CN113184683B - Automatic installation device and method for precast concrete column - Google Patents
Automatic installation device and method for precast concrete column Download PDFInfo
- Publication number
- CN113184683B CN113184683B CN202110296156.9A CN202110296156A CN113184683B CN 113184683 B CN113184683 B CN 113184683B CN 202110296156 A CN202110296156 A CN 202110296156A CN 113184683 B CN113184683 B CN 113184683B
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- CN
- China
- Prior art keywords
- precast concrete
- concrete column
- sleeve frame
- hoisting
- column
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- 239000011178 precast concrete Substances 0.000 title claims abstract description 126
- 238000009434 installation Methods 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 18
- 239000000725 suspension Substances 0.000 claims abstract description 17
- 238000011900 installation process Methods 0.000 claims abstract description 4
- 239000000346 nonvolatile oil Substances 0.000 claims description 15
- 239000004567 concrete Substances 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 4
- 239000003921 oil Substances 0.000 claims description 3
- 238000010276 construction Methods 0.000 description 5
- 230000018109 developmental process Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000011150 reinforced concrete Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/12—Slings comprising chains, wires, ropes, or bands; Nets
- B66C1/14—Slings with hooks
-
- 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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/142—Means in or on the elements for connecting same to handling apparatus
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/162—Handles to carry construction blocks
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Automation & Control Theory (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The invention provides an automatic installation device and method for a precast concrete column, wherein the device comprises a hoisting driving unit, a hoisting cross beam, a sleeve frame and a hoisting column rope; the hoisting driving unit is used for driving the hoisting beam to longitudinally move; the hoisting cross beam is positioned above the sleeve frame; at least one telescopic unit is arranged between the sleeve frame and the lifting cross beam; the sleeve frame is used for accommodating the precast concrete columns, and the bottom surface of the sleeve frame is open so that the precast concrete columns can enter the sleeve frame; the suspension column rope is fixed on the suspension cross beam, extends downwards and passes through the top surface of the sleeve frame; the lower end of the suspension column rope is provided with a lifting hook for connecting the precast concrete column. In the installation process of the precast concrete column, the hoisting driving unit always hoisted and connected with the precast concrete column, so that the safety is high. In addition, through lifting by crane drive unit, camera unit, arm and control host computer, realized the automatic accurate taking one's place of precast concrete post, realized automatic installation, liberated the manual work.
Description
Technical Field
The invention belongs to the field of construction of precast reinforced concrete structures, and particularly relates to an automatic installation device and method for a precast concrete column.
Background
With the advent of the aging age, labor costs will rise rapidly, and traditional concrete construction methods require numerous labor to participate, and over the past decades, the construction industry in China develops rapidly, benefiting from intensive labor resources. In the near future, this model will have difficulty supporting the development of the building industry. In recent years, the urban process of China rapidly develops, a great amount of resource waste and environmental pollution are caused by the traditional building construction mode, and the assembled concrete structure has the characteristics of high quality, short construction period, low energy consumption, resource conservation, low pollution and the like, and becomes the development direction of the building industry of China. The fabricated frame structure system is one of important fabricated structure systems, and is the most commonly adopted structure type of public building.
However, in the process of installing the prefabricated column, the prefabricated column is usually large in volume, and is usually lifted by a construction tower crane, and then is manually installed. Therefore, in the installation process, the operation is always completed by manual participation, the manual use amount is large, the efficiency is low, and potential safety hazards inevitably exist.
Disclosure of Invention
The invention aims to provide an automatic installation device and method for a precast concrete column, which can realize automatic installation of the precast concrete column and improve the production efficiency. In addition, in the installation of precast concrete post, lift by crane the drive unit and hoist precast concrete post all the time, the security is high. In order to achieve the above purpose, the invention adopts the following technical scheme:
an automatic installation device for precast concrete columns, comprising:
the lifting beam and the sleeve frame are positioned above the sleeve frame; at least one telescopic unit is arranged between the sleeve frame and the lifting cross beam; the sleeve frame is used for accommodating the precast concrete columns, and the bottom surface of the sleeve frame is open so that the precast concrete columns can enter the sleeve frame;
the lifting column rope is fixed on the lifting cross beam, and extends downwards and passes through the top surface of the sleeve frame; the lower end of the suspension column rope is provided with a lifting hook for connecting the precast concrete column;
and the hoisting driving unit is used for driving the hoisting beam to longitudinally move.
Preferably, the stand comprises:
the cross beam is connected with the output end of the telescopic unit, the lower end surface of the cross beam is provided with a vertical rod which is vertically arranged,
the vertical rods are arranged corresponding to the cross beams of the cross beams and fixed on the bottom surfaces of the cross beams.
