CN110294421A - Construction system and control method - Google Patents
Construction system and control method Download PDFInfo
- Publication number
- CN110294421A CN110294421A CN201910487555.6A CN201910487555A CN110294421A CN 110294421 A CN110294421 A CN 110294421A CN 201910487555 A CN201910487555 A CN 201910487555A CN 110294421 A CN110294421 A CN 110294421A
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- China
- Prior art keywords
- hoisting
- row
- row device
- support rail
- construction
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
- B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
- B66C17/04—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports with lifting beams, e.g. slewable beams, carrying load-engaging elements, e.g. magnets, hooks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/01—General aspects of mobile cranes, overhead travelling cranes, gantry cranes, loading bridges, cranes for building ships on slipways, cranes for foundries or cranes for public works
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a kind of construction system and control methods.Construction system includes: climbing scaffold system and row crane system, row crane system includes multiple row device for hoisting, row device for hoisting includes: row hanger rail road, running gear, support rail beam, row crane, and each row crane is adapted to lift end effector, and the support rail depth of beam of multiple row device for hoisting is different；And in addition to the row device for hoisting where bottom support rail beam, remaining row device for hoisting is the row device for hoisting that need to be kept away, and is at least provided with telescopic arm in multiple row device for hoisting on the row device for hoisting that need to be kept away, and telescopic arm connection is expert on crane and for installing end effector.The present invention can satisfy the requirement of the more work surfaces of construction layer while construction, improve operating efficiency, so that relative displacement can be carried out by carrying the end effector hung on of being expert at, it will not mutually restrict, the work compound that can be realized certain working procedures is conducive to accelerate construction progress, time saving and energy saving.
Description
Technical field
The present invention relates to technical field of building construction more particularly to a kind of construction systems and control method.
Background technique
There is largely interspersed operation or follow operation closely in the existing construction technology of construction layer, need the operation simultaneously of more actuating stations
Or work compound, but these construction requirements are also unable to satisfy in current construction market, construction site is mostly by manually removing the machine of pushing away
Device adjusts construction rhythm, and not only construction is full but also labor intensity of workers is excessive.
Summary of the invention
The application is to be made based on inventor to the discovery of following facts and problem and understanding: in existing technical solution
It is proposed that a kind of row that is arranged on making floor platform hangs to lift the scheme for executing construction.But these rows hang and all hang for uniline
Dress, can not carry out coordinated operation.To meet a variety of construction demands of the more work surfaces of construction layer, it is necessary to improve construction system
The flexibility of lifting mode in system.
It, can not coordinated operation to solve the problems, such as that uniline is hung for this purpose, the present invention proposes a kind of construction system.
The present invention, which also aims to, proposes a kind of control method for being applied to above-mentioned construction system.
A kind of construction system according to an embodiment of the present invention, comprising: climbing scaffold system and be mounted on the climbing scaffold system
On row crane system, the row crane system includes multiple row device for hoisting, the row device for hoisting include: row hanger rail road, be located at it is described
The support rail beam of running gear, the connection running gear on row hanger rail road, the row crane being located on the support rail beam, Mei Gesuo
It states row crane to be adapted to lift end effector, the support rail depth of beam of multiple row device for hoisting is different；And except most
Outside the row device for hoisting where the support rail beam of lower section, remaining described row device for hoisting is the row device for hoisting that need to be kept away, Duo Gesuo
It states and is at least provided with telescopic arm in row device for hoisting on the row device for hoisting that need to be kept away, the telescopic arm is connected to the row crane
Above and for installing the end effector；Difference in height in height between every two adjacent support rail beams is H1, wherein
On the telescopic arm on the support rail beam of top when contracting, the bottom end of the end effector on the support rail beam of top
It is H2, H1 and H2 satisfaction: H1 > H2 to the difference in height between the support rail beam of top.
Construction system according to an embodiment of the present invention can by the way that multiple row device for hoisting and position height difference is arranged
To meet the requirement of the more work surfaces of construction layer while construction, operating efficiency is improved.And to carry the end being expert on device for hoisting
End actuator can carry out relative displacement, will not mutually restrict, can be realized the work compound of certain working procedures, be conducive to accelerate
Construction progress is time saving and energy saving.
