RU221989U1 - DEVICE FOR CONSTRUCTION OF STRUCTURES USING BUILDING BLOCKS - Google Patents

Abstract

The utility model relates to construction, in particular to devices for automated construction of structures. The technical result is increased efficiency of devices for automated construction. A device for erecting structures using building blocks contains a platform, a tower crane mounted on the platform and containing a tower, a boom mounted on the tower, and a trolley mounted on the boom; a conveyor line comprising a vertical tower conveyor connected to the tower and a vertical cart conveyor connected to the cart; and a building block installation device connected to the cart conveyor; wherein the trolley is configured to move horizontally along the boom, wherein the conveyor line is configured to move the building block from the entrance at the base of the tower to the exit at the building block installation device, and wherein the building block installation device is configured to grab the building block at the exit of the conveyor line and its installation on the structure being built. 2 ill.

Description

Field of technology to which the utility model relates

The utility model relates to construction, in particular to devices for automated construction of structures.

State of the art

One of the basic human needs is the need for housing. Humanity has been developing methods for constructing buildings for centuries, so it is quite difficult to introduce something new into them. Traditional construction technologies have not undergone fundamental changes for a long period of time. To simplify and speed up construction, attempts were made at different times to create new solutions, but many of them were not implemented in practice. One of the solutions that has proven to be relatively popular is the construction of modular houses. However, modular homes require a large factory to create the modules and a large amount of human resources for production and construction.

With the development of related areas, such as additive technologies, robotics, and IT, attempts have been made to introduce them into construction in search of combinations that would improve the efficiency and automation of construction.

For example, solutions such as CN 217581281 U are known, in which a manipulator is installed on a stationary or mobile platform (in this case, a tracked one), which has a printing head for a cement mixture and creates building structures (usually only walls) using the 3D method. print. Solutions are also known in which the print head is moved by a cable robot (for example, CN 112647707 B) or a gantry robot (for example, CN 109025256 B). Similar technologies are already being used in practice; the first commercial products have appeared since approximately 2020, and according to some forecasts for 2022–2023. Over 1000 buildings will be printed in the world. However, 3D printing has a number of disadvantages: the need to install working structures on a construction site, the need for a special site for the automation system, the insufficiently high speed of preparing the system for work, limitations in height and area due to design features, and the high cost of the solution composition. The presence of large masses of mortar is required, that is, the production of mortar is required either within the same site or outside it - accordingly, special equipment, personnel, raw materials and logistics solutions are used to support the construction process. A global disadvantage of 3D printing is layering and other wall artifacts, which require special post-processing of the walls, which requires separate equipment and human resources. In addition, the issue of floors that must be installed using traditional methods still remains unresolved, which again requires separate equipment and human resources.

There are also known solutions in which walls are automatically built not from mortar, but from building blocks. For example, RU 2754505 C1 discloses a system in which a manipulator is installed on a mobile platform and carries out the laying of small-piece building blocks under the control of an operator. This system is suitable for the construction of small structures, however, when scaling up, the problem arises of the need to move blocks over long distances, as a result of which, due to the excessive number of movements of the manipulator, its accuracy and service life deteriorate, and the time spent on construction increases significantly.

In general, construction with ready-made blocks is preferable for mass construction, since it eliminates the need to produce and deliver liquid cement mixtures and raw materials, allows you to store ready-made blocks, increase the time from the moment of manufacturing a block (instead of a liquid mixture) to its installation, and simplify the construction process itself.

