A precast staircase hoisting system

Abstract

The present invention relates to the technical field of building construction, and particularly relates to a precast staircase hoisting system, which includes a hoisting unit, a support unit, a detection unit, a sliding unit and a central control unit; by controlling the hoisting unit to adjust the initial hoisting speed of the hoisting rope, the present invention ensures the stability of the precast staircase to be installed during the hoisting process. When the precast staircase to be installed is hoisted to a preset installation inclination angle, by adjusting the operating state of the support unit or the sliding unit, the precast staircase to be installed is moved to a preset installation position and parallel to the wall surface, and the hoisting position is accurately adjusted. By providing an infrared monitor, during the process of moving the precast staircase to be installed to a preset installation position and parallel to the wall surface by the support unit or the sliding unit, the central control unit controls the support unit or the sliding unit to stop moving the precast staircase to be installed, reducing the hoisting error caused by the swing of the precast staircase to be installed, and effectively ensuring the hoisting accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction, and in particular to a precast staircase hoisting system. Background Art

[0002] The hoisting system is an important mechanical equipment for cantilever erection construction. Common hoisting methods include cantilever hoisting, erection beam hoisting, cable hoisting, floating crane hoisting, etc. The cantilever hoisting method uses a crane anchored at the end of the main beam to lift the precast beam section transported to the position below the installation position. After the beam section is installed in place, it is spliced, and then the crane is moved forward to the position of the next beam section to be installed for the installation of the next beam section; in current building construction, the installation of precast staircases mainly uses a crane for installation. Since the crane is manually operated, the accuracy of the installation completely depends on the technical proficiency of the operator and the cooperation with the on-site commander. This not only limits the construction site for installation operations, but also has low efficiency and is prone to safety accidents, causing casualties.

[0003] Chinese Patent Publication No.: CN113620131A. It discloses a control system for a precast component hoisting platform. The technical point is that when the main construction of the current floor is completed and precast components need to be installed, the truss floor slab is transported from the ground to the designated floor, and after the installation of the precast components on this floor is completed, the main construction of the next floor is carried out; thus, it can be seen that in the existing precast staircase hoisting technology, transporting the precast components to the building construction site and assembling and installing them on site through reliable connection methods limits the construction site for hoisting operations, that is, it is difficult to ensure the installation of a complete precast staircase in a limited construction site. Summary of the Invention

[0004] Therefore, the present invention provides a precast staircase hoisting system to overcome the problem in the prior art that due to the limited space of the installation site, it is difficult to use large hoisting equipment to perform efficient and accurate hoisting operations while ensuring the integrity of the precast staircase.

[0005] To achieve the above object, the present invention provides a precast staircase hoisting system, including,

[0006] A hoisting unit, including a hoisting rope and an electric winch connected to one end of the hoisting rope. The other end of the hoisting rope is fixedly connected to the top of the precast staircase to be installed through a hook. The electric winch is used to hoist or lower the top of the precast staircase to be installed by taking in and paying out the hoisting rope.

[0007] A detection unit, used to detect the real-time inclination angle between the precast staircase to be installed and the house ground, the real-time upper reserved displacement between the upper part of the precast staircase to be installed and the wall, the real-time lower reserved displacement between the lower part of the precast staircase to be installed and the wall, the real-time swing amplitude and the real-time swing frequency of the precast staircase to be installed.

[0008] A sliding unit, which is fixedly installed on the installation wall surface on one side of the prefabricated staircase to be installed according to a preset installation position. The sliding unit includes a roller screw with one end fixed on the wall surface and a sliding block sleeved on the roller screw. A rotating pulley connected to the lifting rope is arranged at the upper end of the sliding block to change the force direction of the lifting rope. The sliding block can drive the rotating pulley to move by moving on the roller screw;

[0009] A supporting unit, which is arranged at the bottom end of the prefabricated staircase to be installed and is fixed to the prefabricated staircase to be installed. The supporting unit includes a supporting plate for supporting and fixing the prefabricated staircase to be installed and a plurality of driving rollers. Each driving roller is used to drive the supporting unit to move;

[0010] A central control unit, which is respectively connected to the lifting unit, the detection unit, the sliding unit and the supporting unit; the central control unit can calculate a correction inclination angle according to the difference between the preset installation inclination angle and the standard inclination angle, and determine the real-time inclination angle according to the correction inclination angle to determine whether to adjust the initial lifting speed of the lifting unit; when the central control unit determines that the real-time inclination angle is equal to the preset installation inclination angle, it can calculate the real-time inclination difference between the upper reserved displacement and the lower reserved displacement, and determine the real-time inclination difference according to the standard reserved displacement. If the real-time inclination difference is greater than the standard reserved displacement, when the real-time upper reserved displacement is greater than the real-time lower reserved displacement, the central control unit controls the sliding unit to drive the prefabricated staircase to be installed to move towards the wall surface, and when the real-time lower reserved displacement is greater than the real-time upper reserved displacement, the central control unit controls the sliding unit to drive the prefabricated staircase to be installed to move away from the wall surface; the central control unit can also determine the real-time swing amplitude and the real-time swing frequency according to the first standard swing amplitude, the second standard swing amplitude and the standard swing frequency to determine whether to control the sliding unit and the supporting unit to stop moving.

[0011] Further, a standard inclination angle difference ΔC and the initial lifting speed Vc of the lifting unit are set in the central control unit. The central control unit will obtain the preset installation inclination angle Ca of the prefabricated staircase to be installed, and calculate the correction inclination angle Cz according to the preset installation inclination angle and the standard inclination angle difference. When the lifting unit lifts the prefabricated staircase to be installed at the initial lifting speed, the central control unit will obtain the real-time inclination angle Cs of the prefabricated staircase to be installed detected by the detection unit, and determine the real-time inclination angle of the prefabricated staircase to be installed according to the correction inclination angle;

[0012] If the real-time inclination angle is less than the correction inclination angle, the central control unit does not adjust the initial lifting speed of the lifting unit;

[0013] If the real-time tilt angle is greater than or equal to the calibrated tilt angle, the central control unit compares the real-time tilt angle with the preset installation tilt angle, and when the central control unit determines that the real-time tilt angle is less than or equal to the preset installation tilt angle, it will adjust the initial lifting speed of the lifting unit in real time to the real-time lifting speed. When the central control unit determines that the real-time tilt angle is equal to the preset installation tilt angle, it will determine whether the precast staircase to be installed is parallel to the wall surface;

[0014] Among them, Vt = Vc - [Vc×(Cs - Cz) / ΔC], where Vt represents the real-time lifting speed after the initial lifting speed of the lifting unit is adjusted in real time.

