SI23296A - Procedure and device for installation of building envelope elements - Google Patents

Abstract

A procedure and a device for the installation of building envelope elements are solving the technical problem by the presentation of automated installation of building envelope elements, of a device for robotized installation and of a procedure for robotized installation of building envelope elements with its application onsite. The invention belongs to technical solutions in building construction for automated installation of building envelope elements (facades, roofs, partition walls and ceilings) in combination with the complete execution from the designing phase to the installation on their position on the building envelope, and includes all phases of the process of an optimised execution of the building envelope. More in detail, the invention belongs to the installation class of sandwich panels on a steel understructure which is a bearing framework of roofs and facades, in general however, the invention can be reasonably applied also for installation of glass facades and other building envelope elements having their basic element finished enough for being able to be fixed or suspended or in any other way installed on the building envelope. The subject of the invention is a model with algorithms, which comprises all project phases from the process of elaboration of the project documentation, preparation of works, manufacture of elements, packaging, delivery of elements to the site and their installation on the foreseen position an the building envelope. The model is designed as an integrated process with virtual assembling and dismantling and physical preparation logics for the real automated installation on the right place on the building envelope. The subject of the invention is thus a model with algorithms supported by specially developed software tools. Another subject of the invention is the technology (equipment) of the automated installation, which understands these logics and installs building envelope elements in the right sequence on right places on the building. The subject of the invention is also the whole process of automated installation with the application of a robot operating in the outdoor environment and following the logics of the model with algorithms in order to position and install building envelope elements without any direct engagement of the installation manpower. The process is trackable and fully automated. In this manner, the invention is solving the problem of hiring the height working manpower and is following, at the same time, the logics of the right sequence on parts of the building envelope, which is especially important in case of specific building envelopes with very different envelope elements (e.g. 3D envelopes).

Description

Trimo d.d. Friend's Road 12 8210 Trebnje Slovenia

PROCEDURE AND DEVICE FOR INSTALLATION OF ELEMENTS OF THIS BUILDINGS

The field of technology

Construction; montage; sandwich plates.

A technical problem

A technical problem is to optimize the assembly of building envelope elements. The building envelope designers design the building envelope according to the client's requirements and technical norms and standards. They are usually not interested in the sequence of manufacture of the individual envelope elements or the assembly of them on the building itself. Thus, the manufacturers of the wrapping elements take the project as a whole and adjust the production of the elements to the criteria of the simplest production, the least expensive way of packaging or the most efficient transport (if this part of the process is in their domain). It is a common practice for the assembly to be performed by a company other than the manufacturer of the wrapping elements. If the assembly company is also the contracting authority for the envelope elements, it already specifies the order of deliveries by order, and less often also the right sequence of folding of the envelope elements of the building into packages in such a way that no repositioning is required at the construction site itself. Therefore, the assembly team faces the problem of getting the envelope elements to be allocated to the construction site according to the project, which it must deploy, part of them, rotate if necessary, and also prepare each element with the help of the assembly workers to raise it to the intended part of the envelope of the building. . This may result in inconsistency of the exact layout according to the design documentation, the batch of workmanship, the incorrect designation of the element, due to the same marking of positions of the same dimensions (but can be made of other batches of materials), replacement due to human factor and also incorrect implementation of the substructure. There may be more causes for non-compliance, but they are common enough and, in the face of already difficult working conditions in the external environment, will result in additional costs for the installation teams and the extended execution time. In addition, assembly teams in the field are exposed to external influences and work at high altitudes, which is associated with the additional risks themselves and others involved in these processes.

The state of the art

The logistics of the building envelope elements or panels is based on the labeling of individual packages in which panels of equal lengths or lengths are stacked, which are always shorter in the bottom-up package (in the case of the parts of the building envelope where the panels are shortened). At the assembly site, panels with panels are arranged around the building, on the floor. The packaging is removed and then the assembly team prepares the panels from the package for lifting with the help of technical aids (mechanical, vacuum grips, etc.). Prior to that, 2 assembly team workers perform ancillary operations such as: removal of the protective film, proper rotation, installation of the grip, installation of temporary fixing elements, execution of cuts or cuts, etc.).

