Large-span fabricated building prefabricated component auxiliary installation structure and installation method thereof

Abstract

The application discloses a large-span fabricated building prefabricated component auxiliary installation structure and an installation method thereof, and relates to the technical field of prefabricated components, which comprises a prestressed self-balancing lifting appliance system, a self-adaptive guiding system, a multi-source fusion sensing system and an intelligent control system, wherein the intelligent control system is electrically connected with the prestressed self-balancing lifting appliance system, the self-adaptive guiding system and the multi-source fusion sensing system, is used for receiving data of the multi-source fusion sensing system and performing fusion processing, controls stretching time of the telescopic guiding wheel group according to a fusion result, and dynamically adjusts tension of the prestressed self-balancing lifting appliance system; compared with the prior art, the application realizes full-process safety control from component leaving the ground to final positioning, and overcomes the defects of single function and only solving partial problems in the prior art.

Description

Technical Field

[0001] This invention relates to the field of prefabricated building structure technology, specifically to an auxiliary installation structure for prefabricated components of large-span prefabricated buildings and its installation method. Background Technology

[0002] Prefabricated buildings are widely used in modern construction projects due to their advantages such as fast construction speed, controllable quality, and environmental protection and energy saving. Among them, large-span prefabricated components (such as prestressed composite beams with spans exceeding 12m and large prefabricated roof trusses) are key load-bearing components of prefabricated structures, and their installation accuracy and safety directly affect the overall structural quality.

[0003] The following are the main technical challenges encountered during the hoisting and installation of large-span precast components:

[0004] First, there is the risk of structural cracking during hoisting. When large-span slender components (especially thin-walled components) are lifted horizontally, the bending moment generated by their own weight causes tensile stress on the upper flange of the component. If the tensile stress exceeds the tensile strength of the concrete, it can easily lead to cracking of the component, affecting the structural durability and load-bearing capacity. In existing technologies, although multi-point hoisting or balancing beams are used to distribute the stress at the hoisting points, these methods can only optimize the arrangement of the hoisting points and cannot fundamentally offset the adverse effects of the bending moment caused by the self-weight on the component itself.

[0005] Secondly, there are challenges related to swaying and alignment during high-altitude placement. The components are flexibly suspended below the hook by steel wire ropes, and are prone to horizontal swaying and torsion due to wind, crane luffing, or rotational inertia. Traditional construction methods rely on workers on the ground or operating platform to "stabilize" the hook with ropes, which is not only inefficient but also poses a risk of falls from heights. More importantly, even after the component is smoothly lowered above the installation position, precise alignment with the supporting structure below still requires manual visual inspection and repeated adjustments, making accuracy difficult to guarantee and highly susceptible to factors such as ambient light and weather.

[0006] To address the aforementioned problems, various auxiliary installation devices have emerged in the prior art. For example, Chinese patent application CN117864934A discloses a hoisting device for prefabricated building components, which automatically adjusts the longitudinal balance of the prefabricated components during hoisting by using a hydraulic control system consisting of a balance bar, trigger cylinders, and regulating valves, thus solving the problem of component tilting. However, this device has the following shortcomings:

[0007] 1. This device is only for attitude adjustment during the lifting process. It cannot solve the cracking risk caused by the bending moment of the self-weight of large-span components, nor can it solve the problem of sway suppression and precise centering in the final stage of high-altitude positioning of components.

[0008] 2. This device requires a complex hydraulic pipeline and valve system, making on-site installation and commissioning cumbersome and costly.

[0009] 3. This device relies solely on a mechanical trigger mechanism for adjustment and cannot sense the actual spatial position and installation deviation of the supporting structure below. When there is a verticality deviation or positioning deviation in the supporting structure, it is difficult to achieve precise positioning.

[0010] Furthermore, existing guiding devices are mostly independently installed, requiring additional guiding structures to be mounted on the component itself. This not only increases the complexity of component fabrication but may also weaken the component's structure. Temporary support systems, on the other hand, often require the erection of extensive scaffolding, occupying construction space and consuming considerable time and labor. Summary of the Invention

[0011] In view of the shortcomings of the existing technology, the purpose of this invention is to provide an auxiliary installation structure and installation method for prefabricated components of large-span prefabricated buildings, so as to solve the problems of single function of hoisting device, lack of environmental perception capability and relatively complex structure in the existing technology.

[0012] To achieve the above objectives, the first aspect of the present invention adopts the following technical solution: an auxiliary installation structure for prefabricated components of large-span prefabricated buildings, comprising:

[0013] A prestressed self-balancing lifting device system, comprising a prestressed tension rod that runs longitudinally through both ends of a precast component and a multi-functional end plate that is anchored to each end of the prestressed tension rod, the multi-functional end plate being provided with a lifting connection part;

[0014] An adaptive guidance system includes retractable guide wheel sets disposed on the outer side of each multi-functional end plate and a rigid guide rail assembly disposed on the lower support structure below the installation position of the precast component. The retractable guide wheel sets have a retracted state and an extended working state. The rigid guide rail assembly has a guide surface extending in the vertical direction and is used to contact and cooperate with the retractable guide wheel sets when they are in the extended working state to forcibly guide the descent trajectory of the precast component.

