Method and robot for attaching sash to frame of opening in building structure

Abstract

According to one aspect of the present invention, there is provided a method for attaching a sash to a frame of an opening in a building frame, the sash comprising a positioning angle having a first engagement portion, the positioning angle being attached to the left and right sides of the sash so as to protrude from the front surface of the sash, the first engagement portion being formed at an end of the positioning angle, the frame of the opening in a building body comprising a positioning bracket having a second engagement portion and a restricting portion, the positioning bracket being attached to the frame of the opening in a building body along a vertical direction with its position in the front-to-back direction, left-to-right direction and up-to-down direction relative to the frame of the opening in a building body being set, and the second engagement portion being formed at an end of the positioning bracket The method includes a preparation step, a support step, and a fixing step, in which the preparation step prepares the sash and a main body opening frame, the support step causes the positioning bracket to support the positioning angle, and the second engagement part allows the sash to tilt with the positioning angle as a fulcrum when in a supported state, and the regulating part is formed at the lower end of the positioning bracket and regulates the tilt of the sash to hold the sash in a vertical state.

Description

[Technical Field]

[0001] The present invention relates to a method and a robot for attaching a sash to a frame of an opening in a building frame. [Background technology]

[0002] A method for manufacturing a sash that improves workability when attaching a sash frame to an opening in a structural frame has been disclosed (see, for example, Patent Document 1). In this manufacturing method, the sash frame is placed in the opening in the structural frame, a sash frame positioning jig is attached to the outer periphery of the sash frame so that it can be freely engaged or disengaged, and the position of the sash frame is adjusted in the vertical and horizontal directions using the sash frame positioning jig as a reference for the opening in the structural frame, and then the sash frame is fixed to the opening in the structural frame. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2025-069486 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the sash manufacturing method disclosed in Patent Document 1, it is necessary to adjust the bolts to position the sash frame, and there is room for improvement in terms of workability.

[0005] In view of the above circumstances, the present invention provides a method, a robot, and the like that can improve workability when attaching a sash to a frame of an opening in a building frame compared to conventional methods. [Means for solving the problem]

[0006] According to one aspect of the present invention, there is provided a method for attaching a sash to a frame of an opening in a building frame, the sash comprising a positioning angle having a first engagement portion, the positioning angle being attached to the left and right sides of the sash so as to protrude from the front surface of the sash, the first engagement portion being formed at an end of the positioning angle, the frame of the opening in a building body comprising a positioning bracket having a second engagement portion and a restricting portion, the positioning bracket being attached to the frame of the opening in a building body along a vertical direction with its position in the front-to-back direction, left-to-right direction and up-to-down direction relative to the frame of the opening in a building body being set, and the second engagement portion being formed at an end of the positioning bracket The method includes a preparation step, a support step, and a fixing step, in which the preparation step prepares the sash and a main body opening frame, the support step causes the positioning bracket to support the positioning angle, and the second engagement part allows the sash to tilt with the positioning angle as a fulcrum when in a supported state, and the regulating part is formed at the lower end of the positioning bracket and regulates the tilt of the sash to hold the sash in a vertical state.

[0007] According to this aspect, the workability when attaching the sash to the frame of the opening in the main body can be improved compared to the conventional art. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating a configuration of a system 100. [Figure 2] 2 is a diagram showing the configuration of a sash 300. FIG. [Figure 3] 10A and 10B are diagrams showing the configuration and arrangement of a positioning angle 320. [Figure 4] 10A and 10B are diagrams showing the configuration of a positioning bracket 430. FIG. [Figure 5] 1A and 1B are diagrams showing the configuration of a holder 500. FIG. [Figure 6] 10 is a diagram showing the configuration of a positioning unit 600. FIG. [Figure 7] 7A and 7B are diagrams showing the configuration of a fixed angle 700. FIG. [Figure 8]FIG. 2 is a diagram showing the configuration of a fixed unit 800. [Figure 9] FIG. 2 is an activity diagram showing the flow of the method of the present embodiment. [Figure 10] 10A and 10B are diagrams showing the positioning of the positioning bracket 430 by the robot 200. FIG. [Figure 11] 10 is a diagram showing welding of a positioning bracket 430 and a frame 400 for opening in a body by a robot 200. FIG. [Figure 12] 10 is an enlarged view of the engagement portion between the positioning bracket 430 and the positioning angle 320. FIG. [Figure 13] 10 is a view showing a state in which a fixing angle 700 is welded to a welding angle 310 and a body opening frame 400. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the accompanying drawings. Various features shown in the following embodiments can be combined with each other.

[0010] Incidentally, the program for realizing the software appearing in one embodiment may be provided as a non-transitory computer-readable medium, or may be provided so that it can be downloaded from an external server, or may be provided so that the program is started on an external computer and its functions are realized on a client terminal (so-called cloud computing).