The panel is then raised to the height by means of an elevator operated by a third member of the assembly group. The fourth and fifth members of the assembly group, which are raised to the height in the lifting basket (at higher heights in the hanging platform), adjust the panel to the position on the sheath and secure it with the help of electric or Aku hand tools. In the case of longer (heavier) panels, these operations are even more difficult and therefore the assembly group can number up to 10 members. They are all exposed to harsh working conditions, working in an outdoor environment and at a height. The use of elevators, lifting baskets, scissor platforms, suspended platforms, etc. has become widespread in recent years and has become a part of daily practice in the developed countries of the world, however, many operations on the erection of building envelope elements are still related to the work of installers, of whom the quality and traceability of the intended sequence also depend.

Description of the new solution

The procedure and device for assembly of building envelope elements solves the technical problem shown above by showing the automated assembly of building envelope elements, robotic assembly devices, and the process for robotic assembly of building envelope elements using it at the installation site.

The invention is one of the technical solutions in the construction, for the automated assembly of building envelope elements (facades, roofs and partitions and ceilings) in connection with the entire implementation from the design phase to the installation of the building envelope and includes all stages of the optimized implementation of the building envelope. In more detail, the invention relates to the installation of sandwich panels on a steel substructure, which is a load-bearing frame of roofs and facades, and in general, this invention can also be used sensibly for the installation of glass facades and other elements of building envelopes having a basic element sufficiently refined to support it. can be directly attached or hung or otherwise mounted on the building envelope.

The object of the invention is a model with algorithms, which covers all stages of the project from the process of design documentation preparation, preparation of work, production of elements, packaging, delivery of elements to the construction site and installation at the intended location of the building envelope. The model is designed as an integrated process with the logic of virtual construction and decomposition as well as physical preparation for real automated assembly in the right place of the building envelope. The object of the invention is therefore a model with algorithms supported by specially developed software tools. The subject of the invention is also the technology (equipment) of automated assembly, which understands this logic and places the elements of the building envelope in the right order in the right place on the object. The subject of the invention is also the whole process of automated assembly using a robot operating in an external environment and following the logic of the model with algorithms for positioning and wrapping elements of a building envelope without a direct part of the assembly workforce. The process is traceable and fully automated. The invention thus solves the problem of not requiring manpower to work at height, while also following the logic of the right sequence on parts of a building envelope, which is especially important for specific building envelopes with very different envelope elements (eg 3 D wrappers).

The object of the invention is an algorithm model based on the assumption that each element of the -panel 1 wrapper is different. So, from the planning stage to the place of installation, this element must be marked so that it gets a position - location in addition to its unique identifier (ID). Panel ID 101 determines the geometry, properties, connection to the substructure, batches (colors) of materials, technological parameters, sequence and time of manufacture, etc. At the end of the production process, it is known what the ID tag is, and it is possible to identify and track all the necessary features for automated assembly for this element of the building envelope. In parallel to this process, the pre-elimination (later identification) of the location - IL 102 of this element of the building envelope is determined, which according to this model is determined at the stage of preparation of the project documentation, and is followed in all subsequent stages of the process until it is installed at a specific location on the building envelope.

In doing so, the model adheres to the virtual principle of construction and decommissioning at all stages of implementation. When making and packing the model, the model assumes that the panels are physically dismantled from the building and stacked in smaller order for the logistics and assembly of the appropriate composition - packages 2. The packages delivered to the construction site thus allow for the automated assembly and completion of the building lining. no manpower at height.

