An assembled modular integrated building hoisting device and a construction method thereof

Abstract

The application provides a hoisting device for assembled modular integrated buildings and a construction method thereof, and relates to the technical field of modular integrated building construction. The gantry limiting mechanism extends and is fixed on the ground in the up-down direction. The hoisting mechanism comprises a fixed frame, a main hoisting point, a plurality of guide roller assemblies and a plurality of upper hoisting points. The guide roller assemblies are installed on the fixed frame. The fixed frame is fixedly connected with the gantry limiting mechanism through a clamping mechanism. Through cooperation of the gantry limiting mechanism and the guide roller assemblies, the fixed frame only has a translation degree of freedom in the up-down direction, thereby completely geometrically restricting horizontal translation and rotation freedom of the modular building during hoisting, and eliminating shaking caused by factors such as wind load, crane start-stop inertia force and the like in the conventional four-point suspension mode.

Description

Technical Field

[0001] This invention relates to the field of modular integrated building construction technology, specifically to a prefabricated modular integrated building hoisting equipment and its construction method. Background Technology

[0002] With the continuous advancement of urbanization, the demolition and reconstruction of old residential areas has become a core measure to improve residents' living conditions and optimize the urban landscape. This project requires the hoisting of modular components of various sizes and weights, such as prefabricated wall panels, balcony modules, and stair units, which places special demands on the spatial adaptability, low interference, and high efficiency of the hoisting equipment.

[0003] Patent publication number CN121317530A discloses a prefabricated modular integrated building hoisting equipment and its construction method. The device includes a multi-tower truss support structure and a hoisting trolley. The multi-tower truss support structure comprises four support towers, two truss-type horizontal beams, and two truss-type longitudinal beams, with the truss-type horizontal and longitudinal beams installed on top of the four support towers. The method includes: Step 1, foundation treatment and installation of prefabricated outrigger bases; Step 2, installation of the support towers; Step 3, segmented hoisting and connection of the truss-type horizontal and longitudinal beams; Step 4, installation of the intelligent jacking mechanism and the hoisting trolley; and Step 5, multi-tower collaborative hoisting. This invention features a reasonable structural design and rapid construction speed. Utilizing the multi-tower truss hoisting structure, a multi-tower collaborative intelligent control system can be constructed, effectively overcoming the limitations of traditional single-tower systems, adapting to diverse construction scenarios, and effectively improving construction accuracy and safety.

[0004] While the aforementioned patents can achieve a multi-tower collaborative intelligent control system, effectively overcoming the limitations of traditional single-tower systems and adapting to diverse construction scenarios, they still have the following shortcomings: The four-point suspension method is commonly used in the hoisting of prefabricated modular integrated buildings. This involves the crane's main hook connecting to the four corners of the module's top via a hoisting spreader beam and four slings. However, this method has significant drawbacks. The slings and main hook are hinged at a single point, and the module lacks effective horizontal restraint. Under wind loads or starting / stopping inertial forces, it is prone to significant oscillations, which worsen with increasing hoisting height. This not only endangers the safety of personnel below but also frequently causes collisions and damage to already installed modules. Simultaneously, asymmetrical internal equipment arrangement within the module leads to a shift in the center of gravity. Without bottom restraint, the module tilts and twists relative to the gantry, resulting in uneven sling stress, individual overloads, or slack, further exacerbating the oscillation and preventing precise alignment of the bottom connectors. This necessitates repeated adjustments and rework, severely restricting hoisting efficiency and quality. Summary of the Invention