[0015] The multi-source fusion sensing system includes a lidar, a binocular vision camera, and an inertial measurement unit installed on the multi-functional end plate. The lidar is used to scan the three-dimensional point cloud data of the lower support structure and rigid guide rail assembly. The binocular vision camera is used to identify the pre-embedded positioning marks on the lower support structure. The inertial measurement unit is used to detect the attitude angle, angular velocity, and acceleration of the prefabricated component in real time.

[0016] The intelligent control system is electrically connected to the prestressed self-balancing lifting device system, the adaptive guidance system, and the multi-source fusion sensing system. It is used to receive data from the multi-source fusion sensing system and perform fusion processing, control the extension and retraction timing of the retractable guide wheel group according to the fusion result, and dynamically adjust the tension of the prestressed self-balancing lifting device system.

[0017] Furthermore, each of the aforementioned multifunctional end plates includes:

[0018] An inner anchor plate, wherein the inner anchor plate has anchor holes for the prestressed tension rod to pass through;

[0019] An anchor nut, which is used to be threaded to the end of the prestressed tension rod passing through the anchor hole and is tightly attached to the inner anchor plate;

[0020] The outer lifting lug plate is connected to the inner anchor plate and the lifting connection part is connected to the outer lifting lug plate;

[0021] A sensor integration base is disposed on the outer end face of the outer layer lifting lug plate and is used to install a lidar, a binocular vision camera, and an inertial measurement unit.

[0022] A guide wheel mounting seat is disposed on the outer end face of the outer lifting lug plate and is used to mount a retractable guide wheel assembly.

[0023] Furthermore, the retractable guide wheel assembly includes:

[0024] A telescopic drive component, wherein the telescopic drive component is mounted on a guide wheel mounting seat;

[0025] A guide wheel bracket, which is slidably mounted on a guide wheel mounting seat and connected to the output end of the telescopic drive component;

[0026] The guide wheels are at least two in number and are arranged at intervals in the vertical direction. The guide wheels are also rotatably mounted on the guide wheel bracket. The guide surface of the rigid guide rail assembly is adapted to the wheel surface profile of the guide wheel.

[0027] Furthermore, the intelligent control system includes:

[0028] The data fusion module is used to perform spatiotemporal alignment and fusion of multi-source data collected by the lidar, binocular vision camera and inertial measurement unit to construct the relative pose model of the prefabricated component and the rigid guide rail assembly.

[0029] The decision control module is used to calculate the optimal extension timing of the retractable guide wheel assembly and the pre-adjustment amount of the prefabricated component based on the relative pose model, and to generate control commands.

[0030] An execution drive module is provided for driving the retractable guide wheel assembly and the actuators of the prestressed self-balancing lifting device system.

[0031] Furthermore, the intelligent control system also includes:

[0032] The digital twin module is used to establish a three-dimensional digital twin model of the prefabricated component, the lifting equipment for lifting the prefabricated component, and the supporting structure below, and to synchronize the data of the multi-source fusion sensing system in real time to simulate the descent and positioning process of the prefabricated component in virtual space.

[0033] The decision control module performs predictive closed-loop control on the actual hoisting process based on the simulation results of the digital twin module.

[0034] Furthermore, the prestressed self-balancing lifting device system also includes an intelligent tensioning module, which includes:

[0035] A miniature hydraulic jack, which is mounted on a multi-functional end plate and used to apply tension force to a prestressed tension rod;

[0036] A pressure sensor is used to detect the tension force of the prestressed tension rod in real time.

[0037] A displacement sensor is used to detect the amount of arch deformation of the precast component in real time.

[0038] The intelligent control system dynamically adjusts the output pressure of the micro hydraulic jack based on the precast component's self-weight and span parameters obtained by the multi-source fusion sensing system and the anti-arch deformation fed back by the displacement sensor, so that the precast component maintains the set anti-arch state during the lifting process.

[0039] Furthermore, the rigid guide rail assembly includes:

[0040] A multi-functional clamp, which is detachably fixed to the lower support structure and has a vertical support surface for providing temporary support after the prefabricated component is in place, and is provided with an identification code or reflective mark for use with a binocular vision camera.

[0041] A vertical guide rail is fixed to a multi-functional clamp, and the guide surface is set on the vertical guide rail.

[0042] Furthermore, it also includes a data recording and traceability module, which is used to record key data during the installation process of each precast component. The key data includes: prestressed tension, anti-arch value, guide wheel extension timing, positioning deviation value, descent speed curve, and ambient wind speed. The key data is then uploaded to the cloud management platform to form an electronic archive of component installation.

[0043] The second aspect of this invention adopts the following technical solution: an installation method using the auxiliary installation structure of large-span prefabricated building components as described in the first aspect of this invention, comprising the following steps:

[0044] Step S1: Pass the two prestressed tension rods through the assembly holes at both ends of the precast component, and connect a multi-functional end plate to the end of each prestressed tension rod. Set the initial prestressed tension force of the prestressed tension rod through the intelligent control system.

[0045] Step S2: Connect the lifting equipment to the lifting connection part of the multi-functional end lifting platform and carry out the lifting operation. During the lifting process, the inertial measurement unit monitors the attitude of the precast component in real time, and the intelligent control system dynamically adjusts the prestressing tension according to the attitude data to keep the precast component at the set anti-camber value.

[0046] Step S3: After the prefabricated component is hoisted to the position to be installed, it is lowered. The lidar and binocular vision camera collect spatial information of the supporting structure and rigid guide rail assembly below in real time.

