CN115432598A - Tower crane intelligent high-altitude construction method based on fabricated building - Google Patents

Tower crane intelligent high-altitude construction method based on fabricated building Download PDF

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Publication number
CN115432598A
CN115432598A CN202211021593.0A CN202211021593A CN115432598A CN 115432598 A CN115432598 A CN 115432598A CN 202211021593 A CN202211021593 A CN 202211021593A CN 115432598 A CN115432598 A CN 115432598A
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China
Prior art keywords
building
lifting
crane
hydraulic telescopic
telescopic arm
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CN202211021593.0A
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Chinese (zh)
Inventor
钱杰
杜江萍
裘阳璐
刘鑫鑫
周舒颖
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Lancheng Leju Construction Management Group Co ltd
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Lancheng Leju Construction Management Group Co ltd
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Priority to CN202211021593.0A priority Critical patent/CN115432598A/en
Publication of CN115432598A publication Critical patent/CN115432598A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • 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
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/17—Mechanical parametric or variational design
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2111/00—Details relating to CAD techniques
    • G06F2111/20—Configuration CAD, e.g. designing by assembling or positioning modules selected from libraries of predesigned modules

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Geometry (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Evolutionary Computation (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Mechanical Engineering (AREA)
  • Computer Graphics (AREA)
  • Software Systems (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Optimization (AREA)
  • Pure & Applied Mathematics (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)

Abstract

The invention discloses an intelligent tower crane high-altitude construction method based on an assembly type building, which comprises the following steps: establishing an equal-proportion integral three-dimensional model of the fabricated building according to design, marking the positions of all fabricated modules, scanning plane coordinates of a building construction site through three-dimensional laser scanning equipment, matching the three-dimensional model with the plane coordinates, and establishing a construction model; the crane moves to the outer side of the building area, the position of the crane is scanned through the three-dimensional laser scanning equipment, coordinates of the crane are displayed in the construction model, and the lifting length and the lifting angle of a swing arm of the crane and the lowering length data of a lifting rope after lifting are determined according to the coordinates of the crane and the installation position of the building module; and operating the crane according to the calculated data parameters, accurately hoisting the building module to the installation position, carrying out installation construction, scanning the parameter position of the installed building module through the three-dimensional laser scanning equipment, and then comparing the parameter position with the construction model to determine that the installation accuracy is within a preset threshold value.

Description

Tower crane intelligent high-altitude construction method based on fabricated building
Technical Field
The invention relates to the technical field of fabricated buildings, in particular to an intelligent high-altitude construction method of a tower crane based on fabricated buildings.
Background
The assembly type building is a building which is formed by transferring a large amount of field operation work in the traditional building mode to a factory, processing and manufacturing building components and accessories (such as floor slabs, wall plates, stairs, balconies and the like) in the factory, transporting the building components and accessories to a building construction site, assembling and installing the building components and the accessories on the site through a reliable connection mode, hoisting and installing a pre-installed template to the high altitude through equipment such as a crane and the like during construction, adjusting the position of the template, transporting the template to the installation position through manual construction and installing.
Disclosure of Invention
The method aims to solve the problems that in the existing construction method, a driver of a crane completely depends on lifting a template according to an experience technology, and then the template can be conveyed to an appointed position after adjusting the position for multiple times, the operation is frequent and complex, and the template can be carried out by a master with rich experience, and the template and people and objects on the top surface of a building have collision danger in multiple adjustments, so that the construction is not fast and safely carried out; the invention aims to provide an intelligent tower crane high-altitude construction method based on an assembly type building.
In order to solve the technical problems, the invention adopts the following technical scheme: the intelligent tower crane high-altitude construction method based on the prefabricated building comprises the following steps:
s1, establishing an equal-proportion integral three-dimensional model of an assembly type building according to design, marking the position of each assembly module, establishing the same number for an actual building module and the marking position, scanning a plane coordinate of a building construction site through three-dimensional laser scanning equipment, matching the three-dimensional model with the plane coordinate, and establishing a construction model;
s2, the crane moves to the outer side of the building area, the position of the crane is scanned through the three-dimensional laser scanning equipment, coordinates of the crane are displayed in the construction model, and the lifting length and the lifting angle of the swing arm of the crane and the lowering length data of the lifting rope after lifting are determined according to the coordinates of the crane and the installation position of the building module;
and S3, operating a crane according to the data parameters calculated in the step S2, accurately hoisting the building module to an installation position, carrying out installation construction, scanning the parameter position of the installed building module through three-dimensional laser scanning equipment, comparing the parameter position with a construction model, and determining that the installation accuracy is within a preset threshold value.
