CN117246927A - In-building lifting equipment for large unit curtain wall and construction method thereof - Google Patents
In-building lifting equipment for large unit curtain wall and construction method thereof Download PDFInfo
- Publication number
- CN117246927A CN117246927A CN202311362599.9A CN202311362599A CN117246927A CN 117246927 A CN117246927 A CN 117246927A CN 202311362599 A CN202311362599 A CN 202311362599A CN 117246927 A CN117246927 A CN 117246927A
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- Prior art keywords
- curtain wall
- floor
- unit curtain
- suspension arm
- truss
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- 238000010276 construction Methods 0.000 title claims abstract description 20
- 239000000725 suspension Substances 0.000 claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 238000012806 monitoring device Methods 0.000 claims abstract description 19
- 238000009434 installation Methods 0.000 claims abstract description 9
- 238000004804 winding Methods 0.000 claims abstract description 9
- 235000019504 cigarettes Nutrition 0.000 claims abstract description 4
- 238000012544 monitoring process Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/66—Outer or upper end constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The invention discloses in-building lifting equipment of a large unit curtain wall and a construction method thereof, wherein the in-building lifting equipment comprises the following steps: the truss suspension arm is arranged in the floor, the indoor end of the truss suspension arm extends to the outside of the floor, two support beams are arranged below the indoor end, two ends of one support beam close to the outdoor are detachably arranged on the ceiling of the floor through suspension posts, and two ends of the other support beam are erected on the floor of the floor through the support posts; the double-rope winding machine is arranged at the indoor end, the truss suspension arm is movably provided with a trolley luffing mechanism, and a sling of the double-rope cigarette machine is connected with the trolley luffing mechanism; the monitoring device is arranged at the outdoor end and comprises an inclination angle sensor, a wind speed sensor and a monitor; the remote cockpit is provided with a controller and a display screen, and the controller is connected with the monitoring device and the display screen. The invention solves the problems that the installation of the traditional large-sized unitized curtain wall takes a long time for occupying a tower crane and the automobile crane occupies a ground construction site.
Description
Technical Field
The invention relates to the technical field of building construction, in particular to in-building lifting equipment of a large unit curtain wall and a construction method thereof.
Background
The installation of the large-sized unit curtain wall (weight is more than 5 t) needs to be carried out by means of an automobile crane, and then the installation is carried out by means of tower crane positioning and lifting. The construction method has the following problems in the super high-rise construction process: firstly, the curtain wall installation occupies long working time of a tower crane, a steel structure or a core tube stagnates due to the occupied tower crane, construction flow is interrupted, and the construction period is prolonged; secondly, the automobile crane occupies a construction site, which is unfavorable for construction plane arrangement.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person of ordinary skill in the art.
Disclosure of Invention
In order to overcome the defects existing in the prior art, the invention provides in-building lifting equipment of a large unit curtain wall and a construction method thereof, so as to solve the problems that the installation of the traditional large unit curtain wall takes up long time of a tower crane and the ground construction site is occupied by an automobile crane.
In order to achieve the above object, there is provided an in-building lifting apparatus for a large-sized unit curtain wall, comprising:
the truss suspension arm is provided with an indoor end and an outdoor end which are opposite, the indoor end is arranged in a floor, the outdoor end extends to the outside of the floor, two support beams arranged along the length direction of the truss suspension arm are arranged below the indoor end, two ends of one support beam close to the outdoor are detachably arranged on the ceiling of the floor through suspension posts, and two ends of the other support beam are erected on the floor of the floor through support posts;
the double-rope winding machine is arranged at the indoor end, the truss suspension arm is movably provided with a trolley luffing mechanism, and a sling of the double-rope cigarette machine is connected with the trolley luffing mechanism;
the monitoring device is arranged at the outdoor end and comprises an inclination angle sensor, a wind speed sensor and a monitor for acquiring real-time images of the truss suspension arm;
the remote cockpit is provided with a controller and a display screen, and the controller is connected with the monitoring device and the display screen.
Further, the support columns are lattice columns.
Further, the double-rope winch is a variable frequency winch.
Further, two limiting pieces which are used for limiting the travel range of the trolley amplitude changing mechanism and are arranged along the length direction of the truss suspension arm are arranged on the truss suspension arm.
