structure for suitably engaging the wheels 94 of the running gear 9 according to the second embodiment with the handrail 12 of the top floor 1A will be described. Figure 14 is a cross-sectional view (a) and perspective views (b) and (c) showing specific examples of the engagement structure of the wheels 94 of the running gear 9 according to the second embodiment.

[0163] As shown in Figures 14(a) and 14(b), the wheels 94 of the running gear 9 according to the second embodiment are mounted on an axle 91 and are rotatable about the axle 91. The wheels 94 have an engagement structure that engages with the upper side of the handrail 12, and the cross-sectional shape of the wheels 94 is such that it engages with the upper side of the handrail 12. For example, a groove 94a is formed in the outer circumferential direction on the outer surface of the wheel 94. The cross-sectional shape of this groove 94a is such that it matches the outer surface of the handrail 12, and is, for example, U-shaped. The curvature of the groove 94a is adjusted to be similar to the curvature of the outer surface of the circular pipe-shaped handrail 12.

[0164] The engagement structure of the wheel 94 having such grooves 94a allows the grooves 94a of the wheel 94 to engage suitably with the handrail 12 when the wheel 94 is placed on the handrail 12, making it difficult for the wheel 94 to come off the handrail 12. Therefore, by equipping the running device 9 of the assembly device 5 with wheels 94 having such grooves 94a, the running device 9 can prevent the wheel 94 from coming off the handrail 12 when running on the handrail 12, and can run stably on the handrail 12.

[0165] Furthermore, as shown in Figure 14(b), a wheel guide member 92 may be attached to the outer end of the axle 91 of the wheel 94. The wheel guide member 92 extends downward from the axle 91 and is positioned along the handrail 12 on the lower side of the wheel 94. This wheel guide member 92 has the function of restricting the lateral movement (Y direction) of the wheel 94 relative to the handrail 12. That is, even if the wheel 94 is about to shift laterally relative to the handrail 12, the wheel guide member 92 will come into contact with the side of the handrail 12, thereby suppressing the lateral displacement of the wheel 94. Therefore, with the engagement structure that includes the wheel guide member 92 in addition to the groove 94a, the wheel 94 becomes even less likely to come off the handrail 12, so that the running device 9 of the assembly device 5 can run even more stably on the handrail 12.

[0166] Furthermore, as shown in Figure 14(c), when the wheel guide material 92 is provided, the groove 94a on the outer surface of the wheel 94 may be omitted, and the shape of the wheel 94 may be a simple cylindrical shape or the like. With the engagement structure in the example of Figure 14(c), the wheel guide material 92 can prevent the wheel 94 from coming off the handrail 12, so that the running device 9 of the assembly device 5 can run stably on the handrail 12.

[0167] In the examples shown in Figures 14(b) and (c), the wheel guide member 92 is provided at the outer end of the axle 91 of the wheel 94 and positioned on the outside in the Y direction of the handrail 12, but the example is not limited to this. For example, the wheel guide member 92 may be provided at a part of the axle 91 that is inward in the Y direction from the wheel 94 and positioned on the inside in the Y direction of the handrail 12, and the same effect can be obtained in this case as well.

[0168] [4.4. Driving Guide Material] Next, with reference to Figure 15, a travel guide member 100 that guides the movement of the assembly apparatus 5 according to the second embodiment will be described. Figure 15 is a side view showing the assembly apparatus 5 equipped with the travel guide member 100 according to the second embodiment.

[0169] Similar to the running guide member 8 (see Figure 10) of the assembly device 5 that runs on the floor plate 15 according to the first embodiment described above, the assembly device 5 that runs on the handrail 12 according to the second embodiment may also be equipped with a running guide member 100, as shown in Figure 15. The running guide member 100 has the function of guiding the movement of the assembly device 5 as it runs in the longitudinal direction (X direction) on the handrail 12 of the top floor 1A.

[0170] The traveling device 9 of the assembly device 5 according to the second embodiment includes a pair of left and right traveling guide members 100, 100 attached to both sides in the left-right direction (Y direction) at the lower part of the base frame 90, as shown in Figure 15. The traveling guide members 100 are rod-shaped members that extend along the traveling direction (X direction) of the assembly device 5. The traveling guide members 100 are attached to the lower part of the base frame 90 via support members 102. The support members 102 are support members that protrude downward from the side or bottom surface of the base frame 90.

[0171] The amount of Y-direction overhang of the travel guide members 100 by the support section 102 is adjusted so that the Y-direction width of the assembly device 5, including the travel guide members 100, 100 on both the left and right sides, is less than or equal to the distance between the Y-direction support columns 11, 11 of the top floor 1A. Furthermore, if the mounting height of the travel guide members 100 is lower than the height of the support columns 11 of the top floor 1A, the travel guide members 100 are positioned at a height that allows them to contact the support columns 11 of the top floor 1A.

[0172] When the assembly device 5 travels longitudinally (X direction) on the handrail 12 of the top floor 1A of the existing scaffolding by the traveling device 9, it is guided by a pair of traveling guide members 100, 100 provided on both the left and right sides of the base frame 90. That is, the traveling guide members 100, 100 temporarily or permanently contact the support columns 11, 11 on both sides in the Y direction of the top floor 1A as needed to correct the direction of travel of the assembly device 5 or support its posture. For example, even if the assembly device 5 loses its balance and sways from side to side or is about to tip over, the left and right traveling guide members 100, 100 contact the support columns 11, 11 to support the assembly device 5. In this way, the traveling guide members 100, 100 suppress the lateral swaying of the assembly device 5 and the lateral (Y direction) displacement of the wheels 94 relative to the handrail 12. Therefore, the assembly device 5 can travel as straight as possible along the longitudinal direction (i.e., the direction of travel: X direction) on the handrail 12 of the top floor 1A.