An embodiment of preferred, the crane includes the automobile body, install the flexible arm of hydraulic pressure on the automobile body, the one end that the automobile body was kept away from to the flexible arm of hydraulic pressure is installed the guide holder, it has the lifting rope to slide to run through in the guide holder, the terminal surface fixed mounting of lifting rope has the lifting hook, install the hoist and mount frame on the lifting hook, the activity joint has building templates in the hoist and mount frame.
In an embodiment of the invention, one end of the hydraulic telescopic arm is rotatably mounted on the vehicle body, and the vehicle body is rotatably connected with one end of the hydraulic ejector rod, the other end of the hydraulic ejector rod is rotatably connected with the bottom of the hydraulic telescopic arm, one end of the vehicle body, which is close to the hydraulic telescopic arm, is provided with a reel, and one end of the lifting rope, which is far away from the lifting hook, is connected with the reel.
An embodiment of preferred, the guide holder includes fixed frame, fixed frame fixed mounting keeps away from the one end terminal surface of automobile body at the flexible arm of hydraulic pressure, two leading wheels are installed to the fixed frame internal rotation, the lifting rope has been run through in the activity between the leading wheel, spacing ditch has been opened to the both sides of lifting rope, the circumference outer wall middle part integrated into one piece of leading wheel is equipped with the spacing ring, spacing ring joint spacing ditch.
In an embodiment of the present invention, the fixing frame is of a U-shaped structure with a downward opening, the lifting rope is a flat structure formed by weaving steel wires, the cross sections of the limiting ring and the limiting groove are both semicircular structures, and the width of the inner cavity of the fixing frame, the thickness of the guide wheel and the width of the lifting rope are equal.
An embodiment of preferred, the hoist and mount frame is including well core rod, the one end of two jibs of well core rod's top surface fixedly connected with, the outer wall of the equal fixed connection link of the other end of jib, link activity joint is on the lifting hook, the equal slip joint in well core rod's the both ends inner chamber has the one end of slide, the other end slip joint of slide has the layer board, it has a plurality of regulation holes to open on the slide, all cup jointed a plurality of adjusting bolt on well core rod and the layer board, adjusting bolt threaded connection regulation hole, the equal fixed ring of fixed mounting of the both sides outer wall of well core rod and layer board, it has the ligature rope to tie up between the fixed ring.
In a preferred embodiment, the central rod, the sliding plate, the supporting plate and the suspension rod are symmetrically distributed along the axis of the suspension loop, the sliding plate and the supporting plate are both in an L-shaped structure, and the plurality of adjusting holes are uniformly distributed on the sliding plate.
The preferred embodiment, be equipped with assorted distance sensor and angle sensor on the outer wall of lifting hook and fixed frame, be equipped with matched with distance sensor between the outer wall of fixed frame and the one end outer wall that hydraulic telescoping arm is close to the automobile body, be equipped with angle sensor between hydraulic telescoping arm and automobile body.
In a preferred embodiment, in step S2, the method for determining the data of the boom raising length, the raising angle and the lowering length of the lifting rope after hoisting of the crane comprises: the vehicle body is opposite to the installation surface of the building template, the horizontal distance L from the bottom of the hydraulic telescopic arm to the installation surface of the building is determined according to the coordinate position of the vehicle body, the vehicle body is amplified to the actual length in equal proportion according to the coordinate of the vehicle body and the coordinate of the building template in a construction model, and the installation height h of the building template is determined 1 Determining the safety height h of the guide base to the top of the building 2 The safety height h is also the height of the lifting rope from the guide seatThe lowering length is determined, and the actual height of the guide seat is H = H 2 +h 1 And determining an included angle theta between the hydraulic telescopic arm and the vehicle body and an extension length L of the hydraulic telescopic arm according to the two right-angled sides of the L and the H, which are right-angled triangles.