In some embodiments, construction system further include: safety control system, the safety control system include:
It at least monitors between the telescopic arm of each row device for hoisting that need to be kept away and the support rail beam of other row device for hoisting
Horizontal distance apart from mechanism for monitoring.
Further, described apart from mechanism for monitoring includes multiple laser probes, is mounted on each row device for hoisting
The laser probe.
Further, each running gear is provided with the telescopic arm, and the laser probe is mounted on described stretch
On contracting arm.
In some embodiments, the row hanger rail road of each row device for hoisting, the support rail beam are each parallel to level
Face setting.
A kind of control method using above-mentioned construction system according to an embodiment of the present invention, includes the following steps: pair
By the way that row hangs the process priority of construction, coordinated relationship is defined and to form relation table；Judge current each end
The executable process of actuator；Table according to the relationships, judge between the executable process of current each end effector when
Preceding priority, coordinated relationship；According to current priority, coordinated relationship, current each end is adjusted
The position of the support rail beam and/or the row crane where actuator.
In some embodiments, it detects between any telescopic arm and the support rail beam of other row device for hoisting
When horizontal distance is less than L1, starting anticollision early warning operation.
In some embodiments, the telescopic arm and other row device for hoisting of any row device for hoisting are detected
When horizontal distance is less than L2 between the support rail beam, in multiple row device for hoisting for meeting, what the support rail beam was located above
The row device for hoisting, which executes, to be stopped construction, shrinks the telescopic arm operation.
In some embodiments, in the relation table, for the process for stopping constructing cannot be forced to be set as special work
Sequence, when execution special procedure one of in the multiple row device for hoisting to meet, before remaining described row device for hoisting stops
Row, or execute and stop construction, shrink the telescopic arm operation.
The control method of construction system according to an embodiment of the present invention by multiple row device for hoisting and can be avoided
Operation can satisfy the requirement of the more work surfaces of construction layer while construction, improve operating efficiency.And to carry to be expert to hang on
End effector can carry out relative displacement, will not mutually restrict, and can be realized the work compound of certain working procedures, be conducive to add
Fast construction progress is time saving and energy saving.By the relation table of setting process priority, coordinated relationship, make end effector root
Position is adjusted according to relation table, can not only make mistakes, but also the automated process of construction can be improved, mention to avoid constructing operation
The utilization rate of high row crane system.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the constructing structure schematic diagram of construction system in the present invention；
Fig. 2 is partial enlarged view in Fig. 1；
Fig. 3 is the flow diagram of the control method of construction system in the present invention.
Appended drawing reference:
Construction system 100,
Row crane system 10,
Row device for hoisting 11, the first row device for hoisting 11p, the second row device for hoisting 11q,
Row hanger rail road 111, the first row hanger rail road 111p, the second row hanger rail road 111q,
Running gear 112, the first running gear 112p, the second running gear 112q,
Support rail beam 113, the first support rail beam 113p, the second support rail beam 113q,
Row crane 114, the first row crane 114p, the second row crane 114q,
Telescopic arm 115, the first telescopic arm 115p, the second telescopic arm 115q,
Climbing scaffold system 20,
Building 200.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " on ", "lower", "vertical", "horizontal", "top", "bottom" etc.
The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and letter
Change description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construct and
Operation, therefore be not considered as limiting the invention.In the description of the present invention, unless otherwise indicated, the meaning of " multiple "
It is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
A kind of construction system 100 according to an embodiment of the present invention is described below with reference to Fig. 1.
As shown in Figure 1, a kind of construction system 100 according to an embodiment of the present invention, comprising: climbing scaffold system 20 and installation
Row crane system 10 on climbing scaffold system 20.
Climbing scaffold system 20 is one of essential equipment in building construction process, as shown in Figure 1, climbing scaffold system 20 is used for
It climbs or declines on building 200, be the job platform of construction.Here, climbing scaffold system 20 includes being located at building 200
On multiple climbing frames, multiple climbing frames can be respectively provided on at least two sides of building 200.In the example of fig. 1, climbing scaffold system 20
It is arranged around building 200, and climbing scaffold system 20 includes that the whole climbing frame under is same as above on each face of building 200.Climbing frame system
System 20 is used as bearing substrate, is used to support crane system 20 of leaveing and carries out construction operation.
