CN215978533U - Auxiliary positioning device applied to hoisting of prefabricated horizontal component - Google Patents
Auxiliary positioning device applied to hoisting of prefabricated horizontal component Download PDFInfo
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- CN215978533U CN215978533U CN202120618195.1U CN202120618195U CN215978533U CN 215978533 U CN215978533 U CN 215978533U CN 202120618195 U CN202120618195 U CN 202120618195U CN 215978533 U CN215978533 U CN 215978533U
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Abstract
The utility model provides an auxiliary positioning device applied to hoisting of a prefabricated horizontal component. Comprises a base, a plurality of base fixing devices, a mechanical arm fixed on the base, a base moving device and a central controller. The auxiliary device is temporarily fixed on a lower floor slab through a base fixing device, the position relation between the auxiliary device and the building axis is sensed through a position sensor on a platform at the end part of the mechanical arm, the position of a reserved clamp position of a hoisting horizontal component is captured through a camera device on the platform at the end part of the mechanical arm, the rotation of a joint of the mechanical arm is controlled through an instruction of a central controller, a vertical rod is inserted into the reserved clamp position of the horizontal component, the rotation requirement of the joint of the mechanical arm is calculated according to the preset installation position of the horizontal component and the position information of the platform at the end part, the hoisted prefabricated horizontal component is sent to a required horizontal position, and the automatic accurate positioning of the prefabricated horizontal component is realized under the cooperation of a crane or a tower crane.
Description
Technical Field
The utility model belongs to the field of constructional engineering, relates to an assembled structure, and particularly relates to an auxiliary positioning device applied to hoisting of a prefabricated horizontal component.
Background
The assembled structure has the characteristics of unique technical innovation and industrial production, so that the assembled structure is generally regarded and applied to building engineering in the last decade, and can save construction time and improve construction efficiency on the premise of ensuring construction quality.
In the installation and construction process of the existing fabricated structure, when the prefabricated parts are hoisted in place, the prefabricated parts need to be accurately installed at specific positions of the built structure. In the actual hoisting process, the following problems exist:
1) the problem of accurate positioning of prefabricated horizontal components of the fabricated structure is a key factor influencing the installation efficiency and construction quality of the fabricated structure. Aiming at the alignment problem in the process of prefabricating the horizontal component, a crane or a tower crane is only responsible for positioning the vertical position, and the currently adopted method for aligning the horizontal position is that a plurality of workers cooperate to manually push and pull the component to the installation position. The manual method has poor alignment accuracy, so that the installation process is long in time consumption and low in efficiency, and the aim of realizing rapid construction and installation of the assembled structure is not facilitated.
2) The problem of accurate locating of the prefabricated horizontal component of the assembly type structure is the key for saving labor cost and improving construction safety. With the gradual shortage of labor force, the method of manual alignment needs a larger number of workers and has higher economic cost. Due to the influence of factors such as insufficient rigidity and deformation of a crane boom and a lifting rope, the stability of the component in the hoisting process is poor, and the alignment accuracy is difficult to guarantee. In addition, the installation of horizontal members such as floor slabs requires workers to carry out high-altitude operation, so that the potential safety hazard is great, the safety problem is frequent, and the safety problem of the workers in the hoisting process cannot be ignored.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: aiming at the technical problems, the utility model provides a device for assisting the horizontal position to be accurately positioned when a prefabricated horizontal component (such as a floor slab, a beam and the like) is hoisted, the device can intelligently assist in realizing the accurate positioning of the horizontal position of the prefabricated horizontal component, can avoid the manual alignment of workers in a high-altitude environment when being hoisted, improves the installation efficiency and the installation precision of an assembled structure, and ensures the construction safety.
The technical scheme is as follows: in order to achieve the technical purpose, the utility model adopts the technical scheme that:
an auxiliary positioning device applied to hoisting of prefabricated horizontal members comprises:
the base is provided with a plurality of base fixing devices and is used for temporarily fixing the base at a specific position of a lower floor slab;
the multi-degree-of-freedom mechanical arm is arranged on the base;
the end part platform is arranged on the multi-degree-of-freedom mechanical arm, a vertical rod is arranged on the end part platform, and a clamping position for the vertical rod to be inserted is arranged on the prefabricated horizontal component;
the first camera is arranged on the end platform and used for identifying the position of a reserved clamping position of the prefabricated horizontal component;
the first distance sensor is arranged on the end platform and used for monitoring the vertical distance between the prefabricated horizontal component and the end platform;
an end platform position sensor disposed on the end platform for determining a spatial position and orientation of the end platform;
and the signal input end of the central controller is connected with the first camera, the first distance sensor and the end platform position sensor, and the signal output end of the central controller is connected with the multi-degree-of-freedom mechanical arm.