Preferably, in step S3, when the crane hoists the building template to the installation position according to the calculation data, the crane feeds back the extension length of the hydraulic telescopic arm, the lowering length of the lifting rope, and the raising angle of the hydraulic telescopic arm in real time, when the actual value reaches the calculated value, the hydraulic telescopic arm stops extending and lowering, and the lifting rope stops retracting, the swing angle of the lifting rope is determined by an angle sensor between the lifting hook and the fixed frame, when the swing angle is smaller than a threshold value, the building template is determined to be stable, so that the lifting frame can be conveniently detached from the lifting rope close to the construction position, the lifting template is installed, after installation, the three-dimensional laser scanning device scans the point cloud data of the measurement point on the installed building template, converts the point cloud data into an information model, compares the information model with the construction model to obtain an installation deviation value, determines that the deviation value is within the accuracy range, otherwise, installation adjustment is required until the deviation value meets the standard.
Compared with the prior art, the invention has the beneficial effects that:
the construction method comprises the steps of rotating the building model into a construction model according to actual construction positions through a pre-established equal-proportion building model and position information of each template, determining installation positions of the actual templates, determining parameters of a crane in the process of hoisting the building template to a design position according to parking position coordinates of the crane, standardizing working parameters of the crane, operating the crane according to the design parameters to conveniently and quickly safely move the building template to the construction position for installation, and improving construction efficiency and safety by repeated driving adjustment of teachers and masters who do not need to experience old walks.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic view of the process of the present invention.
Fig. 2 is a schematic view of the crane structure of the invention.
FIG. 3 is a schematic view of a partial cross-sectional structure of the present invention.
FIG. 4 is an enlarged schematic view of the structure of the point A in FIG. 3 according to the present invention.
In the figure: 1. a vehicle body; 2. a hydraulic telescopic arm; 3. a guide seat; 31. a fixing frame; 32. a guide wheel; 33. a limiting ring; 34. a limiting groove; 4. a lifting rope; 5. a hook; 6. a hoisting frame; 61. a center pole; 62. a boom; 63. hanging a ring; 64. a slide plate; 65. a pallet; 66. an adjustment hole; 67. adjusting the bolt; 68. a fixing ring; 69. binding rope
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b): as shown in FIGS. 1-4, the invention provides an intelligent tower crane high-altitude construction method based on an assembly type building, which comprises the following steps:
s1, establishing an equal-proportion integral three-dimensional model of an assembly type building according to design, marking the position of each assembly module, establishing the same number for an actual building module and the marking position, scanning a plane coordinate of a building construction site through three-dimensional laser scanning equipment, matching the three-dimensional model with the plane coordinate, and establishing a construction model;
s2, the crane moves to the outer side of the building area, the position of the crane is scanned through the three-dimensional laser scanning equipment, coordinates of the crane are displayed in the construction model, and the lifting length and the lifting angle of the swing arm of the crane and the lowering length data of the lifting rope after lifting are determined according to the coordinates of the crane and the installation position of the building module;
and S3, operating a crane according to the data parameters calculated in the step S2, accurately hoisting the building module to an installation position, carrying out installation construction, scanning the parameter position of the installed building module through three-dimensional laser scanning equipment, comparing the parameter position with a construction model, and determining that the installation accuracy is within a preset threshold value.
Through the technical scheme, through the equal proportion building model that establishes in advance, and the positional information of each template, and with building model according to actual construction position swivel one-tenth construction model, thereby confirm the mounted position of each actual template, confirm the parameter when crane through building template handling to the design position according to the parking position coordinate of crane, thereby standardize the working parameter of crane, it is convenient for fast to remove building template safety to the construction position and install to run the crane according to the design parameter, the master and the slave who need not experience old dao drives the adjustment repeatedly, construction efficiency and security are improved.
Further, the crane includes automobile body 1, install hydraulic stretching arm 2 on the automobile body 1, hydraulic stretching arm 2 keeps away from the one end of automobile body 1 and installs guide holder 3, it has lifting rope 4 to slide through in the guide holder 3, the terminal surface fixed mounting of lifting rope 4 has lifting hook 5, install hoist and mount frame 6 on the lifting hook 5, hoist and mount frame 6 internalization joint has the building templates, the one end of hydraulic stretching arm 2 is rotated and is installed on automobile body 1, and rotate the one end of connecting the hydraulic push rod on the automobile body 1, the other end of hydraulic push rod rotates the bottom of connecting hydraulic stretching arm 2, the one end that automobile body 1 is close to hydraulic stretching arm 2 installs the reel, lifting rope 4 keeps away from lifting hook 5's one end and connects the reel.
