WO2023070256A1 - 一种全预制装配式多高层混凝土厂房的施工方法 - Google Patents
一种全预制装配式多高层混凝土厂房的施工方法 Download PDFInfo
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- WO2023070256A1 WO2023070256A1 PCT/CN2021/126053 CN2021126053W WO2023070256A1 WO 2023070256 A1 WO2023070256 A1 WO 2023070256A1 CN 2021126053 W CN2021126053 W CN 2021126053W WO 2023070256 A1 WO2023070256 A1 WO 2023070256A1
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- hoisting
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- 238000010276 construction Methods 0.000 title claims abstract description 52
- 238000009434 installation Methods 0.000 claims description 87
- 229910000831 Steel Inorganic materials 0.000 claims description 13
- 239000010959 steel Substances 0.000 claims description 13
- 238000012546 transfer Methods 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 230000001174 ascending effect Effects 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 6
- 230000007704 transition Effects 0.000 abstract description 3
- 238000011161 development Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000009417 prefabrication Methods 0.000 description 5
- 230000006872 improvement Effects 0.000 description 3
- 238000005054 agglomeration Methods 0.000 description 2
- 230000002776 aggregation Effects 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
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- 230000009467 reduction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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Classifications
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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
- B66C23/26—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 for use on building sites; constructed, e.g. with separable parts, to facilitate rapid assembly or dismantling, for operation at successively higher levels, for transport by road or rail
- B66C23/28—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 for use on building sites; constructed, e.g. with separable parts, to facilitate rapid assembly or dismantling, for operation at successively higher levels, for transport by road or rail constructed to operate at successively higher levels
- B66C23/32—Self-hoisting cranes
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- 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
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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
- B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
- B66C17/06—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes
- B66C17/20—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes for hoisting or lowering heavy load carriers, e.g. freight containers, railway wagons
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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
- B66C23/62—Constructional features or details
Definitions
- the invention belongs to the technical field of prefabricated buildings, and in particular relates to a construction method for a fully prefabricated multi-high-rise concrete factory building.
- the horizontal and transverse structures of multi-high-rise concrete factory buildings are relatively regular, and have the characteristics of modularization, standardization, and generalization, and have favorable conditions for the promotion and implementation of prefabricated buildings.
- In response to the call of the country and governments at all levels to vigorously promote prefabricated buildings it is necessary to explore the prefabricated multi-high-rise concrete plant structure system that conforms to the characteristics of industrialized construction, and actively practice the new development concept of "innovative, coordinated, green, open and shared". Governments at all levels also have assembly rate requirements for industrial upper-floor factory buildings.
- industrial upper-floor concrete factory buildings generally have large spans, high storey heights, large component sizes, and heavy weights. The cost of transportation and on-site hoisting using traditional prefabricated construction methods is high.
- the present invention focuses on the research on the efficient and economical construction technology of fully prefabricated multi-high-rise concrete factory building with industrial upper floors, and forms the key technology for intelligent construction of industrial upper concrete factory buildings with modern industrialization characteristics, realizes cost reduction and efficiency improvement, and not only solves the problem of industrial upstairs concrete factory buildings
- the industry problem that the prefabricated construction of concrete plants is difficult to apply will greatly improve the level of technological progress in my country's construction industry, and will also effectively promote the high-quality development of my country's industrial upstairs concrete plant construction, promote industrial agglomeration, and further enhance its economic development in the country and foreign countries.
- the object of the present invention is to provide a construction method for a fully prefabricated multi-story concrete factory building, aiming at solving the problems existing in the prior art.
- the present invention is to achieve its purpose, and the technical scheme adopted is as follows:
- a construction method for a fully prefabricated multi-story concrete factory building comprising the following steps:
- the temporary prefabrication site is reasonably arranged on the construction site for on-site prefabrication of large-scale beam and column components, and floor slabs and wall panels can be divided into conventional transportation/hoisting units
- the components are factory prefabricated.
- the large-scale column and beam components are prefabricated in a flow arrangement using intelligent mechanized assembly molds.
- the layout of the conventional tower cranes is based on the minimum horizontal transport volume from the unloading point of the large beam-column prefabricated components to each installation location, and the hoisting requirements that can cover the laminated floor and prefabricated wall panels.
- the conventional tower crane may not be arranged, and the truck crane or crawler crane shall be used for the vertical transportation of the large column and beam prefabricated components, as well as the hoisting of the laminated floor and prefabricated wall panels.
- the automatic navigation transport device has the function of automatic unloading, and should be based on the loading requirements of the lower floor, using a pair of Duolun low-bed trolleys.
- the installation route includes a longitudinal route and a horizontal route
- the intelligent hoisting robot hoists and installs the post-beam prefabricated components required by the workshop on the track device and along the longitudinal route;
- the intelligent hoisting robot includes a jacking device. At the turning point of the installation route, the driving end of the self-elevating device acts on the intelligent hoisting robot to break away from the track device of the longitudinal route, and after turning to the track
- the track device of the formed horizontal route is connected and installed, and the intelligent hoisting robot performs hoisting and installation of the post-beam prefabricated components required by the factory building on the track device and along the horizontal route;
- the driving end of the self-elevating device acts on the intelligent hoisting robot to separate from the track device of the horizontal route, and connect and install with the track device of the longitudinal route formed after the track turns , the intelligent hoisting robot performs hoisting and installation of post-beam prefabricated components required by the factory building on the track device and along the longitudinal route;
- the track device includes movable transfer steel beams, embedded parts and track parts, the movable transfer steel beams are laid on the floor plane through the embedded parts, and the track parts It is arranged on the upper surface of the movable conversion steel beam.
- the number of track devices is not less than two groups, and each group of track devices includes two movable transition steel beams symmetrically arranged on both sides of the installation route.
- the intelligent hoisting robot also includes an inner tower body, an outer tower body, a walking device and a hoisting device;
- the outer tower body is the force-holding structure when the intelligent hoisting robot is hoisting
- the inner tower body is the guiding structure and force-holding structure when the intelligent hoisting robot is self-elevating upstairs.
- the outer tower body cooperates to form the self-elevating upstairs system of the intelligent hoisting robot;
- the jacking device is arranged between the inner tower body and the outer tower body, and includes a jacking cylinder and a jacking beam, the inner tower body is provided with a mounting base, and the outer tower body is provided with a mounting base The base, the lifting oil cylinder is connected to the lower mounting base through the jacking beam, and the lifting oil cylinder is connected to the upper mounting base;
- the outer tower body is provided with a walking chassis, and the walking device is arranged on the walking chassis, and the walking device includes a walking installation seat, a steering shaft, a traveling motor, a traveling connection seat, a traveling wheel and a rail clamp.
