Method for arranging elastic members and concrete panels side by side

Abstract

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

Description

Technical Field

[0001] The present invention relates to an elastic member provided for a concrete panel cured in an autoclave and a method for arranging concrete panels side by side.

Background Art

[0002] Patent Document 1 discloses a damage prevention tool that prevents contact between concrete preforms by installing it between a plurality of concrete preforms stacked against a curing rack.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Since the damage prevention tool described in Patent Document 1 includes a steel frame, if the steel frame abuts against the back surface of the outer wall material, the back surface of the outer wall material may be damaged. In addition, since a plurality of people are required for the operation of hanging a plurality of damage prevention tools on the lip in a state where the outer wall material is erected, the work efficiency is poor.

[0005] The present invention has been made in view of the above problems, and an object thereof is to provide an elastic member that can be easily attached to the lip groove steel of a concrete panel and a method for arranging concrete panels side by side.

Means for Solving the Problems

[0006] (1) The present invention relates to an elastic member made of an elastic body, which is detachably engaged with a lip groove-shaped steel that is located on one main surface of a concrete panel cured in an autoclave, is recessed in the thickness direction, and extends along the one main surface. The elastic member includes a plate-shaped main body, a first convex portion protruding from one main surface of the main body, and a second convex portion protruding in a second direction along the one main surface of the main body from a tip portion of the first convex portion in a first protruding direction, and having an opposing surface opposing the one main surface of the main body.

[0007] In a concrete panel in a state where the lip groove-shaped steel is opened upward, the elastic member is arranged so that the first convex portion and the second convex portion enter the opening of the lip groove-shaped steel. When the concrete panel is erected, the elastic member is locked to the lip groove-shaped steel, and the main body of the elastic member covers the lip groove-shaped steel. Therefore, when a plurality of concrete panels are arranged side by side in a state of being leaned against each other, the main body of the elastic member is located between the lip groove-shaped steel of one concrete panel and the surface of the other concrete panel, so that the lip groove-shaped steel does not contact the surface of the concrete panel.

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

[0009] It is easy to make the first convex portion and the second convex portion enter the opening of the lip groove-shaped steel.

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

[0011] The posture of the elastic member engaged with the lip groove-shaped steel is stabilized.

[0012] (4) The present invention relates to a parallel arrangement method using a parallel arrangement device that engages the elastic member with the concrete panel and arranges the concrete panels in parallel for autoclave curing. The parallel arrangement method includes a panel arrangement step of arranging the concrete panel with one main surface on which the lip groove steel is located facing upward, a specifying step of specifying, based on the output from a distance measuring sensor, the protruding direction of the second convex portion with respect to the elastic member supplied in a state where one main surface of the main body faces downward in a parts feeder, a holding step of holding the elastic member by a robot arm, an elastic member arrangement step of operating the robot arm based on the protruding direction of the second convex portion specified in the specifying step so that the protruding direction of the second convex portion is the same as the protruding direction from the first convex portion, and arranging the elastic member at a plurality of positions in a state where the second convex portion enters the opening in the lip groove steel, and a parallel arrangement step of standing up the concrete panel so that the second convex portion extends downward from the first convex portion and arranging a plurality of the concrete panels in parallel.

[0013] The second convex portions of the elastic members supplied by the parts feeder can be made to face the same direction, and a plurality of elastic members can be arranged in the lip groove steel of the concrete panel. As a result, the work of engaging the elastic member with the lip groove steel of the concrete panel and arranging a plurality of concrete panels in parallel for autoclave curing can be automated.

Advantages of the Invention

[0014] According to the present invention, the elastic member can be easily attached to the lip groove steel of the concrete panel. In addition, the work of arranging a plurality of concrete panels in parallel for autoclave curing can be automated.

Brief Description of the Drawings

[0015]

Figure 1

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DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, embodiments of the present invention will be described with reference to the drawings as appropriate. It should be noted that the embodiments described below are merely examples in which the present invention is embodied, and it goes without saying that the embodiments can be appropriately changed without changing the gist of the present invention.