The base fixing device is a rod piece extending out of the base in a hydraulic or threaded mode, protruding pieces or concave points of a lower floor slab are clamped, and the base is fixed by extending the plurality of fixing devices in different directions.
The multi-degree-of-freedom mechanical arm is a mechanical arm with at least six degrees of freedom and is used for adjusting the position and the orientation of the end platform.
The bottom end of the vertical rod is installed on an end platform of the multi-degree-of-freedom mechanical arm, the vertical rod is enabled to keep a vertically upward state in the whole auxiliary positioning process through rotation of the multi-degree-of-freedom mechanical arm, and the prefabricated part can be conveniently inserted and clamped in a reserved position.
The end platform position sensor is arranged on the end platform of the mechanical arm through the multidirectional holder and comprises a second camera, a second distance sensor and an angle sensor, wherein the second camera receives an instruction of the central controller, a positioning axis drawn on a lower floor is searched and locked through the action of the multidirectional holder, and the spatial position and the orientation of the end platform of the mechanical arm are calculated through the readings of the second distance sensor and the angle sensor.
The end platform position sensor 46 is a lidar receiver.
The base is provided with a moving device.
The moving device is a universal roller arranged at the bottom of the base.
The mobile device still includes including setting up walking wheel or the track in 1 bottom of base:
the power system is used for driving the travelling wheels or the crawler belt to travel;
a base position and orientation sensing system for detecting the position and orientation of the base;
and the steering system is used for driving the walking wheels or the crawler to steer.
Has the advantages that:
1) the prefabricated horizontal component is sent to the installation position through the vertical rod on the platform at the end part of the mechanical arm, and the prefabricated horizontal component is accurately placed in place during hoisting. The device auxiliary device designed by the utility model is arranged below the installation position of the prefabricated horizontal component on the lower floor panel, the spatial position and the orientation of a platform at the end part of a mechanical arm of the device are determined by a sensor, after a crane or a tower crane lifts the prefabricated component to the position near the preset installation position, a camera and a distance sensor arranged on the platform at the end part capture the position of a reserved clamping position on the prefabricated component, a central controller controls the rotation of a joint of the mechanical arm to insert a vertical rod into the reserved clamping position of the prefabricated component, the two mechanical arms cooperate to convey the prefabricated component to the required horizontal orientation, and then the crane gradually lowers the component to the installation position and finishes the laying, so that the prefabricated component is accurately positioned.
2) The manual alignment of workers to the prefabricated parts is replaced, high-altitude operation is avoided, labor cost is saved, and construction and installation efficiency of the assembly type structure is improved. Due to the influence of factors such as insufficient rigidity and deformation of a crane jib and a lifting rope, the prefabricated part is difficult to accurately place in the actual hoisting process. Accurate positioning requires that an installer manually centralizes the prefabricated part through on-site multi-person cooperation, which is time-consuming and inefficient. In addition, the installation of the horizontal component requires workers to operate in a high-altitude environment, and the potential safety hazard is more. According to the utility model, the accurate positioning of the prefabricated part is completed by the auxiliary device, the central controller controls the movement of the vertical rod by controlling the rotation of the mechanical arm joint, and the prefabricated part is sent to the horizontal installation position by using the vertical rod, so that the automatic operation can be realized, the installation efficiency of the prefabricated part with the assembly type structure is improved, the labor cost is saved, and the occurrence of safety accidents is avoided.
3) The device is convenient to install and disassemble, can adapt to the installation of all various types of prefabricated horizontal components of the whole engineering project, and can be reused. The device of the utility model is temporarily fixed by using the reserved protruding parts or concave points of the lower floor slab, thereby being convenient for installation and disassembly. The base is provided with the moving device, the operator can push or receive the instruction of the central controller to automatically walk, the device can be reused, and after one component is hoisted, the component is moved to the next target position to wait for hoisting. The position of the mechanical arm on the base can be adjusted or the rotation of the mechanical arm joint can be used for adapting to the prefabricated horizontal components with different sizes for the components with different sizes.