The only solution known to the authors for automated block construction, which has currently reached commercialization and field testing, is disclosed in document WO 2018/009981 A1 and consists of the fact that a two-arm telescopic manipulator is installed on the truck platform, inside the arms of which there is a block movement system, which automatically moves the building block from the entrance located directly on the platform to the exit at the end of the second arm, where it then automatically applies glue to the block and automatically installs the block on the wall using a gripper installed at the end of the second arm, according to a pre-compiled program that specifies order of block installation. This solution really allows you to replace a whole range of equipment and personnel, however, it also has disadvantages that limit the possibilities for its widespread use. In particular, the design feature of the mechanism creates large vibrations of the system, which the stabilization cannot cope with, which is why the process of installing the building block becomes relatively long, especially in the presence of wind. For the same reasons, it is necessary to reduce the size of the building block in order to be able to position it acceptable. Even though the arms are telescopic, the truck-mounted system is limited in size and therefore does not allow the construction of buildings larger than 2 floors. Attempts to further lengthen the arms or increase the number of arms lead to a significant increase in the complexity of the structure and to a decrease in its rigidity, negating the ability to accurately install the blocks. A similar effect occurs when the arms are telescopically extended beyond certain limits. The presence of several telescopic sections in one arm reduces the internal space of the arm, which accommodates the block moving system and the pipeline and cable system, which is why the maximum dimensions of a building block allowed for use are very small, that is, a large number of blocks are required for construction, which reduces speed of construction and takes a lot of time. The block moving system inside each arm is a double-sided gripper that grips the building block and moves along the arm along guides. Thus, only one block can be in the arm at a time, which reduces the construction speed. Trying to make 2 tracks to allow the grip to turn around and return to the arm entry, without taking up a track from entry to exit, results in increased design complexity and further reduction in the allowable size of the building block. Reducing the size of the gripping jaws is fraught with a loss of quality of holding the block and leads to the need to increase pressure on the block, which can damage it. It is impossible to use a different grip in such a design, because the shoulders spend a significant part of the working time in motion and at the same time tilt at different angles, and all this time it is necessary to move the blocks inside the shoulders, so continuous reliable holding of the block is required. Due to the constant movement of the arms, the design has several points at which non-rectangular bends in the trajectory of the block movement occur (at the joints between: the block supply system, the manipulator rotation unit located on the platform, the first arm, the second arm and the block installation device located at the end of the second shoulder), which requires complex additional block gripping devices at these points. The small dimensions of the building block lead to the fact that in order to ensure acceptable wall strength it is necessary to build walls several blocks thick, which complicates the installation of the block and limits the choice of options for its execution, and also creates difficulties in joining the blocks, which is why it is necessary to leave a gap between blocks and actually turns out to be a wall of several thin walls separated by a gap. In addition, due to the small size of the block, the adhesive applied to the block, after spreading, goes beyond the block and creates drips on the wall, which require additional treatment of the wall. Accordingly, it is necessary either to apply less glue, which will negatively affect the strength of the connection, or to complicate the composition of the glue. Uneven application of the glue and the peculiarities of its drying with possible uneven expansion and spreading can lead to curvature of the position of the block, because it is small in size and weight and is unable to exert sufficient load, as a result of which manual leveling of the top row of blocks is required at the final stages of drying of the glue. In addition, this system also only builds walls, while floors must be installed using traditional methods, which again requires separate equipment and human resources.

Accordingly, in the state of the art there has been a need to create a device for automated construction of buildings using building blocks, which is more efficient than known devices.

Essence of a utility model

This utility model is aimed at creating devices for the automated construction of structures, including the construction of buildings, that make it possible to eliminate at least some of the above-mentioned disadvantages of the prior art.

In particular, a device for erecting structures using building blocks is proposed, containing:

platform;

a tower crane mounted on a platform and comprising a tower, a boom mounted on the tower, and a trolley mounted on the boom;

a conveyor line comprising a vertical tower conveyor connected to the tower and a vertical cart conveyor connected to the cart; And

a building block installation device connected to the cart conveyor;

wherein the trolley is configured to move horizontally along the boom,

wherein the conveyor line is configured to move the building block from the entrance at the base of the tower to the exit at the building block installation device, and

wherein the device for installing the building block is configured to capture the building block at the exit of the conveyor line and install it on the structure being built.

In one embodiment, the cart conveyor is mounted within a cart conveyor housing that is attached to the cart.

In one embodiment, the cart conveyor body is configured to move vertically relative to the cart.

In one embodiment, the cart is mounted on the side of the boom and is movable at the side of the boom, and the cart conveyor body is movably coupled to the frame of the cart and is movable vertically at the side of the boom.

In one embodiment, the vertical tower conveyor is installed inside the tower.

In one embodiment, the conveyor line further comprises a horizontal boom conveyor attached to the boom.

In one embodiment, the horizontal boom conveyor is mounted within the boom.

In one embodiment, the device further comprises:

a solution delivery system comprising pipelines installed along a conveyor line; And

a solution application device connected to the cart conveyor body and configured to apply the solution obtained through the solution delivery system to the building block before its installation on the structure being built.

In one embodiment, the cart conveyor is mounted within a cart conveyor body that is attached to the cart and is movable vertically relative to it;

vertical tower conveyor is installed inside the tower;

the conveyor line further comprises a horizontal boom conveyor mounted inside the boom;

The tower, boom and body of the cart conveyor contain windows designed to transfer the building block from one conveyor to another.

In one embodiment, the device further includes L-shaped grippers for transferring the building block from one conveyor to another.

In one embodiment, windows are located on the boom side of the tower, on the boom side of the cart conveyor, and on the boom side of the cart conveyor body.

In one embodiment, the boom is configured to move vertically along the tower.

In one embodiment, the tower is movable to allow horizontal movement of the boom.

In one embodiment, the tower is rotatable about its axis on a turntable.

In one embodiment, the platform on which the tower is mounted is movable along the surface of the earth.

In one embodiment, the tower crane is foldable, the tower is foldable relative to the platform, the boom is foldable relative to the tower, the boom contains two sections that are foldable relative to each other, the boom conveyor contains two conveyors, each of which is installed inside the corresponding boom section.

Technical result

This utility model provides increased efficiency of devices for automated construction, including increased reliability, safety and service life of the device itself for erecting structures, increased safety and speed of construction, increased speed and accuracy of installation of a building block, and also provides the ability to use larger building blocks and the possibility of constructing larger structures, as well as buildings of different heights, decorative and protruding structures.

These and other advantages of the present utility model will become apparent upon reading the following detailed description with reference to the accompanying drawings.

Brief description of drawings

In FIG. 1-2 shows the design of a building construction system with the boom in the upper position.