- the walking installation seat is connected with the walking chassis, and the two ends of the steering shaft are rotatably matched with the walking installation seat and the walking connecting seat respectively, and the traveling motor, traveling wheels and rail clamps are arranged on the walking connecting seat , the driving end of the traveling motor is used to drive the traveling wheels to rotate;
- the hoisting device is connected to the outer tower body.
- steps S3, S4, and S5 the specific steps for the intelligent hoisting robot to walk along the track device are as follows:
- steps S4 and S5 the specific steps for the turning of the intelligent hoisting robot at the turn of the installation route are as follows:
- a pad beam is set below the intelligent hoisting robot as a support for the rise, and the pad beam is set on the floor plane.
- the hoisting and installation of the post-beam prefabricated components includes installing the required supporting columns, frame beams and secondary beams, and then using the conventional tower cranes arranged to intersperse to complete the prefabricated laminated floor, The hoisting and installation of prefabricated wall panels, as well as the pouring of floor concrete, and between the last support columns of the travel route of the intelligent hoisting robot, temporarily do not install secondary beams and prefabricated laminated floor slabs, leaving the self-elevating space of the intelligent hoisting robot The ascending passage to the upper floor.
- step S6 the specific steps for the intelligent hoisting robot to rise to the upper floor level through the jacking device are as follows:
- a pad beam is set as a support for self-elevating upstairs, and the jacking device of the intelligent hoisting robot is used to raise the walking device to an appropriate position at the rail top elevation of the predetermined track installation position, After the rail device hoisted to the vicinity of the predetermined placement is installed in place, the falling of the intelligent hoisting robot and the connection with the rail device are completed through the jacking device, and finally the inner part of the intelligent hoisting robot is The tower body is retracted and reset and fixed.
- step S1 conventional tower cranes are arranged at the structural plane of the plant to be responsible for the vertical transportation of column and beam prefabricated components from the ground to each floor, as well as the installation of laminated floor and wall panels.
- the layout of the conventional tower cranes Set according to the minimum horizontal transportation volume from the unloading point of the column-beam prefabricated components to each installation location, and can cover the hoisting requirements of laminated floor slabs and prefabricated wall panels;
- the truck crane or crawler crane can cover the hoisting requirements of the prefabricated components of the factory building
- the truck crane or crawler crane can also be used to complete the vertical transportation of the column beam prefabricated components, as well as the hoisting of the laminated floor and prefabricated wall panels according to the cost control requirements.
- step S7 the dismantling of the intelligent hoisting robot and the track device is completed by using a conventional tower crane or a truck crane, or using mechanical equipment such as pulling rods.
- the construction method of the fully prefabricated assembled multi-high-rise concrete factory building proposed by the present invention can realize the full coverage of the hoisting operation of the large-scale beam-column prefabricated components on the floor by using a single intelligent hoisting robot, which changes the traditional prefabricated construction mode of the multi-high-rise concrete factory building in the past It is necessary to deploy multiple large-scale hoisting equipment and the unfavorable situation of high cost, and realize the mechanization and intelligence of the whole process of the construction of the fully prefabricated multi-story concrete factory building, breaking through the "industrial upstairs concrete factory building adopts the traditional prefabricated construction method with high cost” , a large number of projects still adopt the cast-in-place construction mode”, which has achieved cost reduction and efficiency improvement.
- Fig. 1 is the full prefabricated multi-high-rise concrete factory building standard floor structure layout diagram of the present invention
- Fig. 2 is the whole prefabricated multi-high-rise concrete factory building installation plane route diagram of the present invention
- Fig. 3 is the elevation schematic diagram that the intelligent hoisting robot of the present invention carries out the hoisting and installation of the required post-beam prefabricated components of the factory building along the longitudinal route;
- Fig. 4 is the vertical schematic diagram of the hoisting and installation of the column beam prefabricated components required by the intelligent hoisting robot of the present invention along the horizontal route;
- Fig. 5 is a schematic plan view of the intelligent hoisting robot of the present invention hoisting and installing the required post-beam prefabricated components of the factory building along the horizontal route;
- Fig. 6 is a schematic diagram of the self-elevating process of the intelligent hoisting robot of the present invention.
- Fig. 7 is a schematic diagram of the elevation of the intelligent hoisting robot of the present invention to complete self-elevation upstairs;
- Fig. 8 is a schematic structural view of the intelligent hoisting robot of the present invention.
- Fig. 9 is a schematic structural view of the walking device of the intelligent hoisting robot of the present invention.
- connection should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be an internal communication between two components or an interaction relationship between two components.
- connection can be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be an internal communication between two components or an interaction relationship between two components.
- a first feature being “on” or “under” a second feature may include direct contact between the first and second features, and may also include the first and second features Not in direct contact but through another characteristic contact between them.
- “above”, “above” and “above” the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.
- “Below”, “beneath” and “under” the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.
- This scheme takes a three-storey, two-span and five-room multi-storey fully prefabricated concrete multi-storey factory building as an example, as shown in Figure 1, which is the standard floor plan of a fully prefabricated concrete multi-storey factory building, in which the column distance of supporting column 1 15m ⁇ 15m, the section size of support column 1 is 1200mm ⁇ 1200mm, the column height of support column 1 is 8000mm, the frame beam 2 includes two dimensions, the section size is 400mm ⁇ 1500mm, 300mm ⁇ 1200mm, and the section size of secondary beam 3 is 250mm ⁇ 900mm, the spacing of the secondary beams 3 is 2.5m, and the thickness of the laminated floor 4 is 150mm;
- a construction method for a fully prefabricated multi-story concrete factory building including the following steps:
- the required prefabricated frame beams 2 weigh 18.63 tons, 10.87 tons, and are 13.8 meters long
- the prefabricated secondary beams 3 weigh 6.84 tons, and are 14.6 meters long.