Drawings
FIG. 1 is a schematic diagram of a construction and use site of an auxiliary in-place device applied to hoisting of a prefabricated horizontal component:
e, an auxiliary in-place device applied to hoisting of the prefabricated horizontal component, 5, a central controller, 6, the prefabricated horizontal component to be installed, 8, the installed vertical component, 9 and the lower floor slab;
FIG. 2 is a schematic diagram of the auxiliary in-place device applied to hoisting of the prefabricated horizontal component:
the device comprises a base 1, a base 2, a base fixing device 3, a moving device 4 and a mechanical arm;
FIG. 3 is a schematic view of a robotic arm:
41, an end platform, 42, a vertical rod, 43, a first camera, 44, a first distance sensor, 45 and an end platform position sensor;
FIG. 4 is a schematic view of a robotic arm position sensor;
451, a multidirectional holder, 452, a second camera, 453, a second distance sensor, 454 and an angle sensor;
FIGS. 5(a) -5 (e) are views illustrating the process of positioning the auxiliary components of the device;
in the figure: a. The first mechanical arm, the second mechanical arm, the first clamping position reserved for the prefabricated horizontal component, the second clamping position reserved for the prefabricated horizontal component, and the installation position 7.
Detailed Description
The technical scheme of the utility model is further explained by combining the attached drawings.
As shown in fig. 2, a device for assisting horizontal position accurate positioning when a prefabricated horizontal member is hoisted,
the device comprises a base 1, two multi-degree-of-freedom mechanical arms 4 fixed on the base 1 and a central controller 5.
The base 1 is provided with a moving device 3 which can be a universal roller, and also can comprise wheels or a crawler traveling system arranged at the bottom of the base 1, a power system, a base position and direction sensing system, an automatic driving system and a steering system, and the moving device is used for manually or automatically moving to the next installation place after the hoisting of the component is finished, so that the repeated use of the device is realized.
The base 1 comprises a plurality of base fixing devices 2 for temporarily fixing the base 1 at a specific position of a lower floor slab.
The base fixing device 2 is a rod piece extending out of the base in a hydraulic or threaded mode, a protruding piece or a concave point of a lower floor slab is clamped, and the base 1 is fixed by extending the plurality of fixing devices in different directions.
The signal input end of the central controller 5 is connected to the first camera 43, the first distance sensor 44, and the end stage position sensor 45, and the signal output end thereof is connected to the multi-degree-of-freedom robot arm 4.
As shown in fig. 3, the multi-degree-of-freedom mechanical arm 4 includes an end platform 41, a vertical rod 42, a camera 43, a distance sensor 44, and an end platform position sensor 45.
The multi-degree-of-freedom mechanical arm 4 adjusts the position and the orientation of the end platform 41 through the rotation of a plurality of joints on the multi-degree-of-freedom mechanical arm;
the end platform 41 is provided with a vertical rod 42, a first camera 43, a first distance sensor 44 and an end platform position sensor 45; the vertical rod 42 is installed at the platform 41 at the end of the multi-degree-of-freedom mechanical arm 4 and used for inserting a pre-fabricated horizontal component reserved clamping position and sending the horizontal component to a required horizontal position; the camera 43 is arranged at the end platform 41 of the multi-degree-of-freedom mechanical arm 4 and is used for identifying the position of a reserved clamping position of the prefabricated horizontal component; a distance sensor 44 provided at the end platform 41 of the multi-degree-of-freedom robot arm 4 for monitoring a vertical distance between the prefabricated horizontal member and the end platform 41; the end platform position sensor 45 is provided at the end platform 41 of the multi-degree-of-freedom robot arm 4, and is used to determine the spatial position and orientation of the end platform 41.
The vertical rod 42 is kept in a vertical state through the rotation of each joint of the multi-degree-of-freedom mechanical arm 4 in the whole auxiliary positioning process, and is convenient to insert into a reserved clamping position of a prefabricated horizontal component.
The end platform position sensor 45 is provided at the end platform 41 of the multi-degree-of-freedom robot arm 4 to determine the spatial position and orientation of the end platform 41 by identifying the building axis or the auxiliary axis, or by receiving a laser radar signal from a local site.