[0005] The purpose of this invention is to provide a prefabricated modular integrated building hoisting equipment and its construction method, aiming to solve the problems in the existing modular building hoisting technology that uses a top four-point suspension method, where the slings and main hooks are only hinged at a single point. The modules lack effective horizontal constraints, making them prone to large-scale reciprocating swings when affected by wind loads or start-stop inertial forces. This can easily endanger the safety of workers below, and often results in collisions with already installed modules, causing damage. Furthermore, the asymmetrical arrangement of equipment inside the modules leads to a shift in the center of gravity. Without bottom constraints, the modules tilt and twist relative to the hoisting frame, resulting in uneven force on the slings, individual overloads or slack, and exacerbating the swinging problem.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a prefabricated modular integrated building hoisting equipment, comprising a gantry crane limiting mechanism, a hoisting mechanism, a restraint mechanism, and a crane main hook; The gantry frame limiting mechanism extends vertically and is fixed to the ground; The hoisting mechanism includes a fixed frame, a main hoisting point, several guide roller assemblies, and several upper hoisting points. The guide roller assemblies are installed on the fixed frame. The fixed frame is fixedly connected to the gantry crane limiting mechanism via a clamping mechanism. The guide roller assemblies are slidably connected to the gantry crane limiting mechanism. The main hoisting point is fixed to the top of the fixed frame and is fixedly connected to the crane's main hook via a main hoisting cable. The upper hoisting points are installed on the lower chord of the fixed frame and are connected to the four corner hoisting points at the top of the modular building via upper hoisting cables. The constraint mechanism includes several telescopic rods and several connectors. The connectors are fixed to the lower outer side of the modular building. There are several telescopic rods, which are hinged to the bottom of the fixed frame. The end of the telescopic rod away from the fixed frame is threaded to the connector. A position sensor is installed on the fixed frame, and the position sensor signal is connected to a controller. The controller signal is connected to the clamping mechanism. A tension sensor is installed on the main sling of the crane's main hook. A pre-tension force sensor is installed on each of the telescopic tie rods. A locking position sensor is installed inside each of the connectors.

[0007] Preferably, the fixing frame includes two insert rods, two sets of U-shaped frames, and a locking assembly; The two sets of U-shaped frame guides are inserted at both ends of the two insert rods, and the U-shaped frames are fixedly connected to the insert rods by locking components; Both the guide roller assembly and the clamping mechanism are mounted on the U-shaped frame.

[0008] Preferably, the locking assembly includes a plurality of first locking holes, a plurality of second locking holes, and a plurality of locking bolts; The first locking hole is opened on the insert rod, the second locking hole is opened on the U-shaped frame, the locking bolt passes through the first locking hole and the second locking hole, and the two ends of the locking bolt that pass through the U-shaped frame are threaded with locking nuts.

[0009] Preferably, the guide roller assembly includes a main roller and a secondary roller; The main wheel rotates on the side wall of the U-shaped frame, and there are several auxiliary wheels that rotate on the front and rear sides of the U-shaped frame. The main wheel rolls against the inner wall of the gantry limiting mechanism, and two adjacent auxiliary wheels roll against the edge plate of the gantry limiting mechanism.

[0010] Preferably, the telescopic rod includes a multi-section electric push rod, a motor, and a bolt post; The bottom of the U-shaped frame has a groove, the fixed section of the multi-section electric push rod is hinged in the groove, the motor is fixed at the end of the movable section of the multi-section electric push rod, the bolt post is fixed on the output shaft of the motor, and the bolt post is threadedly connected to the connector head so that the bolt post can be screwed into the connector head under the action of the multi-section electric push rod and the motor.

[0011] Preferably, the gantry limiting mechanism includes several fixed frames and several guide rails; The mounting bracket is fixed to the ground, the guide rail is fixed to the side wall of the mounting bracket, the main wheel rolls against the inner wall of the guide rail, and the two adjacent auxiliary wheels roll against the flange plate of the guide rail.

[0012] Preferably, the locking mechanism includes a positioning hole and a pneumatic wedge-shaped locking tongue; The positioning holes are a plurality of holes, spaced apart on the guide rail. The pneumatic wedge lock tongue is mounted on the U-shaped frame. The U-shaped frame is inserted into the positioning holes. The pneumatic wedge lock tongue is connected to the controller signal. The position sensor is mounted on the U-shaped frame, and a magnetic scale is installed inside the guide rail.

[0013] Preferably, both the tension sensor and the preload sensor are connected to the controller signal, and the controller is connected to the telescopic rod and the crane main hook signal. A laser rangefinder is mounted on the U-shaped frame, and the laser rangefinder is connected to the controller.

[0014] Preferably, the locking position sensor is signal-connected to the controller.

[0015] A construction method for prefabricated modular integrated building hoisting equipment includes the following steps: S1, fix the gantry limit mechanism at the construction position, install the fixed frame of the hoisting mechanism onto the gantry limit mechanism through the guide roller assembly, so that the fixed frame only has the degree of freedom of translation in the vertical direction, and connect the main hook of the crane to the main lifting point at the top of the fixed frame through the main sling; S2, connect one end of the sling to the upper sling point of the lower chord of the fixed frame and the other end to the sling point at the top of the modular building. Extend the telescopic rod from the bottom of the fixed frame and make the bolt column at the lower end of the telescopic rod align with the connector at the bottom of the modular building and lock it rigidly, so that the modular building and the fixed frame are relatively fixedly connected. S3, the crane's main hook lifts the fixed frame through the main sling, and the fixed frame drives the modular building to rise vertically along the gantry limit mechanism. The gantry limit mechanism constrains the horizontal translational and rotational degrees of freedom of the fixed frame and the modular building. S4, when the fixed frame rises to the preset installation layer height, the fixed frame is temporarily locked to the gantry limit mechanism by the clamping mechanism; S5, adjust the horizontal position of the modular building so that the connectors at the bottom of the modular building are aligned with the reserved interfaces of the modules installed on the lower layer, and then slowly lower the fixing frame to place the modular building in place; S6, release the rigid locking between the telescopic rod and the connector, retract and fold the telescopic rod for storage, release the connection between the upper sling and the top lifting point of the modular building, and release the locking mechanism from the fixed frame; the crane's main hook lifts the fixed frame away and prepares for the hoisting of the next module.