[0015] Furthermore, a standard deviation range is set in the central control unit. When the central control unit determines that the real-time tilt angle of the precast staircase to be installed is greater than or equal to the calibrated tilt angle, it obtains the real-time upper reserved displacement detected by the detection unit and the real-time lower reserved displacement detected by the detection unit, and calculates the real-time deviation according to the real-time upper reserved displacement and the real-time lower reserved displacement. The central control unit determines the real-time deviation according to the standard deviation range.

[0016] If the real-time deviation is greater than the standard deviation range, the central control unit will compare the real-time upper reserved displacement with the real-time lower reserved displacement;

[0017] If the real-time deviation is less than or equal to the standard deviation, the central control unit will determine the real-time lifting speed of the lifting unit to determine whether the precast staircase to be installed is installed;

[0018] Among them, ΔS = |S1 - S2|, where ΔS represents the real-time deviation, S1 is the real-time upper reserved displacement detected by the detection unit, and S2 is the real-time lower reserved displacement detected by the detection unit.

[0019] Furthermore, the minimum lifting speed of the lifting unit of the precast staircase to be installed is set in the central control unit. When the central control unit determines that the real-time deviation of the precast staircase to be installed is less than or equal to the standard deviation, the central control unit will obtain the real-time lifting speed of the lifting unit and compare the real-time lifting speed with the minimum lifting speed.

[0020] If the real-time lifting speed is lower than the minimum lifting speed, the central control unit determines that the precast staircase to be installed is lifted to the preset installation position and will fix and assemble the precast staircase to be installed;

[0021] If the real-time lifting speed is higher than the minimum lifting speed, the central control unit determines that the precast staircase to be installed is in the lifting state.

[0022] Further, when the central control unit determines that the real-time inclination angle of the prefabricated staircase to be installed is greater than or equal to the corrected inclination angle, and the real-time deviation

[0023] is greater than the standard deviation range, the central control unit will obtain the standard reserved displacement in the preset installation position, and compare the real-time upper reserved displacement and the real-time lower reserved displacement of the prefabricated staircase to be installed.

[0024] If the real-time upper reserved displacement is greater than the real-time lower reserved displacement, the central control unit will drive the prefabricated staircase to be installed to move towards the wall by controlling the movement of the sliding unit until the real-time deviation is less than or equal to the standard deviation, and then control the sliding unit to stop moving.

[0025] If the real-time lower reserved displacement is greater than the real-time upper reserved displacement, the central control unit will drive the prefabricated staircase to be installed to move away from the wall by controlling the movement of the sliding unit.

[0026] Wherein, the preset installation position includes a preset installation angle and a standard reserved displacement, and the standard reserved displacement represents the distance when the prefabricated staircase to be installed is parallel to the wall.

[0027] Further, a first standard swing amplitude and a second standard swing amplitude of the prefabricated staircase to be installed are set in the central control unit. When the central control unit adjusts the prefabricated staircase to be installed to be parallel to the wall by controlling the support unit and the sliding unit, the detection unit starts to detect the real-time swing amplitude and the real-time swing frequency of the prefabricated staircase to be installed. The central control unit can obtain the real-time swing amplitude and determine the real-time swing amplitude according to the first standard swing amplitude and the second standard swing amplitude.

[0028] If the real-time swing amplitude is less than the first standard swing amplitude, the support unit and the sliding unit continue to control the prefabricated staircase to be installed to move until it is parallel to the wall.

[0029] If the real-time swing amplitude is between the first standard swing amplitude and the second standard swing amplitude, the central control unit will determine whether to control and adjust the operating states of the support unit and the sliding unit according to the real-time swing frequency.

[0030] If the real-time swing amplitude is greater than the second standard swing amplitude, the support unit and the sliding unit stop controlling the prefabricated staircase to be installed to move.

[0031] Further, a standard swing frequency is set in the central control unit. When the central control unit determines that the real-time swing amplitude of the prefabricated staircase to be installed is between the first standard swing amplitude and the second standard swing amplitude, it obtains the real-time swing frequency of the prefabricated staircase to be installed and determines the real-time swing frequency according to the standard swing frequency.

[0032] If the real-time swing frequency is greater than the standard swing frequency, the central control unit controls the support unit and the sliding unit to stop driving the prefabricated staircase to be installed from moving.

[0033] If the real-time swing frequency is less than the standard swing frequency, the central control unit controls the sliding unit to move towards the wall surface to drive the prefabricated staircase to be installed to move until it is parallel to the wall surface.

[0034] Further, the detection unit includes an inclination angle detector, an upper distance measuring instrument, a lower distance measuring instrument, and an infrared detector. The inclination angle detector is installed on the lower step platform of the prefabricated staircase to be installed for detecting the real-time inclination angle between the prefabricated staircase to be installed and the house floor; the upper distance measuring instrument is installed on the upper step platform of the prefabricated staircase to be installed for detecting the real-time upper reserved displacement between the upper part of the prefabricated staircase to be installed and the wall surface; the lower distance measuring instrument is installed on the lower step platform of the prefabricated staircase to be installed for detecting the real-time lower reserved displacement between the lower part of the prefabricated staircase to be installed and the wall surface; the infrared detector is arranged on the upper step platform of the prefabricated staircase to be installed for detecting the real-time swing amplitude and real-time swing frequency of the prefabricated staircase to be installed.

[0035] Further, the sliding unit further includes a magnetoresistive motor, which is connected to one end of the roller screw for driving the roller screw to rotate, thereby driving the sliding block to linearly move on the roller screw. The upper end of the sliding block is fixedly provided with the rotating pulley around which the lifting rope is wound, and the rotating pulley can drive the lifting rope to move by linearly moving the sliding block on the roller screw.

[0036] Further, the support unit further includes a clamping member arranged on the support plate for fixing the prefabricated staircase to be installed and a bottom plate connected to the support plate through a pin shaft. A hydraulic support rod is arranged on the upper part of the bottom plate, and the hydraulic support rod is used for driving the support plate to rise or fall by extending or contracting. Two rows of equally spaced and parallel arranged driving rollers are arranged on the lower part of the bottom plate, and each driving roller is used for supporting and driving the prefabricated staircase to be installed to freely move in any direction on the house floor.

