EP2354074A1 - Verfahren und Vorrichtung zum Zusammenbauen von Rohbauelementen - Google Patents

Verfahren und Vorrichtung zum Zusammenbauen von Rohbauelementen Download PDF

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Publication number
EP2354074A1
EP2354074A1 EP11000780A EP11000780A EP2354074A1 EP 2354074 A1 EP2354074 A1 EP 2354074A1 EP 11000780 A EP11000780 A EP 11000780A EP 11000780 A EP11000780 A EP 11000780A EP 2354074 A1 EP2354074 A1 EP 2354074A1
Authority
EP
European Patent Office
Prior art keywords
assembly
panel
building shell
building
shell
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP11000780A
Other languages
English (en)
French (fr)
Inventor
Danijel Zupancic
Miha Santavec
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Trimo doo
Original Assignee
Trimo doo
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Filing date
Publication date
Application filed by Trimo doo filed Critical Trimo doo
Publication of EP2354074A1 publication Critical patent/EP2354074A1/de
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/18—Load gripping or retaining means
    • B66F9/181—Load gripping or retaining means by suction means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
    • B66C1/0212—Circular shape
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
    • B66C1/0237—Multiple lifting units; More than one suction area
    • B66C1/0243—Separate cups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
    • B66C1/0256—Operating and control devices
    • B66C1/0262—Operating and control devices for rotation