[0017] Hereinafter, as directions related to the elastic member 1 and the concrete panel 100, an up-down direction 7, a front-rear direction 8, and a left-right direction 9 are shown. Both the front-rear direction 8 and the left-right direction 9 are lateral directions orthogonal to the up-down direction 7 and are orthogonal to each other. The up-down direction 7 is the direction in which the main surface of the concrete panel 100 placed horizontally faces, that is, the so-called thickness direction of the concrete panel 100. The up-down direction 7 is the direction in which the main surface of the elastic member 1 faces, that is, the so-called thickness direction of the main body 11 of the elastic member 1. The left-right direction 9 is the longitudinal direction of the concrete panel 100 placed horizontally. The left-right direction 9 is the direction in which the first convex portion 12 of the elastic member 1 extends along the main surface. The front-rear direction 8 is the short-side direction of the concrete panel 100 placed horizontally. The front-rear direction 8 is the direction in which the second convex portion 13 of the elastic member 1 protrudes from the first convex portion 12.

[0018] [Concrete Panel 100] As shown in FIGS. 1 and 2, the concrete panel 100 is a plate body having a rectangular outer shape in plan view. The concrete panel 100 is precast concrete, which is manufactured by molding concrete into a panel shape by a formwork in a factory and then subjecting it to autoclave curing after demolding from the formwork.

[0019] As shown in FIG. 1, the surface 102 of the concrete panel 100 (an example of the other main surface of the concrete panel 100) is the surface facing outward on the outer wall, and an uneven pattern or the like for design is applied. The pattern of the surface 102 is formed by a formwork. A lip groove steel 110a is embedded in the concrete panel 100. A part of the lip groove steel 110a is exposed on the back surface 101 (an example of one main surface of the concrete panel 100).

[0020] The lip groove steel 110a is a so-called C-shaped steel material and extends along the left-right direction 9 which is the longitudinal direction of the concrete panel 100. In the present embodiment, two lip groove steels 110a and 110b are spaced in the front-rear direction 8 and are located on the concrete panel 100. The lip groove steels 110a and 110b are arranged in the formwork and the concrete is poured into the formwork, so as to be embedded in the concrete panel 100. The lip groove steels 110a and 110b are used for fixing with metal fittings or the like when the concrete panel 100 is arranged as the outer wall of a house.

[0021] The lip groove steels 110a and 110b each have a groove extending in the left-right direction 9. In the present embodiment, the groove of the lip groove steel 110a located behind in the front-rear direction 8 is shown as the groove 103a, and the groove of the lip groove steel 110b located in the front is shown as the groove 103b. The grooves 103a and 103b cause the back surface 101 of the concrete panel 100 to be recessed downward.

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

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

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

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

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

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

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

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

[0030] [Usage method of the elastic member 1] As shown in FIGS. 6 and 7, the elastic member 1 is used in an engaged state in which the engaging recess 14 is engaged with the lips 111a, 112a of the concrete panel 100 erected in the curing rack 400. In the engaged state, the Below 201It abuts against the upper surfaces 113a and 114a of the lips 111a and 112a. The elastic member 1 is supported by three surfaces by abutting against the upper surfaces 113a and 114a of the lips 111a and 112a and the lower surface 115a of the lip 112a. Thereby, the elastic member 1 is maintained in the engaged state. The plurality of elastic members 1 are mounted on the lip 112a of one lip channel steel 110a and the lip 112b of the other lip channel steel 110b along the left - right direction 9 respectively. For example, in FIG. 2, three elastic members 1 are mounted on each of the lip channel steels 110a and 110b. Note that FIGS. 6 and 7 show an example in which the elastic member 1 is not mounted on the concrete panel 100 arranged side - by - side at the rearmost position.

[0031] The elastic member 1 mounted on the concrete panel 100 Above 202 can abut against the surface 102 of another concrete panel 100 arranged side - by - side behind the mounted concrete panel 100. Thereby, even when one of the adjacent concrete panels 100 in the front - rear direction 8 swings or warps, the contact between the side - by - side concrete panels 100 and the contact between the lip channel steels 110a and 110b and the concrete panel 100 are suppressed.

