TWI593863B - System and method for assembly of steel structure - Google Patents

Description

Steel structure joint system and method

The present invention relates to a steel structure joint system, and more particularly to a steel structure joint system that can be dominated by ground workers.

Steel beam assembly is always a highly critical, difficult to implement and highly technical project for high-rise steel construction. Steel beam assembly affects overall construction progress and the assembly process involves safety. Multiple face-to-face problems such as the efficiency of lifting and steel structure lifting.

Traditional steel beam assembly requires workers to stand on unfinished structures to assist in the assembly of steel structural members manually. Workers use traction lines under the rigging beam to adjust and correct steel beams and horns. The position of the bolt holes between the work, which needs to be carried out in the air, is very challenging and unsafe.

Usually steel beam assembly involves the erection and assembly of steel beams, which occupies a relatively high proportion of cost in steel structures, but the use of such high-tech steel beam assembly is very labor-dependent, 1 (a) ~ Figure 1(d) shows the process of erection and assembly of steel beams in the prior art. First, the tower crane first lifts and transports the steel beam to a predetermined assembly position, as shown in Figure 1(a)~1 (b) As shown in the figure, the constructor may then pull the steel beam to the intended assembly position by means of his own hands, cables, or even his own feet, as disclosed in Figure 1(c), usually this step It is the most time-consuming step and the most difficult step to complete. The process poses a great threat to the safety of the construction workers. Finally, the construction personnel use steel plates and bolts to bolt and join the positioned steel beams to the fixed-point steel. Constructed as disclosed in Figure 1(d).

In the above-mentioned conventional steel beam assembly process, the construction personnel must stand at a high place, and only a very narrow footing, the body is tied with a simple safety line, this environment will pose a great threat to the personal safety of the construction personnel, once Accidents will cause irreparable regrets and injuries; in addition, this conventional steel beam assembly, in addition to personal safety concerns, is difficult to ensure consistent and accurate assembly, since the entire process relies on manual methods. Degree, quality and efficiency. Therefore, how to apply modern technology, minimize the human participation rate in the steel beam assembly process, and improve assembly accuracy, assembly quality and assembly efficiency, etc., has become an important research and development theme.

For the sake of his position, the applicant has been able to overcome the above shortcomings in the light of the shortcomings of the prior art, through careful testing and research, and the spirit of perseverance, and finally conceived the "steel structure joint system and method" of the present case. Description.

In view of the shortcomings in the prior art, the present invention proposes a steel structure joint system capable of overcoming various shortcomings of the prior art. The steel structure joint system is applied to the joint between the movable steel beam and the fixed steel structure, including: active a guiding device disposed on the movable steel beam for adjusting a position of the movable steel beam relative to the fixed steel structure; a registration mark disposed on the fixed steel structure; and an image sensing device disposed on the On the movable steel beam, the marked image of the alignment mark is captured and transmitted to the ground operator for the ground operator to operate the active guiding device to adjust the position according to the captured image captured, and the position is adjusted. Engagement takes place.

The invention further provides a steel structure joining method, which is applied to the joint between the movable steel beam and the fixed steel structure, comprising: setting an alignment mark on the fixed steel structure; and providing an image sensing device on the movable steel beam and actively guiding The device is configured to adjust a position of the movable steel beam relative to the fixed steel structure, the image sensing device is configured to capture the marked image of the alignment mark; and dynamically respond according to the feedback of the marked image, and operate immediately The active guiding device adjusts the position to facilitate the engagement.