[0011] Furthermore, various information processing according to an embodiment may realize input and output corresponding to the input. Here, the form of information referenced in such information processing (hereinafter referred to as reference information) is not limited as long as an output is obtained as a result of the input. The reference information may be, for example, rule-based information such as a database, a lookup table, or a predetermined function (including a decision formula such as a regression formula constructed using a statistical method), a trained model that has previously learned the correlation between input and output, or a generative AI such as a large-scale language model (these models include parameters that establish the correlation between input and output) or a visual language model that can output a desired result in response to a prompt.

[0012] In one embodiment, a "unit" may include, for example, a combination of hardware resources implemented by a circuit in the broad sense and software information processing that can be specifically realized by these hardware resources. In one embodiment, various information is handled, and this information is represented, for example, by physical values ​​of signal values ​​representing voltage and current, high and low signal values ​​as a binary bit set consisting of 0 or 1, or quantum superposition (so-called quantum bits), and communication and calculations can be performed on a circuit in the broad sense.

[0013] Furthermore, a circuit in the broad sense is a circuit realized by at least an appropriate combination of a circuit, circuitry, processor, memory, etc. The processor may be a general-purpose processor or a dedicated circuit. That is, it includes an application specific integrated circuit (ASIC), a programmable logic device (e.g., a simple programmable logic device (SPLD), a complex programmable logic device (CPLD), and a field programmable gate array (FPGA)), etc.

[0014] 1. Configuration In Section 1, the configuration of this embodiment will be described.

[0015] 1-1. System 100 1 is a diagram showing the configuration of a system 100. The system 100 includes a robot 200, a sash 300, and a skeleton opening frame 400. Each component of the system 100 will be described later.

[0016] 1-2.Robot 200 The configuration of the robot 200 will be described with reference to Fig. 1. The robot 200 includes a base 205, a main body 210, wheels 220, an arm 230, and a control unit 240.

[0017] The main body 210 is configured in the shape of a housing and includes components, wiring, power, a control unit 240, and the like for operating the robot 200. The main body 210 is mounted on a base 205. The base 205 is provided with six wheels 220. The six wheels 220 may be, for example, front-wheel drive or rear-wheel drive. The six wheels 220 may be omni-wheels, which are omnidirectional wheels, or Mecanum wheels. This configuration allows the robot 200 to move to various locations and perform the work of installing the sash 300.

[0018] The arm 230 is attached to the front side of the base 205 so as to extend upward. The arm 230 is configured to be freely controllable in various directions via joints 231, 232, 233, 234, and 235. The arm 230 has a jig 250 (e.g., jig 251, jig 252, and jig 253) at its tip 236. The jig 251 is configured, for example, in the shape of a gripper. In FIG. 1, the arm 230 is configured to be able to grip each component of the method of this embodiment using the jig 251. That is, in FIG. 1, the arm 230 grips the sash 300 using the jig 251 and moves it toward the main body opening frame 400.

[0019] The control unit 240 is configured to control the arm 230 and execute each step of the method of this embodiment. The control unit 240 processes and controls the overall operation of the robot 200. The control unit 240 is, for example, a central processing unit (CPU) not shown. The control unit 240 realizes various functions related to the robot 200 by reading out predetermined programs stored in a storage unit not shown. In other words, information processing by software stored in the storage unit is specifically realized by the control unit 240, which is an example of hardware, and can be executed as each functional unit included in the control unit 240. Note that the control unit 240 is not limited to being single, and multiple control units 240 may be provided for each function. A combination of these may also be used.

[0020] According to this embodiment, automation using the robot 200 can improve the ease of installation when attaching the sash 300 to the frame 400 of the opening in the main body compared to the conventional case.

[0021] 1-3. Sash 300 Fig. 2 is a diagram showing the configuration of a sash 300. As shown in Fig. 2(A), the sash 300 includes a frame 301 and a window frame 302. The frame 301 is a member into which glass is inserted and supported. The window frame 302 is formed in a frame shape around the outer periphery of the frame 301 and is a member that supports the frame 301 by contacting the main body opening frame 400. The sash 300 may be made of aluminum, for example.

[0022] 1-4. Welding angle 310 Next, the welding angle 310 attached to the sash 300 will be described. As shown in FIG. 2(B), the welding angle 310 has an L-shaped cross section. In FIG. 2, the sash 300 is provided with the welding angle 310. As shown in FIG. 2(A), the welding angle 310 is formed so as to extend the entire length of each side of the sash 300. In FIG. 2(B), the welding angle 310 is attached to the outer periphery of the window frame 302. The method of attaching the welding angle 310 is not particularly limited, and it may be screwed to the sash 300, for example. The welding angle 310 may be made of steel, for example. In this embodiment, welding will be described as an example of a means of joining members together.