Row crane system 10 includes multiple row device for hoisting 11.Each row device for hoisting 11 includes: row hanger rail road 111, is located at capable hang
Running gear 112, the support rail beam 113 for connecting running gear 112, the row crane 114 being located on support rail beam 113 on track 111,
Each row crane 114 is adapted to lift end effector (not shown go out).That is, there are two dimensions for each tool of row crane 114
The one-movement-freedom-degree of degree, such as in the example of fig. 1 and 2, adjustable full line when walking along row hanger rail road 111 of running gear 112
The position of 114 left and right directions of mule carriage, row crane 114 can adjust the position in the front-back direction of moving trolley 114 when walking along support rail beam 113
It sets.
End effector is for when carrying out construction operation, since the row crane 114 of lifting end effector has, there are two move
Dynamic freedom degree, so that end effector can construct while advancing.After the construction of a certain station, row crane 114
It is mobile, end effector can be transported to another station and continue construction operation.In a specific example, work as end effector
After the completion of the whole construction of support rail beam 113, running gear 112 is walked along row hanger rail road 111 to adjust the position of support rail beam 113
Set, after the completion of end effector is again along the whole construction of support rail beam 113 later, running gear 112 along row hanger rail road 111 again
Walking is and so on constructed until completing entire area with the position for adjusting support rail beam 113.
113 height of support rail beam of multiple row device for hoisting 11 is different.Moreover, except the row where bottom support rail beam 113
Outside device for hoisting 11, remaining row device for hoisting 11 is the row device for hoisting 11 that need to be kept away.That is, except where bottom support rail beam 113
Row device for hoisting 11 outside, row crane 114 on remaining row device for hoisting 11 suspend in midair end effector it is mobile during, all may
Other support rail beams 113 can be encountered, therefore the end effector on the row device for hoisting 11 will cross the support rail beam 113 encountered, it is needed
Has evacuation function.
Telescopic arm 115 is at least provided in multiple row device for hoisting 11 on the row device for hoisting 11 that need to be kept away, telescopic arm 115 connects
It is expert on crane 114 and for installing end effector.Due to multiple row device for hoisting 11 no longer same position height, and end is held
Row device is but flexible by telescopic arm 115 in work surface construction, and adjustable end effector is to needing the construction surface of work to carry out
Operation.Certainly, if the end effector lifted on the row device for hoisting 11 at 113 place of bottom support rail beam is also required to adjustment vertically
Position, the row crane 114 on the row device for hoisting 11 can also pass through telescopic arm 115 and connect end effector.
To guarantee the evacuation function of row device for hoisting 11 that need to be kept away, in height per two adjacent support rail beams 113 between height
Degree difference is H1, in height in the two adjacent support rail beams 113, on the telescopic arm 115 on the support rail beam 113 of top when contracting, on
Difference in height between the support rail beam 113 of bottom end to the top of end effector on the support rail beam 113 of side is full for H2, H1 and H2
Foot: H1 > H2.It is ensured that after contracting on telescopic arm 115 in this way, the support rail beam 113 of top can drive end effector under
The support rail beam 113 of side, telescopic arm 115, end effector when avoiding the support rail beam 113 of top mobile thereon bump against holding for lower section
Beam-and-rail 113.
When being reduced to highest on telescopic arm 115 that is, multiple row device for hoisting 11 are taken in, each support rail beam 113 is (with it
On row crane 114, end effector) spatially locate at various height, in this way when the row of two row device for hoisting 11 is hung
Both vehicle 114 is expert at position in 111 direction of hanger rail road when interlocking, and the support rail beam 113 of two row device for hoisting 11 will not hinder
Transposition.Such as in Fig. 2, row device for hoisting 11 is two and respectively the first row device for hoisting 11p and the second row device for hoisting 11q.
