Robotic technologies for the automatic assemble of massive beams in high-rise building

摘要

In this paper, we introduce a new technique for automatic construction of steel frames in high-rise buildings. Basically, we combine advanced robotic technologies to building construction techniques. Four main topics will be developed such as: 1) Planning and synthesis of automatic construction system(ACS), 2) Development of construction factory(CF) system with climbing oil-pressured robot, 3) Core techniques for automatic assembly for steel frames, and 4) Intelligent resource management system. We expect that this new technique will increase the construction efficiency and will alleviate the manpower shortage problem in the aging society. For the development of the proposed system, two main ideas will be suggested. The first idea is to utilize a transportation system for the robot. One of the main problems of the automatic construction is that the size of the construction factory is very huge while that of the robot is not. To alleviate the problem, we suggest a transportation system which combines a rail with a boom. The second idea is to use a wire suspended positioning system. In the construction, it is a main issue to bring the guiders and beams in a pre-planned position with an accuracy of 2mm. Nowadays, it is operated by two skilled workers. Through our research, We want to implement it automatically by utilizing the wire suspended positioning system which is controlled by the cable of a tower crane and multiple wires.