CN113187233A - Construction platform and robot system based on BIM - Google Patents

Construction platform and robot system based on BIM Download PDF

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Publication number
CN113187233A
CN113187233A CN202110229818.0A CN202110229818A CN113187233A CN 113187233 A CN113187233 A CN 113187233A CN 202110229818 A CN202110229818 A CN 202110229818A CN 113187233 A CN113187233 A CN 113187233A
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China
Prior art keywords
platform
robot
wall
construction
self
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CN202110229818.0A
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Chinese (zh)
Inventor
谢汇华
王文剑
袁琦堡
赵金明
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Shanghai Yayue Intelligent Technology Co ltd
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Shanghai Yayue Intelligent Technology Co ltd
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Priority to CN202110229818.0A priority Critical patent/CN113187233A/en
Publication of CN113187233A publication Critical patent/CN113187233A/en
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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G3/00—Scaffolds essentially supported by building constructions, e.g. adjustable in height
    • E04G3/28—Mobile scaffolds; Scaffolds with mobile platforms

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Working Measures On Existing Buildindgs (AREA)

Abstract

The invention relates to the technical field of building robots, in particular to a construction platform and a robot system based on BIM (building information modeling), which comprise a remote monitoring management center platform based on BIM and a building robot, wherein an attached electric construction platform is developed from construction requirements, construction safety, construction processes and the like, each module is provided with a sensor, the stress deformation and displacement information of each part of the platform is transmitted to a three-dimensional model of the remote terminal monitoring management center platform in real time, the attached electric construction platform provides robot automatic construction operation, the inspection robot can monitor all corners on the platform within 24 hours, and can be controlled to quickly reach a designated area on the platform through terminal visualization. The building robot can transmit data to a control center in real time, remotely and visually monitor and control the building robot, and automatic, intelligent and informatization management of construction projects based on the BIM technology is realized.

Description

Construction platform and robot system based on BIM
Technical Field
The invention relates to the technical field of construction robots, in particular to a construction platform and a robot system based on BIM.
Background
The construction industry is the top game of economic development, especially in China, the construction industry is in rapid development and can last for a long time, and the construction industry never falls behind with the continuous promotion of urbanization progress. New buildings are continuously built, buildings and venues with various different structures are continuously emerged, emerging assembly type structure buildings are rapidly developed, meanwhile, a large number of buildings built in the high-speed development become old gradually, and need to be modified so as to keep up with the demand of the times. However, the building industry in China faces a plurality of outstanding problems at present, the labor cost is high and is increasingly short, safety accidents are easy to happen, the production efficiency is low, meanwhile, the engineering construction equipment and industrialization level are low, the mechanization and automation degree is low, and a large amount of manual construction is needed at present.
The aging of the domestic construction worker groups is increasingly prominent, the construction labor force is continuously in short supply, the construction engineering is a high-risk work, and the high incidence of construction safety accidents is a big pain point of the domestic construction industry. The production efficiency is low, the engineering period is prolonged, and meanwhile, engineering rework caused by artificial errors exists, so that the production efficiency is reduced and the engineering cost is further increased. In the aspect of domestic engineering construction equipment: the scaffold is huge in material, low in safety, not suitable for high-rise buildings, small in hanging basket bearing, low in safety coefficient, and required to be installed after the buildings are completed, the operation height and range of the high-altitude operation vehicle are limited, and the climbing frame is large in size and cannot be rapidly and flexibly lifted. The attached electric construction platform solves many construction problems, but all the attached electric construction platforms are only used as a bearing body for worker construction, only stay in equipment for providing workers to perform simple construction, and supply workers to perform lifting transportation of people and goods, and most of the attached electric construction platforms are only used for exterior wall decoration, only the equipment structure of individual manufacturers is optimized, but the attached electric construction platforms have the problems of mechanization, extremely low automation degree, low utilization rate, low use efficiency and the like. The protection is not high, and potential safety hazards exist.
The outer wall decoration and construction needs of new buildings and special-shaped structure buildings, emerging assembly structure buildings are rising, and the demand of attached electric construction platforms is increasing continuously. The electronic construction platform of attached form is the not second choice of outer wall fitment operation, the rise of assembly type structure, but tower crane and the electronic construction platform of attached form perfect adaptation, and the function will be more advanced and intelligent when making the electronic construction platform demand of attached form increase more. Compared with construction workers, the construction robot gradually develops from assistance to collaboration and partial replacement to finish operations such as polishing, cleaning and paint spraying, and solves the increasingly obvious problems of labor shortage, high safety accidents, low production efficiency, low construction quality and the like in the construction industry. The robot becomes an effective mode for solving the industrial pain point by the advantages of automation, high efficiency, safety, reliability and the like. Meanwhile, the attached electric construction platform is used as a using carrier of the construction robot to drive the demand of the robot, and the development of the construction robot is accelerated.
Disclosure of Invention
Aiming at the defects of the prior art, the invention discloses a construction platform and a robot system based on BIM (building information modeling), which are used for solving the existing problems.
The invention is realized by the following technical scheme:
the invention discloses a construction platform and a robot system based on BIM, comprising
The system comprises a BIM-based remote monitoring management center platform, an attached electric construction platform, a remote terminal monitoring management center platform and a remote monitoring management center platform, wherein the attached electric construction platform is provided with a power supply through a waterproof sliding contact line, and each module of the attached electric construction platform is provided with a sensor for transmitting the stress deformation and displacement information of each part of the platform to the three-dimensional model of the remote terminal monitoring management center platform in real time;
the construction robot comprises an inspection robot and a polishing robot, wherein the inspection robot is used for monitoring all corners on a platform and quickly reaching a designated area on the platform through terminal visual control, a wall surface before polishing is presented in real time through a laser radar, a constructor or a manager can control the polishing robot to operate through a field or remote management center platform, and the flatness of the wall surface after polishing of the polishing robot is fed back to a visual terminal in real time;
the polishing machine realizes the functions of a cleaning robot and a spraying robot by replacing the end effector of the robot.
Furthermore, when the construction robot is combined with the attached electric construction platform, the construction robot comprises a base, a standard section upright post, a top standard section upright post, a waterproof sliding contact line, a driving module, an operation platform, a protruding module, an electric cabinet, a guardrail, a ceiling, an anemoscope, a protective net, a wall-attached frame, a waste pipeline, a sliding contact line, a dragging type current collector, an inspection robot, a guide rail type outer wall operation robot, a self-propelled polishing robot, a self-propelled cleaning robot and a self-propelled spraying robot.
Furthermore, the base comprises an adjustable supporting leg provided with an operating wrench, a telescopic connecting rod, a large frame, an anti-collision buffer, a horizontal sensor, a positioning pin shaft, a sealing strip and a universal wheel;
the adjustable support leg with the operating wrench is a sealing structure and comprises a wrench, a protective cover, a sealing rubber ring, a sliding bearing, a bearing cover, a T-shaped nut, a nut jacking block and a trapezoidal screw, and the wrench is connected with the T-shaped nut in the sealing square tube;
the base is provided with a horizontal sensor, the base inclines or vibrates, the horizontal sensor monitors and alarms in real time and controls the system to stop the lifting of the attached electric construction platform;
the base is provided with an anti-collision buffer, and the telescopic connecting rod is formed by sleeving a frame large pipe with the telescopic connecting rod and a sealing strip.
Furthermore, the standard section upright post is provided with a standard rack and an inclination angle sensor for a construction elevator, and when the upright post slightly inclines or deforms under stress, the inclination angle sensor can feed data back to a management center platform of the terminal in real time;
the top standard knot stand column is provided with an inclination angle sensor, monitoring data are fed back to a management center platform of the terminal in real time, and the inclination angle sensor is a wireless battery inclination angle sensor.
Furthermore, the driving module comprises a driving module frame, a brake speed reducing motor, a manual release device, a transmission gear, a falling protector, a level sensor, a pressure sensor, a radar, a warning light, a limiting roller, a rack back wheel, a limiting switch and a current collector junction box;
the driving module provides power through a brake speed reducing motor, a transmission gear is meshed with a standard rack arranged on a standard joint upright post to enable the operation platform to ascend and descend, the brake speed reducing motor has a self-locking function, the tail of the brake speed reducing motor is provided with a brake device, the brake device is provided with a manual release device, when power is suddenly cut off, the brake speed reducing motor is cut off, and the brake device tightly holds the operation platform at the current position;
the driving module is provided with a falling protector, the driving module is provided with a limiting roller wheel, the limiting roller wheel is an eccentric roller wheel, and the limiting roller wheel positions the driving module on the standard joint upright post; the driving module is provided with a rack back wheel which is an eccentric wheel;
the drive module is provided with a limit switch, and the limit switch is respectively provided with an upper limit switch, a lower limit switch and an emergency upper limit switch. When the operation platform reaches the top standard section upright post, the limit switch can touch the limit module of the top upright post, so that the operation platform does not ascend, and when the lower limit switch touches the limit module of the bottom standard section upright post when the lower-stage operation platform reaches the ground, the operation platform does not descend continuously;
the driving module is provided with a horizontal sensor, and when the driving module is inclined, a real-time monitoring management center platform gives an alarm prompt; the driving module is provided with a sheet type pressure sensor and is used for monitoring the gravity condition of the driving module in real time;
the radar is arranged at the bottom of the driving module frame; the driving module is provided with a warning lamp and a current collector junction box, and the current collector junction box is connected with a waterproof sliding contact line arranged on the standard section upright post to provide a power supply for equipment.