- the prefabricated support column 1 weighs 28.8 meters tons
- the size of the prefabricated laminated floor 4 is 2250mm ⁇ 3650mm, and the weight is 1.23 tons;
- truck cranes or crawler cranes can cover the hoisting requirements of the prefabricated components of the factory building, according to the requirements of cost control, truck cranes or crawler cranes can also be used to complete the vertical transportation of the column beam prefabricated components, as well as the hoisting of the laminated floor 4 and prefabricated wall panels ;
- the automatic navigation transport device has the function of automatic unloading, and should consider the load-bearing requirements of the lower floor, using Duolun low-flat trolley pairs;
- the installation route is U-shaped, including longitudinal routes and horizontal routes;
- the track device 5 includes a movable transfer steel beam 501, embedded parts and track parts 502, the movable transfer steel beam 501 is laid on the floor plane through the embedded parts, and the track parts 502 Set on the upper surface of the movable transfer steel beam 501 , the number of the track devices 5 is two groups, and the track devices 5 are divided into the first group of track devices 5 and the second group of track devices 5 .
- the track device 5 described in each group includes two movable conversion steel beams 501 symmetrically arranged on both sides of the installation route; wherein on the first group of track devices 5, a tower crane or a car crane is used to complete the installation of the intelligent hoisting robot 6 ;
- the intelligent hoisting robot 6 includes an inner tower body 601, an outer tower body 602, a walking device 603, a hoisting device 604 and a jacking device 605;
- the inner tower body 601 is slidingly fitted with the outer tower body 602;
- the jacking device 605 is located between the inner tower body 601 and the outer tower body 602, and includes a jacking cylinder 60501 and a jacking beam 60502.
- the inner tower body 601 is provided with a lower base 60503, so that The outer tower body 602 is provided with an upper mounting base 60504, the lifting cylinder 60501 is connected with the lower mounting base 60503 through the lifting beam 60502, and the lifting oil cylinder 60501 is connected with the upper mounting base 60504;
- the outer tower body 602 is provided with a walking chassis 606, and the walking device 603 is arranged on the walking chassis 606, and the walking device 603 includes a walking mounting seat 60301, a steering shaft 60302, a traveling motor 60303, and a traveling connecting seat 60304 , walking wheels 60305 and rail clamps 60306, the walking mounting base 60301 is connected with the walking chassis 606, and the two ends of the steering shaft 60302 are respectively rotated and matched with the walking mounting base 60301 and the walking connecting base 60304, so
- the traveling motor 60303, traveling wheel 60305, and rail clamp 60306 are arranged on the traveling connection seat 60304, and the driving end of the traveling motor 60303 is used to drive the traveling wheel 60305 to rotate;
- the outer tower body 602 is provided with a tower crane main body, and the hoisting device 604 is connected to the outer tower body 602 through the tower crane main body.
- the intelligent hoisting robot 6 carries out the hoisting installation of the required column and beam prefabricated components of the factory building on the track device 5 and along the longitudinal route;
- the intelligent hoisting robot 6 includes a jacking device 605. At the turning point of the installation route, the driving end of the self-elevating device acts on the intelligent hoisting robot 6 to break away from the track device 5 of the longitudinal route and to be separated from the track device 5 of the longitudinal route.
- the track device 5 of the horizontal route is connected and installed, and the intelligent hoisting robot 6 is on the track device 5 and carries out the hoisting and installation of the post-beam prefabricated components required by the factory building along the horizontal route;
- the driving end of the self-elevating device acts on the intelligent hoisting robot 6 to separate from the track device 5 of the horizontal route and connect and install with the track device 5 of the longitudinal route.
- the intelligent hoisting robot 6 carries out the hoisting and installation of the post-beam prefabricated components required by the factory building on the track device 5 and along the longitudinal route;
- steps S3, S4, S5 the specific steps of the intelligent hoisting robot 6 walking along the track device 5 are as follows:
- the track device 5 is the first group of track devices 5 and the second group of track devices 5.
- the intelligent hoisting robot 6 walks to the second group of rails and installs it, and along the column and beam within the range of the first group of track devices 5
- the prefabricated components use the intelligent hoisting robot 6 to dismantle and lift the first set of track devices 5, and install the second set of tracks;
- the post-beam prefabricated components use the intelligent hoisting robot 6 to dismantle and lift the second set of track devices 5, and install them after undertaking the first set of track devices 5; reciprocate until the intelligent lifting The robot 6 travels to the column room at the other end of the factory building;
- steps S4 and S5 the specific steps for the turning of the intelligent lifting robot 6 at the turn of the installation route are as follows:
- a pad beam 607 is set as a support for rising, and the pad beam 607 is arranged on the floor plane.
- remove the The track device 5 is turned and installed at 90 °, and then the walking direction of the intelligent robot walking device 603 is adjusted to be consistent with the direction of the track device 5 below it, then falls back to the track device 5 and walks, when it encounters the turning point of the installation route again , carry out the lifting and falling steps of the intelligent robot again, and complete that the track device 5 below it is consistent with the direction of travel of the intelligent robot;
- the hoisting and installation of the post-beam prefabricated components includes installing the required supporting columns 1, frame beams 2 and secondary beams 3, and then using conventional tower cranes arranged to intersperse to complete the prefabricated stack.
- Composite floor 4, hoisting and installation of prefabricated wall panels, and floor concrete pouring, and in the last support column 1 of the travel route of the intelligent hoisting robot 6, the secondary beam 3 and prefabricated composite floor 4 are not installed temporarily, leaving Out of the ascending channel of the intelligent hoisting robot 6 self-elevating upstairs;
- the intelligent hoisting robot 6 After completing the floor plane of this floor, the intelligent hoisting robot 6 is lifted to the installed floor plane through the jacking device 605, and repeats the above steps from S1 to S5 until the installation of the multi-story factory roof is completed, wherein , the specific steps for the intelligent hoisting robot 6 to rise to the top position of the installed floor plane through the jacking device 605 are as follows:
- a pad beam 607 is set as a support for self-elevating upstairs, and the jacking device 605 of the intelligent hoisting robot 6 is used to make the walking device 603 rise to the rail of the predetermined track device 5.
- the lifting device 605 is used to complete the fall of the intelligent hoisting robot 6 and the connection between the track device 5 and the track device 5. connection, and finally the inner tower body 601 of the intelligent hoisting robot 6 is retracted and reset and fixed.
