Color Scheme & SEUT 如何選擇適合4D模型的配色組合
ABAS: an Autonomous Beam
Assembly System for Steel Structure
保庇系統
Related references
1. C. J. Liang and S. C. Kang (2014, Jun). Development of a Steel Beam Hauling System for Automatic Steel Beam Assembly. Proceedings of International Society for Computing in Civil and Building Engineering, Orlando, Florida.
ABAS 保庇系統 本研究著重於鋼結構施工上長久以來的關鍵問題，工人需要站在未完成的結構上以手動方式協 助鋼結構構件組裝，他們利用吊物下方的牽引線調整與校正鋼梁與牛腿間的螺栓孔位置，這項 工作需要在高空中進行，這是非常不安全的。因此，本研究開發一組鋼結構鋼樑自主接合系統 (ABAS)取代工人在高空中作業。ABAS包含四個不同的方法：旋轉、校正、螺栓固定與卸除。 旋轉方法是在鋼梁上加裝一個飛輪，利用飛輪將梁旋轉到安裝角度。校正包含鉛直與水平兩個 方向，鉛直校正藉由攝影機、鋼柱上的標記與燈光訊號來校正高度。水平校正是藉由特殊設計 的形狀確保鋼梁可以平順的牽引到正確的位置。固定的方法則是在每個鋼板螺栓孔上增加插入 孔，讓螺栓可以插入並往下滑入螺栓孔中。卸除方法則是為了將ABAS與吊裝纜線移除，我們在 鋼梁上使用插銷機構固定纜線，當完成施作後，插銷會被馬達拔起，連同ABAS一起被吊車移除 。我們使用縮尺模型工地進行可行性評估，結果顯示ABAS比傳統方法快速完成施作，而且需要 較少的操作空間。總結來說，我們開發了一組鋼結構鋼梁自主接合系統，本系統降低工程中墜 落意外的發生，本系統與現有吊裝方法相似，可以被廣泛引入到現有工程中使用。
The vertical alignment method (partial side view)
The mathematical model of the rotation method (side view)
ABAS: an Autonomous Beam Assembly System for Steel Structure
This research focuses on a long-lasting yet critical problem in erection assembly of steel structures. In current state of practice, steel workers need to stand on the unfinished structure to assist the assembly of the structural elements manually. They need to pull the wire hanging under the rigging elements and align the bolting holes between the moving and fixed elements. This works are often performed in high places, which can be very risky. Therefore, we developed an autonomous beam assembly system (ABAS) to prevent the workers from working on the high place. The ABAS consists of four methods: rotation, alignment, bolting and unloading. The rotation method is a flywheel equipped on the top of the rigging beam aiming to rotate the beam to the assembly angle. The alignment method includes both vertical and horizontal alignments. The vertical alignment relies on a camera, a marker on the column and a light signal to align the beam altitude. The horizontal alignment relies on the special-designed shape that can smoothly guide the beam into the right position. The bolting method is used to assembly the beam. We designed an additional plug hole above each bolt hole. The bolt can plug in and slide to the bolt hole. The unloading method is used to unload the cable and the ABAS. We use a pin mechanism for beam-hook connection so it can be removed by motor easily. The system is built in a scaled-experiment construction site to validate the feasibility. The result shows that the ABAS needs less operation space and operates faster than the traditional method. In conclusion, we develop an autonomous beam assembly system that can help reduce the accidental falls of the steel beam assembly process. The ABAS fits the current erection method and can be broadly introduced to existing construction sites.
(a)
(b)
(c)
The concept of the bolting method: (a)(c)before releasing and (b)(d)after releasing
(d)
ABAS The procedure of the beam erection and assembly with the ABAS
Prepare for steel beam erection
Unload cable and ABAS YES
Transport the beam NO Rough alignment
Vertical alignment
All bolts assembly complete ?
Bolt assembly YES
Lifted beam reached the right level ?
NO
Lifed beam reached the position ?
YES Rotate the beam
ABAS
Horizontal alignment
The vertical alignment: (a)adjust the altitude of the beam and (b)achieve the vertical alignment.
Rotate the beam
Shih-Chung Jessy Kang sckang@ntu.edu.tw sckang.caece.net