Furthermore, the operation platform is formed by assembling integrated operation platform standard sections, the integrated operation platform standard sections are connected through pin shafts, and displacement sensors are arranged among the integrated operation platform standard sections to monitor the stress deformation of each part of the operation platform in real time;
the integrated operation platform standard section is provided with a telescopic assembly structure, the width of the operation platform is increased by additionally arranging a telescopic scaffold board so as to be attached to the wall surface of a building body, a dry hanging position is reserved at the end part of a telescopic beam of the platform, when a hanging piece is added to decorate a dry hanging curtain wall on an outer wall, a curtain wall dry hanging piece is hung on the dry hanging frame, the curtain wall dry hanging piece is lifted to a corresponding position for installing a steel hanging piece through the lifting function of the operation platform, and the steel hanging piece is aligned to the position, so that the curtain wall steel hanging piece can be installed;
the operation platform is connected with the driving module through pin shaft type gravity sensors, the weight of the platform and the load weight on the platform are obtained by collecting data of the pin shaft type gravity sensors at two ends, and the monitoring system limits a crane or a forklift to place materials on the operation platform through collecting data of the sensors.
Furthermore, the guardrail is an aluminum alloy standard net frame guardrail, the outer guardrail is of an enclosure type aluminum alloy net frame structure, a push-pull double door is arranged at the inlet of the guardrail, and a proximity switch is arranged on the push-pull double door;
the ceiling is of an assembled openable structure made of composite materials, a sealing strip is arranged at the opening position of the ceiling, the ceiling is provided with a telescopic frame body and is connected with the guardrail in an assembling mode, and an integrated combined guide rail mounting hole for the robot is reserved at the end part of the ceiling and is used for mounting a guide rail and a sliding contact line of the inspection robot;
the wall attaching frame consists of a welding frame, a fastener, a wall attaching rod and a wall penetrating expansion bolt, the wall attaching frame is connected between two standard section upright columns, and the wall attaching rod is connected with the wall attaching frame and the standard section upright columns through the fastener and is attached to a building body through the wall penetrating expansion bolt;
the projection module is an optional module and is connected with the driving module, a telescopic ladder stand is arranged in the secondary projection module, a manhole turning plate is opened to pass in and out of the upper-stage operation platform through a manhole and the telescopic ladder stand, the primary projection module is provided with a door, and the projection module is provided with a detachable small crane;
the anemoscope is arranged on ceilings at two ends of the operation platform, monitors wind load of wind power, and when the wind speed exceeds a set value, the monitoring control system prohibits the operation platform from lifting;
the protection network is aluminum alloy net frame, and standard festival stand department at work platform sets up the protection network, the protection network both sides set up the door, can fall building rubbish to the waste pipe through opening the door, and the quick direct waste pipe way of department installation is located in the middle of standard festival stand department, and the opening that pours rubbish into the waste pipe way feeds through the waste material storage vehicle on ground.
Furthermore, the electric cabinet adopts a rocker to operate and control the lifting of the operation platform, the electric cabinet is provided with an electric leakage protection device, and a screen of the electric cabinet is used for displaying alarm information
The operation platforms are kept in connection communication by the 4G communication module, instant data and real-time monitoring information are transmitted to the management center platform, the 4G communication module instantly collects statistical data and real-time monitoring information to be continuously and stably transmitted, and a manager sends an instruction to the electric cabinet through the 4G communication module through the management center platform of the terminal to execute a corresponding task
A wireless communication module is arranged and accessed into a wireless communication module of the on-site construction control system, and the real-time performance of communication is guaranteed through the connection of a local area network; the attached electric construction platform is connected with an Uninterruptible Power Supply (UPS).
Furthermore, the operation platform is provided with an inspection robot, mounting holes are reserved in the inner side of the ceiling close to the wall surface, a hoisting guide rail of the inspection robot is mounted, the hoisting guide rail and a sliding contact line for power supply of the inspection robot are mounted side by side, a towed current collector of the inspection robot is connected with the sliding contact line for power supply, the inspection robot is provided with a high-definition camera and an infrared thermal imaging camera, the data of pictures, sound, temperature, smog and gas on site are monitored in real time, the monitored pictures and information are displayed on a management center platform, and the inspection robot is provided with a searchlight;
the self-propelled outer wall operation robot is a self-propelled multifunctional outer wall operation robot for replacing an end effector, the self-propelled outer wall operation robot is connected with a sliding contact line through a dragging type current collector for power supply, the sliding contact line is installed at the position of the end part of a ceiling, away from the wall, and located at the blocking position of two upright columns and installed on a frame of a protective net by bypassing a standard section upright column, the self-propelled outer wall operation robot is provided with a GPS (global position system) for positioning, a robot three-dimensional model on a central platform is installed on a mobile phone or a tablet personal computer of a terminal, the robot is monitored in real time, and the self-propelled outer wall operation robot is provided with an mechanical arm for extending to the wall attaching position of the standard section upright column;
the self-propelled grinding robot is a self-propelled outer wall operation robot provided with a grinding head, the self-propelled grinding robot detects the flatness of a wall surface through laser and feeds back the flatness to a management center platform, the self-propelled grinding robot is remotely controlled through a terminal to grind the wall surface, the grinding head of an end effector is provided with a force sensor, the ground wall surface is fed back to the management center platform through the laser sensor, and the management center platform can remotely control the speed and the grinding precision of the self-propelled grinding robot;
the self-propelled cleaning robot is a self-propelled outer wall operation robot for replacing an end effector, and is provided with a water tank and a high-pressure water gun;
the self-propelled spraying robot is a self-propelled outer wall operation robot with an end executor replaced by a spraying head, and the self-propelled spraying robot walks and sprays on the operation platform;
furthermore, the attached electric construction platform is integrated with a guide rail type outer wall operation robot for construction, the guide rail type outer wall operation robot walks through a detachable guide rail arranged on the operation platform, when the guide rail type outer wall operation robot is arranged at the near end of the operation platform away from the wall, the robot is kept balanced by adopting a mode of the guide rail and an external supporting wheel, and when the guide rail type outer wall operation robot is arranged at the far end of the operation platform away from the wall, the robot is kept balanced by adopting a clamping mode of an upper guide rail and a lower guide rail;
before the outer wall operation robot executes wall construction operation, the outer wall contour is scanned to the management center platform, the management center platform feeds back position coordinates to the operation robot through an appointed route, operation is started from a preset original point to an appointed place, and automatic construction operation is achieved.
The invention has the beneficial effects that:
the invention establishes a management center platform of an omnibearing three-dimensional model of the whole system based on the BIM technology, monitors and controls the site construction condition in real time, integrates the site construction condition and the equipment parameter information, enables a manager to master the real states of equipment and a construction site in real time, and realizes the automatic, intelligent and information management of construction projects based on the BIM technology.
The invention establishes a field real object into a full-azimuth three-dimensional model based on the BIM technology, monitors and controls equipment in real time on a management center platform, can maximally utilize an attached electric construction platform to combine with a construction robot to work in different work categories, the construction robot and workers can simultaneously carry out construction work without mutual interference and influence, man-machine combination is realized, manual work is reduced, construction quality is improved, the utilization rate and construction efficiency of equipment are greatly improved, and the management center platform constructed based on the BIM technology can scientifically and intelligently manage the whole field construction system.
According to the invention, the quick construction waste conveying pipeline is combined into the attached electric construction platform, so that the problem of cleaning a large amount of construction waste at high floors is solved, a large amount of waste cleaning time is reduced, labor cost is greatly saved, the construction waste pipeline is placed into the standard section upright post, the structure of the lifting platform is not influenced, even equipment space is not occupied, the residual space at the hollow position of the standard section upright post is reasonably utilized, and great convenience is provided for standardized operation, intelligent construction and robot operation.
The invention adopts the waterproof sliding contact line and the current collector to provide the power supply of the equipment, solves the problems that the cable of the common attached electric construction platform is difficult to manage and is easy to be entangled or even the cable at the clamping position of the winch is broken, and simultaneously solves the problems that the cable between two stages of platforms is wound and knotted, the cable is too long and is difficult to manage, and the like.