[0023] 1-5. Positioning angle 320 FIG. 3 illustrates the configuration and arrangement of the positioning angle 320. As shown in FIG. 3(A), the sash 300 is equipped with the positioning angle 320. As shown in FIGS. 3(B) and 3(C), the positioning angle 320 has an L-shaped cross section. As shown in FIGS. 3(A) and 3(C), the positioning angle 320 is attached to the left and right sides of the sash 300 so as to protrude from the front surface of the sash 300. The positioning angle 320 is also positioned above the vertical center of the sash 300 (indicated by the center line 303 in FIG. 3(A)). By positioning the positioning angle 320 above the center line 303, the center of gravity of the sash 300 can be positioned lower. This arrangement of the positioning angle 320 allows the sash 300 to tilt while supported by the frame 400. The method of attaching the positioning angle 320 is not particularly limited; for example, it may be attached to the sash 300 by screws. The positioning angle 320 may be made of steel, for example.

[0024] The positioning angle 320 is composed of an attachment surface 321, a protruding surface 322, and a positioning pin 323 (corresponding to the "first engagement portion" in the claims). The attachment surface 321 is the surface that is attached to the window frame 302 of the sash 300. The protruding surface 322 is configured to protrude from the front surface of the sash 300 when attached to the sash 300. The positioning pin 323 is formed at the tip of the protruding surface 322 (the tip on the side away from the sash 300, which corresponds to the "end of the positioning angle" in the claims). The positioning pin 323 is configured to be engageable with an elongated hole 431 (which will be described later and corresponds to the "second engagement portion" in the claims). The portion of the positioning pin 323 that engages with the elongated hole 431 is spherical.

[0025] The mounting position of the positioning angle 320 may be determined according to construction standards, and may be on the indoor side or the outdoor side of the sash 300.

[0026] 1-6. Body opening frame 400 Returning to FIG. 1, the structure of the skeleton opening frame 400 will be described. An opening is formed in the skeleton at the position where the sash 300 is to be attached. The skeleton opening frame 400 is a rectangular frame that is attached to the opening. The skeleton opening frame 400 supports the sash 300 by fitting it inside. The skeleton opening frame 400 may be made of iron, for example.

[0027] 1-7. Positioning bracket 430 4 is a diagram showing the configuration of the positioning bracket 430. The body opening frame 400 is equipped with the positioning bracket 430. The positioning bracket 430 is attached to the body opening frame 400 along the vertical direction, with its position in the front-to-back, left-to-right, and up-down directions relative to the body opening frame 400 set. As will be described later, the positioning bracket 430 is first temporarily fixed in place by the magnet of the holder 500, and then attached to the body opening frame 400 by welding. The positioning bracket 430 has an elongated hole 431 (corresponding to the "second engaging portion" in the claims), a magnet hole 432, a phase determining hole 433, a welding hole 434, and a flap 435 (corresponding to the "restricting portion" in the claims).

[0028] The elongated hole 431 is formed at the upper end of the positioning bracket 430 when the positioning bracket 430 is attached to the frame 400 for opening in the main body. The elongated hole 431 engages with the positioning pin 323 to support the positioning angle 320. When the elongated hole 431 supports the positioning angle 320, it allows the sash 300 to tilt with the positioning angle 320 as a fulcrum. That is, because the positioning pin 323 of the positioning angle 320 is positioned away (offset) from the mounting surface 321 to the sash 300, when the positioning bracket 430 supports the positioning angle 320, the bottom edge of the sash 300 moves toward the positioning pin 323 and the top edge of the sash 300 moves opposite, meaning that the entire sash 300 swings with the positioning angle 320 (positioning pin 323) as a fulcrum. The elongated hole 431 has the shape of an oblong hole with the longitudinal direction being the direction away from the frame 400 of the opening in the main body. Since the positioning bracket 430 is attached to both the left and right sides of the frame 400 of the opening in the main body, the elongated hole shape creates a space in which the sash 300 can be moved in the left-right direction. In other words, the sash 300 can be finely adjusted in the left-right direction.

[0029] The magnet hole 432 is a hole for passing a fixing magnet 527 of the holder 500, which will be described later. That is, the positioning bracket 430 can be temporarily fixed to the body opening frame 400 by the fixing magnet 527 of the holder 500 being attracted to the body opening frame 400 through the magnet hole 432.

[0030] The phasing holes 433 function as detection units detectable by a sensor (not shown) of the robot 200. One phasing hole 433 is provided on each side of the magnet hole 432. When attached to the frame 400, the positioning bracket 430 can assume any orientation in six axes, including three axes (X-axis, Y-axis, and Z-axis) and their rotational directions (roll, pitch, and yaw) in a Cartesian coordinate system. Therefore, by providing two phasing holes 433 detectable by a sensor and detecting the elongated hole 431, the magnet hole 432, and the welding hole 434 with the sensor of the robot 200, the orientation of the positioning bracket 430 in six axes, including the three axes and their rotational directions, can be detected. This allows the robot 200 to grasp the position and orientation of the positioning bracket 430. According to this embodiment, not only three-axis positional correction relative to the frame 400, but also six-axis correction, including three-axis rotational correction, can be automated or semi-automated.

