WO2020155600A1 - 一种建筑施工系统及其施工方法 - Google Patents

一种建筑施工系统及其施工方法 Download PDF

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Publication number
WO2020155600A1
WO2020155600A1 PCT/CN2019/099612 CN2019099612W WO2020155600A1 WO 2020155600 A1 WO2020155600 A1 WO 2020155600A1 CN 2019099612 W CN2019099612 W CN 2019099612W WO 2020155600 A1 WO2020155600 A1 WO 2020155600A1
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WIPO (PCT)
Prior art keywords
crane
control module
motor
telescopic rod
building construction
Prior art date
Application number
PCT/CN2019/099612
Other languages
English (en)
French (fr)
Inventor
曲强
田士川
杜任远
张嘉伟
艾文新
Original Assignee
广东博智林机器人有限公司
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Application filed by 广东博智林机器人有限公司 filed Critical 广东博智林机器人有限公司
Publication of WO2020155600A1 publication Critical patent/WO2020155600A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C11/00—Trolleys or crabs, e.g. operating above runways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C6/00—Girders, or track-supporting structures, specially adapted for cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C7/00—Runways, tracks or trackways for trolleys or cranes
    • B66C7/08—Constructional features of runway rails or rail mountings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
    • B66C9/08—Runners; Runner bearings

Definitions

  • This application relates to the field of building construction, specifically, to a building construction system and a construction method thereof.
  • cranes In the process of building construction, cranes (cranes) are generally used to lift materials to realize material handling; climbing frames are also one of the indispensable equipment in the construction process. The climbing frames can climb or descend along the building. A safe and reliable work platform in construction.
  • the purpose of this application is to address the shortcomings of the above-mentioned technology and propose a construction system to solve the problems of inflexible material transportation and poor positioning of climbing frames and cranes in the prior art.
  • This application provides a building construction system, which includes a climbing frame system and a crane system.
  • the climbing frame system and the crane system are connected by a supporting column.
  • the supporting column is arranged on the main frame of the climbing system, and the crane system is arranged on the supporting column.
  • the supporting column includes a first supporting column row and a second supporting column row arranged front and rear;
  • the crane system includes a first row of hanging rails supported on the first supporting column row and a second row of supporting columns supported on the second supporting column row.
  • Crane rails, cranes erected between the first row of crane rails and the second row of crane rails and movable along the first row of crane rails and the second row of crane rails, are arranged on the cranes and can be opposed to each other
  • a crane trolley that moves by a crane.
  • the crane trolley is equipped with a telescopic rod that can be extended in the vertical direction.
  • the lower end of the telescopic rod is detachably connected to the multi-axis robotic arm, and the lower end of the multi-axis robotic arm is detachable Connect functional components.
  • the functional component can also be directly connected with the telescopic rod.
  • the functional component is a manipulator.
  • the movement direction of the crane trolley is perpendicular to the movement direction of the crane trolley.
  • the movement direction of the crane trolley, the crane trolley, and the telescopic rod are the X-axis, Y-axis, and Z-axis directions.
  • the multi-axis manipulator can Multi-dimensional movement in three-dimensional space.
  • the crane trolley is mounted on the crane crane.
  • the crane truck includes a cross beam.
  • the front and rear ends of the cross beam are equipped with first wheels and second wheels.
  • the corresponding clamps are mounted on the corresponding first and second rows of hoisting rails. There are moving tracks.
  • the crane trolley includes a car body and wheels.
  • the cross section of the car body is an inverted U shape.
  • the wheels are arranged at the top of the groove of the car body. When the crane trolley is erected on the cross beam, the wheels are just on the moving track.
  • the crane trolley is equipped with a trolley motor drivingly connected with the wheels of the crane trolley; the crane trolley is equipped with a trolley motor drivingly connected with the wheels of the crane trolley.
  • the bottom of the telescopic rod is provided with a first connecting unit that can be connected to the multi-axis mechanical arm or functional component, and/or the bottom of the multi-axis robotic arm is provided with a second connection unit that can be connected to the functional component.
  • both the first and second connecting units realize a rigid connection.
  • the construction method includes a method for controlling the movement of the climbing frame in the vertical direction, which includes the following steps:
  • Step S1 The controller issues a command and the climbing process starts.
  • the climbing frame as a whole climbs to the predetermined position, the climbing stops.
  • the climbing device of the climbing frame enters a relaxed state and no longer receives any force. .
  • Step S2 Control the lifting of the first support column and the second support column to a suitable position, and install the hoisting mechanism.
  • the climbing frame when the climbing frame climbs, if the load is overloaded, it will automatically stop; when any two lifting mechanisms of the climbing frame itself have a climbing height difference of more than 2cm, the climbing frame will automatically stop. After stopping, manual intervention and leveling are required to start again.
  • the third and fourth support columns are hydraulic rod mechanisms, which cooperate with the climbing frame to provide support for it and reduce the climbing frame’s upward movement. Resistance.
  • control method also includes a control method for conveying materials on a plane, which includes the following steps:
  • Step S3 Input planning walking route parameters and staying position parameters in the control module
  • Step S4 The control module issues an instruction to start the crane motor and the crane motor, and the crane motor and the crane motor respectively drive the crane and crane to travel according to the planned path;
  • Step S5 When the crane and the crane are traveling, use the sensor to monitor the position of the crane and the crane in real time and feed it back to the control module;
  • Step S6 The control module determines whether the crane and crane have reached the preset stop position according to the received position data information of the crane and crane, and when the crane and crane arrive at the preset stop When it is in position, the control module sends commands to control the motor of the cart and the motor to stop running.
  • step S6 it also includes the following steps:
  • Step S7 After the crane and the crane stop, the control module starts timing. When the dwell time reaches the set dwell time, the control module issues an instruction to restart the crane motor and the carriage motor;
  • Step S8 The control module matches the position data information fed back by the sensor in real time with the location information of the set destination. After detecting that the crane and the crane have reached the end of the planned route, the control module issues instructions to control the motor and The trolley motor stops running.
  • the control module judges whether the crane and the crane are on the planned route according to the data fed back by the sensor. If not, the control module will control the motor and the car. The motor gives instructions to drive the crane and crane to return to the correct driving route.
  • control method also includes a method for controlling the telescopic rod provided on the crane trolley, which includes the following steps:
  • Step S9 Record the initial position of the telescopic rod and the movement radius data of the robotic arm, and import the position data and the movement radius data of the robotic arm into the control module;
  • Step S10 Use the third sensor on the robotic arm to collect the working distance data between the robotic arm and the material in real time, and send the working distance data to the control module;
  • Step S11 The control module compares the working distance data with the movement radius data, and when the movement radius data is greater than or equal to the working distance data, the control module executes the first work action on the manipulator and manipulator commands;
  • Step S12 When the movement radius data is less than the working distance data, the control module sends a start signal to the telescopic rod power system, and the telescopic rod power system drives the telescopic rod to move downward, and the moving distance is a length of movement radius; the control module compares the movement radius again Data and working distance data, and repeat step 34 until the control module detects that the movement radius length data is greater than or equal to the working distance data.
  • step S11 the control module continues to determine whether there is a second work action that needs to be performed by the telescopic rod. If there is, the control module executes step S10, step S11 and step S12 cyclically; if there is no control module, it sends a restoration signal to the telescopic rod.
  • the power system of the telescopic rod power system drives the telescopic rod to return to the initial position.
  • control method also includes a control method when the manipulator is working, including the following steps:
  • Step S13 Input the working coordinate position information of the manipulator into the controller, and the sensor collects the current position coordinate information of the manipulator, and feeds back the position information to the controller;
  • Step S14 The controller calculates the movement of the manipulator on the X-axis, Y-axis and Z-axis according to the work coordinate position information and the current position coordinate information, and the controller sends control commands to the cart motor, the cart motor and the telescopic rod power system;
  • Step S15 The controller monitors the position of the manipulator in real time according to the feedback of the first sensor, the second sensor, and the third sensor, and after determining that the manipulator reaches the working position, the controller sends a work instruction to drive the manipulator to perform work actions.
  • the beneficial effects of the construction system of the present application are that the positioning is more accurate, the material grabbing is stable and accurate, and the degree of automation is high.
  • Figure 1 is a schematic diagram of the preferred implementation of this application during the construction of the crane
  • FIG. 2 is a schematic diagram of the crane structure of the preferred implementation of this application.
  • Figure 3 is a schematic diagram of the enlarged structure at A in Figure 2;
  • Figure 4 is a schematic diagram of a partially enlarged structure of the preferred crane trolley in this application.
  • Figure 5 is a schematic diagram of the preferred climbing frame and lifting mechanism of this application.