Through the technical scheme, the building template is rapidly clamped and fixed through the hoisting frame 6, the hydraulic telescopic arm 2 is extended and pitched according to set parameters, and then the hoisting frame 6 is hoisted to a high-altitude preset position through the hoisting rope 4, so that the building template is rapidly and accurately hoisted.
Further, guide holder 3 includes fixed frame 31, fixed frame 31 fixed mounting keeps away from the one end terminal surface of automobile body 1 at the flexible arm 2 of hydraulic pressure, two leading wheels 32 are installed to the fixed frame 31 internal rotation, the activity runs through lifting rope 4 between leading wheel 32, spacing ditch 34 has been opened to lifting rope 4's both sides, the circumference outer wall middle part integrated into one piece of leading wheel 32 is equipped with spacing ring 33, spacing ring 33 joint spacing ditch 34, fixed frame 31 is U type structure and opening downwards, lifting rope 44 weaves the flat structure that forms for the steel wire, the cross section of spacing ring 33 and spacing ditch 34 is half circular structure, the inner chamber width of fixed frame 31, the thickness of leading wheel 32 and the width homogeneous phase of lifting rope 44 equal.
Through above-mentioned technical scheme, two leading wheels 32 are led to lifting rope 4 and are received and released to spacing direction through fixed frame 31, spacing ring 33 and spacing ditch 34, make lifting rope 4 keep vertical transferring, thereby guarantee hoist and mount frame 6 level and smooth after stable, the building templates of being convenient for is just to the construction position.
Further, hoist and mount frame 6 is including well core rod 61, two 62 one end of jib of well core rod 61's the top surface fixedly connected with, the outer wall of the equal fixed connection link 63 of the other end of jib 62, link 63 activity joint is on lifting hook 5, the equal slip joint in both ends inner chamber of well core rod 61 has the one end of slide 64, the other end slip joint of slide 64 has layer board 65, it has a plurality of regulation holes 66 to open on the slide 64, all cup jointed a plurality of adjusting bolt 67 on well core rod 61 and the layer board 65, adjusting bolt 67 threaded connection regulation hole 66, the equal fixed ring 68 of fixed mounting in the both sides outer wall of well core rod 61 and layer board 65, it has tying-up rope 69 to link up between fixed ring 68, well core rod 61, slide 64, layer board 65 and jib 62 all follow the axis symmetric distribution of link 63, slide 64 and layer board 65 are L type structure, a plurality of adjustment hole 66 evenly distributed are on slide 64.
Through the technical scheme, slide 64 can slide along well core rod 61 and layer board 65, and fix through adjusting bolt 67 and regulation hole 66, thereby adjust well core rod 61, the inner chamber size of a dimension that slide 64 and layer board 65 constitute, be convenient for put not unidimensional building templates in hoisting frame 6, the bottom of layer board 65 drags building templates and holds, then pass a plurality of solid fixed rings 68 through tying rope 69, thereby fix spacingly to building templates both sides, make building templates stabilize in hoisting frame 6, thereby realize stable handling, when building templates hoists to the construction position, untie tying rope 69 just to the construction position, thereby can pull out hoisting frame 6 with building templates and install, it is convenient to use.
Furthermore, the hoisting frame 6 is symmetrically designed with respect to the hanging ring 63, so that balance is kept during hoisting, the lifting rope 4 is convenient to stabilize, the shaking amplitude is reduced, and the hoisting frame is convenient to rapidly stabilize.
Further, be equipped with assorted distance sensor and angle sensor on the outer wall of lifting hook 5 and fixed frame 31, the outer wall of fixed frame 31 is equipped with matched with distance sensor between the outer wall of the one end that hydraulic telescopic boom 2 is close to automobile body 1, is equipped with angle sensor between hydraulic telescopic boom 2 and automobile body 1.