[0016] The beneficial effects are: 1. Through the cooperation of the gantry limit mechanism and the guide roller assembly, the fixed frame only has the degree of freedom of translation in the vertical direction, which geometrically constrains the horizontal translation and rotational degree of freedom around the vertical axis of the modular building during the hoisting process. This eliminates the swaying caused by wind load, crane start-stop inertia and other factors in the traditional four-point suspension method. At the same time, the locking joint at the lower end of the telescopic tie rod is rigidly locked to the connector at the bottom of the modular building, making the modular building and the fixed frame form a relatively rigid body. This avoids the problem of module tilting and torsion relative to the hanger caused by the center of gravity shift due to the asymmetrical arrangement of equipment inside the modular building. The above dual constraint mechanism ensures that the module always maintains a vertical posture during the entire hoisting process, which greatly improves the safety of hoisting operations.

[0017] 2. Tension sensors are installed on the main slings and preload sensors are installed on each telescopic tie rod. A controller linkage control mechanism is established to realize real-time monitoring and active adjustment of the sling force. When the tension difference of each upper sling exceeds the set threshold, the controller adjusts the preload of the corresponding telescopic tie rod, avoiding overload or slack of individual slings due to center of gravity shift, extending the service life of the slings and reducing the risk of rope breakage. Attached Figure Description

[0018] Figure 1 This is a structural diagram illustrating the usage process of the present invention; Figure 2 This is a schematic diagram of the fixed frame of the present invention sliding along the guide rail; Figure 3 This is a schematic diagram of the connection between the fixed frame and the modular building of the present invention; Figure 4 This is a front view schematic diagram of the connection between the fixed frame and the modular building of the present invention; Figure 5 This is a schematic diagram of the fixed frame structure of the present invention; Figure 6 This is a schematic diagram of the guide roller assembly of the present invention sliding on the guide rail; Figure 7 In this invention Figure 6 A magnified structural diagram at point A; Figure 8 This is a schematic diagram of the structure of the telescopic pull rod of the present invention retracting into the U-shaped frame; Figure 9 This is a schematic diagram of the connection between the telescopic rod and the connector of the present invention; Figure 10 This is a schematic diagram of the clamping mechanism of the present invention; Figure 11 This is a schematic diagram of the locking position sensor of the present invention installed inside the connector.

[0019] In the diagram: 1. Fixed frame; 101. Insert rod; 102. U-shaped frame; 2. Crane main hook; 3. Guide roller assembly; 301. Main wheel; 302. Secondary wheel; 4. Lifting point; 5. Telescopic rod; 501. Multi-section electric push rod; 502. Motor; 503. Bolt column; 6. Connector; 7. First locking hole; 8. Second locking hole; 9. Locking bolt; 10. Fixed frame; 11. Guide rail; 12. Tension sensor; 13. Preload sensor; 14. Laser rangefinder sensor; 15. Modular building; 16. Clamping mechanism; 1601. Positioning hole; 1602. Pneumatic wedge lock tongue; 17. Locking position sensor; 18. Main lifting point. Detailed Implementation

[0020] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0021] A prefabricated modular integrated building hoisting equipment includes a gantry limit mechanism, a hoisting mechanism, and a crane main hook 2. In this embodiment, the crane main hook 2 consists of a crane and a main hook. The crane can drive the main hook to start and stop so as to suspend the fixed frame 1. In this embodiment, the structure and principle of the crane are existing technologies and will not be described in detail here.