[0037] Compared with the prior art, the beneficial effects of the present invention are as follows. By setting a standard tilt angle difference in the central control unit, the central control unit calculates the correction tilt angle based on the standard tilt angle difference, and when it is determined that the real-time tilt angle is greater than the correction tilt angle, the central control unit controls the lifting unit to adjust the initial lifting speed of the lifting rope, improving the lifting efficiency and ensuring the stability of the precast staircase to be installed during the lifting process. When the precast staircase to be installed is lifted to the preset installation tilt angle, the central control unit calculates the real-time tilt difference between the upper reserved displacement and the lower reserved displacement, and when the real-time tilt difference is greater than the standard reserved displacement, by adjusting the operating state of the support unit or the sliding unit, the precast staircase to be installed is moved to the preset installation position and parallel to the wall surface, accurately adjusting the hoisting position. By setting an infrared monitor, during the process of the support unit or the sliding unit moving the precast staircase to be installed to the preset installation position and parallel to the wall surface, the central control unit obtains the real-time swing amplitude and the real-time swing frequency to determine the swing state of the precast staircase to be installed. When the real-time swing amplitude of the precast staircase to be installed is higher than the second standard swing amplitude, or the real-time swing frequency is higher than the standard swing frequency, the central control unit controls the support unit or the sliding unit to stop moving the precast staircase to be installed, reducing the hoisting error caused by the swing of the precast staircase to be installed and effectively ensuring the hoisting accuracy.

[0038] Further, by setting a standard tilt angle difference, the central control unit is used to calculate the correction tilt angle and determine the real-time tilt angle based on the correction tilt angle. If the real-time tilt angle is less than the correction tilt angle, the central control unit determines that the lifting unit performs the lifting operation at the initial lifting speed. If the real-time tilt angle is greater than or equal to the correction tilt angle, the central control unit adjusts the initial lifting speed of the lifting unit to the real-time lifting speed, and the real-time lifting speed decreases as the real-time tilt angle increases. Theoretically, when the real-time tilt angle increases to the preset installation tilt angle, the real-time lifting speed decreases to zero, adjusting the speed of the lifting unit to slowly raise the precast staircase to be installed to the preset installation angle, increasing the stability during the lifting process and ensuring the normal operation of the lifting unit.

[0039] In particular, by setting a standard deviation range, the central control unit is used to determine the difference between the calculated real-time upper reserved displacement and the real-time lower reserved displacement, that is, the real-time deviation, based on the standard deviation range. If the central control unit determines that the real-time deviation is greater than the standard deviation range, it means that the precast staircase to be installed is not parallel to the wall surface. The central control unit will determine the real-time upper reserved displacement and the real-time lower reserved displacement to accurately adjust the precast staircase to be installed to be parallel to the wall surface. If the central control unit determines that the real-time deviation is less than or equal to the standard deviation, it means that the precast staircase to be installed is in a position parallel to the wall surface.

[0040] Furthermore, by setting the minimum lifting speed, the central control unit determines whether the precast staircase to be installed has been lifted to the preset installation position according to the real-time lifting speed. When the central control unit determines that the real-time deflection difference of the precast staircase to be installed is less than or equal to the standard deflection difference, it indicates that the precast staircase to be installed is in a position parallel to the wall. If the central control unit simultaneously determines that the real-time lifting speed is lower than the minimum lifting speed, it means that the lifting of the precast staircase to be installed is completed.

[0041] In particular, the central control unit compares the real-time upper reserved displacement and the real-time lower reserved displacement of the precast staircase to be installed to determine the adjustment method for the precast staircase to be installed. If the central control unit determines that the real-time upper reserved displacement is greater than the real-time lower reserved displacement, the sliding block is controlled to move towards the wall to reduce the distance between the upper steps of the precast staircase to be installed and the wall, thereby adjusting the precast staircase to be installed to be parallel to the wall. If the central control unit determines that the real-time lower reserved displacement is greater than the real-time upper reserved displacement, the driving roller is controlled to turn towards the wall to reduce the distance between the lower steps of the precast staircase to be installed and the wall, thereby adjusting the precast staircase to be installed to be parallel to the wall, accurately adjusting the precast staircase to be installed to the preset hoisting position, and having a reserved distance from the wall to protect the wall from being damaged by friction with the precast staircase to be installed and ensure the effectiveness of the installation.

[0042] Furthermore, the first standard swing amplitude and the second standard swing amplitude constitute the standard swing amplitude range. If the central control unit determines that the real-time swing amplitude is lower than the standard swing amplitude range, it indicates that the swing of the precast staircase to be installed does not affect the accurate adjustment of the precast staircase to be parallel to the wall. If the central control unit determines that the real-time swing amplitude is within the standard swing amplitude range, it will judge whether the swing state of the precast staircase to be installed affects the accurate adjustment of the precast staircase to be parallel to the wall according to the real-time swing frequency. If the central control unit determines that the real-time swing amplitude is greater than the second standard swing amplitude, it indicates that the swing state of the precast staircase to be installed affects the accurate adjustment of the precast staircase to be parallel to the wall, so the movement of the precast staircase to be installed is stopped.

[0043] In particular, the standard swing frequency represents the number of swing cycles of the precast staircase to be installed per unit time period, with the unit of Hz, which is generally set according to the model parameters of the precast staircase to be installed; by setting the standard swing frequency, the central control unit can determine whether the precast staircase to be installed is prone to hoisting errors due to swing during the process of moving the precast staircase to be installed parallel to the wall. When the central control unit determines that the real-time swing frequency is greater than the standard swing frequency, it indicates that the precast staircase to be installed is prone to hoisting errors due to swing, and the movement of the precast staircase to be installed needs to be stopped. When the central control unit determines that the real-time swing frequency is less than the standard swing frequency, it indicates that the precast staircase to be installed in this state is stable and not prone to hoisting errors. Therefore, the support unit and the sliding unit are continued to be controlled to drive the precast staircase to be installed to move parallel to the wall.

[0044] Furthermore, by setting up a detection unit, the status of the prefabricated stairs to be installed can be accurately detected in real time, ensuring that the central control unit can accurately judge the posture of the prefabricated stairs to be installed, so as to control the operating status of each component, thereby adjusting the prefabricated stairs to be installed to the preset installation position to ensure the lifting accuracy.

[0045] Furthermore, by setting a sliding unit, the lifting rope drives the prefabricated stairs to be installed to move toward the wall, and the supporting unit is cooperated to adjust the spatial position of the prefabricated stairs to be installed to be parallel to the wall. The operation is simple and the lifting accuracy is improved. Among them, a reluctance motor is connected to the center of one end of the roller screw to accurately control the moving distance of the sliding block. By setting a rotating pulley on the upper part of the sliding block, the force direction of the lifting rope is controlled to ensure the stable operation of the sliding unit and the lifting unit.