[0047] Step S4: The intelligent control system constructs a relative pose model of the prefabricated component and the rigid guide rail assembly based on the data from the lidar and binocular vision camera, and calculates the optimal extension timing of the retractable guide wheel assembly and the pre-adjustment amount of the prefabricated component.

[0048] Step S5: The intelligent control system sends a pre-adjustment command to the lifting equipment to adjust the horizontal position of the prefabricated component so that it is aligned with the rigid guide rail assembly;

[0049] Step S6: When the prefabricated component descends to the preset height corresponding to the optimal extension time, the intelligent control system controls the retractable guide wheel assembly to switch to the extension working state;

[0050] Step S7: Continue to descend, so that the retractable guide wheel assembly contacts and engages with the rigid guide rail assembly, and the horizontal position deviation of the prefabricated component is forcibly corrected by the rigid guide;

[0051] Step S8: After the precast components are positioned on the lower support structure, the intelligent control system controls the release of the prestress of the prestressed tension rod and removes the multi-functional end hanging plate and the prestressed tension rod.

[0052] Furthermore, in step S4, the calculation of the optimal extension timing includes:

[0053] Based on the point cloud data collected by the lidar, the spatial position of the guide surface of the rigid guide rail assembly is identified;

[0054] Based on the image data acquired by the binocular vision camera, the identification code on the multi-functional clamp is identified to obtain the model, verticality and installation deviation information of the rigid guide rail assembly;

[0055] Based on the component attitude data collected by the inertial measurement unit and combined with the spatial position of the rigid guide rail assembly, the theoretical contact point between the guide wheel and the guide rail guide surface is calculated. When the theoretical contact point is less than a preset threshold from the current component position, it is determined to be the optimal extension time.

[0056] Compared with the prior art, the present invention has the following beneficial effects:

[0057] 1. This invention organically integrates a prestressed self-balancing lifting device system, an adaptive guidance system, and a multi-source fusion sensing system to construct a comprehensive protection system covering the entire lifting process. During the lifting phase, controllable anti-arch prestress is applied to the precast component through prestressed tension rods, effectively counteracting the bending moment generated by its own weight, fundamentally solving the technical problem of easy cracking of large-span thin-walled components during lifting. During the descent phase, the mechanical cooperation between the retractable guide wheel assembly and the rigid guide rail assembly forms a forced guiding constraint, completely eliminating the inherent swaying problem of flexible lifting. During the positioning phase, the multi-source fusion sensing system constructs a real-time relative pose model of the component and the supporting structure, achieving precise alignment. The synergistic effect of these three systems achieves full-process safety and controllability from component lifting to final positioning, overcoming the shortcomings of existing technologies that are single-function and can only solve local problems.

[0058] 2. This invention integrates a multi-source fusion sensing system consisting of LiDAR, a binocular vision camera, and an inertial measurement unit into the prefabricated component auxiliary installation structure, and achieves data fusion and autonomous decision-making through an intelligent control system. Compared to solutions that rely solely on mechanical triggering mechanisms for adjustment, this invention can perceive the actual spatial position of the supporting structure below, the installation deviation of the rigid guide rail assembly, and the attitude changes of the component itself in real time. It intelligently calculates the optimal timing for the guide wheel extension and the pre-adjustment amount, and coordinates with the lifting equipment for pre-alignment adjustment. This technical solution eliminates the reliance on manual visual inspection and experience during the installation process, ensuring millimeter-level installation accuracy even at night, in low visibility conditions, or under complex conditions where the supporting structure has installation deviations, significantly improving the adaptability and reliability of construction.

[0059] 3. This invention integrates multiple functions, such as prestressed anchoring, lifting connection, sensor integration, and guide wheel installation, into a single multi-functional end plate, achieving "one plate for multiple uses." Compared to existing technologies that require additional guide structures or temporary support systems on the component itself, this invention eliminates the need for secondary processing of prefabricated components, avoiding weakening the component structure. Simultaneously, the multi-functional clamps in the rigid guide rail assembly serve both guiding and temporary support functions, eliminating the need for extensive scaffolding and significantly simplifying on-site construction procedures. Furthermore, the prestressed tension rods and multi-functional end plate can be removed and reused after a single installation, resulting in low equipment amortization costs and excellent economic efficiency.

[0060] 4. This invention automatically records key data throughout the entire installation process of each precast component (including prestressed tension, anti-camber value, guide wheel extension timing, positioning deviation value, descent speed curve, etc.) through an intelligent control system, and uploads it to a cloud management platform to form an electronic archive of component installation. This function provides reliable data support for quality traceability, structural health monitoring, and subsequent operation and maintenance management of prefabricated buildings, aligning with the current development direction of digitalization and intelligence in the construction industry, and demonstrating significant industrial foresight. Attached Figure Description

[0061] Figure 1 This is a schematic diagram of a partial state of a prefabricated component during the hoisting process in one embodiment of the present invention;

[0062] Figure 2 for Figure 1 Enlarged view of part A in the middle;

[0063] Figure 3 for Figure 2 Schematic diagram of the retractable guide wheel assembly;

[0064] Figure 4 This is a system control principle block diagram of an auxiliary installation structure for prefabricated components of a large-span prefabricated building, according to one embodiment of the present invention.