200‧‧‧Active guiding device

202‧‧‧Protection cabinet

204‧‧‧Power supply

206‧‧‧Drive motor

208‧‧‧Drive Module

210‧‧‧Inertial flywheel

212‧‧‧Micro Control Module

214‧‧‧Wireless communication module

216‧‧‧ Align cursor generator

218‧‧‧Connector

250‧‧‧Image sensing device

300‧‧‧Active steel beams

310‧‧‧Steel cable

Edge of 312, 314‧‧

320‧‧‧ hook

400‧‧‧Image sensing device

500‧‧‧ alignment mark

600‧‧‧Fixed steel structure

610‧‧‧Connector

612, 614‧‧‧ joint edge

620‧‧‧ steel plate

630‧‧‧ jack

640‧‧‧Bolt holes

700‧‧‧Steel joint system

810‧‧‧ bolt

820‧‧‧ nuts

822‧‧‧Slide section

824‧‧‧Assembly Department

I _w ‧‧‧Inertial flywheel inertia

I _b ‧‧‧active steel beam inertia

ω _w ‧‧‧Inertial flywheel angular velocity

ω _b ‧‧‧active steel beam angular velocity

ω _m ‧‧‧Maximum speed per minute

α ‧‧‧Acceleration

t _a ‧‧‧Acceleration time

d ‧‧‧The distance between the center point of the lens of the image sensing device and the movable steel beam

δ ‧‧‧The distance between the movable steel beam and the steel plate

L ‧‧‧The distance between the center of the lens of the image sensing device and the fixed steel structure

B ‧‧‧ Width of the alignment mark

△ ‧ ‧ length of the alignment mark

θ ‧‧‧ swing angle of movable steel beam

l ‧‧‧ cable length of tower crane

Step 1310‧‧‧ Lifting steel beams

Step 1320‧‧‧ Implement vertical alignment of the movable steel beam

Step 1330‧‧‧ Determine whether the movable steel beam is lifted to the predetermined position, if not, return to step 1320, if yes, proceed to step 1340

Step 1340‧‧‧Rotating movable steel beam

Step 1350‧‧‧ Implement the horizontal alignment of the movable steel beam

Step 1360‧‧‧ Determine if the movable steel beam is rotated to the predetermined position, if not, return to step 1350, and if yes, proceed to step 1370

Step 1370‧‧‧ Implementing the bolting of the movable steel beam

Step 1380‧‧‧ Determine whether the movable steel beam is bolted, if not, return to step 1370, if yes, end the steel joint joining method

Step 1410‧‧‧Set a pair of mark on the fixed steel structure

Step 1420 ‧ ‧ an image sensing device and an active guiding device are disposed on the movable steel beam, the active guiding device is configured to adjust a position of the movable steel beam relative to the fixed steel structure, and the image sensing device is used for 撷Take one of the alignment marks to mark the image

Step 1430‧‧‧ Dynamically operate the active guiding device to adjust the position according to the feedback of the marked image, so as to facilitate the engagement

Figures 1(a) to 1(d) illustrate the process of erection and assembly of steel beams in the prior art.

Figure 2 is a schematic view showing the structure of the active guiding device of the present invention.

Figure 3 is a schematic view showing the active guiding device of the present invention disposed on a movable steel beam.

Figure 4 is a schematic side elevational view of the steel structure joining system of the present invention.

Fig. 5 is a view showing the relationship between the parameters of the movable steel beam angular velocity ω _b , the maximum rotational speed ω _m per minute, the inertia flywheel inertia I _w , the movable steel beam inertia I _b , the acceleration α, and the acceleration time t _a .

Fig. 6 is a view showing the structure of the steel sheet of the present invention.

Fig. 7 is a view showing the alignment relationship between the image sensing device and the alignment mark of the present invention.

Figure 8 is a schematic view showing the geometric relationship between the image sensing device and the alignment mark of the present invention.

Figure 9(a) is a top plan view showing the edge pattern of the movable steel beam of the present invention.

Figure 9(b) is a side elevational view of the edge pattern of the movable steel beam of the present invention.

Figure 10(a) is a schematic view showing the structure of the movable steel beam and the steel sheet of the present invention in the alignment stage during the bolting operation.

Figure 10(b) shows the stage of the interlocking of the movable steel beam and the steel plate of the present invention during the bolting operation Schematic.

Fig. 10(c) is a view showing the structure of the movable steel beam and the steel sheet of the present invention in the alignment stage during the bolting operation along the AA' section shown in Fig. 10(a).

Fig. 10(d) is a view showing the structure of the movable steel beam and the steel plate of the present invention in the latching stage during the bolting operation along the AA' section shown in Fig. 10(a).

Figure 11(a) is a top plan view showing the structure of the nut of the present invention.

Fig. 11(b) is a schematic cross-sectional view showing the structure of the nut of the present invention taken along the AA' section of Fig. 11(a).