The inspection robot integrated with the attached electric construction platform and the multifunctional outer wall operation robot really realize man-machine combination, the attached electric construction platform is used as a carrier of a plurality of construction robots and can be applied to construction operation of various robots, the robots are not limited to outer wall operation construction, and the self-propelled operation robot can enter a building through the attached electric construction platform to perform interior decoration construction operation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of an attached electric construction platform combined with a multifunctional outer wall operation robot structure;
FIG. 2 is a schematic diagram of an adjustable base structure;
FIG. 3 is a schematic diagram of a base adjustable leg structure;
FIG. 4 is a schematic diagram of the structure of a standard knot column and a top standard knot column;
FIG. 5 is a schematic diagram of a rear view direction structure of the driving module;
FIG. 6 is a schematic diagram of a front view structure of the driving module;
FIG. 7 is a schematic diagram of the construction of the work platform;
FIG. 8 is a schematic diagram of a bulge module configuration;
FIG. 9 is a schematic view of a wall-attached rack structure;
FIG. 10 is a schematic view of a rapid waste conveyor pipeline and a protective net structure with openable side doors;
FIG. 11 is a schematic diagram of a self-propelled multifunctional outer wall operation robot and a trolley line and a towing type current collector;
FIG. 12 is a schematic diagram of a structure of a robot passing through a column of an attached electric construction platform;
FIG. 13 is a schematic structural diagram of an inspection robot and a guide rail type outer wall operation robot;
the reference numerals in the drawings denote:
1. the device comprises a base, 10, adjustable supporting legs, 11, telescopic connecting rods, 12, a frame large pipe, 13, an anti-collision buffer, 14, a horizontal sensor, 15, a positioning pin shaft, 16, a sealing strip, 17, a universal wheel, 18, a wrench, 19, a protective cover, 110, a sealing rubber ring, 111, a sliding bearing, 112, a bearing cover, 113, a T-shaped nut, 114, a nut jacking block, 115 and a trapezoidal screw rod;
2. the device comprises standard section upright columns 20, top standard section upright columns 21, waterproof sliding contact lines 22, protective nets 23, limiting modules 24, an inclination angle sensor 25 and standard racks;
3. the device comprises a driving module, 30, a driving module frame, 31, a brake speed reducing motor, 32, a manual release device, 33, a transmission gear, 34, a safety hook, 35, a level sensor, 36, a pressure sensor, 37, a radar, 38, a warning lamp, 39, a limiting roller, 310, a rack back wheel, 311, a limiting switch, 312 and a collector junction box;
4. the system comprises a working platform, 40, a protruding module, 41, a working platform standard knot, 42, a telescopic scaffold board, 43, a displacement sensor, 44, a pin shaft, 45, a pin shaft type gravity sensor, 46, a small crane, 47, a manhole turning plate, 48, a door, 49, a telescopic ladder stand, 410 and an electric cabinet;
5. the device comprises a guardrail, a 50, a ceiling, a 51, an anemograph, a 52, a double door, a 53, a proximity switch, a 54, a sealing strip, a 55 and an inner vertical rod;
6. wall attaching frames 60, welding frames 61, fasteners 62, wall attaching rods 63 and wall penetrating expansion bolts;
7. a waste pipeline 70 and a waste storage vehicle;
8. a trolley line 80, a dragging type current collector 81, an inspection robot 82, a guide rail type outer wall operation robot 83 and a guide rail;
9. self-propelled outer wall operation robot, 91, self-propelled polishing robot, 92, self-propelled cleaning robot, 93, self-propelled spraying robot.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
In this embodiment, the attached electric construction platform combined construction robot shown in fig. 1 includes a base 1, a standard section column 2, a top standard section column 20, a waterproof trolley line 21, a driving module 3, an operation platform 4, a protruding module 40, an electric cabinet 410, a guardrail 5, a ceiling 50, an anemoscope 51, a protective screen 22, a wall-attached frame 6, a waste pipeline 7, a trolley line 8, a towing current collector 80, an inspection robot 81, a guide rail type outer wall operation robot 82, a self-propelled outer wall operation robot 9, a self-propelled polishing robot 91, a self-propelled cleaning robot 92, and a self-propelled spraying robot 93.
Referring to fig. 2, the base 1 comprises an adjustable leg 10 (shown in fig. 3) with an operating wrench, a telescopic connecting rod 11, a frame large pipe 12, an anti-collision buffer 13, a level sensor 14, a positioning pin 15, a sealing strip 16 and a universal wheel 17. The adjustable support leg 10 with the operating wrench comprises a wrench 18, a protective cover 19, a sealing rubber ring 110, a sliding bearing 111, a bearing cover 112, a T-shaped nut 113, a nut top block 114 and a trapezoidal screw 115. From taking the operating wrench to avoid complicated job site to lose operating handle, adjustable landing leg 10 is seal structure, and spanner 18 connects T type nut 113 in the sealed square tube, and according to lever principle, accessible operating wrench 18 easily realizes the vertical regulation of adjustable landing leg 10 to the levelness of adjustment base 1, whole base 1 makes universal wheel 17 land through operation adjustable landing leg 10, easily carries whole base 1.
The base 1 of this embodiment is installed with level sensor 14, and in case ground subsides or slight earthquake appear in the ground, slight slope or vibration appear in base 1, level sensor 14 real-time supervision is reported to the police and control system stops the electronic construction platform of attached form and goes up and down simultaneously, and the managers makes corresponding processing through the visual management center platform alarm signal at terminal. The base 1 is provided with an anti-collision buffer 13 to prevent the drive module frame 30 from being in hard contact with the base 1. The telescopic connecting rod is formed by sleeving a frame large pipe 12 with a telescopic connecting rod 11 and a sealing strip 16, the sealing strip 16 can prevent water vapor from entering a base 1 square pipe, and the corrosion of a frame body is prevented in some regions with large coastal salt mist density. When the telescopic connecting rod is stretched to the maximum, the stress area range of the base 1 can be enlarged, and the whole equipment is more stable.
Referring to fig. 4, the standard section column 2 of the embodiment is a standard section common to construction elevators, and has a specification of 650x650x1508, and very mature standard parts can be conveniently and quickly purchased by adopting standardized common parts. The cost and the processing time for manufacturing the tool clamp are saved. The standard section upright post 2 is provided with a standard rack 25 for a construction elevator, the standard section upright post 2 is provided with an inclination angle sensor 24, and when the upright post slightly inclines or deforms under stress, the inclination angle sensor 24 can feed data back to a management center platform of the terminal in real time.
The top standard knot stand column 20 of this embodiment has installed spacing module 23 on conventional standard knot stand column 2 additional, and similarly, top standard knot stand column 20 installs tilt sensor 24, feeds back monitoring data in real time to the management center platform at terminal.
The optional wireless battery inclination sensor of taking of inclination sensor of this embodiment, even power failure state, inclination sensor still real-time supervision stand straightness that hangs down.
The electronic construction platform of attached form of this embodiment provides the power through waterproof wiping line 21, has solved cable power supply cable line and can twine and the cable hindrance between the two-stage influences the equipment normal use problem, is unlikely to simultaneously and does not handle well because of the cable overlength when the platform rises to 150 meters high altitude to and solved the problem of knoing, the twisty winding that the hoist engine accomodate the cable and can appear. The waterproof sliding contact line 21 is installed on the standard section upright post 2, and the upper and lower working platforms can share the same sliding contact line without mutual interference.
Example 2
In this embodiment, referring to fig. 5, the driving module 3 includes a driving module frame 30, a brake deceleration motor 31, a manual release device 32, a transmission gear 33, a safety catch 34, a level sensor 35, a pressure sensor 36, a radar 37, a warning light 38, a limit roller 39, a rack back wheel 310, a limit switch 311, and a current collector junction box 312. The driving module 3 is used as a power assembly of the attached electric construction platform, and has the transmission characteristics that: the power is provided by the braking speed reducing motor 31, the transmission gear 33 is meshed with the standard rack 25 arranged on the standard joint upright post 2 to enable the operation platform 4 to ascend and descend, the braking speed reducing motor 31 has a self-locking function, meanwhile, the tail part of the braking speed reducing motor 31 is provided with a braking device,
and a manual release device 32 is added at the brake device, and once sudden power failure occurs, the brake speed reducing motor 31 is powered off to clamp the brake, and the brake device firmly clamps the operation platform 4 at the current position. The person on the work platform 4 may release the brake by operating the manual release device 32 to slowly lower the platform to the ground.
The driving unit of the embodiment is provided with the anti-falling device 34, when the equipment is accidentally dropped, the set speed of the anti-falling device 34 is reached, and the anti-falling device 34 can tightly hold the gear brake and firmly fix the working platform 4 at the current position to play the anti-falling function.