[0173] As described above, the assembly device 5 according to the second embodiment can travel stably on the handrail 12 of the top floor 1A of the existing scaffolding without its direction of travel swaying from side to side, its posture becoming significantly unstable, or it detaching from the handrail 12, thanks to the travel guide function of the travel guide material 100. Therefore, the assembly device 5 can travel smoothly along the longitudinal direction (X direction) of the top floor 1A, enabling the assembly work of the scaffolding material 10 to be carried out efficiently and smoothly.

[0174] Furthermore, as shown in Figure 15, it is preferable that the length L1 of the travel guide material 100 in the travel direction (X direction) is longer than the spacing W between the support columns 11, 11 in the X direction on the top floor 1A of the existing scaffolding (L1 > W). This ensures that, regardless of the relative positional relationship between the assembly device 5 traveling on the top floor 1A in the X direction and the multiple support columns 11 arranged at equal intervals W in the X direction, if the assembly device 5 loses its posture or becomes unstable during travel, the travel guide material 100 of the assembly device 5 can come into contact with at least one support column 11. Therefore, a travel guide material 100 having a length L1 longer than the spacing W between the support columns 11, 11 in the X direction can more stably perform the travel guide function of the assembly device 5. Also, similar to the travel guide material 8 shown in Figure 10, it is preferable that both ends of the travel guide material 100 shown in Figure 15 be made into a foldable structure so that the length L1 of the travel guide material 100 can be shortened during construction floor relocation work, etc.

[0175] In Figure 15, an example was described in which the travel guide material 100 guides the assembly device 5 in the X direction, and the objects of contact of the travel guide material 100 are the support columns 11, 11 on both sides in the Y direction. However, the example is not limited to this case, and for example, the objects of contact of the travel guide material 100 may be the handrails 12, 12 on both sides in the Y direction. In this case, the installation height of the travel guide material 100 should be approximately the same as the height of the handrails 12, and the travel guide material 100 should be positioned at a height that allows it to contact the handrails 12. As a result, when the assembly device 5 travels in the longitudinal direction (X direction) on the handrails 12 of the top floor 1A, the pair of travel guide materials 100, 100 protruding from both the left and right sides of the base frame 90 can temporarily or permanently contact the handrails 12, 12 on both sides in the Y direction of the top floor 1A as needed, correcting the direction of travel of the assembly device 5 or supporting its posture, thereby guiding the movement of the assembly device 5.

[0176] [4.5. Derailment prevention devices, fall prevention devices] Next, with reference to Figure 16, the derailment prevention device 110 and the fall prevention device 120 provided on the running device 9 of the assembly device 5 according to the second embodiment will be described. Figure 16 is a plan view (a), a side view (b), a front view (c), and a DD cross-sectional view (d) showing specific examples of the derailment prevention device 110 and the fall prevention device 120 provided on the assembly device 5 according to the second embodiment.

[0177] As described above, the assembly device 5 according to the second embodiment travels on the handrail 12 of the top floor 1A of the existing scaffolding. Furthermore, when performing the wheel repositioning operation described later (an operation in which the assembly device 5 traveling on the handrail 12 switches the normal travel wheels 94A and the support column passing wheels 94B in order to pass a location with a support column 11; see Figure 18), the assembly device 5 is prone to falling off the handrail 12. Therefore, it is preferable that the travel device 9 of the assembly device 5 be equipped with a mechanism capable of preventing it from falling off the handrail 12 of the top floor 1A. Accordingly, the travel device 9 of the assembly device 5 according to the second embodiment is equipped with a derailment prevention device 110 and a fall prevention device 120.

[0178] First, let's explain the derailment prevention device 110. As shown in Figure 16, the running device 9 of the assembly device 5 uses the two handrails 12, 12 that extend in the longitudinal direction (X direction) of the top floor 1A as running rails and runs on the handrails 12, 12. During this running, multiple sets of wheels 94 of the running device 9 (normal running wheels 94A or support column passing wheels 94B) are positioned on the handrails 12, but there is a risk that the wheels 94 may come off the handrails 12 due to, for example, running vibrations or the wheel repositioning operation described above.

[0179] Therefore, the assembly device 5 according to the second embodiment is equipped with a derailment prevention device 110. The derailment prevention device 110 is a device for preventing the assembly device 5, which runs on the handrail 12 of the top floor 1A, from derailing from the handrail 12, which is the running rail.

[0180] As shown in Figure 16, the derailment prevention device 110 is attached to the base frame 90 of the running gear 9 and has locking members 112 that hook onto the handrails 12 on at least one side of the front or rear of the base frame 90. In the example in Figure 16, two locking members 112, 112 are provided on the front of the base frame 90 in the X direction and are hooked onto the two handrails 12, 12 respectively. The locking members 112 have the function of locking the assembly device 5 to the handrails 12 so that the wheels 94 of the assembly device 5 do not shift away from the handrails 12. With the locking members 112, 112 hooked onto the two handrails 12, 12, the running gear 9 of the assembly device 5 travels along the handrails 12 in the direction of travel (X direction), which prevents the left and right wheels 94, 94 from shifting in the left and right direction (Y direction) and coming off the left and right handrails 12, 12. Therefore, the running device 9 of the assembly device 5 can be effectively prevented from derailing by detaching from the running rails, which are the handrails 12, 12.