[0065] The reference numerals in the accompanying drawings include:

[0066] 1. Precast component; 2. Prestressed self-balancing hoisting system; 3. Prestressed tension rod; 4. Multifunctional end lifting plate; 5. Inner anchor plate; 6. Anchor nut; 7. Outer lifting lug plate; 8. Sensor integrated seat; 9. Guide wheel mounting seat; 10. Displacement sensor; 11. Adaptive guidance system; 12. Telescopic guide wheel assembly; 13. Telescopic drive component; 14. Guide wheel bracket; 15. Guide wheel; 16. Rigid guide rail assembly; 17. Multifunctional clamp; 18. Vertical support surface; 19. Vertical guide rail; 20. Multi-source fusion sensing system; 10. LiDAR; 11. Binocular vision camera; 22. Lower support structure. Detailed Implementation

[0067] The present invention will be further described in detail below through specific embodiments:

[0068] Example 1

[0069] An embodiment of the present invention provides an auxiliary installation structure and installation method for large-span prefabricated building components, used to assist in the installation of a large-span prefabricated composite beam (prefabricated component 1) in a certain project. The prefabricated beam has a span of 15m, a cross-sectional dimension of 500mm×1200mm, a self-weight of about 28t, and an installation height of 12m.

[0070] I. Specific Composition of Auxiliary Installation Structure

[0071] like Figures 1-4 As shown, the auxiliary installation structure of the large-span prefabricated building component 1 in this embodiment mainly includes a prestressed self-balancing hoisting system 2, an adaptive guidance system 3, a multi-source fusion sensing system 4, and an intelligent control system.

[0072] First, the prestressed self-balancing lifting device system 2

[0073] The prestressed self-balancing hoisting system 2 includes two prestressed tension rods 21 that run longitudinally through the precast component 1 and multi-functional end plates 22 that are respectively set at both ends of the precast component 1.

[0074] The prestressed tension rod 21 is made of PSB930 grade precision rolled threaded steel bar with a diameter of 32mm, a yield strength of 930MPa, and a length of 16.5m (exceeding the length of the component to allow for tensioning space). The precast component 1 has a through-hole with a diameter of 35mm pre-drilled to correspond to the position of the prestressed tension rod 21 during production.

[0075] like Figure 2 As shown, the multi-functional end plate 22 includes an inner anchor plate 221, an anchor nut 222, an outer lifting lug plate 223, a sensor integration seat 224, and a guide wheel mounting seat 225.

[0076] The inner anchor plate 221 is a 40mm thick Q355B steel plate with an anchor hole (35mm in diameter) in the center for the prestressed tension rod 21 to pass through. The anchor nut 222 is a high-strength nut that matches the finely rolled threaded steel bar, and is threaded to the end of the prestressed tension rod 21 passing through the anchor hole and tightly attached to the inner anchor plate 221.

[0077] The outer lifting lug plate 223 is fixed to the inner anchor plate 221 by welding. It is 30mm thick and has multiple lifting connection parts (here, the lifting connection part is the lifting lug hole) evenly distributed on it. The hole diameter is 50mm, which is used to connect the slings of the lifting equipment.

[0078] The sensor integration base 224 is located on the outer end face of the outer lug plate 223. It is made of aluminum alloy and the surface is anodized. It is used to install the lidar 41, the binocular vision camera 42 and the inertial measurement unit.

[0079] The guide wheel mounting base 225 is located on the outer end face of the outer lifting lug plate 223 and above the sensor integration base 224. It is welded from Q355B steel and is used to install the retractable guide wheel assembly 31.

[0080] The prestressed self-balancing hoisting system 2 is also equipped with an intelligent tensioning module, which includes a miniature hydraulic jack, a pressure sensor, and a displacement sensor 23. The miniature hydraulic jack (rated pressure 50t) is located between the multi-functional end lifting plate 22 and the anchor nut 222. Specifically, an installation groove is opened on the inner anchor plate 221, and the miniature hydraulic jack is installed in the installation groove with its piston rod abutting against the anchor nut 222. The pressure sensor is installed in the oil circuit of the miniature hydraulic jack to detect the tension force of the prestressed tensioning rod 21 in real time. The displacement sensor 23 is a laser displacement sensor 23, which is installed on the inner anchor plate 221 to detect the anti-arch deformation of the precast component 1 in real time.

[0081] Secondly, the adaptive guidance system 3

[0082] The adaptive guidance system 3 includes a retractable guide wheel assembly 31 and a rigid guide rail assembly 32.

[0083] like Figure 2 and Figure 3 As shown, the retractable guide wheel assembly 31 is mounted on the guide wheel mounting base 225 and includes a telescopic drive component 311, a guide wheel bracket 312, and two guide wheels 313.

[0084] The telescopic drive component 311 is an electric push rod (200mm stroke, 5kN thrust, IP65 protection rating), whose cylinder is fixed on the guide wheel mounting base 225, and the push rod is connected to the guide wheel bracket 312. The guide wheel bracket 312 is slidably disposed in the guide groove of the guide wheel mounting base 225 and is connected to the output end of the telescopic drive component 311.

[0085] The two guide wheels 313 are arranged 500mm apart in the vertical direction and are rotatably mounted on the guide wheel bracket 312. The guide wheels 313 are polyurethane coated wheels with a V-shaped groove (with an included angle of 30°) on the wheel surface, a wheel diameter of 150mm and a wheel width of 60mm.

