ABAS: an Autonomous Beam Assembly System for Steel Structure
Adviser: Prof. Shih-Chung Kang
Abstract 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 must grab the wire under the rigging elements and align the bolting holes between the moving and fixed elements. This works usually need to be performed in high places, which can be very challenging and unsafe. Therefore, we developed an autonomous beam assembly system (ABAS) that will remove the workers from the dangerous spot and perform the assembly tasks fully automatically. The ABAS consists of four methods: rotation, alignment, bolting and unloading. The rotation method is a box with a flywheel equipped on the top of the rigging beam aiming to rotate the beam to the assembly angle. The alignment method is divided into two stages: vertical alignment and horizontal alignment. The vertical alignment is used to ensure the rigging beam is at the right altitude. We use a camera to detect a marker on the column and a light signal to inform the operator that the beam has reached right altitude. The horizontal alignment is used to ensure the beam is at the assembly position. The shape of the flange is parallelogram so the beam can be smoothly trolled to the assembly position. The bolting method is used to assembly the beam. We add additional plug hole above the 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. 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.
Publication/Patents/Honor C. J. Liang and S. C. Kang (2015). "Robotic Assembly System for Steel Structure." Proceedings of 2015 Modular and Off-site Construction Summit & 1st International Conference on the Industrialization of Construction, May 19-21, Edmonton, Canada. C. J. Liang and S. C. Kang (2014). "Development of a Steel Beam Hauling System for Automatic Steel Beam Assembly." Proceedings of International Conference for Computing in Civil and Building Engineering, June 23-25, Orlando, Florida. S. C. Kang and C. J. Liang, "Autonomous Beam Assembly System for Steel Structure," US Patent Application Number: US 62/012,117, Application Date: October 13, 2015. 康仕仲；梁期鈞，"鋼結構接合系統與方法(System and Method for Assembly of Steel Structure)"，中華民國發明專利申請第103142825號，申請日：2014年12月9日。