Integral hoisting method for rotary type oversized wall panel

Abstract

The invention provides a rotary type oversized wall panel integral hoisting method which comprises the steps that a plurality of connecting points are arranged on an oversized wall panel, and each connecting point is connected with an independent hoisting executing mechanism; the ultra-large wall panel is lifted to the initial height, and the ultra-large wall panel is in a suspended state at the initial height; and the ultra-large wall panel is lifted to the target height from the initial height, and in the lifting process, differential lifting actions are generated by controlling at least two lifting execution mechanisms, so that the ultra-large wall panel rotates around an axis in the lifting state, and the space posture of the ultra-large wall panel is adjusted. The hidden danger of cracking or plastic deformation possibly generated by the oversized shingle is reduced, and therefore the safety of hoisting operation is improved. Vertical displacement and posture rotation of the oversized shingle can be synchronously completed in one lifting stroke, and the overall lifting operation period of the single oversized shingle is effectively shortened.

Description

Technical Field

[0001] This application relates to the field of wall panel hoisting technology, and in particular to a method for hoisting a rotating, extra-large wall panel as a whole. Background Technology

[0002] In the fields of prefabricated buildings and large public buildings, the overall hoisting of wall panels (such as precast concrete exterior wall panels and glass curtain wall units) is a common construction process. The wall panels are transported and stored in a horizontal state, but are designed to be installed vertically. Therefore, the horizontal to vertical orientation must be converted before hoisting.

[0003] Currently, the "ground-flipping before hoisting" method is commonly used in wall panel installation. The specific operation usually involves using a crane or specialized flipping equipment to slowly lift one side of the horizontally placed wall panel, allowing it to rotate around the other edge in contact with the ground until it is vertical; then, the lifting points are changed or adjusted, and the now vertical wall panel is hoisted to a high altitude for installation.

[0004] However, for extra-large wall panels (hereinafter referred to as extra-large wall panels), such as those wider than 2 meters and longer than 3 meters, their rigidity is limited. During the ground rotation process, extra-large wall panels are subjected to drastic changes in internal forces, posing a risk of cracking or deformation. Furthermore, the existing hoisting process is divided into two stages: "ground rotation" and "vertical hoisting," which is inefficient. Therefore, it is necessary to design a hoisting method that enables the safe and efficient lifting of extra-large wall panels. Summary of the Invention

[0005] To improve the safety and construction efficiency of hoisting ultra-large wall panels, this application proposes a rotating method for hoisting ultra-large wall panels as a whole.

[0006] The technical solution provided in this application includes:

[0007] A method for hoisting a rotating, extra-large wall panel as a whole includes the following steps:

[0008] Multiple connection points are set on the extra-large wall panel, and each connection point is connected to an independent lifting actuator.

[0009] The extra-large wall panel is raised to its initial height, wherein the extra-large wall panel is suspended in the air at the initial height;

[0010] The extra-large wall panel is lifted from its initial height to the target height. During the lifting process, at least two of the lifting actuators are controlled to produce differentiated lifting actions, causing the extra-large wall panel to rotate around an axis while in the lifting state, so as to adjust its spatial posture. The differentiated lifting actions refer to controlling different lifting actuators to produce different lifting speeds and / or different lifting strokes.

[0011] Furthermore, during the attitude adjustment process, a closed-loop control strategy is adopted, specifically including:

[0012] The attitude angle of the ultra-large wall panel is acquired in real time;

[0013] Calculate the angular deviation between the stated attitude angle and the preset target attitude angle;

[0014] Based on the aforementioned angle deviation, the control commands to each lifting actuator are adjusted in real time to reduce the deviation.

[0015] Furthermore, the lifting process is controlled so that when the extra-large wall panel is lifted to the target height, its attitude angle simultaneously reaches the target attitude angle.

[0016] Furthermore, it also includes performing error compensation steps:

[0017] Real-time monitoring of the actual operating parameters of each lifting actuator;

[0018] The actual operating parameters are compared with the received control commands. When the deviation exceeds the allowable range, the control commands for the lifting actuator are compensated and corrected.

[0019] Furthermore, based on the magnitude of the angular deviation, the operating speed of each lifting actuator is controlled in zones, including:

[0020] When the angle deviation is greater than or equal to the first angle threshold, control each mechanism to operate in the first speed mode;

[0021] When the angle deviation is less than the first angle threshold but greater than the second angle threshold, control each mechanism to switch to the second speed mode. The lifting and rotation speeds in the second speed mode are lower than those in the first speed mode.

[0022] When the angle deviation is less than or equal to the second angle threshold, control each mechanism to switch to the third speed mode to complete the final fine adjustment. The speed in the third speed mode is lower than that in the second speed mode.

[0023] Wherein, the second angle threshold is less than the first angle threshold.