[0031] The welding holes 434 are formed at two locations spaced apart in the longitudinal direction of the positioning bracket 430. The positioning bracket 430 is welded to the frame 400 through the welding holes 434 and fixed to the frame 400 while being temporarily fixed to the frame 400 by the holder 500.

[0032] The flap 435 is formed at the lower end of the positioning bracket 430 so as to protrude from the frame for opening the main body 400 when the positioning bracket 430 is attached to the frame for opening the main body 400. The flap 435 regulates the tilt of the sash 300 and keeps the sash 300 in a vertical position. That is, when the sash 300 swings around the positioning angle 320 (positioning pin 323) as a fulcrum, the flaps 435 of the positioning bracket 430 fixed to the left and right sides of the frame for opening the main body 400 abut against the left and right sides of the sash 300, respectively, to stop the swing of the sash 300 and maintain its position. At this time, the position of the sash 300 is approximately parallel to the vertical direction with the direction of gravity as the reference.

[0033] 1-8. Holder 500 5 is a diagram showing the configuration of the holder 500. The holder 500 is a member for holding the positioning bracket 430. The holder 500 includes a gripping portion 510 and a holding portion 520.

[0034] As shown in FIG. 5A, the gripping portion 510 is formed to protrude substantially perpendicularly from the holding portion 520. The gripping portion 510 is configured to be gripped by the jig 252 of the robot 200. The gripping portion 510 is configured, for example, as a hexagonal prism. Because the gripping portion 510 has a hexagonal prism shape, when the jig 252 of the robot 200 grips the holder 500, the robot 200 can determine the phase of the holder 500. In other words, the robot 200 can correct the gripping position of the holder 500 depending on the phase of the holder 500. The gripping portion 510 may have a polygonal shape, and if it has a polygonal shape, it has the same function as a hexagonal prism shape. Therefore, by adopting a configuration in which the holder 500 holds the positioning bracket 430, the frame opening frame 400 and the positioning bracket 430 can be easily brought into contact with each other.

[0035] The holding portion 520 has a mounting hole 521, two mounting holes 522, an upper adjustment screw 523, a lower adjustment screw 524, two upper adjustment screw parts 525, two lower adjustment screw parts 526, a fixing magnet 527, and two holding magnets 528. The holding portion 520 forms a contact surface 529 with the positioning bracket 430. The contact surface 529 is the surface of the holding portion 520 opposite to the surface on which the grip portion 510 is formed.

[0036] A fixing magnet 527 is fixed in the mounting hole 521. The fixing magnet 527 is a magnet for temporarily fixing the positioning bracket 430 to the body opening frame 400. In other words, the holding portion 520 is configured so that the fixing magnet 527 can be fixed in the mounting hole 521.

[0037] Holding magnets 528 are fixed to the two mounting holes 522 (hereinafter simply referred to as "mounting holes 522"). The holding magnets 528 are a material for holding the positioning bracket 430 on the contact surface 529. That is, the holding portion 520 is configured so that the holding magnets 528 can be fixed in the mounting holes 522.

[0038] Since the holder 500 has the fixing magnet 527 and the holding magnet 528, the positioning bracket 430 can be temporarily fixed to the frame 400 of the opening in the main body more easily than before.

[0039] The upper adjustment screw 523 and the lower adjustment screw 524 are provided corresponding to the mounting hole 521. As shown in FIG. 5(B), the upper adjustment screw 523 is provided above the lower adjustment screw 524 with respect to the contact surface 529 of the holder 520. The lower adjustment screw 524 is provided closer to the contact surface 529 than the upper adjustment screw 523. The upper adjustment screw 523 fixes the magnet placed in the mounting hole 521 to a position serving as a holding magnet. That is, the upper adjustment screw 523 fixes the magnet to a position where the positioning bracket 430 is held on the contact surface 529. The lower adjustment screw 524 fixes the magnet placed in the mounting hole 521 to a position serving as a fixing magnet. That is, the lower adjustment screw 524 fixes the magnet to a position where the positioning bracket 430 is temporarily fixed to the body opening frame 400.

[0040] The upper adjustment screw 525 and the lower adjustment screw 526 are provided to correspond to the mounting hole 522. The upper adjustment screw 525 is provided higher than the lower adjustment screw 526 with respect to the contact surface 529 of the holder 520. The lower adjustment screw 526 is provided closer to the contact surface 529 than the upper adjustment screw 525. The upper adjustment screw 525 fixes the magnet placed in the mounting hole 522 to a position serving as a holding magnet. In other words, the upper adjustment screw 525 fixes the magnet to a position that holds the positioning bracket 430 on the contact surface 529. The lower adjustment screw 526 fixes the magnet placed in the mounting hole 522 to a position serving as a fixing magnet. In other words, the lower adjustment screw 526 fixes the magnet to a position that temporarily fixes the positioning bracket 430 to the body opening frame 400.

