Industrialized building component automatic lifting equipment, digital twin system and lifting method

Abstract

The present invention provides an automatic lifting equipment for industrialized building components, a digital twin system and a lifting method. The automatic lifting equipment for industrialized building components includes an upper truss, a lower truss, a plurality of hydraulic cylinders, two trolley track beams, two cross beams, two trolley track beams, two trolleys, a trolley, a central control room, a plurality of track settlement monitoring laser sensors, an early warning radar, a trolley rotary encoder, a trolley rotary encoder, a crane and a plurality of detachable inclined supports. The present invention also provides a digital twin system and a lifting method for the automatic lifting equipment for industrialized building components. The present invention realizes the automatic grabbing and unhooking functions of building components through a hook. And through the digital twin system, the self-learning and path planning of the component lifting path nodes are realized, the track settlement and obstacle safety warnings are given, and the equipment status monitoring and control are realized based on the digital twin technology, so as to improve the operation accuracy, automation degree and safety of the automatic lifting equipment for industrialized building components.

Description

Technical Field

[0001] The present invention belongs to the technical field of assembled building construction, and in particular relates to an industrialized building component automatic lifting equipment, a digital twin system and a lifting method. Background Art

[0002] In the current prefabricated building construction process, it mainly relies on mobile lifting machinery such as tower cranes, truck cranes and crawler cranes, and a large number of people are required to participate in the construction work. However, this construction method has serious shortcomings such as large flexibility of the hook, low controllable accuracy and automation, and difficulty in safety assurance. First, the hook is too flexible to realize the automatic placement of components. Secondly, the controllable accuracy and automation of these lifting machinery are relatively low, and efficient and accurate construction operations cannot be achieved. In addition, there are also problems in safety assurance, and construction workers have certain safety hazards when working at high altitudes.

[0003] Therefore, in order to improve the efficiency and safety of prefabricated building construction, there is an urgent need for automatic placement and precise lifting equipment of components to improve construction accuracy and efficiency. At the same time, it is necessary to be able to realize automated and information-based construction such as automatic lifting path planning of building components and real-time monitoring of digital twins. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides an industrialized building component automatic lifting equipment, a digital twin system and a lifting method.

[0005] In order to achieve the above-mentioned object, the present invention adopts the following technical scheme: an industrialized building component automatic lifting equipment, including an upper truss, a lower truss, a plurality of hydraulic cylinders, two trolley track beams, two cross beams, two trolley track beams, two trolleys, a trolley, a central control room, a plurality of track settlement monitoring laser sensors, a plurality of early warning radars, a trolley rotary encoder, a trolley rotary encoder, a crane and a plurality of detachable diagonal supports;

[0006] The upper trusses and the lower trusses are respectively installed in parallel on the outside of the building through a plurality of detachable inclined supports;

[0007] The two trolley track beams are fixed in parallel to the inner side of the top end of the upper truss, and the two trolleys are movably arranged on the two trolley track beams through the trolley wheels;

[0008] The two cross beams are fixed laterally above the two trolleys to connect the two trolleys. The wheels of the trolley are connected to the first drive motor. The first drive motor drives the wheels of the trolley to rotate, thereby driving the trolley to move. The two cross beams move synchronously along the trolley track beams with the two trolleys. Two trolley track beams are symmetrically arranged at the top of each cross beam along the length direction. The trolley is movably arranged on the two trolley track beams through the trolley wheels; the trolley wheels are connected to the second drive motor. The second drive motor drives the wheels of the trolley to rotate, thereby driving the trolley to move.

[0009] The crane is fixed at the center of the bottom of the trolley, and moves synchronously with the trolley along the trolley rail beam. The crane is used to lift components;

[0010] Multiple hydraulic cylinders are installed in the vertical direction between the upper truss and the lower truss where two trolley track beams are installed, and the longitudinal distance between the upper truss and the lower truss is controlled by longitudinal extension and contraction of the hydraulic cylinders;

[0011] A trolley rotary encoder is installed on the trolley wheel to collect the position of the trolley on the trolley track beam, that is, the position coordinate of the component in the x direction;

[0012] A trolley rotary encoder is installed on the trolley wheel to collect the position of the trolley on the trolley track beam, that is, the position coordinate of the component in the y direction;

[0013] Multiple early warning radars are fixed on the front and rear sides of the car to collect information about obstacles near the car while it is moving;

[0014] The multiple track settlement monitoring laser sensors are installed at intervals on the top of the lower truss and correspond to the positions of the two trolley track beams respectively, and are used to monitor the distance between the two trolley track beams and the lower truss.

[0015] Further, the crane includes a slewing mechanism, a winch frame, a winch base, a winch, a winch motor, a motor reducer, a winch electric push rod, a winch slide rail, a pulley block, a wire rope, a retractable restraint rod, a pulley base, a hook, a hook electric push rod and a steel sleeve;

[0016] The upper end of the slewing mechanism is installed at the center of the bottom of the trolley, and the lower end of the slewing mechanism is connected to the upper end of the winch frame. The slewing mechanism can rotate and drive the winch frame to rotate synchronously;

[0017] The number of the winch slide rails is two, which are horizontally arranged on both sides of the bottom of the winch frame;

[0018] There are two hoisting machine bases, which are equidistantly arranged on the hoisting machine slide rails, and the hoisting machine bases move along the hoisting machine slide rails;

[0019] There are two winches, which are respectively fixed on two winch bases and move synchronously with the winch bases; there are two motor reducers, which are respectively connected to the two winches; there are two winch motors, which are respectively connected to the motor reducers to drive the winches to rotate;

[0020] There are two electric push rods for the hoist, which are respectively fixed on both sides of the bottom end of the hoist frame and kept horizontal with the hoist base. The output ends of the two electric push rods for the hoist are respectively connected to the two hoist bases, so as to push the two hoist bases to move along the hoist slide rails respectively.