The first row device for hoisting 11p includes that the first row hanger rail road 111p, the first running gear 112p, the first support rail beam 113p, the first row are hung
Suspention has first end actuator on vehicle 114p and the first telescopic arm 115p, the first telescopic arm 115p.Second row device for hoisting 11q packet
Include the second row hanger rail road 111q, the second running gear 112q, the second support rail beam 113q, the second row crane 114q and the second telescopic arm
Suspention has second end actuator on 115q, the second telescopic arm 115q.In Fig. 2, the first support rail beam 113p and the first row crane
114p is located at the top of the second support rail beam 113q and the second row crane 114q, the first support rail beam 113p in state shown in Fig. 2
And the first row crane 114p, the first telescopic arm 115p, first end actuator thereon is located at the second support rail beam 113q and thereon
The second row crane 114q, the second telescopic arm 115q, second end actuator right side.When needing first end to execute because of construction
It, can be by the first telescopic arm since the first row device for hoisting 11p has the function of evacuation when device is moved to the left side of second end actuator
Contract on 115p, make the top for being adjusted to the second support rail beam 113q on first end actuator, so that it may by the first support rail beam 113p to
It moves left, or the second support rail beam 113q is moved right, after the two dislocation, then will be stretched under the first telescopic arm 115p, make first
End effector being capable of the operation on working face again.
It is to be understood that if each row device for hoisting 11 respectively corresponds the construction content of different processes, multiple row liftings
Set 11 can the construction of multiple working procedure work compound, accelerate the process entirely constructed, improve operating efficiency.If each row crane system
The construction content of 10 corresponding same processes, can thus construct simultaneously, accelerate the process of a certain procedure, and then accelerate whole
Construction progress, improve operating efficiency.So set, the interspersed operation of construction layer can be completed or follow operation closely, make more
A end actuating station can simultaneously operation or work compound.Such as it concreting and vibrates, the processes such as reinforcing bar is arranged and is bound.
Construction system 100 according to an embodiment of the present invention by the way that multiple row device for hoisting 11 are arranged, and need at least kept away
Row device for hoisting 11 on be provided with evacuation function, can satisfy the more work surfaces of construction layer simultaneously construct requirement, improve operation imitate
Rate.And the end effector that carrying is expert on device for hoisting can carry out relative displacement, will not mutually restrict, can be realized certain
The work compound of a little working procedures is conducive to accelerate construction progress, time saving and energy saving.
In some embodiments, construction system 100 further include: safety control system (not shown go out).Security control
System include: at least monitor each row device for hoisting 11 that need to be kept away telescopic arm 115 and other row device for hoisting 11 support rail beam 113 it
Between horizontal distance apart from mechanism for monitoring (not shown go out).In this way when the telescopic arm 115 for the row device for hoisting 11 that need to be kept away encounters other
When the support rail beam 113 of row device for hoisting 11, range information can be monitored in time, so that row crane system 10 makes evacuation behaviour in time
Make.Here, when horizontal distance is excessively close between the support rail beam 113 for monitoring two row device for hoisting 11, it can be top support rail beam
It is contracted on end effector on 113 actively to avoid the support rail beam 113 of lower section, it is also possible under special circumstances, by lower section support rail
The out of service or separate top support rail beam 113 of beam 113 is actively to avoid.
Certainly, in embodiments of the present invention, telescopic arm 115 and other row device for hoisting 11 can be not only surveyed apart from mechanism for monitoring
Support rail beam 113 between horizontal distance, can also between any two telescopic arm 115 horizontal distance, it might even be possible to survey any
Horizontal distance between two row cranes 114, can also survey the distance between any two end effector, in this way can be multi-faceted
Monitor the safety in operation of row crane system 10.
In other embodiments, construction system 100 can also be not provided with above-mentioned apart from mechanism for monitoring, can be by artificial
Judge distance monitors safety, can also then be existed by presetting the construction track of each row device for hoisting 11 in the controller
Track cross point, which is preset, avoids program, by record stroke come estimated staggeredly opportunity in embodiment also.For example, being hung with row
The stroke of vehicle 114 establishes two-dimensional coordinate system, position recorder is provided on each row device for hoisting 11, when running gear 112
When walking or row crane 114 are walked, the corresponding coordinate of end effector changes therewith.When two end effectors coordinate by
When gradually close, indicate that two end effectors gradually meet, can be sentenced at this time according to the practice of construction situation of each end effector
It is both disconnected whether to need to do avoiding operation.Wherein, the mode for recording stroke can be in running gear 112 and row crane 114
Encoder etc. is set on traveling wheel.