[0032] [Parallel Arrangement Device 200 of Concrete Panels 100] Next, the parallel arrangement device 200 of the concrete panels 100 will be described with reference to FIGS. 8 to 12. The parallel arrangement device 200 of the concrete panels 100 is a device that mounts the elastic member 1 on the concrete panel 100 before autoclave curing and arranges the concrete panels 100 with the elastic member 1 mounted in the curing rack 400 for autoclave curing. As shown in FIG. 8, the parallel arrangement device 200 includes a holding arm 210 (an example of a robot arm), a parts feeder 220, a mounting arm 230 (an example of a robot arm), and a control device 240.

[0033] As shown in FIG. 9, the holding arm 210 is a robotic arm that can move and rotate the tip in the vertical direction 7, the front-rear direction 8, and the left-right direction 9 by axis control using, for example, a servo motor (not shown). A holding device 211 for holding the concrete panel 100 is located at the tip of the holding arm 210. The holding device 211 has a plurality of claw portions 212 that hold or release the concrete panel 100 by engaging with the lip 112a and the lip 111b. The claw portions 212 hold and release the concrete panel 100 by engaging with and disengaging from the lip 112a and the lip 111b in response to the operation of a servo motor (not shown) located inside the holding device 211. The claw portions 212 enter the inside of the lip channel steel 110a, 110b from the respective gaps 114 (openings) of the lip channel steel 110a, 110b, for example. The claw portions 212 engage with and disengage from the concrete panel 100 by moving so as to sandwich the lip 112a and the lip 111b with each other in response to the rotation of the servo motor. The holding arm 210 and the holding device 211 (servo motor) operate based on a control signal output from a control device 240 described later.

[0034] As shown in FIG. 10, the parts feeder 220 is a device that supplies the elastic member 1 that engages with and disengages from the concrete panel 100. The parts feeder 220 is, for example, a vibratory feeder. The parts feeder 220 includes a hopper 219 and a conveying device 222.

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

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

[0037] The bowl 223 is located directly below the left end of the hopper 219. The bowl 223 is a tray for receiving the elastic members 1 fed from the hopper 219. The bowl 223 has a circular outer shape in plan view and is a so-called stepped bowl that is recessed downward in a mortar shape. Along the inner circumference of the bowl 223, there is a long plate-shaped first conveyance path 226 (rail) extending spirally. The first conveyance path 226 is a conveyance path that conveys the elastic members 1 toward the outer side and upward in the radial direction of the bowl 223. One end in the width direction of the first conveyance path 226 is connected to the inner peripheral surface of the bowl 223. The upper surface of the first conveyance path 226 is a support surface that supports the conveyed elastic members 1.

[0038] The attachment 224 is located along the outer circumference of the bowl 223. The attachment 224 is supported by the bowl 223. The attachment 224 is a conveyance mechanism that further conveys the elastic members 1 conveyed from the first conveyance path 226. The attachment 224 is connected to the upper end of the first conveyance path 226 (the tip in the direction of conveying the elastic members 1 (hereinafter also referred to as the conveyance direction)). The attachment 224 includes a second conveyance path 227, a third conveyance path 228, and a rod body 229.

[0039] The second conveyance path 227 is connected to the tip of the first conveyance path 226 in the conveyance direction. The second conveyance path 227 is plate-shaped and is configured in an arc shape along the outer circumference of the bowl 223. The upper surface of the second conveyance path 227 is an inclined surface 218 (see FIG. 12) that inclines upward and toward the outer peripheral side (radial outer side). A step is located between the upper surface on the radial outer side and the upper surface on the radial inner side of the second conveyance path 227, and a step surface 217 that connects the two is formed. The step surface 217 extends along the conveyance direction of the second conveyance path 227. Note that the tip of the second conveyance path 227 in the conveyance direction is located above the third conveyance path 228.

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

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

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

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

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

[0045] [Operation of the parts feeder 220] The plurality of elastic members 1 are supplied onto the conveyor in the hopper 219 and thus move leftward on the conveyor. The plurality of elastic members 1 that have moved to the left end of the hopper 219 fall downward and are thus put into the bowl 223. The elastic members 1 put into the bowl 223 move inside the bowl 223 along the first conveying path 226 due to the vibration of the bowl 223.