[0181] Here, with reference to Figure 17, the specific configuration of the derailment prevention device 110 according to the second embodiment will be described in detail. Figure 17 is an enlarged front view showing an example of the configuration of the derailment prevention device 110 of the running gear 9 according to the second embodiment.

[0182] As shown in Figure 17, the derailment prevention device 110 comprises a locking member 112, a connecting member 114, and a drive unit 116. The locking member 112 and the connecting member 114 are rotatable around a first pivot shaft 115. The connecting member 114 is connected to the drive unit 116. The drive unit 116 is composed of, for example, an electric cylinder or an air cylinder, and generates a driving force to rotate the locking member 112. The drive unit 116 is rotatable around a second pivot shaft 117. The telescopic rod 116a of the drive unit 116 is connected to the connecting member 114.

[0183] With this configuration, the derailment prevention device 110 rotates the locking member 112 by a predetermined angle around the first pivot shaft 115 by extending or retracting the telescopic rod 116a of the drive unit 116. This allows the locking member 112 to be hooked onto the handrail 12 and locked, or to be detached from the handrail 12 and unlocked. When the assembly device 5 is running, the locking member 112 can be hooked onto the handrail 12 and locked, guiding the wheels 94 of the assembly device 5 so that they do not derail from the handrail 12. As a result, when the assembly device 5 running on the handrail 12 needs to pass over a location with a support column 11 (hereinafter sometimes referred to as a "support column location") and performs a wheel repositioning operation described later, the derailment prevention device 110 can be locked to prevent derailment, allowing the wheel repositioning operation to be performed safely and appropriately. Furthermore, when the derailment prevention device 110 passes over a support column, the lock on the derailment prevention device 110 is released and the locking member 112 is detached from the handrail 12, so that the lock does not come into contact with the support column and the device can pass over the support column.

[0184] Next, referring again to Figure 16, we will describe the fall prevention device 120 provided in the traveling device 9 of the assembly apparatus 5 according to the second embodiment.

[0185] As described above, when the derailment prevention device 110 passes over a support post or otherwise detaches the locking member 112 of the derailment prevention device 110 from the handrail 12, the assembly device 5 shown in Figure 16 maintains an upright position with the wheels 94 placed on the handrail 12. Furthermore, even when the assembly device 5 is equipped with the running guide material 100 shown in Figure 10, when the locking member 112 of the derailment prevention device 110 is detached from the handrail 12, the assembly device 5 maintains an upright position with the wheels 94 and the running guide material 100. In this manner, without the derailment prevention device 110 providing a lock, if, for example, there is foreign matter on the handrail 12 (running rail) causing the wheels 94 to ride up, or if a large external load is applied to the assembly device 5 for some reason during running or assembly, the wheels 94 may detach from the handrail 12, or the running guide material 100 may detach from the guide (support column 11), in which case the entire assembly device 5 may detach from the handrail 12 on the top floor 1A and fall downwards.

[0186] Furthermore, during the wheel repositioning operation described above, when the derailment prevention device 110 passes over the support column, it is conceivable that the wheel 94 may detach from the handrail 12 (running rail) due to the wheel repositioning operation which occurs at the same time when the lock on the derailment prevention device 110 is released. In this case as well, the entire assembly device 5 may detach from the handrail 12 on the top floor 1A and fall downward.

[0187] Therefore, the assembly device 5 according to the second embodiment is equipped with a fall prevention device 120. The fall prevention device 120 is a device that prevents the assembly device 5 from falling to the floor or the ground even if it detaches from the handrail 12 on the top floor 1A.

[0188] As shown in Figure 16, the fall prevention device 120 connects a predetermined location on the assembly device 5 to a predetermined location on the existing scaffolding on the top floor 1A. The fall prevention device 120 is composed of, for example, a retractable reel device such as a torque reel or a spring balancer. The fall prevention device 120 comprises a main body 121, two retractable wires 122 and 123 that are wound up by the main body 121, and hooks 124 and 125 provided at the ends of each wire 122 and 123, respectively. The hook 124 at the end of one wire 122 is attached to a mounting bracket 126 attached to a support column 11 of the temporary scaffolding 1 on the top floor 1A. The hook 125 at the end of the other wire 123 is attached to the side of the base frame 90 of the traveling device 9 of the assembly device 5.

[0189] As shown above, the fall prevention device 120 in the example of Figure 16 connects the side of the base frame 90 of the travel device 9 of the assembly device 5 to the support column 11 of the existing scaffolding on the top floor 1A. The assembly device 5 travels on the handrail 12 and performs the wheel repositioning operation while connected to the support column 11 by the fall prevention device 120. Here, since the wires 122 and 123 of the fall prevention device 120 are retractable, even if the assembly device 5 is connected to the wires 122 and 123, it does not interfere with the assembly device 5's movement on the handrail 12.

[0190] As described above, the assembly device 5 travels along the handrail 12 and performs wheel repositioning operations while connected to the fall prevention device 120. As a result, even if the wheels 94 of the assembly device 5 come off the handrail 12, the assembly device 5 will remain suspended by the fall prevention device 120, effectively preventing it from falling to the floor of the top floor 1A or to the ground.