Further, include multiple laser probes (not shown go out) apart from mechanism for monitoring, pacify on each row device for hoisting 11
Equipped with laser probe.When two support rail beams 113 close to when, ranging may be implemented in laser probe, thus make telescopic arm 115 starting with
It contracts in realization, so that two row device for hoisting 11 be avoided to bump against.Using which, distance measuring method is simple to operation, is advantageously implemented
Distance accurately measures.
In other embodiments, laser probe can also be connected with the controller of running gear 112, to control row device for hoisting
11 movement.For example, closing on value when laser probe detects that the distance of two row device for hoisting 11 reaches, laser probe passes signal
It is delivered to controller, forbids two row device for hoisting 11 to move toward one another, avoids colliding.
In addition, alarm lamp (not shown go out) can also be set on row device for hoisting 11, when laser probe detects critical distance,
It can star alarm lamp, staff reminded to pay attention to.
Further, as shown in Figure 1, each running gear 112 is provided with telescopic arm 115, laser probe, which is mounted on, to be stretched
On contracting arm 115.Since telescopic arm 115 is the key that two row device for hoisting 11 collide, using which, two neighboring telescopic arm
115 distance more can really reflect collision distance, so that range measurement is from more acurrate.
In other embodiments of the present invention, ultrasonic sensor or infrared sensor can also be passed through apart from mechanism for monitoring
It realizes, is not limited solely to laser sensor.
In some embodiments, row hanger rail road 111, the support rail beam 113 of each row device for hoisting 11 are set each parallel to horizontal plane
It sets.To guarantee the steady traveling of running gear 112 and row crane 114, it is ensured that end effector construction stability.
It should be noted that running gear 112 is the state of the art, no longer it is developed in details.For example, walking
Device 112 may include rail wheel and motor, and rail wheel cooperation is expert on hanger rail road 111, and motor driven rail wheel is held with realizing
Beam-and-rail 113 is expert at the traveling on hanger rail road 11.Electric drive can be used in row crane 114, to drive end effector in support rail beam
It advances on 113.
In addition, the present invention innovates on the basis of existing bridge-type row is hung, by disposing two parallel up and down support rails
The method of beam 113 realizes duplicate rows in same plane and hangs interspersed concurrent job, and composition is hung interspersed by two rows in Different Plane
The multirow of movement composition hangs interspersed operating system.Condition has been made to carry the work compound biography for the actuating station hung on of being expert at.
Below with reference to Fig. 1, the specific embodiment applied in concreting of the invention is described.
A kind of construction system 100, including climbing scaffold system 20 and row crane system 10.Row crane system 10 includes that two rows are hung
Device 11, row device for hoisting 11 include the row hanger rail road 111 being fixed on climbing scaffold system 20, the walking being located on row hanger rail road 111
Device 112, the support rail beam 113 for connecting running gear 112, the row crane 114 being located on support rail beam 113, each row crane 114 is
Suitable for lifting end effector.Telescopic arm 115 is equipped on each row crane 114, end effector is connected to telescopic arm 115
Bottom.
The row device for hoisting 11 of top and the row device for hoisting 11 of lower section have certain distance, the row device for hoisting 11 of lower section in height
Operation can be interted below row device for hoisting 11 above, thus will not influence the motion range between two row device for hoisting 11, into
And improve the working efficiency of whole system.
If the row device for hoisting 11 of lower section because of procedure calls, needs to intert past tense below the row device for hoisting 11 of top, on
The row device for hoisting 11 of side needs break-off, and the telescopic arm 115 of the row device for hoisting 11 of top need to be reduced to highest upwards, in this way below
Row device for hoisting 11 can be passed beneath smoothly from the row device for hoisting 11 of top.
It is equipped with laser probe on telescopic arm 115 on two row device for hoisting 11, when two row device for hoisting 11 are at a distance of certain
Apart from when begin to alarm, and pass the signal on the controller of each row device for hoisting 11, forbid two rows liftings
It sets 11 to move toward one another, is thus avoided that two row device for hoisting 11 bump against.