[0021] There are two pulley bases, and a pulley base is provided at the lower end of each winch base;

[0022] The retractable restraining rods are in two groups, each group has four rods, and each group is fixed between the lower end of a winch base and the upper end of the corresponding pulley base, so as to ensure that the hook does not shake during the lifting process;

[0023] There are two pulley groups, each of which includes an upper pulley and a lower pulley. In each group, the upper pulley is fixed to the upper end of the two winch bases close to the winch, and the lower pulley is fixed to the two pulley bases respectively, for realizing the lifting and lowering of the component;

[0024] There are two groups of steel wire ropes, each group is wound around a winch and a pulley block, so as to connect the pulley block and the winch;

[0025] Two hook longitudinal distance monitoring laser sensors are installed under the two winch bases respectively. The laser beams of the two hook longitudinal distance monitoring laser sensors are respectively facing the two pulley bases to monitor the longitudinal lifting distance of the two hooks, that is, the position coordinates of the components in the z direction.

[0026] Two cameras are installed at the lower ends of the two pulley bases to monitor the opening and closing of the hooks and the position status of the components in real time;

[0027] The camera protection cover is respectively provided on the outside of each camera, and the camera protection cover is fixed under the pulley base and wraps the camera to protect the camera;

[0028] There are two hooks, which are respectively fixed under the two camera protection covers and used to hoist the component, and the bottom of the hooks is an opening structure; two annular hanging nails are provided at the top of the component, and the positions of the two annular hanging nails correspond to the openings under the hooks;

[0029] There are two electric push rods for the hook, which are arranged on one side of the hook respectively. A steel sleeve is installed on the output end of each electric push rod for the hook. The steel sleeve is placed in the opening below the hook. The steel sleeve is driven to extend and retract by the output shaft of the electric push rod for the hook. When the electric push rod for the hook pushes the steel sleeve to extend, the steel sleeve is placed in the annular hanging nail to connect the hook with the component. When the output end of the electric push rod for the hook drives the steel sleeve to retract, the steel sleeve retracts and disengages from the annular hanging nail to separate the component from the hook.

[0030] Furthermore, the industrialized building component automatic lifting equipment also includes a central control room, which is fixed to one side of a trolley through a connecting frame and moves synchronously with the trolley along the trolley track beam; the central control room is provided with a host computer, a central control console, a host computer display screen and a configuration screen, and the host computer is provided with a data fusion processing module and a digital twin model;

[0031] The trolley rotary encoder, the trolley rotary encoder, the two hook longitudinal distance monitoring laser sensors and the two cameras constitute a crane status information collection module; multiple early warning radars constitute a hoisting safety monitoring module, which is used to collect obstacle information during the movement of the trolley; multiple track settlement monitoring laser sensors constitute a track settlement monitoring module, which is used to monitor the distance between the two trolley track beams and the lower truss;

[0032] The crane status information acquisition module, the hoisting safety monitoring module and the track settlement monitoring module are respectively connected to the data fusion processing module to transmit the collected data to the data fusion processing module for calculation and processing; the data fusion processing module is connected to the digital twin model to send the calculated and processed data to the digital twin model;

[0033] The host computer and the central control console are communicatively connected to each other. The central control console is used to control the actions of the hydraulic cylinder, the first drive motor, the second drive motor, the winch motor, the winch electric push rod, and the hook electric push rod, as well as to control the storage of the position coordinate points of the components in the x, y, and z directions. The host computer display screen is connected to the host computer and is used to display the component crane status information screen information, lifting safety monitoring information, track settlement monitoring information, and the digital twin model in the host computer in real time. The configuration screen is communicatively connected to the central control console.

[0034] Furthermore, the central control console is provided with a system start switch, a system emergency stop switch, a system reset switch, a joystick, a joystick control switch, and a path node storage button. The system start switch, the system emergency stop switch, and the system reset switch are respectively used to control the start, emergency stop, and reset of the system. The joystick control switch is used to control the start and stop of the joystick. The joystick is used to control the movement of the component in the x, y, and z directions. The path node storage button is used to store the position coordinate points of the component in the x, y, and z directions and send them to the data fusion processing module on the host computer.

[0035] The present invention also provides a digital twin system of industrialized building component automatic lifting equipment, including a data acquisition unit, a host computer and a central control console;

[0036] The data acquisition unit includes a crane state information acquisition module, a hoisting safety monitoring module and a track settlement monitoring module. The hoisting state information acquisition module, the hoisting safety monitoring module and the track settlement monitoring module are installed on the industrialized building component automatic hoisting equipment. The hoisting state information acquisition module is used to collect the position coordinates of the component in the x, y, and z directions, the position state of the component and the opening and closing state of the hook in real time. The hoisting safety monitoring module is used to collect obstacle information during the movement of the trolley. The track settlement monitoring module is used to collect the distance information from the trolley track beam to the lower truss;

[0037] The host computer is provided with a data fusion processing module and a digital twin model. The crane status information acquisition module, the hoisting safety monitoring module and the track settlement monitoring module are all connected to the data fusion processing module, and the collected data is transmitted to the data fusion processing module for calculation and processing; the data fusion processing module is connected to the digital twin model, and the calculated and processed data is sent to the digital twin model. The digital twin model is a three-dimensional digital model consistent with the physical entity of the industrialized building component automatic hoisting equipment;

[0038] The host computer and the central control console are connected to each other in communication, and the central control console is also connected to the automatic lifting equipment for industrialized building components in communication. The central control console is used for the operation of the automatic lifting equipment for industrialized building components, including controlling the operation of the hydraulic cylinder, the first drive motor, the second drive motor, the hoist motor, the hoist electric push rod, the hook electric push rod, and controlling the storage of the position coordinate points of the components in the x, y, and z directions; the host computer and the central control console are both placed in the central control room;

[0039] The host computer display screen is connected to the host computer. The host computer display screen is used to display the component crane status information screen information, hoisting safety monitoring information, track settlement monitoring information and the digital twin model in the host computer in real time. The configuration screen is connected to the central control console.