  • Figure 6 is a schematic diagram of a preferred multi-axis mechanical arm connection in this application.
  • Fig. 7 is a perspective view of a preferred multi-axis mechanical arm of this application.
  • Figure 8 is a front view of a preferred multi-axis mechanical arm of this application.
  • Figure 9 is a side view of a preferred multi-axis mechanical arm of the application.
  • Figure 10 is a top view of a preferred multi-axis mechanical arm of the application.
  • Figure 11 is a bottom view of a preferred multi-axis mechanical arm of this application.
  • Figure 12 is a schematic diagram of a preferred multi-axis mechanical arm rotating along the vertical plane of the telescopic rod axis;
  • Figure 13 is a schematic diagram of a preferred multi-axis mechanical arm rotating around the motor shaft of the application.
  • FIG. 14 is a schematic flow chart of the climbing control method of the preferred climbing frame of this application.
  • FIG. 15 is a schematic flow diagram of a method for controlling the traveling of a crane and a crane that is preferred in this application;
  • FIG. 16 is a schematic flowchart of a preferred method for controlling the movement of a telescopic rod in this application;
  • a building construction system includes a climbing frame system and a crane system.
  • the climbing frame system and the crane system are connected by a supporting column 51, and the supporting column 51 is arranged on the main frame of the climbing system.
  • the crane system is arranged on the support column 51, the support column 51 includes a first support column row and a second support column row arranged front and rear; the crane system includes a first row of crane rails 31 supported on the first support column row and The second row of hoisting rails 32 supported on the second row of supporting columns is erected between the first row of hoisting rails 31 and the second row of hoisting rails 32 and can move along the first row of hoisting rails 31 and the second row of hoisting rails 32
  • the crane 1 is set on the crane 1 and can move relative to the crane 1, and the crane 2 is provided with a telescopic rod 41 that can be extended in the vertical direction.
  • the lower end of the telescopic rod 41 is detachably connected to the multi-axis mechanical arm 44, and the lower end of the multi-axis mechanical arm 44 is detachably connected to the functional component 42.
  • the telescopic rod 41 is an electric telescopic rod, a pneumatic telescopic rod or a hydraulic telescopic rod.
  • the climbing frame system includes a main frame structure, which is arranged around the building 221.
  • the four sides of the building 221 are provided with climbing frames 5.
  • the climbing frame 5 may also be provided on only one side, two sides, or three sides.
  • the climbing frame 5 is usually customized or selected according to the length of the building 221.
  • the vertical side of the building 221 can only use one climbing frame 5, and the horizontal surface can be combined with multiple climbing frames 5 in the horizontal direction, that is, multiple Climbing frame 5 coordinated operation.
  • it can also be customized and installed into an integral climbing frame 5, such as an integral climbing frame 5 structure surrounding the building 221 as shown in FIG. 1.
  • the climbing frame 5 of the present application is provided with support columns 51 on the inner side. Supporting columns 51 are fixed on opposite sides of the climbing frame 5.
  • the support columns 51 can be designed to be higher than the height of the climbing frame 5, that is, the hanging rail 104 is high. A certain height for the climbing frame.
  • the first support column row includes a plurality of first support columns arranged in parallel
  • the second support column row includes a plurality of second support columns arranged in parallel
  • the first support columns and the second support columns can be further arranged in a variable length structure If the supporting column is a hydraulic rod structure, it includes a cylinder body and a rod body.
  • the cylinder body is fixed on the frame structure, and the upper part of the rod body fixedly supports the first row of suspension rails 31 and the second row of suspension rails 32.
  • the rod body can move up and down relative to the cylinder. .
  • the guide rail 201 is used as the overall climbing track of the climbing frame 5 and can be made of a combination of channel steel and round steel.
  • the guide rail 201 is usually fixed on the building 221 by a bolt structure, and the climbing frame 5 can slide up and down through cooperation with the guide rail 201.
  • an anti-roll device 212 is also provided.
  • the anti-roll device 212 includes an anti-roll bar and a clamping device.
  • the anti-roll bar is fixed on the climbing frame 5, and one end of the clamping device is a ring part. It is sleeved on the anti-roll bar, and the other end is fixed on the building 221 through a wall-attached support 208.
  • a friction type anti-drop device 209 is provided, which includes an anti-drop bar 211, which is used to frictionally support the climbing frame 5 when the climbing frame 5 falls, so as to slow down the fall until the fall stops.
  • the wall-attached support 208 is a combined steel material of channel steel and round steel, which plays a role of unloading and preventing overturning. It is the connecting member of the climbing frame 5 and the main structure of the building.
  • the wall-attached support 208 is generally mechanically connected to the shear wall, and may also be mechanically connected to the floor slab. Part of the wall-attached support 208 is provided with an upper lifting point 213.
  • the bottom of the climbing frame 5 is correspondingly provided with a lower lifting point 214.
  • the cables can be passed through a hoist 215 such as an electric hoist Or hydraulic press for lifting and lowering.
  • the climbing frame is provided with a multi-layer structure. Taking the bottom layer as an example, it includes: inner vertical rod 202, outer vertical rod 203, cross rod 204, horizontal support structure 206 (longitudinal rod), wherein cross rod 204 connects inner vertical rod 202 and The outer vertical rod 203, the horizontal support structure 206 (longitudinal rod) are connected to the horizontal rod 204 in the longitudinal direction, and the inner and outer vertical rods 202, 203, the horizontal rod 204, and the horizontal support structure 206 (longitudinal rod) form a rectangular frame structure, A scaffold board 217 can be laid on the bottom of the rectangular frame structure, and a reinforcing web 205 is also provided at the bottom. In addition, a sealing flap 220, a working layer guardrail 219, and a protective outer net 218 can be provided.
  • the functional component 42 can also be directly connected to the telescopic rod 41, and the functional component 42 is a manipulator.
  • Manipulators include but are not limited to the following rebar lashing manipulators, aluminum template installation manipulators or ground smoothing manipulators.
  • the movement direction of the crane trolley 2 is perpendicular to the movement direction of the crane trolley 1, and the movement direction relations of the crane trolley 1, the crane trolley 2, and the telescopic rod 41 are X axis, Y In the direction of axis and Z axis, the multi-axis mechanical arm 44 can perform multi-dimensional movement in a three-dimensional space.
  • the telescopic rod 41 is bolted to the crane trolley 2 by a support 23 on the side of the trolley, and the support 23 and the crane trolley 2 are rigidly connected with steel plates.
  • the rectangular coordinate system rod 41 and the crane trolley 2 are connected through the support 23, so that the connection is stable and firm and not easy to damage.
  • the crane trolley 2 is mounted on the crane trolley 1.
  • This connection mode makes the movement of the crane trolley 2 more stable and prevents the vehicle from turning over.
  • the crane truck 1 includes a cross beam 11, the front and rear ends of the cross beam 11 are equipped with first wheels 12 and second wheels 13, and the corresponding ones are clamped on the corresponding first row of crane rails 31 and second row of cranes.
  • a moving rail 15 is provided on the beam 11.
  • the first wheel 12 and the second wheel 13 connected at both ends of the cross beam 11 can be disassembled and replaced with a new cross beam 11.
  • the length of the cross beam 11 can be customized according to the requirements during the construction process.
  • the crane trolley 2 includes a car body 21 and wheels 22.
  • the cross section of the car body 21 is inverted U-shaped.
  • the wheels 22 are arranged on the top of the groove of the car body 21.
  • the crane trolley 2 is erected on the cross beam 11. When going up, the wheels 22 are just on the moving rail 15.
  • the crane trolley 2 is equipped with a trolley motor drivingly connected with the wheels 22 of the crane trolley; the crane trolley 1 is equipped with a crane motor 14 which is drivingly connected with the wheels of the crane trolley 1.
  • the cart motor 14 and the cart motor are three-in-one motors.
  • the three-in-one motor is also called a three-in-one reducer, which is a component that integrates the functions of a reducer, a motor, and a brake.
  • the preferred position of the trolley motor is set in the vehicle body 21.
  • the telescopic rod 41 is provided with a first connecting unit 43 that can be connected to the multi-axis robotic arm 44 or the functional component 42.
  • a first connecting unit 43 that can be connected to the multi-axis robotic arm 44 or the functional component 42.
  • the multi-axis robotic arm 44 includes a robotic arm main unit, a first connecting unit 43 arranged at the top of the robotic arm main unit, and a second connecting unit 45 arranged at the bottom of the robotic arm main unit;
  • a connecting unit 43 installs the main unit of the robot arm on the crane system, thereby realizing the modular connection and installation of the robot arm and the crane system;
  • the second connecting unit 45 is externally connected with functional components, which can be used for crane construction, And according to different purposes, it can be connected with construction robots, such as leveling robots, smoothing robots, lashing robots, grasping robots, scraping robots, etc.