Referring to fig. 6, the driving module 3 of this embodiment is provided with a limiting roller 39, the limiting roller 39 is an eccentric roller, the limiting roller positions the driving module 3 on the standard joint column 2, and the eccentric limiting roller 39 is adjusted to be tightly attached to the circular vertical rod of the standard joint column 2, so that the driving module 3 does not shake.
The driving module 3 of this embodiment installs rack backing wheel 310, rack backing wheel 310 is the eccentric wheel after driving module 3 assembles standard festival stand 2, adjusts eccentric rack backing wheel 310 and hugs closely the standard rack 25 of installing on standard festival stand 2, can make rack and pinion meshing transmission atress better, and the rack reduces the deflection, and simultaneously, the transmission process is more steady.
The driving module 3 of this embodiment is installed with a limit switch 311, and the limit switch 311 has an upper limit switch, a lower limit switch and an emergency upper limit switch respectively. When the operation platform 4 reaches the top standard knot upright post 20, the limit switch 311 touches the limit module of the top upright post, so that the operation platform 4 does not ascend any more, and similarly, when the next-stage operation platform 4 reaches the ground, the lower limit switch 311 touches the limit module of the bottom standard knot upright post 2, the operation platform 4 does not descend any more.
The drive module 3 of this embodiment is installed with level sensor 35, but level sensor 35 real-time supervision drive module 3's horizontality, in case take place the slope, real time monitoring's management center platform will report to the police and indicate, and management monitoring personnel will dispatch people to investigate unusually, make corresponding processing.
The drive module 3 of this embodiment is equipped with pressure sensor 36, can accurately monitor and put the weight of drive module 3 department material, pressure sensor 36 is piece formula pressure sensor, but real-time supervision the gravity condition on the drive module 3 avoids the loop wheel machine to put overweight article on the drive module 3, when fork truck or outside loop wheel machine will exceed the article of setting value weight and put on drive module 3, monitoring system can send out the police dispatch newspaper, and warning light 38 scintillation also can appear simultaneously warning suggestion on the management center platform.
The radar 37 of this embodiment is installed at the bottom of the driving module frame 30, and when the lower work platform 4 descends to a distance less than a safe distance from the ground, the radar 37 controls the brake deceleration motor 31 to stop running according to a signal. Similarly, when the lower working platform 4 rises or the upper working platform 4 falls to a safety distance smaller than that between the two working platforms, the radar 37 installed on the upper driving module 3 monitors signals, stops the operation of the braking and speed reducing motor 31 and brakes, so that the working platform 4 cannot exceed the safety distance range.
The driving module 3 of this embodiment is equipped with warning light 38, when the work platform 4 normally descends warning light 38 can twinkle, when monitored abnormal condition by monitored control system warning light 38 can send alarm signal, at this moment, brake gear motor 31 can the power off band-type brake, forbids the ascending decline of equipment.
The driving module 3 of the present embodiment is mounted with a collector junction box 312, and the collector junction box 312 supplies power to the equipment by being connected with a waterproof trolley line 21 mounted on the standard knot pillar 2.
Example 3
In this embodiment, refer to fig. 7 that operation platform 4 is assembled by integral type operation platform standard festival 41 and forms, integral type operation platform standard festival 41 is platform beam frame and scaffold board integration integral type standard festival, the integral type platform standard festival has directly reduced the frame of sole board, and when lightening weight, the integral type structure is better, and is more durable, reduces the process that the workman will adorn the platform beam earlier and then install the scaffold board simultaneously.
The integrated operation platform standard sections 41 of the embodiment are connected through pin shafts 44, and displacement sensors 43 are further mounted between the two integrated operation platform standard sections 41 to monitor the stress deformation of each position of the operation platform 4 in real time. Scalable assembly structure is reserved to integral type operation platform standard festival 41, and the accessible installs flexible scaffold board 42 additional and increases the width of operation platform in order to paste into building body wall. The position of hanging futilely has been reserved to the flexible beam end portion of platform, and the accessible increases the pendant when the curtain is hung futilely in the exterior wall fitment, hangs curtain dry-hanging spare on dry stores pylon, through operation platform 4's raising and lowering functions, rises to installation steel pendant relevant position, and the workman only needs to aim at steel pendant in place, can install curtain steel pendant. The operation platform 4 is connected with the driving module 3 through a pin shaft type gravity sensor 45, the platform weight and the load weight on the platform can be obtained by collecting data of the pin shaft type gravity sensors at two ends, and the monitoring system limits a crane or a forklift to place materials on the operation platform through collecting sensor data.
The guardrail 5 of this embodiment is aluminum alloy standard net frame guardrail, need enclose the formula construction of covering for construction safety, and the outside guardrail is for enclosing formula aluminum alloy material net frame structure, further lightens whole weight, reduces the pressure that wind speed and wind pressure applied to operation platform 4 simultaneously, and the guardrail entrance has push-pull type double door 52, and the maximum can be opened nearly five meters, makes things convenient for fork truck and loop wheel machine to put the material on operation platform 4, proximity switch 53 is equipped with on the push-pull type double door 52, when push-pull type double door 52 did not close, operation platform 4 can't start the decline that rises, has avoided the potential safety hazard.
The ceiling 50 of this embodiment adopts combined material, and is light and handy firm and rain-proof, the ceiling 50 is the open structure of assembled, and when using the loop wheel machine to hang big piece or long piece entering platform, can open the ceiling 50 makes things convenient for the material to get into inside the operation platform 4, greatly increased transportable material's size. The open position of the ceiling is provided with a sealing strip 54 which can prevent rainwater from washing and entering the operation platform 4. The ceiling 50 is provided with a telescopic frame body, and the telescopic frame can be pulled out to extend the ceiling to be closer to a building wall body, so that a better protection effect is achieved. The ceiling 50 is connected with the guard rail 5 in a fitting manner. Integral type combination guide rail mounting hole for robot is reserved to ceiling 50 tip, and the mountable is patrolled and examined robot 81 guide rails and wiping line 8. The inner uprights 55 on the work platform 4 serve to reinforce the supporting ceiling 50, said inner uprights 55 being removable.
Referring to fig. 9, the wall attaching frame 6 of the present embodiment is composed of a welding frame 60, a fastener 61, a wall attaching rod 62, and a wall penetrating expansion bolt 63, wherein the wall attaching frame 6 is connected between two standard section vertical columns 2, the wall attaching rod 62 connects the wall attaching frame and the standard section vertical columns 2 by using the fastener 61 and is attached to the building body by the wall penetrating expansion bolt 63, and the installation angle of the wall attaching rod is between 30 ° and 55 °.
Referring to fig. 8, the protruding module 40 of this embodiment is an optional module, the protruding module 40 is connected with the driving module 3, the protruding module 40 is added to facilitate the robot to pass through the column, and conveniently reach the second-level working platform 4, the telescopic ladder 49 is arranged in the second-level protruding module 40, the constructor going to the second-level working platform 4 can open the manhole turning plate 47, and goes in and out of the upper-level working platform 4 through the manhole and the telescopic ladder 49. The primary projection module 40 is provided with a door 48, and a person on the ground will go to the primary projection module 40 via the ladder 45 on the ground, close the door 48 and lower the telescopic ladder 49. The protruding module 40 department is furnished with the small-size loop wheel machine 46 that can install and remove, can be used to hoist when the equal of standard festival stand 2 increases, and during the usual use, can hoist some light-duty materials to the operation platform 4 in, the jib can 360 degrees rotations, and convenient lifts the material and rotates to the operation platform 4 the inside, uses manpower sparingly the transport greatly, also can save the time that fork truck transported.
The small-sized crane 46 can be assembled and disassembled at other positions of the operation platform 4, when the small-sized crane is placed inside the operation platform 4, the small-sized crane can be used for decorating an outer wall, when a dry hanging piece of a glass curtain wall is installed, the small-sized crane 46 can be placed at the position, close to the wall, of the operation platform 4, the heavy dry hanging piece is directly lifted to the corresponding position of installation at the gap between the operation platform 4 and the wall, workers do not need to carry and lift the heavy dry hanging piece, only the dry hanging piece needs to be fixed by aligning the connecting bolt at the position, the installation time is greatly saved, and through the operation and installation, the installation time is shortened by at least 5 times compared with the ordinary installation time.
Anemometers 51 of the present embodiment are mounted on the ceilings 50 at both ends of the work platform 4, and monitor wind load for 24 hours, and when the wind speed exceeds a set value, the monitoring and control system prohibits the work platform 4 from ascending and descending.
Referring to fig. 10, the protection net 22 of the present embodiment is an aluminum alloy net frame, the protection net 22 is set at the standard section of the upright post 2 on the work platform 4, doors are provided at two sides of the protection net 22, so that the construction waste can be dumped into the waste pipe 7 by opening the doors, and when the electrical elements at the standard section of the upright post 2 need to be repaired, the installation bolts can be removed to open the whole protection net 22.