[0046] Furthermore, by setting a support unit to support and move the prefabricated stairs to be installed, the support unit and the lifting unit are linked to adjust the spatial position of the prefabricated stairs to be installed. The operation is simple and efficient, and manpower is saved. Among them, by setting a support plate and a clamping member, the prefabricated stairs to be installed are stabilized and not easy to be displaced on the support plate. By setting two rows of driving rollers arranged in parallel at equal intervals, the resistance with the ground during movement is reduced, which is convenient for improving traction and controllability, thereby improving the lifting accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A schematic diagram of a prefabricated staircase hoisting system according to an embodiment of the present invention;

[0048] Figure 2 It is a schematic diagram of a sliding unit and a lifting unit in a prefabricated staircase lifting system according to an embodiment of the present invention;

[0049] Figure 3 It is a schematic diagram of a support unit in a prefabricated staircase hoisting system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0050] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0051] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0052] It should be noted that in the description of the present invention, the terms indicating the direction or positional relationship such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the direction or positional relationship shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0053] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] Please refer to Figure 1 as shown Figure 1 which is a schematic diagram of the precast staircase hoisting system according to an embodiment of the present invention. The present invention discloses a precast staircase hoisting system, including a hoisting unit, a detection unit, a sliding unit, a support unit, and a central control unit. Among them,

[0055] The hoisting unit includes a hoisting rope and an electric winch connected to one end of the hoisting rope. The other end of the hoisting rope is fixedly connected to the top of the precast staircase to be installed through a hook. The electric winch is used to hoist or lower the top of the precast staircase to be installed by retracting and releasing the hoisting rope;

[0056] The detection unit is used to detect the real-time inclination angle of the precast staircase to be installed and the ground of the house, the real-time upper reserved displacement between the upper part of the precast staircase to be installed and the wall, the real-time lower reserved displacement between the lower part of the precast staircase to be installed and the wall, the real-time swing amplitude and real-time swing frequency of the precast staircase to be installed;

[0057] The sliding unit is fixedly installed on the installation wall surface on one side of the precast staircase to be installed according to the preset installation position. The sliding unit includes a roller screw fixed at one end on the wall surface and a sliding block sleeved on the roller screw. A rotating pulley connected to the hoisting rope is arranged at the upper end of the sliding block to change the force direction of the hoisting rope. The sliding block can drive the rotating pulley to move by moving on the roller screw;

[0058] The support unit is arranged at the bottom end of the precast staircase to be installed and is fixed to the precast staircase to be installed. The support unit includes a support plate for supporting and fixing the precast staircase to be installed and a plurality of driving rollers. Each driving roller is used to drive the support unit to move;

[0059] A central control unit, which is respectively connected to the lifting unit, the detection unit, the sliding unit and the support unit; the central control unit can calculate a correction inclination angle according to the difference between the preset installation inclination angle and the standard inclination angle, and determine the real-time inclination angle according to the correction inclination angle to determine whether to adjust the initial lifting speed of the lifting unit; when the central control unit determines that the real-time inclination angle is equal to the preset installation inclination angle, it can calculate the real-time inclination difference between the upper reserved displacement and the lower reserved displacement, and determine the real-time inclination difference according to the standard reserved displacement. If the real-time inclination difference is greater than the standard reserved displacement, when the real-time upper reserved displacement is greater than the real-time lower reserved displacement, control the sliding unit to drive the precast staircase to be installed to move towards the wall, and when the real-time lower reserved displacement is greater than the real-time upper reserved displacement, control the sliding unit to drive the precast staircase to be installed to move away from the wall; the central control unit can also determine the real-time swing amplitude and the real-time swing frequency according to the first standard swing amplitude, the second standard swing amplitude and the standard swing frequency to determine whether to control the sliding unit and the support unit to stop moving.

[0060] Before installing the precast staircase to be installed in this real example, it is necessary to measure and set the floor plane control line and elevation control line; among them, the ground plane control line is based on the relative structural plane position and dimensions of the design construction drawing, and the position side line, door and window opening line of the precast staircase to be installed and the control line of the precast staircase to be installed are measured on the surface of the roof structure of the house by 500mm, and the center line of the precast staircase to be installed perpendicular to the length direction of the precast staircase to be installed is measured on the roof structure of the house, which is used to control the straightness of the internal and external corners of the structure wall, and provides a positioning basis for the installation of the precast staircase to be installed; the elevation control line is led to the operation layer in advance, and the embedded bolts for controlling the elevation of the precast staircase to be installed are measured with shims at local positions according to the designed elevation of the bottom surface of the precast staircase to be installed. At the same time, the elevation control line is measured on the reserved dark column steel bars on the roof structure of the house at the operation layer for elevation review and control. The elevation control points and lines can be used for component installation only after being reviewed and found correct. All shims and adjustable bolts used as support points for precast components are measured for elevation according to the designed height of the precast component support, and the number of support points is confirmed through calculation to avoid component sinking and deviation from the designed elevation due to insufficient strength required by the support points.

[0061] Before hoisting the precast stairs to be installed, the construction management and operators should be familiar with the construction drawings, check the component types and numbers according to the hoisting process, confirm the installation positions, and mark the hoisting sequence; when hoisting the precast stairs to be installed, it is advisable to use special hoisting tools, connect the steel wire rope to the embedded lifting ring at the upper end of the precast stairs to be installed with a shackle, or it can also be connected to the lifting points of the truss reinforcement or lattice reinforcement determined by the design, and confirm that the connection is firm; the main hook position of the hoisting equipment, the lifting tackle and the center of the component should preferably coincide vertically, and the horizontal angle between the sling and the component should not be less than 60° and should not be less than 45°. During the hoisting process, attention should be paid to preventing the precast stairs to be installed from colliding with the stacking rack or other precast components; at the same time, it is necessary to use a multi-point hoisting beam for hoisting. When hoisting, two lifting points are required, and the steel wire ropes should be evenly stressed. Hoist slowly to ensure the stable hoisting of the precast stairs to be installed.

[0062] The separation of the precast stairs to be installed from the lifting tackle is carried out after the calibration positioning and the installation of the temporary support are completed; among them, before unhooking the precast stairs to be installed, first use a horizontal laser level to emit a 1m elevation line, and use a level to conduct a horizontal inspection at the bottom of the precast stairs to be installed. If it is found that the bottom of the precast stairs to be installed is not level enough, then adjust the adjustable jack until the deviation is within ±3mm for acceptance; after landing, conduct a recheck. The landing levelness within ±5mm can be accepted.