[0041] Fixing magnet 527 and holding magnet 528 may be fitted with stoppers (not shown) that come into contact with the tip of each screw. Taking mounting hole 521 as an example, when adjustment screw 523 is tightened into holding portion 520, the magnet in mounting hole 521 is fixed in its position as fixing magnet 527 by the stopper. The same is true for mounting hole 522. That is, holding portion 520 is configured so that the fixed positions of holding magnet 528 and fixing magnet 527 can each be changed. Depending on the configuration of holder 500, it can be suitably used depending on the method for positioning positioning bracket 430.

[0042] 1-9. Positioning unit 600 6 is a diagram showing the configuration of the positioning unit 600. The positioning unit 600 includes a positioning bracket 430 and a holder 500.

[0043] The positioning bracket 430 is held by a holding magnet 528 fixed to a holding portion 520 of the holder 500. The positioning unit 600 is held by a gripping portion 510 of the holder 500 with a jig 252 attached to the tip 236 of the arm 230 of the robot 200, and is pressed against the body opening frame 400. In other words, the holder 500 is configured to be able to hold the positioning bracket 430.

[0044] By holding the positioning bracket 430 in the holder 500 to form a unit and using it as a positioning unit 600, positioning relative to the frame 400 for opening in the main body can be performed more easily than before.

[0045] 1-10.Fixed angle 700 7 is a diagram showing the configuration of a fixed angle 700. The fixed angle 700 includes a bottom portion 710 and a side portion 720.

[0046] The bottom surface portion 710 is configured to form a contact surface with the main body opening frame 400. The bottom surface portion 710 is formed to expand like a flat plate. The bottom surface portion 710 is provided with a fixing hole 711. The fixing hole 711 is a hole for passing the fixing magnet 527 of the holder 500. In other words, the fixing angle 700 can be temporarily fixed to the main body opening frame 400 by the fixing magnet 527 of the holder 500 being attracted to the main body opening frame 400 via the fixing hole 711.

[0047] As shown in FIG. 7A, the bottom surface 710 has detection holes 712 (detectors) that can be detected by, for example, a sensor (not shown) of the robot 200. Four detection holes 712 are provided on the bottom surface 710. The fixed angle 700 can assume any orientation in six axes, including three axes (X-axis, Y-axis, and Z-axis) and their rotational directions (roll, pitch, and yaw) in a Cartesian coordinate system. Therefore, by providing three or more detection holes 712 that can be detected by sensors, the robot 200 can detect the orientation of the fixed angle 700 in six axes, including the three axes and their rotational directions. Note that even if there are only one or two detection holes 712, the robot 200 can grasp the position and orientation of the fixed angle 700 by detecting them with a sensor. According to this embodiment, in addition to three-axis positional correction for the welding angle 310 and the frame 400, six-axis correction, including three-axis rotational correction, can be automated or semi-automated.

[0048] The side surface portion 720 is configured to be able to contact the side surface of the welding angle 310 attached to the sash 300. The side surface portion 720 is formed to be approximately perpendicular to the bottom surface portion 710. More specifically, as shown in FIG. 7B, the angle θ of the side surface portion 720 relative to the bottom surface portion 710 is an angle greater than 90 degrees. Specific examples include 90.5, 91.0, 91.5, 92.0, 92.5, 93.0, 93.5, 94.0, 94.5, and 95.0 degrees, and may be within a range between any two of the values ​​exemplified here. For example, when the angle θ is 92.0 degrees, when the side surface portion 720 is pressed against the side surface of the welding angle 310, the edge 721 of the side surface portion 720 is more likely to come into contact with the side surface of the welding angle 310 than when the angle θ is 90.0 degrees. Therefore, in this state, the edge 721 of the side surface portion 720 and the side surface portion of the welding angle 310 can be easily joined by various joining means.

[0049] The fixed angle 700 may be made of iron. Therefore, the fixed angle 700 is configured to be able to be held by a holding magnet 528 fixed to the holding portion 520 of the holder 500.

[0050] The configuration of the fixed angle 700 allows the fixed angle 700 and the welding angle 310 to come into contact with each other more easily than before.

[0051] 1-11. Fixed unit 800 8A and 8B are diagrams showing the configuration of the fixing unit 800. Fig. 8A shows the fixing unit 800 as viewed from above. Fig. 8B shows the fixing unit 800 as viewed from below. The fixing unit 800 includes a fixing angle 700 and a holder 500.

[0052] The fixed angle 700 is held by a holding magnet 528 fixed to the holding portion 520 of the holder 500. The fixing unit 800 is held by the gripping portion 510 of the holder 500 with a jig 252 attached to the tip 236 of the arm 230 of the robot 200, and pressed against the welding angle 310. In other words, the holder 500 is configured to be able to hold the fixed angle 700.

[0053] By holding the fixing angle 700 in the holder 500 to form a unit and using it as the fixing unit 800, it is possible to position the welding angle 310 and the frame 400 for opening in the main body more easily than before.

[0054] 2. The method of this embodiment The method of this embodiment will be described in Section 2. The method of this embodiment is a method for attaching the sash 300 to the skeleton opening frame 400. Here, the method of this embodiment will be described assuming that the robot 200 is the entity that executes the method.