[0040] The present invention also provides a hoisting method of an industrialized building component automatic hoisting device, comprising the following steps:

[0041] S1, hoisting and erection of first floor components;

[0042] S2, the upper truss and the lower truss are lifted synchronously;

[0043] S3, according to the path storage information of each component when the first-floor component is hoisted and erected, the automatic hoisting equipment of the industrialized building component is controlled by the host computer or the central control console to hoist the components of the second and final floors.

[0044] Furthermore, the hoisting and erecting of the first-floor components in step S1 specifically includes the following steps:

[0045] S101, when hoisting and assembling the first-floor components, the track settlement amount is first detected by the track settlement monitoring module. After the detection is correct, the joystick movement is manually controlled by the joystick control switch on the central control console, thereby controlling the crane to hoist the components;

[0046] S102, aligning the hook with the annular nail on the component through the monitoring picture transmitted back by the camera on the upper computer display screen, and then pushing the steel shaft sleeve fixed to it through the annular nail through the electric push rod of the hook to complete the connection between the hook and the component;

[0047] S103, during the component hoisting process, each time the component is moved, the path node storage button on the central control console is pressed to send a signal to the data fusion processing module of the host computer to store the position coordinate points of the component in the x, y, and z directions. In this way, the node information stored in each component during the hoisting process is connected to form a complete moving path of the component, and uploaded to the host computer to store all the moving paths of each component in turn;

[0048] Each time when the component reaches the target position, the electric push rod of the hook retracts to drive the steel sleeve to retract from the annular nail, thus completing the automatic uncoupling of the hook and the component;

[0049] During the lifting process, the lifting safety monitoring module collects information on obstacles near the movement of the trolley, and uploads the data in real time to the data fusion processing module of the host computer for calculation and processing, and then sends it to the digital twin model and displays it on the host computer display screen, thus completing the lifting of the first-floor components.

[0050] Furthermore, the synchronous lifting of the upper truss and the lower truss in step S2 specifically includes the following steps:

[0051] S201, first manually release all detachable diagonal supports of the upper truss fixed on the building, then control the hydraulic cylinder to rise and support the upper truss through the central control console to start lifting simultaneously, and when the upper truss rises to a specified height, the hydraulic cylinder stops rising;

[0052] S202, fix the detachable diagonal support on the upper truss to the building body, then manually release the detachable diagonal support of the lower truss fixed to the building body, and then control the hydraulic cylinder to retract through the central control console. Since the bottom of the hydraulic cylinder is fixed to the top of the lower truss, the lower truss is driven to rise together when the hydraulic cylinder is retracted; when the lower truss rises to the specified position, the detachable diagonal support of the lower truss is fixed to the building body, completing the synchronous lifting of the upper truss and the lower truss.

[0053] Compared with the prior art, the present invention has the following beneficial effects:

[0054] The upper trusses and lower trusses of the industrialized building component automatic lifting equipment of the present invention are installed in parallel on the outside of the building body through detachable inclined supports, and precise synchronous lifting is achieved through synchronous control of hydraulic cylinders, thereby ensuring the stability and safety of the building components during the lifting process, and realizing the automatic grabbing and unhooking functions of the building components through the hook.

[0055] The present invention realizes self-learning and path planning of component hoisting path nodes through the digital twin system. According to the path storage information of each component when the first-floor component is hoisted and built, the automatic hoisting equipment of industrialized building components is controlled by the host computer or the central control console to carry out the hoisting of components of the second and final layers, thereby realizing automatic hoisting of components. At the same time, the present invention provides a safety warning for track settlement and obstacles, and realizes equipment status monitoring and control based on digital twin technology, thereby improving the operating accuracy, automation and safety of the automatic hoisting equipment of industrialized building components. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 It is a main structure diagram of the self-learning industrialized building component automatic lifting equipment of the present invention;

[0057] Figure 2 It is a schematic diagram of the crane structure of the present invention;

[0058] Figure 3 The figure is a schematic diagram of the installation structure of the pulley block and the winch;

[0059] Figure 4 It is a schematic diagram of the connection structure between the hook and the annular hanging nail of the present invention;

[0060] Figure 5 It is a schematic diagram of the structure of the hook electric push rod and the steel sleeve of the present invention;

[0061] Figure 6 It is a schematic diagram of the installation structure of the rail subsidence monitoring laser sensor of the present invention;

[0062] Figure 7 It is a schematic diagram of the installation structure of the cart wheel and the cart rotary encoder of the present invention;

[0063] Figure 8 This is a schematic diagram of the structure of the central control room of the present invention;

[0064] Fig. 9 This is a digital twin system architecture diagram of the industrialized building component automatic lifting equipment of the present invention;

[0065] In the figure, 1 is the upper truss, 2 is the lower truss, 3 is the hydraulic cylinder, 4 is the trolley track beam, 5 is the cross beam, 6 is the trolley track beam, 7 is the trolley, 8 is the trolley, 9 is the central control room, 91 is the connecting frame, 10 is the track settlement monitoring laser sensor, 11 is the early warning radar, 12 is the trolley rotary encoder, 13 is the trolley rotary encoder, 14 is the crane, 15 is the detachable inclined support, 16 is the slewing mechanism, 17 is the winch frame, 18 is the winch base, 19 is the winch, 20 is the winch motor, 21 is the motor reducer, 22 is the winch electric push rod, 23 is the winch slide rail, 24 is the pulley block, 2401 is the upper pulley, 2402 is the lower pulley, 25 is the steel Wire rope, 26—retractable restraint rod, 27—pulley base, 28—hook longitudinal distance monitoring laser sensor, 29—camera, 30—camera protection cover, 31—hook, 32—hook electric push rod, 33—steel bushing, 34—ring nail, 35—central control console, 351—system start switch, 352—system emergency stop switch, 353—system reset switch, 354—joystick, 355—joystick control switch, 356—path node storage button, 36—host computer, 37—host computer display screen, 38—configuration screen, 39—building, 40—component, 41—trolley wheel, 42—first drive motor, 43—trolley wheel, 44—second drive motor. DETAILED DESCRIPTION