Example 4
In the embodiment, as shown in fig. 10, a fast through waste pipeline 7 is installed in the middle of a standard section upright post 2, garbage, construction waste and the like on the operation platform 4 can be poured into an opening of the waste pipeline 7 through opening a door of a protective screen 22 in any floor, and then can be directly communicated into a waste storage vehicle 70 on the ground, so that the time and labor cost for cleaning the waste of a high-rise building by common workers are greatly saved, and clean construction such as dust prevention is easily achieved. Especially in the high-rise building of a hundred meters more, it is very troublesome and time-consuming to need to transport waste material rubbish, has had through waste material pipeline 7, and each floor can be fast directly carry rubbish in the waste material storage vehicle 70 on ground. Waste pipe 7 is formed by assembling 1.508 meter standard section, and every standard section opening part can the staggered installation, and the rubbish on the work platform 4 of standard section stand 2 both sides all can abandon through the pipeline opening part, and waste pipe 7 attaches the wall jointly and fixes through being connected with standard section stand 2.
The electric cabinet 410 of this embodiment adopts rocker operation control work platform 4 to go up and down, and the operation of rocker handle goes up and down, can finely tune work platform ascending and descending in a flexible way to better reach the target floor, electric cabinet 410 is equipped with earth leakage protection device.
The safety monitoring control system of this embodiment except every module of intelligent monitoring, control system has operation platform 4 auto leveling function, has the voice broadcast alarm information function show alarm information on the screen of electric cabinet 410, let site operation personnel clearly know which part goes wrong, the real-time synchronous alarm information of management center platform at terminal. The control system can also be added with configuration according to the requirements of customers, for example, a frequency converter is added to adjust the lifting speed of the work platform 4.
The two-stage operation platform 4 of this embodiment adopts 4G communication module to keep connecting communication, conveys instant data and real time monitoring information to the management center platform, 4G communication module instant collection statistical data and real time monitoring information can continuous steady transmission in 24 hours, realizes high-speed networking communication, reaches data interaction and remote control's effect.
The manager sends an instruction to the electric cabinet 410 through the 4G communication module through the management center platform of the terminal to execute a corresponding task. And the manager can remotely carry out informationization and digital processing according to the management center platform.
The control system of this embodiment adds wireless communication module under networking interactive control condition, and mobile terminal equipment is like: the mobile phone and the tablet personal computer can be connected with a wireless communication module of the on-site construction control system, the real-time performance and the reliability of communication are guaranteed through the connection of the local area network, meanwhile, the influence of possibly poor signals on a construction site is solved, and the normal and reliable operation of construction is guaranteed.
The electronic construction platform of attached form of this embodiment is connected with uninterrupted power source UPS, UPS is as the apolegamy module, except that the power steady voltage, UPS can supply equipment to do emergency action as stand-by power supply when appearing having a power failure, avoids appearing suddenly that power failure equipment stops the condition in half an empty and takes place.
In the embodiment, an inspection robot 81 can be installed on a working platform 4, an installation hole is reserved at the inner side of a ceiling 50 close to a wall surface, a hoisting guide rail 83 of the inspection robot 81 can be installed, the hoisting guide rail 83 and a sliding contact line 8 for supplying power to the inspection robot 81 are installed side by side, the hoisting guide rail 83 and the sliding contact line 8 are of two specifications of 1 meter and 1.5 meters, the total length can be assembled randomly along with the length of a standard section of the platform, a dragging type current collector 80 of the inspection robot 81 is connected with the sliding contact line 8 for supplying power, the inspection robot 81 is provided with a high-definition camera and an infrared thermal imaging camera, the scene image, sound, temperature, smog and gas data are monitored in real time, and the monitored image and information are displayed on a management center platform,
the inspection robot 81 of this embodiment has the searchlight, provides sufficient light for the control in the dark, and managers pass through the management center platform remote control high definition camera and the searchlight irradiation direction at terminal, 360 degrees all-round real time monitoring job sites, also can remote control the inspection robot reachs every region of operation platform, monitors the site conditions of operation platform and construction floor, has solved the unknown problem of managers to the job site of present environment complicacy, can in time discover the problem and avoid the problem enlargements, and managers knows the site operation progress through the control picture simultaneously, makes corresponding adjustment measure as required.
Example 5
The embodiment discloses construction of self-propelled outer wall operation robot 9 is fused to attached electric construction platform, and as shown in fig. 12, self-propelled outer wall operation robot 9 is the self-propelled multifunctional outer wall operation robot of removable end effector, self-propelled multifunctional outer wall operation robot need not to plan the route, can independently walk on work platform 4, and has the obstacle avoidance function, utilizes the raising and lowering function of attached electric construction platform, can do the construction operation of whole wall body at corresponding wall, self-propelled outer wall operation robot 9 is connected the power supply through towed current collector 80 and wiping line 8, towed current collector 80 is not restricted by the robot walking route, also is not influenced by wiping line shape, remains throughout well connected with wiping line 8.
Referring to fig. 11, the trolley line 8 of the present embodiment is installed at the end of the ceiling 50 away from the wall, and is installed on the frame of the protection net 22 at the two pillar blocks, bypassing the standard node pillar 2, so that the self-propelled outer wall working robot 9 can smoothly bypass the pillar to reach the other side of the working platform 4, and can freely travel in the whole working platform 4.
The self-propelled outer wall operation robot 9 of the embodiment is provided with a GPS positioning function, and the specific position of the robot can be seen in real time through a three-dimensional robot model on the central platform on a mobile phone or a tablet personal computer of the terminal.
The self-propelled outer wall operation robot 9 of the embodiment is provided with a mechanical arm and can be stretched to a standard joint column wall attachment position for various operations such as grinding, cleaning or spraying.
The self-propelled outer wall operation robot 9 of this embodiment becomes self-propelled polishing robot 91 when installing the head of polishing promptly, self-propelled polishing robot 91 passes through laser detection wall flatness, feeds back to the management center platform in, and operating personnel accessible terminal remote control self-propelled polishing robot 91 wall operation of polishing, and end effector's head of polishing has the force sensor, and the wall after polishing feeds back to the management center platform through laser sensor on, management center platform accessible remote control self-propelled polishing robot 91's speed and precision of polishing etc. constructor can scene or through the long-range operation of polishing robot operation according to demand and progress control of management center platform. If the construction period is urgent, a plurality of self-propelled polishing robots 91 can be placed on the working platform 4 to work simultaneously without mutual interference.
The self-propelled outer wall operation robot 9 of this embodiment changes end effector and becomes self-propelled cleaning robot 92, self-propelled cleaning robot 92 is from taking water tank and high-pressure squirt, adopts hydrologic cycle's clean mode, can wash the adnexed dust of wall surface clean the time with clean water cyclic utilization fast, and cleaning robot water circulating system has the clean function of filtration, cyclic utilization behind the sewage filtration purification.
The end effector of the self-propelled outer wall operation robot 9 of the embodiment is replaced by a spraying head, a material spraying barrel is connected, the self-propelled spraying robot 93 is formed, the self-propelled spraying robot 93 walks and sprays on the operation platform 4, the laser sensor can detect the thickness and the spraying effect of a sprayed paint surface of a wall, and the constructor and the manager can adjust various parameters of the robot through a field or a management center platform to achieve the best spraying effect.
Referring to fig. 13, the attached electric construction platform is constructed by incorporating a guide-type outer wall working robot 82, the guide-type outer wall working robot 82 travels through a detachable guide rail 83 installed on the working platform 4, the guide rail is selectively installed at the near end and the far end of the working platform 4 from the wall,
when the guide rail type outer wall operation robot 82 is arranged at the near end of the operation platform 4 away from the wall, the self balance of the robot is kept by adopting a mode of the guide rail 83 and the external supporting wheels.
When the guide tracked outer wall operation robot 82 is installed at the far end of the operation platform 4 from the wall, the balance of the robot is kept by adopting the clamping form of the upper and lower guide rails, the guide tracked outer wall operation robot 82 can replace an end effector to carry out various outer wall construction operations, the guide tracked outer wall operation robot can be used as a polishing robot to polish the wall surface of the outer wall when being installed with a polishing head, the guide tracked outer wall operation robot 82 can be used as a cleaning robot to clean the outer wall when being installed with a water tank and a high-pressure water gun, the guide tracked outer wall operation robot can be used as a spraying robot to paint the wall surface when being installed with a spraying head and connected with a spraying barrel, the guide tracked outer wall operation robot 82 has an obstacle avoidance function, the lifting function of an attached electric construction platform is utilized, the construction operation of the whole wall surface of the corresponding wall surface can be carried out, and the guide tracked outer wall operation robot 82 is connected with the sliding contact line 8 through the towing type current collector 80 for power supply.