[0063] By setting a standard tilt angle difference in the central control unit, the central control unit calculates the correction tilt angle based on the standard tilt angle difference and the standard tilt angle difference, and when it determines that the real-time tilt angle is greater than the correction tilt angle, it controls the lifting unit to adjust the initial lifting speed of the lifting rope, improves the lifting efficiency, and ensures the stability of the precast stairs to be installed during the lifting process. When the precast stairs to be installed are lifted to the preset installation tilt angle, the central control unit calculates the real-time tilt difference between the upper reserved displacement and the lower reserved displacement, and when the real-time tilt difference is greater than the standard reserved displacement, it moves the precast stairs to be installed to the preset installation position and parallel to the wall by adjusting the operating state of the support unit or the sliding unit, accurately adjusts the hoisting position. By setting an infrared monitor, during the process of the support unit or the sliding unit moving the precast stairs to be installed to the preset installation position and parallel to the wall, the central control unit obtains the real-time swing amplitude and the real-time swing frequency to determine the swing state of the precast stairs to be installed. When the real-time swing amplitude of the precast stairs to be installed is higher than the second standard swing amplitude, or the real-time swing frequency is higher than the standard swing frequency, it controls the support unit or the sliding unit to stop moving the precast stairs to be installed, reduces the hoisting error caused by the swing of the precast stairs to be installed, and effectively ensures the hoisting accuracy.

[0064] Specifically, a standard tilt angle difference ΔC and an initial lifting speed Vc of the lifting unit are set in the central control unit. The central control unit will obtain a preset installation tilt angle Ca of the precast staircase to be installed, and calculate a correction tilt angle Cz based on the preset installation tilt angle and the standard tilt angle difference. When the lifting unit lifts the precast staircase to be installed at the initial lifting speed, the central control unit will obtain the real-time tilt angle Cs of the precast staircase to be installed detected by the detection unit, and determine the real-time tilt angle of the precast staircase to be installed according to the correction tilt angle;

[0065] If the real-time tilt angle is less than the correction tilt angle, the central control unit will not adjust the initial lifting speed of the lifting unit;

[0066] If the real-time tilt angle is greater than or equal to the correction tilt angle, the central control unit will compare the real-time tilt angle with the preset installation tilt angle. When the central control unit determines that the real-time tilt angle is less than or equal to the preset installation tilt angle, it will adjust the initial lifting speed of the lifting unit in real time to the real-time lifting speed. When the central control unit determines that the real-time tilt angle is equal to the preset installation tilt angle, it will determine whether the precast staircase to be installed is parallel to the wall;

[0067] When the central control unit determines that the real-time tilt angle is greater than the preset installation tilt angle, the central control unit determines that the hoisting is excessive and will perform a shutdown inspection;

[0068] Among them, Vt = Vc - [Vc×(Cs - Cz) / ΔC], where Vt represents the real-time lifting speed after the initial lifting speed of the lifting unit is adjusted in real time.

[0069] By setting a standard tilt angle difference, it is used for the central control unit to calculate the correction tilt angle and determine the real-time tilt angle according to the correction tilt angle. If the real-time tilt angle is less than the correction tilt angle, the central control unit determines that the lifting unit performs the lifting operation at the initial lifting speed. If the real-time tilt angle is greater than or equal to the correction tilt angle, the central control unit adjusts the initial lifting speed of the lifting unit to the real-time lifting speed. The real-time lifting speed decreases as the real-time tilt angle increases. Theoretically, when the real-time tilt angle increases to the preset installation tilt angle, the real-time lifting speed decreases to zero, adjusting the speed of the lifting unit to make the precast staircase to be installed slowly rise to the preset installation angle, increasing the stability during the lifting process and ensuring the normal operation of the lifting unit.

[0070] Specifically, a standard skew difference range is set in the central control unit. When the central control unit determines that the real-time inclination angle of the prefabricated staircase to be installed is greater than or equal to the calibration inclination angle, it obtains the real-time upper reserved displacement detected by the detection unit and the real-time lower reserved displacement detected by the detection unit, and calculates the real-time skew difference according to the real-time upper reserved displacement and the real-time lower reserved displacement. The central control unit determines the real-time skew difference according to the standard skew difference range.

[0071] If the real-time skew difference is greater than the standard skew difference range, the central control unit will compare the real-time upper reserved displacement with the real-time lower reserved displacement;

[0072] If the real-time skew difference is less than or equal to the standard skew difference, the central control unit will determine the real-time lifting speed of the lifting unit to determine whether the prefabricated staircase to be installed is installed;

[0073] Wherein, ΔS = |S1 - S2|, ΔS represents the real-time skew difference, S1 is the real-time upper reserved displacement detected by the detection unit, and S2 is the real-time lower reserved displacement detected by the detection unit.

[0074] By setting the standard skew difference range, the central control unit is used to determine the difference between the calculated real-time upper reserved displacement and the real-time lower reserved displacement according to the standard skew difference range, that is, the real-time skew difference. If the central control unit determines that the real-time skew difference is greater than the standard skew difference range, it means that the prefabricated staircase to be installed is not parallel to the wall. The central control unit will determine the real-time upper reserved displacement and the real-time lower reserved displacement to accurately adjust the prefabricated staircase to be installed to be parallel to the wall. If the central control unit determines that the real-time skew difference is less than or equal to the standard skew difference, it means that the prefabricated staircase to be installed is in a position parallel to the wall.

[0075] Specifically, the minimum lifting speed of the lifting unit of the prefabricated staircase to be installed is set in the central control unit. When the central control unit determines that the real-time skew difference of the prefabricated staircase to be installed is less than or equal to the standard skew difference, the central control unit will obtain the real-time lifting speed of the lifting unit and compare the real-time lifting speed with the minimum lifting speed.

[0076] If the real-time lifting speed is lower than the minimum lifting speed, the central control unit determines that the prefabricated staircase to be installed is lifted to the preset installation position and will fix and assemble the prefabricated staircase to be installed;

[0077] If the real-time lifting speed is higher than the minimum lifting speed, the central control unit determines that the prefabricated staircase to be installed is in a lifting state.

[0078] By setting the minimum lifting speed, the central control unit determines whether the precast staircase to be installed has been lifted to the preset installation position according to the real-time lifting speed. When the central control unit determines that the real-time deflection difference of the precast staircase to be installed is less than or equal to the standard deflection difference, it means that the precast staircase to be installed is in a position parallel to the wall. If the central control unit simultaneously determines that the real-time lifting speed is lower than the minimum lifting speed, it means that the lifting of the precast staircase to be installed is completed.