[0024] Furthermore, in the third speed mode, when the angle deviation remains within a preset maximum allowable attitude deviation range, it is determined that the extra-large wall panel has reached the target attitude, and each lifting actuator is controlled to stop generating differentiated lifting actions.

[0025] Furthermore, after raising the oversized wall panel to its initial height, the process also includes:

[0026] Adjust each lifting actuator to stabilize the extra-large wall panel in a preset reference posture;

[0027] Record the current attitude angle as the reference zero point for subsequent attitude adjustments.

[0028] The technical solution provided in this application has at least the following advantages over the prior art:

[0029] 1. The hoisting method of this application does not require the oversized wall panel to be placed on the ground and flipped. Its posture transformation is completed continuously and controllably in a suspended state, avoiding the severe and uneven stress state that the oversized wall panel is subjected to when rotating around the edge of the ground in the traditional method. This reduces the potential for cracking or plastic deformation of the oversized wall panel, thereby improving the safety of hoisting operations.

[0030] 2. The hoisting method of this application integrates the two independent stages of "ground flipping" and "vertical hoisting" in the traditional method into a single continuous process of "simultaneous lifting and rotation". The ultra-large wall panel completes vertical displacement and attitude rotation simultaneously in one lifting stroke, which greatly reduces the time for process connection, equipment adjustment and waiting in the air, and effectively shortens the overall hoisting operation cycle of a single ultra-large wall panel. Attached Figure Description

[0031] Figure 1 This is a flowchart illustrating an exemplary embodiment of the rotating extra-large wall panel hoisting method of this application. Detailed Implementation

[0032] This specific embodiment is merely an explanation of this application and is not intended to limit it. Those skilled in the art, after reading this specification, can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they fall within the scope of the claims of this application. To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0033] The term "comprising" and any variations thereof in the specification and claims of this application are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product or device.

[0034] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0035] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0036] Figure 1 This application provides an exemplary embodiment of a method for hoisting a rotating, extra-large wall panel, comprising the following steps:

[0037] Step S100: Set multiple connection points on the extra-large wall panel, and each connection point is connected to an independent lifting actuator.

[0038] Specifically, multiple connection points can be rationally arranged on the upper surface of the extra-large wall panel according to its structural characteristics (such as shape and area). For example, for a rectangular precast concrete exterior wall panel, pre-embedded lifting rings or special clamps can be installed at its four corners as connection points. Subsequently, each connection point is connected to a lifting actuator that can independently control its lifting speed and stroke. These lifting actuators can be, for example, servo electric hoists, hydraulic lifting cylinders controlled by independent hydraulic valve groups, or intelligent winches with precision encoders. The upper ends of all lifting actuators are finally connected to the main hook of the crane.

[0039] Step S200: Raise the extra-large wall panel to the initial height, wherein the extra-large wall panel is suspended at the initial height.

[0040] Specifically, all lifting mechanisms are activated to work in concert to smoothly lift the oversized wall panel from the ground or transport platform until it is completely detached from the support and reaches a preset suspension height (e.g., 0.5 to 1 meter above the ground). This initial height is sufficient to ensure that the wall panel is not disturbed by the ground during subsequent operations.

[0041] In a preferred embodiment, after the extra-large wall panel is lifted to the initial height, the method further includes: adjusting each lifting actuator to stabilize the extra-large wall panel in a preset reference posture; and recording the posture angle at this time as the reference zero point for subsequent posture adjustments.

[0042] Specifically, tilt sensors can be pre-installed on the large wall panel. After the large wall panel is suspended at the initial height, the data from the tilt sensors installed on it is read to determine whether it is in a preset reference attitude (such as a horizontal state). If there is an angular deviation in the pitch or roll direction, the control system corrects this deviation by fine-tuning each lifting actuator (such as adjusting the length of the hoisting rope of the corresponding servo electric hoist) until the wall panel reaches and stabilizes in the preset reference attitude. Subsequently, the control system records the attitude angles in this stable state (e.g., 0 degrees pitch, 0 degrees roll) and sets them as the absolute reference zero point for all subsequent attitude angle calculations and adjustments. This step eliminates the initial attitude error at the source and establishes a unified coordinate reference for subsequent high-precision aerial rotation adjustments.

[0043] Step S300: The extra-large wall panel is lifted from its initial height to its target height. During the lifting process, at least two of the lifting actuators are controlled to produce differentiated lifting actions, causing the extra-large wall panel to rotate around an axis while in the lifting state, so as to adjust its spatial posture. The differentiated lifting actions refer to controlling different lifting actuators to produce different lifting speeds and / or different lifting strokes.

[0044] Specifically, the operator sets the target installation posture (e.g., vertical) and the desired floor height (i.e., target height) on the control system (such as a central controller). The control system plans a lifting path from the initial height to the target height. To achieve simultaneous lifting and rotation, the control system calculates the different motion parameters required for each lifting actuator during this process.