Through the technical scheme, when the crane hoists the building templates to the mounting position according to the calculated data, the extension length of the hydraulic telescopic arm 2 is fed back in real time, the lowering length of the lifting rope 4 and the rising angle of the hydraulic telescopic arm 2 are obtained, when the actual value reaches the calculated value, the stretching and the lifting of the hydraulic telescopic arm 2 are stopped, the retraction and the release of the lifting rope 4 are stopped, the swing angle of the lifting rope 4 is determined through an angle sensor between the lifting hook 5 and the fixing frame 31 at the moment, the building templates are determined to be stable after the swing angle is smaller than the threshold value, so that the lifting frame 6 is convenient to be detached from the binding rope 69 close to the construction position, the hoisting templates are mounted, the operation steps are simplified, and the hoisting construction efficiency is improved.
Further, in step S2, the method for determining the data of the lifting length and the lifting angle of the jib of the crane and the lowering length of the lifting rope after lifting comprises the following steps: the vehicle body 1 is over against a building template installation surface, the horizontal distance L from the bottom of the hydraulic telescopic arm 2 to the building installation surface is determined according to the coordinate position of the vehicle body 1, the horizontal distance L is amplified to the actual length in equal proportion according to the coordinate of the vehicle body 1 and the coordinate of the building template in a construction model, and the installation height h of the building template is determined 1 Determining the safety height h of the guide base 3 from the top of the building 2 Safe height h 2 And also the lowering length of the lifting rope 4 from the guide holder 3, the actual height of the guide holder 3 is determined to be H = H 1 +h 2 Then, according to the two legs of L and H as a right triangle, the included angle θ between the hydraulic telescopic arm 2 and the vehicle body 1 and the extension length L of the hydraulic telescopic arm 2 are determined.
Further, in step S3, when the crane transports the building template to the installation position according to the calculation data, the extension length of the hydraulic telescopic arm 2, the lowering length of the lifting rope 4, and the lifting angle of the hydraulic telescopic arm 2 are fed back in real time, when the actual value reaches the calculation value, the extension and the lifting of the hydraulic telescopic arm 2 are stopped, the retraction of the lifting rope 4 is stopped, at this time, the swing angle of the lifting rope 4 is determined by an angle sensor between the lifting hook 5 and the fixed frame 31, when the swing angle is smaller than a threshold value, the building template is determined to be stable, so that the lifting frame 6 can be conveniently detached from the binding rope 69 close to the construction position, the hoisting template is installed, after the installation, the three-dimensional laser scanning device scans the point cloud data of the measurement point on the installed building template, the point cloud data is converted into an information model, the information model is compared with the construction model to obtain an installation deviation value, the installation deviation value is determined to be within the accuracy range, otherwise, the installation adjustment needs to be performed until the deviation value meets the standard.
The working principle is as follows: the equal-proportion integral three-dimensional model of the assembly type building is established according to design, the positions of all the assembly modules are marked, the same number is established for the actual building module and the marked position, the plane coordinate of the building construction site is scanned through a three-dimensional laser scanning device, the three-dimensional model is matched with the plane coordinate, a construction model is established, a crane moves to the outer side of the construction area, the position of the crane is scanned through the three-dimensional laser scanning device, the coordinate of the crane is displayed in the construction model, the lifting length and the lifting angle of a rotary arm of the crane and the lowering length data of a lifting rope after lifting are determined according to the coordinate of the crane and the installation position of the building module, a sliding plate 64 can slide along a center rod 61 and a supporting plate 65 and is fixed through an adjusting bolt 67 and an adjusting hole 66, so that the size of an inner cavity formed by the center rod 61, the sliding plate 64 and the supporting plate 65 is adjusted, building templates with different sizes are conveniently placed in the hoisting frame 6, the bottom of the supporting plate 65 drags the building templates, then the building templates penetrate through the plurality of fixing rings 68 through the binding ropes 69 to fix and limit the two sides of the building templates, so that the building templates are stabilized in the hoisting frame 6, the hydraulic telescopic arm 2 extends and tilts according to set parameters, then the hoisting frame 6 is hoisted to a high-altitude preset position through the hoisting ropes 4, the two guide wheels 32 guide and retract the hoisting ropes 4, the hoisting ropes 4 are vertically lowered through the limiting guide of the fixing frame 31, the limiting ring 33 and the limiting groove 34, so that the leveling of the hoisted frame 6 after stabilization is ensured, the