[0191] Furthermore, regarding the derailment prevention device 110, if two units are installed, one at the front and one at the rear, and one is unlocked when passing over a support column, the other can maintain its locked state, a safer condition can be ensured. Specifically, in the example shown in Figure 16, the locking member 112 of the derailment prevention device 110 is configured to hook onto the handrail 12 at the front of the base frame 90, but the present invention is not limited to this example. For example, two derailment prevention devices 110, 110 may be provided at both the front and rear of the base frame 90, and the locking members 112, 112 of the two derailment prevention devices 110, 110 may be configured to hook onto the handrail 12 at the front and rear of the base frame 90, respectively. As a result, when the assembly device 5 passes over a support column, even if the locking member 112 of one of the two derailment prevention devices 110, 110 provided at the front and rear of the base frame 90 is released from the handrail 12 (unlocked state), the locking member 112 of the other derailment prevention device 110 can remain hooked onto the handrail 12 (locked state). Therefore, by providing at least two derailment prevention devices 110, 110, it is possible to more reliably prevent the assembly device 5 from detaching from the handrail 12, 12 and derailing.

[0192] [4.6. Wheel shifting operation when passing over support pillars] Next, the wheel replacement operation of the running gear 9 according to the second embodiment will be described with reference to Figures 18 and 19. Figure 18 is a process diagram showing the wheel replacement operation of the running gear 9 according to the second embodiment. Figure 19 is a perspective view showing the wheel replacement operation of the running gear 9 according to the second embodiment.

[0193] As described above, the traveling device 9 of the assembly device 5 according to the second embodiment is equipped with multiple sets of wheels 94 in order to travel on two handrails 12, 12 on the left and right sides along the longitudinal direction (X direction) of the existing scaffolding on the top floor 1A. The multiple sets of wheels 94 are provided protruding from both sides in the left-right direction (Y direction) of the base frame 90 of the traveling device 9. Specifically, as shown in Figures 18 and 19, the traveling device 9 of the assembly device 5 according to the second embodiment is equipped with, for example, six sets of wheels 94A, 94B (hereinafter sometimes collectively referred to as "wheels 94") provided on both the left and right sides of the base frame 90. Each wheel 94A, 94B is rotatably mounted to the side of the base frame 90 via axles 91A, 91B (hereinafter sometimes collectively referred to as "axles 91") that extend in the Y direction.

[0194] Each wheel 94 is configured to protrude or retract from the base frame 90 in the left-right direction (Y direction). Wheels 94 that protrude outward in the Y direction from the base frame 90 are positioned in a running position on the handrail 12. Wheels 94 positioned in the running position are placed on the handrail 12 and used for the movement of the assembly device 5. On the other hand, wheels 94 that retract inward in the Y direction toward the base frame 90 are positioned in a retracted position away from the handrail 12 and not in contact with the handrail 12. Wheels 94 positioned in the retracted position are not used for the movement of the assembly device 5. In this way, each wheel 94 is configured to move in and out between the running device and the retracted position.

[0195] In the second embodiment, the assembly device 5, which travels on the handrail 12, is required not only to be able to travel on the handrail 12 of the top floor 1A where there are no support columns 11 (hereinafter referred to as "normal areas"), but also to be able to pass through areas where there are support columns 11 (hereinafter referred to as "support column areas") on the handrail 12 of the top floor 1A. In order to be able to pass through these support column areas, the assembly device 5 according to this embodiment performs an operation to switch the normal travel wheels 94A and the support column passing wheels 94B (wheel switching operation). The wheel switching operation is controlled by the control device 50 of the assembly device 5. When the assembly device 5 travels on the handrail 12 of the top floor 1A, the control device 50 detects the position of the support column areas where support columns 11 exist on the handrail 12, for example, using an image sensor, and automatically performs the wheel switching operation when traveling over a support column area.

[0196] As shown in Figures 18 and 19, the multiple sets of wheels 94 of the running gear 9 of the assembly device 5 include at least two sets of normal running wheels 94A and at least two sets of support-passing wheels 94B. The normal running wheels 94A are wheels 94 for running on normal locations on the handrail 12. The support-passing wheels 94B are wheels 94 for passing over support locations on the handrail 12.

[0197] In the examples shown in Figures 18 and 19, for example, a total of four normal running wheels 94A (two pairs on each side) and eight pillar-passing wheels 94B (four pairs on each side) are provided on both sides of the base frame 90. The two pairs of normal running wheels 94A are positioned in the center of the base frame 90 in the longitudinal direction (X direction). Of the four pairs of pillar-passing wheels 94B, two pairs are positioned at the front of the base frame 90 in the longitudinal direction (X direction), and the remaining two pairs are positioned at the rear of the base frame 90 in the longitudinal direction (X direction). Thus, the two pairs of normal running wheels 94A are positioned so as to be sandwiched between the two pairs of pillar-passing wheels 94B at the front and the two pairs of pillar-passing wheels 94B at the rear.

[0198] As shown in Figure 18, the traveling device 9 of the assembly device 5 according to the second embodiment is configured to pass over the support columns on the handrail 12 of the top floor 1A by alternately extending or retracting multiple sets of normal traveling wheels 94A and multiple sets of support column passing wheels 94B. When the assembly device 5 passes over the support columns on the handrail 12, it performs the following wheel repositioning operation.

[0199] First, as shown in Figure 18(a), when the assembly device 5 moves longitudinally (X direction) along the handrail 12 on the top floor 1A and travels through normal areas where there are no support columns 11, the two sets of normal travel wheels 94A are positioned in travel positions that protrude from the base frame 90 on both sides in the left-right direction (Y direction). On the other hand, the four sets of support column passing wheels 94B at the front and rear are positioned in retracted positions that are moved inward in the left-right direction. As a result, the assembly device 5 travels along normal areas on the handrail 12 using the two sets of normal travel wheels 94A.

[0200] Next, as shown in Figure 18(b), when the assembly device 5 reaches the support post on the handrail 12 and the normal running wheels 94A are positioned directly in front of the support post 11, the assembly device 5 stops moving.