As shown in fig. 4, the end platform position sensor 45 is mounted on the base 1 through the multi-directional head 451, and includes a second camera 452, a second distance sensor 453 and an angle sensor 454, wherein the second camera 452 receives the instruction from the central controller 5, finds and locks the positioning axis drawn on the lower floor through the action of the multi-directional head 451, and calculates the spatial position and orientation of the end platform 41 of the multi-degree-of-freedom robot arm 4 through the readings of the second distance sensor 453 and the angle sensor 454.
The technical scheme of the utility model comprises the following characteristics:
1) and realizing accurate alignment of the hoisting horizontal position of the prefabricated horizontal component. When the auxiliary device applied to hoisting the prefabricated horizontal member in place moves and is installed below the preset installation position of the member, the positions of the two mechanical arms 4 are adjusted according to the size of the hoisting member. The spatial position and orientation of the end platforms 41 of each robot arm 4 is accurately determined by the central controller 5, using the end platform position sensors 45 to identify the building or auxiliary axes, or by receiving the site-specific lidar signals. The camera 44 installed at the platform 41 at the end part of the mechanical arm 4 captures the position of the reserved clamp position of the prefabricated horizontal component, the vertical distance between the platform 41 at the end part and the component is measured through the distance sensor 44, the central controller 5 analyzes and calculates the rotation angle of each joint required when the vertical rod 42 on the mechanical arm 4 is inserted into the reserved clamp position by utilizing the acquired images and data, and the mechanical arm 4 is adjusted according to the rotation angle to insert the vertical rod 42 into the reserved clamp position. According to the preset installation position of the component and the position of the current end platform 41, the central controller 5 gives an instruction to the rotation of each joint of the mechanical arm 4, and the vertical rod 42 sends the prefabricated component to the preset installation position, namely the preset space position where the component is reserved and clamped. The two mechanical arms 4 cooperate to convey the hoisted prefabricated horizontal component into a required horizontal position, so that the horizontal position of the prefabricated horizontal component is completely and accurately positioned.
2) The automatic device replaces manual realization. The auxiliary device provided by the utility model can automatically realize accurate positioning of the horizontal position after the prefabricated horizontal component is initially positioned, effectively solves the problems of poor accuracy, low efficiency and safety caused by manual alignment, improves the construction and installation efficiency of the assembled structure and reduces the labor cost.
3) The device is convenient to mount and dismount and can be repeatedly used. The prefabricated part hoisting auxiliary device that takes one's place, stretch out base fixing device 2 from base 1 through modes such as hydraulic pressure or screw thread, the device is fixed temporarily to the protruding piece or the concave point that reserve on the usable lower floor, easy to assemble and dismantlement. The bottom of the device is provided with a moving device 3, and after the task of hoisting and aligning one component is completed, an operator can push the device or the device to automatically walk to the next component installation place to wait for hoisting by receiving the instruction of the central controller 5. The position of the mechanical arm 4 on the base 1 can be adjusted, and the spatial position and orientation of the mechanical arm 4 can be adjusted through the rotation of each joint 41, so that the installation of prefabricated parts with different sizes is adapted.
The design idea of the utility model is embodied in the following aspects:
1) the hoisting horizontal position of the prefabricated horizontal component is accurately in place. In the construction engineering of the fabricated structure, due to the influence of factors such as insufficient rigidity and deformation of a crane jib and a lifting rope, the prefabricated horizontal component is difficult to realize accurate horizontal position in place during hoisting, the component is generally required to be manually pushed and pulled to operate, and the installation efficiency is low. The intelligent assembling auxiliary device for the prefabricated horizontal components (such as floor slabs, beams and the like) is provided by combining the characteristics that the mechanical arm 4 can realize automatic control, flexible rotation, large stroke range, small displacement error and the like. The spatial position and the orientation of each mechanical arm 4 end platform 41 are determined through a sensor system of an auxiliary device, when a crane or a tower crane lifts a prefabricated part to a position nearby a preset installation position, a camera 43 and a distance sensor 44 arranged on the mechanical arm 4 end platform 41 capture the position of a reserved clamping position on the prefabricated part, a central controller 5 controls the rotation of each joint of the mechanical arm 4 to insert a vertical rod 42 into the reserved clamping position of the prefabricated part, the two mechanical arms 4 cooperate to send the prefabricated part into a required horizontal orientation, then the crane gradually lowers the prefabricated part to the installation position and finishes placing and placing the prefabricated part, the prefabricated part is accurately placed in place, and the installation efficiency is improved through an automatic device.