[0055] 9 is an activity diagram showing the flow of the method of this embodiment. The following description will be given along with each activity in this activity diagram. The method of this embodiment includes a preparation step, a support step, and a fixing step.

[0056] First, in the preparation step, the sash 300, the frame 400 for the opening in the main body, and the fixing angle 700 are prepared (activity A110). In this activity A110, the components to be used when executing the method of this embodiment are prepared. The subject of the preparation may be the robot 200, a dedicated machine for attaching the sash 300 to the frame 400 for the opening in the main body, or a worker.

[0057] Next, in the preparation step, the positioning bracket 430 is temporarily fixed to the frame 400 of the opening of the main body by the holder 500 (activity A120). FIG. 10 shows the positioning of the positioning bracket 430 by the robot 200. The robot 200 grasps the holder 500 in the positioning unit 600 with the jig 252 and moves it to the frame 400 of the opening of the main body. The positioning bracket 430 is temporarily fixed to the frame 400 of the opening of the main body by the fixing magnets 527 attached to the holder 500. At this time, the robot 200 detects each hole with a sensor to grasp the posture of the positioning bracket 430 and adjusts the mounting position of the positioning bracket 430. That is, the robot 200 adjusts the height based on the line mark direction, adjusts the offset based on the center line direction, and adjusts the tilt and inclination based on the direction of gravity. Here, the tilt refers to the mounting angle of the positioning bracket 430, such as parallel to the vertical direction or +1 degree to the vertical direction. The inclination refers to the difference in height of the positioning bracket 430 on the left and right sides of the frame 400 for the opening in the main body.

[0058] Next, in the preparation step, with the positioning bracket 430 temporarily fixed to the frame 400 of the skeleton opening, the positioning bracket 430 is welded to the frame 400 of the skeleton opening (activity A130). Fig. 11 is a diagram showing the welding of the positioning bracket 430 and the frame 400 of the skeleton opening by the robot 200. The robot 200 uses a welding jig 253 to weld the frame 400 of the skeleton opening through the welding holes 434 of the positioning bracket 430, forming a weld 259. In this way, the positioning bracket 430 is fixed to the frame 400 of the skeleton opening.

[0059] According to activities A120 to A130, the positioning bracket 430 can be easily welded to the frame 400 for the opening in the main body.

[0060] Returning to the explanation of Figure 9, next, in the preparation step, the positioning angle 320 is attached to the sash 300 (activity A140). As shown in Figure 3(A), the positioning angle 320 is attached above the center line 303. Furthermore, the positioning pin 323 of the positioning angle 320 is attached to a set position on the protruding surface 322. The attachment position of the positioning angle 320 on the sash 300 and the attachment position of the positioning pin 323 on the protruding surface 322 of the positioning angle 320 are set appropriately depending on the state of the marked sash 300 and the main body opening frame 400.

[0061] Returning to the explanation of Figure 9, next, in the supporting step, the sash 300 is moved to the frame 400 of the opening in the main body (activity A150). That is, as shown in Figure 1, the robot 200 grasps the sash 300 with the jig 239 and carries the sash 300 to the frame 400 of the opening in the main body.

[0062] Next, in the supporting step, the positioning bracket 430 supports the positioning angle 320 (activity A160). Figure 12 is an enlarged view of the engagement portion between the positioning bracket 430 and the positioning angle 320.

[0063] That is, when the sash 300 is attached to the frame 400 of the opening in the main body, the positioning pin 323 of the positioning angle 320 attached to the sash 300 is engaged with the elongated hole 431 of the positioning bracket 430 attached to the frame 400 of the opening in the main body. At this time, because the center of gravity of the sash 300 is located at the bottom of the sash 300, a force acts on the lower edge of the sash 300 to tilt it forward in the figure, and a force acts on the upper edge of the sash 300 to tilt it backward in the figure. Here, the spherical positioning pin 323 is supported by the elongated hole 431, so that the positioning pin 323 is supported at two points. Therefore, when a tilting force acts on the entire sash 300, the entire sash 300 tilts. Then, the left and right edges of the sash 300 abut against the flaps 435 of the positioning bracket 430 attached to the frame 400 of the opening in the main body, restricting the tilt of the sash 300. Thus, the sash 300 is positioned parallel to the vertical direction.

[0064] Next, in the fixing step, the fixing angle 700 is brought into contact with the welding angle 310 and the frame 400 of the opening in the main body (activity A170).

[0065] Next, in the fixing step, the welding angle 310 and the fixed angle 700 are welded together (activity A180). That is, the robot 200 uses the jig 253 attached to the tip 236 of the arm 230 to weld the boundary between the welding angle 310 and the fixed angle 700 at one or more locations.