[0201] Next, as shown in Figures 18(b) and 18(c), the assembly device 5 performs a wheel switching operation to switch the wheels 94 placed on the handrail 12 from the normal running wheels 94A to the pillar-passing wheels 94B. Specifically, as shown in Figure 18(b), the assembly device 5 extends the four sets of pillar-passing wheels 94B at the front and rear in the X direction and positions them in the running position, and then retracts the normal running wheel 94A in the center in the X direction and places it in the retracted position. While performing this wheel switching operation, the assembly device 5 moves slightly forward in the X direction. As a result, as shown in Figure 18(c), the four sets of pillar-passing wheels 94B at the front and rear are placed on the handrail 12, and the assembly device 5 is supported by these four sets of pillar-passing wheels 94B. At this time, the two sets of normal running wheels 94A on the left and right are retracted and do not interfere with the pillars 11, 11 on both the left and right sides. Therefore, the assembly device 5 can pass over the pillars.

[0202] Subsequently, as shown in Figures 18(d) and 18(e), the assembly device 5 performs a wheel switching operation to switch the wheels 94 placed on the handrail 12 from the support column passing wheels 94B to the normal running wheels 94A. Specifically, as shown in Figure 18(d), the assembly device 5 retracts the two sets of support column passing wheels 94B at the rear in the X direction and places them in the retracted position, while extending the normal running wheels 94A in the center in the X direction and placing them in the running position. While performing this wheel switching operation, the assembly device 5 moves slightly forward in the X direction. Furthermore, the assembly device 5 retracts the two sets of support column passing wheels 94B at the front in the X direction and places them in the retracted position. As a result, as shown in Figure 18(e), the two sets of normal running wheels 94A in the center are placed on the handrail 12, and the assembly device 5 is supported by these two sets of normal running wheels 94A. At this time, the two sets of rear support strut passing wheels 94B are retracted, so they do not interfere with the left and right struts 11, 11.

[0203] After passing the aforementioned support column location, the assembly device 5 travels along the normal route on the handrail 12 using the normal running wheels 94A, and when it reaches the next support column location, it performs the wheel change operation in the same manner as described above.

[0204] As described above, the traveling device 9 of the assembly device 5 according to the second embodiment can suitably pass over the support columns on the handrail 12 by performing a wheel switching operation that alternately extends or retracts the normal traveling wheels 94A and the support column passing wheels 94B. Therefore, even at support column locations where there are support columns 11 that would be an obstacle when traveling on the handrail 12, the assembly device 5 can avoid the support columns 11 and travel freely on the handrail 12. Thus, the assembly device 5 traveling on the handrail 12 of the top floor 1A can assemble the new scaffolding for the new floor 1B on top of the top floor 1A.

[0205] In the second embodiment, the traveling device 9 of the assembly device 5 includes, for example, two sets of normal traveling wheels 94A and four sets of support-passing wheels 94B, as shown in Figures 18 and 19. However, the present invention is not limited to this example, and the number and arrangement of the normal traveling wheels 94A and support-passing wheels 94B can be modified as appropriate. For example, as long as the traveling device 9 can travel on the handrail 12 of the top floor 1A of the existing scaffolding, it may include, for example, at least two sets of normal traveling wheels 94A and at least two sets of support-passing wheels 94B. Also, if at least one of the multiple normal traveling wheels 94A is a drive wheel, the other wheels may be driven wheels. Similarly, if at least one of the multiple support-passing wheels 94B is a drive wheel, the other wheels may be driven wheels.

[0206] Furthermore, the arrangement of the normal running wheels 94A and the support column passing wheels 94B is not limited to the example shown in Figures 18 and 19, where two sets of normal running wheels 94A are placed in the center of the assembly device 5 in the front-to-rear direction (X direction). For example, at least two sets of support column passing wheels 94B may be placed in the center of the assembly device 5 in the front-to-rear direction (X direction), and one or more sets of normal running wheels 94A may be placed at the front and rear of the assembly device 5 in the front-to-rear direction (X direction).

[0207] Furthermore, in the example of passing over the support column shown in Figure 18, the assembly device 5 was stopped before the wheel repositioning operation shown in Figure 18(c), as shown in Figure 18(b). However, the example is not limited to this. For example, the wheel repositioning operation may be performed as a continuous operation while the assembly device 5 is running. Also, in the wheel repositioning operation in the example of Figure 18, the support column passing wheels 94B were retracted during normal running as shown in Figures 18(a) and 18(e). However, if it does not interfere with other operations, the support column passing wheels 94B may be used for normal running together with the normal running wheels 94A without being retracted during normal running.

[0208] In the above, we have described an example in which the wheels 94 can be extended and retracted during the wheel repositioning operation when the assembly device 5 shown in Figure 18 passes over the support column. However, the example is not limited to this case, and the above configuration in which the wheels 94 can be extended and retracted may also be used, for example, in the repositioning work of the construction floor. That is, by retracting all the wheels 94 during the repositioning work of the construction floor, the width of the running device 9 of the assembly device 5 in the Y direction can be shortened, making it possible to create a compact device configuration that fits inside the handrails 12, 12 on both sides in the Y direction, thus making the repositioning work of the construction floor easier and more efficient.

[0209] [5. Portable Power Supply] Next, with reference to Figure 20, an example of modifying the power supply 52 of the assembly apparatus 5 according to the first embodiment will be described. Figure 20 is a schematic diagram showing an example of modifying the power supply 52 of the assembly apparatus 5 according to the first embodiment.