[0066] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0067] Embodiment 1

[0068] Reference Figure 1-Figure 7 , an industrialized building component automatic lifting equipment, including an upper truss 1, a lower truss 2, a plurality of hydraulic cylinders 3, two trolley track beams 4, two cross beams 5, two trolley track beams 6, two trolleys 7, a trolley 8, a central control room 9, a plurality of track settlement monitoring laser sensors 10, a plurality of early warning radars 11, a trolley rotary encoder 12, a trolley rotary encoder 13, a crane 14 and a plurality of detachable diagonal supports 15;

[0069] The upper trusses 1 and the lower trusses 2 are respectively installed in parallel on the outside of the building 39 through a plurality of detachable diagonal supports 15; in this embodiment, the upper trusses 1 and the lower trusses 2 are respectively installed on the outside of the building 39 through eight detachable diagonal supports 15, and the upper trusses 1 and the lower trusses 2 are respectively provided with two detachable diagonal supports 15 on the four surfaces of the building 39;

[0070] The two trolley track beams 4 are fixed in parallel to the inner side of the top end of the upper truss 1, and the two trolleys 7 are movably arranged on the two trolley track beams 4 through the trolley wheels 41 respectively;

[0071] The two cross beams 5 are fixed laterally above the two trolleys 7 to connect the two trolleys 7. The trolley wheels 41 are connected to the first drive motor 42. The first drive motor 42 drives the trolley wheels 41 to rotate, thereby driving the trolley 7 to move. The two cross beams 5 move synchronously along the trolley track beam 4 with the two trolleys 7. Two trolley track beams 6 are symmetrically arranged at the top of each cross beam 5 along the length direction. The trolley 8 is movably arranged on the two trolley track beams 6 through the trolley wheels 43; the trolley wheels 43 are connected to the second drive motor 44. The second drive motor 44 drives the trolley wheels 43 to rotate, thereby driving the trolley 8 to move.

[0072] The crane 14 is fixed at the center of the bottom of the trolley 8. The crane 14 moves synchronously with the trolley 8 along the trolley track beam 6. The crane 14 is used to lift the component 40.

[0073] A plurality of hydraulic cylinders 3 are respectively installed in the vertical direction between the upper truss 1 and the lower truss 2 on which two trolley track beams 4 are installed (in this embodiment, the number of the hydraulic cylinders 3 is four, two of which are installed under each trolley track beam 4), and the longitudinal distance between the upper truss 1 and the lower truss 2 is controlled by the longitudinal extension and contraction of the hydraulic cylinders 3;

[0074] A trolley rotary encoder 12 is installed on the trolley wheel 41 to collect the position of the trolley 7 on the trolley track beam 4, that is, the position coordinate of the component 40 in the x direction;

[0075] A trolley rotary encoder 13 is installed on the trolley wheel 43 to collect the position of the trolley 8 on the trolley track beam 6, that is, the position coordinate of the component 40 in the y direction;

[0076] A plurality of early warning radars 11 are respectively fixed on the front and rear sides of the trolley 8 (in this embodiment, the number of early warning radars 11 is four, two are respectively arranged on the front and rear sides of the trolley 8), and are used to collect obstacle information near the trolley 8 during its movement;

[0077] The plurality of track settlement monitoring laser sensors 10 are installed at intervals on the top of the lower truss 2 and correspond to the positions of the two trolley track beams 4, respectively, for monitoring the distance between the two trolley track beams 4 and the lower truss 2. In this embodiment, the number of track settlement monitoring laser sensors 10 is set to six, and three are installed at intervals on the lower truss 2 corresponding to each trolley track beam 4.

[0078] Reference Figure 2 and Figure 3 The crane 14 includes a slewing mechanism 16, a winch frame 17, a winch base 18, a winch 19, a winch motor 20, a motor reducer 21, a winch electric push rod 22, a winch slide rail 23, a pulley block 24, a steel wire rope 25, a retractable restraining rod 26, a pulley base 27, a hook 31, a hook electric push rod 32 and a steel sleeve 33;

[0079] The upper end of the slewing mechanism 16 is installed at the bottom center of the trolley 8, and the lower end of the slewing mechanism 16 is connected to the upper end of the winch frame 17. The slewing mechanism 16 can rotate and drive the winch frame 17 to rotate synchronously with it;

[0080] The number of the winch slide rails 23 is two, which are horizontally arranged on both sides of the bottom of the winch frame 17;

[0081] There are two hoisting machine bases 18, which are equidistantly arranged on the hoisting machine slide rail 23, and the hoisting machine bases 18 move along the hoisting machine slide rail 23;

[0082] There are two winches 19, which are respectively fixed on two winch bases 18 and move synchronously with the winch bases 18; there are two motor reducers 21, which are respectively connected to the two winches 19; there are two winch motors 20, which are respectively connected to the motor reducers 21 to drive the winches 19 to rotate;

[0083] There are two electric push rods 22 for the hoist, which are respectively fixed on both sides of the bottom end of the hoist frame 17 and kept horizontal with the hoist base 18. The output ends of the two electric push rods 22 for the hoist are respectively connected to the two hoist bases 18, so as to push the two hoist bases 18 to move along the hoist slide rails 23.