Upper and lower two row device for hoisting 11 can be in the collaborative work in concreting engineering, and specific workflow is as follows:
Process sequence when concreting is general are as follows: pours → vibrate → concrete surface processing.
Because cloth must not be moved horizontally within the scope of same place continuous cloth, Ying 2-3m when pouring horizontal structure concrete
Material, and vibrates and preferably use both sides jolt ramming, and first pass, which vibrates, mainly makes concrete compaction, vibrates for second time, puts down concrete surface
It is whole.Therefore practice of construction demand will be unable to satisfy to a row device for hoisting 11 because of routing problem by carrying placing installation and apparatus for distributing simultaneously
And reduce concrete formation quality.
To guarantee pouring quality, after the apparatus for distributing that the row device for hoisting 11 of top carries has poured concrete, lower section
The vibrating spear that row device for hoisting 11 carries leaves for immediately to having poured region to be vibrated.Simultaneously because concrete is that segmentation pours, point
If section a line be parallel to row hang the direction of motion, cause above and below row device for hoisting 11 collided in sustained height plane, therefore
The row device for hoisting 11 by above and below is needed to also improve working efficiency in different height to meet structure sheaf construction demand.
Upper and lower two row device for hoisting 11 also provide strong support to implement advanced construction technology, such as: it is whole in order to allow
Flat effect is more preferable, and current construction technology is exactly just to be flattened after concrete distributing, and two row device for hoisting 11 follow
This technique can perfectly be cooperated, the row device for hoisting 11 of top carries out cloth in front, and the row device for hoisting 11 of lower section carries
Evener is flattened below, has not only improved leveling effect in this way, but also improve efficiency.
Upper and lower two row device for hoisting 11 are able to carry out the forked working of multiple processes, such as: when the row device for hoisting 11 of lower section
Vibrated concrete, and the row device for hoisting 11 for carrying the top of mechanical arm can not be influenced by the row device for hoisting 11 of lower section, leaves for having poured
The region of build floor concrete carries out the handling installation exercise of lining, guarantees that construction layer cross-operation flowing water is not extremely lonely by row
It rings, improves working efficiency.
Upper and lower two row device for hoisting 11 are able to carry out the respective work of multiple processes, such as: at the scene construct demand when
It waits, the area A needs row to lift up into the auxiliary lifting of row aluminum alloy pattern plate, and the area B needs the lifting etc. of prefabricated building body.Then at this point, the row of top is hung
Device 11 can go to the area A to work, and assist the installation of aluminum alloy pattern plate, and the row device for hoisting 11 of lower section can go to the area B to work, association
The lifting for helping prefabricated building body, is independent of each other in this way, also improves efficiency.
For the automated process for being further convenient for construction system, the embodiment of the present invention also proposes that one kind is built based on above-mentioned
The control method building construction system and establishing.This set of control mode can be loaded into the control centre of construction system, by controlling
Is carried out to row crane system 10 by control, allotment for center processed.
As shown in Fig. 2, a kind of control method using above-mentioned construction system according to an embodiment of the present invention, including such as
Lower step:
Step S1: to by the way that row hangs the process priority of construction, coordinated relationship is defined and to form relation table.
Step S2: judge the executable process of current each end effector.
Step S3: according to relation table, judge priority current between the executable process of current each end effector,
Coordinated relationship.
Step S4: according to current priority, coordinated relationship, the support rail where current each end effector is adjusted
The position of beam 113 and/or row crane 114.
Specific as described above, process sequence when concreting is general are as follows: pours → vibrate → concrete surface
Processing, therefore in opening relationships table, to the priority of above-mentioned operation is defined as: pour process prior to process of vibrating, vibration
Process is smash prior to concrete surface treatment process.In another example in some embodiments, while concrete is poured into mold
Need to spray into compound (such as tackifier or water), therefore in opening relationships table, to above-mentioned operation is defined as: spray process
It is coordinated relationship with process is poured.Certainly, in specific building construction process, the process that can be defined above-mentioned class incessantly
Type, activity relation are more than the above-mentioned type, can adjust according to actual needs.