  • connection unit also enables the modular connection between the mechanical arm and the functional components And installation; the use of the above-mentioned robotic arm scheme allows the crane system to be connected with functional components during construction, thereby improving work efficiency, expanding the application range of cranes, reducing manual labor, and reducing construction costs.
  • the main unit of the robotic arm is a multi-axis robotic arm 44;
  • the multi-axis robotic arm 44 includes multiple robotic arms, and the rotation axes of the multiple robotic arms are not in the same straight line
  • a multi-directional, multi-dimensional, multi-degree-of-freedom construction space and coordinate compensation can be realized;
  • multiple manipulators are connected by the motor shaft rotation to realize the different dimensions and different directions of each manipulator.
  • each mechanical arm can rotate in the horizontal or vertical direction; specifically, as shown in Figure 8, the motor shaft can drive the mechanical arm to rotate 360° on the horizontal plane; or As shown in 9, the motor shaft can drive the mechanical arm to make a pendulum rotation in the vertical direction, thereby realizing rotation in various dimensions and directions.
  • the robot arm includes a first robot arm 53, a second robot arm 55, and a third robot arm 57; among them, one end of the first robot arm 43 is connected to the first robot arm.
  • the connecting unit 43 is connected, the other end of the first mechanical arm 53 is rotatably connected to one end of the second mechanical arm 55 through the first motor shaft 54; the first motor shaft 54 is horizontally arranged on the first mechanical arm 53 and the second mechanical arm 55 to be rotatably connected It is connected to the first motor in transmission, so that the second mechanical arm 55 can rotate around the first motor shaft 54; the other end of the second mechanical arm 55 is rotatably connected to one end of the third mechanical arm 57 through the second motor shaft 56; The other end of the third manipulator 57 is connected to the second connecting unit 45; the second motor shaft 56 is horizontally arranged at the rotational connection of the second manipulator 55 and the third manipulator 57, and is drivingly connected to the second motor, so that the third The mechanical arm 57 can rotate around the second motor shaft 56; specifically, the axis of the first motor shaft 54 and the axis of the second motor shaft 56 are both horizontal, so that the second mechanical arm 55 and the third mechanical arm 57 can be The vertical direction makes a pendulum rotation
  • the robotic arm also includes a fourth robotic arm 50; one end of the fourth robotic arm 50 is drivingly connected to the bottom of the first robotic arm 53 through the third motor shaft.
  • the other end of the four mechanical arm 50 is rotatably connected with one end of the second mechanical arm 55 through the first motor shaft 54;
  • the third motor shaft is arranged on the first mechanical arm 53, and is connected in transmission with the third motor; in this way, the first mechanical arm
  • the arm 53 drives the fourth mechanical arm 50 to rotate in the horizontal direction through the third motor shaft, that is, as shown in FIG. 8, the third motor shaft can drive the fourth mechanical arm 50 to rotate 360° on the horizontal plane, and the fourth mechanical arm 50
  • the second mechanical arm 55 can be driven to rotate 360° on the horizontal plane.
  • the first motor shaft 54 is connected to the first motor
  • the second motor shaft 56 is connected to the second motor
  • the third motor shaft is connected to the third motor
  • the first motor shaft 54, the second motor shaft 56, and the third motor shaft can be driven synchronously or independently, so as to realize respective angle and spatial rotation.
  • the first connecting unit of a multi-axis robotic arm 44 is connected through a telescopic rod, so as to further realize the coordinate compensation of the construction position of the multi-axis robotic arm 44, a larger space of motion range, and more dimensional lifting;
  • the rod is detachably connected to the first connecting unit, so that the telescopic rod can be easily disassembled and replaced when the robot or manipulator needs to be installed; specifically, in this embodiment, the telescopic rod and the first connecting unit are connected by bolts or through methods.
  • the first connection unit 43 is fixedly arranged on the top of the first robot arm 53, so that the first robot arm 53 can install the robot arm main unit on the crane system through the telescopic rod 3;
  • Ground one end of the telescopic rod 3 is connected to the first connecting unit 43, and the other end is connected to the traveling crane of the traveling crane system; specifically, due to the traveling error and structural force deformation of the traveling crane and the telescopic rod, the second connecting member
  • the external robot may have inaccurate positioning or unable to walk to the specified position during construction.
  • the multi-axis robotic arm 44 provides coordinate compensation for cranes and telescopic rods to ensure that the external robot can reach the specified coordinates. It can also provide range construction for the external robot The degree of freedom, reduce the movement of cranes and trolleys.
  • an external port unit 52 is provided on the side of the main unit of the robot arm; further, the external port unit 52 is used for temporarily communicating with external electrical equipment;
  • the external electrical equipment is a detector or encoder; the detector or encoder can detect or temporarily adjust the robotic arm, and can also be connected to the data port of larger equipment, such as a leveling machine, aluminum mold mounting machine and other end machines.
  • the second external unit 45 is fixedly disposed at the bottom of the third electromechanical arm 57, and is used to detachably externally externalize functional components for different purposes; It can be a leveling robot, a smoothing robot, a lashing robot, a grasping robot, or a leveling robot; using the above solution, the main unit of the robotic arm is connected to robots with different functions and functions through a second external unit interface to perform construction.
  • the first connecting unit 43 and/or the second connecting unit 45 are connecting plates; specifically, bolt holes are respectively provided around the connecting plates to connect in this way It can be modularly connected and installed with external equipment or functional components through bolt holes; specifically, a wiring channel or data interface 60 is reserved at the center of the connecting board, so that the connecting unit can communicate with the outside through the wiring channel or data interface.
  • Equipment communication connection or electrical connection so as to realize power supply and communication control connection.
  • the control method includes a method for controlling the movement of a climbing frame in a vertical direction, a method for controlling the movement of a crane and a crane, and the telescopic rod is in the vertical direction.
  • the control method of the controller and manipulator that extend and contract in the straight direction.
  • the method for controlling the movement of the climbing frame in the vertical direction includes the initialization of the control system and the self-checking of the control system to determine whether the result is normal. If not, stop the alarm; if it is, check the load. If it is overloaded, the alarm will be stopped. If the load is not overloaded, the climbing frame will climb. At the same time, the machine position will be detected. If each machine position is greater than 2cm, it will be manually leveled to determine whether it has reached the designated position. If it arrives, it will be terminated.
  • the climbing frame 5 is controlled to climb through a dedicated controller.
  • the controller issues a command, the climbing frame 5 on the single building is lifted.
  • the power for the lifting can come from an electric hoist and a chain or hydraulic jacking device.
  • the climbing frame 5 as a whole climbs to a predetermined position, the climbing automatically stops. After the mechanical connection between the climbing frame 5 and the stairs is manually fixed, the climbing frame 5 lifting mechanism enters a relaxed state and no longer receives any force.
  • climbing frame 5 When climbing frame 5 is climbing, if the load is overloaded, it will automatically stop. When the climbing height difference of any two lifting mechanisms (215) of the climbing frame 5 exceeds 2 cm, the climbing frame 5 automatically stops. When the height difference between the two ends of the crane system exceeds 2cm, the climbing frame 5 automatically stops. After the machine stops, manual intervention is required for leveling, and the machine starts again.
  • Each complete climbing height is the floor height of the main building.
  • the floor height of the building body is 3m
  • the complete climbing height of each climbing frame is 3m.
  • the climbing frame can climb synchronously as a whole, or each lifting mechanism can be lifted separately, or any combination can be used for synchronous lifting.
  • the crane can be controlled, the height of the supporting column can be adjusted, and the crane mechanism can be installed on the crane slide rail to simultaneously construct the roof of the building and construct all floors at the same time .
  • the method for controlling the movement of the crane and the crane includes the following steps:
  • Step S3 Input planning walking route parameters and staying position parameters in the control module
  • Step S4 The control module issues an instruction to start the crane motor and the crane motor, and the crane motor and the crane motor respectively drive the crane and crane to travel according to the planned path;
  • Step S5 When the crane and the crane are traveling, use the sensor to monitor the position of the crane and the crane in real time and feed it back to the control module;
  • Step S6 The control module determines whether the crane and crane have reached the preset stop position according to the received position data information of the crane and crane, and when the crane and crane arrive at the preset stop When it is in position, the control module sends commands to control the motor of the cart and the motor to stop running.