Definitions

  • the assembly team therefore faces challenge of obtaining elements of the shell on the building site which need to be laid out, if necessary turned around and each element using manpower of assembly worker prepared to be lifted on position for part of the shell provided in order.
  • This may result in inconsistency regarding documentation, manufacturing batch, wrong element marking, similar marking of positions of similar dimensions (but manufactured from different batches of material), switch due to human factor and also incorrect manufacturing of sub-frame.
  • assembly teams are exposed to word in elevated conditions which is connected to additional risks both for their safety and others connected in same processes.
  • the panel is lifted on required height by means of crane operated by the third member of assembly team.
  • the fourth and the fifth members of the team who are elevated to desired height by means of lifting cage manipulate the panel onto position on the shell and attach it using electrical or battery operated hand tools.
  • lifting cage at higher elevations they are in cage of suspended scaffold
  • the assembly team can have up to 10 member all of which are exposed to hard work conditions, outside environment and elevations.
  • Use of lift, lifting cages, suspended scaffolds etc. is more and more used and is now normal practice in all developed countries of the world, however several operations during assembly of building shell elements is still connected to work of assembly workers whose work result in quality and tracking ability of anticipated sequence.
  • Method and apparatus for assembling building shell elements solve above referenced technical problem by showing automated assembly of building shell elements, apparatus for robotic assembly and method for robotic assembly of building shell elements with its use on assembly position.
  • This invention belongs to technical solutions in civil engineering for automated assembly of building shell (comprised of facades, roofs, dividing walls and ceilings) in connection with building from phase of design to phase of erection onto the position of building shell and is comprised of all phases of optimized assembly of building shell.
  • this invention belongs class of assembly of sandwich panels onto metal sub-frame, said sub-frame being carrying member of roofs and facades, however in general this system can be used in way of analogy for assembly of glass facades and other elements of building shell where the basic element is finished enough to have it directly mounted or attached or otherwise incorporated into building shell.
  • the subject of this invention is method comprised of all phases of project from writing the project documentation, work preparation, manufacturing of elements, packaging, transport of elements onto the building site and assembly onto pre-determined position of building shell.
  • the method is integrated process with virtual construction and de-construction logic and physical preparation for real automated assembly into correct position of building shell.
  • the subject of this invention is therefore method supported by specially developed programming tools.
  • the subject of this invention is technology (equipment) of automated assembly performing steps of said method and positioning elements of building shell in correct sequence onto correct position into building shell.
  • the subject of this invention is also method for automated assembly using robot working in outside environment and performing steps of said method in order to position and assembly of building shell element without direct involvement of assembly workforce.
  • the method provides for tracking ability and essentially automated.
  • the invention therefore solves both problem of workforce not presented in elevations as well as follows logic of correct sequence on parts of building shell which is particularly important with specific building shells with various elements of building shell (e.g. 3D shells).
  • the subject of this invention is method based on assumption that each element of building shell - panel 1 is different. Therefore, from design to final positioning this element should be marked so in addition of its unique identification (ID) it shows also position - location.
  • ID 101 provides for geometry, properties, attachment to sub-frame, batches (colors) of materials, technology parameters, sequence and time of manufacturing etc. At the end of manufacturing the ID is determined and for each particular element of building shell all properties can be stored for automated assembly and tracking can be enables.
  • Parallel to this process preliminary decision (later identification) regarding the location - IL 102 of this element of building shell is decided according to herein described method during phase of project documentation, and is followed during all phases of the process until final assembly of element onto predetermined position in the building shell is achieved.
  • the method follows virtual model of construction and de-construction in all phases of assembly. During manufacturing and stacking into packets the model assumes the principle as the panels are physically removed from the building and stacked in reversed sequential order into smaller for logistics and assembly suitable packets - packets 2. In such fashion transported packets on the building site allow for automated assembly and finishing of building shell without workforce on elevations.
  • the subject of invention is in particular design of virtual building with virtual building shell.
  • the designer makes project of virtual shell using 3D model.
  • particular elements of the shell are identified with element identification (ID 101) and location identification (IL 102).
  • ID 101 element identification
  • IL 102 location identification
  • the designer de-constructs the building shell in such a manner that from virtual shell the elements are virtually removed and stacked in (assigned to) particular packets (shown by P and number of packet, figure 1 ), in the same order as removed.
  • the information of particular packets is transmitted to the manufacturer of the elements actually manufacturing the panels and forming the packets, and further transports said packets to the building site.
  • the system comprised of at least two robots (micromanipulator 5 and micromanipulator 6) is used to have said elements actually assembled into building shell.
  • the subject of the invention is also method for automated assembly of the panels using robots and new technology (equipment) for assembly of building shell elements on the building itself. Below this part of invention is described ( fig. 2 , fig. 3 ).
  • Panels 1 in packets 2 are therefore described virtually and actually using appropriate ID 101 markings and within that marking also IL 102.
  • This marking can be in different forms such as bar code, chip or other form of marking. Said marking is positioned in appropriate position so it can be read and does not disturb the final look of the building after the building is finished.