Below, the details of the invention are shown by means of sketches, the sketches forming part of the application and showing them:

Figure 1 shows a schematic of ID and IL tags and links through processes and modeled for a building envelope element, with:

ID (1) - the first part of identification (at the stage of project documentation preparation

ID (2) -additional identification data (in the process of technological preparation of work)

ID (3) - Additional identification information (in the manufacturing and packaging phase)

ID - the unique designation of the building envelope element

ILv - virtual tag location (in 3D project, virtual wrapper presentation, etc.)

ILvp - location marking on the envelope with consideration of virtual decomposition into packages (technological design and production method call)

ILp-code of the virtual location of the element in the already made package and compliance with the principle of decomposition (reverse order as in the assembly) - ID also receives information about the location of ILpf-code of the virtual location of the element and the virtual needs of the package for the right sequence of assembly of each phase of construction - the order of circulation with respect to on recall from the ILk construction site - identification of the location from the project and the physical location of the panel in the package

The figures in Figure 1 are not related to the references in Figures 2 and 3, but refer to the case of labeling the numbers of the individual panels in a package.

Figure 2 shows the package and the algorithm for stacking and labeling the panels in the package.

Figure 3 illustrates the technology of automated assembly of building envelope elements.

The object of the invention is in particular to design a virtual building with a virtual wrapper. The designer creates a virtual envelope project with a 3D model. When creating a virtual wrapper, it identifies the individual wrapper elements by identifying the individual element (ID 101) and identifying the location (IL 102). It then decomposes the wrapper by virtually removing from the virtual envelope individual items and adding them to individual packages (labeled P and package number, figure 1), in the order of removal. Information on individual packages is provided to a package preparation company that actually assembles the packages and sends them to the work site, where contractors install them on the building with a system comprising at least two robots (macromanipulator 5 and micromanipulator 6).

The subject of the invention is also a process for automated assembly of panels using robots and new technology (equipment) for the assembly of the wrapping elements on the object itself has been developed. The following describes this part of the invention (Figure 2, Figure 3).

Panels 1 in packages 2 are therefore labeled virtually and in fact with the corresponding ID 101 markings and also in this code IL 102. This marking may be in the form of a bar code, a chip or other marking methods. It is installed in a convenient location so that it is readable and non-interfering when the building envelope is completed.

♦ ·

Panels 1 are brought to the construction site in the form of packages 2, in which panels are assembled in the order of assembly, ie in the order from 1 to x, with x being the last in the sequence. The first is an accessible panel, which has the IDx label and which carries information about IL1. The IDx tag indicates that the panel was made later than ID 1 and bears the IL1 tag because it is the first to be mounted. When all the panels in the first package are assembled, it is in turn package 2, which has a panel IDx + y at the top, bearing ILx + l.

The device (hereinafter referred to as "equipment") for automated assembly is equipped with a suitable computer that controls the system itself and at the same time performs other functions. It recognizes ID and IL from the panel package, from the specification in the project documentation 3, which it adopts in the form of a 3D model, recognizes the location where the panel is supposed to be positioned in the real environment and from the electronic snapshot of the status of the main structure 4 recognizes the real axes or possible deviations the main structures or dimensions of the building, which must be taken into account in the installation itself.

The automatic assembly device comprises a macromanipulator - MM 5 and a micromanipulator - mM 6. MM is a system for roughly coordinated and directional movement of mM in the external environment. The function of the mM is to grip the panel, positioning, fine-tune the slopes and adjust to the deformations and tolerances of the structure, and secure the panel to the exact location on the building envelope.

In the present case, MM is a specially adapted mobile crane with chassis 501, the first complete rotation - R1 of the movable movable part 502, on which the lift cabin is with the lift arm 503, which has a vertical rotation - R2 and telescopic displacement - Ll. Three additional devices are mounted at the end of the lift arm to allow rotations in three directions. The first device 505 enables the rotation of R3 at the end of the arm in an upward and downward rotation about the x axis. Another mechanism 506 allows rotation of R4 in the left-right or up-down direction about the y axis. The third mechanism 507, however, allows the rotation of R5 mM in the horizontal direction about the z axis. All rotations and translatome movements are sensor controlled and restricted. The constraints are programmed to prevent collision or contact of the MM or panel with the MM framework. The operating range is quite wide and is limited by the reach of the telescopic elevator arm, the width of the building and up to a height of 30 m.