  • step S6 it also includes the following steps:
  • Step S7 After the crane and the crane stop, the control module starts timing. When the dwell time reaches the set dwell time, the control module issues an instruction to restart the crane motor and the carriage motor;
  • Step S8 The control module matches the position data information fed back by the sensor in real time with the location information of the set destination. After detecting that the crane and the crane have reached the end of the planned route, the control module issues instructions to control the motor and The trolley motor stops running.
  • the control module judges whether the crane and the crane are on the planned route according to the data fed back from the sensor, if not, the control module issues instructions to the crane motor and the crane motor , Drive the crane and crane to return to the correct driving route.
  • control method also includes a method for controlling the telescopic rod provided on the crane trolley, which includes the following steps:
  • Step S9 Record the initial position of the telescopic rod and the movement radius data of the robotic arm, and import the position data and the movement radius data of the robotic arm into the control module;
  • Step S10 Use the third sensor on the robotic arm to collect the working distance data between the robotic arm and the material in real time, and send the working distance data to the control module;
  • Step S11 The control module compares the working distance data with the movement radius data, and when the movement radius data is greater than or equal to the working distance data, the control module executes the first work action on the manipulator and manipulator commands;
  • Step S12 When the movement radius data is less than the working distance data, the control module sends a start signal to the telescopic rod power system, and the telescopic rod power system drives the telescopic rod to move downward, and the moving distance is a length of movement radius; the control module compares the movement radius again Data and working distance data, and repeat step 34 until the control module detects that the movement radius length data is greater than or equal to the working distance data.
  • step S11 the control module continues to determine whether there is a second work action that needs to be performed by the telescopic rod. If there is, the control module executes step S10, step S11 and step S12 cyclically; if there is no control module, it sends a restoration signal to the power system of the telescopic rod , The telescopic rod power system drives the telescopic rod to return to the initial position.
  • the control method also includes the control method when the manipulator is working, including the following steps:
  • Step S13 Input the working coordinate position information of the manipulator into the controller, and the sensor collects the current position coordinate information of the manipulator, and feeds back the position information to the controller;
  • Step S14 The controller calculates the movement of the manipulator on the X-axis, Y-axis and Z-axis according to the work coordinate position information and the current position coordinate information, and the controller sends control commands to the cart motor, the cart motor and the telescopic rod power system;
  • Step S15 The controller monitors the position of the manipulator in real time according to the feedback of the first sensor, the second sensor, and the third sensor, and after determining that the manipulator reaches the working position, the controller sends a work instruction to drive the manipulator to perform work actions.
  • the multi-axis robotic arm 44 provided in this application can be externally connected to functional components 42 according to different implementation purposes, specifically including:
  • the second connecting part can be connected to the aluminum mold grabbing robot, and feedback the position information to the control system of the crane-trolley-telescopic rod-manipulator through the positioning system of the external functional component.