- the construction method of the fully prefabricated multi-high-rise concrete factory building proposed by the present invention adopts a single intelligent hoisting robot and changes the position and angle of the track device, the angle of the walking device, and the jacking device to realize large-scale beams and columns on the floor Full coverage of prefabricated component hoisting operations, no need to set transition rails at the turn of the installation route, saving space and installation costs, changing the traditional prefabricated construction mode of multi-story concrete workshops that required multiple large hoisting equipment, which was expensive
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Abstract
一种全预制装配式多高层混凝土厂房的施工方法，采用单台智能吊装机器人（6）以及通过轨道装置（5）的位置角度变化、行走装置（603）的角度变化，并通过顶升装置（605），即可实现楼层大型梁柱预制构件吊装作业的全覆盖，不需要在安装路线的转向处设置过渡轨道，节省了空间和安装成本，改变了以往多高层混凝土厂房采用传统装配式建造模式需布设多台大型吊装设备，成本高昂的不利局面，并实现了全预制装配式多高层混凝土厂房建造全过程的机械化和智能化。
Description
本发明属于装配式建筑技术领域，具体涉及一种全预制装配式多高层混凝土厂房的施工方法。
随着社会经济发展，为提高工业用地节约集约利用水平、资源配置效率、促进产业集聚，各级政府相继出台政策文件，推进工业上楼和高标准厂房建设，大量的多高层混凝土厂房开始兴建。
多高层混凝土厂房水平及横向结构较为规则，具有模块化、标准化、通用化特点，具有推广实施装配式的有利条件。为响应国家、各级政府大力推广装配式建筑的号召，应探索符合工业化建造特征的装配式多高层混凝土厂房结构体系，积极践行“创新协调绿色开放共享”的新发展理念。各级政府也对工业上楼厂房项目有着装配率的要求，然而工业上楼混凝土厂房一般跨度大、层高高，构件尺寸大、重量重，采用传统装配式建造方式运输和现场吊装成本高昂，吊装机械配置要求高，不可避免带来建造成本的大幅增加，导致传统的装配式建造方式在工业上楼混凝土厂房项目中难以推广应用，大量的工业上楼混凝土厂房建设项目要么仍然采用劳动密集型的、粗放式的现浇施工模式，要么在当地政策装配率的要求与建造成本面前踟蹰不前，不愿上马。
本发明聚焦工业上楼全预制装配式多高层混凝土厂房的高效经济施工工艺进行研究，形成工业上楼混凝土厂房具有现代工业化特征的智能建造关键技术，实现降成本、提效率，不但解决工业上楼混凝土厂房装配式建造难以应用的行业难题，大大提升我国建筑业的科技进步水平，也将有力推动我国工业上楼混凝土厂房建设的高质量发展，促进产业集聚，进一步提升其在国家经济发展和对外开放中的支撑引领作用。
发明内容
为了克服现有技术的上述缺点，本发明的目的在于提供一种全预制装配式多高层混凝土厂房的施工方法，旨在解决现有技术存在的问题。
本发明为达到其目的，所采用的技术方案如下：
一种全预制装配式多高层混凝土厂房的施工方法，包括以下步骤：
1)首先根据项目进度安排以及厂房平面布置规则、纵向长度长的特点，在施工现场合理布置临时预制场地进行梁柱大型构件的现场预制，对楼板、墙板等可划分为常规运输/吊装单元的构件进行工厂预制。
更优地，大型柱梁构件采用智能化机械化组装模具进行流水布置预制。
2)在厂房结构平面的合理位置布置常规塔吊，负责柱梁大型预制构件从地面到各楼层的垂直运输，以及叠合楼板、墙板的安装工作。
所述常规塔吊的布设以大型梁柱预制构件的卸货点到各安装位置的水平运输量最小，并能覆盖叠合楼板、预制墙板的吊装要求来考虑。
根据厂房项目特点和成本控制要求，也可不布置常规塔吊，采用汽车吊或履带吊负责大型柱梁预制构件的垂直运输，以及叠合楼板、预制墙板的吊装。
3)在楼层梁柱安装点设置信号装置，并通过自动导航运输装置将大型柱梁预制构件按安装流程计划由垂直运输卸货点沿楼面运送至对应的安装点。
更优地，所述的自动导航运输装置具备自动卸货功能，并应根据下部楼板的承载要求，采用多伦低平板小车组对。
4)采用可自升上楼、可水平自移的智能吊装机器人依次完成楼层大型柱梁预制构件的安装，并采用布置在厂房外围的塔吊穿插完成预制叠合楼板、预制墙板的吊装安装，以及楼面混凝土的浇筑，具体的步骤如下：
S1、预先设置楼层平面的安装路线，所述安装路线包括纵向路线和横向路线；
S2、在所述安装路线上铺设轨道装置，所述轨道装置上安装智能吊装机器人；
S3、所述智能吊装机器人在所述轨道装置上并沿所述纵向路线进行厂房所需的柱梁预制构件的吊装安装；
S4、所述智能吊装机器人包括顶升装置，在所述安装路线的转向处，所述自升装置的驱动端作用所述智能吊装机器人与所述纵向路线的轨道装置脱离，并与轨道转向后形成的横向路线的轨道装置连接安装，所述智能吊装机器人在所述轨道装置上并沿所述横向路线进行厂房所需的柱梁预制构件的吊装安装；
S5、在所述横向安装路线的转向处，所述自升装置的驱动端作用所述智能吊装机器人与所述横向路线的轨道装置脱离，并与轨道转向后形成的纵向路线的轨道装置连接安装，所述智能吊装机器人在所述轨道装置上并沿所述纵向路线进行厂房所需的柱梁预制构件的吊装安装；
S6、完成本层的楼层平面后，所述智能吊装机器人通过所述顶升装置升至安装好的楼层平面，并重复上述S1至S5的步骤，直至完成多高层厂房屋面的安装。