  • the packets 1 are transported to the building site 2 in form of the packets in which the panels are stacked in the order they are to be assembled, i.e. in sequence 1 to x where x is the last in the order.
  • the first the panel with marking IDx is accessible, said panel carrying information on IL1.
  • the marking IDx states (for this particular first panel) that panel was manufactured as ID1, and carries marking IL1 as it is first to be assembled. After all the panels from the first packet are mounted, packet No. 2 is to be mounted where panel ID x+y is on the top with marking ILx+1.
  • the apparatus (hereinafter referred also to as "equipment") for automated assembly is equipped with suitable computer controlling the system and also performing other functions. It recognizes ID and IL from packet of panels, from specifications in project documentation 3 which is received by said computer as 3D model said computer recognizes the location where the panel should be assembled on actual building shell. Further, from digital snapshot of actual main construction 4 the computer recognizes actual main axes and possible disagreements of main construction or dimensions of the objects with plans which need to be taken into account during assembly.
  • the apparatus for automated assembly comprises micromanipulator ⁇ (“MM”) 5 and micromanipulator — (“mM”) 6.
  • MM 5 is the system for rough coordination and movement of mM 6 in environment.
  • Function of mM 6 is gripping of the panel, positioning, fine regulation of slants and adaptation to deformation and tolerances of construction as well as attaching of said panel onto essentially precise location in the building shell.
  • MM 5 is adapted mobile crane with chassis 501, the first full rotation R1 of upper moveable part 502 on which there is a control (cabin) with crane arm 503 with rotation in vertical direction R2 and telescopic movement L1.
  • a control cabin
  • crane arm 503 with rotation in vertical direction R2 and telescopic movement L1.
  • the first of these three devices 505 enables rotation R3 at the end of crane arm in direction up-down (rotation around x axis).
  • the second device 506 enables rotation R4 in direction left-right (or up and down around y axis).
  • the third device 507 enables rotation R5 of mM 6 in horizontal direction around z axis. All rotations and translations are controlled by sensors and limited. The limitations are programmed in order to prevent collision (contact) mM 6 or panel with MM 5 frame. The range of operation is quite wide and is limited with reach of crane arm, width of the building and heights up to 30 m.
  • Micromanipulator mM6 is designed to provide for all necessary functions of grip, positioning, drilling and bolting or other form of attaching (fastening) in its range of operation. It is comprised of frame 601 onto which grip systems are attached, in preferred embodiment two vacuum gripping units 602 having in addition to basic function of holding the panel during transport to the location also moveable mechanism 603 for approaching the panel on the floor or approaching of the panel to the assembly position on building construction.
  • the system of vacuum gripping units is attached using attaching element 604 which provides that vacuum gripping units 602 adapt during positioning on the panel to smaller errors connected to accuracy of positioning, bending due to different weights and possible non-symmetry of the panel etc.
  • SCARA robot 611 provides for movements toward panel attachment position where in embodiment drilling - bolting unit 612 provides for drilling and bolting.
  • a container containing bolts and reserve drill 613 In this area there is a container containing bolts and reserve drill 613.
  • the system can have more than one, for example two robots or guided 3 axis units providing for operation of assembly and attaching on left and right side simultaneously for horizontal assembly or up and down in case of vertical assembly. More robots can be attached or used.
  • the single SCARA robot 612 is used moving on the frame of mM 601 to position of drilling and bolting regardless of said position being on the end of the panel or along the panel.
  • the solution using MM 5 and mM 6 can be adapted for high rise building and buildings with 3D shell.
  • the platform of the crane is replaced with guided chassis/cart in three directions following main construction or sub-frame of building shell.
  • Micromanipulator can (similarly to telescopic arm) adapt and perform operations of positioning and attaching.
  • Such system can even increase accuracy as crane arm MM 6 can be supported by main construction or sub-frame.
  • the principle of operation of whole system as presented in this application is as follows:
  • the control unit 7 receives needed data related to object (building) 4, project 3, and panels 1 through input/output units such as readers, cameras, and transfer of 3D model.
  • a worker manipulates packet with panels 2 in such a way that on the building site he or she prepares unloading platform or similar place for unloading said packet with panels 2 and removes the packaging from the packet.
  • the operator of the system comprised of MM 5 and attached mM 6 using input/output devices such as touch screen or some other technologically equivalent system determines position where packet with panels 2 is and guides the crane arm to the position of the first packet. This can be upgraded by establishing fixed unloading dock and automatizing the whole operation including taking of the first panel.
  • MM 5 is moving under controlled conditions in space.
  • Subject of this invention is also method of control of control unit 7 of whole system which provides for all operations from attaching the panel 1 until its final attachment to the building to form part of the building shell.
  • the control unit repeats these operations adapted to new panels and new locations.
  • the control unit 7 by means of sensors each of movement axis provides for high accuracy and repeatability in wider range of operation.
  • the shortest trajectory is selected, however different trajectory can be entered in due to obstacles on building site or on the building itself.
  • the whole system avoids said obstacle taking into account geometry of mM 6 and the panel carried at the time.
  • the setting of the first panel is important as it is reference point. This reference point can be introduced by operator via input/output devices such as touch screen or joystick or other form of I/O device 8 meant for manual mode of operation.
  • the whole system is wholly automated and is controlled in a way of example via screen 701 or video cameras 702.
  • the control unit 7 can communicate via link 702 which can communicate directly with manufacturer of the panels for (in a way of example) ordering of future panels in sequence or with accounting department for providing debit notes or other forms needed for payment or reporting, or for other purposes such as specifications of assembly on facades or parts of the building

