TMD auxiliary installation device suitable for narrow space and construction method thereof

Abstract

The application discloses a kind of TMD auxiliary installation equipment suitable for narrow space and its construction method, comprising: mobile car, mobile car is equipped with platform plate by electric lifting mechanism, platform plate is movably provided with the bearing platform for TMD to rest, platform plate is connected to bearing platform by electric telescopic arm;Three-dimensional scanning device is installed in bearing platform;Controller, including control module, storage module, modeling module, path planning module, control module is connected to mobile car, electric lifting mechanism, electric telescopic arm and three-dimensional scanning device, storage module, modeling module and path planning module are connected to control module, path planning module is connected to storage module and modeling module.The application solves the problem of narrow construction space and high construction height of existing TMD installation.

Description

Technical Field

[0001] This invention relates to the field of construction technology for seismic-resistant building devices, specifically to a TMD (Transient Damping Device) auxiliary installation equipment and its construction method suitable for confined spaces. Background Technology

[0002] A tuned mass damper (TMD), also known as a tuned mass shock absorber, is a mechanical device that absorbs the vibration energy of the main structure through a mass-spring-damping system. It is mainly used for seismic and wind vibration control of large structures such as high-rise buildings and bridges.

[0003] Transient magnetic mat (TMM) has become the best choice for improving the structural seismic resistance and comfort of super high-rise buildings while maintaining economic efficiency. However, TMD generally needs to be installed after structural construction. On the other hand, TMD is usually installed on the top floor or equipment floor of the building, without affecting the interior layout and function. Existing TMD installation methods suffer from problems such as narrow construction space and high construction height. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, a TMD auxiliary installation device and its construction method suitable for confined spaces are provided to solve the problems of narrow construction space and high construction height in existing TMD installations.

[0005] To achieve the above objectives, a TMD auxiliary installation device suitable for confined spaces is provided, comprising: A mobile vehicle is equipped with a platform plate via an electric lifting mechanism. A support platform for placing the TMD is movably mounted on the platform plate. The platform plate is connected to the support platform via an electric telescopic arm. A three-dimensional scanning device for acquiring three-dimensional environmental data is installed on the support platform; The controller includes a control module, a storage module for storing the floor plan of the TMD installation and a first 3D model, a modeling module for constructing a second 3D model based on the environmental 3D data, and a path planning module for planning the optimal walking path based on the TMD installation location, the first 3D model, and the second 3D model. The control module is connected to the mobile vehicle, the electric lifting mechanism, the electric telescopic arm, and the 3D scanning device. The storage module, the modeling module, and the path planning module are connected to the control module, and the path planning module is connected to the storage module and the modeling module.

[0006] Furthermore, the three-dimensional scanning device is a three-dimensional scanner.

[0007] Furthermore, the floor plan of the TMD installation includes the installation location and elevation data of the TMD device.

[0008] Furthermore, it also includes an infrared detector, which is installed on the mobile vehicle and connected to the control module.

[0009] Furthermore, the mobile vehicle is a tracked mobile vehicle.

[0010] This invention provides a construction method for TMD assisted installation equipment suitable for confined spaces, comprising the following steps: The mobile vehicle is placed on the floor where the TMD is installed, and the TMD is placed on the support platform of the mobile vehicle; The 3D scanning device acquires 3D environmental data of the floor where the TMD is installed; The controller's control module acquires the three-dimensional environmental data; The controller's modeling module constructs a second three-dimensional model based on the environmental three-dimensional data; The controller's path planning module plans the optimal walking path based on the TMD's installation location, the first three-dimensional model in the storage module, and the second three-dimensional model. The control module controls the mobile vehicle to move to the installation position of the TMD according to the optimal walking path; After the mobile vehicle moves to the installation position of the TMD, the control module controls the electric lifting mechanism to raise the platform plate, so that the elevation of the TMD is adapted to the elevation of the installation position of the TMD; The control module controls the electric telescopic arm to extend and place the TMD at the installation position of the TMD; The construction workers fixed the TMD in place.

[0011] The beneficial effect of the present invention is that the TMD auxiliary installation equipment of the present invention, which is suitable for confined spaces, can move, lift and extend flexibly on the installation floor with limited space through the combination design of the mobile vehicle, electric lifting mechanism and electric telescopic arm, effectively solving the problem of operation difficulties caused by narrow construction space in traditional TMD installation.

[0012] The controller of the TMD assisted installation equipment of the present invention, which is suitable for confined spaces, integrates three-dimensional scanning, modeling and path planning modules. It can automatically plan the best walking path and control the movement, lifting and placing of the mobile vehicle, which greatly reduces direct manual operation and reduces the safety risks of working at height and in confined spaces. Attached Figure Description

[0013] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1This is a schematic diagram of the structure of a TMD-assisted installation device suitable for confined spaces, according to an embodiment of the present invention.

[0014] Figures 2 to 4 This is a schematic diagram illustrating the steps of a construction method for a TMD-assisted installation device suitable for confined spaces, according to an embodiment of the present invention.