[0084] There are two pulley bases 27, one at the lower end of each winch base 18;

[0085] The retractable restraining rods 26 are divided into two groups, each group has four rods, and each group is fixed between the lower end of a winch base 18 and the upper end of the corresponding pulley base 27, so as to ensure that the hook 31 does not shake during the lifting process;

[0086] There are two pulley groups 24, each of which includes an upper pulley 2401 and a lower pulley 2402. In each group, the upper pulley 2401 is fixed to the upper end of the two winch bases 18 close to the winch 19, and the lower pulley 2402 is fixed to the two pulley bases 27, respectively, to achieve the lifting of the component 40.

[0087] The steel wire rope 25 is provided in two groups, each group is respectively wound around a winch 19 and a pulley block 24, so as to connect the pulley block 24 and the winch 19;

[0088] Two hook longitudinal distance monitoring laser sensors 28 are respectively installed under the two winch bases 18. The laser beams of the two hook longitudinal distance monitoring laser sensors 28 are respectively facing the two pulley bases 27 to monitor the longitudinal lifting distance of the two hooks 31, that is, the position coordinates of the component 40 in the z direction.

[0089] Two cameras 29 are respectively mounted at the lower ends of the two pulley bases 27 to monitor the opening and closing of the hook 31 and the position status of the component 40 in real time;

[0090] The camera protection cover 30 is respectively provided outside each of the cameras 29. The camera protection cover 30 is fixed below the pulley base 27 and wraps the camera 29 to protect the camera 29.

[0091] There are two hooks 31, which are respectively fixed under the two camera protection covers 30 and used to suspend the component 40, and the bottom of the hooks 31 is an opening structure; two annular hanging nails 34 are provided at the top of the component 40, and the positions thereof correspond to the openings under the hooks 31;

[0092] There are two hook electric push rods 32, which are arranged on one side of the hook 31 respectively. A steel sleeve 33 is installed on the output end of each hook electric push rod 32. The steel sleeve 33 is placed in the opening below the hook 31. The steel sleeve 33 is driven to extend and retract by the output shaft of the hook electric push rod 31. When the hook electric push rod 32 pushes the steel sleeve 33 to extend, the steel sleeve 33 is placed in the annular nail 34, so that the hook 31 is connected to the component 40. When the output end of the hook electric push rod 31 drives the steel sleeve 33 to retract, the steel sleeve 33 retracts and disengages from the annular nail 34, so that the component 40 is separated from the hook 31.

[0093] The industrialized building component automatic lifting equipment also includes a central control room 9, which is fixed to one side of a trolley 7 through a connecting frame 91 and moves synchronously with the trolley 7 along the trolley track beam 4; the central control room 9 is provided with a host computer 36, a central control console 35, a host computer display screen 37 and a configuration screen 38, and the host computer 36 is provided with a data fusion processing module and a digital twin model;

[0094] The trolley rotary encoder 12, the trolley rotary encoder 13, the two hook longitudinal distance monitoring laser sensors 28 and the two cameras 29 constitute a crane status information acquisition module; multiple early warning radars 11 constitute a hoisting safety monitoring module for collecting obstacle information during the movement of the trolley 8; multiple track settlement monitoring laser sensors 10 constitute a track settlement monitoring module for monitoring the distance between the two trolley track beams 4 and the lower truss 2;

[0095] The crane status information acquisition module, the hoisting safety monitoring module and the track settlement monitoring module are respectively connected to the data fusion processing module to transmit the collected data to the data fusion processing module for calculation and processing; the data fusion processing module is connected to the digital twin model to send the calculated and processed data to the digital twin model;

[0096] The host computer 36 is communicatively connected with the central control console 35, and the central control console 35 is used to control the actions of the hydraulic cylinder 3, the first drive motor 42, the second drive motor 44, the winch motor 20, the winch electric push rod 22, and the hook electric push rod 32, as well as the storage of the position coordinate points of the control component 40 in the x, y, and z directions. The host computer display screen 37 is connected to the host computer 36, and the host computer display screen 37 is used to display the status information screen information of the component 40, the lifting safety monitoring information, the track settlement monitoring information, and the digital twin model in the host computer 36 in real time. The configuration screen 38 is communicatively connected with the central control console 35, and the configuration screen 38 is used to display the information of each switch and button of the central control console 35 and the lifting self-learning path planning information.

[0097] Reference Figure 8 The central control console 35 is provided with a system start switch 351, a system emergency stop switch 352, a system reset switch 353, a joystick 354, a joystick control switch 355, and a path node storage button 356. The system start switch 351, the system emergency stop switch 352, and the system reset switch 353 are respectively used to control the start, emergency stop and reset of the system, the joystick control switch 355 is used to control the start and stop of the joystick 354, the joystick 354 is used to control the movement of the component 40 in the x, y, and z directions, and the path node storage button 356 is used to store the position coordinate points of the component 40 in the x, y, and z directions and send them to the data fusion processing module on the host computer 36.

[0098] The central control console 35 has a manual and automatic mode conversion switch. When it is in manual mode, the central control console 35 can directly control the industrialized building component automatic hoisting equipment. When it is in automatic mode, the host computer 36 can control the industrialized building component automatic hoisting equipment through the central control console 35.