[0210] As shown in Figure 20, the assembly device 5 may be equipped with multiple portable power supplies 52A, 52B (hereinafter sometimes collectively referred to as "portable power supplies 52") inside the base frame 60. Each portable power supply 52 is, for example, a portable battery that can be mounted on the assembly device 5, and is not connected to an external power source by a power cable or the like, and the portable power supply 52 can supply power to each part of the assembly device 5 on its own.

[0211] In this way, by equipping the assembly device 5 with a portable power supply 52, the assembly device 5 can supply the power necessary for the self-propelled operation of the traveling device 9 and the assembly operation of the manipulator 7 itself. Therefore, since there is no need to connect the assembly device 5 to an external power source with a power cable or the like, a compact assembly device 5 configuration that can smoothly self-propel up the top floor 1A of the temporary scaffolding 1 can be realized. Furthermore, the assembly device 5 does not require any cables to connect to external devices, such as power cables. Therefore, when the assembly device 5 is traveling and performing assembly operations, there is no interference with cables, etc., and the risk of trouble can be reduced. If it is necessary to transmit information such as the operating status of the assembly device 5 to an external device, the assembly device 5 may be configured to communicate the necessary information with the external device using short-range communication (e.g., short-range wireless communication, Bluetooth®, WiFi, etc.). This eliminates the need for communication cables and prevents interference with communication cables, etc., when the assembly device 5 is traveling and performing assembly operations.

[0212] Furthermore, as shown in Figure 20, it is preferable that the assembly device 5 includes a plurality of portable power supplies 52A and 52B that are detachably mounted on the base frame 60. In the example in Figure 20, two portable power supplies 52A and 52B are installed, but three or more portable power supplies 52 may be installed. It is preferable that each portable power supply 52A and 52B is installed on the base frame 60 at a position reachable by the robot hand 72 of the manipulator 7, and is configured to be detachable and transportable by the manipulator 7.

[0213] Thus, by providing multiple portable power supplies 52, the assembly device 5 can be replaced using the manipulator 7. For example, as shown in Figure 20, the manipulator 7 operates using power supplied from at least one of the multiple portable power supplies 52A, 52B, to remove another portable power supply 52A (reduced charge capacity) from the base frame 60 and install a new portable power supply 52C (full charge capacity) in the position where the other portable power supply 52A was removed.

[0214] In this way, the portable power supply 52 that supplies power to each part of the assembly device 5 can be automatically replaced using the manipulator 7 provided by the assembly device 5 without stopping the operation of the assembly device 5. Therefore, the assembly device 5 can operate continuously for a long period of time without stopping due to power failure at the top floor 1A of the existing scaffolding. The recovery of the removed portable power supply 52 (reduced charge capacity) and the supply of a new portable power supply 52 (full charge capacity) may be handled by the transport device 3 described above.

[0215] [6. Examples of changes to the conveying system] Next, examples of modifications to the transport device 3 of the scaffolding assembly system 2 will be described. As shown in Figures 1 and 2 above, the transport device 3 according to the first embodiment transports the scaffolding materials 10 using an endless traction member 32 that travels along a predetermined circular path 30 along the long side surface (XZ plane) of the temporary scaffolding 1. However, the transport device of the present invention is not limited to the example of the transport device 3 according to the first embodiment, and can be changed to various other device configurations.

[0216] Figure 21 shows a side view (a), a front view (b), and a top view (c) of a temporary scaffold 1 assembled by the scaffold assembly system 2 according to the third embodiment. As shown in Figure 21, the scaffold assembly system 2 according to the third embodiment includes a transport device 4 and an assembly device 5. The assembly device 5 according to the third embodiment has the same configuration as the assembly device 5 according to the first embodiment, so a detailed explanation thereof is omitted. On the other hand, the transport device 4 according to the third embodiment has a different configuration from the transport device 3 according to the first embodiment.

[0217] As shown in Figure 21, the transport device 4 according to the third embodiment is a device for transporting multiple types of scaffolding materials 10 that constitute the temporary scaffolding 1. In addition to the scaffolding materials 10, the transport device 4 can also transport other materials and tools, for example. The transport device 4 transports the scaffolding materials 10, etc., from the ground floor (e.g., 1F) to the top floor 1A of the already assembled temporary scaffolding 1.

[0218] The transport device 4 is installed at the longitudinal (X direction) end of the already assembled temporary scaffolding 1 (existing scaffolding), and transports the scaffolding material 10 in the vertical (Z direction) direction at that end. The transport device 4 includes a bucket 40 for holding the scaffolding material 10 and a lifting device 42 for raising and lowering the bucket 40 between the ground floor and the top floor 1A.

[0219] The bucket 40 is a container for holding one or more scaffolding materials 10. On the ground floor (1st floor) of the temporary scaffolding 1, the bucket 40 can be laid on its side. Workers place various types of scaffolding materials 10 into the bucket 40 in this laid-down position. Next, the bucket 40 containing the scaffolding materials 10 is raised upright and set on the lifting device 42.

[0220] The lifting device 42 is installed, for example, near the top floor 1A (e.g., the 4th floor) of the temporary scaffolding 1 and has the function of raising and lowering the bucket 40 between the ground floor and the top floor 1A. For this purpose, the lifting device 42 may be equipped with, for example, a lifting wire, a winch device, a control device, etc. (not shown). The lifting device 42 lifts the bucket 40 containing the scaffolding material 10 from the ground floor to the top floor 1A in the vertical direction (Z direction). In this way, the transport device 4 transports multiple scaffolding materials 10 from the ground floor to the top floor 1A and supplies them to the assembly device 5. The lifting device 42 can also lower the empty bucket 40 from the top floor 1A to the ground floor for collection. By providing multiple buckets 40, the lifting device 42 may alternately raise and lower multiple buckets 40 between the ground floor and the top floor 1A.