[0066] Next, in the fixing step, the fixed angle 700 and the frame 400 of the main body opening are welded together (activity A190). That is, the robot 200 uses the jig 253 attached to the tip 236 of the arm 230 to weld the boundary between the fixed angle 700 and the frame 400 of the main body opening at one or more locations.

[0067] That is, activities A170 to A190 are fixing steps for fixing the sash 300 to the frame of the opening in the main body 400. Fig. 13 is a diagram showing the state in which the fixing angle 700 has been welded to the welding angle 310 and the frame of the opening in the main body 400. By using the welding angle 310 that extends over one entire side of the sash 300, there is no need to search for the position of the sash anchor, as compared to when a sash anchor is used, and welding can be performed flexibly at any location.

[0068] The order in which the activities are executed is not limited to the order described in this embodiment, and the activities may be executed in any order, or may be executed simultaneously, as long as no contradictions occur.

[0069] According to the method of this embodiment, the workability when attaching the sash 300 to the frame 400 for an opening in the main body can be improved compared to the conventional method.

[0070] Various embodiments of the present invention have been described above, but these are presented as examples and are not intended to limit the scope of the invention. The novel embodiments may be embodied in various other forms, and various omissions, substitutions, and modifications may be made without departing from the spirit of the invention. Such embodiments and modifications are intended to be included within the scope and spirit of the invention, as well as within the scope of the inventions and their equivalents as set forth in the claims.

[0071] 3. Variations In Section 3, a modification of this embodiment will be described.

[0072] In the present embodiment, the robot 200 has been described as an example of an entity that performs the installation process of the sash 300, but this is not limiting. The execution entity may be, for example, a dedicated machine that exclusively performs the installation process of the sash 300, or a worker may perform part or all of the installation process. Even if a worker performs the method of the present embodiment, the ease of installation when installing the sash 300 to the frame 400 of the structural opening can be improved compared to conventional methods.

[0073] In the present embodiment, welding has been described as an example of a means for joining members together, but the joining means is not limited to this. For example, the joining means may be brazing, adhesive, riveting, bolt and nut fastening, caulking, etc.

[0074] In this embodiment, the detection portion is described as being a (detection) hole, but is not limited to this. The detection portion may be, for example, a one-dimensional code such as a barcode, a two-dimensional code such as a QR code (registered trademark), a pattern using lines or colors, a three-dimensional shape, or the like.

[0075] The sensor mounted on the robot 200 or other dedicated machine may be a camera sensor capable of reading two-dimensional information, or a laser sensor capable of reading three-dimensional information. The sensor may be appropriately employed in combination with the above-mentioned detection unit.

[0076] In this embodiment, iron is used as an example of the material constituting the frame 400, but the material is not limited to iron. The frame 400 may be made of a ferromagnetic material such as cobalt, nickel, or gadolinium. This embodiment allows for a simple configuration, making it possible to position the positioning bracket 430 more easily than before.

[0077] In this embodiment, the elongated hole 431 is used as the second engagement portion in the claims, but the present invention is not limited to this. The second engagement portion may be a hole that supports the spherical surface (the positioning pin 323 in this embodiment) at two points, and may be, for example, a round hole or a square hole. According to this aspect, tilting of the sash 300 can be permitted with a simple configuration.

[0078] Even when these modified examples are adopted, the effects of the present embodiment are exhibited. Furthermore, the present embodiment and the modified examples, and the modified examples can be combined as appropriate.

[0079] 4.Other It may be provided in the following manner.

[0080] (1) A method for attaching a sash to a frame of an opening in a building body, the sash having a positioning angle with a first engagement portion, the positioning angle being attached to the left and right sides of the sash so as to protrude from the front surface of the sash, the first engagement portion being formed at the end of the positioning angle, the frame of the opening in a building body having a positioning bracket with a second engagement portion and a restricting portion, the positioning bracket being attached to the frame of the opening in a vertical direction with its position relative to the frame of the opening in the front-rear direction, the left-right direction and the up-down direction being set, and the second engagement portion being formed at the upper end of the positioning bracket. and engages with the first engaging portion to support the positioning angle, the second engaging portion allows the sash to tilt with the positioning angle as a fulcrum in the supported state, the regulating portion is formed at the lower end of the positioning bracket and regulates the tilt of the sash to hold the sash in a vertical state, the method comprising a preparation step, a support step and a fixing step, in which the preparation step prepares the sash and the main body opening frame, the support step causes the positioning bracket to support the positioning angle, and the fixing step fixes the sash to the main body opening frame.

[0081] According to this aspect, the workability when attaching the sash to the frame of the opening in the main body can be improved compared to the conventional art.

[0082] (2) In the method described in (1) above, the sash further includes a welding angle, which is formed to extend the entire length of each side of the sash, the preparation step further includes preparing a fixing angle, and the fixing step includes abutting the fixing angle against the welding angle and the main body opening frame, welding the welding angle to the fixing angle, and welding the fixing angle to the main body opening frame.

[0083] According to this embodiment, there is no need to search for the position of the sash anchor, and welding can be performed flexibly at any location.