[0099] Embodiment 2

[0100] Reference Fig. 9 , a digital twin system of an industrialized building component automatic lifting equipment, including a data acquisition unit, a host computer 36, a central control console 35, a host computer display screen 37 and a configuration screen 38;

[0101] The data acquisition unit includes a crane state information acquisition module, a hoisting safety monitoring module and a track settlement monitoring module. The trolley rotary encoder 12, the trolley rotary encoder 13, two hook longitudinal distance monitoring laser sensors 28 and two cameras 29 constitute the crane state information acquisition module; multiple early warning radars 11 constitute the hoisting safety monitoring module, which is used to collect obstacle information during the movement of the trolley 8; multiple track settlement monitoring laser sensors 10 constitute the track settlement monitoring module, which is used to monitor the distance between the two trolley track beams 4 and the lower truss 2;

[0102] The hoisting state information acquisition module, the hoisting safety monitoring module and the track settlement monitoring module are installed on the industrialized building component automatic hoisting equipment described in Example 1. The hoisting state information acquisition module is used to collect the position coordinates of the component 40 in the x, y, and z directions, the position state of the component 40 and the opening and closing state of the hook 31 in real time. The hoisting safety monitoring module is used to collect obstacle information during the movement of the trolley 8. The track settlement monitoring module is used to collect the distance information from the trolley track beam 4 to the lower truss 2;

[0103] The host computer 36 is provided with a data fusion processing module and a digital twin model. The crane status information acquisition module, the hoisting safety monitoring module and the track settlement monitoring module are all connected to the data fusion processing module, and the collected data is transmitted to the data fusion processing module for calculation and processing; the data fusion processing module is connected to the digital twin model, and the calculated and processed data is sent to the digital twin model. The digital twin model is a three-dimensional digital model consistent with the physical entity of the industrialized building component automatic hoisting equipment;

[0104] The host computer 36 is connected to the central control console 35 for mutual communication. The central control console 35 is also connected to the automatic lifting equipment for industrialized building components for communication. The central control console 35 is used to control the actions of the automatic lifting equipment for industrialized building components, including controlling the actions of the hydraulic cylinder 3, the first drive motor 42, the second drive motor 44, the winch motor 20, the winch electric push rod 22, the hook electric push rod 32, and storing the position coordinate points of the component 40 in the x, y, and z directions;

[0105] The host computer display screen 37 is connected to the host computer 36. The host computer display screen 37 is used to display the component 40 crane status information screen information, hoisting safety monitoring information, track settlement monitoring information and the digital twin model in the host computer 36 in real time. The configuration screen 38 is communicated with the central control console 35. The configuration screen 38 is used to display the switch and button information of the central control console 35 and the hoisting self-learning path planning information.

[0106] Embodiment 3

[0107] Reference Figure 1-Figure 9 , a hoisting method of an industrialized building component automatic hoisting device comprises the following steps:

[0108] S1, hoisting and erection of first floor components, including the following steps:

[0109] S101, when the first-floor components are hoisted and erected, the track settlement is first detected by the track settlement monitoring module. After the detection is correct, the trolley 7, the trolley 8, the hoist motor 20, the hoist electric push rod 22, and the hook electric push rod 32 are manually controlled through the central control console 35 to control the crane 14 to hoist the component 40, and the rocker control switch 355 is used to control the rocker 354 to control the movement of the component 40 in the x, y, and z directions;

[0110] S102, aligning the hook 31 with the annular nail 34 on the component 40 through the monitoring picture transmitted back by the camera 29 on the upper computer display screen 37, and then pushing the steel shaft sleeve 33 fixed thereto through the annular nail 34 through the hook electric push rod 32 to complete the connection between the hook 31 and the component 40;

[0111] S103, during the hoisting process of the component 40, the path node storage button on the central control console 35 is pressed each time the component 40 is moved, and a signal is sent to the data fusion processing module of the host computer 36 to store the position coordinate points of the component 40 in the x, y, and z directions. In this way, the node information stored in each component 40 during the hoisting process is connected to form a complete moving path of the component 40, and uploaded to the host computer 36, and the moving paths of each component 40 are stored in turn;

[0112] Each time when the component 40 reaches the target position, the hook electric push rod 32 retracts to drive the steel sleeve 33 to retract from the annular nail 34, thereby completing the automatic unhooking of the hook 31 and the component 40;

[0113] During the hoisting process, the hoisting safety monitoring module collects information about obstacles near the moving trolley 8, and uploads the data to the data fusion processing module of the host computer 36 in real time for calculation and processing, and then sends it to the digital twin model and displays it on the host computer display screen 37, thus completing the hoisting of the first-floor component 40;

[0114] S2, the upper truss 1 and the lower truss 2 are lifted synchronously, specifically including the following steps:

[0115] S201, first manually release all detachable inclined supports 15 of the upper truss 1 fixed on the building 39, then control the hydraulic cylinder 3 to rise and support the upper truss 1 through the central control console 35 to start lifting simultaneously, and when the upper truss 1 rises to a specified height, the hydraulic cylinder 3 stops rising;

[0116] S202, fix the detachable diagonal support 15 on the upper truss 1 to the building body 39, then manually release the detachable diagonal support 15 of the lower truss 2 fixed to the building body 39, and then control the hydraulic cylinder 3 to retract through the central control console 35. Since the bottom of the hydraulic cylinder 3 is fixed to the top of the lower truss 2, the lower truss 2 is driven to rise together when the hydraulic cylinder 3 is retracted; when the lower truss 2 rises to the specified position, the detachable diagonal support 15 of the lower truss 2 is fixed to the building body 39, and the synchronous lifting of the upper truss 1 and the lower truss 2 is completed;

[0117] S3, according to the path storage information of each component 40 when the first-layer component 40 is hoisted and erected, the upper computer 36 or the central control console 35 controls the industrialized building component automatic hoisting equipment to hoist the components 40 of the second layer and the final layer.