It, can be according to the execution process of each end effector, it can be determined that each end effector after establishing relation table
Between construction priority, coordinated relationship.If the process that two end effectors execute has precedence relationship,
On same construction area on construction direction, the position of the end effector of preferential process is executed, is always positioned at execution in rear work
The front side of the end effector of sequence, after the completion of can guaranteeing the process preferentially executed on same construction area in this way, in rear execution
Process just will do it.
If the process that two end effectors execute is coordinated relationship, in construction direction on same construction area
On, servo-actuated movement can be set into the position of two end effectors, i.e., one of end effector follows closely in another end
Actuator is mobile, and it is very short can to guarantee that two processes execute interval time in this way.
In above-mentioned control method as can be seen that when the operation simultaneously of multiple end effectors, after having and first have due to process, one
A little processes are constructed prior to other processes to be completed.To increase operation rate, the row device for hoisting 11 for completing construction can be by the end effector
Replacement point is moved, another end effector is then loaded on row device for hoisting 11 and continues operation.Row device for hoisting 11 is in mobile end
During actuator, it can inevitably meet with the support rail beam 113 or end effector of other row device for hoisting 11, need to adjust at this time
The whole telescopic arm 115 being located above on support rail beam 113, enables underlying support rail beam 113 under upper extremity actuator
Side passes through.
In some embodiments, it detects horizontal between any telescopic arm 115 and the support rail beam 113 of other row device for hoisting 11
When distance is less than L1, starting anticollision early warning operation.It is to be understood that distance L1 be defined safety in the horizontal direction away from
From starting anticollision early warning operation at this time, row device for hoisting 11 controls holding of being located above within the time that distance L1 range is walked
It contracts on telescopic arm 115 on beam-and-rail 113, two row device for hoisting 11 is avoided to collide.
Here anticollision early warning operation can be specifically arranged according to the actual situation, in some instances, anticollision early warning behaviour
As to worker's alert, worker is reminded to add to pay attention to safe distance in subsequent operation.In other examples,
Anticollision early warning operation can have enough in this way before telescopic arm 115 encounters obstacle for the movement speed for reducing row crane 114
Time judges whether to need to contract.There are also in some examples, anticollision early warning operation is to the two row device for hoisting 11 to meet
Controller issues inquiry message, judges whether to start avoiding operation again after the subsequent path for comparing two end effectors.
In some embodiments, the telescopic arm 115 of any row device for hoisting 11 and the support rail of other row device for hoisting 11 are detected
When horizontal distance is less than L2 between beam 113, in multiple row device for hoisting 11 for meeting, row device for hoisting that support rail beam 113 is located above
11 execute stopping construction, shrink the operation of telescopic arm 115.Here, L2 is less than L1, i.e., when a certain telescopic arm 115 is lifted with other rows
When setting hypotelorism between 11 support rail beam 113, carrying out anticollision early warning operation again at this time may have little time, and can force at this time
Stop the row device for hoisting 11 where the support rail beam 113 of top, makes to contract on its telescopic arm 115, to avoid two row device for hoisting 11
Bump against.
In some embodiments, in relation table, for the process for stopping constructing cannot be forced to be set as special procedure, when
In the multiple row device for hoisting 11 to meet when one of execution special procedure, remaining row device for hoisting 11 stops moving ahead, or holds
Row stops construction, shrinks the operation of telescopic arm 115.That is, being executed when this end effector encounters another end that cannot stop
When device, no matter the support rail beam 113 where this end effector is located at the top of the support rail beam 113 where another end effector also
It is lower section, the row device for hoisting 11 where this end effector is both needed to actively avoid.Actively the mode of evacuation can be off forward,
It is also possible to stop construction after-contraction telescopic arm 115.Here it is specifically chosen which evacuation mode, it can be according to actually judging.
The control method of construction system according to an embodiment of the present invention, by the way that multiple row device for hoisting 11 are arranged, and can
Avoiding operation is implemented, can satisfy the requirement of the more work surfaces of construction layer while construction, improves operating efficiency.And to be mounted in
The end effector that row is hung on can carry out relative displacement, will not mutually restrict, can be realized the work compound of certain working procedures,
Be conducive to accelerate construction progress, it is time saving and energy saving.