[0086] like Figure 2 As shown, the rigid guide rail assembly 32 includes a multi-functional clamp 321 and a vertical guide rail 322.

[0087] The multi-functional clamp 321 is detachably fixed to the lower support structure 5 (top of the precast column). It adopts a split structure and is secured by high-strength bolts. A 5mm thick rubber pad is provided on the inner side of the clamp to prevent damage to the column. The upper end of the multi-functional clamp 321 has a vertical support surface 3211 (100mm wide) to provide temporary support after the precast component 1 is in place. A QR code is affixed to the outer surface of the multi-functional clamp 321, storing the model number, design parameters, and installation deviation information of the rigid guide rail assembly 32.

[0088] The vertical guide rail 322 is welded to the side of the multi-functional clamp 321 and is made of Q355B steel. The guide surface is a V-shaped rail (with an included angle of 30°) that matches the V-shaped groove of the guide wheel 313. It extends vertically for a length of 1.5m and the surface of the guide surface is hardened to a hardness of HRC45-50.

[0089] Next is the multi-source fusion sensing system 4

[0090] The multi-source fusion sensing system 4 includes a lidar 41, a binocular vision camera 42, and an inertial measurement unit.

[0091] The lidar 41 is a solid-state lidar 41 (model: Ouster OS0-128) with a horizontal field of view of 120° and a vertical field of view of 90°. It is installed on the top of the sensor integration base 224 and is used to scan the three-dimensional point cloud data of the supporting structure 5 and the rigid guide rail assembly 32 below. The point cloud density is about 1.3 million points / second and the ranging accuracy is ±1cm.

[0092] The binocular vision camera 42, a ZED 2i, is mounted on the bottom of the sensor integration base 224 with a baseline distance of 12cm, a resolution of 1920×1080, and a frame rate of 30fps. It is used to identify pre-embedded positioning marks on the supporting structure 5 below and QR code recognition codes on the multi-functional clamp 321. The binocular vision camera 42 is equipped with an infrared supplementary light, enabling it to operate normally in low-light conditions.

[0093] The inertial measurement unit is an XSENS MTi-630, installed inside the sensor integration base 224. It has a built-in three-axis gyroscope, three-axis accelerometer and three-axis magnetometer, used to detect the attitude angles (pitch angle, roll angle, yaw angle), angular velocity and acceleration of the prefabricated component 1 in real time. The static accuracy of the attitude angle is ±0.2° and the dynamic accuracy is ±1.0°.

[0094] Finally, the intelligent control system.

[0095] The intelligent control system is electrically connected to the prestressed self-balancing hoisting device system 2, the adaptive guidance system 3, and the multi-source fusion sensing system 4, respectively. For example... Figure 4As shown, the intelligent control system includes:

[0096] The data fusion module performs spatiotemporal alignment and fusion of point cloud data collected by the lidar 41, image data collected by the binocular vision camera 42, and attitude data collected by the inertial measurement unit to construct a relative pose model of the prefabricated component 1 and the rigid guide rail assembly 32. Specifically, the point cloud data and image data are fused through extrinsic parameter calibration, and the inertial data is used to compensate for dynamic errors caused by the motion of the prefabricated component 1.

[0097] The decision control module calculates the optimal extension timing of the retractable guide wheel assembly 31 and the pre-adjustment amount of the precast component 1 based on the relative pose model, and generates control commands. The optimal extension timing is determined as follows: the theoretical contact point between the guide wheel 313 and the vertical guide rail 322 is less than 0.5m from the current position of the precast component 1. The pre-adjustment amount is calculated based on the deviation between the current horizontal position of the precast component 1 and the centerline of the rigid guide rail assembly 32.

[0098] Execution drive module: electric push rod that drives the retractable guide wheel assembly 31 and miniature hydraulic jack of the intelligent tensioning module.

[0099] Digital twin module: A three-dimensional digital twin model of the prefabricated component 1, the lifting equipment, and the supporting structure 5 below is established, and data from the multi-source fusion sensing system 4 is synchronized in real time to simulate the descent and positioning process of the prefabricated component 1 in virtual space. The digital twin module also has a collision warning function. When the minimum distance between the component and surrounding obstacles in the virtual space is less than the safety threshold (set to 200mm in this embodiment), an audible and visual alarm is automatically issued and the speed is reduced.

[0100] Data recording and traceability module: Records key data during the installation process of each precast component 1, including prestressed tension, anti-arch value, timing of guide wheel 313 extension, positioning deviation value, descent speed curve, ambient wind speed, etc., and uploads the key data to the cloud management platform to form an electronic archive of component installation.

[0101] II. Installation Method

[0102] The installation method in this embodiment includes the following steps:

[0103] Step S1: Prestressing Application Stage

[0104] Two prestressed tension rods 21 are passed through the pre-reserved assembly holes at both ends of the precast component 11. Multifunctional end hangers 22 are installed at both ends of the prestressed tension rods 21 so that the prestressed tension rods 21 pass through the anchor holes of the inner anchor plate 22131 and are screwed into the anchor nuts 222 but not tightened yet.

[0105] The initial prestressing tension of the prestressed tension rod 21 is set to 280kN via the intelligent control system (calculated based on the component's self-weight of 25t and span of 15m). A micro hydraulic jack is activated to apply tension to the prestressed tension rod 21. The displacement sensor 23 monitors the anti-arch deformation in real time. When the anti-arch value reaches the set value of 15mm (L / 1000), the intelligent control system automatically stops tensioning and locks the rod, tightening the anchor nut 222. At this time, the retractable guide wheel assembly 31 is in the retracted state.