具体的，在步骤S2中，所述轨道装置包括移动式转换钢梁、预埋件和轨道件，所述移动式转换钢梁通过所述预埋件铺设于所述楼层平面，所述轨道件设于所述移动式转换钢梁的上表面。
具体的，所述轨道装置的数量为不少于两组，每组所述的轨道装置包括两个对称设置于所述安装路线两侧的移动式转换钢梁。
具体的，所述智能吊装机器人还包括内塔身、外塔身、行走装置和吊装装置；
所述外塔身为所述智能吊装机器人吊装作业时的持力结构，所述内塔身为所述智能吊装机器人自升上楼作业时的导向结构和持力结构，所述内塔身与所述外塔身相配合构成所述智能吊装机器人的自升上楼系统；
所述顶升装置设于所述内塔身与所述外塔身之间，包括顶升油缸和顶升横梁，所述内塔身上设有安装下底座，所述外塔身上设有安装上底座，所述升油缸通过所述顶升横梁与所述安装下底座连接，所述升油缸与所述安装上底座连接；
所述外塔身上设有行走底架，所行走装置设于所述行走底架，所述行走装置包括行走安装座、转向轴、行走电机、行走连接座、行走轮和夹轨器，所述行走安装座与所述行走底架连接，所述转向轴的两端分别与所述行走安装座、行走连接座转动配合，所述行走电机、行走轮、夹轨器设于所述行走连接座，所述行走电机的驱动端用于驱动行走轮转动；
所述吊装装置与所述外塔身连接。
具体的，在步骤S3、S4、S5中，所述智能吊装机器人沿所述轨道装置行走的具体步骤如下：
将所述轨道装置分为第一组轨道装置和第二组轨道装置，当所述智能吊装机器人行走至第二组轨道装上时，且沿第一组轨道装置范围内的柱梁预制构件完成安装后，利用所述的智能吊装机器人进行第一组轨道装置的拆除、吊运，并承接第二组轨道沿安装路线进行安装；同理，当沿第二组轨道装置范围内的柱梁预制构件完成安装后，利用所述的智能吊装机器人进行第二组轨道装置的拆除、吊运，并承接第一组轨道装置沿安装路线进行安装；循环往复，直至所述智能吊装机器人行进至厂房另一端的柱间。
具体的，在步骤S4、S5中，对于所述智能吊装机器人在所述安装路线的转向处的转向行进的具体步骤如下：
在所述智能吊装机器人的下方设置垫梁作为上升的支承，所述垫梁设于楼层平面，利用所述顶升装置使其行走装置上升至一定高度后，拆除其下方的轨道装置并90°转向安装，随后调整所述智能机器人行走装置的行走方向与其下方的轨道装置的方向一致后回落至移轨道装置上并行走，当再次遇到安装路线的转向处，再次进行所述智能机器人的起升、回落步骤， 并完成其下方的所述轨道装置与智能机器人的走向行进方向一致。
具体的，在步骤S3、S4、S5中，所述的柱梁预制构件的吊装安装包括安装所需的支撑柱、框架梁和次梁，然后再利用布置的常规塔吊穿插完成预制叠合楼板、预制墙板的吊装安装，以及楼面混凝土的浇筑，并在所述智能吊装机器人的行进路线最后一个支撑柱间，暂不安装次梁和预制叠合楼板，留出所述智能吊装机器人自升上楼的上升通道。
具体的，在步骤S6中，所述智能吊装机器人通过所述顶升装置升至上一层楼层平面的具体步骤如下：
利用所述智能吊装机器人拆除前序的轨道装置，将其吊至上一楼层预定安装位置近旁，并不得阻碍所述智能吊装机器人自升上楼的通道区域；
在所述智能吊装机器人的内塔身下方设置垫梁作为自升上楼的支承，利用所述智能吊装机器人的顶升装置使其行走装置上升至预定轨道安装位置轨顶标高处的适当位置，将所述吊至预定安置近旁的轨道装置安装就位后，通过所述顶升装置完成所述智能吊装机器人的回落及与所述轨道装置之间的连接，最后使所述智能吊装机器人的内塔身回缩复位并固定。
具体的，在步骤S1之前，在厂房结构平面位置布置常规塔吊，用于负责柱梁预制构件从地面到各楼层的垂直运输，以及叠合楼板、墙板的安装工作，所述常规塔吊的布设根据柱梁预制构件的卸货点到各安装位置的水平运输量最小、并能覆盖叠合楼板、预制墙板的吊装要求来设置；
对于汽车吊或履带吊能覆盖厂房预制构件吊装要求的情况，也可根据成本控制要求，采用汽车吊或履带吊完成柱梁预制构件的垂直运输，以及叠合楼板、预制墙板的吊装。
最后，步骤S7、通过常规塔吊或汽车吊，或采用拔杆等机械设备完成对所述智能吊装机器人、轨道装置的拆除。
与现有技术相比，本发明的有益效果是：
本发明提出的全预制装配式多高层混凝土厂房的施工方法，采用单台智能吊装机器人即可实现楼层大型梁柱预制构件吊装作业的全覆盖，改变了以往多高层混凝土厂房采用传统装配式建造模式需布设多台大型吊装设备，成本高昂的不利局面，并实现了全预制装配式多高层混凝土厂房建造全过程的机械化和智能化，突破了“工业上楼混凝土厂房采用传统装配式建造方式成本高、大量项目仍采用现浇施工模式”的行业困境，实现了降成本、提效率，不但将填补工业上楼混凝土厂房建造全过程工业化关键技术的国际国内空白，引领和推动我国装配式建筑和智能建造的发展，也对我国建筑工业化科技进步水平的提升具有重大意义。
为了更清楚地说明本发明实施例技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明的全预制多高层混凝土厂房标准层结构平面布置图；
图2是本发明的全预制多高层混凝土厂房安装平面路线图；
图3是本发明的智能吊装机器人沿纵向路线进行厂房所需的柱梁预制构件的吊装安装的立面示意图；
图4是本发明的智能吊装机器人沿横向路线进行厂房所需的柱梁预制构件的吊装安装的立面示意图；
图5是本发明的智能吊装机器人沿横向路线进行厂房所需的柱梁预制构件的吊装安装的平面示意图；
图6是本发明的智能吊装机器人自升上楼过程示意图；
图7是本发明的智能吊装机器人完成自升上楼立面示意图；
图8是本发明的智能吊装机器人的结构示意图；
图9是本发明的智能吊装机器人的行走装置的结构示意图；
附图标记说明：
1-支撑柱，2-框架梁，3-次梁，4-叠合楼板，5-轨道装置，501-移动式转换钢梁，502-轨道件，6-智能吊装机器人，601-内塔身，602-外塔身，603-行走装置，60301-行走安装座，60302-转向轴，60303-行走电机，60304-行走连接座，60305-行走轮，60306-夹轨器，604-吊装装置，605-顶升装置，60501-升油缸，60502-顶升横梁，60503-安装下底座，60504-安装上底座，606-行走底架，607-垫梁。
为使本发明解决的技术问题、采用的技术方案和达到的技术效果更加清楚，下面对本发明实施例的技术方案作进一步的详细描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明的描述中，除非另有明确的规定和限定，术语“相连”“连接”、“固定”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可 以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