[0079] Specifically, when the central control unit determines that the real-time inclination angle of the precast staircase to be installed is greater than or equal to the correction inclination angle and the real-time deflection difference is greater than the standard deflection difference range, the central control unit will obtain the standard reserved displacement in the preset installation position and compare the real-time upper reserved displacement and the real-time lower reserved displacement of the precast staircase to be installed.

[0080] If the real-time upper reserved displacement is greater than the real-time lower reserved displacement, the central control unit will drive the precast staircase to be installed to move towards the wall by controlling the movement of the sliding unit until the real-time deflection difference is less than or equal to the standard deflection difference, and then control the sliding unit to stop moving.

[0081] If the real-time lower reserved displacement is greater than the real-time upper reserved displacement, the central control unit will drive the precast staircase to be installed to move away from the wall by controlling the movement of the sliding unit.

[0082] Among them, the preset installation position includes a preset installation angle and a standard reserved displacement, and the standard reserved displacement represents the distance when the precast staircase to be installed is parallel to the wall.

[0083] By comparing the real-time upper reserved displacement and the real-time lower reserved displacement of the precast staircase to be installed by the central control unit to determine the adjustment method for the precast staircase to be installed. If the central control unit determines that the real-time upper reserved displacement is greater than the real-time lower reserved displacement, it will reduce the distance between the upper step of the precast staircase to be installed and the wall by controlling the sliding block towards the wall, so as to adjust the precast staircase to be installed to be parallel to the wall. If the central control unit determines that the real-time lower reserved displacement is greater than the real-time upper reserved displacement, it will reduce the distance between the lower step of the precast staircase to be installed and the wall by controlling the driving roller to turn towards the wall, so as to adjust the precast staircase to be installed to be parallel to the wall, accurately adjust the precast staircase to be installed to the preset hoisting position, and there is a reserved distance from the wall, protecting the wall from being damaged by friction with the precast staircase to be installed and ensuring the effectiveness of the installation.

[0084] Specifically, a first standard swing amplitude and a second standard swing amplitude for the precast staircase to be installed are set in the central control unit. When the central control unit adjusts the precast staircase to be installed to be parallel to the wall by controlling the support unit and the sliding unit, the detection unit starts to detect the real-time swing amplitude and real-time swing frequency of the precast staircase to be installed. The central control unit can obtain the real-time swing amplitude and determine the real-time swing amplitude according to the first standard swing amplitude and the second standard swing amplitude.

[0085] If the real-time swing amplitude is less than the first standard swing amplitude, the support unit and the sliding unit continue to control the movement of the precast staircase to be installed until it is parallel to the wall.

[0086] If the real-time swing amplitude is between the first standard swing amplitude and the second standard swing amplitude, the central control unit will determine whether to control and adjust the operating states of the support unit and the sliding unit according to the real-time swing frequency.

[0087] If the real-time swing amplitude is greater than the second standard swing amplitude, the support unit and the sliding unit stop controlling the movement of the precast staircase to be installed.

[0088] The first standard swing amplitude and the second standard swing amplitude constitute a standard swing amplitude range. If the central control unit determines that the real-time swing amplitude is lower than the standard swing amplitude range, it means that the swing of the precast staircase to be installed does not affect the precise adjustment of the precast staircase to be installed to be parallel to the wall. If the central control unit determines that the real-time swing amplitude is within the standard swing amplitude range, it will judge whether the swing state of the precast staircase to be installed affects the precise adjustment of the precast staircase to be installed to be parallel to the wall according to the real-time swing frequency. If the central control unit determines that the real-time swing amplitude is greater than the second standard swing amplitude, it means that the swing state of the precast staircase to be installed affects the precise adjustment of the precast staircase to be installed to be parallel to the wall. Therefore, the control of the movement of the precast staircase to be installed is stopped.

[0089] Specifically, a standard swing frequency is set in the central control unit. When the central control unit determines that the real-time swing amplitude of the precast staircase to be installed is between the first standard swing amplitude and the second standard swing amplitude, it obtains the real-time swing frequency of the precast staircase to be installed and determines the real-time swing frequency according to the standard swing frequency.

[0090] If the real-time swing frequency is greater than the standard swing frequency, the central control unit controls the support unit and the sliding unit to stop driving the movement of the precast staircase to be installed.

[0091] If the real-time swing frequency is less than the standard swing frequency, the central control unit controls the sliding unit to move towards the wall direction to drive the movement of the precast staircase to be installed until it is parallel to the wall.

[0092] The standard swing frequency represents the number of swing cycles of the precast staircase to be installed within a unit time period, with the unit of Hz, and is generally set according to the model parameters of the precast staircase to be installed; by setting the standard swing frequency, the central control unit can determine whether the precast staircase to be installed is likely to cause hoisting errors due to swinging during the process of moving the precast staircase to be installed parallel to the wall. When the central control unit determines that the real-time swing frequency is greater than the standard swing frequency, it indicates that the precast staircase to be installed is likely to cause hoisting errors due to swinging, and the movement of the precast staircase to be installed needs to be stopped. When the central control unit determines that the real-time swing frequency is less than the standard swing frequency, it indicates that the precast staircase to be installed is stable in this state and is not likely to cause hoisting errors. Therefore, the support unit and the sliding unit are continuously controlled to drive the precast staircase to be installed to move parallel to the wall.

[0093] Specifically, the detection unit includes an inclination angle detector, an upper distance measuring instrument, a lower distance measuring instrument, and an infrared detector. The inclination angle detector is installed on the lower step platform of the precast staircase to be installed for detecting the real-time inclination angle between the precast staircase to be installed and the house floor; the upper distance measuring instrument is installed on the upper step platform of the precast staircase to be installed for detecting the real-time upper reserved displacement between the upper part of the precast staircase to be installed and the wall; the lower distance measuring instrument is installed on the lower step platform of the precast staircase to be installed for detecting the real-time lower reserved displacement between the lower part of the precast staircase to be installed and the wall; the infrared detector is arranged on the upper step platform of the precast staircase to be installed for detecting the real-time swing amplitude and real-time swing frequency of the precast staircase to be installed.

[0094] By setting the detection unit, the state of the precast staircase to be installed is accurately detected in real time, ensuring that the central control unit accurately judges the posture of the precast staircase to be installed, controlling the operating states of each component, thereby adjusting the precast staircase to be installed to the preset installation position and ensuring the hoisting accuracy.