In FIG. 3-4 shows the design of a building construction system with the boom in the down position.

In FIG. Figure 5 shows an example of using a building construction system as a traditional tower crane.

It should be understood that the figures may be presented schematically and not to scale and are intended primarily to enhance the understanding of the present utility model.

Detailed description

Description of the system design

Further with reference to Fig. 1-4, the design of the building construction system 100 according to the present utility model will be discussed in detail.

It should be noted that the proposed system is mainly referred to in this document as a building construction system, but in general it is suitable for the construction of other structures that can be assembled using building blocks.

As shown in FIG. 1-4, the main element of the system 100 is a device 110 for erecting structures, which is a tower crane 1 with a number of modifications made to it. The crane 1 contains a support 2, a platform 3 with a tower 4, a boom 6 mounted on the tower 4, and a trolley 7 mounted on the boom 6. Also, the device 110 contains a conveyor line 20 (or a conveyor line system 20) containing a vertical tower conveyor 10, connected to the tower 4, and a vertical cart conveyor 14 (not shown in the drawings) attached to the cart 7, and a building block installation device 9 connected to the cart conveyor 14. The trolley 7 can move horizontally along the boom 6, the conveyor of the trolley can move vertically relative to the trolley. The conveyor line 20 is designed to receive a building block at the entrance of the tower conveyor 10 at the base of the tower 4 and move the building block to the exit of the conveyor 14 of the cart at the device 9 for installing the building block. The building block installation device 9 can pick up a building block at the exit of the conveyor line 20 and install it on the structure to be erected.

The structure of the tower crane 1, including the support 2, platform 3, tower 4, boom 6 and trolley 7, is generally known to a person skilled in the art and will not be described in detail herein, except for those features that are inherent in the present utility model .

For example, tower 4 has a metal body (or frame) in the form of a vertically elongated rectangular parallelepiped (columns, trusses, etc.), and boom 6 has a metal body (or frame) in the form of a horizontally elongated rectangular parallelepiped (console, truss, etc.) .d.). The exact shape of the tower and boom depends on the requirements of the particular application - for example, the cross-section of the tower and boom may be square, rectangular, triangular, etc. The tower may contain one section or several interconnected sections. The boom may contain one section or several interconnected sections. The crane can be top-mounted or top-less. The crane can be stationary or mobile. The movement of the crane can be performed, for example, by rotating around its axis on the turntable 3 or by moving along rail tracks laid on the ground.

The boom 6 can be movably or fixedly attached to the tower 4 in its upper part. The boom can be supported by a suspension (brace), made in the form of rigid rods or flexible connections (rope pulleys), or by other methods of fastening, such as direct installation on the top of the tower. The crane may or may not include a counter-boom. The boom can perform horizontal movement - for example, due to the rotation of the tower or the movement of the tower on rails.

The cargo trolley 7 has a frame that is mounted on the boom 6 and can be moved horizontally along the boom, for example, using rollers, wheels, etc. along the guides on the boom.

Conveyor line 20 includes at least a vertical tower conveyor 10 and a vertical cart conveyor 14. Vertical conveyor can also be interchangeably called as elevator conveyor, vertical conveyor, etc. A vertical conveyor contains horizontal platforms (for example, shelves or cradles) on which the load is installed and which move vertically along the axis of the conveyor. Specifically, the vertical tower conveyor moves vertically along the tower, and the vertical cart conveyor moves vertically relative to the cart. It should be understood that the indication "vertical" indicates the general direction of movement, but a slight deviation from the vertical is acceptable and still benefits from the proposed solution. In addition, the expression “the conveyor is moving” implies that the load-bearing elements of the conveyor are moving, that is, in the above example of a vertical conveyor, the shelves or cradles that are intended to carry the load are moving vertically (i.e. up and down).

In one embodiment, the tower conveyor 10 may be installed within the tower 4, that is, within the body or frame of the tower 4. For example, if the tower 4 has a truss-like body, then the conveyor 10 is located in the space between the truss rods, or if the tower 4 has a body in the form of a column, then the conveyor 10 is located in the space between the walls of the column. In another embodiment, the tower conveyor 10 can be installed outside the tower 4, that is, attached to it from the outside in the form of a remote element. Likewise, the cart conveyor 14 may be mounted to extend within the frame or body of the cart 7 (that is, the frame of the cart 7 completely encloses the cart conveyor 14 in cross-section), or the cart conveyor 14 may be attached to the cart 7 externally in this manner. that the frame of the trolley 7 has contact in the cross section only with part of the conveyor 14 of the trolley.

A building block (not shown in the drawings) is used as a load in the conveyor. As used herein, a building block may also be referred to interchangeably as simply "block" unless the context clearly implies otherwise. Accordingly, the conveyor line 20 receives the building block at the entrance of the tower conveyor 10 at the base of the tower 4 and moves it to the exit of the cart conveyor 14 at the building block installation device 9.

In one embodiment, the transfer of a building block from the tower conveyor 10 is performed directly into the cart conveyor 14, for this the cart 7 must move along the boom 6 to the tower 4, and using the block transfer device 15 (for example, a gripper located in the cart conveyor 14, or a pusher located in the tower conveyor 10) the block, raised to the level of the boom 6, must be moved to the conveyor 14 of the cart.