[0106] Step S2: Lifting Stage

[0107] The hook of the lifting equipment (300t crawler crane) is connected to the lifting connection via slings, and the component is slowly lifted. During the lifting process, the inertial measurement unit monitors the attitude (pitch angle, roll angle) of the precast component 1 in real time. The intelligent control system dynamically adjusts the prestressing tension based on the attitude data: when the precast component 1 tilts forward (pitch angle > 0.5°), the front tension is appropriately increased; when the precast component 1 tilts backward (pitch angle < -0.5°), the rear tension is appropriately increased, so that the precast component 1 always remains within the set anti-camber value ±1mm.

[0108] Because prestress has been applied, the precast component 1 remains straight at the moment of lift-off, and no tensile stress is generated on the upper flange, effectively preventing cracking.

[0109] Step S3: Perception and Descending Phase

[0110] The precast component 1 is hoisted to a height of approximately 5m above the installation position (precast column) and slowly lowered (the descent speed is controlled within 0.2m / s). The lidar 41 begins scanning the three-dimensional point cloud data of the supporting structure 5 and the rigid guide rail assembly 32 below. The binocular vision camera 42 identifies the QR code on the multi-functional clamp 321 to obtain the model, design parameters, and installation deviation information of the rigid guide rail assembly 32 (in this embodiment, the vertical deviation is measured to be +2mm and the horizontal positioning deviation to be +8mm).

[0111] Step S4: Pose Modeling and Decision-Making Stage

[0112] The data fusion module of the intelligent control system fuses the point cloud data from the lidar 41 with the image data from the binocular vision camera 42 to construct a three-dimensional spatial model of the rigid guide rail assembly 32. Combined with the component attitude data provided by the inertial measurement unit, the decision control module calculates:

[0113] Spatial position and perpendicularity deviation of the guide surface of the rigid guide rail assembly 32;

[0114] The theoretical contact point between guide wheel 313 and guide surface;

[0115] Optimal extension timing: The optimal extension timing is determined when the theoretical contact point is less than 0.5m from the current component position;

[0116] Pre-adjustment amount: Based on the deviation between the current horizontal position of the precast component 1 and the center line of the rigid guide rail assembly 32 (the deviation measured in this embodiment is +15mm), the required adjustment range of the lifting equipment is calculated.

[0117] Step S5: Pre-adjustment stage

[0118] The decision control module sends pre-adjustment commands to the lifting equipment via wireless communication. The crane automatically adjusts its horizontal position to align the precast component 1 with the rigid guide rail assembly 32, correcting any deviation to within ±3mm. The digital twin module displays the relative position and orientation of the component and the guide rail in real time for operator monitoring.

[0119] Step S6: Guide wheel 313 extension stage

[0120] When the precast component 1 descends to a position 0.5m from the theoretical contact point (corresponding to a distance of approximately 1.6m from the bottom of the component to the top of the column), the decision control module issues a command to the drive module to control the electric push rod to extend, pushing the guide wheel bracket 312 and guide wheel 313 to move outward to the extended working state, and automatically locks after extending into place.

[0121] Step S7: Rigid Guided Placement Stage

[0122] As the precast component 1 continues its slow descent, the guide wheels 313 at both ends first contact the vertical guide rails 322 on the multi-functional clamp 321. Because the V-grooves of the guide wheels 313 and the V-shaped rails of the vertical guide rails 322 cooperate, even if there is a slight horizontal misalignment in the hook, the guide wheels 313 will automatically slide along the guide rails to the correct position, forcibly correcting the horizontal position deviation of the component. The digital twin module displays the guiding process in real time; when the precast component 1 descends to approximately 0.2m from the top of the column, it automatically decelerates to 0.05m / s.

[0123] Step S8: Placement and Removal Stage

[0124] The precast component 1 is smoothly placed on the vertical support surface 3211 of the multi-functional clamp 321. After the displacement sensor 23 confirms the placement, the intelligent control system controls the intelligent tensioning module to release the prestress (micro hydraulic jack returns oil), and the anchor nut 222 is loosened. The multi-functional end plate 22 and the prestressed tension rod 21 are removed and recycled for the installation of the next component.

[0125] Data Recording: The data recording and traceability module automatically records the data of the entire installation process of this precast component 1: prestressed tension curve (initial 280kN, dynamic adjustment range ±15kN), anti-arch value (15±1mm), guide wheel 313 extension timing (height 1.6m), positioning deviation value (final deviation +1.2mm), descent speed curve (average 0.18m / s), ambient wind speed (2.3m / s), and uploads it to the cloud management platform to generate electronic files for component installation.

[0126] In this embodiment, no manual high-altitude work is required throughout the entire process. The components are automatically aligned and positioned under the guidance of intelligent sensing. The final installation axis deviation is ±1.2mm, which is 8 times more accurate than traditional construction. The installation time is 12 minutes, which is 60% shorter than traditional construction.

[0127] Example 2

[0128] This embodiment is basically the same as embodiment 1, except that: prefabricated component 1 is a large prefabricated roof truss with a span of 24m, a self-weight of about 35t, and an installation height of 15m.