The guide rail type outer wall operation robot 82 of the embodiment is provided with a GPS positioning function, and the specific position of the robot can be seen in real time on a remote management center platform.
The guide rail type outer wall operation robot 82 of the embodiment is provided with a mechanical arm and can extend to the wall-attached part of the standard joint column for grinding, cleaning and spraying operation.
Before the outer wall operation robot of this embodiment carries out wall construction operation, the robot scans the wall profile to the management center platform, the management center platform feeds back position coordinate to operation robot through the assigned route, starts the operation to appointed place from the initial point of deciding and accomplishes, has realized automatic, intelligent construction operation.
The electronic construction platform of attached type of this embodiment combines outer wall operation robot, establishes the whole set of construction system of the omnidirectional three-dimensional model management center platform of entire system based on BIM technique, can use in the construction of assembly structure building, but the operation such as pouring is supplied to the workman to the but the operation platform of higher level of construction system greatly increased assembly structure construction progress, utilizes higher level to supply to transport material and outer wall construction operation, and the construction degree of difficulty of the assembly structure that has significantly reduced simultaneously accelerates the construction progress greatly.
Example 6
The embodiment discloses a construction platform based on BIM and a robot system, a base structure and an adjustable supporting leg structure with a wrench. The base is provided with a level sensor for monitoring the levelness of the foundation, and once slight sinking or collapse occurs, the equipment stops running immediately.
The standard section upright post is provided with an inclination angle sensor for monitoring the stress deformation and the verticality of the upright post in real time.
The attached electric construction platform adopts a waterproof sliding contact line to provide a power supply for equipment.
The driving module is provided with a sheet type pressure sensor, and the monitoring system collects data from the pressure sensor to control the weight of the material on the driving module, so that the bearing capacity of the equipment does not exceed a rated value.
The integrated platform standard knot structure combines a platform beam standard knot and a scaffold board. The end part of the telescopic beam is provided with a hanging piece position, and the superior operation platform can place a curtain wall dry hanging steel frame on the hanging piece.
The operation platform is provided with a waterproof ceiling with a sealing strip, the ceiling can be opened and closed, and the telescopic frame body is arranged, so that when the equipment is far away from the wall, the telescopic ceiling plate can be increased. And wind speed monitors are arranged at two ends of a ceiling of the operation platform. And when the wind speed and the wind pressure are overloaded, the equipment is forbidden to operate.
The protruding module and the small-sized crane are combined, so that the standard section upright post can be lifted to a corresponding position to be conveniently assembled. The curtain wall dry hanging piece can be moved to the inside of the operation platform, and the curtain wall dry hanging piece is hoisted in the gap between the operation platform and the wall surface.
Higher level's bulge module has flexible cat ladder, turns over the board and passes in and out higher level's operation platform through opening the manhole.
The dual monitoring guarantees safety, the two-stage operation platform is provided with a proximity switch to control the safety distance, the distance between two stages of radar monitoring is increased, and the radar of the lower-stage operation platform monitors the ground distance.
The operation platform is provided with a displacement sensor, a horizontal sensor, a gravity sensor and a wind power and wind pressure monitor for monitoring the stress deformation in real time. The operation platform is connected with the driving module through a pin shaft gravity sensor, the pin shaft gravity sensor is equivalent to a pole scale, and the monitoring system collects data to control the load of the operation platform.
The electronic construction platform of inserted combines the direct pipeline of waste material, and arbitrary floor can be lost rubbish in the waste material pipeline, and in the waste material storage vehicle who leads to ground department directly, the manpower and materials and the time of workman's clearance building rubbish have been saved greatly.
The protection network is both sides can open a structure, when needs use the quick pipeline of waste material, can open the side door and pour waste material, rubbish into waste material pipeline entrance.
The attached electric construction platform is connected with an Uninterruptible Power Supply (UPS), and the UPS can be used as a power supply to supply equipment for emergency when power failure occurs besides power supply voltage stabilization.
The two-stage operation platform is kept connected by adopting a 4G communication module, instant data and real-time monitoring information are transmitted to a management center platform, the control system is additionally provided with a wireless communication module under the networking interactive control condition, and the mobile terminal equipment is as follows: the mobile phone, the tablet personal computer and the like can access the wireless communication module of the on-site construction control system.
The attached electric construction platform adopts a modular assembly design, and the monitoring sensor, the waste conveying pipeline, the 4G module, the building robot and the BIM management center platform are optional modules which can be appropriately selected according to construction requirements.
The attached electric construction platform is integrated with a construction robot, and the problems of labor shortage, high labor cost, high construction difficulty, low production efficiency, high aerial work risk and the like are solved.
The outer wall operation robot is connected with a sliding contact line through a dragging type current collector for power supply, the standard section upright post 2 is bypassed at the blocking position of the two upright posts, the outer wall operation robot is installed on the framework of the protective net 22, and the self-propelled outer wall operation robot 9 can smoothly bypass the upright posts to reach the other side of the operation platform 4.
The multifunctional outer wall operation building robot can solve various construction types, and different work types can be constructed only by replacing the end effector.
And constructing a management center platform of the whole construction system for monitoring the omnibearing three-dimensional model based on the BIM technology. Through the stress data of connecting each sensor real-time supervision whole attached electric construction platform equipment, the robot feeds back data to management center platform in real time, and visual control of building body condition can long-rangely do equipment management, production management, data management through management center platform system. And forming a whole set of construction system of an attached electric construction platform, a construction robot, a safety monitoring control system and a management center platform constructed based on the BIM technology.
In the invention, the inspection robot, the polishing robot, the cleaning robot and the spraying robot which are combined by the attached electric construction platform are the preferred scheme of the patent, and other robots which are combined by the attached electric construction platform are all the alternative schemes of the invention and are all within the protection scope of the invention.
In the invention, the waste pipeline structure and the arrangement in the standard joint column are the preferable scheme of the invention, but the structure and the installation position are not limited, and the combination of the attached electric construction platform and the waste straight-through pipeline is in the protection scope of the patent.
In the invention, the monitoring sensor for each module in the attached electric construction platform can be replaced by other sensors or monitors which can realize the same function. For example, the horizontal sensor of the base can be replaced by an inclination angle sensor, an inclinometer or a displacement sensor, and the like, and the displacement sensor between the standard sections of the operation platform can be replaced by a force sensor and a tension sensor.
In the invention, the embodiment of the invention is that the protruding module between the two stages of operation platforms 4 in the attached electric construction platform equipment is combined with the telescopic ladder stand, and the structures of the telescopic aerial ladder, the climbing platform and the upper and lower stage connecting platforms are all replaceable schemes.
In the invention, the radar 37 is adopted to monitor between the two stages of the working platforms 4, and other distance measuring sensors and proximity switches can be adopted to replace the two stages of the working platforms, which are all within the protection scope of the invention.
In the invention, the attached electric construction platform equipment adopts 4G module communication as an embodiment of the invention, including but not limited to an industrial router and a 5G communication module.
In the present invention, the guide rail and the installation fixing form of the guide rail type exterior wall operation robot 82 include, but are not limited to, the examples, and the other guide rails and the guide rail fixing form of the robot are all within the protection scope.
In the invention, the building robot combined with the attached electric construction platform adopts a scheme of a waterproof sliding contact line and a dragging type current collector for power supply, and a scheme of a battery and a cable for power supply can be adopted to replace the embodiment of the invention.
In the invention, the whole set of construction system comprises an attached electric construction platform, a construction robot, a safety monitoring system and a BIM management center based platform construction object, wherein the construction object is not only a building, but also includes but is not limited to a foreign building structure body, a venue, a bridge, a chimney and a hydropower station.
The invention combines an attached electric construction platform which is newly researched and developed with intelligent equipment of a construction robot, and adopts a remote monitoring management center platform based on a BIM technology, thereby being a whole set of construction system. The attached electric construction platform is developed from construction requirements, construction safety, construction processes and the like, a sensor is installed on each module, each stress deformation and displacement information of the platform are transmitted to a three-dimensional model of a remote terminal monitoring management center platform in real time, the attached electric construction platform provides robot automatic construction operation, the inspection robot can monitor all corners of the platform within 24 hours, and the inspection robot can rapidly reach a designated area on the platform through terminal visual control. The wall before polishing is presented in real time through laser radar by the polishing robot, a constructor or a manager can control the polishing robot to operate through a field or remote management center platform, and the flatness of the wall after polishing is fed back to a visual terminal in real time by the polishing robot. The polishing robot can change the end effector of the robot into a cleaning robot and a spraying robot after polishing the wall surface, and the cleaning robot and the spraying robot can also transmit data to a control center in real time to remotely visually monitor and control the building robot. The whole set of construction system realizes remote intelligent monitoring and operation of the visual Internet of things at the terminal based on the BIM, and comprises an attached electric construction platform, a construction robot, a safety monitoring system and a management center platform constructed based on the BIM technology.