[0221] The assembly device 5 is installed on the top floor 1A of the temporary scaffolding 1 and is capable of self-propelling along the top floor 1A in the longitudinal direction (X direction). The assembly device 5 travels along the top floor 1A in the longitudinal direction (X direction) to the X-direction end of the temporary scaffolding 1 where the transport device 4 is installed, and receives the scaffolding material 10 that has been transported to the top floor 1A of the temporary scaffolding 1 by the transport device 4. Then, the assembly device 5 moves to the assembly position of the scaffolding material 10 using the travel device 6, and uses the scaffolding material 10 to assemble the temporary scaffolding 1 of the new floor 1B on the top floor 1A.

[0222] As described above, the transport device 4 according to the third embodiment has a relatively simple configuration consisting of a bucket 40 and a lifting device 42, but it can sequentially transport multiple scaffolding materials 10 from the ground floor to the top floor 1A. The assembly device 5 needs to move to the X-direction end of the top floor 1A where the transport device 4 is installed, but it can receive the scaffolding materials 10 transported by the transport device 4 and use the scaffolding materials 10 to assemble the new scaffolding for the new floor 1B on the top floor 1A.

[0223] In the example shown in Figure 21, the assembly device 5 needs to move in the X direction to the end of the top floor 1A where the transport device 4 is located in order to receive the scaffolding material 10 from the transport device 4, but this movement may take time. Therefore, in order to shorten this movement time, for example, the transport device 4 may be installed at both ends in the longitudinal direction (X direction) of the temporary scaffolding 1, and the assembly device 5 may go to the transport device 4 that is closer to the assembly position of the scaffolding material 10 on the top floor 1A to receive the scaffolding material 10, thereby reducing the distance the assembly device 5 needs to travel. Alternatively, the number of both the transport device 4 and the assembly device 5 may be increased, and the area of ​​responsibility for each device on the top floor 1A of the temporary scaffolding 1 may be divided, thereby improving the efficiency of the transport and assembly work of the scaffolding material 10 with multiple transport devices 4 and assembly devices 5.

[0224] In the first embodiment described above (see Figures 1 to 3, etc.), the scaffolding material 10 was supplied one by one from the conveying device 3 to the assembly device 5. However, the present invention is not limited to this example. For example, as in the third embodiment, multiple scaffolding material 10 may be supplied at once from the conveying device 4 to the assembly device 5, and the assembly device 5 may have a function to stock multiple scaffolding material 10. To realize this stocking function, the assembly device 5 may be equipped with a stock unit that holds multiple scaffolding material 10.

[0225] [7. Summary] As described above, according to the first to third embodiments of the present invention, an assembly device 5 for assembling a temporary scaffolding 1 is provided. The assembly device 5 comprises self-propelled traveling devices 6 and 9 configured to travel on the top floor 1A of the already assembled temporary scaffolding 1, and a manipulator 7 provided on the traveling devices 6 and 9 for gripping members (scaffolding materials 10) that constitute the temporary scaffolding 1 of a new floor 1B to be assembled on the top floor 1A of the temporary scaffolding 1, and assembling them at predetermined locations on the new floor.

[0226] Furthermore, according to the first to third embodiments of the present invention, a scaffolding assembly system 2 is provided. The scaffolding assembly system 2 comprises the assembly device 5 described above, and transport devices 3 and 4 that transport a plurality of members (scaffolding materials 10) constituting the temporary scaffolding 1 from the ground to the top floor 1A of the already assembled temporary scaffolding 1. The assembly device 5 uses the members (scaffolding materials 10) transported to the top floor 1A of the temporary scaffolding 1 by the transport devices 3 and 4 to assemble the temporary scaffolding 1 of the new floor 1B on the top floor 1A.

[0227] With this configuration, the assembly device 5 of the scaffolding assembly system 2 according to this embodiment can self-propel along the top floor 1A of the already assembled temporary scaffolding 1, transport the scaffolding materials 10 that constitute the temporary scaffolding 1 of the new floor 1B above the top floor 1A, and assemble them at a predetermined assembly position on the new floor 1B. Therefore, using the assembly device 5, which has a compact device configuration that can be installed within the already assembled temporary scaffolding 1 (existing scaffolding), the new scaffolding for the new floor 1B can be automatically assembled on the top floor 1A, using the existing scaffolding as a base. Therefore, there is no need to prepare ground space (see the prior art described in Patent Documents 1 to 3, etc.) for assembling the temporary scaffolding (new scaffolding) of the next new floor, separate from the installation space for the existing scaffolding. Therefore, the temporary scaffolding 1 can be easily and suitably assembled even in locations where ground space is limited.

[0228] Furthermore, according to the scaffolding assembly system 2 of this embodiment, the assembly device 5 assembles the new floor 1B on the top floor 1A of the temporary scaffolding 1, eliminating the need to use large-scale equipment such as elevators and hoists to lift the assembled existing scaffolding, as in the conventional technology described in Patent Documents 2 and 3. Also, since the assembly device 5 has a lightweight and compact configuration, there is no need to use large-scale equipment such as hoists for the work of installing the assembly device 5 on the top floor 1A of the existing scaffolding or for the work of shifting the construction floor. Therefore, the equipment required for the assembly work of the temporary scaffolding 1 can be simplified, improving work efficiency and reducing assembly costs.