Fig. 11(c) is a perspective view showing the structure of the nut of the present invention.

Figure 12 is a schematic view showing the various stages of the steel structure joining method of the present invention.

Fig. 13 is a flow chart showing the steps of the first embodiment of the steel structure joining method of the present invention.

Fig. 14 is a flow chart showing the steps of the second embodiment of the steel structure joining method of the present invention.

The present invention will be fully understood by the following examples, which can be understood by those skilled in the art, but the implementation of the present invention may not be limited by the following embodiments; the drawings of the present invention are The limitations on size, size and scale are not included, and the size, size and scale of the actual implementation of the invention are not limited by the drawings of the invention.

The term "preferred" as used herein is non-exclusive and should be understood to mean "preferably, but not limited to," an open term, which does not have a limiting meaning and does not exclude other features or steps; Any steps described or recited in the book or claim may be performed in any order, and are not limited to the order recited in the claims; the scope of the invention should be determined solely by the appended claims and their equivalents The embodiment of the mode is determined; the term "comprise" and its variations appearing in the specification and the claims are an open term and are not intended to be limiting, and do not exclude other features or steps.

Please refer to FIG. 2 and FIG. 3 together. FIG. 2 is a schematic structural view of the active guiding device of the present invention. FIG. 3 is a schematic view showing the active guiding device of the present invention disposed on a movable steel beam. It is a rotation box composed mainly of inertial flywheels, which mainly uses the conservation of angular momentum to position and align the movable steel beams. The active guiding device 200 includes but is not limited to the following main Module or component: protection box 202, power supply 204, drive motor 206, transmission module 208, inertia flywheel 210, micro control module 212, wireless communication module 214, alignment cursor generator 216, and connector 218, etc. In some embodiments, the active guiding device 200 can selectively attach an image sensing device 250 outside of its protective housing 202, but the image sensing device 250 does not belong to a portion of the active guiding device 200.

The wireless communication module 214 of the active guiding device 200 receives an operation command from a ground operator by using a wireless communication method, and transmits the command to the micro control module 212, and the micro control module 212 controls the driving accordingly. The various actions of the motor 206 include, but are not limited to, actuation, forward rotation, reverse rotation, rotational speed, stop, etc., and the power supply 204 can provide the power required to drive the motor 206. The power generated by the drive motor 206 is transmitted through the transmission module 208. The inertia flywheel 210 is rotated, and each of the above modules and components is disposed in the protective case 202.

The protection box 202 of the active guiding device 200 is fixedly disposed through the connector 218 On the movable steel beam 300, the movable steel beam 300 is a steel beam to be fixed which is to be aligned and engaged with the fixed steel structure, which is suspended by the steel cable 310 on the hook 320 of the tower crane, and the tower crane will be responsible for adjustment. The vertical position of the movable steel beam 300, and the inertial flywheel 210 of the active guiding device 200 rotates to generate angular momentum, and forms a corresponding reverse angular momentum to the movable steel beam 300 to drive the movable steel beam. The 300 is rotated horizontally to adjust the position of the movable steel beam 300 on the horizontal plane.

4 is a side elevational view of the steel structure joining system of the present invention. The steel structure joining system 700 of the present invention includes, but is not limited to, an active guiding device 200, a registration cursor generator 216, a movable steel beam 300, an image sensing device 400, The alignment mark 500, the fixed steel structure 600, the joint (bull leg) 610, the steel plate 620, etc., when the movable steel beam 300 is driven by the active guiding device 200 to generate horizontal rotation, the ground operator observes the alignment cursor generator The position of the guide cursor generated by the 216 on the alignment mark 500 can grasp the displacement condition of the movable steel beam 300, and the active guiding device 200 can be operated by referring to the position on the guide cursor alignment mark 500. The movable steel beam 300 is moved to a predetermined assembly position with the tower crane.

As shown in Fig. 3, if the friction between the steel cable 310 and the tower crane hook 320 is assumed to be zero, and the influence of the wind on the movable steel beam 300 is neglected, the angular velocity of the movable steel beam 300 can be expressed as follows using the momentum conservation formula: Where I _w and I _b represent the inertia of the inertia flywheel 210 and the movable steel beam 300, respectively, and ω _w and ω _b represent the angular velocities of the inertia flywheel 210 and the movable steel beam 300, respectively.