  • the aluminum mold is transported to the required position and stayed by calculating the required moving coordinates, and the aluminum mold is installed by manual or other mechanical equipment; this transportation and positioning function greatly reduces the physical consumption of workers in handling the aluminum mold and improves labor Safe and precise positioning improves the quality and speed of aluminum mold installation;
  • the second connecting part can be connected to the rebar tying robot, through the recognition device on the external functional part, feedback the coordinate information to the control system of the crane-trolley-telescopic rod-manipulator, and calculate Move the coordinates and the rotation angle of the multi-axis mechanical arm 44 to drag the lashing equipment to the designated work area to bind the steel bar lashing point.
  • the lashing device can rotate the second motor shaft to fix the horizontal slab reinforcement and the vertical wall column reinforcement. Perform lashing, saving labor through automatic lashing;
  • the second connecting part can be connected with a grabbing robot to grab and tow the hose at the front of the distributor to realize the movement of the construction plane; calculate the cloth amount before construction or measure other equipment
  • the pouring height of the concrete is input in advance or real-time feedback of the movement instructions to the crane and trolley to achieve precise distribution of the pouring area;
  • the second connecting component can be connected to the leveling robot, the leveling robot, and the vertical positioning device of the external functional component, etc., feedback information to the crane-trolley-telescopic rod -In the control system of the robotic arm, the telescopic rod is controlled to expand and contract to ensure the stable vertical coordinates of the leveling and troweling robot, thereby ensuring the quality of the concrete leveling and leveling, saving manpower and improving the level of the concrete, which is convenient for follow-up Installation of aluminum mold support and paving of floor tiles and floors;
  • the multi-axis robotic arm 44 can also externally locate the functional component or itself through the multi-interface device Integrate such functional components.
  • the functional component 42 is a construction robot; it also includes a control module and a power module; the power module is connected to the control module and the first motor that drives the first motor shaft of the manipulator main unit, the second motor that drives the second motor shaft, The third motor that drives the third motor shaft is electrically connected; the control module is respectively communicatively connected with the first motor, the second motor, and the third motor; the control module controls the multi-axis mechanical arm 44 to reach the specified coordinates, and obtains the multi-degree-of-freedom construction range and Coordinate compensation: With the above-mentioned scheme, it is possible to realize the multi-freedom and multi-directional precise position construction of the crane arm with high efficiency.

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Abstract

一种建筑施工系统及施工方法，建筑施工系统包括爬架系统和行吊系统，爬架系统和行吊系统通过支撑立柱（51）连接，支撑立柱（51）设置在爬架系统的主体框架上，行吊系统设置在支撑立柱（51）上，支撑立柱（51）包括前后设置的第一支撑立柱排和第二支撑立柱排；行吊小车（2）上设置一可在竖直方向伸缩的可伸缩杆（41），可伸缩杆（41）的下端可拆卸地连接多轴机械臂（44），多轴机械臂（44）的下端可拆卸的连接功能部件（42）。通过上述设置，建筑施工系统的定位更加准确，抓取物料稳定精准，自动化程度高。

Description

一种建筑施工系统及其施工方法
相关申请的交叉引用
本申请基于申请号为：201910108029.4，申请日为2019年2月2日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请涉及建筑施工领域，具体而言，涉及一种建筑施工系统及其施工方法。
背景技术
在建筑施工过程中一般会使用行吊(起重机)吊载物料，实现物料的搬运；爬架也是建筑施工过程中必不可少的设备之一，爬架可以沿着建筑物上攀或下降，是建筑施工中安全可靠的作业平台。
传统的行吊一般设在地面或楼面之上，而爬架顶部没有架设行吊，这导致行吊在运输物料时移动不灵活，而且定位不好，常有吊载不到的死角，需要人工再费时费力的搬运到工作位置，而且现有的行吊自动化程度低，需要人工参与较多的体力工作；随着新型建筑方式的发展，建筑所需作业半径越来越长以及定位精度要求越来越高，急需一种新型吊装设备来满足现有各种各样的吊装环境和吊装需求。
发明内容
本申请的目的是针对上述技术中存在的不足之处，提出一种建筑施工系统，以解决现有技术爬架和行吊运送物料不灵活，定位不好的问题。
本申请提供一种建筑施工系统，其包括爬架系统和行吊系统，爬架系统和行吊系统通过支撑立柱连接，支撑立柱设置在爬架系统的主体框架上，行吊系统设置在支撑立柱上，支撑立柱包括前后设置的第一支撑立柱排和第二支撑立柱排；行吊系统包括支撑在第一支撑立柱排上的第一行吊轨道和支撑在第二支撑立柱排上的第二行吊轨道、架设在第一行吊轨道和第二行吊轨道之间并可沿第一行吊轨道、第二行吊轨道运动的行吊大车，设置在行吊大车上并可相对行吊大车运动的行吊小车，行吊小车上设置一可在竖直方向伸缩的可伸缩杆，可伸缩杆的下端可拆卸地连接多轴机械臂，多轴机械臂的下端可拆卸的连接功能部件。
进一步的，功能部件也可直接与可伸缩杆连接。
进一步的，功能部件为机械手。
进一步的，行吊小车的运动方向与行吊大车的运动方向垂直，行吊大车、行吊小车、伸缩杆的运动方向关系为X轴、Y轴、Z轴方向，多轴机械臂可在立体空间内进行多维度运动。
进一步的，行吊小车骑设在行吊大车上。
进一步的，行吊大车包括一横梁，横梁的前后两端装设有第一车轮、第二车轮，对应的卡装在相应的第一行吊轨道和第二行吊轨道上，横梁上设置有移动轨道。
进一步的，行吊小车包括车体和车轮，车体的截面为倒U形，车轮设置车体的凹槽内顶部，行吊小车架设在横梁上时，车轮刚好至于移动轨道上。
进一步的，行吊小车配置有与行吊小车车轮驱动连接的小车马达；行吊大车配置有与行吊大车车轮驱动连接的大车马达。