In conclusion, the management center platform is a management center platform for establishing an omnibearing three-dimensional model of the whole set of construction system based on the BIM technology, can monitor and observe the site construction situation in real time at 360 degrees, remotely controls the attached electric construction platform and the construction robot, enhances the deep interaction between a project company and a construction unit, simultaneously realizes scientific, normalized and intelligent management of construction projects based on the BIM technology, and accelerates the propelling speed of the whole project.
The construction robot is continuously updated, the robot technology is gradually mature, and the attached electric construction platform is used as a carrier of the construction robot, so that the construction robot solves a plurality of problems that workers are difficult to construct, and meanwhile, the efficiency is greatly improved. The man-machine combination reduces the increasingly high manpower, most importantly, the construction danger problem of a large amount of high-altitude operation is solved, and the construction effect of the robot operation is far better than that of workers. A management center platform of an all-dimensional three-dimensional model of the whole system is established based on the BIM technology, the site construction condition is monitored and controlled in real time, and the site construction condition and the equipment parameter information are integrated, so that a manager can master the real states of equipment and a construction site in real time, and the automatic, intelligent and information management of construction projects based on the BIM technology is realized.
The attached electric construction platform of the invention is provided with a sensor on each module, a real-time monitoring system transmits data to a management center platform to intelligently monitor the whole construction equipment and the site, the safety of the equipment is ensured, the real-time monitoring of each part minimizes the danger and prevents the danger in the bud, the whole system establishes the site real object into a full-azimuth three-dimensional model based on the BIM technology, the management center platform is used for monitoring and controlling equipment in real time, the attached electric construction platform can be utilized to the maximum extent to be combined with the construction robot to work in different work types, the construction robot can be constructed with workers at the same time, mutual interference influence is avoided, man-machine combination is realized, manual work is reduced, construction quality is improved, the utilization rate and construction efficiency of the equipment are greatly improved, and the management center platform constructed based on the BIM technology can be used for managing the whole construction system on site more scientifically and intelligently.
If the external wall operation polishing, cleaning and spraying device does not have the attached electric construction platform as a bearing body, the external wall operation polishing, cleaning and spraying device can be installed in a high-rise building only in a hanging basket mode, the hanging basket mode has various potential safety hazards, meanwhile, external wall operation with high construction difficulty is difficult to perform, a plurality of construction problems are solved by combining the attached electric construction platform with an external wall operation robot, and construction safety is guaranteed.
According to the invention, the quick construction waste conveying pipeline is combined into the attached electric construction platform, so that the problem of cleaning a large amount of construction waste at high floors is solved, a large amount of waste cleaning time is reduced, labor cost is greatly saved, the construction waste pipeline is placed into the standard section upright post, the structure of the lifting platform is not influenced, even equipment space is not occupied, the residual space at the hollow position of the standard section upright post is reasonably utilized, and great convenience is provided for standardized operation, intelligent construction and robot operation.
The invention adopts the waterproof sliding contact line and the current collector to provide the power supply of the equipment, solves the problems that the cable of the common attached electric construction platform is difficult to manage and is easy to be entangled or even the cable at the clamping position of the winch is broken, and simultaneously solves the problems that the cable between two stages of platforms is wound and knotted, the cable is too long and is difficult to manage, and the like.
The inspection robot integrated with the attached electric construction platform and the multifunctional outer wall operation robot really realize man-machine combination, the attached electric construction platform is used as a carrier of a plurality of construction robots and can be applied to construction operation of various robots, the robots are not limited to outer wall operation construction, and the self-propelled operation robot can enter a building through the attached electric construction platform to perform interior decoration construction operation.
The invention establishes a management center platform of an omnibearing live-action three-dimensional model of the whole system based on the BIM technology, can monitor and observe the site construction situation in real time at 360 degrees, integrates the site construction situation and the equipment parameter information, enables a manager to master the real state, the actual construction situation and the operation and maintenance related data of the equipment in real time, strengthens the deep interaction between a project company and a construction unit, realizes scientific, normalized and intelligent management of the construction project based on the BIM technology, and accelerates the propelling speed of the whole project.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A construction platform and a robot system based on BIM are characterized by comprising
The system comprises a BIM-based remote monitoring and management center platform, an attached electric construction platform, a sensor and a remote terminal monitoring and management center platform, wherein the attached electric construction platform is provided with a power supply through a waterproof sliding contact line, and each module of the attached electric construction platform is provided with the sensor and is used for transmitting the stress deformation and displacement information of each part of the attached electric construction platform to a three-dimensional model of the remote terminal monitoring and management center platform in real time;
the construction robot comprises an inspection robot and a polishing robot, wherein the inspection robot is used for monitoring all corners on a platform and quickly reaching a designated area on the platform through terminal visual control, a wall surface before polishing is presented in real time through a laser radar, a constructor or a manager can control the polishing robot to operate through a field or remote management center platform, and the flatness of the wall surface after polishing of the polishing robot is fed back to a visual terminal in real time;
the polishing machine realizes the functions of a cleaning robot and a spraying robot by replacing an end effector of the robot and an attached water tank or a charging basket.
2. The BIM-based construction platform and robot system of claim 1, wherein the construction robot comprises a base, a standard section column, a top standard section column, a waterproof trolley line, a driving module, a working platform, a convex module, an electric cabinet, a guardrail, a ceiling, an anemograph, a protective net, a wall-attached frame, a waste pipeline, a trolley line, a towing current collector, an inspection robot, a guide rail type outer wall working robot, a self-propelled grinding robot, a self-propelled cleaning robot and a self-propelled spraying robot when being combined with the attached electric construction platform.
3. The BIM-based construction platform and robot system of claim 2, wherein the base comprises adjustable legs with operating wrenches, telescopic links, large frame, anti-collision buffers, level sensors, positioning pins, sealing strips and universal wheels;
the adjustable support leg with the operating wrench is a sealing structure and comprises a wrench, a protective cover, a sealing rubber ring, a sliding bearing, a bearing cover, a T-shaped nut, a nut jacking block and a trapezoidal screw, and the wrench is connected with the T-shaped nut in the sealing square tube;
the base is provided with a horizontal sensor, the base inclines or vibrates, the horizontal sensor monitors and alarms in real time and controls the system to stop the lifting of the attached electric construction platform;
the base is provided with an anti-collision buffer, and the telescopic connecting rod is formed by sleeving a frame large pipe with the telescopic connecting rod and a sealing strip.
4. The BIM-based construction platform and robot system according to claim 2, wherein the standard section upright post is provided with a standard rack and an inclination sensor for a construction elevator, and when the upright post is slightly inclined or deformed by stress, the inclination sensor feeds data back to a management center platform of the terminal in real time;
the top standard knot stand column is provided with an inclination angle sensor, monitoring data are fed back to a management center platform of the terminal in real time, and the inclination angle sensor is a wireless battery inclination angle sensor.
5. The BIM-based construction platform and robot system of claim 2, wherein the driving module comprises a driving module frame, a brake gear motor, a manual release device, a transmission gear, a safety catcher, a level sensor, a pressure sensor, a radar, a warning light, a limit roller, a rack back wheel, a limit switch, and a current collector junction box;
the driving module provides power through a brake speed reducing motor, a transmission gear is meshed with a standard rack arranged on a standard joint upright post to enable the operation platform to ascend and descend, the brake speed reducing motor has a self-locking function, the tail of the brake speed reducing motor is provided with a brake device, the brake device is provided with a manual release device, when power is suddenly cut off, the brake speed reducing motor is cut off, and the brake device tightly holds the operation platform at the current position;
the driving module is provided with a falling protector, the driving module is provided with a limiting roller wheel, the limiting roller wheel is an eccentric roller wheel, and the limiting roller wheel positions the driving module on the standard joint upright post; the driving module is provided with a rack back wheel which is an eccentric wheel;
the driving module is provided with a limit switch, the limit switch is respectively provided with an upper limit switch, a lower limit switch and an emergency upper limit switch, when the working platform reaches the top standard section upright post, the limit switch can touch the limit module of the top upright post to ensure that the working platform does not ascend, and when the lower limit switch touches the limit module of the bottom standard section upright post when the lower working platform reaches the ground, the working platform does not continuously descend;
the driving module is provided with a horizontal sensor, and when the driving module is inclined, a real-time monitoring management center platform gives an alarm prompt; the driving module is provided with a sheet type pressure sensor and is used for monitoring the gravity condition of the driving module in real time;
the radar is arranged at the bottom of the driving module frame; the driving module is provided with a warning lamp and a current collector junction box, and the current collector junction box is connected with a waterproof sliding contact line arranged on the standard section upright post to provide a power supply for equipment.