[0129] The prestressed tension rod 21 is a single precision-rolled threaded steel bar with a diameter of 40mm and a yield strength of 1080MPa. Due to the irregular shape of the roof truss structure, the prestressed tension rod 21 is installed through the lower chord of the roof truss, and the anti-camber value is set at 24mm (L / 1000).

[0130] The lidar 41 is a solid-state lidar (120° field of view) to fit into more compact installation spaces. The binocular vision camera 42 adds infrared illumination to meet the needs of nighttime construction.

[0131] The intelligent control system adds a nighttime construction mode. When the ambient light is below 50 lux, it automatically turns on infrared supplementary light and the binocular vision camera 42 switches to infrared imaging mode to ensure that it can still accurately identify QR code identification codes and positioning marks under low light conditions.

[0132] The installation method is the same as in Example 1. Practical application has verified that this example can maintain an installation accuracy of ±1.5mm even under nighttime construction conditions, effectively preventing lateral bending deformation of the 24m span roof truss during hoisting, and improving installation efficiency by approximately 45%.

[0133] Example 3

[0134] This embodiment is basically the same as embodiment 1, except that: the wheel surface profile of the guide wheel 313 is a trapezoidal groove (groove bottom width 40mm, groove depth 15mm, included angle 60°), and the guide surface of the vertical guide rail 322 is a trapezoidal rail. The two together have a larger contact area and higher load-bearing capacity, which is suitable for heavier precast components 1 (such as large-span beams with a single self-weight exceeding 50t).

[0135] The retractable guide wheel assembly 31 is equipped with three sets of guide wheels 313, arranged in a triangular pattern (two on top and one on the bottom, with spacing of 400mm and 500mm respectively), further improving guiding stability. The telescopic drive component 311 uses a hydraulic cylinder (cylinder diameter 50mm, stroke 250mm, working pressure 16MPa) in conjunction with a spring reset mechanism, which can be manually reset in the event of a power outage to meet emergency needs.

[0136] The digital twin module adds a collision warning function, which calculates the minimum distance between the component and surrounding obstacles (tower crane, installed components, etc.) in real time in virtual space. When the distance is less than the safety threshold (300mm in this embodiment), an audible and visual alarm is issued and the speed is automatically reduced to 0.02m / s, further improving construction safety.

[0137] The installation method is the same as in Example 1. This example was successfully applied to a sports stadium project, completing the installation of a large grandstand beam with a single self-weight of 58t and a span of 28m. The final installation deviation was ±1.8mm, meeting the design requirement of ±3mm accuracy.

[0138] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An auxiliary installation structure for prefabricated components in large-span prefabricated buildings, characterized in that, include: A prestressed self-balancing lifting device system, comprising a prestressed tension rod that runs longitudinally through both ends of a precast component and a multi-functional end plate that is anchored to each end of the prestressed tension rod, the multi-functional end plate being provided with a lifting connection part; An adaptive guidance system includes retractable guide wheel sets disposed on the outer side of each multi-functional end plate and a rigid guide rail assembly disposed on the lower support structure below the installation position of the precast component. The retractable guide wheel sets have a retracted state and an extended working state. The rigid guide rail assembly has a guide surface extending in the vertical direction and is used to contact and cooperate with the retractable guide wheel sets when they are in the extended working state to forcibly guide the descent trajectory of the precast component. The multi-source fusion sensing system includes a lidar, a binocular vision camera, and an inertial measurement unit installed on the multi-functional end plate. The lidar is used to scan the three-dimensional point cloud data of the lower support structure and rigid guide rail assembly. The binocular vision camera is used to identify the pre-embedded positioning marks on the lower support structure. The inertial measurement unit is used to detect the attitude angle, angular velocity, and acceleration of the prefabricated component in real time. The intelligent control system is electrically connected to the prestressed self-balancing lifting device system, the adaptive guidance system, and the multi-source fusion sensing system. It is used to receive data from the multi-source fusion sensing system and perform fusion processing, control the extension and retraction timing of the retractable guide wheel group according to the fusion result, and dynamically adjust the tension of the prestressed self-balancing lifting device system.

2. The auxiliary installation structure for prefabricated components of large-span prefabricated buildings according to claim 1, characterized in that, Each of the aforementioned multi-functional end-mounted plates includes: An inner anchor plate, wherein the inner anchor plate has anchor holes for the prestressed tension rod to pass through; An anchor nut, which is used to be threaded to the end of the prestressed tension rod passing through the anchor hole and is tightly attached to the inner anchor plate; The outer lifting lug plate is connected to the inner anchor plate and the lifting connection part is connected to the outer lifting lug plate; A sensor integration base is disposed on the outer end face of the outer layer lifting lug plate and is used to install a lidar, a binocular vision camera, and an inertial measurement unit. A guide wheel mounting seat is disposed on the outer end face of the outer lifting lug plate and is used to mount a retractable guide wheel assembly.

3. The auxiliary installation structure for large-span prefabricated building components according to claim 2, characterized in that, The retractable guide wheel assembly includes: A telescopic drive component, wherein the telescopic drive component is mounted on a guide wheel mounting seat; A guide wheel bracket, which is slidably mounted on a guide wheel mounting seat and connected to the output end of the telescopic drive component; The guide wheels are at least two in number and are arranged at intervals in the vertical direction. The guide wheels are also rotatably mounted on the guide wheel bracket. The guide surface of the rigid guide rail assembly is adapted to the wheel surface profile of the guide wheel.