[0015] Figure label: 1. Mobile vehicle; 11. Electric lifting mechanism; 12. Platform plate; 13. Support platform; 14. Electric telescopic arm; 3D scanning device 2; Controller 3; TMD4, Installation location 40; Infrared detector 5. Detailed Implementation

[0016] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0017] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0018] Reference Figures 1 to 4 As shown, the present invention provides a TMD assisted installation device suitable for confined spaces, including: a mobile vehicle 1, a three-dimensional scanning device 2, and a controller 3.

[0019] In this embodiment, the mobile vehicle 1 is responsible for the overall movement of the entire equipment. Preferably, the mobile vehicle 1 is a tracked mobile vehicle.

[0020] The mobile vehicle 1 is equipped with an electric lifting mechanism. A platform 12 is mounted on the mobile vehicle via the electric lifting mechanism 11. The platform 12 is height-adjustable via the electric lifting mechanism.

[0021] A support platform 13 is movably mounted on the platform plate 12. The support platform 13 is used for temporary placement of the TMD4. The platform plate 12 is connected to the support platform 13 via an electric telescopic arm 14. When the electric telescopic arm extends, the support platform, along with the TMD4 on top of it, is moved out of the platform plate's surface area.

[0022] The 3D scanning device 2 is mounted on the support platform 13. The 3D scanning device 2 is used to acquire 3D environmental data. In this embodiment, the 3D scanning device 2 is a 3D scanner.

[0023] Controller 3 includes a control module, a storage module, a modeling module, and a path planning module.

[0024] The control module is connected to the mobile vehicle 1, the electric lifting mechanism 11, the electric telescopic arm 14, and the three-dimensional scanning device 2.

[0025] The storage module is used to store the floor plan of the TMD4 installation and the first 3D model.

[0026] The modeling module is used to build a second 3D model based on the 3D environmental data.

[0027] The path planning module is used to plan the optimal walking path based on the installation location 40 of the TMD, the first 3D model, and the second 3D model.

[0028] The storage module is connected to the control module. The modeling module is connected to the control module. The path planning module is connected to the control module. The path planning module is connected to both the storage module and the modeling module.

[0029] The control module is wirelessly connected to the mobile vehicle 1, the electric lifting mechanism 11, and the electric telescopic boom 14 to control the movement of the mobile vehicle 1, the vertical movement of the electric lifting mechanism 11, and the horizontal movement of the electric telescopic boom 14. The electric lifting mechanism is a scissor lift platform.

[0030] In this embodiment, the floor plan of the TMD4 installation site shows the installation location and elevation data of the TMD4 device.

[0031] The TMD4 auxiliary installation device of the present invention, suitable for use in confined spaces, also includes an infrared detector 5. The infrared detector 5 is mounted on the mobile vehicle 1. The infrared detector 5 is connected to the control module.

[0032] The TMD4 auxiliary installation equipment of the present invention, applicable to confined spaces, uses an adaptive lifting device to lift and install the TMD in place. This equipment features input of a 3D model or image (CAD, BIM format) combined with an infrared detector to assist in positioning the TMD installation location. A 3D scanner scans the on-site 3D model or image and compares it with the input 3D model or image, inputting information such as height and planar coordinates to correct the installation posture. A lifting motor is used for lifting, and after reaching the installation height, a support platform and an electric telescopic arm are used to install the TMD in place. This effectively overcomes the difficulties of operation due to confined space and the dangers of manual operation during the lifting process.

[0033] This invention provides a construction method for TMD assisted installation equipment suitable for confined spaces, comprising the following steps: S1. Set the mobile vehicle 1 on the floor where the TMD4 is installed, and place the TMD4 on the platform 13 of the mobile vehicle 1.

[0034] S2, 3D scanning device 2 collects environmental 3D data of the floor where TMD4 is installed.

[0035] S3, the control module of controller 3 acquires three-dimensional environmental data.

[0036] The modeling module of S4 and controller 3 constructs a second three-dimensional model based on the three-dimensional environmental data.

[0037] S5, the path planning module of controller 3 plans the optimal walking path based on the installation location 40 of TMD and the first and second three-dimensional models in the storage module; S6. The control module controls the mobile vehicle 1 to move to the installation position 40 of the TMD according to the optimal walking path.

[0038] S7. After the mobile vehicle 1 moves to the installation position 40 of the TMD, the control module controls the electric lifting mechanism 11 to raise the platform plate 12, so that the elevation of the TMD4 is adapted to the elevation of the installation position 40 of the TMD.

[0039] S8. The control module controls the electric telescopic boom 14 to extend and place the TMD4 on the TMD mounting position 40.

[0040] S9. The construction personnel will fix and install the TMD4.

[0041] Before construction, the TMD design drawings, floor plan drawings, and 3D model are input into the controller's storage module. The path planning module analyzes the safe plane position, elevation, structure, and pipework at the installation location of the TMD device based on the drawings, and proposes the optimal travel path.

[0042] The mobile vehicle is transported to the installation floor, and manual assistance is used to place the TMD on the support platform.