• · · · · · · ·

The mM 6 micromanipulator is designed to be able to perform the necessary gripping, positioning, mounting, drilling and screwing functions or other means of tightening in a limited operating range. It consists of a slender frame 601 on which the gripping systems are mounted, optionally 2 gripping vacuum units 602 which, in addition to the basic function of holding the panel during the transfer to the location, also have a movable mechanism 603 for approaching the panel in the ground package or for bringing the panel into place. mounting on the structure. The system of gripping vacuum units is mounted via a special mounting method 604, which allows the vacuum unit 602 to be adjusted during positioning on the panel to make minor errors in positioning accuracy, hangs due to different weights and possible asymmetry of the panel, etc. Between the two vacuum units 602 is mounted on the frame a system of correction vacuum grippers 605, which has the function of flattening the panel due to deformations that are common on the panels prior to installation due to different temperature extensions of the outer and inner sheets. However, the panel must be fully aligned in order to fit it into the joint of the pre-attached panel on the building envelope.

In addition to the gripping vacuum units 602, stabilizing vacuum units 606 are movably mounted with a movable mechanism 607 which, in the position immediately prior to the final positioning of the panel, are sucked into the previous panel, thus ensuring a smooth movement of the other mechanisms without large deviations and fluctuations. When both stabilization vacuum units 606 are sucked in, the gripping vacuum units move to the substructure. The downward displacement is provided by the integrated vertical displacement mechanism of the receiving vacuum units 608.

A special guide 609 is mounted on the mM 601 frame to drive the cart of the robot 610, which holds at least one SCARA (robot known as "Selective Compliance Assembly Robot Arm") robot 611 and a drill screw unit 612 on it. The SCARA robot 611 moves, after the mounting program, to the mounting position of the panel, where in this case the drilling screw unit 612 performs drilling and screwing. A drill and screwdriver 613 is installed in the drilling and screwing area. The system may have two robots or guided 3 axial units that perform the mounting operation simultaneously at

left and right side in case of horizontal installation or above and below in case of vertical installation, more robots can be used. In the present case, the system is designed with a single SCARA robot 612, which is driven to the drilling and screwing position on the mM 601 frame, whether at the end of the panel or along the panel.

The developed MM and mM solution is also reasonably adapted for tall buildings and buildings with 3 D sheaths. In this case, the platform of the telescopic lift is reasonably replaced by a guided pedestal / trolley in three directions following the main structure or sub-construction of the building envelope. The micromanipulator, however, can adapt and perform positioning and mounting operations in a similar manner to the telescopic arm. This makes it even easier to ensure accuracy, since the MM arm can be the main or auxiliary structure in the support.

The principle of operation of the whole system is as follows. The control station 7 receives all necessary information about object 4, project 3 and panels 1 via readers, cameras and transmission of the 3 D model. With respect to the package with panels 2, according to the embodiment, the assistant of the automated assembly manager prepares at the place for picking up the truck plateau, a stopping place near the assembly, etc. and remove the packaging. The operator of a system comprising MM with integrated mM determines the position where the packet is located by means of a touch screen or other technologically equivalent method. leads the elevator to the location of the first pack. It is possible to use a predefined pick-up point, which enables automatic take-off of the first panel as well.

