WO2025218037A1 - 门式起重机安装方法 - Google Patents
门式起重机安装方法Info
- Publication number
- WO2025218037A1 WO2025218037A1 PCT/CN2024/105471 CN2024105471W WO2025218037A1 WO 2025218037 A1 WO2025218037 A1 WO 2025218037A1 CN 2024105471 W CN2024105471 W CN 2024105471W WO 2025218037 A1 WO2025218037 A1 WO 2025218037A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- main beam
- support leg
- angle
- gantry crane
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
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
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
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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
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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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
- B66C5/00—Base supporting structures with legs
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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
- B66C6/00—Girders, or track-supporting structures, specially adapted for cranes
Definitions
- the present invention relates to the technical field related to gantry cranes, and more particularly, to a method for installing a gantry crane.
- Gantry cranes consist of a main girder, outriggers, an outrigger trolley, and a lifting trolley.
- the current installation method for gantry cranes typically involves first erecting the outriggers, then lifting the main girder to the top of the outriggers. The installer then welds the girder and outriggers from a height. This method struggles with accuracy, and often failures are discovered only after welding, making them difficult to repair. Therefore, a technical solution is needed that can overcome these shortcomings to some extent.
- An object of the present invention is to provide a gantry crane installation method that can control the installation process and ensure installation accuracy.
- the present invention provides a gantry crane installation method, including: S1: lifting the main beam to a first height, and obtaining a first installation image, identifying the main beam in the first installation image, and calculating the offset of the main beam; S2: if the offset is less than a first threshold, hinge one side of the upper end of the leg to the main beam, and hinge one side of the lower end to a sliding trolley; S3: lifting the main beam to a second height, and obtaining a second installation image, and identifying the leg in the second installation image, and calculating the inclination angle of the leg; S4: if the inclination angle is within a predetermined range, continue to lift the main beam to a third height, and obtain a third installation image; S5: identify the leg and the main beam in the third installation image, and calculate the angle between the hinged part of the leg and the main beam; S6: if the angle is less than the second threshold,
- a marker is provided under the main beam, the main beam and the marker in the first installation image are identified, the pixel interval between each point on the main beam in the first installation image and the marker is calculated, and the offset is calculated based on the pixel interval.
- a first lug plate is provided on one side of the upper end of the support leg, and a second lug plate is provided on the main beam accordingly.
- a third ear plate is provided at the lower end of the support leg, and a fourth ear plate is provided on the sliding trolley.
- the support leg and the main beam are hinged by the first ear plate and the second ear plate, and the support leg and the sliding trolley are hinged by the third ear plate and the fourth ear plate.
- the supporting leg and the marker in the second installation image are identified, the pixel outlines of the supporting leg and the marker are determined, and are projected into a coordinate system to calculate the inclination angle.
- step S6 also includes removing the sliding trolley and welding the lower end of the support leg to the support leg trolley.
- the present invention sequentially lifts the main beam to a first height, a second height, and a third height, and obtains a first installation image, a second installation image, and a third installation image, respectively.
- the offset of the main beam, the inclination of the legs, and the angle between the legs and the hinged parts of the main beam are obtained through image recognition.
- the main beam and the legs are adjusted according to the offset, inclination, and angle, and the installation process is controlled to ensure installation accuracy.
- FIG1 is a flow chart of an embodiment of the present application.
- FIG2 is a schematic diagram of the installation status of an embodiment of the present application.
- an embodiment of the present application provides a gantry crane installation method, including:
- a camera device is provided in front of the installation location of the gantry crane to capture a first installation image and subsequent second and third installation images;
- the offset is the maximum distance between the main beam 1 and the horizontal direction
- the outline of the main beam 1 is identified by image recognition technology, and the offset is determined in combination with the horizontal plane;
- the first threshold is determined in the design stage according to the required installation accuracy, such as 50 mm;
- a first lug is provided on one side of the upper end of the leg 2, a second lug is provided on the main beam 1, a third lug is provided on the lower end of the leg 2, and a fourth lug is provided on the sliding trolley 3.
- the first and second lugs are used to realize the hinge connection between the leg 2 and the main beam 1, and the upper end of the leg 2 can gradually rotate until it contacts the main beam 1.
- the third and fourth lugs are used to realize the hinge connection between the leg 2 and the sliding trolley 3, so as to ensure that the lower end of the leg 2 can follow the lifting of the main beam 1 and move downwardly toward the main beam 1.