[0118] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. Industrialized building component automatic lifting equipment, characterized in that: It includes an upper truss, a lower truss, multiple hydraulic cylinders, two trolley track beams, two cross beams, two trolley track beams, two trolleys, a trolley, a central control room, multiple track settlement monitoring laser sensors, multiple early warning radars, a trolley rotary encoder, a trolley rotary encoder, a crane and multiple detachable diagonal supports; The upper trusses and the lower trusses are respectively installed in parallel on the outside of the building through a plurality of detachable inclined supports; The two trolley track beams are fixed in parallel to the inner side of the top end of the upper truss, and the two trolleys are movably arranged on the two trolley track beams through the trolley wheels; The two cross beams are fixed laterally above the two trolleys to connect the two trolleys. The wheels of the trolley are connected to the first drive motor. The first drive motor drives the wheels of the trolley to rotate, thereby driving the trolley to move. The two cross beams move synchronously along the trolley track beams with the two trolleys. Two trolley track beams are symmetrically arranged at the top of each cross beam along the length direction. The trolley is movably arranged on the two trolley track beams through the trolley wheels; the trolley wheels are connected to the second drive motor. The second drive motor drives the wheels of the trolley to rotate, thereby driving the trolley to move. The crane is fixed at the center of the bottom of the trolley, and moves synchronously with the trolley along the trolley rail beam. The crane is used to lift components; Multiple hydraulic cylinders are installed in the vertical direction between the upper truss and the lower truss where two trolley track beams are installed, and the longitudinal distance between the upper truss and the lower truss is controlled by longitudinal extension and contraction of the hydraulic cylinders; A trolley rotary encoder is installed on the trolley wheel to collect the position of the trolley on the trolley track beam, that is, the position coordinate of the component in the x direction; A trolley rotary encoder is installed on the trolley wheel to collect the position of the trolley on the trolley track beam, that is, the position coordinate of the component in the y direction; Multiple early warning radars are fixed on the front and rear sides of the car to collect information about obstacles near the car while it is moving; The multiple track settlement monitoring laser sensors are installed at intervals on the top of the lower truss and correspond to the positions of the two trolley track beams respectively, and are used to monitor the distance between the two trolley track beams and the lower truss.

2. The automatic lifting equipment for industrialized building components according to claim 1, characterized in that: The crane comprises a slewing mechanism, a winch frame, a winch base, a winch, a winch motor, a motor reducer, a winch electric push rod, a winch slide rail, a pulley block, a steel wire rope, a retractable restraining rod, a pulley base, a hook, a hook electric push rod and a steel shaft sleeve; The upper end of the slewing mechanism is installed at the center of the bottom of the trolley, and the lower end of the slewing mechanism is connected to the upper end of the winch frame. The slewing mechanism can rotate and drive the winch frame to rotate synchronously; The number of the winch slide rails is two, which are horizontally arranged on both sides of the bottom of the winch frame; There are two hoisting machine bases, which are equidistantly arranged on the hoisting machine slide rails, and the hoisting machine bases move along the hoisting machine slide rails; There are two winches, which are respectively fixed on two winch bases and move synchronously with the winch bases; there are two motor reducers, which are respectively connected to the two winches; there are two winch motors, which are respectively connected to the motor reducers to drive the winches to rotate; There are two electric push rods for the hoist, which are respectively fixed on both sides of the bottom end of the hoist frame and kept horizontal with the hoist base. The output ends of the two electric push rods for the hoist are respectively connected to the two hoist bases, so as to push the two hoist bases to move along the hoist slide rails respectively. There are two pulley bases, and a pulley base is provided at the lower end of each winch base; The retractable restraining rods are in two groups, each group has four rods, and each group is fixed between the lower end of a winch base and the upper end of the corresponding pulley base, so as to ensure that the hook does not shake during the lifting process; There are two pulley groups, each of which includes an upper pulley and a lower pulley. In each group, the upper pulley is fixed to the upper end of the two winch bases close to the winch, and the lower pulley is fixed to the two pulley bases respectively, for realizing the lifting and lowering of the component; There are two groups of steel wire ropes, each group is wound around a winch and a pulley block, so as to connect the pulley block and the winch; Two hook longitudinal distance monitoring laser sensors are installed under the two winch bases respectively. The laser beams of the two hook longitudinal distance monitoring laser sensors are respectively facing the two pulley bases to monitor the longitudinal lifting distance of the two hooks, that is, the position coordinates of the components in the z direction. Two cameras are installed at the lower ends of the two pulley bases to monitor the opening and closing of the hooks and the position status of the components in real time; The camera protection cover is respectively provided on the outside of each camera, and the camera protection cover is fixed under the pulley base and wraps the camera to protect the camera; There are two hooks, which are respectively fixed below the two camera protection covers and are used to hoist components, and there is an opening structure below the hooks; Two annular hanging nails are provided at the top of the member, the positions of which correspond to the openings below the hanging hooks; There are two electric push rods for the hook, which are arranged on one side of the hook respectively. A steel sleeve is installed on the output end of each electric push rod for the hook. The steel sleeve is placed in the opening below the hook. The steel sleeve is driven to extend and retract by the output shaft of the electric push rod for the hook. When the electric push rod for the hook pushes the steel sleeve to extend, the steel sleeve is placed in the annular hanging nail to connect the hook with the component. When the output end of the electric push rod for the hook drives the steel sleeve to retract, the steel sleeve retracts and disengages from the annular hanging nail to separate the component from the hook.