Preferably, the sleeve frame further comprises a bottom frame, wherein the bottom frame comprises 4L-shaped corner frames, and the L-shaped corner frames are fixed between the adjacent vertical rods.
Preferably, the concrete column prefabricating device further comprises at least one fixed oil cylinder, wherein the fixed oil cylinder is fixed to the vertical rod, and the output end of the fixed oil cylinder faces the precast concrete column.
Preferably, the output end of the fixed oil cylinder is provided with a guide wheel.
Preferably, the device further comprises a mechanical arm; the mechanical arm is positioned at the outer side of the sleeve frame, and the output end of the mechanical arm is fixed to the vertical rod.
Preferably, a camera unit is arranged at the bottom of the sleeve frame; the telescopic unit is a hanger oil cylinder.
The automatic installation method of the precast concrete column is based on the automatic installation device of the precast concrete column and comprises the following steps:
scheme 1: connecting the hoisting driving unit and the hoisting cross beam, and then starting the hoisting driving unit to hoist the automatic precast concrete column installation device, wherein the hoisting driving unit stops moving when the automatic precast concrete column installation device is positioned above the precast concrete column;
scheme 2: connect precast concrete post automatic installation device and precast concrete post: the lifting driving unit descends to sleeve the sleeve frame on the precast concrete column, and the lifting hook of the lifting column rope is connected with the lifting ring at the upper end of the precast concrete column;
scheme 3: the hoisting driving unit lifts the hoisting beam of the automatic precast concrete column installation device so as to hoist the precast concrete column to an installation target position;
scheme 4: the telescopic unit acts to drive the sleeve frame to move upwards, the precast concrete column is in a static state, and the lifting driving unit stops acting after the lower end of the vertical rod is higher than the inclined strut bolt hole pre-buried in the side surface of the precast concrete column;
scheme 5: manually installing diagonal braces on the side surfaces of the precast concrete columns to fix the precast concrete columns;
flow 6: the lower end of the suspension column rope is unhooked so as to separate the automatic installation device of the precast concrete column from the precast concrete column.
Preferably, between the process 2 and the process 3, the following is further included: the fixed cylinder stretches until the fixed cylinder butts against the precast concrete column.
Preferably, the process 3 specifically includes the following steps:
scheme 31: hoisting the precast concrete column to the position above the installation target position by a hoisting driving unit;
flow 32: the hoisting driving unit drives the precast concrete column to move downwards, and the camera unit monitors the picture between the precast concrete column and the installation target position in real time and transmits the picture to the control host;
flow 33: when the distance between the precast concrete column and the installation target position reaches a preset distance, the control host controls the mechanical arm to act, the base of the mechanical arm is attached to the ground, and then the mechanical arm adjusts the horizontal position of the precast concrete column in real time;
flow 34: the crane lowers the precast concrete column to the installation target position.
Compared with the prior art, the invention has the advantages that:
(1) The installation device can be gradually separated from the precast concrete column under the condition that the installation device, the lifting driving unit and the precast concrete column are not unhooked, the complete separation between the installation device and the precast concrete column is completed after the diagonal bracing of the precast concrete column is installed, and the lifting driving unit and the sleeve frame always provide supporting force for the precast concrete column in the installation process of the precast concrete column, so that potential safety hazards caused by the precast concrete column are avoided.
(2) The deviation between the precast concrete column and the installation target position can be monitored in real time, the horizontal position of the precast column is finely adjusted by the mechanical arm, and the automatic accurate positioning of the precast concrete column is realized, the automatic installation is realized, and the labor is liberated by lifting the driving unit, the camera unit, the mechanical arm and the control host.
(3) The weight of the precast concrete column is born by the hoisting driving unit, so that the problem that a conventional automatic machine is difficult to bear due to the large weight of the precast concrete column is solved.
Drawings
FIG. 1 is a perspective view of an automatic precast concrete column installation apparatus according to an embodiment of the present invention;
FIG. 2 is a partial schematic view of the lower portion of FIG. 1 including the holster;
FIG. 3 is a partial schematic view of the upper portion of FIG. 1 including the holster;
fig. 4 is a view showing a state of use of the automatic installation apparatus for the precast concrete column of fig. 1.
The device comprises a 1-sleeve frame, a 2-camera unit, a 3-mechanical arm, a 4-fixed oil cylinder, a 5-control host, a 6-hoisting beam, a 7-hoisting beam, an 8-hoisting column rope, a 9-cross beam, a 10-vertical rod, an 11-L-shaped angle frame, a 12-rope hole, a 13-base, a 14-guide wheel and a 15-hoisting ring.