MM moves in space in a controlled manner. The subject of the invention is also the algorithm of the control and control station 7 of the entire system, which performs all operations of panel removal until the final attachment to the building, and these operations adapted to new panels and new locations are reasonably repeated. The control system, through the sensors of each axis of motion, provides a high degree of accuracy and repeatability over a wider operating range. In principle, the shortest trajectory is automatically selected, but due to obstacles on the construction site or on the building, it is possible to prescribe a second trajectory, where the whole system avoids the obstacle taking into account the geometry of the mM and the currently mounted panel. The layout of the first panel is an important starting point for reference, and is implemented by the system using the entered initial coordinates that can be entered by the system operator via the touchscreen • or by the joystick control system 8 provided for management in manual mode. Otherwise, the entire process is fully automated and is monitored by the system operator via the screen 701 or camcorder 702.

The control system 7 also has a communication link 702 that can communicate directly with the panel manufacturer, e.g. ordering the following consignments in order, respectively. with the service that issues the billing situations, ie the specifications of the installation performed on the facades or parts of the building.

Claims (9)

PATENT APPLICATIONS An apparatus for assembling building envelope elements for the automatic assembly of building envelope elements, characterized in that it comprises a macromanipulator (5) and a micromanipulator (6), the macromanipulator (5) intended for co-ordinated and directional movement of the micromanipulator (6) into In the external environment, and furthermore, the function of the micromanipulator (6) comprises gripping the panel, positioning, fine-tuning the tilts and adjusting to the deformations and tolerances of the structure and fixing the panel to the exact location on the building envelope. Device according to claim 1, characterized in that the micromanipulator (6) comprises a slender frame (601), at least one gripping vacuum unit (602) for holding the panel during transmission, a movable mechanism (603) for approaching the panel in the package on the ground or approximation of the panel to the mounting point on the structure, at least one stabilizing vacuum unit (606) with a movable mechanism (607) which sucks in the position just before the final positioning of the panel to the mounting point on the previous panel. Apparatus according to any one of the preceding claims, characterized in that the micromanipulator (6) further comprises guides (609) through which the cart of the robot (610) is supported, on which at least one SCARA robot (611) is attached and a drill bit thereon. screw unit (612). Apparatus according to any one of the preceding claims, characterized in that it comprises a macromanipulator (5) a specially adapted mobile crane with a chassis (501), the first complete rotation - R1 of the collapsible movable part (502), on which the lift cabin is with the lift arm (503). having a vertical rotation - R2 and telescopic displacement - Ll and further at the end of the elevator arm comprises three additional devices which allow rotations in three directions, namely an apparatus (505) for rotation R3 at the end of the arm in an upward and downward direction x axis, further device (506) • · • · · · · · · • · · · · · · · · · · · II ..... .... for rotating R4 downwards about the y axis and a device (507) for rotating the R5 micromanipulator (6) in a horizontal direction about the z axis. 5. A method for assembling building envelope elements, comprising creating a 3D model of a building with a building envelope, characterized in that it comprises the steps of: a. Virtual assembly of building envelope; b. Identification of individual panel ID (101); c. Identification of the location of each IL panel (102); d. Decomposing the building envelope so that the designer designates an individual element and places it in package P; e. Assembling individual P package and transporting the package to the building; f. Installation of individual building envelope element with macromanipulator (5) and micromanipulator (6). Method for mounting building envelope elements according to claim 5, further comprising the step of marking the panels by identifying the individual panel (ID), identifying the location of the individual panel in the envelope (IL), the step of stacking the panels (1) in the order of assembly , from the first mounted panel (IL1) to the last mounted panel in the package, further comprises identifying the specification of the individual panel from the project documentation (3) in the form of a 3D model, and comparing the electronic recording of the state of the main structure (4) with the 3D model from the project documentation ( 3). A method according to any one of claims 5 to 6, characterized in that the identification ID (101) comprises information on geometry, properties, connection to the substructure, batches (colors) of materials, technological parameters, sequence and time of manufacture. Method according to any one of claims 5 to 7, characterized in that the control and monitoring station (7) receives all necessary information about the object (4), project (3) and panels (1) through readers, cameras (702) and 3D transmission model. • · A method according to any one of claims 5 to 8, characterized in that it comprises steps for decomposing the assembled building envelope, in reverse order, as assembly steps.