[0022] like Figures 1-4 As shown, the hoisting mechanism includes a fixed frame 1, a main lifting point 18, several guide roller assemblies 3, and several upper lifting points 4. The main lifting point 18 is fixed to the top of the fixed frame 1 and is fixedly connected to the crane main hook 2 via a main lifting cable. The main lifting point 18 is fixed at the center of the top of the fixed frame 1. The main lifting point 18 is a cast steel part with lifting lugs at its upper part for connecting to the crane main hook 2 via the main lifting cable. The main lifting cable is a high-strength steel wire rope, with its two ends connected to the main lifting point 18 and the crane main hook 2 respectively, and a middle section may be provided. A swivel joint is used to prevent the wire rope from twisting. The upper suspension point 4 is installed on the lower chord of the fixed frame 1. The upper suspension point 4 is connected to the four corner suspension points of the top of the modular building 15 through the upper suspension cable. The upper suspension cable is a high-strength chain or wire rope. Its upper end is connected to the upper suspension point 4 through a shackle, and its lower end is connected to the pre-embedded lifting ring or ISO corner fitting hole on the top of the modular building 15 through a hook. The length of the upper suspension cable can be finely adjusted by turnbuckle to ensure that the four upper suspension cables are evenly stressed, so that the fixed frame 1 can be suspended from the modular building 15 through the upper suspension point 4.

[0023] Specifically, the fixed frame 1 includes two insert rods 101, two sets of U-shaped frames 102, and a locking assembly. In this embodiment, both the two insert rods 101 are made of rectangular steel pipes and are arranged in parallel at intervals to form the main load-bearing beams of the fixed frame 1. Each set of U-shaped frames 102 consists of two parts, which are respectively fitted onto the two ends of the two insert rods 101. The U-shaped frames 102 are formed by bending steel plates and have a U-shaped cross-section. The bottom plate of the U-shaped frame 102 is attached to the bottom surface of the insert rod 101, and the two side walls of the U-shaped frame 102 cover the insert rod 101. On both sides of 01, the U-shaped frame 102 can slide along the length of the insertion rod 101 to adapt to modular buildings 15 of different widths. The two sets of U-shaped frames 102 are guided and inserted at both ends of the two insertion rods 101. The U-shaped frame 102 is fixedly connected to the insertion rod 101 by a locking assembly. The guide roller assembly 3 and the clamping mechanism 16 are both installed on the U-shaped frame 102. The two sets of U-shaped frames 102 can be adjusted in size according to the usage to adapt to modular buildings 15 of different sizes, thus improving applicability.

[0024] The locking assembly includes several first locking holes 7, several second locking holes 8, and several locking bolts 9. The first locking holes 7 are opened on the insert rod 101, and the second locking holes 8 are opened on the U-shaped frame 102. After the U-shaped frame 102 is moved, the first locking holes 7 and the second locking holes 8 correspond to each other. Then, the locking bolts 9 are inserted into the first locking holes 7 and the second locking holes 8. Both ends of the locking bolts 9 that protrude from the U-shaped frame 102 are threaded with locking nuts. By selecting different alignments of the first locking holes 7 and the second locking holes 8, the distance between the two sets of U-shaped frames 102 can be adjusted, thereby adapting to modular buildings 15 of different widths.

[0025] like Figures 5-7 As shown, the guide roller assembly 3 is mounted on the fixed frame 1, and the guide roller assembly 3 is slidably connected to the gantry limit mechanism so that the fixed frame 1 can move up and down along the gantry limit mechanism.

[0026] Specifically, the guide roller assembly 3 includes a main roller 301 and auxiliary rollers 302. The main roller 301 is rotatably mounted on the center of the outer wall of the U-shaped frame 102, with its axis of rotation perpendicular to the side of the fixed frame 1. The surface of the main roller 301 is cylindrical, and it rolls against the inner wall (i.e., the bottom surface of the groove) of the guide rail 11 to bear the weight component and horizontal thrust of the fixed frame 1 and the modular building 15. There are several auxiliary rollers 302, which rotate on the front and rear sides of the U-shaped frame 102, with their axes of rotation perpendicular to the front of the fixed frame 1. In the rear direction, the two auxiliary wheels 302 have cylindrical surfaces and roll against the inner sides of the two flange plates of the guide rail 11 to limit the displacement of the fixed frame 1 in the front-rear direction. The main wheel 301 rolls against the inner wall of the gantry limiting mechanism, and the two adjacent auxiliary wheels 302 roll against the edge plate of the gantry limiting mechanism, so that the fixed frame 1 can move up and down along the gantry limiting mechanism. The guide roller assembly 3 ensures that the fixed frame 1 will not shake when it is raised or lowered.