[0095] Please continue to refer to Figure 2 as shown in Figure 2 the schematic diagrams of the sliding unit 1 and the lifting unit 3 in the precast staircase hoisting system according to the embodiment of the present invention, including a magnetoresistive motor 101, a roller screw 102, a sliding block 103, a rotating pulley 104, a lifting rope 301, an electric winch 302, an upper step platform 303, a hook 304, an infrared detector 305, and an upper distance measuring instrument 306. Among them,

[0096] Specifically, the sliding unit 1 further includes a magnetoresistive motor 101, which is connected to one end of the roller screw 102 to drive the roller screw 102 to rotate, thereby driving the sliding block 103 to linearly move on the roller screw 102. A rotating pulley 104 around which the lifting rope 301 is wound is fixedly arranged at the upper end of the sliding block 103. The rotating pulley 104 can drive the lifting rope 301 to move by linearly moving the sliding block 103 on the roller screw 102.

[0097] By providing the sliding unit, the lifting rope drives the prefabricated staircase to be installed to move towards the wall surface, and the support unit is coordinated to adjust the spatial position of the prefabricated staircase to be installed to be parallel to the wall surface. The operation is simple and the hoisting accuracy is improved. Among them, by connecting the magnetoresistive motor to the center of one end of the roller screw, the moving distance of the sliding block is accurately controlled. By arranging the rotating pulley on the upper part of the sliding block, the force direction of the lifting rope is controlled, ensuring the stable operation of the sliding unit and the lifting unit.

[0098] Please continue to refer to Figure 3 as shown in Figure 3 which is a schematic diagram of the support unit in the prefabricated staircase hoisting system according to an embodiment of the present invention, including a support plate 201, a clamping member 202, a pin shaft 203, a bottom plate 204, a hydraulic support rod 205, a driving roller 206, a lower step platform 207, and an inclination angle detector 208. Among them,

[0099] Specifically, the support unit further includes a clamping member 202 arranged on the support plate 201 for fixing the prefabricated staircase to be installed and a bottom plate 204 connected to the support plate 201 through a pin shaft 203. A hydraulic support rod 205 is arranged on the upper part of the bottom plate. The hydraulic support rod 205 is used to drive the support plate 201 to rise or fall by extending or contracting. Two rows of equally spaced and parallel arranged driving rollers 206 are arranged on the lower part of the bottom plate. Each driving roller 206 is used to support and drive the prefabricated staircase to be installed to freely move in any direction on the house floor.

[0100] By providing the support unit to support and move the prefabricated staircase to be installed, the support unit and the lifting unit are linked to adjust the spatial position of the prefabricated staircase to be installed. The operation is simple and efficient, saving manpower. Among them, by arranging the support plate and the clamping member, the prefabricated staircase to be installed is stabilized and not prone to displacement on the support plate. By arranging two rows of equally spaced and parallel arranged driving rollers, the resistance to the ground during the moving process is reduced, facilitating the improvement of the traction force and the controllability, thereby improving the hoisting accuracy.

[0101] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easily understood by those skilled in the art that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0102] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A precast staircase hoisting system, characterized in that, including a lifting unit including a lifting rope and an electric winch connected to one end of the lifting rope, the other end of the lifting rope being fixedly connected to the top of the precast staircase to be installed through a hook, and the electric winch being used to lift or lower the top of the precast staircase to be installed by retracting and releasing the lifting rope; a detection unit for detecting the real-time inclination angle between the precast staircase to be installed and the house floor, the real-time upper reserved displacement between the upper part of the precast staircase to be installed and the wall, the real-time lower reserved displacement between the lower part of the precast staircase to be installed and the wall, the real-time swing amplitude and the real-time swing frequency of the precast staircase to be installed; a sliding unit fixedly installed on the installation wall surface on one side of the precast staircase to be installed according to a preset installation position, the sliding unit including a roller screw with one end fixed to the wall surface and a sliding block sleeved on the roller screw, a rotating pulley connected to the lifting rope is arranged at the upper end of the sliding block for changing the force direction of the lifting rope, and the sliding block can drive the rotating pulley to move by moving on the roller screw; a support unit arranged at the bottom end of the precast staircase to be installed and fixed to the precast staircase to be installed, the support unit including a support plate for supporting and fixing the precast staircase to be installed and a plurality of driving rollers, each driving roller being used to drive the support unit to move; a central control unit respectively connected to the lifting unit, the detection unit, the sliding unit and the support unit; the central control unit can calculate a correction inclination angle according to the difference between the preset installation inclination angle and the standard inclination angle, and determine whether to adjust the initial lifting speed of the lifting unit according to the correction inclination angle for the real-time inclination angle; when the central control unit determines that the real-time inclination angle is equal to the preset installation inclination angle, it can calculate the real-time inclination difference between the upper reserved displacement and the lower reserved displacement, and determine the real-time inclination difference according to the standard reserved displacement. If the real-time inclination difference is greater than the standard reserved displacement, when the real-time upper reserved displacement is greater than the real-time lower reserved displacement, the central control unit controls the sliding unit to drive the precast staircase to be installed to move towards the wall, and when the real-time lower reserved displacement is greater than the real-time upper reserved displacement, the central control unit controls the sliding unit to drive the precast staircase to be installed to move away from the wall; the central control unit can also determine the real-time swing amplitude and the real-time swing frequency according to the first standard swing amplitude, the second standard swing amplitude and the standard swing frequency to determine whether to control the sliding unit and the support unit to stop moving.

2. The precast staircase hoisting system according to claim 1, characterized in that, A standard inclination angle difference ΔC and an initial lifting speed Vc of the lifting unit are set in the central control unit. The central control unit will obtain the preset installation inclination angle Ca of the precast staircase to be installed, and calculate the correction inclination angle Cz according to the preset installation inclination angle and the standard inclination angle difference. When the lifting unit lifts the precast staircase to be installed at the initial lifting speed, the central control unit will obtain the real-time inclination angle Cs of the precast staircase to be installed detected by the detection unit, and determine the real-time inclination angle of the precast staircase to be installed according to the correction inclination angle; If the real-time tilt angle is less than the calibrated tilt angle, the central control unit does not adjust the initial lifting speed of the lifting unit; If the real-time tilt angle is greater than or equal to the calibrated tilt angle, the central control unit compares the real-time tilt angle with the preset installation tilt angle. When the central control unit determines that the real-time tilt angle is less than or equal to the preset installation tilt angle, it will adjust the initial lifting speed of the lifting unit in real time to the real-time lifting speed. When the central control unit determines that the real-time tilt angle is equal to the preset installation tilt angle, it will determine whether the precast staircase to be installed is parallel to the wall; Among them, Vt = Vc - [Vc×(Cs - Cz) / ΔC], where Vt represents the real-time lifting speed after the initial lifting speed of the lifting unit is adjusted in real time.