- the first height is relatively low from the ground, and can meet the requirements of the hinged installation of the support leg 2;
- the outline of the leg 2 is identified by image recognition technology, and the inclination angle of the leg 2 is determined in combination with the horizontal plane, see angle ⁇ in FIG2 ;
- the second height is a height range, such as 1/2-2/3 of the maximum lifting height, and the second installation image is acquired in real time within the height range and the inclination angle is calculated;
- the third height is designed to enable the lower end of the support leg 2 to move toward the lower end of the main beam 1 to a vertical height
- the outlines of the support legs 2 and the main beam 1 are identified by image recognition technology to determine the angle between the joint surfaces of the two, see angle ⁇ in FIG2 ;
- the leg 2 is welded to the main beam 1; the included angle represents the degree of fit between the upper end surface of the leg 2 and the main beam 1. If the included angle is less than the second threshold, it indicates that the leg 2 and the main beam 1 are tightly fitted. At this time, welding can ensure the welding quality of the leg 2 and the main beam 1.
- This embodiment sequentially lifts the main beam 1 to the first height, the second height, and the third height, and obtains the first installation image, the second installation image, and the third installation image, respectively.
- the offset of the main beam 1, the inclination of the support leg 2, and the angle between the support leg 2 and the hinged portion of the main beam 1 are obtained through image recognition.
- the main beam 1 and the support leg 2 are adjusted according to the offset, inclination, and angle, and the installation process is controlled to ensure the installation accuracy. Compared with the existing technology, it can monitor in advance to avoid finding that the installation accuracy of the support leg 2 and the main beam 1 is poor after welding, thereby reducing the number of welding times.
- a marker is set under the main beam 1, the main beam 1 and the marker in the first installation image are identified, the pixel interval between each point on the main beam 1 in the first installation image and the marker is calculated, and the offset is calculated based on the pixel interval.
- the marker is in the shape of a cross and is pre-calibrated using a theodolite and a level.
- the marker also appears in the first installation image and has a known length.
- the endpoints and multiple middle points are selected on the main beam 1, and the pixel interval is obtained by recording the number of pixels of each point and the marker. Combined with the actual length of the marker, the offset can be obtained according to the proportion.
- the main beam 1 is adjusted until the offset is less than the first threshold.
- one or more of the plurality of lifting towers and the connection with the main beam 1 are adjusted until the offset satisfies a value less than a first threshold.
- the supporting leg 2 and the marker in the second installation image are identified, the pixel outlines of the supporting leg 2 and the marker are determined, and the outlines are projected into a coordinate system to calculate the inclination angle.
- the edge contour of the leg 2 is extracted, combined with the edge contour of the horizontal part of the marker, projected into the coordinate system, and assigned coordinates to obtain the inclination angle.
- the sliding speed and sliding route of the sliding trolley 3 are adjusted to ensure that the speed of the sliding trolley 3 is not too fast and the route is not deviated, which causes the support leg 2 and the main beam 1 to be offset.
- the pixel outline of the contact surface between the support leg 2 and the main beam 1 in the third installation image is identified and projected into the coordinate system to calculate the angle.
- the edge contour of the contact surface is extracted, projected into a coordinate system, assigned coordinates, and the angle is calculated.