In another embodiment, the conveyor line 20 further includes a horizontal boom conveyor 11 coupled to the boom 6. By way of example, but not limitation, the horizontal conveyor 11 may be configured as a belt conveyor, roller conveyor, plate conveyor, scraper conveyor, etc. In this embodiment, the building block is moved using a tower conveyor to the boom, the block is transferred using a block transfer device (for example, a gripper) to the boom conveyor, then the block is moved using a boom conveyor to a cart, and using a block transfer device (for example, a gripper) in the trolley conveyor) the block from the boom conveyor moves to the trolley conveyor.

In other embodiments, the conveyor line 20 may additionally contain other conveyors necessary for the automatic movement of the building block - for example, a receiving horizontal conveyor, which is used to load the blocks into the tower conveyor.

A building block installation device 9 is connected to the trolley conveyor 14. The building block installation device 9 includes a gripper with which it can pick up a building block at the exit of the conveyor line 20 (ie from the cart conveyor 14) and install it on the structure to be erected. The building block installation device may be an arm-shaped manipulator or an industrial robot of other suitable design for moving the building block from the cart conveyor to a point where the block is installed on the structure being built in the desired position. The gripper may be a vacuum, clamping (mechanical) or other gripper suitable for securely holding and moving the building block.

In order to be able to lay building blocks at different heights, various solutions can be used. In one embodiment, the boom 6 can move vertically along the tower 4, and in this case, the cart conveyor 14 and the building block installation device 9 move with it to different heights. In another embodiment, the cart conveyor body 8 can move vertically relative to the cart 7, thereby moving the building block installation device 9 to different heights. An option combining both of these solutions is also possible.

The building block is made of the material necessary for the construction of the required structure - for example, concrete, foam concrete, aerated concrete, brick, etc. The shape of the building block is selected according to the requirements of the specific application and can be, for example, a parallelepiped, cube, triangular prism, etc. To ensure that the blocks are held on top of each other in the structure being built, various solutions can be used: for example, vertical reinforcement can be installed onto which the blocks can be placed through holes in them; or the blocks may have reciprocal projections, recesses and other structural elements, when mating which the blocks do not move relative to each other; or the blocks can be held together with mortar/glue; or any combination of these solutions may be used.

In an embodiment that uses a block bonding solution, the proposed valve 1 further includes a solution delivery system 30 (not shown in the drawings) comprising conduits 31 installed along the block delivery path to the block installation device 9, that is, approximately where There is a system of 20 conveyor lines, namely along the tower 4, the boom 6 and the conveyor 14 of the cart. Pumps 32 of the solution delivery system 30 can be installed, for example, at the base of the tap 1. Also, the tap 1 includes a solution application device 16 attached to the cart conveyor body 8 and designed to apply the solution obtained through the solution delivery system 30 to the building block in front of it. installation on the structure being built. Which sides of the block should the solution be applied to and how the solution is applied depends on the specific application. In yet another embodiment, the solution application device 16 may apply the solution not to the block, but to the surface where the block will be installed. It is also possible to use both of these options simultaneously, when the solution is applied both to the block and to the place of its installation.

Accordingly, a device for erecting building structures is provided, made in the form of a tower crane with a number of modifications made to it. The building block is fed to the entrance of the conveyor line 20 at the base of the tower 4, is moved by the tower conveyor 10 to the boom level 6, where it is transferred to the cart conveyor 14 directly or by passing through the boom conveyor 11, then moved by the cart conveyor 14 to the exit of the conveyor line 20 , where it is captured by the building block installation device 9 and installed in the required position on the building structure being erected. This covers a large space within which the possibility of automatic erection of structures is ensured, since, as stated above, the proposed device 110 provides for the possibility of moving the boom and conveyor of the cart both horizontally and vertically, thereby ensuring the delivery of the building block installation device , as well as the building block itself to any point within this space.

Compared to known solutions based on multi-arm manipulators, the present utility model is a tower crane with increased structural rigidity, which improves the reliability, safety and service life of the device for constructing structures.

Elimination of non-rectangular bends of the conveyor along the path of moving a building block from input to output simplifies the design of transitions, eliminates “bottlenecks” (places with slow block movement that significantly affect the overall flow speed), increases the capacity of the conveyor line system, increases the speed of movement of building blocks along a conveyor line system, preventing damage and loss of building blocks in transit and associated construction delays.

Minimizing the number and length of the arms of the manipulator (device for installing the building block) ensures increased rigidity of the structure, reduced probability of deviation of the position of the building block when it is captured, moved and installed, and increased accuracy of installation of the building block.

In general, the speed of installation of the building block is increased, since the dependence on weather conditions, on the design of transitions, and on the swing of the shoulders is reduced.

Also, in this useful model, an increase in the permissible maximum size and weight of the block is achieved to values inaccessible for effective long-term work by one person, that is, if you entrust the laying of the same blocks to a builder, he will get tired very quickly and will need rest or replacement, whereas the proposed device 110 is capable of continuously performing the necessary actions. Moreover, the larger the block, the faster the structure being built is built. This level of automation increases productivity and speed of construction.