[0229] Preferred embodiments of the present invention have been described above with reference to the attached drawings, but it goes without saying that the present invention is not limited to these embodiments. It will be obvious to those skilled in the art that various modifications or alterations can be conceived within the scope of the claims, and these will naturally also fall within the technical scope of the present invention. [Explanation of Symbols]

[0230] 1. Temporary scaffolding 1A Top floor 1B Newly constructed floor 2. Scaffolding Assembly System 3, 4 Conveying device 5. Assembly equipment 6.9 Running gear 7 Manipulator 8. Guide material for travel 10 Scaffolding materials 11 Posts 12 Handrails 13 Leading handrail 14 Floorboard support material 15 Floorboards 30 Loop Routes 31 Guide rollers 32 Endless traction material 33 Drive unit 34 Mounting components 50 Control device 52 Power supply 60 Base Frame 64 wheels 65 Drive wheels 70 Robot Arms 72 Robot Hand 90 Base Frame 91 axles 92 Wheel guide material 94 wheels 94a Recessed groove 94A Wheels for normal operation 94B Wheels for passing through pillars 100 Travel guide material 110 Derailment prevention device 112 Locking member 120 Fall protection device

Claims

1. An assembly device for assembling temporary scaffolding, A self-propelled vehicle configured to travel on the top floor of a pre-assembled temporary scaffolding, A manipulator provided on the aforementioned traveling device, which grips a component of the temporary scaffolding for a new floor to be assembled on the top floor of the aforementioned temporary scaffolding, and assembles it to a predetermined location on the new floor, An assembly device equipped with the following features.

2. The aforementioned traveling device is The base frame on which the manipulator is installed, Attached to the aforementioned base frame, a plurality of wheels including at least one drive wheel, The assembly apparatus according to claim 1, comprising:

3. The aforementioned traveling device is Brakes provided on the base frame, or on some or all of the multiple wheels, The assembly apparatus according to claim 2, further comprising:

4. The aforementioned traveling device is The base frame on which the manipulator is installed, A travel guide member is provided so as to protrude from the base frame in the left-right direction and extends along the travel direction of the travel device, Equipped with, The assembly device according to claim 1, wherein when the assembly device travels along the top floor of the temporary scaffolding by the traveling device, the traveling guide material temporarily or continuously contacts the support column or handrail of the temporary scaffolding to guide the movement of the assembly device while maintaining the posture of the assembly device.

5. The assembly apparatus according to claim 4, wherein the length of the travel guide material in the travel direction is longer than the spacing between the support columns of the temporary scaffolding.

6. The aforementioned traveling device is configured to be able to travel on the floorboard of the uppermost floor of the temporary scaffolding, The aforementioned wheel is At least three front wheels are provided on the front side in the direction of travel at the lower part of the base frame, At least three rear wheels are provided on the rear side in the direction of travel at the lower part of the base frame, Includes, At least the rear wheels are configured to slide rearward in the direction of travel relative to the base frame, In a plan view of the assembly device, in which an opening is provided in a part of the floor plate, the front wheel located at one end of the front wheels is not in contact with the floor plate, and the front wheel located at the other end of the front wheels, and all of the rear wheels that have slid backward in the direction of travel are in contact with the floor plate, The assembly device according to claim 2, wherein the center of gravity of the assembly device is located on the side of the front wheel located on the other end of the imaginary straight line connecting the front wheel located on the central side of the front wheels and the rear wheel located on one end of the rear wheels that have slid backward in the direction of travel.

7. The aforementioned traveling device is configured to be able to travel on the handrail of the top floor of the temporary scaffolding, The assembly apparatus according to claim 2, wherein the wheels include at least two sets of wheels mounted on both sides of the base frame in the left-right direction and placed on the handrail.

8. The aforementioned wheel is Having a cross-sectional shape that engages with the upper side of the handrail, The assembly apparatus according to claim 7, further comprising a wheel guide member for restricting the lateral movement of the wheel relative to the handrail.

9. The aforementioned wheel is At least two sets of normal running wheels configured to protrude or retract from the base frame in the left-right direction, At least two sets of support-passing wheels configured to protrude or retract from the base frame in the left-right direction, Includes, The assembly apparatus according to claim 7, wherein the traveling device is configured to pass over the handrail on which the support columns of the temporary scaffolding are located by alternately extending or retracting the wheels for normal travel and the wheels for passing over the support columns.

10. The aforementioned traveling device is Derailment prevention device, which is attached to the base frame and has a locking member that hooks onto the handrail at least one side of the front or rear of the base frame. The assembly apparatus according to claim 7, further comprising:

11. The aforementioned traveling device is A fall prevention device having a retractable linear member that connects the base frame and the support column of the top floor of the temporary scaffolding. The assembly apparatus according to claim 7, further comprising:

12. The aforementioned traveling device is The base frame is further equipped with a plurality of portable power supplies that are detachably mounted to the base frame and supply power to the drive wheels and the manipulator, The assembly apparatus according to claim 2, wherein the manipulator operates using power supplied from at least one of the plurality of portable power supplies to remove the other portable power supplies from the base frame and to install a new portable power supply in the position where the other portable power supplies were removed.

13. An assembly apparatus according to any one of claims 1 to 12, A transport device for transporting at least one component of a temporary scaffold from the ground to the top floor of an already assembled temporary scaffold, Equipped with, The assembly device is a scaffolding assembly system that uses the components transported to the top floor of the temporary scaffolding by the transport device to assemble temporary scaffolding for a new floor on top of the top floor.

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