Flywheel angular velocity ω _w 210 is generated through the active guide drive motor 200 drives the apparatus 206, which is also the maximum speed of the drive motor per minute ω _m 206 of flywheel angular velocity ω _w 210 will have two different In the speed phase, the first speed phase is an acceleration phase, and the second speed phase is an isotropic speed phase. It is assumed that during the acceleration phase, the acceleration α of the inertia flywheel 210 remains constant, and the angular velocity of the inertia flywheel 210 is ω _w = αt _a , Where t _a is the acceleration time taken to accelerate to the maximum rotational speed ω _m per minute. In the isocenter speed phase, it is assumed that the angular velocity ω _w of the inertial flywheel 210 is stably maintained at the maximum rotational speed ω _m per minute, that is, the angular velocity of the inertial flywheel 210 ω _w is equal to the maximum speed ω _m per minute.

Fig. 5 is a view showing the relationship between the parameters of the movable steel beam angular velocity ω _b , the maximum rotational speed ω _m per minute, the inertia flywheel inertia I _w , the movable steel beam inertia I _b , the acceleration α, and the acceleration time t _a . According to the above assumption, the angular velocity ω _{b of the} movable steel beam 300 and the angular velocity ω _{w of the} inertia flywheel 210 can be derived using Equation (4-1), and the relationship of the respective parameters to each other will be as shown in FIG.

In order for the active guide means 200 choose a suitable drive motor 206, hereby calculates the driving motor maximum power P _max 206 follows, assuming the drive motor 206 acceleration generated is [alpha], the drive motor torque τ size arising 206, as shown in equation ( 4-2): τ = I _w α (4-2), where I _w is the inertia generated by the inertia flywheel.

Therefore, the driving motor 206 may be the maximum power P _max through equations (4-1) and (4-2) is calculated as follows: Wherein, as described above, ω _w = ω _{m is} known, so the maximum power P _{max of the} drive motor 206 is equal to: According to formulas (4-4) and 5, the maximum power P _max of the drive motor 206 can be calculated, and the inertia flywheel inertia I _w , the maximum rotational speed per minute ω _m , and the acceleration time t _{a are} known during the acceleration phase. The relationship between the parameters and other parameters.

The present invention can adjust the position of the movable steel beam 300 on the horizontal plane relative to the fixed steel structure 600 through the ground operator, by operating the inertia flywheel 210 included in the active guiding device 200, by informing the tower crane operator of the movable steel beam 300. The vertical position of the movable steel beam 300 relative to the fixed steel structure 600 can be adjusted by lifting, but during the above adjustment process, the ground operator must have the ability to accurately align the movable steel beam 300 with the predetermined assembly on the fixed steel structure 600. position.

The present invention provides an alignment mark 500 on the fixed steel structure 600, and an alignment cursor generator 216 and an image sensing device 250 on the movable steel beam 300. The ground operator receives the image of the image sensing device 250, and then observes the pair. The relative position of the navigation cursor generated by the bit cursor generator 216 on the alignment mark 500 can grasp the displacement of the movable steel beam 300 in the horizontal direction and the vertical direction, and the reference mark is used in the alignment mark by the reference guide cursor. The position appearing on the 500 enables the active guide 200 to be operated or given to the operator of the crane to properly command the movable steel beam 300 to be accurately and safely moved to a predetermined assembly position on the fixed steel structure 600.

Please refer to FIG. 4 and FIG. 6 together. FIG. 6 is a schematic view showing the structure of the steel plate of the present invention. The steel plate 620 of the present invention is fixed on the joint 610 of the fixed steel structure 600 for connecting the movable steel beam 300 and the joint 610. The steel plate 620 includes a plurality of sets of openings, each set of complete openings including a plug hole 630 and a bolt hole 640.