2) The device is convenient to mount and dismount and can be repeatedly used. For the installation speed that promotes assembled structure prefabricated horizontal component to save equipment cost, every component installation needs the convenient dismantlement of auxiliary device after accomplishing, can remove to next installation before next component hoist and mount counterpoint in advance, and the completion device waits for the counterpoint task after fixed, realizes the reuse of a device. Therefore, the base fixing device 2 is arranged at the corner of each base 1, so that the device can be conveniently fixed by using the reserved protruding parts or recessed points of the floor slab, and the moving device 3 at the lower part of the base 1 can enable the device to be easily moved to the next installation place through manual or automatic walking. In order to adapt to prefabricated parts with different sizes in the same building structure, the position of the mechanical arm 4 on the base can be adjusted or the size range of the applicable prefabricated parts of the device can be expanded through the rotation of all joints of the mechanical arm 4.
The following description will explain embodiments of the present invention by taking an example of a possible embodiment of the present invention.
As shown in fig. 1 and fig. 5(a) to 5(e), the horizontal prefabricated component hoisting-in-place auxiliary device proposed by the present invention is moved and installed near the lower part of the installation position of the prefabricated component. In this specification, the apparatus has two arms, a first arm a and a second arm B, and the corresponding pre-positioned horizontal member pre-positioned positions are first positions respectivelyaAnd a second positionb。
1) The auxiliary device is in place:
an operator pushes the prefabricated horizontal component to hoist the auxiliary device in place, or the device automatically walks to the working position after receiving the instruction of the central controller 5;
2) the auxiliary device is installed and fixed:
the lower floor slab is provided with a protruding part or a concave point in advance, and the device is fixed by combining a base fixing device 2 on a base 1;
3) determining the accurate position of the mechanical arm:
the end platform position sensor 45 determines the spatial position and orientation of the end platform 41 of the robot arm 4 by identifying the building axis or the auxiliary axis, or by receiving a laser radar signal local to the worksite;
4) the integral process for assisting the accurate positioning of the prefabricated horizontal component comprises the following steps:
a crane or tower crane delivers the member 6 to the vicinity of the installation site and drops a certain distance above the auxiliary device. First, firstFirst camera on the vertical pole of arm A catches prefabricated horizontal component 6 and reserves first screensaAnd the vertical distance between the platform at the upper end of the mechanical arm A and the component 6 is measured through the first distance sensor, and the central controller 5 analyzes and calculates the vertical rod on the first mechanical arm A to be inserted into the first clamping position by utilizing the collected images and dataaThe vertical rod of the first mechanical arm A is inserted into the first clamping position according to the required rotation angle of each jointa. Subsequently, the first camera on the vertical rod of the second mechanical arm B captures the prefabricated horizontal component 6 at the moment to reserve a second clamping positionbThe vertical distance between the upper end platform of the second mechanical arm B and the component 6 is measured through the first distance sensor, and the vertical rod on the second mechanical arm B is analyzed and calculated to be inserted into the second clamping positionbThe vertical rod of the second mechanical arm B is inserted into the second clamping position according to the required rotation angle of each jointb. According to the preset installation position of the component 6 and in combination with the current spatial position and orientation of the end platform of the first mechanical arm A and the second mechanical arm B, the central controller 5 gives an instruction to the rotation of the joints of the first mechanical arm A and the second mechanical arm B, the vertical rods on the first mechanical arm A and the second mechanical arm B are pushed by the clamping positions to send the prefabricated horizontal component 6 into the preset installation position, namely the component is reserved with the first clamping positionaAnd a second positionbThe horizontal position of the prefabricated horizontal component is completely positioned at the preset space position. The tower crane or crane then lowers the prefabricated unit down to the predetermined position 7 and completes the lay in place. The position sensors at the end platforms of each mechanical arm continuously transmit the monitored spatial positions of the end platforms to the central controller 5 in the whole positioning process, and the spatial positions and the orientations of the end platforms are checked in real time, so that the positioning deviation of the components caused by deformation in the mechanical arm process is prevented.