[0046] The plurality of elastic members 1 move along the first conveying path 226. Among the plurality of elastic members 1, some elastic members 1 fall from the first conveying path 226 due to contact with other elastic members 1 or the like. The fallen elastic members 1 move along the first conveying path 226 again. As a result, the elastic members 1 put into the bowl 223 move while being aligned along the conveying direction (clockwise direction in FIG. 10) in the first conveying path 226.

[0047] The elastic member 1 that has passed through the first conveyance path 226 moves to the second conveyance path 227. As shown in FIG. 12, in the second conveyance path 227, the elastic member 1 moves along the second conveyance path 227 with the first convex portion 12 or the second convex portion 13 in contact with the stepped surface 217. The elastic member 1 that has passed through the second conveyance path 227 drops onto the third conveyance path 228 located at the front in the conveyance direction of the second conveyance path 227.

[0048] As shown in FIG. 13, in the second conveyance path 227, the elastic member 1 where the first convex portion 12 or the second convex portion 13 is not in contact with the stepped surface 217 slides radially outward due to the inclined surface 218 of the second conveyance path 227. The elastic member 1 slides down from the second conveyance path 227 to the third conveyance path 228. When the elastic member 1 leaves the second conveyance path 227 and falls toward the third conveyance path 228, it falls while inverting in the vertical direction 7. The fallen elastic member 1 moves in the conveyance direction toward the position of the rod body 229.

[0049] A part of the elastic member 1 that has dropped onto the third conveyance path 228 faces the first convex portion 12 downward and is in a state where the first convex portion 12 or the second convex portion 13 is in contact with the stepped surface 234. On the other hand, as shown in FIG. 14, the elastic member 1 that is in contact with the inner surface in the radial direction of the outer peripheral wall 235 in a state of being propped up and has not been inverted contacts the rod body 229 as it progresses in the conveyance direction. The elastic member 1 is forcibly inverted by contacting the rod body 229. As shown in FIG. 15, the forcibly inverted elastic member 1, like the other elastic members 1, faces the first convex portion 12 downward and is conveyed along the third conveyance path 228 (the upper surface of the bottom plate 216) with the first convex portion 12 in contact with the stepped surface 234. In the third conveyance path 228, even when the first convex portion 12 does not contact along the stepped surface 234, the first convex portion 12 of the elastic member 1 is posture-controlled during conveyance so as to contact along the stepped surface 234 due to the inclination by the inclined surface 233 and the vibration of the attachment 224.

[0050] The elastic member 1 that has fallen from the leading end in the conveying direction of the second conveying path 227 merges with the elastic member 1 conveyed through the third conveying path 228 after passing through the position of the rod body 229 in the third conveying path 228. The merged elastic member 1 is conveyed to the take-out position 500 located at the leading end in the conveying direction of the third conveying path 228.

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

[0052] As shown in FIG. 17, the mounting arm 230 is a robot arm that can move and rotate the tip in the vertical direction 7, the front-rear direction 8, and the left-right direction 9 by shaft control using, for example, a servo motor (not shown). At the tip of the mounting arm 230, there is a suction device 231 that can adsorb the upper surface 202 of the elastic member 1 (main body 11). The suction device 231 holds the elastic member 1 using a suction cup that adsorbs the upper surface 202 of the elastic member 1. On the other hand, the suction device 231 releases the holding of the elastic member 1 by releasing the suction. The mounting arm 230 operates based on a control signal output from the control device 240 described later.

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

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

[0055] [Operation in the parallel arrangement device 200 of the concrete panel 100] Next, the operation in the parallel arrangement device 200 of the concrete panel 100 will be described with reference to FIGS. 18 to 21. As shown in FIG. 18, the CPU 241 executes a panel arrangement step of arranging the concrete panel 100 before autoclave curing with the back surface 101 facing upward by operating the holding arm 210 (step S1). As shown in FIG. 9, after the holding arm 210 arranges the concrete panel 100 on the support base 300 capable of supporting the concrete panel 100 with the surface 102 facing downward, the holding arm 210 is removed from the concrete panel 100 by releasing the holding in the holding device 211.