3. The automatic lifting equipment for industrialized building components according to claim 2, characterized in that: The industrialized building component automatic lifting equipment also includes a central control room, which is fixed to one side of a trolley through a connecting frame and moves synchronously with the trolley along the trolley track beam; the central control room is provided with a host computer, a central control console, a host computer display screen and a configuration screen, and the host computer is provided with a data fusion processing module and a digital twin model; The trolley rotary encoder, the trolley rotary encoder, the two hook longitudinal distance monitoring laser sensors and the two cameras constitute a crane status information collection module; multiple early warning radars constitute a hoisting safety monitoring module, which is used to collect obstacle information during the movement of the trolley; multiple track settlement monitoring laser sensors constitute a track settlement monitoring module, which is used to monitor the distance between the two trolley track beams and the lower truss; The crane status information acquisition module, the hoisting safety monitoring module and the track settlement monitoring module are respectively connected to the data fusion processing module to transmit the collected data to the data fusion processing module for calculation and processing; the data fusion processing module is connected to the digital twin model to send the calculated and processed data to the digital twin model; The host computer and the central control console are communicatively connected to each other. The central control console is used to control the actions of the hydraulic cylinder, the first drive motor, the second drive motor, the winch motor, the winch electric push rod, and the hook electric push rod, as well as to control the storage of the position coordinate points of the components in the x, y, and z directions. The host computer display screen is connected to the host computer and is used to display the component crane status information screen information, lifting safety monitoring information, track settlement monitoring information, and the digital twin model in the host computer in real time. The configuration screen is communicatively connected to the central control console.

4. The automatic lifting equipment for industrialized building components according to claim 3, characterized in that: The central control console is provided with a system start switch, a system emergency stop switch, a system reset switch, a joystick, a joystick control switch, and a path node storage button. The system start switch, the system emergency stop switch, and the system reset switch are respectively used to control the start, emergency stop, and reset of the system. The joystick control switch is used to control the start and stop of the joystick. The joystick is used to control the movement of the component in the x, y, and z directions. The path node storage button is used to store the position coordinate points of the component in the x, y, and z directions and send them to the data fusion processing module on the host computer.

5. The digital twin system of the industrialized building component automatic lifting equipment according to any one of claims 1 to 4, characterized in that: Including data acquisition unit, host computer and central control console; The data acquisition unit includes a crane state information acquisition module, a hoisting safety monitoring module and a track settlement monitoring module. The hoisting state information acquisition module, the hoisting safety monitoring module and the track settlement monitoring module are installed on the industrialized building component automatic hoisting equipment. The hoisting state information acquisition module is used to collect the position coordinates of the component in the x, y, and z directions, the position state of the component and the opening and closing state of the hook in real time. The hoisting safety monitoring module is used to collect obstacle information during the movement of the trolley. The track settlement monitoring module is used to collect the distance information from the trolley track beam to the lower truss; The host computer is provided with a data fusion processing module and a digital twin model. The crane status information acquisition module, the hoisting safety monitoring module and the track settlement monitoring module are all connected to the data fusion processing module, and the collected data is transmitted to the data fusion processing module for calculation and processing; the data fusion processing module is connected to the digital twin model, and the calculated and processed data is sent to the digital twin model. The digital twin model is a three-dimensional digital model consistent with the physical entity of the industrialized building component automatic hoisting equipment; The host computer and the central control console are connected to each other for communication. The central control console is also connected to the automatic lifting equipment for industrialized building components for communication. The central control console is used for the operation of the automatic lifting equipment for industrialized building components, including controlling the operation of the hydraulic cylinder, the first drive motor, the second drive motor, the winch motor, the winch electric push rod, the hook electric push rod, and controlling the storage of the position coordinate points of the components in the x, y, and z directions. The host computer and the central control console are both placed in the central control room.

6. The method for assembling an industrialized building component automatic assembling device according to any one of claims 1 to 4, characterized in that: The following steps are involved: S1, hoisting and erection of first floor components; S2, the upper truss and the lower truss are lifted synchronously; S3, according to the path storage information of each component when the first-floor component is hoisted and erected, the automatic hoisting equipment of the industrialized building component is controlled by the host computer or the central control console to hoist the components of the second and final floors.

7. The method for assembling an industrialized building component automatic assembling device according to claim 6, characterized in that: The hoisting and erection of the first-floor components in step S1 specifically includes the following steps: S101, when hoisting and assembling the first-floor components, the track settlement amount is first detected by the track settlement monitoring module. After the detection is correct, the joystick movement is manually controlled by the joystick control switch on the central control console, thereby controlling the crane to hoist the components; S102, aligning the hook with the annular nail on the component through the monitoring picture transmitted back by the camera on the upper computer display screen, and then pushing the steel shaft sleeve fixed to it through the annular nail through the electric push rod of the hook to complete the connection between the hook and the component; S103, during the component hoisting process, each time the component is moved, the path node storage button on the central control console is pressed to send a signal to the data fusion processing module of the host computer to store the position coordinate points of the component in the x, y, and z directions. In this way, the node information stored in each component during the hoisting process is connected to form a complete moving path of the component, and uploaded to the host computer to store all the moving paths of each component in turn; Each time when the component reaches the target position, the electric push rod of the hook retracts to drive the steel sleeve to retract from the annular nail, thus completing the automatic uncoupling of the hook and the component; During the lifting process, the lifting safety monitoring module collects information on obstacles near the movement of the trolley, and uploads the data in real time to the data fusion processing module of the host computer for calculation and processing. It is then sent to the digital twin model and displayed on the host computer display screen, thus completing the lifting of the first-floor components.

8. The method for hoisting an industrialized building component automatic hoisting device according to claim 6, characterized in that: The synchronous lifting of the upper truss and the lower truss in step S2 specifically includes the following steps: S201, first manually release all detachable diagonal supports of the upper truss fixed on the building, then control the hydraulic cylinder to rise through the central control console to support the upper truss and start to lift simultaneously, and when the upper truss rises to a specified height, the hydraulic cylinder stops rising; S202, fix the detachable diagonal support on the upper truss to the building body, then manually release the detachable diagonal support of the lower truss fixed to the building body, and then control the hydraulic cylinder to retract through the central control console. Since the bottom of the hydraulic cylinder is fixed to the top of the lower truss, the lower truss is driven to rise together when the hydraulic cylinder is retracted; when the lower truss rises to the specified position, the detachable diagonal support of the lower truss is fixed to the building body, completing the synchronous lifting of the upper truss and the lower truss.

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