Further, the device also comprises a height sensor, wherein the height sensor is arranged on the lifting hook of the sling, and the height sensor is connected with the controller.
Further, the remote control system also comprises an alarm, wherein the alarm is installed in the remote cockpit, and the alarm is connected with the controller.
The invention provides a construction method of in-building lifting equipment of a large unit curtain wall, which comprises the following steps:
a. arranging a truss suspension arm on a floor at the upper part of a building structure, wherein the indoor end of the truss suspension arm is arranged in the floor, and the outdoor end of the truss suspension arm extends to the outside of the floor;
b. the controller drives the trolley luffing mechanism to move to the outdoor end through the double-rope winch and lowers the lifting hook of the lifting rope to the ground;
c. the lifting hook is connected with a large unit curtain wall on a transportation plate trailer;
d. the wind speed sensor of the monitoring device collects wind speed outside the building, the inclination angle sensor of the monitoring device collects the inclination angle of the truss suspension arm, and the monitor of the monitoring device collects real-time images of the truss suspension arm;
e. the controller acquires the wind speed, the inclination angle and the real-time image, and after the wind speed is smaller than a preset threshold value, the controller lifts a lifting hook through the double-rope winch so that the large unit curtain wall is lifted to a target floor;
f. the controller drives a trolley luffing mechanism to move to the vicinity of the outer elevation of the target floor through the double-rope winch;
g. floor installers draw the large-sized unit curtain wall to the installation point positions through traction ropes and install the large-sized unit curtain wall;
h. and c, repeatedly installing the large unit curtain wall layer by layer from bottom to top in the steps b-g.
The in-building lifting device for the large unit curtain wall has the beneficial effects that the supporting columns, the hanging columns and the supporting beams Liang Fensan of the structure are used for bearing force, the in-building lifting device is supported by one truss hanging arm and four in-building vertical lattice columns, and the pressure of the truss hanging arm and the large unit curtain wall is dispersed through four-point tension. The in-building lifting equipment of the large unit curtain wall adopts a double-rope (double-rate) amplitude-variable winch, and solves the problems that a sling is easy to twist and deform and poor in stability in the traditional single-rope (unit rate) lifting process. The in-building lifting equipment of the large unit curtain wall is beneficial to amplitude variation, and reduces the tonnage of a hoisting mechanism, so that the force transmitted to the truss suspension arm is small. In addition, the double multiplying power selection can realize amplitude variation, so that the curtain wall is convenient to position, frequency modulation is realized in the ascending and unhooking processes of the large-sized unit curtain wall, and the working efficiency is improved under the condition of ensuring safety.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the following drawings, in which:
fig. 1 is a schematic structural view of an in-building lifting device for a large-sized unit curtain wall according to an embodiment of the present invention.
Fig. 2 to 5 are schematic views illustrating steps of a construction method of an in-building lifting apparatus for a large-sized unit curtain wall according to an embodiment of the present invention.
Fig. 6 is a diagram showing a sling winding of an in-building lifting device of a large-sized unit curtain wall according to an embodiment of the present invention.
Detailed Description
The present application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the invention are shown in the drawings.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Referring to fig. 1 to 5, the present invention provides an in-building lifting apparatus of a large-sized unit curtain wall, comprising: truss boom 1, double rope hoist engine 2, monitoring device and remote cockpit 4.
The truss suspension arm is a space truss. The truss suspension arm is in a strip shape. The lattice-boom 1 has opposite indoor and outdoor ends a, b.
The indoor end a of truss suspension arm is arranged in the building layer. The outdoor end b of the truss boom extends to the outside of the floor. Two support beams 11 arranged along the length direction of the truss boom 1 are arranged below the indoor end a of the truss boom. Both ends of a supporting beam 11 near the outside are detachably installed to the ceiling of the storey through hanging posts 12. The other support beam 11 is erected at both ends on the floor of the storey by support columns 13.
The two-rope reel 2 is mounted on the indoor end a of the truss boom. A trolley luffing mechanism 21 is movably mounted on the truss boom 1. The sling of the double-rope cigarette making machine is connected to the trolley luffing mechanism 21.