Due to the presence of the trolley conveyor, the boom does not hang directly near the structure under construction, which ensures the possibility of personnel being in the area under the boom, the permissibility of some sagging of the boom without a negative impact on the structures under construction, on personnel and on the progress of construction, as well as the possibility of constructing different-height, decorative and protruding designs.

The combination of height-movable booms and conveyor carts makes it possible to install blocks in an uneven height order and increase construction speed.

Although the boom can move vertically, its movement is a relatively resource-intensive process, so the option with a height-movable cart conveyor body reduces the number of boom movements in height, which provides increased construction speed and increased service life of the proposed device.

Actuating mechanisms (for example, mechanisms that drive certain elements of the device proposed in this utility model for the construction of structures or perform any actions - in particular, a tower rotation mechanism, a boom movement mechanism, a trolley movement mechanism, a trolley conveyor housing movement mechanism , solution application device, block transfer device, block setting device, etc.) require power supply and control, so the device also includes a cable network 40 (not shown in the drawings). Power cables 41 and control cables 42 can be laid outside or inside the tower, boom, or cart conveyor body. Cables 41, 42 can be laid in flexible or rigid cable channels 43, busbars, cable chains, cable layers, energy chains, cable tracks, etc.

In one embodiment, the cable network 40 contains flexible cable channels 43 and is installed adjacent to the solution delivery system 30 containing flexible conduits 31 along the block delivery path to the block installation device 9 inside the tower 4, boom 6 and cart conveyor body 8. This reduces the required space, simplifies maintenance, and provides increased protection for cables and pipes. Moreover, to enhance this effect, cables 41, 42 and pipes 31 can be laid in the same cable channel 43, further simplifying the design and assembly of device 110.

For an embodiment in which the conveyors are located within the tower, boom and cart conveyor body, the movement of the building blocks occurs within the equipment, which protects them from accidental fall and provides an additional increase in construction safety.

To ensure the transfer of blocks along a conveyor line system (from one conveyor to another), to it (for example, from outside to a tower conveyor) and from it (for example, from a cart conveyor to a block installation device), the present utility model proposes that a tower, the boom and body of the cart conveyor contained windows 12. Window 12 is an opening of a size and shape sufficient to transfer a building block through it. For example, window 12 may be a rectangular opening in the wall of a tower. Also, the role of windows 12 can be played by the empty spaces between the rods in the side parts of the truss.

The transfer of a building block from one conveyor to another can be accomplished, for example, using a simple L-shaped gripper. Such a design may be quite sufficient, since there is no inclination of the conveyors and the building block is almost always located essentially parallel to the ground along the path of its movement.

Windows 12 may be located on the boom side of the tower, on the boom side of the cart conveyor, and on the boom side of the cart conveyor body. In this case, the boom, moving along the tower, takes a position in which the window on the tower is compared, depending on the design, with a window on the side of the boom or with a window on the end of the boom facing the tower, and the block moves freely from the tower window to the boom . Similarly, the movement of the trolley along the boom and the conveyor body of the trolley relative to the trolley is carried out in such a way as to connect the window on the boom and the window on the conveyor body of the trolley.

This utility model provides the ability to adjust the size of windows on the tower and boom and the distance between them at the crane design stage, depending on the size and shape of the block, on the design features of the devices for transferring blocks between conveyors, on the sizes, shapes and design features of the tower, boom itself, trolleys, trolley conveyor bodies, etc. Windows can be located at the same distance from each other or at different distances. For example, as shown in FIG. 1-5, for technological reasons there may be gaps in which windows are missing, but this does not prevent the installation of blocks at these levels, because the cart and boom (and in some embodiments, the cart conveyor body) are movable and easily compensate for such gaps. This ensures expanded possibilities for the use of building blocks of various shapes and sizes, as well as expanded opportunities for the use of measures to increase the strength of the crane structure and the fastening and protection of pipelines and cable lines, increasing construction safety.

It should be noted that the boom has a minimum lift height limitation due to both the tower design and the high likelihood of ground obstructions, but the cart's vertical conveyor compensates for this so there is no need to lower the boom too low (see examples). in Fig. 3-4). In addition, it provides expanded capabilities for designing the platform and folding mechanism at the base of the tower, providing the ability for personnel to be on the ground in the boom coverage area, as well as the ability to erect structures starting directly from the lowest levels: from the ground, from the foundation, from the slab, etc. d.

If necessary, it is possible to place several cranes side by side to work together in such a way that they will partially overlap in their area of action, but will not interfere with each other, because the booms and conveyors of the trolleys are height-adjustable.

Control

Control of the mechanisms, components, elements, modules and blocks of the proposed device 110 can be implemented in the form of completely autonomous control, when all actions are performed by the device 110 automatically using the control module 50 (not shown in the drawings), executing the appropriate software control algorithms, or partially by the method remote control with the participation of an operator - for example, when it is necessary to resolve an emergency situation or when the device 110 has difficulty making a decision.