6. The BIM-based construction platform and robot system as claimed in claim 2, wherein the operation platform is assembled by integrated operation platform standard sections, the integrated operation platform standard sections are connected by pin shafts, displacement sensors are further arranged between the integrated operation platform standard sections, and each stress deformation of the operation platform is monitored in real time;
the integrated operation platform standard section is provided with a telescopic assembly structure, the width of the operation platform is increased by additionally arranging a telescopic scaffold board so as to be attached to the wall surface of a building body, a dry hanging position is reserved at the end part of a telescopic beam of the platform, when a hanging piece is added to decorate a dry hanging curtain wall on an outer wall, a curtain wall dry hanging piece is hung on the dry hanging frame, the curtain wall dry hanging piece is lifted to a corresponding position for installing a steel hanging piece through the lifting function of the operation platform, and the steel hanging piece is aligned to the position, so that the curtain wall steel hanging piece can be installed;
the operation platform is connected with the driving module through pin shaft type gravity sensors, the weight of the platform and the load weight on the platform are obtained by collecting data of the pin shaft type gravity sensors at two ends, and the monitoring system limits a crane or a forklift to place materials on the operation platform through collecting data of the sensors.
7. The BIM-based construction platform and robot system of claim 2, wherein the guardrail is an aluminum alloy standard mesh frame guardrail, the outer guardrail is a shielding type aluminum alloy mesh frame structure, a push-pull double door is arranged at the inlet of the guardrail, and a proximity switch is arranged on the push-pull double door;
the ceiling is of an assembled openable structure made of composite materials, a sealing strip is arranged at the opening position of the ceiling, the ceiling is provided with a telescopic frame body and is connected with the guardrail in an assembling mode, and an integrated combined guide rail mounting hole for the robot is reserved at the end part of the ceiling and is used for mounting a guide rail and a sliding contact line of the inspection robot;
the wall attaching frame consists of a welding frame, a fastener, a wall attaching rod and a wall penetrating expansion bolt, the wall attaching frame is connected between two standard section upright columns, and the wall attaching rod is connected with the wall attaching frame and the standard section upright columns through the fastener and is attached to a building body through the wall penetrating expansion bolt;
the projection module is an optional module and is connected with the driving module, a telescopic ladder stand is arranged in the secondary projection module, a manhole turning plate is opened to pass in and out of the upper-stage operation platform through a manhole and the telescopic ladder stand, the primary projection module is provided with a door, and the projection module is provided with a detachable small crane;
the anemoscope is arranged on ceilings at two ends of the operation platform, monitors wind load of wind power, and when the wind speed exceeds a set value, the monitoring control system prohibits the operation platform from lifting;
the protection network is aluminum alloy net frame, and standard festival stand department at work platform sets up the protection network, the protection network both sides set up the door, can fall building rubbish to the waste pipe through opening the door, and the quick direct waste pipe way of department installation is located in the middle of standard festival stand department, and the opening that pours rubbish into the waste pipe way feeds through the waste material storage vehicle on ground.
8. The BIM-based construction platform and robot system of claim 2, wherein the electric cabinet is operated by a rocker to control the operation platform to ascend and descend, the electric cabinet is provided with an electric leakage protection device, and a screen of the electric cabinet is used for displaying alarm information
The operation platforms are kept in connection communication by the 4G communication module, instant data and real-time monitoring information are transmitted to the management center platform, the 4G communication module instantly collects statistical data and real-time monitoring information to be continuously and stably transmitted, and a manager sends an instruction to the electric cabinet through the 4G communication module through the management center platform of the terminal to execute a corresponding task
A wireless communication module is arranged and accessed into a wireless communication module of the on-site construction control system, and the real-time performance of communication is guaranteed through the connection of a local area network; the attached electric construction platform is connected with an Uninterruptible Power Supply (UPS).
9. The BIM-based construction platform and robot system according to claim 2, wherein the work platform is provided with an inspection robot, mounting holes are reserved on the inner side of the ceiling close to the wall surface, a hoisting guide rail of the inspection robot is mounted, the hoisting guide rail and a trolley line for power supply of the inspection robot are mounted side by side, a towing type current collector of the inspection robot is connected with the trolley line for power supply, the inspection robot is provided with a high-definition camera and an infrared thermal imaging camera, the field picture, sound, temperature, smoke and gas data are monitored in real time, the monitored picture and information are displayed on a management center platform, and the inspection robot is provided with a searchlight;
the self-propelled outer wall operation robot is a self-propelled multifunctional outer wall operation robot for replacing an end effector, the self-propelled outer wall operation robot is connected with a sliding contact line through a dragging type current collector for power supply, the sliding contact line is installed at the position of the end part of a ceiling, away from the wall, and located at the blocking position of two upright columns and installed on a frame of a protective net by bypassing a standard section upright column, the self-propelled outer wall operation robot is provided with a GPS (global position system) positioning function, a robot three-dimensional model on a central platform is installed on a mobile phone or a tablet personal computer of a terminal, the robot is operated in real time, and the self-propelled outer wall operation robot is provided with an mechanical arm for extending to the wall attaching position of the standard section upright column;
the self-propelled grinding robot is a self-propelled outer wall operation robot provided with a grinding head, the self-propelled grinding robot detects the flatness of a wall surface through laser and feeds back the flatness to a management center platform, the self-propelled grinding robot is remotely controlled through a terminal to grind the wall surface, the grinding head of an end effector is provided with a force sensor, the ground wall surface is fed back to the management center platform through the laser sensor, and the management center platform can remotely control the speed and the grinding precision of the self-propelled grinding robot;
the self-propelled cleaning robot is a self-propelled outer wall operation robot for replacing an end effector, and is provided with a water tank and a high-pressure water gun;
the self-propelled spraying robot is a self-propelled outer wall operation robot with an end effector replaced by a spraying head, and the self-propelled spraying robot walks and sprays on the operation platform.
10. The BIM-based construction platform and robot system of claim 1, wherein the attached electric construction platform integrates a guide-type outer wall operation robot for construction, the guide-type outer wall operation robot travels through a detachable guide rail installed on the operation platform, when the guide-type outer wall operation robot is installed at the near end of the operation platform away from the wall, the robot is kept balanced by means of the guide rail and an external supporting wheel, and when the guide-type outer wall operation robot is installed at the far end of the operation platform away from the wall, the robot is kept balanced by means of clamping of an upper guide rail and a lower guide rail;
before the outer wall operation robot executes wall construction operation, the outer wall contour is scanned to the management center platform, the management center platform feeds back position coordinates to the operation robot through an appointed route, operation is started from a preset original point to an appointed place, and automatic construction operation is achieved.
CN202110229818.0A 2021-03-02 2021-03-02 Construction platform and robot system based on BIM Pending CN113187233A (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113532542A (en) * 2021-08-04 2021-10-22 王晨光 Integral stress state real-time monitoring system for tower mast structure
CN113819871A (en) * 2021-11-02 2021-12-21 东莞市简从科技有限公司 Thickness measuring robot and thickness measuring method
CN114713429A (en) * 2022-03-31 2022-07-08 华东至正工业自动化(常熟)有限公司 Automatic spraying and cleaning workstation for crucible and implementation method
CN114792019A (en) * 2021-11-30 2022-07-26 广东天凛高新科技有限公司 Robot alternate interactive wall building system
CN115288413A (en) * 2022-08-31 2022-11-04 中建三局科创产业发展有限公司 Guide frame climbing type working platform assembled and spliced in modularized mode
CN115419249A (en) * 2022-08-17 2022-12-02 四川锦城建筑机械有限责任公司 Integrated intelligent climbing multifunctional platform, installation method and climbing method

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113532542A (en) * 2021-08-04 2021-10-22 王晨光 Integral stress state real-time monitoring system for tower mast structure
CN113819871A (en) * 2021-11-02 2021-12-21 东莞市简从科技有限公司 Thickness measuring robot and thickness measuring method
CN113819871B (en) * 2021-11-02 2023-09-08 东莞市简从科技有限公司 Thickness measuring robot and thickness detecting method
CN114792019A (en) * 2021-11-30 2022-07-26 广东天凛高新科技有限公司 Robot alternate interactive wall building system
CN114713429A (en) * 2022-03-31 2022-07-08 华东至正工业自动化(常熟)有限公司 Automatic spraying and cleaning workstation for crucible and implementation method
CN114713429B (en) * 2022-03-31 2024-05-28 华东至正工业自动化(常熟)有限公司 Automatic spraying cleaning workstation for crucible and implementation method
CN115419249A (en) * 2022-08-17 2022-12-02 四川锦城建筑机械有限责任公司 Integrated intelligent climbing multifunctional platform, installation method and climbing method
CN115288413A (en) * 2022-08-31 2022-11-04 中建三局科创产业发展有限公司 Guide frame climbing type working platform assembled and spliced in modularized mode

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