3. The precast staircase hoisting system according to claim 2, characterized in that, A standard deviation range is set in the central control unit. When the central control unit determines that the real-time tilt angle of the precast staircase to be installed is greater than or equal to the calibrated tilt angle, it obtains the real-time upper reserved displacement detected by the detection unit and the real-time lower reserved displacement detected by the detection unit, and calculates the real-time deviation according to the real-time upper reserved displacement and the real-time lower reserved displacement. The central control unit determines the real-time deviation according to the standard deviation range. If the real-time deviation is greater than the standard deviation range, the central control unit will compare the real-time upper reserved displacement with the real-time lower reserved displacement; If the real-time deviation is less than or equal to the standard deviation, the central control unit will determine the real-time lifting speed of the lifting unit to determine whether the precast staircase to be installed is installed; Among them, ΔS = |S1 - S2|, where ΔS represents the real-time deviation, S1 is the real-time upper reserved displacement detected by the detection unit, and S2 is the real-time lower reserved displacement detected by the detection unit.

4. The precast staircase hoisting system according to claim 3, characterized in that, The minimum lifting speed of the lifting unit of the precast staircase to be installed is set in the central control unit. When the central control unit determines that the real-time deviation of the precast staircase to be installed is less than or equal to the standard deviation, the central control unit will obtain the real-time lifting speed of the lifting unit and compare the real-time lifting speed with the minimum lifting speed. If the real-time lifting speed is lower than the minimum lifting speed, the central control unit determines that the precast staircase to be installed is lifted to the preset installation position and will fix and assemble the precast staircase to be installed; If the real-time lifting speed is higher than the minimum lifting speed, the central control unit determines that the precast staircase to be installed is in the lifting state.

5. The precast staircase hoisting system according to claim 3, characterized in that, When the central control unit determines that the real-time tilt angle of the precast staircase to be installed is greater than or equal to the calibrated tilt angle and the real-time deviation is greater than the standard deviation range, the central control unit will obtain the standard reserved displacement in the preset installation position and compare the real-time upper reserved displacement with the real-time lower reserved displacement of the precast staircase to be installed. If the real-time upper reserved displacement is greater than the real-time lower reserved displacement, the central control unit will drive the precast staircase to be installed to move towards the wall by controlling the movement of the sliding unit until the real-time deviation is less than or equal to the standard deviation, and then control the sliding unit to stop moving; If the reserved displacement in real time below is greater than the reserved displacement in real time above, the central control unit will drive the prefabricated staircase to be installed to move away from the wall by controlling the movement of the sliding unit; Among them, the preset installation position includes a preset installation angle and a standard reserved displacement. The standard reserved displacement represents the distance when the prefabricated staircase to be installed is parallel to the wall.

6. The precast staircase hoisting system according to claim 5, characterized in that, The first standard swing amplitude and the second standard swing amplitude of the prefabricated staircase to be installed are set in the central control unit. When the central control unit adjusts the prefabricated staircase to be installed to be parallel to the wall by controlling the support unit and the sliding unit, the detection unit starts to detect the real-time swing amplitude and real-time swing frequency of the prefabricated staircase to be installed. The central control unit can obtain the real-time swing amplitude and determine the real-time swing amplitude according to the first standard swing amplitude and the second standard swing amplitude. If the real-time swing amplitude is less than the first standard swing amplitude, the support unit and the sliding unit continue to control the prefabricated staircase to be installed to move to be parallel to the wall; If the real-time swing amplitude is between the first standard swing amplitude and the second standard swing amplitude, the central control unit will determine whether to control and adjust the operating states of the support unit and the sliding unit according to the real-time swing frequency; If the real-time swing amplitude is greater than the second standard swing amplitude, the support unit and the sliding unit stop controlling the prefabricated staircase to be installed to move.

7. The precast staircase hoisting system according to claim 6, characterized in that, The standard swing frequency is set in the central control unit. When the central control unit determines that the real-time swing amplitude of the prefabricated staircase to be installed is between the first standard swing amplitude and the second standard swing amplitude, it obtains the real-time swing frequency of the prefabricated staircase to be installed and determines the real-time swing frequency according to the standard swing frequency. If the real-time swing frequency is greater than the standard swing frequency, the central control unit controls the support unit and the sliding unit to stop driving the prefabricated staircase to be installed to move; If the real-time swing frequency is less than the standard swing frequency, the central control unit controls the sliding unit to move towards the wall to drive the prefabricated staircase to be installed to move to be parallel to the wall.

8. The precast staircase hoisting system according to claim 1, characterized in that, The detection unit includes an inclination angle detector, an upper distance measuring instrument, a lower distance measuring instrument, and an infrared detector. The inclination angle detector is installed on the lower step platform of the prefabricated staircase to be installed for detecting the real-time inclination angle between the prefabricated staircase to be installed and the house floor; The upper distance measuring instrument is installed on the upper step platform of the prefabricated staircase to be installed for detecting the real-time reserved displacement above between the upper part of the prefabricated staircase to be installed and the wall; the lower distance measuring instrument is installed on the lower step platform of the prefabricated staircase to be installed for detecting the real-time reserved displacement below between the lower part of the prefabricated staircase to be installed and the wall; The infrared detector is arranged on the upper step platform of the prefabricated staircase to be installed for detecting the real-time swing amplitude and real-time swing frequency of the prefabricated staircase to be installed.

9. The precast staircase hoisting system according to claim 1, characterized in that, The sliding unit further includes a reluctance motor, which is connected to one end of the roller screw and is used to drive the rotation of the roller screw, so as to drive the sliding block to linearly move on the roller screw. A rotating pulley for winding the lifting rope is fixedly arranged at the upper end of the sliding block, and the rotating pulley can drive the lifting rope to move by linearly moving the sliding block on the roller screw.

10. The precast staircase hoisting system according to claim 1, characterized in that, The support unit further includes a clamping member arranged on the support plate for fixing the precast staircase to be installed and a bottom plate connected to the support plate through a pin shaft. A hydraulic support rod is arranged on the upper part of the bottom plate, and the hydraulic support rod is used to drive the support plate to rise or fall by extending or contracting. Two rows of equally spaced and parallel arranged driving rollers are arranged on the lower part of the bottom plate, and each driving roller is used to support and drive the precast staircase to be installed to freely move in any direction on the house floor.

Images