building templates are conveniently aligned to a construction position, when a crane hoists the building templates to the installation position according to calculated data, the extension length of the hydraulic telescopic arm 2, the lowering length of the hoisting ropes 4 and the lifting angle of the hydraulic telescopic arm 2 are fed back in real time, when the actual value reaches the calculated value, the extension and the lifting of the hydraulic telescopic arm 2 are stopped, the retraction and the release of the lifting rope 4 are stopped, the swing angle of the lifting rope 4 is determined through an angle sensor between the lifting hook 5 and the fixing frame 31, the stability of the building template is determined after the swing angle is smaller than a threshold value, so that the lifting frame 6 can be conveniently detached from the binding rope 69 close to the construction position, the lifting template is installed, after the lifting template is installed, the three-dimensional laser scanning equipment scans point cloud data of a measuring point on the installed building template, the point cloud data is converted into an information model, the information model is compared with a construction model to obtain an installation deviation value, the deviation value is determined to be within the accuracy range, otherwise, the installation adjustment is needed until the deviation value meets the standard, the construction steps are simplified, a master without experience and old can carry out repeated driving adjustment, and the construction efficiency and the safety are improved.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. The tower crane intelligent high-altitude construction method based on the prefabricated building is characterized by comprising the following steps:
s1, establishing an equal-proportion integral three-dimensional model of an assembly type building according to design, marking the position of each assembly module, establishing the same number for an actual building module and the marking position, scanning a plane coordinate of a building construction site through three-dimensional laser scanning equipment, matching the three-dimensional model with the plane coordinate, and establishing a construction model;
s2, the crane moves to the outer side of the building area, the position of the crane is scanned through the three-dimensional laser scanning equipment, coordinates of the crane are displayed in the construction model, and the lifting length and the lifting angle of the swing arm of the crane and the lowering length data of the lifting rope after lifting are determined according to the coordinates of the crane and the installation position of the building module;
and S3, operating a crane according to the data parameters calculated in the step S2, accurately hoisting the building module to an installation position, carrying out installation construction, scanning the parameter position of the installed building module through three-dimensional laser scanning equipment, comparing the parameter position with a construction model, and determining that the installation accuracy is within a preset threshold value.
2. The tower crane intelligent high-altitude construction method based on the fabricated building is characterized in that the crane comprises a crane body (1), a hydraulic telescopic arm (2) is installed on the crane body (1), one end, away from the crane body (1), of the hydraulic telescopic arm (2) is provided with a guide seat (3), a lifting rope (4) penetrates through the guide seat (3) in a sliding mode, a lifting hook (5) is fixedly installed on the end face of the lifting rope (4), a lifting frame (6) is installed on the lifting hook (5), and a building template is movably clamped in the lifting frame (6).
3. The intelligent tower crane high-altitude construction method based on the fabricated building as claimed in claim 2, wherein one end of the hydraulic telescopic arm (2) is rotatably mounted on the vehicle body (1), the vehicle body (1) is rotatably connected with one end of a hydraulic ejector rod, the other end of the hydraulic ejector rod is rotatably connected with the bottom of the hydraulic telescopic arm (2), a reel is mounted at one end, close to the hydraulic telescopic arm (2), of the vehicle body (1), and one end, far away from the lifting hook (5), of the lifting rope (4) is connected with the reel.
4. The intelligent tower crane high-altitude construction method based on the fabricated building as claimed in claim 2, wherein the guide seat (3) comprises a fixed frame (31), the fixed frame (31) is fixedly installed at one end face, far away from the vehicle body (1), of the hydraulic telescopic arm (2), two guide wheels (32) are installed in the fixed frame (31) in a rotating mode, lifting ropes (4) penetrate through the guide wheels (32) in an interval moving mode, limiting grooves (34) are formed in two sides of the lifting ropes (4), limiting rings (33) are integrally formed in the middle of the outer wall of the guide wheels (32), and the limiting rings (33) are connected with the limiting grooves (34) in a clamping mode.
5. The intelligent tower crane high-altitude construction method based on the fabricated building is characterized in that the fixing frame (31) is of a U-shaped structure and is provided with a downward opening, the lifting rope (44) is of a flat structure formed by weaving steel wires, the cross sections of the limiting ring (33) and the limiting groove (34) are both semicircular structures, and the width of an inner cavity of the fixing frame (31), the thickness of the guide wheel (32) and the width of the lifting rope (44) are equal.