[0056] Next, the CPU 241 acquires the output from the distance measurement sensor 221 and executes a specifying process for specifying the orientation of the elastic member 1 (the orientation of the second convex portion 13) located at the take-out position 500 of the parts feeder 220 (step S2). In the specifying process, the orientation of the elastic member 1 is specified according to the distance L to the first convex portion 12 or the second convex portion 13 indicated by the output of the distance measurement sensor 221. When the distance L indicated by the output from the distance measurement sensor 221 is smaller than a predetermined value (see FIG. 16(a)), the second convex portion 13 is located on the surface facing the distance measurement sensor 221, and as the orientation of the elastic member 1, it is specified that the second convex portion 13 extends in the direction (forward) toward the distance measurement sensor 221. When the distance L indicated by the output from the distance measurement sensor 221 is larger than a predetermined value (see FIG. 16(b)), the first convex portion 12 is located on the surface facing the distance measurement sensor 221, and as the orientation of the elastic member 1, it is specified that the second convex portion 13 extends in the direction opposite to the direction (backward) toward the distance measurement sensor 221.

[0057] Next, the CPU 241 executes a holding process for holding the upper surface 202 of the elastic member 1 by controlling the mounting arm 230 (step S3). In the holding process, the suction device 231 of the mounting arm 230 is moved directly above the elastic member 1 located at the take-out position 500. When the suction device 231 starts the suction operation, the elastic member 1 located at the take-out position 500 is held.

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

[0059] Next, as shown in FIG. 20, the CPU 241 places the elastic member 1 in the lip groove-shaped steels 110a and 110b by controlling the mounting arm 230 in the elastic member placement process (step S5). The mounting arm 230 inserts the first convex portion 12 and the second convex portion 13 into the openings of the lip groove-shaped steels 110a and 110b, and engages the elastic member 1 with the lower lips 112a and 112b by moving the elastic member 1 downward. After engaging the elastic member 1 with the lips 112a and 112b, the mounting arm 230 releases the holding of the elastic member 1.

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

[0061] In step S7, the CPU 241 operates the holding arm 210 to execute a parallel arrangement process of arranging the concrete panels 100 side by side. In the parallel arrangement process, the concrete panel 100 is held again by the holding device 211 of the holding arm 210. As shown in FIG. 21, the holding arm 210 stands up in a direction in which the back surface 101 of the concrete panel 100 faces rearward from a state in which the back surface 101 of the concrete panel 100 faces upward by rotating and moving. The holding arm 210 arranges the erected concrete panels 100 side by side in the curing rack 400 (see FIG. 6).

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

[0063] [Function and Effect of Elastic Member 1 According to Embodiment] In the concrete panel 100 in a state where the lip channel steels 110a and 110b are opened upward, the elastic member 1 is arranged so that the first convex portion 12 and the second convex portion 13 enter the openings of the lip channel steels 110a and 110b. When the concrete panel 100 is erected, the elastic member 1 is locked to the lip channel steels 110a and 110b, and the main body 11 of the elastic member 1 covers the lip channel steels 110a and 110b. Therefore, when a plurality of concrete panels 100 are arranged side by side in a state where they are leaned against each other, the main body 11 of the elastic member 1 is positioned between the lip channel steels 110a and 110b of one concrete panel 100 and the surface 102 of the other concrete panel 100, so that the lip channel steels 110a and 110b do not contact the surface 102 of the concrete panel 100. Thereby, the surface 102 of the concrete panel 100 can be protected from contact. The elastic member 1 can be easily attached to the lip channel steels 110a and 110b only by engaging and disengaging with one pair of lips 112a and 112b.

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

[0065] Since the connection surface 41 and the facing surface 31 can be widened, the posture of the elastic member 1 attached to the lip 112a is stabilized.

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

[0067] (Modification example) In the above embodiment, the outer shape of the main body 11 in plan view is rectangular, but it is not limited to this. The outer shape of the main body 11 in plan view can be various shapes such as circular and polygonal as long as the contact with the pair of lips 111a and 112a is maintained. Also, the length of the main body 11 in the left - right direction 9 can be extended to widen the area of the lip 112a with which one elastic member 1 abuts. At this time, the first convex portion 12 and the second convex portion 13 may be extended according to the extended main body 11, or a plurality of engaging concave portions 14 may be formed by a plurality of the first convex portions 12 and the second convex portions 13. Thereby, since the exposed area of the lip 112a is reduced, the contact between the concrete panel 100 and the lip groove steel 110a is further suppressed.