进一步的，伸缩杆底部设置可供多轴机械臂或功能部件连接的第一连接单元和/或多轴机械臂底部设置有可供与功能部件连接的第二连接单元。
进一步的，第一/第二连接单元均实现的是刚性连接。
进一步的，该施工方法包括爬架在竖直方向上移动的控制方法，其包括如下步骤：
步骤S1：控制器发出指令，爬升过程启动，当爬架整体爬升至预定位置时，爬升停止，人工进行爬架与建筑物的机械连接固定后，爬架的爬升装置进入放松状态不再受力。
步骤S2：控制第一支撑立柱、第二支撑立柱升降至合适的位置，安装行吊机构。
进一步的，爬架爬升时，若荷载超载，会自动停机；当爬架自身的任意两个提升机构发生爬升高度差超过2cm，爬架自动停机，停机后需人工干预调平后，再次启动。
进一步的，当爬架爬升时，将行吊机构移动到第三、第四支撑立柱附近，第三、第四支撑立柱为液压杆机构，协同爬架上升为其提供支撑力，减轻爬架上行的阻力。
进一步的，该控制方法还包括在平面上运送物料的控制方法，其包括如下步骤：
步骤S3：在控制模块内输入规划行走路线参数、停留位置参数；
步骤S4：控制模块发出指令启动行吊大车马达和行吊小车马达，大车马达和小车马达分别驱动行吊大车和行吊小车按规划路径行走；
步骤S5：行吊大车与行吊小车行走时，利用感应器对行吊大车和行吊小车所在的位置实时监控并反馈给控制模块；
步骤S6：控制模块根据所接收到的行吊大车和行吊小车位置数据信息，确定行吊大车和行吊小车是否到达预设停留位置，当行吊大车和行吊小车到达预设停留位置时，控制模块发出指令控制大车马达和小车马达停止运行。
进一步的，在步骤S6后，还包括如下步骤：
步骤S7：行吊大车和行吊小车停止后，控制模块开始计时，当停留时间达到设定的停留时间后，控制模块下达指令重新启动大车马达和小车马达；
步骤S8：控制模块根据感应器实时反馈的位置数据信息和设定目的地位置信息进行匹配，当检测到行吊大车和行吊小车到达规划路线终点后，控制模块发出指令控制大车马达和小车马达停止运行。
进一步的，在行吊大车和行吊小车运动过程中，控制模块根据感应器反馈的数据判断行吊大车和行吊小车是否在规划路线上，若不是则控制模块对大车马达与小车马达下达指令，驱动行吊大车和行吊小车回归正确的行驶路线。
进一步的，控制方法还包括对行吊小车上设置的伸缩杆的控制方法，其包括如下步骤：
步骤S9：记录伸缩杆的初始位置以及机械臂运动半径数据，并将位置数据和机械臂运动半径数据导入控制模块；
步骤S10：利用机械臂上的第三感应器实时采集机械臂与物料的工作距离数据，并将工作距离数据发送给控制模块；
步骤S11：控制模块比较工作距离数据与运动半径数据，当运动半径数据大于等于工作距离数据时，控制模块对机械臂和机械手下达指令执行第一工作动作；
步骤S12：当运动半径数据小于工作距离数据时，控制模块发送启动信号给伸缩杆动力系统，伸缩杆动力系统驱动伸缩杆向下移动，移动的距离为一个运动半径长度；控制模块再次比较运动半径数据和工作距离数据，并循环执行步骤34，直至控制模块检测到运动半径长度数据大于等于工作距离数据。
进一步的，在步骤S11后，控制模块继续判定是否存在伸缩杆需要执行的第二工作动作，若存在控制模块循环执行步骤S10，步骤S11和步骤S12；若不存在控制模块发出复原信号给伸缩杆的动力系统，伸缩杆动力系统驱动伸缩杆恢复至初始位置。
进一步的，控制方法还包括机械手工作时的控制方法，包括如下步骤：
步骤S13：将机械手的工作坐标位置信息输入至控制器内，感应器采集机械手当前位置坐标信息，并将位置信息反馈给控制器；
步骤S14：控制器根据工作坐标位置信息和当前位置坐标信息计算机械手在X轴、Y轴和Z轴上的移动量，控制器发出控制指令给大车马达、小车马达和伸缩杆动力系统；
步骤S15：控制器根据第一感应器、第二感应器、第三感应器的反馈，实时监控机械手的位置，确定机械手到达工作位置后，控制器发出工作指令驱动机械手执行工作动作。
采用以上技术方案，与现有技术相比，本申请一种建筑施工系统的有益效果是，定 位更加准确，抓取物料稳定精准，自动化程度高。
附图说明
下面结合附图和具体实施方式对本申请作进一步详细的说明。
图1为本申请优选实施的行吊在建筑施工时的示意图；
图2为本申请优选实施的行吊结构示意图；
图3为图2中A处的放大结构示意图；
图4为本申请优选的行吊小车部分放大结构示意图；
图5为本申请优选的爬架和提升机构示意图；
图6为本申请优选的多轴机械臂连接示意图；
图7为本申请优选的多轴机械臂立体图；
图8为本申请优选的多轴机械臂主视图；
图9为本申请优选的多轴机械臂侧视图；
图10为本申请优选的多轴机械臂俯视图；
图11为本申请优选的多轴机械臂仰视图；
图12为本申请优选的多轴机械臂沿伸缩杆轴线的垂直面旋转示意图；
图13为本申请优选的多轴机械臂绕电机轴转动示意图；
图14为本申请优选的爬架的爬升控制方法流程示意图；
图15为本申请优选的控制行吊大车和行吊小车行驶方法的流程示意图；
图16为本申请优选的控制伸缩杆移动方法的流程示意图；
图中：1-行吊大车，11-横梁，12-第一移动部，13-第二移动部，14-大车电机，15-移动轨道，2-行吊小车，21-车体，22-车轮，23-支座，31-第一轨道，311-第一承轨梁，312-第一导轨，32-第二轨道，321-第二承轨梁，312-第二导轨，41-伸缩杆，42-功能部件，43-第一连接单元，44-机械臂，45-第二连接单元，5-爬架，51-支撑立柱，201-导轨，202-内立杆，203-外立杆，204-横杆，205-支撑斜腹杆，206-水平支撑结构，208-附墙支座，209-防坠装置，211-防坠杆，212-防倾装置，213-上吊点，214-下吊点，215-提升机，217-脚手板，218-外防护网，219-顶部作业层护栏，220-密封翻板，221-建筑物；50-第四机械臂，52-外接端口单元，53-第一机械臂，54-第一电机轴，55-第二机械臂，56-第二电机轴，57-第三机械臂，59-螺栓孔，60-数据接口。
具体实施方式
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互 组合。下面将参考附图并结合实施例来详细说明本申请。
如图1-图5所示，一种建筑施工系统，其包括爬架系统和行吊系统，爬架系统和行吊系统通过支撑立柱51连接，支撑立柱51设置在爬架系统的主体框架上，行吊系统设置在支撑立柱51上，支撑立柱51包括前后设置的第一支撑立柱排和第二支撑立柱排；行吊系统包括支撑在第一支撑立柱排上的第一行吊轨道31和支撑在第二支撑立柱排上的第二行吊轨道32、架设在第一行吊轨道31和第二行吊轨道32之间并可沿第一行吊轨道31、第二行吊轨道32运动的行吊大车1，设置在行吊大1车上并可相对行吊大车1运动的行吊小车2，行吊小车2上设置一可在竖直方向伸缩的可伸缩杆41，可伸缩杆41的下端可拆卸地连接多轴机械臂44，多轴机械臂44的下端可拆卸的连接功能部件42。该伸缩杆41为电动伸缩杆、气动伸缩杆或者液压伸缩杆。
如图1-图5所示，爬架系统包括主体框架结构，其围绕建筑物221设置，建筑物221的四面均设有爬架5，根据需要，例如修整其中一些建筑物221墙面是，也可只在其中的一面、二面、或三面设有爬架5。爬架5通常根据建筑物221的长度进行定制或选用，如图1中建筑物221纵向面，可以只用一个爬架5，横向面可以采用多个爬架5沿横向组合使用，即多个爬架5协向操作。当然也可定制安装成一个整体爬架5，如图1中所示的环绕建筑物221的一个整体爬架5结构。
本申请的爬架5的内侧设有支撑立柱51，在爬架5的前后相对的两侧固定有支撑立柱51，支撑立柱51可以设计成高于爬架5的高度，即行吊滑轨104高于爬架一定的高度。第一支撑立柱排包括多个平行设置的第一支撑立柱，第二支撑立柱排包括多个平行设置的第二支撑立柱，第一支撑立柱和第二支撑立柱进一步的可设置成可变长度结构，如支撑立柱为液压杆式结构，包括缸体和杆体，其中缸体固定在框架结构上，杆体上部固定支撑第一行吊轨道31和第二行吊轨道32，杆体可相对缸体上下移动。通过上述设置，可以方便行吊系统在竖直方向上进行调节。
其示意出了爬架5的提升机构215及爬架5主要构成部件。其中导轨201作为爬架5整体爬升的轨道，可采用槽钢和圆钢的组合钢质材料，导轨201通常采用螺栓结构固定在建筑物221上，爬架5通过与导轨201配合实现上下滑动。
为了保证爬架5的稳定性，还设有防倾装置212，防倾装置212包括防倾杆和卡接装置，防倾杆固定于爬架5上，卡接装置一端为环状部，可套接于防倾杆上，另一端通过附墙支座208固定在建筑物221上。当爬架5爬升时，防倾杆通过环状部向上滑动，滑动过程中防止爬架倾覆。另外，设有摩擦式防坠装置209，其包括防坠杆211，用于爬架5发生下坠时，对爬架5进行摩擦式支撑，减缓下坠，直至下坠停止。
附墙支座208是槽钢和圆钢的组合钢质材料，起到卸荷防倾覆作用。是爬架5与建 筑主体结构的连接构件。附墙支座208一般通过机械方式与剪力墙进行连接，亦可与楼板进行机械连接。部分附墙支座208上设有上吊点213，爬架5底部对应设有下吊点214，上吊点213和下吊点214之间设有线缆，线缆可通过提升机215如电动葫芦或液压机进行提升和下降。
爬架设有多层结构，以最下面一层为例，包括：内立杆202，外立杆203、横杆204、水平支撑结构206(纵杆)，其中横杆204连接内立杆202和外立杆203，水平支撑结构206(纵杆)在纵向方向上连接横杆204，由内、外立杆202，203、横杆204、水平支撑结构206(纵杆)组成一个长方形框架结构，长方形框架结构底部可铺设脚手板217，另外在还设置有加强用腹杆205。另外可设置密封翻板220、作业层护栏219、防护外网218。
如图6-图13所示，功能部件42也可直接与可伸缩杆41连接，功能部件42为机械手。机械手包括但不限于以下钢筋绑扎机械手、铝模板安装机械手或地面磨平机械手。
在本申请的一些实施例中，行吊小车2的运动方向与行吊大车1的运动方向垂直，行吊大车1、行吊小车2、伸缩杆41的运动方向关系为X轴、Y轴、Z轴方向，多轴机械臂44可在立体空间内进行多维度运动。