In order to assemble the movable steel beam 300, the height of the initial movable steel beam 300 needs to be slightly higher than the height of the steel plate 620 on the fixed steel structure 600. In Fig. 4, the lens center of the image sensing device 250 is centered between the movable steel beams 300. The distance is expressed as d , the vertical distance between the movable steel beam 300 and the steel plate 620 is expressed as δ , and δ is also exactly the distance between the center point of the socket 630 and the center point of the bolt hole 640, as shown in Fig. 6, the image The distance between the lens center point of the sensing device 250 and the fixed steel structure 600 is expressed as L. The transmission distance L can determine the size of the alignment mark 500. When the setting pair is the mark 500, the center point of the alignment mark 500 should be controlled to the joint 610. The height between them is greater than d + δ .

Please refer to FIG. 7 and FIG. 8 together. FIG. 7 is a schematic diagram showing the alignment relationship between the image sensing device and the alignment mark of the present invention, and FIG. 8 is a schematic view showing the geometric relationship between the image sensing device and the alignment mark of the present invention. . At the beginning of the operation, the ground operator receives the image captured by the image sensing device 250, and adjusts the active guiding device 200 and the operator of the indicating crane to make the alignment mark 500 appear in the image for the first time, and at the same time, the ground operator can The guide cursor appearing on the registration mark 500 and projected by the alignment cursor generator is found in the image, but at this time, the size of the alignment mark 500 observed by the ground operator in the image will be affected by the movable steel beam. The effect of swinging.

Assuming that the length of the alignment mark 500 is Δ , the following geometric relationship exists between the length Δ of the alignment mark 500 and the distance L : Δ = 4 L tan θ (4-5), where θ represents the swing angle of the movable steel beam And then according to the single pendulum formula, Where a represents the movement acceleration of the tower crane, l represents the length of the cable of the tower crane, and g represents the acceleration of gravity. The width B of the alignment mark 500 can be expressed as: B = 2 l sin θ (4-7), through the above formula (4-5), (4-6) and (4-7), the length Δ and the width B of the alignment mark 500 can be calculated.

During the alignment process, it is necessary to keep the image sensing device 250 in the correct orientation, that is, the direction of the alignment mark 500. By placing the image sensing device 250 on the active guiding device, the ground operator can actively operate through the operation. The guiding device adjusts the position of the image sensing device 250 while adjusting the position of the movable steel beam.

Fig. 9(a) is a top plan view showing the edge pattern of the movable steel beam of the present invention, and Fig. 9(b) is a side view showing the edge pattern of the movable steel beam of the present invention. In order to improve the horizontal alignment efficiency of the movable steel beam 300, the present invention also proposes a modification of the edge pattern at both ends of the movable steel beam 300; conventionally, the two end edges of the steel beam are not made into a special type, if viewed from the auxiliary viewing angle, The root steel beam is a rectangular shape, but the present invention makes the steel beam and the joint at the edge to be a beveled edge. If viewed from a secondary perspective, the entire steel beam will exhibit a parallelogram shape, as shown in item 9(a). As shown, the movable steel beam 300 assumes the shape of a parallelogram.

The present invention changes the pattern of the ends of the movable steel beam 300 at the edges, and the joint pattern of the joint 610 at the joint end joined to the movable steel beam 300, to a beveled edge that can complement each other in shape, such as the 9th (a) As shown in the figure, both the edge 312 and the edge 314 of the movable steel beam 300 are chamfered, and the joint 610 of the fixed steel structure 600 is also inclined at the joint edge 612 and the joint edge 614 which are in contact with the movable steel beam 300. Cut, but the pattern of the edge 312 of the movable steel beam 300 and the pattern of the edge 612 of the joint 610, and the pattern of the edge of the edge 314 of the movable steel beam 300 and the edge 614 of the joint 610 are mutually complementary. Or compatible.

By using the above-mentioned edge pattern, especially when the movable steel beam 300 is adjusted in the horizontal position, the movable steel beam 300 can be completely prevented from being caught by the joint that cannot be rotated into the fixed steel structure 600. The condition of 610 occurs.