[0068] Also, in the above embodiment, the second convex portion 13 protrudes in one direction of the up - down direction 7 with respect to the first convex portion 12, but it may protrude in both directions of the up - down direction 7. Thereby, since the engaging concave portion 14 is located both above and below with respect to the first convex portion 12, the versatility of the direction when engaging the elastic member 1 with the lip 112a is improved. The engagement and disengagement of the elastic member 1 with respect to the lip 112a become easier.

[0069] Furthermore, the second convex portion 13 may protrude in a flange shape from the entire outer periphery in the front - rear direction 8 and the left - right direction 9 from the tip of the first convex portion 12 having a rectangular parallelepiped shape. Also, the first convex portion 12 may be cylindrical, and may protrude in a flange shape in the radially outward direction from the entire circumferential surface of the tip of the first convex portion 12. The opposing surface 31 in the protruding second convex portion 13 may oppose the lower surface 201 of the first convex portion 12 in any direction. Thereby, the direction of attaching the elastic member 1 to the lips 112a and 112b is not limited. In other words, in either the front - rear direction 8 or the left - right direction 9, the engaging concave portion 14 can be opposed to the lips 112a and 112b. Thereby, it becomes possible to attach the elastic member 1 to the concrete panel 100 without an adjustment process. The efficiency of attaching the elastic member 1 can be improved, and the efficiency of parallel arrangement can be improved.

[0070] In addition, in the above-described embodiment, an example in which the first convex portion 12 and the second convex portion 13 extend from the right end to the left end of the main body 11 has been described, but the present invention is not limited thereto. A plurality of the first convex portions 12 and the second convex portions 13 may be positioned along the left-right direction 9.

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

[0072] In addition, in the above-described embodiment, the number and position of the elastic members 1 attached to one concrete panel 100 are not particularly limited, but it is preferable to attach them to locations where warping is expected to be large or locations where the distance from the upper surface of the adjacent concrete panel 100 is small.

[0073] In addition, in the above-described embodiment, the sum of the length D2 of the first convex portion 12 in the vertical direction 7 and the length D4 of the second convex portion 13 in the vertical direction 7 is shorter than the length L1 of the gap 114 between the pair of lips 111a and 112a, but the present invention is not limited thereto. The sum of the length D2 and the length D4 may be longer than the length L1. In this case, the length D2 only needs to be smaller than the length L1. Thereby, the elastic member 1 may be inserted and slid from the openings at both ends in the left-right direction 9 of the lip groove-shaped steels 110a and 110b and locked to a predetermined position of the lips 112a and 112b. Thereby, the detachment of the elastic member 1 from the lip groove-shaped steels 110a and 110b can be more effectively suppressed.

[0074] Also, the rotation direction and rotation amount of the elastic member 1 in the adjustment process of the above-described embodiment are merely examples. As long as the protruding direction of the second convex portion 13 faces the lips 112a and 112b from the openings of the lip groove-shaped steels 110a and 110b, any rotation direction or rotation amount may be used. Further, the rotation direction and rotation amount may be appropriately determined according to the orientation of the second convex portion 13 at the extraction position 500, which is determined by the arrangement of the parts feeder 220.

[0075] In the above-described embodiment, the elastic member 1 is engaged with the lips 112a and 112b, but is not limited thereto. The elastic member 1 may be engaged with the lips 111a and 111b in the front-rear direction 8. That is, the elastic member 1 only needs to be engaged with one of the lips in the front-rear direction 8. When the elastic member 1 is engaged with the lips 111a and 111b, the concrete panel 100 is rotated so that the rear side faces downward when arranged side by side, and is arranged side by side on the curing rack 400.