[0027] In this embodiment, both the main wheel 301 and the auxiliary wheel 302 are made of polyurethane material, which has good wear resistance and shock absorption performance. Both the main wheel 301 and the auxiliary wheel 302 are installed by an eccentric shaft, and the gap between the roller and the guide rail 11 can be adjusted by rotating the eccentric shaft.

[0028] like Figure 10As shown, the gantry limiting mechanism extends and is fixed to the ground in the vertical direction. The fixed frame 1 is fixedly connected to the gantry limiting mechanism through the clamping mechanism 16, so that when the fixed frame 1 moves up and down along the gantry limiting mechanism, the clamping mechanism 16 can lock the position of the fixed frame 1, so that the modular building 15 always maintains a vertical posture. The deviation of its bottom connector and the reserved interface of the lower installed module in the horizontal direction is strictly controlled within the guide rail gap range, eliminating the need for repeated adjustments and manual prying correction, significantly shortening the alignment time and improving the hoisting construction efficiency.

[0029] Specifically, the gantry crane limiting mechanism includes several fixed frames 10 and several guide rails 11. In this embodiment, the fixed frames 10 extend vertically and are fixed to the ground to provide vertical guidance for the hoisting mechanism and constrain its horizontal degree of freedom. The fixed frames 10 are H-shaped rigid column structures, and their bottoms are fixed to the concrete foundation with anchor bolts. The number of fixed frames 10 is determined according to the construction height, and they are arranged in a rectangular pattern in the dead corners of the building. Adjacent fixed frames 10 are connected by horizontal beams and diagonal braces to form a stable structure. The fixed gantry structure has a guide rail 11 fixed to the side wall of the fixed frame 10. The guide rail 11 is made of cold-formed channel steel with a C-shaped cross section and the opening faces the side of the modular building 15. The guide rail 11 is fixed to the fixed frame 10 by bolts and extends in the vertical direction. The length of the guide rail 11 is determined according to the height of the construction floor. Adjacent guide rails 11 are connected by butt plates and bolts to form a continuous guide rail surface. The positive wheel 301 rolls against the inner wall of the guide rail 11, and the two adjacent auxiliary wheels 302 roll against the flange plate of the guide rail 11.

[0030] The locking mechanism 16 includes a positioning hole 1601 and a pneumatic wedge-shaped locking tongue 1602. A cylinder is connected to the rear end of the pneumatic wedge-shaped locking tongue 1602. The air inlet of the cylinder is connected to an air source via an air pipe. When air enters the cylinder, it pushes the pneumatic wedge-shaped locking tongue 1602 forward, inserting it into the corresponding positioning hole 1601 to temporarily lock the fixed frame 1 and the guide rail 11. When air is exhausted from the cylinder, the spring inside the pneumatic wedge-shaped locking tongue 1602 returns to its original position, causing the pneumatic wedge-shaped locking tongue 1602 to retract and release the lock. Several positioning holes 1601 are spaced apart on the guide rail 11. The pneumatic wedge-shaped locking tongue 1602 is mounted on the U-shaped frame 102. The U-shaped frame 102 and... The positioning hole 1601 is plugged in, and the pneumatic wedge lock tongue 1602 is connected to the controller signal. The position sensor is installed on the U-shaped frame 102, and a magnetic scale is installed in the guide rail 11. The position sensor is a magnetic sensor used to read the position signal on the magnetic scale, thereby obtaining the current height of the fixed frame 1. The position sensor signal is connected to the controller. When the fixed frame 1 reaches the preset installation layer height, the controller triggers the pneumatic wedge lock tongue 1602 to extend and insert into the corresponding positioning hole 1601. At the same time, a stop descent signal is sent to the crane main hook 2 so that the position sensor can read the current height and send a stop descent signal to the crane main hook 2.

[0031] like Figure 8 and Figure 9 As shown, the constraint mechanism includes several telescopic rods 5 and several connectors 6. The connectors 6 are fixed to the lower outer side of the modular building 15. There are several telescopic rods 5, which are hinged to the bottom of the fixed frame 1. The end of the telescopic rod 5 away from the fixed frame 1 is threadedly connected to the connector 6 so that the modular building 15 and the fixed frame 1 are relatively fixedly connected through the telescopic rods 5 and the connectors 6, thereby avoiding the modular building 15 from twisting.