Figure 10(a) is a schematic view showing the structure of the movable steel beam and the steel plate of the present invention in the alignment stage during the bolting operation, and Figure 10(c) shows the movable steel beam and the steel plate of the present invention during the bolting operation. The quasi-stage is a schematic view of the structure of the AA' section shown in Fig. 10(a), and the 10th (b) figure shows the structure diagram of the interlocking stage of the movable steel beam and the steel plate of the present invention during the bolting operation, 10th ( d) The figure reveals the structural diagram of the movable steel beam and the steel plate of the present invention during the bolting stage along the AA' section shown in Fig. 10(a), in order to complete the bolting of the steel beam more quickly and efficiently. A bolting operation, as disclosed in FIG. 6, adds a plug hole 630 to the conventional bolt hole 640 of the steel plate 620. The hole diameter of the socket 630 is larger than that of the bolt hole 640. Aperture.

As disclosed in Figures 10(a) and 10(c), the steel plate 620 has been assembled on the joint 610, and when the movable steel beam 300 is rotated to the steel plate 620, the movable steel beam 300 is first aligned with the steel plate 620. As previously mentioned, the height of the movable steel beam 300 should be substantially higher than the height of the steel plate 620 (ie, the height between the center point of the alignment mark 500 and the joint 610 should be greater than d + δ ), and then the constructor inserts the bolt 810. The steel plate 620 has a socket 630 for temporarily fixing the movable steel beam 300, and then the tower crane operator slowly releases the movable steel beam 300, and the bolt 810 will automatically enter the bolt hole 640, as shown in Figures 10(b) and 10(d). As shown in the figure, the constructor then bolts and fixes the bolt 810 and the nut 820 to each other, and then continues the welding work between the movable steel beam 300 and the steel plate 620, that is, the completion of the movable steel beam and the fixed steel structure. Engage.

It should be noted that the movable steel beam 300 and the steel plate 620 need only be substantially aligned because the diameter of the insertion hole 630 is larger than the diameter of the bolt hole 640, so that the movable steel beam 300 and the steel plate 620 are relatively aligned when aligned. Large alignment error, that is, the design has absorption The effect of large tolerances.

11(a) is a top plan view showing the structure of the nut of the present invention, and FIG. 11(b) is a cross-sectional view showing the structure of the nut of the present invention along the AA' section of the 11th (a), 11th ( c) The figure reveals a schematic perspective view of the structure of the nut of the present invention. In order to make the bolting work more efficient, the present invention further proposes a novel type of nut. The nut 820 of the present invention comprises a rail portion 822 and assembly. The portion 824 and the like have two portions. The rail portion 822 is used for joining the steel plate and the movable steel beam and guiding the movable steel beam and the bolt to slide down into the hole of the hitch. The assembly portion 824 is used for generating a lateral clamping force on the movable steel beam.

Figure 12 is a schematic view showing various stages of the steel structure joining method of the present invention. In summary, the present invention also correspondingly proposes a joining method of a steel structure, which mainly includes three operations of a rotation adjustment stage, an alignment stage, and a bolting stage. In the stage of rotation adjustment, mainly with the application of the active guiding device and the image sensing device, the ground operator can easily, accurately, safely and efficiently rotate the movable steel beam to the predetermined assembly position on the horizontal surface. In the alignment stage, the design of the jack on the steel plate is mainly used, so that a relatively large alignment error can be tolerated during the alignment operation, and the alignment operation is simplified. In the plugging stage, the application is mainly applied. Bolts and nuts to increase the efficiency of the bolting operation, as shown in Figure 12.

Fig. 13 is a flow chart showing the steps of the first embodiment of the steel structure joining method of the present invention, and the first embodiment of the steel structure joining method of the present invention comprises the following series of steps: Step 1310: Lifting the movable steel beam; Step 1320: Implementing the vertical alignment of the movable steel beam; Step 1330: Determine whether the movable steel beam is lifted to the predetermined position, if not, return to step 1320, if yes, proceed with the steps 1340; Step 1340: Rotating the movable steel beam; Step 1350: Implementing the horizontal alignment of the movable steel beam; Step 1360: Determining whether the movable steel beam is rotated to The predetermined position, if not, returns to step 1350, if yes, proceeds to step 1370; step 1370: implements the bolting of the movable steel beam; and step 1380: determines if the movable steel beam is completed, if not, returns to the step 1370, if affirmative, ends the steel structure joining method.