To improve control efficiency and receive feedback, various elements of the proposed device 110 can be equipped with sensors 51 (not shown in the drawings) that record certain environmental parameters or actions performed, such as a wind speed sensor (anemometer), wind direction sensor (room meter) ), air humidity sensor (hygrometer), air temperature sensor (thermometer), gyroscope, accelerometer, magnetometer, etc. For example, the block installation device 9 may contain a camera, and by automatically analyzing the image from the camera, the control module 50 can determine the exact location of the block installation and generate control signals for the actuators to move and position the block with high accuracy. Data from sensors 51 can be taken into account when performing certain actions - wind speed (for example, to correct the movements of the block installation device 9), air temperature and humidity (for example, to assess the rate of hardening of the solution and correct the composition of the applied solution), etc.

The control module 50 contains a processor 52 and a memory 53 containing programs and data stored therein for controlling the processes performed during the operation of the structure construction device 110 proposed in this utility model. For example, control module 50 may contain and execute a block installer program that specifies the order and location of block installations to control the movement of the blocks, tower, boom, cart, and cart conveyor body, as well as the actions of the block installer to deliver and install the block at a desired location. point within the workspace.

Also, the control module 50 contains means 54 for receiving signals from sensors and mechanisms and means 55 for transmitting signals for monitoring and transmitting control commands. The control module 50 may be centralized and collect all data at one point, or it may be distributed, in which case some or all of the engines may contain their own control submodules.

If necessary, some or all of the control cables 42 can be replaced by wireless data transmission means. In one non-limiting example, control module 50 may be located on a platform at the base of the tower and include a wireless communications controller 56 (e.g., Wi-Fi) and antenna 57 to wirelessly exchange data and control signals with sensors and actuators. This can reduce the size of the cabling network, as well as avoid the cost of protecting control signals from interference created by power cables 41. In another example, the control module 50 can be located on a platform at the base of the tower, a cable can be laid from the control module 50 in the tower to the boom 42 controls, and further in the boom there may be a wireless controller 56 and an antenna 57. This may allow almost all elements of the proposed device 110 to be kept in line of sight from the antenna, reduce the maximum required wireless range and avoid obstacles to the wireless signal, such as as erected walls and ceilings. In yet another embodiment, the control module 50 may be located on a platform at the base of the tower and contain a wireless controller 56 and an antenna 57, and a repeater 58 may be located on or in the boom in the area near the tower. This may allow for a robust monitoring and control network. without the use of control cables.

Extended capabilities

Since the proposed utility model is a crane, in addition to moving and installing blocks, it can actually retain the properties of a crane and move other loads, such as floors, using the traditional method of a tower crane. To do this, the trolley 7 with the trolley conveyor 14, the block installation device 9 and the solution application device 16 is shifted to its extreme position near the tower. After this, it is possible to use the carriage 17 to carry loads using a hook (see example in Fig. 5). This increases automation and speed of construction and reduces the amount of additional equipment required. Carriage 17 does not need to be specially installed on the boom - when it is not in use, it can be in its extreme position on the boom. A cable-stayed crane system can be used to move the carriage 17.

If necessary, the guides and travel paths for the carriage 17 and the carriage 7 can be formed without mutual overlap so that they do not interfere with each other. The trolley 7 can be mounted on the side of the boom 6 and can be moved on the side of the boom 6, and the cart conveyor body 8 can be movably attached to the frame of the trolley 7 and can be moved vertically on the side of the boom 6. This allows not only to separate the paths of movement of the trolley 7 and the carriage 17, but also to provide the possibility of simplified folding of the boom 6 without dismantling the trolley 7 and the body 8 of the trolley conveyor.

Also, the capabilities of moving cargo can be used to move ready-made PPVC modules (pre-assembled, finished volumetric structures) or other similar ready-made structures that do not require additional processing and allow increasing the speed of construction.

In addition, it was indicated above that the proposed device 110 may include a solution delivery system 30. The mortar delivery system 30 can be used not only for delivering and applying mortar to a building block, but also for other purposes, such as pouring floors or reinforcement belts or 3D printing. In these embodiments, associated equipment such as a gun, print head, etc. must be located at the exit of the solution delivery system (i.e., at the bottom of the cart conveyor body). Such equipment can be mounted in addition to the existing one (that is, the solution application device and the block installation device) or instead of it. Equipment can be changed manually or automatically according to principles similar to the automatic tool change of an industrial robot (for example, using a tool store for a milling robot). Thus, the proposed device 110 has the ability to increase automation at all stages of building construction, reducing the required personnel and equipment.

Scenarios are also possible in which variations of monolithic block construction can be implemented. For example, a monolithic part of a structure (frame) is poured using a mortar delivery system, and then the necessary external and internal walls are laid out from blocks using a block installation device. Due to the moving boom and the body of the trolley conveyor, it is possible to lay blocks “in the depths” of the floor, when the frame is already poured and the boom should be above it.

As shown in FIG. 1-5, the proposed construction system 100, in addition to the device 110 described above, may include an automated truck unloading system 120 that automatically or automatically removes building blocks from the truck and moves them to the input of the construction device, from where they are then moved to laying places along a system of conveyor lines.