[0045] For example, to rotate a large wall panel from a horizontal position to a vertical position, the control system will instruct the two lifting actuators on the "future top" side of the wall panel to lift at a faster speed, while instructing the two actuators on the "future bottom" side to lift at a slower speed. This speed difference will generate a rotational torque in the plane of the wall panel, driving it to rotate around the horizontal axis.

[0046] In a preferred embodiment, when adjusting the attitude during the lifting process, a closed-loop control strategy is employed, specifically including:

[0047] The attitude angle of the ultra-large wall panel is acquired in real time;

[0048] Calculate the angular deviation between the stated attitude angle and the preset target attitude angle;

[0049] Based on the aforementioned angle deviation, the control commands to each lifting actuator are adjusted in real time to reduce the deviation.

[0050] Specifically, an attitude sensor (such as a dual-axis tilt sensor) can be used to measure the current attitude angle of the wall panel in real time at a certain frequency (such as 10Hz) and send it to the controller. The controller compares the current attitude angle with the expected target attitude angle calculated based on the lifting progress to obtain the real-time angle deviation. Subsequently, based on this deviation value, the controller calculates the correction amount for the speed or stroke commands of each lifting actuator through a built-in control algorithm (such as a PID algorithm) and sends it out in real time. For example, when the actual rotation angle lags behind the expected angle, the controller will appropriately increase the lifting speed command of the "top" side mechanism and correspondingly decrease the speed command of the "bottom" side mechanism to increase the rotation driving torque, thereby reducing the angle deviation and ensuring that the actual rotation trajectory closely follows the preset path.

[0051] In a preferred embodiment, the lifting process is controlled such that when the extra-large wall panel is lifted to the target height, its attitude angle simultaneously reaches the target attitude angle.

[0052] Specifically, during path planning, the control system couples the calculations of "height" and "attitude angle" to generate a coordinated motion trajectory that ensures both reach their destinations simultaneously. During the lifting process, the control system tracks not only angular deviations but also height deviations and coordinates their control. For example, towards the end of the lifting process, if it detects that the height is about to be reached but the rotation angle is slightly lagging, the control system will slightly reduce the overall lifting speed within an allowable range, allowing more time for the rotational motion. This ensures that at the instant the target height is reached, the attitude angle also reaches the target value, achieving perfect synchronization.

[0053] In a preferred embodiment, the method further includes performing an error compensation step, comprising:

[0054] Real-time monitoring of the actual operating parameters of each lifting actuator;

[0055] The actual operating parameters are compared with the received control commands. When the deviation exceeds the allowable range, the control commands for the lifting actuator are compensated and corrected.

[0056] Specifically, each lifting actuator (such as a servo electric hoist) is equipped with an encoder or speed sensor to provide real-time feedback on its actual lifting speed or displacement. The central controller continuously compares the command value with the actual feedback value for each actuator. When it detects that the actual speed of a certain actuator is consistently lower than the command value (possibly due to mechanical friction, slight slippage, etc.), the controller sends an additional compensation command to that actuator, increasing its actual output to match the expected coordinated action requirements. This effectively overcomes the problem of asynchronous execution caused by individual performance differences among multiple lifting actuators, ensuring the overall accuracy of attitude adjustment.

[0057] In a preferred embodiment, the operating speed of each lifting actuator is controlled by zone according to the magnitude of the angular deviation, including:

[0058] When the angle deviation is greater than or equal to the first angle threshold, control each mechanism to operate in the first speed mode;

[0059] When the angle deviation is less than the first angle threshold but greater than the second angle threshold, control each mechanism to switch to the second speed mode. The lifting and rotation speeds in the second speed mode are lower than those in the first speed mode.

[0060] When the angle deviation is less than or equal to the second angle threshold, control each mechanism to switch to the third speed mode to complete the final fine adjustment. The speed in the third speed mode is lower than that in the second speed mode.

[0061] Wherein, the second angle threshold is less than the first angle threshold.

[0062] Specifically, for example, the first angle threshold is set to 30 degrees, and the second angle threshold is set to 5 degrees. At the start of the lifting rotation, the angle deviation is 90 degrees (from horizontal to vertical), greater than 30 degrees. At this time, the system adopts the "first speed mode," where each mechanism operates at a relatively high rated speed to achieve rapid coarse adjustment. When the angle deviation decreases to within 30 degrees and above 5 degrees, the system switches to the "second speed mode," reducing the overall lifting and rotation speed for smooth and precise adjustment. When the angle deviation enters the final 5-degree range, the system enters the "third speed mode," performing final fine-tuning at an extremely low speed to effectively prevent overshoot and oscillation.