Detailed Description
The present invention will be described in more detail below with reference to the drawings, in which preferred embodiments of the invention are shown, it being understood that one skilled in the art can modify the invention described herein while still achieving the advantageous effects of the invention. Accordingly, the following description is to be construed as broadly known to those skilled in the art and not as limiting the invention.
As shown in fig. 1 to 4, an automatic installation device for a precast concrete column includes: the lifting device comprises a lifting driving unit, a lifting cross beam 6, a sleeve frame 1 and a mechanical arm 3.
And the hoisting driving unit is used for driving the hoisting beam 6 to longitudinally move. In this embodiment, the lifting driving unit is a crane. Wherein, "longitudinal movement" means "up and down movement".
The hoisting cross beam 6 is positioned above the sleeve frame 1; a pair of telescopic units are symmetrically arranged between the sleeve frame 1 and the lifting cross beam 6.
The sleeve frame 1 is used for accommodating the precast concrete columns, and the bottom surface of the sleeve frame 1 is open so that the precast concrete columns can enter the sleeve frame 1. Specifically, the cradle 1 includes: the cross beam 9, the upright rod 10 and the bottom frame are sequentially connected from top to bottom. The cross beam 9 is connected with the output end of the telescopic unit, a hanging ring 15 is arranged in the middle of the upper surface of the cross beam 9, vertical upright rods 10 which are symmetrically distributed are arranged on the lower end surface of the cross beam 9, each upright rod 10 is arranged corresponding to one beam of the cross beam 9, and the upright rods 10 are fixed on the bottom surface of the beam; the inner side of the upright rod 10 is provided with a fixed oil cylinder 4, the output end of the fixed oil cylinder 4 faces the precast concrete column, and the output end of the fixed oil cylinder 4 is provided with a guide wheel 14; the bottom frame comprises 4L-shaped corner frames 11, the L-shaped corner frames 11 are fixed between the adjacent vertical rods 10, and the bottom of the bottom frame is provided with a camera unit 2, such as a high-precision camera. Specifically, the fixed cylinders 4 are symmetrically arranged, and each upright rod 10 is provided with a fixed cylinder 4. In this embodiment, the inside of the pole 10 means the side of the pole 10 facing the precast concrete column.
A suspension column rope 8 and a telescopic unit are arranged between the suspension beam 6 and the cross beam 9; the upper end of the suspension column rope 8 is fixed on the suspension cross beam 6, and the suspension column rope 8 extends downwards and passes through the top surface of the sleeve frame 1; the lower end of the suspension column rope 8 is provided with a lifting hook for connecting the precast concrete column, so that the weight of the precast concrete column is ensured to be directly transferred to the hoisting cross beam 6, and the sleeve frame 1 is not influenced; the telescopic unit is a hanger cylinder 7. Specifically, a rope hole 12 is formed in the center of the cross beam 9.
The mechanical arm 3 is used for adjusting the horizontal position of the sleeve frame 1, is positioned on the outer side of the sleeve frame 1, and the output end of the mechanical arm 3 is fixed to the vertical rod 10. The lower surface of the base 13 of the mechanical arm 3 is provided with rubber bulges, and the lower surface of the base 13 is a rough plane.
The control host 5 is arranged outside the middle of the vertical rod 10; the control host 5 is in signal connection with the high-precision camera, the mechanical arm 3, the fixed oil cylinder 4 and the hanging bracket oil cylinder 7.
The working principle of the automatic installation device of the precast concrete column comprises the following steps:
(1) The suspension ring 15 of the hoisting beam 6 and the suspension hook of the crane are connected to connect the crane and the hoisting beam 6, and then the crane is started to hoist the automatic precast concrete column installation device until the automatic precast concrete column installation device is positioned above the precast concrete column, and the crane stops acting.
(2) Connect precast concrete post automatic installation device and precast concrete post: the crane descends to sleeve the sleeve frame 1 on the precast concrete column, and the lifting hook of the lifting column rope 8 is connected with the lifting ring 15 at the upper end of the precast concrete column manually.
(3) The control host 5 sends out a signal to control the fixed cylinder 4 to extend until the guide wheel 14 on the fixed cylinder 4 butts against the precast concrete column, so that the limit of the precast concrete column is realized, and the stability of the precast concrete column in the moving process is improved.
(4) The crane lifts the lifting beam 6 of the automatic precast concrete column installation device to lift the precast concrete column to the installation target position. Specifically, the method comprises the steps (41) - (44).