Thus, the present utility model has a design that allows, with increased efficiency and a higher degree of automation, to implement a variety of construction technologies for the construction of both small and relatively large building forms and structures (including multi-story buildings), without requiring a large number of additional equipment.

Example

Next, a specific non-limiting example of the design of a building construction system according to the present utility model is given with reference to FIG. 1-4.

In this example, the structure erection system 100 includes a truck unloading system 120 and a structure erection device 110. The truck unloading system 120 is made in the form of a portal robot 18. The device 110 for erecting structures contains a tower crane 1. Tower crane 1 contains: a fixed support 2, a rotating platform 3 with a tower 4, on which a holder 5 is installed and a lifting boom 6 suspended on cable-stayed guys, spacers, one end connected to the yoke 5, and a rope-block system 13 for moving the boom 6, connecting the yoke 5 to the head of the tower 4. The rope-and-block system 13 for moving the boom 6 (the boom pulley 6) includes blocks, a rope and a drive . Boom 6 includes front and rear beams (sections), connected to each other and suspended on additional cable stays using a stand.

The device 110 for erecting structures also contains a cart 7 mounted on the boom 6 with the possibility of horizontal movement along the boom 6, and a cart conveyor body 8 attached to the cart 7 with the possibility of vertical movement relative to the cart 7.

Tower 4 is made in the form of a rectangular column. The boom 6 and the body 8 of the trolley conveyor also have a rectangular cross-section. The tower 4, boom 6, and cart conveyor body 8 comprise longitudinally arranged rectangular windows 12. Windows 12 are located on the boom side of the tower, on the boom side facing the cart conveyor, and on the boom side of the cart conveyor body.

The structure erection apparatus 110 also includes a conveyor line system 20 comprising a vertical tower conveyor 10 mounted within the tower 4, a horizontal boom conveyor 11 mounted within the boom 6, and a vertical trolley conveyor 14 mounted within the trolley conveyor housing 8.

The construction apparatus 110 also includes a solution delivery system 30 containing flexible conduits 31 and a cable network 40 containing power cables 41 and control cables 42. Cables 41, 42 and pipelines 31 are laid in flexible cable channels 43 along a system 20 of conveyor lines.

The device 110 for erecting structures also contains a control module 50 installed in the base area of the tower 4, and sensors 51 installed on the elements of the device 110.

The structure erection device 110 also includes a mortar application device 16 and a building block installation device 9 connected to the cart conveyor body 8.

Description of the system operation

The following is a description of the operation of the system 100 for constructing structures according to the present utility model with reference to the above specific non-limiting example of a structure.

Truck 19 with building blocks is brought into the truck unloading system 120. The portal robot 18 removes the building blocks from the truck 19 and moves them to the entrance of the conveyor line system 20 at the base of the tower 4.

To ensure delivery of the block to the desired point in the working space, the tower 4 performs the necessary rotation on the turntable 3, the boom 6, moving along the tower 4 to the required height, takes a position in which the nearest upper window 12 on the tower 4 is compared with the window at the end of the boom 6 , the trolley 7 moves along the boom 6 and the trolley conveyor body 8 moves relative to the trolley 7 in such a way as to dock together the window 12 on the boom 6 closest to the required point and the window 12 on the trolley conveyor body 8.

The conveyor line system 20 moves the building block to the exit at the building block installation device 9. In particular, the vertical tower conveyor 10, having received the block at the entrance at the base of the tower 4, moves it to the height at which the boom 6 is located; then, using an L-shaped gripper 15, the block is moved through the window 12 on the tower 4 into the internal space of the boom 6 onto the horizontal boom conveyor 11; the boom conveyor 11 moves the block to the level of the trolley 7; then, using the L-shaped gripper 15, the block is moved through the window 12 on the boom 6 and the window 12 on the cart conveyor body 8 onto the cart conveyor 14; the trolley conveyor 14 moves the block to the exit.

The mortar application device 16 applies the mortar obtained through the mortar delivery system 30 to the building block before it is installed on the structure being built.

The building block installation device 9 grabs the building block and then installs the building block on which the solution is applied to the required position with the required orientation to the structure being built. Before this, if necessary, the tower 4, boom 6, cart 7 and cart conveyor body 8 can perform additional movements so that the building block installation device 9 can install the block at the desired point.

While the solution is being applied and one block is installed, the conveyors can be used to move other blocks.

Way

Next, a method for constructing structures using building blocks, performed by a device according to this utility model, will be briefly described. A special case of the method is the method of building buildings.

It should be understood that this method corresponds to the above-described functions performed by each of the elements of the proposed system 100 and device 110, and if any information is not disclosed in relation to the method, but is disclosed in relation to the system and device, and vice versa, it is not intended that the system, device or method may not perform this function or step, but is done only to avoid cluttering the description with repetition of details.