[0063] In a preferred embodiment, in the third speed mode, when the angle deviation remains within a preset maximum allowable attitude deviation range, it is determined that the extra-large wall panel has reached the target attitude, and each lifting actuator is controlled to stop generating differentiated lifting actions.

[0064] Specifically, for example, the maximum allowable attitude deviation range is set to ±0.5 degrees. When the system operates in "third speed mode" and detects that the real-time angle deviation has remained stable within ±0.5 degrees for several consecutive seconds (e.g., 3 seconds), the central controller determines that the target attitude has been achieved. Subsequently, the controller sends a command to all lifting actuators to stop generating speed differences, that is, all mechanisms switch to synchronous lifting mode, and the adjusted wall panel is lifted in a stable attitude to the final installation position to complete the subsequent docking and fixing operations.

[0065] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0066] In summary, this application provides a method for hoisting a rotating, extra-large wall panel as a whole. This hoisting method eliminates the need to place the extra-large wall panel on the ground for rotation. Its posture transformation is completed continuously and controllably in a suspended state, avoiding the severe and uneven stress state experienced by the extra-large wall panel when rotating around the edge of the ground in traditional methods. This reduces the potential for cracking or plastic deformation of the extra-large wall panel, thereby improving the safety of the hoisting operation.

[0067] Furthermore, the hoisting method of this application integrates the two independent stages of "ground flipping" and "vertical hoisting" in traditional methods into a single continuous process of "simultaneous lifting and rotation." The ultra-large wall panel completes vertical displacement and attitude rotation simultaneously in a single lifting stroke, significantly reducing process connections, equipment adjustments, and waiting time in the air, effectively shortening the overall hoisting operation cycle for a single ultra-large wall panel.

[0068] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0069] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of this application, and these improvements and substitutions should also be considered within the scope of protection of this application.

Claims

1. A method for integral hoisting of a rotating, extra-large wall panel, characterized in that, Includes the following steps: Multiple connection points are set on the extra-large wall panel, and each connection point is connected to an independent lifting actuator. The extra-large wall panel is raised to its initial height, wherein the extra-large wall panel is suspended in the air at the initial height; The extra-large wall panel is lifted from its initial height to the target height. During the lifting process, at least two of the lifting actuators are controlled to produce differentiated lifting actions, causing the extra-large wall panel to rotate around an axis while in the lifting state, so as to adjust its spatial posture. The differentiated lifting actions refer to controlling different lifting actuators to produce different lifting speeds and / or different lifting strokes.

2. The method for integral hoisting of a rotating extra-large wall panel according to claim 1, characterized in that, When adjusting the attitude during the lifting process, a closed-loop control strategy is adopted, specifically including: The attitude angle of the ultra-large wall panel is acquired in real time; Calculate the angular deviation between the stated attitude angle and the preset target attitude angle; Based on the aforementioned angle deviation, the control commands to each lifting actuator are adjusted in real time to reduce the deviation.

3. The method for integral hoisting of a rotating extra-large wall panel according to claim 2, characterized in that, The lifting process is controlled so that when the extra-large wall panel is lifted to the target height, its attitude angle simultaneously reaches the target attitude angle.

4. The method for integral hoisting of a rotating extra-large wall panel according to claim 2 or 3, characterized in that, It also includes performing error compensation steps, including: Real-time monitoring of the actual operating parameters of each lifting actuator; The actual operating parameters are compared with the received control commands. When the deviation exceeds the allowable range, the control commands for the lifting actuator are compensated and corrected.

5. The method for integral hoisting of a rotating extra-large wall panel according to claim 2, characterized in that, Based on the magnitude of the angular deviation, the operating speed of each lifting actuator is controlled by zone, including: When the angle deviation is greater than or equal to the first angle threshold, control each mechanism to operate in the first speed mode; When the angle deviation is less than the first angle threshold but greater than the second angle threshold, control each mechanism to switch to the second speed mode. The lifting and rotation speeds in the second speed mode are lower than those in the first speed mode. When the angle deviation is less than or equal to the second angle threshold, control each mechanism to switch to the third speed mode to complete the final fine adjustment. The speed in the third speed mode is lower than that in the second speed mode. Wherein, the second angle threshold is less than the first angle threshold.

6. The method for integral hoisting of a rotating extra-large wall panel according to claim 5, characterized in that, In the third speed mode, when the angle deviation remains within a preset maximum allowable attitude deviation range, it is determined that the extra-large wall panel has reached the target attitude, and each lifting actuator is controlled to stop generating differentiated lifting actions.

7. The method for integral hoisting of a rotating extra-large wall panel according to claim 1, characterized in that, After raising the extra-large wall panel to its initial height, the process also includes: Adjust each lifting actuator to stabilize the extra-large wall panel in a preset reference posture; Record the current attitude angle as the reference zero point for subsequent attitude adjustments.

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