[0032] Specifically, the telescopic rod 5 includes a multi-section electric push rod 501, a motor 502, and a bolt post 503. In this embodiment, the multi-section electric push rod 501 is composed of several sleeves, with adjacent sleeves connected by a ball screw pair. A servo motor is installed in the fixed section of the multi-section electric push rod 501. The output shaft of the servo motor drives the ball screw to rotate through a gear reduction mechanism, thereby pushing the movable section to extend and retract. The stroke of the multi-section electric push rod 501 is not less than the height of the modular building 15. The multi-section electric push rod 501 has a self-locking function; when the servo motor stops supplying power, the ball screw... The self-locking characteristic of the lever pair allows the telescopic rod 5 to remain in its current position without retraction or extension. The bottom of the U-shaped frame 102 has a groove, and the fixed section of the multi-section electric push rod 501 is hinged in the groove. The motor 502 is fixed to the end of the movable section of the multi-section electric push rod 501. The bolt post 503 is fixed to the output shaft of the motor 502 and is threadedly connected to the connector 6 so that the bolt post 503 can be screwed into the connector 6 under the action of the multi-section electric push rod 501 and the motor 502, thereby achieving the purpose of relatively fixed connection between the telescopic rod 5 and the connector 6.

[0033] The locking position sensor 17 is connected to the controller signal so that the controller sends a lifting permission signal to the crane main hook 2 only when all four locking position sensors 17 of the connector 6 have reported that they are locked. If any locking position sensor 17 is not locked, the crane main hook 2 cannot be lifted.

[0034] like Figure 1 , Figure 8 and Figure 9 As shown, a position sensor is installed on the fixed frame 1, the position sensor signal is connected to the controller, the controller signal is connected to the clamping mechanism 16, a tension sensor 12 is installed on the main sling of the crane main hook 2, a pre-tension force sensor 13 is installed on each telescopic tie rod 5, and a locking position sensor 17 is installed inside each connector 6.

[0035] Specifically, both tension sensor 12 and preload sensor 13 are connected to the controller. The controller is connected to the telescopic rod 5 and the crane main hook 2. Tension sensor 12 is a resistance strain gauge sensor, installed on the main slings between the crane main hook 2 and the main lifting point 18, used to detect the tension value of each main sling. Tension sensor 12 is connected to the controller. Preload sensor 13 is a piezoresistive force sensor, installed between the movable section of the multi-section electric push rod 501 and the bolt column 503, used to detect the preload value output by the telescopic rod 5. Preload sensor 13 is connected to the controller. When the tension sensor 12 on the main sling detects a tension difference exceeding a set threshold, the extension of the corresponding telescopic rod 5 is adjusted. The tension of the top main sling is made uniform again by providing a compensating torque through the bottom telescopic tie rod 5. A laser rangefinder 14 is installed on the U-shaped frame 102. The laser rangefinder 14 is connected to the controller. The laser rangefinder 14 is a phase laser rangefinder, installed downwards, and is used to measure the distance between the bottom of the fixed frame 1 and the top of the modular building 15, thereby calculating the actual height of the modular building 15. The laser rangefinder 14 is connected to the controller so that the laser rangefinder 14 measures the actual height of the module. The controller determines the required extension length of the telescopic tie rod 5 based on the measured height and adjusts the extension of the top main sling simultaneously so that the top and bottom are adapted to the size of the modular building 15.

[0036] In this embodiment, the controller is a PLC controller or an industrial computer, installed on the fixed frame 1 or in the ground control cabinet. The controller is connected to the tension sensor 12, the preload sensor 13, the position sensor, the locking position sensor 17, the laser rangefinder 14, the cylinder solenoid valve of the pneumatic wedge lock tongue 1602, the servo motor driver of the multi-section electric push rod 501, and the motor 502. The controller is also connected to the hoisting control system of the crane main hook 2 to send commands such as allow hoisting, stop descent, and emergency stop.