参见附图图1至图9：
本方案以一个三层两跨五间的多层全预制混凝土多层厂房为例，如图1所示，为全预制混凝土多层厂房的标准层平面布置图，其中，支撑柱1的柱距为15m×15m，支撑柱1的截面尺寸1200mm×1200mm，支撑柱1的柱高8000mm，框架梁2包括两个尺寸，截面尺寸分别为400mm×1500mm、300mm×1200mm，次梁3的截面250mm×900mm，次梁3的间距为2.5m，叠合楼板4的厚度为150mm；
根据本方案，提供一种全预制装配式多高层混凝土厂房的施工方法，包括以下步骤：
1)针对图1的厂房的结构，所需的预制的框架梁2分别重18.63吨、10.87吨，长13.8米，预制的次梁3重6.84吨，长14.6米，预制的支撑柱1重28.8吨，预制的叠合楼板4尺寸为2250mm×3650mm，重1.23吨；
由于梁柱预制构件尺寸大、重量重，按工厂预制运输至施工现场的传统方法运输要求高、费用大，可根据多高层混凝土厂房项目一般现场平面布置规则、纵向长度长的特点，在施工现场如临时道路等位置布置临时预制场地，进行梁柱大型构件的现场预制，更优地，可利用项目现场纵向长的特点，采用智能化机械化的组装模具进行流水型布置进行柱梁构件预制，对预制叠合楼板4、预制墙板等其尺寸和重量可划分为常规运输/吊装单元，采用工厂预制并运输到施工现场，具体的：
2)在厂房结构平面的位置布置常规塔吊，用于负责柱梁预制构件从地面到各楼层的垂直运输，以及叠合楼板4、墙板的安装工作，所述常规塔吊的布设根据柱梁预制构件的卸货点到各安装位置的水平运输量最小、并能覆盖叠合楼板4、预制墙板的吊装要求来设置；
对于汽车吊或履带吊能否覆盖厂房预制构件吊装要求的情况，也可根据成本控制要求，采用汽车吊或履带吊完成柱梁预制构件的垂直运输，以及叠合楼板4、预制墙板的吊装；
3)对于上述的运输，在楼层柱梁安装点设置信号装置，并通过自动导航运输装置将大型 柱梁预制构件按安装流程计划由垂直运输卸货点沿楼面运送至对应的安装点，更优地，所述的自动导航运输装置具备自动卸货功能，并应考虑下部楼板的承载要求，采用多伦低平板小车组对；
4)采用可自升上楼、可水平自移的智能吊装机器人依次完成楼层大型柱梁预制构件的安装，并采用布置在厂房外围的塔吊穿插完成预制叠合楼板、预制墙板的吊装安装，以及楼面混凝土的浇筑，具体的步骤如下：
S1、预先设置楼层平面的安装路线，如图2，所述安装路线为U字型，包括纵向路线和横向路线；
S2、在所述安装路线上铺设轨道装置5，所述轨道装置5上安装智能吊装机器人6；
具体的，所述轨道装置5包括移动式转换钢梁501、预埋件和轨道件502，所述移动式转换钢梁501通过所述预埋件铺设于所述楼层平面，所述轨道件502设于所述移动式转换钢梁501的上表面，所述轨道装置5的数量为两组，将所述轨道装置5分为第一组轨道装置5和第二组轨道装置5。每组所述的轨道装置5包括两个对称设置于所述安装路线两侧的移动式转换钢梁501；其中在第一组轨道装置5上，采用塔吊或汽车吊完成智能吊装机器人6的安装；
如图8至图9，所述智能吊装机器人6包括内塔身601、外塔身602、行走装置603、吊装装置604和顶升装置605；
所述内塔身601与所述外塔身602滑动配合；
所述顶升装置605设于所述内塔身601与所述外塔身602之间，包括顶升油缸60501和顶升横梁60502，所述内塔身601上设有安装下底座60503，所述外塔身602上设有安装上底座60504，所述升油缸60501通过所述顶升横梁60502与所述安装下底座60503连接，所述升油缸60501与所述安装上底座60504连接；
所述外塔身602上设有行走底架606，所行走装置603设于所述行走底架606，所述行走装置603包括行走安装座60301、转向轴60302、行走电机60303、行走连接座60304、行走轮60305和夹轨器60306，所述行走安装座60301与所述行走底架606连接，所述转向轴60302的两端分别与所述行走安装座60301、行走连接座60304转动配合，所述行走电机60303、行走轮60305、夹轨器60306设于所述行走连接座60304，所述行走电机60303的驱动端用于驱动行走轮60305转动；
所述外塔身602上设有塔吊主体，所述吊装装置604通过所述塔吊主体与所述外塔身602连接。
S3、所述智能吊装机器人6在所述轨道装置5上并沿所述纵向路线进行厂房所需的柱梁 预制构件的吊装安装；
S4、所述智能吊装机器人6包括顶升装置605，在所述安装路线的转向处，所述自升装置的驱动端作用所述智能吊装机器人6与所述纵向路线的轨道装置5脱离并与横向路线的轨道装置5连接安装，所述智能吊装机器人6在所述轨道装置5上并沿所述横向路线进行厂房所需的柱梁预制构件的吊装安装；
S5、在所述横向安装路线的转向处，所述自升装置的驱动端作用所述智能吊装机器人6与所述横向路线的轨道装置5脱离并与纵向路线的轨道装置5连接安装，所述智能吊装机器人6在所述轨道装置5上并沿所述纵向路线进行厂房所需的柱梁预制构件的吊装安装；
具体的，如图3，在步骤S3、S4、S5中，所述智能吊装机器人6沿所述轨道装置5行走的具体步骤如下：
所述轨道装置5为第一组轨道装置5和第二组轨道装置5，当所述智能吊装机器人6行走至第二组轨道装上时，且沿第一组轨道装置5范围内的柱梁预制构件完成安装后，利用所述的智能吊装机器人6进行第一组轨道装置5的拆除、吊运，并承接第二组轨道后进行安装；同理，当沿第二组轨道装置5范围内的柱梁预制构件完成安装后，利用所述的智能吊装机器人6进行第二组轨道装置5的拆除、吊运，并承接第一组轨道装置5后进行安装；循环往复，直至所述智能吊装机器人6行进至厂房另一端的柱间；
具体的，如图4和图5，在步骤S4、S5中，对于所述智能吊装机器人6在所述安装路线的转向处的转向行进的具体步骤如下：
在所述智能吊装机器人6的下方设置垫梁607作为上升的支承，所述垫梁607设于楼层平面，利用所述顶升装置605使其行走装置603上升至一定高度后，拆除其下方的轨道装置5并90°转向安装，随后调整所述智能机器人行走装置603的行走方向与其下方的轨道装置5的方向一致后回落至移轨道装置5上并行走，当再次遇到安装路线的转向处，再次进行所述智能机器人的起升、回落步骤，并完成其下方的所述轨道装置5与智能机器人的走向行进方向一致；