The monitoring device is arranged at the outdoor end b of the truss suspension arm. Specifically, the monitoring device comprises an inclination sensor 31, a wind speed sensor 32 and a monitor 33 for acquiring real-time images of the lattice boom 1.
The remote cockpit 4 need not be located on the same floor as the truss boom and may control the truss boom remotely. The remote cockpit 4 is fitted with a controller and display 41. The controller is connected to the monitoring device and to the display screen 41.
As a preferred embodiment, the support columns 13 and the suspension columns are lattice columns, respectively. The in-building lifting device for the large unit curtain wall utilizes the supporting columns, the hanging columns and the supporting beams Liang Fensan of the structure to bear force, is supported by one truss hanging arm and four in-building vertical lattice columns, and distributes the pressure of the truss hanging arm and the large unit curtain wall through four-point tension.
In the present embodiment, the two-rope hoist 2 is a variable frequency hoist. The trolley amplitude changing mechanism is arranged to stretch back and forth along the length direction of the truss boom, unloading and lifting of the large-sized unit curtain wall are carried out in an extending state, positioning and mounting of the large-sized unit curtain wall after lifting are carried out in a shrinking state, unloading, lifting and mounting integrated operation is achieved, and work efficiency is improved.
The invention adopts the double-multiplying-power trolley luffing mechanism, firstly reduces the volume weight of the trolley luffing mechanism so as to facilitate transfer and transportation, secondly can realize luffing and facilitate the curtain wall to be in place.
The in-building lifting device of the large unit curtain wall of the invention is provided with two sets of rope winding systems as shown in fig. 6:
lifting sling system and trolley luffing sling system. The lifting sling is guided to the middle pulley 22 at the upper part of the truss boom from the winding drum of the double-rope winding engine, bypasses the middle pulley 22, is guided to the arm root pulley 23 at the position, close to the outdoor supporting beam, of the truss boom, is guided to the pulley block of the trolley luffing mechanism and the lifting hook pulley block, and is finally guided to the end part of the outdoor end b of the truss boom by the pulley on the trolley luffing mechanism, and is fixed by a wedge sleeve.
The double-rope winch adopts a variable frequency winch. Reasonable lifting and unhooking speeds must be determined in the super high-rise curtain wall installation, 4 gears, 1-3 gears and full-load lifting speed of 0-20 m/min are primarily determined in the lifting speed. Gear 4 is an empty high-speed downshift of about 40 meters/minute.
Two limiting pieces which are used for limiting the travel range of the trolley luffing mechanism 21 and are arranged along the length direction of the truss luffing mechanism 1 are arranged on the truss luffing mechanism 1, so that when the trolley luffing mechanism trolley runs to the minimum range or the maximum range, the working power supply of the trolley luffing mechanism in the corresponding direction is cut off, and the safe running of the trolley luffing mechanism trolley is protected.
The in-building lifting device of the large unit curtain wall further comprises a height sensor. The height sensor is arranged on the lifting hook of the sling. The height sensor is connected to the controller. And the height of the height sensor is monitored, so that the lifting height of the lifting hook does not exceed the allowable maximum lifting height, and the safe operation of the equipment is ensured. The lifting motor is arranged at the end part of a winding drum shaft of the double-rope winch, is driven by the winding drum shaft, and can cut off the lifting power supply of the lifting motor and brake when the lifting hook exceeds the height, so that the double-rope winch can only descend at the moment. This height threshold should be readjusted for each change in the machine mounting height.
In addition, the in-building lifting equipment of the large unit curtain wall is also provided with a weight monitor and limiter so as to limit the weight during low-speed lifting not to exceed the maximum lifting weight allowed by the machine; the high speed is the falling speed of the empty hook, and the hanging weight is not more than the limiting weight.
The in-building lifting device of the large unit curtain wall also comprises an alarm. The alarm is mounted to the remote cockpit 4. The alarm is connected with the controller. The in-building lifting equipment of the large-sized unit curtain wall is provided with intelligent monitoring equipment, can be transmitted to a remote driving operation console (remote cockpit), is subjected to safety monitoring through data monitoring, and alarms when exceeding rated values, so that the safety of the hoisting operation process is ensured.
The wind speed monitoring implementation monitors the site wind speed, exceeds the standard wind speed grade, and can not be hoisted for use; the tilt angle is monitored to monitor the boom angle.