6. The intelligent tower crane high-altitude construction method based on the fabricated building as claimed in claim 4, wherein the hoisting frame (6) comprises a central rod (61), one end of two booms (62) is fixedly connected to the top surface of the central rod (61), the other ends of the booms (62) are fixedly connected to the outer wall of a hanging ring (63), the hanging ring (63) is movably clamped on the lifting hook (5), the inner cavities of the two ends of the central rod (61) are slidably clamped with one end of a sliding plate (64), the other end of the sliding plate (64) is slidably clamped with a supporting plate (65), a plurality of adjusting holes (66) are formed in the sliding plate (64), a plurality of adjusting bolts (67) are sleeved on the central rod (61) and the supporting plate (65), the adjusting bolts (67) are in threaded connection with the adjusting holes (66), a plurality of fixing rings (68) are fixedly installed on the outer walls of the two sides of the central rod (61) and the supporting plate (65), and binding ropes (69) are bound among the fixing rings (68).
7. The fabricated building-based tower crane intelligent high-altitude construction method is characterized in that the central rod (61), the sliding plate (64), the supporting plate (65) and the suspension rod (62) are symmetrically distributed along the axis of the hanging ring (63), the sliding plate (64) and the supporting plate (65) are both L-shaped structures, and the plurality of adjusting holes (66) are uniformly distributed on the sliding plate (64).
8. The intelligent high-altitude construction method for the tower crane based on the fabricated building as claimed in claim 7, wherein the outer walls of the lifting hook (5) and the fixed frame (31) are provided with a distance sensor and an angle sensor which are matched with each other, a matched distance sensor is arranged between the outer wall of the fixed frame (31) and the outer wall of one end, close to the vehicle body (1), of the hydraulic telescopic arm (2), and an angle sensor is arranged between the hydraulic telescopic arm (2) and the vehicle body (1).
9. The intelligent aerial construction method of the tower crane based on the prefabricated building according to claim 8, wherein in the step S2, the data of the lifting length and the lifting angle of the swing arm of the crane and the lowering length of the lifting rope after lifting are determined by the following steps: the vehicle body (1) is over against the installation surface of the building template, the horizontal distance L from the bottom of the hydraulic telescopic arm (2) to the installation surface of the building is determined according to the coordinate position of the vehicle body (1), the horizontal distance L is amplified to the actual length in equal proportion according to the coordinate of the vehicle body (1) and the coordinate of the building template in a construction model, and the installation height h of the building template is determined 1 Determining the safety height h from the guide seat (3) to the top of the building 2 Said safety height h 2 The lowering length of the lifting rope (4) from the guide seat (3) is also determined, and the actual height of the guide seat (3) is determined to be H = H 1 +h 2 And determining an included angle theta between the hydraulic telescopic arm (2) and the vehicle body (1) and an extension length L of the hydraulic telescopic arm (2) according to two right-angled sides of the L and the H, which are right-angled triangles.
10. The intelligent aerial construction method of the tower crane based on the fabricated building as claimed in claim 9, wherein in step S3, when the crane hoists the building template to the installation position according to the calculated data, the crane feeds back the extension length of the hydraulic telescopic arm (2), the lowering length of the lifting rope (4) and the lifting angle of the hydraulic telescopic arm (2) in real time, when the actual value reaches the calculated value, the extension and the lowering of the hydraulic telescopic arm (2) are stopped, and the retraction and the extension of the lifting rope (4) are stopped, at this time, the swing angle of the lifting rope (4) is determined through an angle sensor between the lifting hook (5) and the fixed frame (3), when the swing angle is smaller than a threshold value, the building template is determined to be stable, so that the lifting frame (6) is convenient to be detached close to the construction position, the lifting template is installed, after the installation, the three-dimensional laser scanning device scans the point cloud data of the measurement points on the installed building template, and converts the point cloud data into an information model, the information model is compared with the installation deviation value, the installation deviation value is determined to be within the accuracy range, otherwise, and the installation adjustment is required until the standard construction deviation value is met.
CN202211021593.0A 2022-08-24 2022-08-24 Tower crane intelligent high-altitude construction method based on fabricated building Pending CN115432598A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117720005A (en) * 2023-12-19 2024-03-19 江苏恒尚节能科技股份有限公司 Curtain wall unit installation three-dimensional adjustment method and system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117720005A (en) * 2023-12-19 2024-03-19 江苏恒尚节能科技股份有限公司 Curtain wall unit installation three-dimensional adjustment method and system

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