具体的，在步骤S3、S4、S5中，所述的柱梁预制构件的吊装安装包括安装所需的支撑柱1、框架梁2和次梁3，然后再利用布置的常规塔吊穿插完成预制叠合楼板4、预制墙板的吊装安装，以及楼面混凝土的浇筑，并在所述智能吊装机器人6的行进路线最后一个支撑柱1间，暂不安装次梁3和预制叠合楼板4，留出所述智能吊装机器人6自升上楼的上升通道；
S6、完成本层的楼层平面后，所述智能吊装机器人6通过所述顶升装置605升至安装好的楼层平面，并重复上述S1至S5的步骤，直至完成多高层厂房屋面的安装，其中，所述智能吊装机器人6通过所述顶升装置605升至安装好的楼层平面的顶部位置的具体步骤如下：
如图6和图7，利用所述智能吊装机器人6拆除前序的轨道装置5，将其吊至上一楼层预定安装位置近旁，并不得阻碍所述智能吊装机器人6自升上楼的通道区域；
在所述智能吊装机器人6的内塔身601下方设置垫梁607作为自升上楼的支承，利用所述智能吊装机器人6的顶升装置605使其行走装置603上升至预定轨道装置5的轨顶标高处的适当位置，将所述吊至预定安置近旁的轨道装置5安装就位后，通过所述顶升装置605完成所述智能吊装机器人6的回落及与所述轨道装置5之间的连接，最后使所述智能吊装机器人6的内塔身601回缩复位并固定。
S7、通过常规塔吊或汽车吊，或采用拔杆等机械设备完成对所述智能吊装机器人6、轨道装置5的拆除。
本发明提出的全预制装配式多高层混凝土厂房的施工方法，采用单台智能吊装机器人以及通过轨道装置的位置角度变化、行走装置的角度变化，并通过顶升装置，即可实现楼层大型梁柱预制构件吊装作业的全覆盖，不需要在安装路线的转向处设置过渡轨道，节省了空间和安装成本，改变了以往多高层混凝土厂房采用传统装配式建造模式需布设多台大型吊装设备，成本高昂的不利局面，并实现了全预制装配式多高层混凝土厂房建造全过程的机械化和智能化，突破了“工业上楼混凝土厂房采用传统装配式建造方式成本高、大量项目仍采用现浇施工模式”的行业困境，实现了降成本、提效率，不但将填补工业上楼混凝土厂房建造全过程工业化关键技术的国际国内空白，引领和推动我国装配式建筑和智能建造的发展，也对我国建筑工业化科技进步水平的提升具有重大意义。
于本文的描述中，需要理解的是，术语“上”、“下”、“左”、“右”、等方位或位置关系,仅是为了便于描述和简化操作，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”，仅仅用于在描述上加以区分，并没有特殊的含义。
在本说明书的描述中，参考术语“一实施例”、“示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以适当组合，形成本领域技术人员可以理解的其他实施方式。
以上结合具体实施例描述了本发明的技术原理。这些描述只是为了解释本发明的原理，而不能以任何方式解释为对本发明保护范围的限制。基于此处的解释，本领域的技术人员不 需要付出创造性的劳动即可联想到本发明的其它具体实施方式，这些方式都将落入本发明的保护范围之内。
Claims (10)
- 一种全预制装配式多高层混凝土厂房的施工方法，其特征在于，包括以下步骤：S1、预先设置楼层平面的安装路线，所述安装路线包括纵向路线和横向路线；S2、在所述安装路线上铺设轨道装置，所述轨道装置上安装智能吊装机器人；S3、所述智能吊装机器人在所述轨道装置上并沿所述纵向路线进行厂房所需的柱梁预制构件的吊装安装；S4、所述智能吊装机器人包括顶升装置，在所述安装路线的转向处，所述自升装置的驱动端作用所述智能吊装机器人与所述纵向路线的轨道装置脱离，并与轨道转向后形成的横向路线的轨道装置连接安装，所述智能吊装机器人在所述轨道装置上并沿所述横向路线进行厂房所需的柱梁预制构件的吊装安装；S5、在所述横向安装路线的转向处，所述自升装置的驱动端作用所述智能吊装机器人与所述横向路线的轨道装置脱离，并与轨道转向后形成的纵向路线的轨道装置连接安装，所述智能吊装机器人在所述轨道装置上并沿所述纵向路线进行厂房所需的柱梁预制构件的吊装安装；S6、完成本层的楼层平面后，所述智能吊装机器人通过所述顶升装置升至安装好的楼层平面，并重复上述S1至S5的步骤，直至完成多高层厂房屋面的安装。
- 根据权利要求1所述的全预制装配式多高层混凝土厂房的施工方法，其特征在于，在步骤S2中，所述轨道装置包括移动式转换钢梁、预埋件和轨道件，所述移动式转换钢梁通过所述预埋件铺设于所述楼层平面，所述轨道件设于所述移动式转换钢梁的上表面。
- 根据权利要求2所述的全预制装配式多高层混凝土厂房的施工方法，其特征在于，所述轨道装置的数量为不少于两组，每组所述的轨道装置包括两个对称设置于所述安装路线两侧的移动式转换钢梁。
- 根据权利要求3所述的全预制装配式多高层混凝土厂房的施工方法，其特征在于，所述智能吊装机器人还包括内塔身、外塔身、行走装置和吊装装置；所述外塔身为所述智能吊装机器人吊装作业时的持力结构，所述内塔身为所述智能吊装机器人自升上楼作业时的导向结构和持力结构，所述内塔身与所述外塔身相配合构成所述智能吊装机器人的自升上楼系统；所述顶升装置设于所述内塔身与所述外塔身之间，包括顶升油缸和顶升横梁，所述内塔身上设有安装下底座，所述外塔身上设有安装上底座，所述升油缸通过所述顶升横梁与所述安装下底座连接，所述升油缸与所述安装上底座连接；所述外塔身上设有行走底架，所行走装置设于所述行走底架，所述行走装置包括行走安 装座、转向轴、行走电机、行走连接座、行走轮和夹轨器，所述行走安装座与所述行走底架连接，所述转向轴的两端分别与所述行走安装座、行走连接座转动配合，所述行走电机、行走轮、夹轨器设于所述行走连接座，所述行走电机的驱动端用于驱动行走轮转动；所述吊装装置与所述外塔身连接。
- 根据权利要求4所述的全预制装配式多高层混凝土厂房的施工方法，其特征在于，在步骤S3、S4、S5中，所述智能吊装机器人沿所述轨道装置行走的具体步骤如下：将所述轨道装置分为第一组轨道装置和第二组轨道装置，当所述智能吊装机器人行走至第二组轨道装上时，且沿第一组轨道装置范围内的柱梁预制构件完成安装后，利用所述的智能吊装机器人进行第一组轨道装置的拆除、吊运，并承接第二组轨道沿安装路线进行安装；同理，当沿第二组轨道装置范围内的柱梁预制构件完成安装后，利用所述的智能吊装机器人进行第二组轨道装置的拆除、吊运，并承接第一组轨道装置沿安装路线进行安装；循环往复，直至所述智能吊装机器人行进至厂房另一端的柱间。