进一步的，伸缩杆41与行吊小车2通过小车侧面的支座23螺栓连接，该支座23和行吊小车2用钢板刚性连接。通过支座23连接直角坐标系杆41和行吊小车2，使其连接稳定牢固，不易损坏。优选的，行吊小车2骑设在行吊大车1上。这种连接方式使行吊小车2的运动更加稳定，防止翻车。优选的，行吊大车1包括一横梁11，横梁11的前后两端装设有第一车轮12、第二车轮13，对应的卡装在相应的第一行吊轨道31和第二行吊轨道32上，横梁11上设置有移动轨道15。横梁11两端连接的第一车轮12和第二车轮13可以拆卸，并更换新的横梁11，横梁11的长度可根据建筑施工过程中的需求定制。
本申请的一些实施例中，行吊小车2包括车体21和车轮22，车体21的截面为倒U形，车轮22设置车体21的凹槽内顶部，行吊小车2架设在横梁11上时，车轮22刚好至于移动轨道15上。
本申请的一些实施例中，行吊小车2配置有与行吊小车车轮22驱动连接的小车马达；行吊大车1配置有与行吊大车1车轮驱动连接的大车马达14。大车马达14和小车马达为三合一马达，三合一马达也称三合一减速器，是集减速器、电动机和制动器功能为一体的部件。小车电机较为优选的位置是设置在车体21内。
本申请的一些实施例中，在伸缩杆41设置可供多轴机械臂44或功能部件42连接的第一连接单元43，当功能部件42通过多轴机械臂44与伸缩杆41连接时，多轴机械 臂44与功能部件42通过第二连接单元45连接。
如图6-图13所示，多轴机械臂44包括机械臂主体单元、设置于机械臂主体单元顶部的第一连接单元43以及设置于机械臂主体单元底部的第二连接单元45；该第一连接单元43将机械臂主体单元安装于行吊系统上，由此实现机械臂与行吊系统的模块化连接和安装；第二连接单元45外接功能部件，该功能部件可用于行吊施工，并根据不同目的可以外接建筑施工用机器人，例如整平机器人、抹平机器人、绑扎机器人、抓取机器人、刮平机器人等，采用第二连接单元同样使得机械臂与功能部件之间实现模块化连接和安装；采用上述机械臂方案，使得行吊系统在施工时可以外接功能部件，从而提高作业效率、扩大行吊的应用范围、降低人工劳动量、降低施工成本。
结合上述方案，如图6-图13所示，本实施例中，机械臂主体单元为多轴机械臂44；多轴机械臂44包括多条机械臂，并且多条机械臂转动轴线不在同一直线上，由此可以实现多方向、多维度、多自由度的施工空间以及坐标补偿；进一步地，多条机械臂之间通过电机轴转动连接，以现实各个机械臂之间不同维度、不同方向的转动；在各自电机轴的带动作用下，各个机械臂可以沿水平方向或竖直方向转动；具体地，如图8所示，电机轴可带动机械臂在水平面上做360°旋转；或如图9所示，电机轴可带动机械臂在竖直方向做钟摆式转动，从而实现各个维度和方向的转动。
结合上述方案，如图6-图13所示，本实施例中，机械臂包括第一机械臂53、第二机械臂55以及第三机械臂57；其中，第一机械臂43一端与第一连接单元43连接，第一机械臂53另一端通过第一电机轴54与第二机械臂55一端可转动连接；第一电机轴54水平设置于第一机械臂53和第二机械臂55转动连接处，并和第一电机传动连接，从而使得第二机械臂55可绕第一电机轴54转动；第二机械臂55另一端通过第二电机轴56与第三机械臂57一端可转动连接；第三机械臂57的另一端连接第二连接单元45；第二电机轴56水平设置于第二机械臂55和第三机械臂57转动连接处，并和第二电机传动连接，从而使得第三机械臂57可绕第二电机轴56转动；具体地，第一电机轴54的轴线和第二电机轴56的轴线均为水平方向，从而使第二机械臂55和第三机械臂57可在竖直方向上做钟摆式转动，即第一电机轴54带动第二机械臂55沿竖直方向做钟摆式转动；第二电机轴56带动第三机械臂57沿竖直方向做钟摆式转动。
结合上述方案如图6-图13所示，本实施例中，机械臂还包括第四机械臂50；第四机械臂50一端通过第三电机轴与第一机械臂53的底部传动连接，第四机械臂50另一端与通过第一电机轴54与第二机械臂55一端可转动连接；第三电机轴设置于第一机械臂53上，并和第三电机传动连接；这样，第一机械臂53通过第三电机轴带动第四机械臂50沿水平方向旋转，即如图8所示，第三电机轴可带动第四机械臂50在水平面上做 360°旋转，并且第四机械臂50可带动第二机械臂55在水平面上做360°旋转。
结合上述方案，如图6-图13所示，本实施例中，第一电机轴54连接第一电机、第二电机轴56连接第二电机、第三电机轴连接第三电机；这样使得第一电机轴54、第二电机轴56、第三电机轴可同步或独立被驱动，从而实现各自角度和空间的转动。
本实施例中，通过伸缩杆连接一个多轴机械臂44的第一连接单元，从而进一步实现多轴机械臂44施工位置的坐标补偿和更大空间的活动范围、更多维度的吊运；伸缩杆与第一连接单元可拆卸连接，这样使得伸缩杆在需要安装机器人或机械臂的时候可以方便拆卸和更换；具体地，本实施例中，伸缩杆与第一连接单元通过螺栓连接或通过法兰连接或通过滑轨连接；进一步地，第一连接单元43固定设置于第一机械臂53顶部，这样第一机械臂53可通过伸缩杆3将机械臂主体单元安装于行吊系统上；具体地，伸缩杆3一端与第一连接单元43连接，另一端连接于行吊系统的行吊车上；具体地，由于行吊、伸缩杆的自身行走误差及结构受力变形，造成第二连接部件外接的机器人施工时可能存在定位不准确或无法行走至指定位置，该多轴机械臂44为行吊、伸缩杆提供坐标补偿、保证外接的机器人能够达到指定坐标，也可为外接机器人提供范围施工的自由度、减少行吊及小车的移动。
结合上述方案，如图6-图13所示，本实施例中，机械臂主体单元的侧面上设有外接端口单元52；进一步地，该外接端口单元52用于临时和外接电器设备通信连接；外接电器设备为检测器或编码器；检测器或编码可对机械臂进行检测或临时调整，也可以外接较大型设备的数据端口，如抹平机、铝模安装机等末端机器。
结合上述方案，如图6-图13所示，本实施例中，第二外接单元45固定设置于第三电机械臂57的底部，用于可拆卸地外接不同目的的功能部件；该功能部件可以为整平机器人、抹平机器人、绑扎机器人、抓取机器人或刮平机器人；采用上述方案，机械臂主体单元通过第二外界单元接口连接不同作用和功能的机器人，从而进行施工。
结合上述方案，如图6-图13所示，本实施例中，第一连接单元43和/或第二连接单元45为连接板；具体地，连接板的四周分别设有螺栓孔，这样连接可通过螺栓孔与外界设备或功能部件模块化连接和安装；具体地，连接板的中心位置预留有走线通道或数据接口60，这样使得连接单元通过走线通道或数据接口即可与外部设备通信连接或电连接，从而实现电源供应和通信控制连接。
本申请一种建筑施工系统的控制方法的优选的实施例如下，该控制方法包括爬架在竖直方向上移动的控制方法，行吊大车和行吊小车移动的控制方法，伸缩杆在竖直方向上伸缩的控制方和机械手的控制方法。
如图14所示，爬架在竖直方向上移动的控制方法包括，控制系统经过初始化，控 制系统自检化，判断结果是否正常，如果否，则停机警报，如果是，则检测载荷，如果超载，则停机警报，未超载，则爬架爬升，同时进行机位检测，各机位若大于2cm,则人工调平，判断是否达到指定位置，如到达，则终止。具体的：
爬架5通过专用的控制器控制爬升，当控制器发出指令，单体建筑上的爬架5进行提升，提升的动力可来自电动葫芦和链条或液压顶升装置等。当爬架5整体爬升至预定位置时，爬升自动停止，人工进行爬架5与楼梯的机械连接固定后，爬架5提升机构进入放松状态不再受力。
爬架5爬升时，若荷载超载，会自动停机。当爬架5自身的任意两个提升机构(215)发生爬升高度差超过2cm，爬架5自动停机。当行吊系统的两端高度差超过2cm，爬架5自动停机。停机后需人工干预调平后，机器再次启动。
每次完整的爬升高度为建筑主体的层高，例如，建筑体层高为3m，爬架每次完整的整体爬升高度为3m。爬架可整体同步爬升，也可以各提升机构机位单独提升，也可任意组合同步提升。当爬架上升到指定位置后，即可进行行吊的控制，支撑立柱进行高度调节，在行吊滑轨上安装行吊机构，即可同时对建筑楼顶进行施工，同时对各层进行施工。
如图15所示，控制行吊大车和行吊小车移动的方法，其包括如下步骤：
步骤S3：在控制模块内输入规划行走路线参数、停留位置参数；
步骤S4：控制模块发出指令启动行吊大车马达和行吊小车马达，大车马达和小车马达分别驱动行吊大车和行吊小车按规划路径行走；
步骤S5：行吊大车与行吊小车行走时，利用感应器对行吊大车和行吊小车所在的位置实时监控并反馈给控制模块；
步骤S6：控制模块根据所接收到的行吊大车和行吊小车位置数据信息，确定行吊大车和行吊小车是否到达预设停留位置，当行吊大车和行吊小车到达预设停留位置时，控制模块发出指令控制大车马达和小车马达停止运行。
在步骤S6后，还包括如下步骤：
步骤S7：行吊大车和行吊小车停止后，控制模块开始计时，当停留时间达到设定的停留时间后，控制模块下达指令重新启动大车马达和小车马达；
步骤S8：控制模块根据感应器实时反馈的位置数据信息和设定目的地位置信息进行匹配，当检测到行吊大车和行吊小车到达规划路线终点后，控制模块发出指令控制大车马达和小车马达停止运行。
在行吊大车和行吊小车运动过程中，控制模块根据感应器反馈的数据判断行吊大车和行吊小车是否在规划路线上，若不是则控制模块对大车马达与小车马达下达指令，驱动行吊大车和行吊小车回归正确的行驶路线。
如图16所示，控制方法还包括对行吊小车上设置的伸缩杆的控制方法，其包括如下步骤：
步骤S9：记录伸缩杆的初始位置以及机械臂运动半径数据，并将位置数据和机械臂运动半径数据导入控制模块；
步骤S10：利用机械臂上的第三感应器实时采集机械臂与物料的工作距离数据，并将工作距离数据发送给控制模块；
步骤S11：控制模块比较工作距离数据与运动半径数据，当运动半径数据大于等于工作距离数据时，控制模块对机械臂和机械手下达指令执行第一工作动作；
步骤S12：当运动半径数据小于工作距离数据时，控制模块发送启动信号给伸缩杆动力系统，伸缩杆动力系统驱动伸缩杆向下移动，移动的距离为一个运动半径长度；控制模块再次比较运动半径数据和工作距离数据，并循环执行步骤34，直至控制模块检测到运动半径长度数据大于等于工作距离数据。
在步骤S11后，控制模块继续判定是否存在伸缩杆需要执行的第二工作动作，若存在控制模块循环执行步骤S10，步骤S11和步骤S12；若不存在控制模块发出复原信号给伸缩杆的动力系统，伸缩杆动力系统驱动伸缩杆恢复至初始位置。
控制方法还包括机械手工作时的控制方法，包括如下步骤：