[0076] [Appendix 1] An elastic member that is detachably engaged with a lip groove-shaped steel that is located on one main surface of a concrete panel cured in an autoclave, is recessed in the thickness direction, and extends along the one main surface, and is composed of an elastic body, a plate-shaped main body, a first convex portion protruding from one main surface of the main body, a second convex portion that protrudes in a second direction along the one main surface of the main body from the tip portion in a first direction in which the first convex portion protrudes, and has an opposing surface that opposes the one main surface of the main body, and an elastic member comprising the same.

[0077] [Appendix 2] The length by which the second convex portion protrudes is smaller than the distance from the first convex portion in the second direction to one end on the one main surface of the main body. The elastic member according to Appendix 1.

[0078] [Appendix 3] The first convex portion and the second convex portion are the elastic members described in Supplementary Note 1 and Supplementary Note 2 that extend from one end to the other end on one main surface of the main body in a third direction intersecting the first direction and the second direction.

[0079] [Supplementary Note 4] A parallel arrangement method using a parallel arrangement device for engaging the elastic members described in Supplementary Notes 1 to 3 with the concrete panel and arranging the concrete panels side by side for autoclave curing, A panel arrangement step of operating a first robot arm to place the concrete panel with one main surface on which the lip channel steel is located facing upward; A specifying step of specifying, based on the output from a distance measuring sensor, the protruding direction of the second convex portion with respect to the elastic member supplied with one main surface of the main body facing downward in a parts feeder; A holding step of holding the upper surface of the elastic member by a second robot arm; An orientation adjustment step of operating the second robot arm based on the protruding direction of the second convex portion specified in the specifying step to direct the protruding direction of the second convex portion in a direction facing one of a pair of lips from the opening in the lip channel steel; An engaging step of moving the second robot arm to engage the elastic member with one of the lips; A changing step of operating the first robot arm to change the orientation of the concrete panel so that one lip with the elastic member engaged is positioned below the other lip; A parallel arrangement step of operating the first robot arm to arrange side by side the concrete panel whose orientation has been changed in the changing step; A parallel arrangement method comprising the above steps.

Explanation of Reference Numerals

[0080] 1 ··· Elastic member 11 ··· Main body 12 ··· First convex portion 13 ··· Second convex portion 14 ··· Engaging concave portion 31 ··· Opposing surface 41 ··· Connection surface 100 ··· Concrete panel 101 ··· Back surface (one main surface of the concrete panel 100) 102 ··· Front surface 110a, 110b ··· Lip groove steel 111a, 112a, 111b, 112b ··· Lip 200 ··· Parallel installation device 201 ··· Bottom surface (one main surface of the main body) 220 ··· Part feeder 221 ··· Distance measuring sensor 230 ··· Mounting arm (robot arm)

Claims

1. An elastic member made of an elastic body, which is detachable from a lip groove-shaped steel that is located on one main surface of a concrete panel cured in an autoclave, is recessed in the thickness direction, and extends along the one main surface, and includes: a plate-shaped main body; a first convex portion protruding from one main surface of the main body; a second convex portion protruding in a second direction along the one main surface of the main body from a tip portion of the first convex portion in a first protruding direction, and having an opposing surface opposing the one main surface of the main body; and the elastic member in a state where the elastic member is locked to the lip groove-shaped steel, and the main body covers the lip groove-shaped steel.

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

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

4. A parallel arrangement method using a parallel arrangement device for engaging the elastic member according to claim 1 with the concrete panel and arranging the concrete panels in parallel for autoclave curing, the method including: a panel arrangement step of arranging the concrete panel with the one main surface on which the lip groove-shaped steel is located facing upward; a specifying step of specifying, with respect to the elastic member supplied in a state where one main surface of the main body faces downward in a parts feeder, a protruding direction of the second convex portion based on an output from a distance measuring sensor; a holding step of holding the elastic member by a robot arm; an elastic member arrangement step of operating the robot arm based on the protruding direction of the second convex portion specified in the specifying step so that the protruding direction of the second convex portion is the same as the protruding direction of the first convex portion, and arranging the elastic member at a plurality of positions in a state where the second convex portion enters an opening in the lip groove-shaped steel, and locking the elastic member to the lip groove-shaped steel; and a parallel arrangement step of standing up the concrete panel so that the second convex portion extends downward from the first convex portion, and arranging a plurality of the concrete panels in parallel.

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