- 根据权利要求4所述的全预制装配式多高层混凝土厂房的施工方法，其特征在于，在步骤S4、S5中，对于所述智能吊装机器人在所述安装路线的转向处的转向行进的具体步骤如下：在所述智能吊装机器人的下方设置垫梁作为上升的支承，所述垫梁设于楼层平面，利用所述顶升装置使其行走装置上升至一定高度后，拆除其下方的轨道装置并90°转向安装，随后调整所述智能机器人行走装置的行走方向与其下方的轨道装置的方向一致后回落至移轨道装置上并行走，当再次遇到安装路线的转向处，再次进行所述智能机器人的起升、回落步骤，并完成其下方的所述轨道装置与智能机器人的走向行进方向一致。
- 根据权利要求1所述的全预制装配式多高层混凝土厂房的施工方法，其特征在于，在步骤S3、S4、S5中，所述的柱梁预制构件的吊装安装包括安装所需的支撑柱、框架梁和次梁，然后再利用布置的常规塔吊穿插完成预制叠合楼板、预制墙板的吊装安装，以及楼面混凝土的浇筑，并在所述智能吊装机器人的行进路线最后一个支撑柱间，暂不安装次梁和预制叠合楼板，留出所述智能吊装机器人自升上楼的上升通道。
- 根据权利要求4所述的全预制装配式多高层混凝土厂房的施工方法，其特征在于，在步骤S6中，所述智能吊装机器人通过所述顶升装置升至上一层楼层平面的具体步骤如下：利用所述智能吊装机器人拆除前序的轨道装置，将其吊至上一楼层预定安装位置近旁，并不得阻碍所述智能吊装机器人自升上楼的通道区域；在所述智能吊装机器人的内塔身下方设置垫梁作为自升上楼的支承，利用所述智能吊装机器人的顶升装置使其行走装置上升至预定轨道安装位置轨顶标高处的适当位置，将所述吊 至预定安置近旁的轨道装置安装就位后，通过所述顶升装置完成所述智能吊装机器人的回落及与所述轨道装置之间的连接，最后使所述智能吊装机器人的内塔身回缩复位并固定。
- 根据权利要求1所述的全预制装配式多高层混凝土厂房的施工方法，其特征在于，在步骤S1之前，在厂房结构平面位置布置常规塔吊，用于负责柱梁预制构件从地面到各楼层的垂直运输，以及叠合楼板、墙板的安装工作，所述常规塔吊的布设根据柱梁预制构件的卸货点到各安装位置的水平运输量最小、并能覆盖叠合楼板、预制墙板的吊装要求来设置；对于汽车吊或履带吊能覆盖厂房预制构件吊装要求的情况，也可根据成本控制要求，采用汽车吊或履带吊完成柱梁预制构件的垂直运输，以及叠合楼板、预制墙板的吊装。
- 根据权利要求1所述的全预制装配式多高层混凝土厂房的施工方法，其特征在于，还包括步骤S7：通过常规塔吊或汽车吊，或采用拔杆等机械设备完成对所述智能吊装机器人、轨道装置的拆除。
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| CN110259152A (zh) * | 2019-05-31 | 2019-09-20 | 深圳市协鹏建筑与工程设计有限公司福田分公司 | 一种建筑材料转运系统和方法 |
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| FR1113697A (fr) * | 1954-11-24 | 1956-04-03 | Otto Kaiser K G Maschf | Procédé pour le réglage intermittent de la hauteur de levée d'une grue fixe à pylône tournant suivant les progrès du montage d'un bâtiment |
| US3333712A (en) * | 1965-10-18 | 1967-08-01 | Robert G Owen | Mobile platform and hoisting apparatus |
| US5426907A (en) * | 1993-07-01 | 1995-06-27 | Franklin; James W. | Construction crane base |
| WO1996036780A1 (fr) * | 1995-05-15 | 1996-11-21 | Obayashi Corporation | Ossature provisoire utilisee dans la construction d'un batiment |
| US8960460B2 (en) * | 2009-03-09 | 2015-02-24 | Manitowoc Crane Companies, Llc | Counterweight block and assemblies for cranes |
| CN108862031A (zh) * | 2018-08-27 | 2018-11-23 | 太原理工大学 | 一种单轨吊车的驱动装置、轨道单体及单轨吊车 |
| MY202156A (en) * | 2020-03-17 | 2024-04-09 | Favelle Favco Berhad | System for repositioning a crane |
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| CN1267632A (zh) * | 1999-03-18 | 2000-09-27 | 王瑛 | 集成输送吊运机 |
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| CN110259152A (zh) * | 2019-05-31 | 2019-09-20 | 深圳市协鹏建筑与工程设计有限公司福田分公司 | 一种建筑材料转运系统和方法 |
| CN110182694A (zh) * | 2019-06-04 | 2019-08-30 | 深圳市协鹏建筑与工程设计有限公司福田分公司 | 一种应用于落地式和自爬式整体施工作业平台 |
| CN212241540U (zh) * | 2020-04-07 | 2020-12-29 | 浙江精功科技股份有限公司 | 一种90°混凝土预制板翻转机 |
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