步骤S13：将机械手的工作坐标位置信息输入至控制器内，感应器采集机械手当前位置坐标信息，并将位置信息反馈给控制器；
步骤S14：控制器根据工作坐标位置信息和当前位置坐标信息计算机械手在X轴、Y轴和Z轴上的移动量，控制器发出控制指令给大车马达、小车马达和伸缩杆动力系统；
步骤S15：控制器根据第一感应器、第二感应器、第三感应器的反馈，实时监控机械手的位置，确定机械手到达工作位置后，控制器发出工作指令驱动机械手执行工作动作。
本申请提供的多轴机械臂44，可根据不同实施目的外接功能部件42，具体包括：
当施工层需要进行铝模安装工作时，第二连接部件可外接铝模抓取机器人，通过外接功能部件的定位系统等反馈位置信息至行吊-小车-伸缩杆-机械臂的控制系统中，通过计算需移动坐标将铝模运输至所需位置并停留，通过人工或其他机械设备对铝模进行安装；这种运输及定位功能，大大减轻工人在搬运铝模中的体力消耗、提升了劳动安全，同时精准定位提升了铝模安装的质量及速度；
当施工层需要进行钢筋绑扎工作时，第二连接部件可外接钢筋绑扎机器人，通过外接功能部件上的识别装置，反馈坐标信息至行吊-小车-伸缩杆-机械臂的控制系统中，通过计算移动坐标及多轴机械臂44旋转角度，将绑扎设备牵引至指定工作区对钢筋绑 扎点进行绑扎，绑扎设备通过第二电机轴的转动，可对水平面的板筋、竖直面的墙柱筋进行绑扎，通过自动绑扎节约了人工；
当施工层需要进行至混凝土布料时，第二连接部件可外接抓取机器人，对布料机前端软管进行抓取并牵引，实现施工平面的运动；通过施工前的布料量计算、或其他设备测量混凝土的浇筑高度，事先输入或实时反馈移动指令给行吊及小车，对浇筑区域实现精准布料；
当施工层需要进行至混凝土刮平、抹平阶段时，第二连接部件可外接整平机器人、抹平机器人，通过外接功能部件的竖直定位装置等，反馈信息至行吊-小车-伸缩杆-机械臂的控制系统中，控制伸缩杆的伸缩，保证整平、抹平机器人的竖向坐标稳定，从而保证混凝土刮平、整平的质量，节约人力的同时提高了混凝土平整度，方便后续的铝模支模安装及地砖、地板铺贴；
采用上述外接功能部件施工时，需要保证竖直方向坐标一定、绝对水平运动时，除外接功能部件的竖直坐标定位装置反馈控制信息至控制系统外，还需控制第一电机轴与第二电机轴旋转同样角度，保证第二连接部件的水平度，从而保证外接功能部件的水平；除外接功能部件自身的竖直定位系统，多轴机械臂44也可通过多接口器外接定位功能部件或自身集成该类功能部件。
功能部件42为建筑施工用机器人；其还包括控制模块和电源模块；电源模块分别与控制模块和驱动机械臂主体单元的第一电机轴的第一电机、驱动第二电机轴的第二电机、驱动第三电机轴的第三电机电连接；控制模块分别与第一电机、第二电机、第三电机通信连接；控制模块控制多轴机械臂44达到指定坐标，并获得多自由度施工范围和坐标补偿；采用上述方案，能够实现行吊机械臂多自由、多方向进行精确位置施工、效率较高。
以上所述，仅为本申请的较佳实施例，并非对本申请做任何形式上的限制。任何熟悉本领域的技术人员，在不脱离本申请技术方案范围情况下，都可利用上述所述技术内容对本申请技术方案做出许多可能的变动和修饰，或修改为等同变化的等效实施例。因此，凡是未脱离本申请技术方案的内容，依据本申请的技术对以上实施例所做的任何改动修改、等同变化及修饰，均属于本技术方案的保护范围。

Claims (19)

  1. 一种建筑施工系统，其包括爬架系统和行吊系统，所述爬架系统和行吊系统通过支撑立柱连接，所述支撑立柱设置在所述爬架系统的主体框架上，所述行吊系统设置在支撑立柱上，所述支撑立柱包括前后设置的第一支撑立柱排和第二支撑立柱排；所述行吊系统包括支撑在所述第一支撑立柱排上的第一行吊轨道和支撑在所述第二支撑立柱排上的第二行吊轨道、架设在所述第一行吊轨道和所述第二行吊轨道之间并可沿所述第一行吊轨道、所述第二行吊轨道运动的行吊大车，设置在行吊大车上并可相对行吊大车运动的行吊小车，其特征在于：所述行吊小车上设置一可在竖直方向伸缩的可伸缩杆，所述可伸缩杆的下端可拆卸地连接多轴机械臂，所述多轴机械臂的下端可拆卸的连接功能部件。
  2. 如权利要求1所述的建筑施工系统，其特征在于：所述功能部件也可直接与所述可伸缩杆连接。
  3. 如权利要求2所述的建筑施工系统，其特征在于：所述功能部件为机械手。
  4. 如权利要求1-3任一项所述的建筑施工系统，其特征在于：所述行吊小车的运动方向与行吊大车的运动方向垂直，所述行吊大车、行吊小车、伸缩杆的运动方向关系为X轴、Y轴、Z轴方向，所述多轴机械臂可在立体空间内进行多维度运动。
  5. 根据权利要求4所述的建筑施工系统，其特征在于：所述行吊小车骑设在行吊大车上。
  6. 根据权利要求5所述的建筑施工系统，其特征在于：所述行吊大车包括一横梁，横梁的前后两端装设有第一车轮、第二车轮，对应的卡装在相应的第一行吊轨道和第二行吊轨道上，所述横梁上设置有移动轨道。
  7. 根据权利要求6所述的建筑施工系统，其特征在于：所述行吊小车包括车体和车轮，所述车体的截面为倒U形，所述车轮设置车体的凹槽内顶部，所述行吊小车架设在所述横梁上时，所述车轮刚好至于所述移动轨道上。
  8. 根据权利要求7所述的建筑施工系统，其特征在于：所述行吊小车配置有与行吊小车车轮驱动连接的小车马达；所述行吊大车配置有与行吊大车车轮驱动连接的大车马达。
  9. 根据权利要求8所述的建筑施工系统，其特征在于：所述伸缩杆底部设置可供所述多轴机械臂或功能部件连接的第一连接单元和/或所述多轴机械臂底部设置有可供与功能部件连接的第二连接单元。
  10. 根据权利要求9所述的建筑施工系统，其特征在于：所述第一/第二连接单元均实现的是刚性连接。
  11. 一种如权利要求1-10任一项所述的建筑施工系统的控制方法，其特征在于：该施 工方法包括爬架在竖直方向上移动的控制方法，其包括如下步骤：
    步骤S1：控制器发出指令，爬升过程启动，当爬架整体爬升至预定位置时，爬升停止，人工进行爬架与建筑物的机械连接固定后，爬架的爬升装置进入放松状态不再受力。
    步骤S2：控制第一支撑立柱、第二支撑立柱升降至合适的位置，安装行吊机构。
  12. 根据权利要求11所述的建筑施工系统的控制方法，其特征在于：爬架爬升时，若荷载超载，会自动停机；当爬架自身的任意两个提升机构发生爬升高度差超过2cm，爬架自动停机，停机后需人工干预调平后，再次启动。
  13. 根据权利要求12所述的建筑施工系统的控制方法，其特征在于：当爬架爬升时，将行吊机构移动到第三、第四支撑立柱附近，第三、第四支撑立柱为液压杆机构，协同爬架上升为其提供支撑力，减轻爬架上行的阻力。
  14. 根据权利要求11所述的建筑施工系统的控制方法，其特征在于：该控制方法还包括在平面上运送物料的控制方法，其包括如下步骤：
    步骤S3：在控制模块内输入规划行走路线参数、停留位置参数；
    步骤S4：控制模块发出指令启动行吊大车马达和行吊小车马达，大车马达和小车马达分别驱动行吊大车和行吊小车按规划路径行走；
    步骤S5：行吊大车与行吊小车行走时，利用感应器对行吊大车和行吊小车所在的位置实时监控并反馈给控制模块；
    步骤S6：控制模块根据所接收到的行吊大车和行吊小车位置数据信息，确定行吊大车和行吊小车是否到达预设停留位置，当行吊大车和行吊小车到达预设停留位置时，控制模块发出指令控制大车马达和小车马达停止运行。
  15. 根据权利要求14所述的建筑施工系统的控制方法，其特征在于：在步骤S6后，还包括如下步骤：
    步骤S7：所述行吊大车和所述行吊小车停止后，控制模块开始计时，当停留时间达到设定的停留时间后，控制模块下达指令重新启动大车马达和小车马达；
    步骤S8：控制模块根据感应器实时反馈的位置数据信息和设定目的地位置信息进行匹配，当检测到行吊大车和行吊小车到达规划路线终点后，控制模块发出指令控制大车马达和小车马达停止运行。
  16. 根据权利要求14或15所述的建筑施工系统的控制方法，其特征在于：在行吊大车和行吊小车运动过程中，控制模块根据感应器反馈的数据判断行吊大车和行吊小车是否在规划路线上，若不是则控制模块对大车马达与小车马达下达指令，驱动行吊大车和行吊小车回归正确的行驶路线。
  17. 根据权利要求11所述的建筑施工系统的控制方法，其特征在于：所述控制方法还 包括对行吊小车上设置的伸缩杆的控制方法，其包括如下步骤：
    步骤S9：记录伸缩杆的初始位置以及机械臂运动半径数据，并将位置数据和机械臂运动半径数据导入控制模块；
    步骤S10：利用机械臂上的第三感应器实时采集机械臂与物料的工作距离数据，并将所述工作距离数据发送给控制模块；
    步骤S11：控制模块比较所述工作距离数据与所述运动半径数据，当运动半径数据大于等于工作距离数据时，控制模块对机械臂和机械手下达指令执行第一工作动作；
    步骤S12：当运动半径数据小于工作距离数据时，控制模块发送启动信号给伸缩杆动力系统，所述伸缩杆动力系统驱动伸缩杆向下移动，移动的距离为一个运动半径长度；控制模块再次比较运动半径数据和工作距离数据，并循环执行步骤34，直至控制模块检测到运动半径长度数据大于等于工作距离数据。
  18. 根据权利要求17所述的建筑施工系统的控制方法，其特征在于：在步骤S11后，控制模块继续判定是否存在伸缩杆需要执行的第二工作动作，若存在控制模块循环执行步骤S10，步骤S11和步骤S12；若不存在控制模块发出复原信号给伸缩杆的动力系统，所述伸缩杆动力系统驱动伸缩杆恢复至初始位置。
  19. 根据权利要求11所述的建筑施工系的统控制方法，其特征在于：控制方法还包括机械手工作时的控制方法，包括如下步骤：
    步骤S13：将机械手的工作坐标位置信息输入至控制器内，感应器采集机械手当前位置坐标信息，并将位置信息反馈给控制器；
    步骤S14：控制器根据工作坐标位置信息和当前位置坐标信息计算机械手在X轴、Y轴和Z轴上的移动量，控制器发出控制指令给大车马达、小车马达和伸缩杆动力系统；
    步骤S15：控制器根据第一感应器、第二感应器、第三感应器的反馈，实时监控机械手的位置，确定机械手到达工作位置后，控制器发出工作指令驱动机械手执行工作动作。
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