The monitor is a plurality of cameras. Specifically, a trolley safety monitor of the trolley luffing mechanism is used for monitoring the safety sliding distance of the travelling trolley; the arm tip safety monitor is used for anti-collision monitoring; and the arm root safety monitor is used for stress monitoring.
The remote cockpit is used for remotely controlling the truss suspension arm, and the equipment can be controlled remotely without arranging a cab on the truss suspension arm and a floor. And meanwhile, the site construction environment is observed according to wind speed monitoring and video monitoring. In addition, the force control data, the height and the amplitude data are fed back to the control console for data analysis, and unmanned operation can be realized through set parameters.
The invention provides a construction method of in-building lifting equipment of a large unit curtain wall, which comprises the following steps:
a. the lattice-boom 1 is arranged on the floor of the upper part of the building structure 5 such that the indoor end a of the lattice-boom 1 is arranged in the floor and the outdoor end b of the lattice-boom 1 extends outside the floor.
b. The controller drives the trolley luffing mechanism 21 to move to the outdoor end b through the double-rope winch 2 and lowers the lifting hook of the sling to the ground.
And (3) stretching the truss suspension arm supported by the 4 points to the outer side of the building structure, and connecting the hook position of the large unit curtain wall with the hook of the lifting sling.
c. The lifting hook is connected with a large unit curtain wall 6 on the transportation plate trailer.
The large unit curtain wall is directly unloaded from the scooter, and the large unit curtain wall is transported to an independent transportation point by an automobile crane without unloading in the field. Because the large-sized unit curtain wall has large area, the large-sized unit curtain wall is greatly influenced by wind force in high-altitude lifting, and in order to prevent the collision between the large-sized unit curtain wall and a building, the trolley amplitude changing mechanism arranged in the lifting process ensures that a certain safety position is always kept between the large-sized unit curtain wall and the outer vertical surface of the building, thereby realizing the high-altitude lifting process of the anti-collision cable-free wind rope.
d. The wind speed outside the building is collected by a wind speed sensor 32 of the monitoring device, the inclination angle of the truss boom 1 is collected by an inclination angle sensor 31 of the monitoring device, and the real-time image of the truss boom 1 is collected by a monitor 33 of the monitoring device.
e. The controller acquires wind speed, inclination angle and real-time images, and after the wind speed is smaller than a preset threshold value, the controller lifts the lifting hook through the double-rope winch 2, so that the large unit curtain wall 6 is lifted to a target floor.
f. The controller drives the trolley luffing mechanism 21 to move to the vicinity of the outer elevation of the target floor through the double-rope winch 2.
g. Floor installers draw the large-sized unit curtain wall 6 to the installation point through the traction rope and install the large-sized unit curtain wall.
h. And b, repeating the steps b-g, and installing the large unit curtain wall 6 layer by layer from bottom to top.
The in-building lifting equipment of the large unit curtain wall adopts a double-rope (double-rate) amplitude-variable winch, and solves the problems that a sling is easy to twist and deform and poor in stability in the traditional single-rope (unit rate) lifting process. The in-building lifting equipment of the large unit curtain wall is beneficial to amplitude variation, and reduces the tonnage of a hoisting mechanism, so that the force transmitted to the truss suspension arm is small. In addition, the double multiplying power selection can realize amplitude variation, so that the curtain wall is convenient to position, frequency modulation is realized in the ascending and unhooking processes of the large-sized unit curtain wall, and the working efficiency is improved under the condition of ensuring safety.
The construction method of the in-building lifting equipment of the large unit curtain wall realizes the integrated construction of unloading, lifting and installing of the large unit curtain wall and improves the work efficiency of super high-rise vertical transportation.
The in-building lifting equipment for the large unit curtain wall provided by the invention has the advantages of intelligent lifting and labor saving. According to the invention, an automatic control system is adopted, a cab is not required to be arranged in a floor independently, and unmanned hoisting operation can be completed through setting parameters.
The foregoing description is only of the preferred embodiments of the present application and is presented as a description of the principles of the technology being utilized. It will be appreciated by persons skilled in the art that the scope of the invention referred to in this application is not limited to the specific combinations of features described above, but it is intended to cover other embodiments in which any combination of features described above or equivalents thereof is possible without departing from the spirit of the invention. Such as the above-described features and technical features having similar functions (but not limited to) disclosed in the present application are replaced with each other.