The method for erecting structures using building blocks includes a step in which the building block is supplied in the area of the base of the tower crane tower into a vertical tower conveyor installed inside the tower. Then, the building block is moved vertically using the tower conveyor, and the building block is transferred from the tower conveyor to the horizontal boom conveyor installed inside the tower crane boom through the windows made in the tower and boom. After this, the building block is moved horizontally using the boom conveyor, the building block is transferred from the boom conveyor to the vertical cart conveyor installed inside the cart conveyor body attached to the cart mounted on the boom through windows made in the boom and the cart conveyor body. Next, the building block is moved vertically downwards using the cart conveyor, the building block is picked up from the cart conveyor and the building block is installed on the structure being built using a building block installation device attached to the body of the cart conveyor. Optionally, prior to installation, mortar is applied to the building block using a mortar applicator attached to the cart conveyor body.

Application

Devices according to this utility model can be used for highly automated and even fully automatic construction of buildings. Also, if necessary, it is possible to use this utility model in the construction of other suitable building structures.

Additional implementation features

It should be understood that although terms such as "first", "second", "third" and the like may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, areas, layers and/or sections should not be limited to these terms. These terms are used only to distinguish one element, component, area, layer or section from another element, component, area, layer or section. Thus, a first element, component, region, layer or section may be called a second element, component, region, layer or section without going beyond the scope of the present utility model. As used herein, the term “and/or” includes any and all combinations of one or more of the respective items listed. Elements referred to in the singular do not exclude the plurality of elements unless specifically stated otherwise.

The functionality of an element specified in the description or formula of a utility model as a single element can be implemented in practice through several components of the device, and vice versa, the functionality of elements specified in the description or formula of a utility model as several separate elements can be implemented in practice through a single component .

The design of the elements of the proposed device is known to those skilled in the art and is not described separately in this document unless otherwise indicated. The elements of the device can be made of any suitable material. These component parts can be manufactured using known methods including, by way of example only, machining, investment casting, and crystal growth. Assembly, connection and other operations as described herein are also within the knowledge of one skilled in the art and are therefore not described in detail herein unless otherwise indicated.

Although exemplary embodiments have been described in detail and shown in the accompanying drawings, it is understood that such embodiments are illustrative only and are not intended to limit the present utility model, and that the present utility model should not be limited to the specific arrangements and structures shown and described. , since a person skilled in the art, based on the information set forth in the description and knowledge of the prior art, may be aware of various other modifications and embodiments of the utility model that do not go beyond the essence and scope of this utility model.

Claims (28)

1. A device for erecting structures using building blocks, containing: platform; a tower crane mounted on a platform and comprising a tower, a boom mounted on the tower, and a trolley mounted on the boom; a conveyor line comprising a vertical tower conveyor connected to the tower and a vertical cart conveyor connected to the cart; And a building block installation device connected to the cart conveyor; wherein the trolley is configured to move horizontally along the boom, wherein the conveyor line is configured to move the building block from the entrance at the base of the tower to the exit at the building block installation device, and wherein the device for installing the building block is configured to capture the building block at the exit of the conveyor line and install it on the structure being built. 2. The device according to claim 1, in which the cart conveyor is installed inside the body of the cart conveyor, which is attached to the cart. 3. The device according to claim 2, in which the cart conveyor body is designed to move vertically relative to the cart. 4. The device according to claim 3, in which the trolley is mounted on the side of the boom and is movable on the side of the boom, and the conveyor body of the trolley is movably attached to the frame of the trolley and is configured to move vertically on the side of the boom. 5. The device according to claim 1, in which the vertical tower conveyor is installed inside the tower. 6. The apparatus of claim 1, wherein the conveyor line further comprises a horizontal boom conveyor connected to the boom. 7. The device according to claim 6, in which the horizontal boom conveyor is installed inside the boom. 8. The device according to claim 6, additionally containing: a solution delivery system comprising pipelines installed along a conveyor line; And a solution application device connected to the cart conveyor body and configured to apply the solution obtained through the solution delivery system to the building block before its installation on the structure being built. 9. The device according to claim 1, in which the cart conveyor is installed inside the body of the cart conveyor, which is attached to the cart and is configured to move vertically relative to it; vertical tower conveyor is installed inside the tower; the conveyor line further comprises a horizontal boom conveyor mounted inside the boom; The tower, boom and body of the cart conveyor contain windows designed to transfer the building block from one conveyor to another. 10. The device according to claim 9, additionally containing L-shaped grippers for transferring the building block from one conveyor to another. 11. The apparatus of claim 9, wherein the windows are located on the side of the tower facing the boom, on the side of the boom facing the conveyor of the cart, and on the side of the body of the conveyor of the cart facing the boom. 12. Device according to any one of paragraphs. 1-11, in which the boom is configured to move vertically along the tower. 13. Device according to any one of paragraphs. 1-11, in which the tower is made movable to allow horizontal movement of the boom. 14. The device according to claim 13, in which the tower is rotatable about its axis on a turntable. 15. The device according to claim 13, in which the platform on which the tower is installed is configured to move along the surface of the earth. 16. Device according to any one of paragraphs. 6-11, in which the tower crane is foldable, the tower is foldable relative to the platform, the boom is foldable relative to the tower, the boom contains two sections that are foldable relative to each other, the boom conveyor contains two conveyors, each of which installed inside the corresponding boom section.