Figure 14 is a flow chart showing the steps of the second embodiment of the steel structure joining method of the present invention. The second embodiment of the steel structure joining method of the present invention comprises the following series of steps: Step 1410: A pair of position marks are disposed on the fixed steel structure; Step 1420: an image sensing device and an active guiding device are disposed on the movable steel beam, and the active guiding device is configured to adjust the movable steel beam relative to the fixed a position of the steel structure, the image sensing device is used to capture one of the alignment marks to mark the image; and step 1430: dynamically according to the feedback of the marked image, the active guiding device is operated immediately to adjust the position, and the position is obtained. Engagement takes place.

In summary, the present invention focuses on the long-standing key issues in the construction of steel structures. Workers need to manually assist in the assembly of steel structural members on unfinished structures. They use the traction lines under the hanging objects to adjust and correct the steel beams. The position of the bolt holes between the legs and the legs, this work needs to be carried out in the air, which is very challenging and unsafe.

Therefore, the present invention develops a set of Autonomous Beam Assembly System (ABAS), workers do not need to work in the air, and can be far away from danger. This ABAS contains four different methods: rotation, correction, bolts Fix and remove. The method of rotation is to add a rotating box and a flywheel to the steel beam, and use the flywheel to rotate the beam to the mounting angle. The correction is divided into vertical and horizontal directions. The vertical correction is to ensure that the steel beam is at the correct height. We use the camera to detect the marking on the steel column and use the light signal to inform the operator that the steel beam has reached the correct height. The horizontal correction is to ensure that the steel beam is in the correct mounting position. We changed the wing to a parallelogram so that the steel beam can be smoothly pulled to the correct position. Fixed method The insertion hole is added to the bolt hole of the steel plate so that the bolt can be inserted and slideed down into the bolt hole. The removal method is to remove the ABAS and the hook steel beam joint cable. We use the bolt mechanism to fix the cable on the steel beam. When the installation is completed, the bolt will be pulled up by the motor and removed together with the ABAS system. . We use a scale model site for feasibility assessment. In summary, we have developed a set of steel structure steel beam autonomous joint system to reduce the occurrence of falling accidents in the project. This system is similar to the existing lifting method and can be widely used in existing projects.

The above embodiments of the present invention may be combined or substituted with each other in any way, thereby deriving more embodiments, without departing from the scope of the present invention. Further embodiments of the present invention are provided as follows:

Embodiment 1: A steel structure joint system is applied to the joint between a movable steel beam and a fixed steel structure, comprising: an active guiding device disposed on the movable steel beam for adjusting the movable steel beam relative to the fixed a position of the steel structure; an alignment mark disposed on the fixed steel structure; and an image sensing device disposed on the movable steel beam, capturing the marked image of the alignment mark and transmitting the image to the ground operator for The ground operator operates the active guiding device to adjust the position according to the captured image captured, thereby facilitating the engagement.

Embodiment 2: The steel structure joint system according to Embodiment 1, wherein the active guiding device further comprises a protection box body, a power source, a driving motor, a transmission module, an inertia flywheel, a micro control module, a wireless communication module, and a pair Bit cursor generator and linker.

Embodiment 3: The steel structure joint system of embodiment 1, wherein the alignment cursor generator projects a guide cursor to the alignment mark, and the ground operator appears in the pair according to the guide cursor in the mark image The position on the bit mark, the active guide is operated to adjust the position.

Embodiment 4: The steel structure joint system of embodiment 1, wherein the fixed steel structure further comprises a joint having a joint end for engaging the movable steel beam, the joint end having an engagement pattern, the joint pattern It is beveled.

Embodiment 5: The steel structure joint system of Embodiment 3, wherein the movable steel beam has an edge pattern at both ends, the edge pattern being chamfered and complementary to the joint pattern.

Embodiment 6: The steel structure joint system of Embodiment 3, wherein the joint is provided with a steel plate including interconnecting jacks and bolt holes, the jack having a larger diameter than the bolt hole.

Embodiment 7: The steel structure joint system of Embodiment 3, wherein the bolt hole is for receiving a bolt, and the bolt and the nut are interlocked with each other.