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)
  • Manipulator (AREA)
EP11000780A 2010-02-01 2011-02-01 Verfahren und Vorrichtung zum Zusammenbauen von Rohbauelementen Withdrawn EP2354074A1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SI201000033A SI23296A (sl) 2010-02-01 2010-02-01 Postopek in naprava za montaĹľo elementov ovoja zgradb

Publications (1)

Publication Number Publication Date
EP2354074A1 true EP2354074A1 (de) 2011-08-10

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EP11000780A Withdrawn EP2354074A1 (de) 2010-02-01 2011-02-01 Verfahren und Vorrichtung zum Zusammenbauen von Rohbauelementen

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EP (1) EP2354074A1 (de)
SI (1) SI23296A (de)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017003282A1 (en) * 2015-07-02 2017-01-05 Vacuum Lifting Holland Device for manipulating flat objects etc.
WO2017157482A1 (de) * 2016-03-16 2017-09-21 Ks Control Gmbh Vorrichtung zum aufnehmen, halten und/oder positionieren von flächigen werkstücken, insbesondere glasplatten
WO2020088726A1 (en) * 2018-10-30 2020-05-07 Blue Ocean Robotics Aps Apparatus and method for mounting panels
CN112645203A (zh) * 2020-12-18 2021-04-13 广东南星玻璃有限公司 一种用于弧形玻璃的万向吸盘及其使用方法
EP4249418A1 (de) * 2022-03-25 2023-09-27 Siemens Gamesa Renewable Energy A/S Hubbügel zum heben eines bauelements und verfahren zum heben eines bauelements
CN117172622A (zh) * 2023-11-02 2023-12-05 江苏菲尔浦工程科技有限公司 基于多源数据分析的装配式建筑质量管理方法与系统

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5015145A (en) * 1989-10-06 1991-05-14 R. J. Reynolds Tobacco Company Automated cargo loading system
GB2268536A (en) * 1992-07-07 1994-01-12 Wurth Paul Sa Installation for lining an internal wall of an enclosure with brickwork
US5984623A (en) * 1998-03-31 1999-11-16 Abb Flexible Automation, Inc. Carrier feed vaccum gripper
WO2004028754A1 (es) * 2002-09-27 2004-04-08 Consejo Superior De Investigaciones Científicas Sistema móvil de manipulación de cargas mediante guiado
US20060133917A1 (en) * 2004-12-22 2006-06-22 Aidco International, Inc. Multi-modal package handling tool and system
WO2008133974A2 (en) * 2007-04-26 2008-11-06 Pace Innovations, L.C. Vacuum gripping apparatus

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5015145A (en) * 1989-10-06 1991-05-14 R. J. Reynolds Tobacco Company Automated cargo loading system
GB2268536A (en) * 1992-07-07 1994-01-12 Wurth Paul Sa Installation for lining an internal wall of an enclosure with brickwork
US5984623A (en) * 1998-03-31 1999-11-16 Abb Flexible Automation, Inc. Carrier feed vaccum gripper
WO2004028754A1 (es) * 2002-09-27 2004-04-08 Consejo Superior De Investigaciones Científicas Sistema móvil de manipulación de cargas mediante guiado
US20060133917A1 (en) * 2004-12-22 2006-06-22 Aidco International, Inc. Multi-modal package handling tool and system
WO2008133974A2 (en) * 2007-04-26 2008-11-06 Pace Innovations, L.C. Vacuum gripping apparatus

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017003282A1 (en) * 2015-07-02 2017-01-05 Vacuum Lifting Holland Device for manipulating flat objects etc.
US10329126B2 (en) 2015-07-02 2019-06-25 Vacuum Lifting Holland Beheer B.V. Device for manipulating flat objects etc
WO2017157482A1 (de) * 2016-03-16 2017-09-21 Ks Control Gmbh Vorrichtung zum aufnehmen, halten und/oder positionieren von flächigen werkstücken, insbesondere glasplatten
WO2020088726A1 (en) * 2018-10-30 2020-05-07 Blue Ocean Robotics Aps Apparatus and method for mounting panels
CN112645203A (zh) * 2020-12-18 2021-04-13 广东南星玻璃有限公司 一种用于弧形玻璃的万向吸盘及其使用方法
CN112645203B (zh) * 2020-12-18 2022-07-22 广东南星玻璃有限公司 一种用于弧形玻璃的万向吸盘及其使用方法
EP4249418A1 (de) * 2022-03-25 2023-09-27 Siemens Gamesa Renewable Energy A/S Hubbügel zum heben eines bauelements und verfahren zum heben eines bauelements
WO2023180051A1 (en) * 2022-03-25 2023-09-28 Siemens Gamesa Renewable Energy A/S Lifting yoke for lifting a building element and method for lifting a building element
CN117172622A (zh) * 2023-11-02 2023-12-05 江苏菲尔浦工程科技有限公司 基于多源数据分析的装配式建筑质量管理方法与系统
CN117172622B (zh) * 2023-11-02 2023-12-29 江苏菲尔浦工程科技有限公司 基于多源数据分析的装配式建筑质量管理方法与系统

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Publication number Publication date
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