[0037] In this embodiment, the construction method of the prefabricated modular integrated building hoisting equipment includes the following steps: S1, fix the fixed frame 10 of the gantry limit mechanism to the concrete foundation with anchor bolts, install horizontal beams and diagonal braces to form a stable structure, fix the guide rail 11 to the side wall of the fixed frame 10 with bolts, and ensure that the adjacent guide rails 11 are aligned and flat, install the fixed frame 1 of the hoisting mechanism onto the guide rail 11 through the guide roller assembly 3, so that the main wheel 301 abuts against the inner wall of the guide rail 11, and the two auxiliary wheels 302 abut against the inner side of the two flange plates of the guide rail 11 respectively. The fixed frame 1 only has the degree of freedom of translation in the vertical direction, and connect the main hook 2 of the crane to the main lifting point 18 at the top of the fixed frame 1 through the main sling. S2, connect one end of the sling to the upper suspension point 4 of the lower chord of the fixed frame 1, and the other end to the suspension point at the top of the modular building 15. Extend the telescopic rod 5 from the bottom of the fixed frame 1 and make the bolt column 503 at the lower end of the telescopic rod 5 dock with the connector 6 at the bottom of the modular building 15 and lock it rigidly, so that the modular building 15 is relatively fixedly connected to the fixed frame 1. S3, the main hook 2 of the crane lifts the fixed frame 1 through the main sling, and the fixed frame 1 drives the modular building 15 to rise vertically along the gantry limit mechanism. The gantry limit mechanism constrains the horizontal translation and rotational degrees of freedom of the fixed frame 1 and the modular building 15. S4, when the fixed frame 1 rises to the preset installation layer height, the fixed frame 1 is temporarily locked to the gantry limit mechanism by the clamping mechanism 16; S5, fine-tune the horizontal position of the modular building 15 so that the connector at the bottom of the modular building 15 is aligned with the reserved interface of the lower-level installed module, and then slowly lower the fixing frame 1 to place the modular building 15 in place. S6, release the rigid locking between the telescopic rod 5 and the connector 6, retract and fold the telescopic rod 5, release the connection between the upper sling and the top lifting point of the modular building 15, and release the locking mechanism 16 from locking the fixed frame 1; the crane main hook 2 lifts the fixed frame 1 away and prepares for the hoisting of the next module.

[0038] The embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. The basic concept of the present invention is to constrain the fixed frame 1 to move only up and down by using the gantry guide rail, thereby eliminating horizontal swaying of the module; at the same time, the bottom telescopic tie rod 5 rigidifies the modular building 15 and the fixed frame 1 into one unit, eliminating tilting and torsion of the modular building 15; and then, through sensor linkage control, automatic balancing and locking are achieved, ultimately realizing precise hoisting of the module with zero sway and zero tilt. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A prefabricated modular integrated building hoisting equipment, characterized in that, Including the gantry limit mechanism, hoisting mechanism, restraint mechanism and crane main hook (2); The gantry frame limiting mechanism extends vertically and is fixed to the ground; The hoisting mechanism includes a fixed frame (1), a main hoisting point (18), several guide roller assemblies (3) and several upper hoisting points (4). The guide roller assemblies (3) are installed on the fixed frame (1). The fixed frame (1) is fixedly connected to the gantry frame limiting mechanism through a clamping mechanism (16). The guide roller assemblies (3) are slidably connected to the gantry frame limiting mechanism. The main hoisting point (18) is fixed on the top of the fixed frame (1). The main hoisting point (18) is fixedly connected to the crane main hook (2) through a main hoisting cable. The upper hoisting points (4) are installed on the lower chord of the fixed frame (1). The upper hoisting points (4) are connected to the four corner hoisting points of the top of the modular building (15) through upper hoisting cables. The constraint mechanism includes several telescopic rods (5) and several connectors (6). The connectors (6) are fixed to the lower outer side of the modular building (15). There are several telescopic rods (5) and they are hinged to the bottom of the fixed frame (1). The end of the telescopic rod (5) away from the fixed frame (1) is threaded to the connector (6). A position sensor is installed on the fixed frame (1), the position sensor is connected to a controller, the controller is connected to the clamping mechanism (16), a tension sensor (12) is installed on the main sling of the crane main hook (2), a pre-tension force sensor (13) is installed on each of the telescopic rods (5), and a locking position sensor (17) is installed inside each of the connectors (6).

2. The prefabricated modular integrated building hoisting equipment according to claim 1, characterized in that, The fixed frame (1) includes two insert rods (101), two sets of U-shaped frames (102), and a locking assembly; Two sets of U-shaped frames (102) are guided and inserted at both ends of two insert rods (101), and the U-shaped frames (102) are fixedly connected to the insert rods (101) by locking components; The guide roller assembly (3) and the clamping mechanism (16) are both mounted on the U-shaped frame (102).

3. The prefabricated modular integrated building hoisting equipment according to claim 2, characterized in that, The locking assembly includes a plurality of first locking holes (7), a plurality of second locking holes (8), and a plurality of locking bolts (9); The first locking hole (7) is opened on the insert rod (101), the second locking hole (8) is opened on the U-shaped frame (102), the locking bolt (9) passes through the first locking hole (7) and the second locking hole (8), and the two ends of the locking bolt (9) that pass through the U-shaped frame (102) are threaded with locking nuts.