Embodiment 8: The steel structure joint system of Embodiment 7, wherein the nut comprises a rail portion and an assembly.

Embodiment 9: A steel structure joining method is applied to the joint between a movable steel beam and a fixed steel structure, comprising: arranging an alignment mark on the fixed steel structure; and providing an image sensing device on the movable steel beam and actively guiding The device is configured to adjust a position of the movable steel beam relative to the fixed steel structure, the image sensing device is configured to capture the marked image of the alignment mark; and dynamically respond according to the feedback of the marked image, and operate immediately The active guiding device adjusts the position to facilitate the engagement.

Embodiment 10: The steel structure joining method of Embodiment 9, further comprising one of the following plurality of steps: vertically aligning the movable steel beam through a tower crane; and moving the movable steel beam through the active guiding device Align horizontally.

Embodiments of the present invention may be arbitrarily combined or replaced with each other to derive The invention is not limited by the scope of the invention, and the scope of the invention is defined by the scope of the invention.

200‧‧‧Active guiding device

216‧‧‧ Align cursor generator

300‧‧‧Active steel beams

400‧‧‧Image sensing device

500‧‧‧ alignment mark

600‧‧‧Fixed steel structure

610‧‧‧Connector

620‧‧‧ steel plate

700‧‧‧Steel joint system

d ‧‧‧The distance between the center point of the lens of the image sensing device and the movable steel beam

δ ‧‧‧The distance between the movable steel beam and the steel plate

L ‧‧‧The distance between the center of the lens of the image sensing device and the fixed steel structure

Claims (10)

A steel structure joint system is applied to one of a movable steel beam and a fixed steel structure, comprising: an active rotary drive device disposed on the movable steel beam and including an inertia flywheel through which the flywheel is passed Rotating to drive the movable steel beam to rotate on a horizontal surface to adjust a position of the movable steel beam on the horizontal surface relative to the fixed steel structure; a pair of position marks disposed on the fixed steel structure; An image sensing device disposed on the movable steel beam, capturing one of the alignment marks and transmitting the image to a ground operator for the ground operator to operate according to the captured image captured The position is adjusted by actively rotating the drive unit to facilitate the engagement. The steel structure joint system of claim 1, wherein the active rotary drive device further comprises a protection box body, a power source, a drive motor, a transmission module, an inertia flywheel, a micro control module, and a A wireless communication module, a pair of cursor generators, and a connector. The steel structure joint system of claim 2, wherein the alignment cursor generator projects a guidance cursor on the alignment mark, and the ground operator appears in the alignment position according to the guidance cursor in the mark image The condition on the mark is operated by the active rotary drive to adjust the position. The steel structure joint system of claim 1, wherein the fixed steel structure further comprises a joint having an engagement end for engaging the movable steel beam, the joint end having an engagement pattern, the joint The type is beveled. The steel structure joining system of claim 3, wherein the movable steel beam has an edge pattern at both ends, the edge pattern being chamfered and complementary to the joint pattern. The steel structure joint system of claim 4, wherein the joint is provided with a steel plate including a socket and a bolt hole communicating with each other, the hole having a larger diameter than the hole of the bolt hole. The steel structure joint system of claim 6, wherein the bolt hole is for receiving a bolt, and the bolt is interlocked with a nut. The steel structure joint system of claim 7, wherein the nut comprises a rail portion and an assembly portion. A steel structure joining method is applied to a joint between a movable steel beam and a fixed steel structure, comprising: providing a pair of position marks on the fixed steel structure; and providing an image sensing device on the movable steel beam and a An active rotary drive device comprising an inertia flywheel; rotating the inertia flywheel to drive rotation of the movable steel beam on a horizontal surface to adjust the movable steel beam at the horizontal surface relative to the fixed steel structure Position, the image sensing device is configured to capture one of the alignment marks to mark the image; and dynamically respond to the feedback of the marked image to immediately operate the active rotary driving device to adjust the position to facilitate the engagement. The steel structure joining method of claim 9, further comprising one of the following plurality of steps: vertically aligning the movable steel beam through a tower crane; and moving the movable steel beam through the active rotary driving device Align horizontally.