5) Dismantling an auxiliary device:
after the auxiliary positioning task of the prefabricated horizontal component 6 is completed, each mechanical arm 4 is retracted to the original position, the device is removed from the fixed position, the device is moved to the position near the installation position of the next horizontal component by the moving device 3 arranged at the lower part of the base 1, and the next auxiliary positioning task is waited.
Claims (9)
1. An auxiliary locating device applied to hoisting of a prefabricated horizontal member is characterized by comprising:
the base is provided with a plurality of base fixing devices and is used for temporarily fixing the base at the position of a lower floor slab;
the multi-degree-of-freedom mechanical arm is arranged on the base;
the end part platform is arranged on the multi-degree-of-freedom mechanical arm, a vertical rod is arranged on the end part platform, and a clamping position for the vertical rod to be inserted is arranged on the prefabricated horizontal component;
the first camera is arranged on the end platform and used for identifying the position of a reserved clamping position on the prefabricated horizontal component;
the first distance sensor is arranged on the end platform and used for detecting the vertical distance between the prefabricated horizontal component and the end platform;
an end platform position sensor disposed on the end platform for determining a spatial position and orientation of the end platform;
and the signal input end of the central controller is connected with the first camera, the first distance sensor and the end platform position sensor, and the signal output end of the central controller is connected with the multi-degree-of-freedom mechanical arm.
2. The auxiliary locating device for hoisting the prefabricated horizontal member as claimed in claim 1, wherein the base fixing device is a rod member which is extended from the base in a hydraulic or screw manner and is clamped with a protruding member or a recessed point of the lower floor, and a plurality of fixing devices are extended to different directions to fix the base.
3. The auxiliary in-place device applied to hoisting of the prefabricated horizontal member as claimed in claim 1, wherein the multi-degree-of-freedom mechanical arm is a mechanical arm with at least six degrees of freedom for adjusting the position and orientation of the end platform.
4. The auxiliary in-place device applied to hoisting of the prefabricated horizontal component as claimed in claim 1, wherein the bottom end of the vertical rod is mounted on an end platform of the multi-degree-of-freedom mechanical arm, and the vertical rod is kept in a vertically upward state in the whole auxiliary in-place process through rotation of the multi-degree-of-freedom mechanical arm, so that a reserved clamping position of the prefabricated component can be conveniently inserted.
5. The auxiliary in-place device applied to hoisting of the prefabricated horizontal component as claimed in claim 1, wherein the end platform position sensor is mounted on the end platform through a multi-directional tripod head, and comprises a second camera, a second distance sensor and an angle sensor, wherein the second camera receives instructions from a central controller, a positioning axis drawn on a lower floor is found and locked through the action of the multi-directional tripod head, and the spatial position and orientation of the end platform of the mechanical arm with multiple degrees of freedom are calculated through the readings of the second distance sensor and the angle sensor.
6. The auxiliary in-place device applied to hoisting of prefabricated horizontal members as claimed in claim 1, wherein the end platform position sensor is a lidar receiver.
7. An auxiliary seating device for hoisting prefabricated horizontal members as claimed in claim 1, wherein the base is provided with a moving device.
8. An auxiliary seating device for hoisting prefabricated horizontal members as claimed in claim 7, wherein the moving device is a universal roller arranged at the bottom of the base.
9. An auxiliary positioning device applied to hoisting of prefabricated horizontal members as claimed in claim 7, wherein the moving device comprises a walking wheel or a crawler arranged at the bottom of the base, and further comprises:
the power system is used for driving the travelling wheels or the crawler belt to travel;
a base position and orientation sensing system for detecting the position and orientation of the base;
and the steering system is used for driving the walking wheels or the crawler to steer.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113090043A (en) * | 2021-03-26 | 2021-07-09 | 东南大学 | Auxiliary positioning device and method applied to hoisting of prefabricated horizontal component |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113090043A (en) * | 2021-03-26 | 2021-07-09 | 东南大学 | Auxiliary positioning device and method applied to hoisting of prefabricated horizontal component |
| CN113090043B (en) * | 2021-03-26 | 2024-07-02 | 东南大学 | Auxiliary positioning device and method applied to hoisting of prefabricated horizontal component |
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