Claims (7)
1. An in-building lifting device for a large-sized unit curtain wall, comprising:
the truss suspension arm is provided with an indoor end and an outdoor end which are opposite, the indoor end is arranged in a floor, the outdoor end extends to the outside of the floor, two support beams arranged along the length direction of the truss suspension arm are arranged below the indoor end, two ends of one support beam close to the outdoor are detachably arranged on the ceiling of the floor through suspension posts, and two ends of the other support beam are erected on the floor of the floor through support posts;
the double-rope winding machine is arranged at the indoor end, the truss suspension arm is movably provided with a trolley luffing mechanism, and a sling of the double-rope cigarette machine is connected with the trolley luffing mechanism;
the monitoring device is arranged at the outdoor end and comprises an inclination angle sensor, a wind speed sensor and a monitor for acquiring real-time images of the truss suspension arm;
the remote cockpit is provided with a controller and a display screen, and the controller is connected with the monitoring device and the display screen.
2. The in-building lifting apparatus of a large unit curtain wall according to claim 1, wherein the support columns are lattice columns.
3. The in-building lifting apparatus of a large-sized curtain wall unit according to claim 1, wherein the double rope hoist is a variable frequency hoist.
4. The in-building lifting device for the large unit curtain wall according to claim 1, wherein the truss boom is provided with two limiting pieces which are used for limiting the travel range of the trolley luffing mechanism and are arranged along the length direction of the truss boom.
5. The in-building lifting apparatus of a large unit curtain wall according to claim 1, further comprising a height sensor mounted on a hook of the sling, the height sensor being connected to the controller.
6. The in-building lifting apparatus of a large unit curtain wall according to claim 1, further comprising an alarm mounted to the remote cockpit, the alarm being connected to the controller.
7. A construction method of the in-building lifting apparatus of a large-sized unit curtain wall as claimed in any one of claims 1 to 6, comprising the steps of:
a. arranging a truss suspension arm on a floor at the upper part of a building structure, wherein the indoor end of the truss suspension arm is arranged in the floor, and the outdoor end of the truss suspension arm extends to the outside of the floor;
b. the controller drives the trolley luffing mechanism to move to the outdoor end through the double-rope winch and lowers the lifting hook of the lifting rope to the ground;
c. the lifting hook is connected with a large unit curtain wall on a transportation plate trailer;
d. the wind speed sensor of the monitoring device collects wind speed outside the building, the inclination angle sensor of the monitoring device collects the inclination angle of the truss suspension arm, and the monitor of the monitoring device collects real-time images of the truss suspension arm;
e. the controller acquires the wind speed, the inclination angle and the real-time image, and after the wind speed is smaller than a preset threshold value, the controller lifts a lifting hook through the double-rope winch so that the large unit curtain wall is lifted to a target floor;
f. the controller drives a trolley luffing mechanism to move to the vicinity of the outer elevation of the target floor through the double-rope winch;
g. floor installers draw the large-sized unit curtain wall to the installation point positions through traction ropes and install the large-sized unit curtain wall;
h. and c, repeatedly installing the large unit curtain wall layer by layer from bottom to top in the steps b-g.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN202311362599.9A CN117246927A (en) | 2023-10-20 | 2023-10-20 | In-building lifting equipment for large unit curtain wall and construction method thereof |
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CN202311362599.9A CN117246927A (en) | 2023-10-20 | 2023-10-20 | In-building lifting equipment for large unit curtain wall and construction method thereof |
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CN202311362599.9A Pending CN117246927A (en) | 2023-10-20 | 2023-10-20 | In-building lifting equipment for large unit curtain wall and construction method thereof |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN117947958A (en) * | 2024-03-26 | 2024-04-30 | 渝建实业集团股份有限公司 | Multi-source information perception curtain wall installation robot and curtain wall installation method |
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2023
- 2023-10-20 CN CN202311362599.9A patent/CN117246927A/en active Pending
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN117947958A (en) * | 2024-03-26 | 2024-04-30 | 渝建实业集团股份有限公司 | Multi-source information perception curtain wall installation robot and curtain wall installation method |
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