(41) The crane lifts the precast concrete column to above the installation target position.
(42) The crane drives the precast concrete column and the automatic precast concrete column installation device to move downwards, the camera unit 2 monitors the picture between the precast concrete column and the installation target position in real time, and the shot picture information is transmitted to the control host 5; the control host 5 automatically recognizes and calculates the deviation between the precast concrete column and the installation target position.
(43) When the distance between the precast concrete column and the installation target position reaches the preset distance, the control host 5 sends a control signal to the mechanical arm 3 according to the calculation result so as to control the mechanical arm 3 to act, the base 13 of the mechanical arm 3 is attached to the ground, and then the mechanical arm 3 adjusts the horizontal position of the precast concrete column in real time according to the control signal, so that the horizontal position of the precast concrete column is ensured to be aligned with the installation target position.
(44) The crane lowers the precast concrete column to the installation target position.
(5) The mechanical arm 3 is separated from the ground, and the fixed cylinder 4 is contracted to separate from the precast concrete column.
(6) The crane does not act, and the hanger cylinder 7 contracts to drive the cross beam 9 to move upwards. Namely, the sleeve frame 1 moves upwards relative to the precast concrete column, the distance between the hoisting cross beam 6 and the cross beam 9 is continuously reduced in the upward moving process of the cross beam 9, the rope is in a folded state, and meanwhile, the precast concrete column is always in a static state. When the vertical rod 10 moves to the position that the lower end of the vertical rod 10 is higher than the inclined strut bolt hole pre-buried in the side face of the precast concrete column, the crane stops acting.
(7) And manually installing diagonal braces on the side surfaces of the precast concrete columns to fix the precast concrete columns.
(8) And the lifting hook of the suspension column rope cable 8 is manually taken down from the lifting ring 15 at the upper end of the precast concrete column, namely, unhooking of the lower end of the suspension column rope cable 8 is realized, so that the automatic installation device of the precast concrete column and the precast concrete column are separated.
The foregoing is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any person skilled in the art will make any equivalent substitution or modification to the technical solution and technical content disclosed in the invention without departing from the scope of the technical solution of the invention, and the technical solution of the invention is not departing from the scope of the invention.
Claims (1)
1. An automatic installation method of a precast concrete column is characterized by comprising the following steps of:
the lifting beam and the sleeve frame are positioned above the sleeve frame; at least one telescopic unit is arranged between the sleeve frame and the lifting cross beam; the sleeve frame is used for accommodating the precast concrete columns, and the bottom surface of the sleeve frame is open so that the precast concrete columns can enter the sleeve frame;
the hoisting driving unit is used for driving the hoisting beam to longitudinally move;
in the installation process of the precast concrete column, the lifting driving unit and the sleeve frame always provide supporting force for the precast concrete column;
after the crane lowers the precast concrete column to the installation target position, the crane does not act, and the crane cylinder contracts so as to drive the cross beam of the sleeve frame to move upwards; in the upward moving process of the cross beam, the precast concrete column is always in a static state;
the lifting column rope is fixed on the lifting cross beam, and extends downwards and passes through the top surface of the sleeve frame; the lower end of the suspension column rope is provided with a lifting hook for connecting the precast concrete column, so that the weight of the precast concrete column is ensured to be directly transferred to the lifting beam;
the frame comprises:
the cross beam is connected with the output end of the telescopic unit, the lower end surface of the cross beam is provided with a vertical rod which is vertically arranged,
the upright rods are arranged corresponding to the cross beams of the cross beams and are fixed on the bottom surfaces of the cross beams;
the sleeve frame also comprises a bottom frame, wherein the bottom frame comprises 4L-shaped corner frames, and the L-shaped corner frames are fixed between the adjacent vertical rods;
the concrete column prefabricating device further comprises at least one fixed oil cylinder, wherein the fixed oil cylinder is fixed on the vertical rod, and the output end of the fixed oil cylinder faces the precast concrete column;
the output end of the fixed oil cylinder is provided with a guide wheel;
further comprises a mechanical arm; the mechanical arm is positioned at the outer side of the sleeve frame, and the output end of the mechanical arm is fixed to the vertical rod;
the bottom of the sleeve frame is provided with a camera unit; the telescopic unit is a hanger oil cylinder;