4. The prefabricated modular integrated building hoisting equipment according to claim 2, characterized in that, The guide roller assembly (3) includes a main roller (301) and a secondary roller (302); The main wheel (301) rotates on the side wall of the U-shaped frame (102), and there are several auxiliary wheels (302) that rotate on the front and rear sides of the U-shaped frame (102). The main wheel (301) rolls against the inner wall of the gantry limiting mechanism, and two adjacent auxiliary wheels (302) roll against the edge plate of the gantry limiting mechanism.

5. The prefabricated modular integrated building hoisting equipment according to claim 2, characterized in that, The telescopic rod (5) includes a multi-section electric push rod (501), a motor (502), and a bolt post (503); The bottom of the U-shaped frame (102) is provided with a groove, the fixed section of the multi-section electric push rod (501) is hinged in the groove, the motor (502) is fixed at the end of the movable section of the multi-section electric push rod (501), the bolt post (503) is fixed on the output shaft of the motor (502), and the bolt post (503) is threadedly connected to the connector (6) so that the bolt post (503) can be screwed into the connector (6) under the action of the multi-section electric push rod (501) and the motor (502).

6. The prefabricated modular integrated building hoisting equipment according to claim 4, characterized in that, The gantry limiting mechanism includes several fixed frames (10) and several guide rails (11). The fixed frame (10) is fixed on the ground, the guide rail (11) is fixed on the side wall of the fixed frame (10), the main wheel (301) rolls against the inner wall of the guide rail (11), and the two adjacent auxiliary wheels (302) roll against the flange of the guide rail (11).

7. The prefabricated modular integrated building hoisting equipment according to claim 6, characterized in that, The locking mechanism (16) includes a positioning hole (1601) and a pneumatic wedge-shaped locking tongue (1602). The positioning holes (1601) are a plurality of those, and are spaced apart on the guide rail (11). The pneumatic wedge-shaped locking tongue (1602) is mounted on the U-shaped frame (102). The U-shaped frame (102) is plugged into the positioning holes (1601). The pneumatic wedge-shaped locking tongue (1602) is connected to the controller signal. The position sensor is mounted on the U-shaped frame (102), and a magnetic scale is installed inside the guide rail (11).

8. The prefabricated modular integrated building hoisting equipment according to claim 7, characterized in that, The tension sensor (12) and the preload sensor (13) are both connected to the controller signal, and the controller is connected to the telescopic rod (5) and the crane main hook (2) signal. A laser rangefinder (14) is installed on the U-shaped frame (102), and the laser rangefinder (14) is connected to the controller.

9. The prefabricated modular integrated building hoisting equipment according to claim 8, characterized in that, The locking position sensor (17) is connected to the controller signal.

10. The construction method of a prefabricated modular integrated building hoisting equipment according to claim 9, characterized in that, Includes the following steps: S1, fix the gantry limit mechanism at the construction position, install the fixed frame (1) of the hoisting mechanism onto the gantry limit mechanism through the guide roller assembly (3), so that the fixed frame (1) only has the degree of freedom of translation in the up and down direction, and connect the crane main hook (2) to the main lifting point (18) at the top of the fixed frame (1) through the main sling. S2, connect one end of the sling to the upper sling point (4) of the lower chord of the fixed frame (1), and the other end to the sling point at the top of the modular building (15). Extend the telescopic rod (5) from the bottom of the fixed frame (1) and make the bolt column (503) at the lower end of the telescopic rod (5) dock with the connector (6) at the bottom of the modular building (15) and lock it rigidly, so that the modular building (15) and the fixed frame (1) are relatively fixedly connected. S3, the crane main hook (2) lifts the fixed frame (1) through the main sling, and the fixed frame (1) drives the modular building (15) to rise vertically along the gantry limit mechanism. The gantry limit mechanism constrains the horizontal translation and rotational freedom of the fixed frame (1) and the modular building (15). S4, when the fixed frame (1) rises to the preset installation layer height, the fixed frame (1) is temporarily locked on the gantry limit mechanism by the clamping mechanism (16); S5, adjust the horizontal position of the modular building (15) so that the connector at the bottom of the modular building (15) is aligned with the reserved interface of the lower-level installed module, and then slowly lower the fixed frame (1) so that the modular building (15) is in place; S6, release the rigid locking between the telescopic rod (5) and the connector (6), retract the telescopic rod (5) and fold it for storage, release the connection between the upper sling and the top lifting point of the modular building (15), release the locking mechanism (16) from the fixed frame (1); the crane main hook (2) lifts the fixed frame (1) away and prepares for the hoisting of the next module.

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