Other compositions of construction system 100 according to an embodiment of the present invention such as running gear 112 and row crane 114
Deng and operation be all for those of ordinary skills it is known, be not detailed herein.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example " or " some to show
The description of example " etc. means that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained in the present invention
At least one embodiment or example in.In the present specification, schematic expression of the above terms are not necessarily referring to identical
Embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be real in any one or more
Applying can be combined in any suitable manner in example or example.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (9)
1. a kind of construction system characterized by comprising climbing scaffold system and the row being mounted on the climbing scaffold system hang and be
System, the row crane system includes multiple row device for hoisting, and the row device for hoisting includes: row hanger rail road, is located on row hanger rail road
Running gear, the support rail beam of the connection running gear, the row crane that is located on the support rail beam, each row crane is equal
Suitable for lifting end effector, the support rail depth of beam of multiple row device for hoisting is different；And
In addition to the row device for hoisting where the support rail beam described in the bottom, remaining described row device for hoisting is the row lifting that need to be kept away
It sets, is at least provided with telescopic arm on the row device for hoisting that need to be kept away in multiple row device for hoisting, the telescopic arm is connected to
On the row crane and for installing the end effector；
Difference in height in height between every two adjacent support rail beams is H1, wherein described on the support rail beam of top
On telescopic arm when contracting, between the support rail beam of bottom end to the top of the end effector on the support rail beam of top
Difference in height is that H2, H1 and H2 meet: H1 > H2.
2. construction system according to claim 1, which is characterized in that further include: safety control system, the safety
Control system includes: the institute of the telescopic arm Yu other row device for hoisting that at least monitor each row device for hoisting that need to be kept away
State horizontal distance between support rail beam apart from mechanism for monitoring.
3. construction system according to claim 2, which is characterized in that it is described apart from mechanism for monitoring include multiple laser
It pops one's head in, is mounted on the laser probe on each row device for hoisting.
4. construction system according to claim 3, which is characterized in that each running gear is provided with described
Telescopic arm, the laser probe are mounted on the telescopic arm.
5. construction system described in any one of -4 according to claim 1, which is characterized in that each row device for hoisting
Row hanger rail road, the support rail beam are arranged each parallel to horizontal plane.
6. a kind of control method of construction system according to any one of claims 1 to 5, which is characterized in that including such as
Lower step:
To by the way that row hangs the process priority of construction, coordinated relationship is defined and to form relation table；
Judge the executable process of current each end effector；
Table according to the relationships judges priority current between the executable process of current each end effector, association
Same matching relationship；
According to current priority, coordinated relationship, the support rail beam where current each end effector is adjusted
The position of the row crane and/or.
7. the control method of construction system according to claim 6, which is characterized in that detect any described flexible
When horizontal distance is less than L1 between arm and the support rail beam of other row device for hoisting, starting anticollision early warning operation.
8. the control method of construction system according to claim 6, which is characterized in that detect that any row is hung
When horizontal distance is less than L2 between the telescopic arm of device and the support rail beam of other row device for hoisting, that meets is multiple
In the row device for hoisting, the row device for hoisting that the support rail beam is located above, which executes, to be stopped construction, shrinks the telescopic arm behaviour
Make.
9. the control method of construction system according to claim 6, which is characterized in that right in the relation table
In the process for stopping constructing cannot be forced to be set as special procedure, executed when one of in the multiple row device for hoisting to meet
When special procedure, remaining described row device for hoisting stops moving ahead, or executes and stop construction, shrinks the telescopic arm operation.
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| CN201910487555.6A CN110294421A (en) | 2019-06-05 | 2019-06-05 | Construction system and control method |
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| CN111335643A (en) * | 2020-03-04 | 2020-06-26 | 广东博智林机器人有限公司 | Material distribution system based on self-elevating building platform |
| CN113216650A (en) * | 2021-05-19 | 2021-08-06 | 西南石油大学 | Integral lifting type automatic building construction platform |
| CN113620131A (en) * | 2021-08-13 | 2021-11-09 | 中国建筑第七工程局有限公司 | Prefabricated component hoisting platform control system |
| CN113879981A (en) * | 2021-11-01 | 2022-01-04 | 郑州科沐智能科技有限公司 | High-low straddle vehicle anti-collision track system based on UWB infinite pulse positioning system |
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Application publication date: 20191001 |