4. The auxiliary installation structure for large-span prefabricated building components according to claim 1, characterized in that, The intelligent control system includes: The data fusion module is used to perform spatiotemporal alignment and fusion of multi-source data collected by the lidar, binocular vision camera and inertial measurement unit to construct the relative pose model of the prefabricated component and the rigid guide rail assembly. The decision control module is used to calculate the optimal extension timing of the retractable guide wheel assembly and the pre-adjustment amount of the prefabricated component based on the relative pose model, and to generate control commands. An execution drive module is provided for driving the retractable guide wheel assembly and the actuators of the prestressed self-balancing lifting device system.

5. The auxiliary installation structure for large-span prefabricated building components according to claim 4, characterized in that, The intelligent control system also includes: The digital twin module is used to establish a three-dimensional digital twin model of the prefabricated component, the lifting equipment for lifting the prefabricated component, and the supporting structure below, and to synchronize the data of the multi-source fusion sensing system in real time to simulate the descent and positioning process of the prefabricated component in virtual space. The decision control module performs predictive closed-loop control on the actual hoisting process based on the simulation results of the digital twin module.

6. The auxiliary installation structure for prefabricated components of large-span prefabricated buildings according to claim 1, characterized in that, The prestressed self-balancing hoisting system also includes an intelligent tensioning module, which comprises: A miniature hydraulic jack, which is mounted on a multi-functional end plate and used to apply tension force to a prestressed tension rod; A pressure sensor is used to detect the tension force of the prestressed tension rod in real time. A displacement sensor is used to detect the amount of arch deformation of the precast component in real time. The intelligent control system dynamically adjusts the output pressure of the micro hydraulic jack based on the precast component's self-weight and span parameters obtained by the multi-source fusion sensing system and the anti-arch deformation fed back by the displacement sensor, so that the precast component maintains the set anti-arch state during the lifting process.

7. The auxiliary installation structure for prefabricated components of large-span prefabricated buildings according to claim 1, characterized in that, The rigid guide rail assembly includes: A multi-functional clamp, which is detachably fixed to the lower support structure and has a vertical support surface for providing temporary support after the prefabricated component is in place, and is provided with an identification code or reflective mark for use with a binocular vision camera. A vertical guide rail is fixed to a multi-functional clamp, and the guide surface is set on the vertical guide rail.

8. The auxiliary installation structure for prefabricated components of large-span prefabricated buildings according to claim 1, characterized in that, It also includes a data recording and traceability module, which is used to record key data during the installation process of each precast component. The key data includes: prestressed tension, anti-arch value, guide wheel extension timing, positioning deviation value, descent speed curve, and ambient wind speed. The key data is then uploaded to the cloud management platform to form an electronic archive of component installation.

9. An installation method using a prefabricated component auxiliary installation structure for large-span prefabricated buildings according to any one of claims 1 to 8, characterized in that, Includes the following steps: Step S1: Pass the two prestressed tension rods through the assembly holes at both ends of the precast component, and connect a multi-functional end plate to the end of each prestressed tension rod. Set the initial prestressed tension force of the prestressed tension rod through the intelligent control system. Step S2: Connect the lifting equipment to the lifting connection part of the multi-functional end lifting platform and carry out the lifting operation. During the lifting process, the inertial measurement unit monitors the attitude of the precast component in real time, and the intelligent control system dynamically adjusts the prestressing tension according to the attitude data to keep the precast component at the set anti-camber value. Step S3: After the prefabricated component is hoisted to the position to be installed, it is lowered. The lidar and binocular vision camera collect spatial information of the supporting structure and rigid guide rail assembly below in real time. Step S4: The intelligent control system constructs a relative pose model of the prefabricated component and the rigid guide rail assembly based on the data from the lidar and binocular vision camera, and calculates the optimal extension timing of the retractable guide wheel assembly and the pre-adjustment amount of the prefabricated component. Step S5: The intelligent control system sends a pre-adjustment command to the lifting equipment to adjust the horizontal position of the prefabricated component so that it is aligned with the rigid guide rail assembly; Step S6: When the prefabricated component descends to the preset height corresponding to the optimal extension time, the intelligent control system controls the retractable guide wheel assembly to switch to the extension working state; Step S7: Continue to descend, so that the retractable guide wheel assembly contacts and engages with the rigid guide rail assembly, and the horizontal position deviation of the prefabricated component is forcibly corrected by the rigid guide; Step S8: After the precast components are positioned on the lower support structure, the intelligent control system controls the release of the prestress of the prestressed tension rod and removes the multi-functional end hanging plate and the prestressed tension rod.

10. The installation method of the auxiliary installation structure for large-span prefabricated building components according to claim 9, characterized in that, In step S4, the calculation of the optimal extension timing includes: Based on the point cloud data collected by the lidar, the spatial position of the guide surface of the rigid guide rail assembly is identified; Based on the image data acquired by the binocular vision camera, the identification code on the multi-functional clamp is identified to obtain the model, verticality and installation deviation information of the rigid guide rail assembly; Based on the component attitude data collected by the inertial measurement unit and combined with the spatial position of the rigid guide rail assembly, the theoretical contact point between the guide wheel and the guide rail guide surface is calculated. When the theoretical contact point is less than a preset threshold from the current component position, it is determined to be the optimal extension time.

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