[0043] After placement, the controller receives installation instructions, the infrared detector checks the surrounding environment to avoid obstacles, the 3D scanner performs a 3D scan of the environment and transmits the 3D environmental data to the controller's control module in real time, and the modeling module builds a second 3D model. The path planning module compares the first and second 3D models, optimizes the walking path, and finally selects the best walking path.

[0044] The mobile vehicle stops when it reaches the optimal installation position according to the optimal walking path. The controller lifts the support through the electric lifting mechanism. The 3D scanner scans and transmits data in real time. Lifting stops when it encounters an obstacle or reaches the installation elevation.

[0045] After the platform is lifted into place, the controller controls the electric telescopic boom to extend and transport the TMD equipment to the installation position before retracting it, and then the installation bolts are tightened manually.

[0046] The TMD auxiliary installation equipment of the present invention, which is suitable for confined spaces, can move, lift and extend flexibly on the installation floor with limited space through the combination design of a mobile vehicle, an electric lifting mechanism and an electric telescopic arm, effectively solving the problem of difficult operation caused by narrow construction space in traditional TMD installation.

[0047] The controller of the TMD assisted installation equipment of the present invention, which is suitable for confined spaces, integrates three-dimensional scanning, modeling and path planning modules. It can automatically plan the best walking path and control the movement, lifting and placing of the mobile vehicle, which greatly reduces direct manual operation and reduces the safety risks of working at height and in confined spaces.

[0048] The TMD assisted installation equipment of the present invention, applicable to confined spaces, uses a three-dimensional scanning device to collect three-dimensional environmental data in real time and compares it with a pre-stored floor plan of the TMD installation and a first three-dimensional model. Combined with elevation and planar position information, it can accurately control the positioning posture and installation position of the TMD and ensure installation quality.

[0049] The TMD auxiliary installation equipment of the present invention, suitable for confined spaces, automatically completes the entire process from transportation and positioning to lifting and placement, avoiding multiple manual adjustments and handling in traditional methods, and significantly shortening the TMD installation time.

[0050] The TMD-assisted installation device of the present invention, suitable for confined spaces, uses infrared detectors and three-dimensional scanning data to identify obstacles in real time and dynamically optimize the walking path, ensuring safe and efficient passage in complex pipeline and structural environments.

[0051] The TMD auxiliary installation equipment of the present invention, which is suitable for confined spaces, can be applied to typical TMD installation scenarios such as the top of super high-rise buildings or equipment floors, and can also be extended to the auxiliary installation of vibration damping devices in other large structures (such as bridges), and has good versatility and promotional value.

[0052] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A TMD auxiliary installation device suitable for confined spaces, characterized in that, include: A mobile vehicle is equipped with a platform plate via an electric lifting mechanism. A support platform for placing the TMD is movably mounted on the platform plate. The platform plate is connected to the support platform via an electric telescopic arm. A three-dimensional scanning device for acquiring three-dimensional environmental data is installed on the support platform; The controller includes a control module, a storage module for storing the floor plan of the TMD installation and a first 3D model, a modeling module for constructing a second 3D model based on the environmental 3D data, and a path planning module for planning the optimal walking path based on the TMD installation location, the first 3D model, and the second 3D model. The control module is connected to the mobile vehicle, the electric lifting mechanism, the electric telescopic arm, and the 3D scanning device. The storage module, the modeling module, and the path planning module are connected to the control module, and the path planning module is connected to the storage module and the modeling module.

2. The TMD auxiliary installation device suitable for confined spaces according to claim 1, characterized in that, The three-dimensional scanning device is a three-dimensional scanner.

3. The TMD auxiliary installation device suitable for confined spaces according to claim 1, characterized in that, The floor plan of the TMD installation floor shows the installation location and elevation data of the TMD device.

4. The TMD auxiliary installation device for confined spaces according to claim 1, characterized in that, It also includes an infrared detector, which is installed on the mobile vehicle and connected to the control module.

5. The TMD auxiliary installation device suitable for confined spaces according to claim 1, characterized in that, The mobile vehicle is a tracked mobile vehicle.

6. A construction method for a TMD-assisted installation device suitable for confined spaces as described in any one of claims 1 to 5, characterized in that, Includes the following steps: The mobile vehicle is placed on the floor where the TMD is installed, and the TMD is placed on the support platform of the mobile vehicle; The 3D scanning device acquires 3D environmental data of the floor where the TMD is installed; The controller's control module acquires the three-dimensional environmental data; The controller's modeling module constructs a second three-dimensional model based on the environmental three-dimensional data; The controller's path planning module plans the optimal walking path based on the TMD's installation location, the first three-dimensional model in the storage module, and the second three-dimensional model. The control module controls the mobile vehicle to move to the installation position of the TMD according to the optimal walking path; After the mobile vehicle moves to the installation position of the TMD, the control module controls the electric lifting mechanism to raise the platform plate, so that the elevation of the TMD is adapted to the elevation of the installation position of the TMD; The control module controls the electric telescopic arm to extend and place the TMD at the installation position of the TMD; The construction workers fixed the TMD in place.

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