the method comprises the following steps:
scheme 1: connecting the hoisting driving unit and the hoisting cross beam, and then starting the hoisting driving unit to hoist the automatic precast concrete column installation device, wherein the hoisting driving unit stops moving when the automatic precast concrete column installation device is positioned above the precast concrete column;
scheme 2: connect precast concrete post automatic installation device and precast concrete post: the lifting driving unit descends to sleeve the sleeve frame on the precast concrete column, and the lifting hook of the lifting column rope is connected with the lifting ring at the upper end of the precast concrete column;
scheme 3: the hoisting driving unit lifts the hoisting beam of the automatic precast concrete column installation device so as to hoist the precast concrete column to an installation target position;
scheme 4: the telescopic unit acts to drive the sleeve frame to move upwards, the precast concrete column is in a static state, and the lifting driving unit stops acting after the lower end of the vertical rod is higher than the inclined strut bolt hole pre-buried in the side surface of the precast concrete column;
scheme 5: manually installing diagonal braces on the side surfaces of the precast concrete columns to fix the precast concrete columns;
flow 6: unhooking the lower end of the suspension column rope to separate the automatic precast concrete column mounting device from the precast concrete column;
between the flow 2 and the flow 3, the following steps are also included: the fixed oil cylinder stretches until the fixed oil cylinder props against the precast concrete column;
the process 3 specifically comprises the following steps:
scheme 31: hoisting the precast concrete column to the position above the installation target position by a hoisting driving unit;
flow 32: the hoisting driving unit drives the precast concrete column to move downwards, and the camera unit monitors the picture between the precast concrete column and the installation target position in real time and transmits the picture to the control host;
flow 33: when the distance between the precast concrete column and the installation target position reaches a preset distance, the control host controls the mechanical arm to act, the base of the mechanical arm is attached to the ground, and then the mechanical arm adjusts the horizontal position of the precast concrete column in real time;
flow 34: the crane lowers the precast concrete column to the installation target position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110296156.9A CN113184683B (en) | 2021-03-19 | 2021-03-19 | Automatic installation device and method for precast concrete column |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110296156.9A CN113184683B (en) | 2021-03-19 | 2021-03-19 | Automatic installation device and method for precast concrete column |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113184683A CN113184683A (en) | 2021-07-30 |
| CN113184683B true CN113184683B (en) | 2024-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110296156.9A Active CN113184683B (en) | 2021-03-19 | 2021-03-19 | Automatic installation device and method for precast concrete column |
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| CN (1) | CN113184683B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106946143A (en) * | 2017-03-30 | 2017-07-14 | 山东爱通工业机器人科技有限公司 | Automatic locking, the mechanical suspender for unlocking working plate |
| TW201812145A (en) * | 2016-09-26 | 2018-04-01 | 海洋能源科技股份有限公司 | Offshore wind turbine steel pipe pile installation method including steps of sealing steel pipe piles, launching steel pipe piles, mounting and transporting steel pipe piles at sea, fixing platforms, lifting steel pipe piles, hitting steel pipe piles, and installing a pedestal |
| CN108275561A (en) * | 2018-01-19 | 2018-07-13 | 山东钢铁集团日照有限公司 | A kind of active lower axle rotary hoisting tool |
| CN209242497U (en) * | 2018-12-25 | 2019-08-13 | 山东八三石墨新材料厂 | A kind of novel graphite resistor rod mast-up |
| CN110948507A (en) * | 2019-12-20 | 2020-04-03 | 沈阳建筑大学 | Building prefabricated part accurate robot of taking one's place based on machine vision |
-
2021
- 2021-03-19 CN CN202110296156.9A patent/CN113184683B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW201812145A (en) * | 2016-09-26 | 2018-04-01 | 海洋能源科技股份有限公司 | Offshore wind turbine steel pipe pile installation method including steps of sealing steel pipe piles, launching steel pipe piles, mounting and transporting steel pipe piles at sea, fixing platforms, lifting steel pipe piles, hitting steel pipe piles, and installing a pedestal |
| CN106946143A (en) * | 2017-03-30 | 2017-07-14 | 山东爱通工业机器人科技有限公司 | Automatic locking, the mechanical suspender for unlocking working plate |
| CN108275561A (en) * | 2018-01-19 | 2018-07-13 | 山东钢铁集团日照有限公司 | A kind of active lower axle rotary hoisting tool |
| CN209242497U (en) * | 2018-12-25 | 2019-08-13 | 山东八三石墨新材料厂 | A kind of novel graphite resistor rod mast-up |
| CN110948507A (en) * | 2019-12-20 | 2020-04-03 | 沈阳建筑大学 | Building prefabricated part accurate robot of taking one's place based on machine vision |
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| Publication number | Publication date |
|---|---|
| CN113184683A (en) | 2021-07-30 |
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