[0084] (3) In the method described in (1) or (2) above, the engaging portion of the first engaging portion with the second engaging portion is spherical, and the second engaging portion is a hole that supports the spherical surface at two points.

[0085] According to this aspect, tilting of the sash can be permitted with a simple configuration.

[0086] (4) The method according to (3) above, wherein the hole is a long hole.

[0087] According to this aspect, the sash can be finely adjusted in the left-right direction.

[0088] (5) In the method according to any one of (1) to (4) above, the positioning angle is positioned above the center of the sash in the vertical direction.

[0089] According to this aspect, the center of gravity of the sash can be positioned at the bottom, allowing the sash to be tilted.

[0090] (6) A method according to any one of (1) to (5) above, further comprising a holder for holding the positioning bracket, wherein in the preparation step, the positioning bracket is temporarily fixed to the body opening frame by the holder, and in the preparation step, the positioning bracket is welded to the body opening frame in the temporarily fixed state.

[0091] According to this aspect, the positioning bracket can be easily welded to the frame of the opening in the body.

[0092] (7) A robot comprising an arm and a control unit, the arm having a jig at its tip, the arm configured to be able to grasp each component of the method described in any one of (1) to (6) above using the jig, and the control unit configured to control the arm to perform each step of the method described in any one of (1) to (6) above.

[0093] According to this aspect, by automating the process using a robot, it is possible to improve the ease of installation when attaching the sash to the frame of the opening in the main body compared to the conventional case. Of course, this is not the case. [Explanation of symbols]

[0094] 100: System 200: Robot 205: Pedestal 210: Main body 220 :Wheel 230: Arm 231: Joints 232: Joints 233: Joints 234: Joints 235: Joints 236:Tip 239: Jig 240: Control unit 250: Jig 251: Jig 252: Jig 253: Jig 259: Welded parts 300: Sash 301 :Stile 302: Window frame 303: Center line 310: Welding angle 320: Positioning angle 321: Mounting surface 322:Protruding surface 323: Locating pin 400: Frame opening 430: Positioning bracket 431: Long hole 432: Magnet hole 433: Phasing hole 434: Welding hole 435: Flap 500: Holder 510: Grip part 520: Holding part 521: Mounting hole 522: Mounting hole 523: Adjustment screw top 524: Under the adjustment screw 525: Adjustment screw top 526: Under the adjustment screw 527: Fixed magnet 528: Holding magnet 529: Contact surface 600: Positioning unit 700: Fixed angle 710: Bottom part 711: Fixing hole 712: Detection hole 720: Side part 721: Edge 800: Fixed unit θ: angle

Claims

1. A method for attaching a sash to a frame of an opening in a building frame, comprising: the sash includes a positioning angle having a first engagement portion; The positioning angles are attached to the left and right sides of the sash so as to protrude from the front surface of the sash, The first engagement portion is formed at an end of the positioning angle, the body opening frame includes a positioning bracket having a second engagement portion and a restriction portion, The positioning bracket is attached to the frame of the opening of the main body along the vertical direction in a state where the position in the front-rear direction, the left-right direction, and the up-down direction with respect to the frame of the opening of the main body is set, the second engaging portion is formed on an upper end of the positioning bracket and engages with the first engaging portion to support the positioning angle; the second engaging portion allows the sash to tilt around the positioning angle as a fulcrum in the supported state; The restricting portion is formed on a lower end portion of the positioning bracket and restricts the inclination of the sash to maintain the sash in a vertical state; A method comprising a preparation step, a support step, and a fixing step, In the preparation step, the sash and the skeleton opening frame are prepared; In the supporting step, the positioning bracket is caused to support the positioning angle; In the fixing step, the sash is fixed to the frame of the opening in the main body. method.

2. 10. The method of claim 1, The sash further includes a welding angle; The welding angle is formed to extend the entire length of each side of the sash, The preparation step further includes preparing a fixed angle; In the fixing step, the fixed angle is brought into contact with the welding angle and the skeleton opening frame, and the welding angle and the fixed angle are welded together, and the fixed angle and the skeleton opening frame are welded together. method.

3. 10. The method of claim 1, an engaging portion of the first engaging portion with the second engaging portion has a spherical shape; The second engagement portion is a hole that supports the spherical surface at two points. method.

4. 4. The method of claim 3, The hole is a slot. method.

5. 10. The method of claim 1, The positioning angle is disposed above the center of the sash in the up-down direction. method.

6. 10. The method of claim 1, Further, a holder for holding the positioning bracket is provided, In the preparation step, the positioning bracket is temporarily fixed to the frame of the opening of the main body by the holder; In the preparation step, the positioning bracket is welded to the frame of the opening in the body in the temporarily fixed state. method.

7. A robot, an arm and a control unit, the arm has a jig at its tip, the arm is configured to be able to grip each member of the method according to any one of claims 1 to 6 using the jig; The control unit is configured to control the arm to perform each step of the method according to any one of claims 1 to 6. robot.

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