- S6 also includes removing the sliding trolley 3, welding the lower end of the support leg 2 to the support leg 2 trolley, and completing the installation of the entire gantry crane.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
本发明公开了门式起重机安装方法，包括：S1：提升主梁至第一高度，并获取第一安装图像，识别第一安装图像中的主梁，计算主梁的偏移量；S2：若偏移量小于第一阈值，则将支腿上端一侧与主梁铰接，并使下端一侧与一滑移小车铰接；S3：提升主梁至第二高度，并获取第二安装图像，并识别第二安装图像中的支腿，计算支腿的倾角；S4：若倾角在预定范围内，则继续提升主梁至第三高度，并获取第三安装图像；S5：识别第三安装图像中的支腿和主梁，计算支腿和主梁铰接部位的夹角；S6：若夹角小于第二阈值，则将支腿与主梁焊接。本发明能够对安装过程进行控制，保证安装精度。
Description
本发明涉及门式起重机相关技术领域。更具体地说，本发明涉及一种门式起重机安装方法。
门式起重机包括主梁、支腿、支腿大车、起重小车等部件。门式起重机现有的安装方式，通常是首先将支腿立起，然后将主梁提升至支腿上端，再由安装人员在高处对主梁和支腿执行焊接，这种方法难以保证精度，且往往是在焊接之后才发现安装不合格，而难以挽救。因此，有必要设计一种能够一定程度克服上述缺陷的技术方案。
发明内容
本发明的一个目的是提供一种门式起重机安装方法，能够对安装过程进行控制，保证安装精度。
为了实现本发明的这些目的和其它优点，根据本发明的一个方面，本发明提供了门式起重机安装方法，包括：S1：提升所述主梁至第一高度，并获取第一安装图像，识别所述第一安装图像中的所述主梁，计算所述主梁的偏移量；S2：若所述偏移量小于第一阈值，则将支腿上端一侧与主梁铰接，并使下端一侧与一滑移小车铰接；S3：提升所述主梁至第二高度，并获取第二安装图像，并识别所述第二安装图像中的所述支腿，计算所述支腿的倾角；S4：若所述倾角在预定范围内，则继续提升所述主梁至第三高度，并获取第三安装图像；S5：识别所述第三安装图像中的所述支腿和所述主梁，计算所述支腿和所述主梁铰接部位的夹角；S6：若所述夹角小于第二阈值，则将所述支腿与所述主梁焊接。
进一步地，在所述S1中，所述主梁下方设置有标志物，识别所述第一安装图像中的所述主梁和所述标志物，计算所述第一安装图像中所述主梁上各点与所述标志物的像素间隔，根据所述像素间隔计算所述偏移量。
进一步地，在所述S2中，若所述偏移量大于第一阈值，则调整所述主梁，直至所述偏移量小于所述第一阈值。
进一步地，所述支腿上端一侧设置有第一耳板，所述主梁上对应设置有第二耳板，所
述支腿下端设置有第三耳板，所述滑移小车上设置第四耳板，通过所述第一耳板和所述第二耳板实现所述支腿和所述主梁的铰接，通过所述第三耳板和所述第四耳板实现所述支腿与所述滑移小车的铰接。
进一步地，在所述S3中，识别所述第二安装图像中的所述支腿和所述标志物，确定所述支腿和所述标志物的像素轮廓，并投射至坐标系中，计算得到所述倾角。
进一步地，在所述S4中，若所述倾角不在所述预定范围内，则调整所述滑移小车，直至所述倾角位于所述预定范围内。
进一步地，在所述S5中，识别所述第三安装图像中的所述支腿与所述主梁接触面的像素轮廓，并投射至坐标系中，计算得到所述夹角。
进一步地，在所述S6中，若所述夹角大于所述第二阈值，则调整所述滑移小车和所述主梁，直至所述夹角小于所述第二阈值。
进一步地，在所述S6中还包括，拆除所述滑移小车，将所述支腿下端与支腿大车焊接。
本发明至少包括以下有益效果：
本发明依次提升主梁至第一高度、第二高度和第三高度，并分别获取第一安装图像、第二安装图像和第三安装图像，通过图像识别得到主梁的偏移量、支腿的倾角、支腿和主梁铰接部位的夹角，根据偏移量、倾角和夹角对主梁、支腿进行调整，对安装过程进行控制，保证了安装精度。
本发明的其它优点、目标和特征将部分通过下面的说明体现，部分还将通过对本发明的研究和实践而为本领域的技术人员所理解。
图1为本申请一个实施例的流程图；
图2为本申请一个实施例的安装状态示意图。
下面结合附图对本发明做进一步的详细说明，以令本领域技术人员参照说明书文字能够据以实施。
应当理解，本申请实施例所使用的诸如“具有”、“包含”以及“包括”术语并不排除
一个或多个其它元件或其组合的存在或添加。本申请实施例中所有方向性指示(诸如上、下、左、右、前、后……)仅用于解释在某一特定姿态下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。当元件被称为“固定于”或“设置于”另一个元件上时，它可以直接在另一个元件上或者可能同时存在居中元件。当一个元件被称为是“连接”另一个元件，它可以是直接连接另一个元件或者也可以是通过居中元件间接连接另一个元件。本申请实施例涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。
需要说明，本申请各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本申请要求的保护范围之内。
如图1、2所示，本申请的实施例提供了门式起重机安装方法，包括：
S1：提升主梁1至第一高度，并获取第一安装图像，识别第一安装图像中的主梁1，计算主梁1的偏移量；
示例性地，在门式起重机安装位置的前方设置摄像设备，用于获取第一安装图像以及后续的第二安装图像和第三安装图像；
示例性地，偏移量为主梁1与水平方向的最大间隔；
示例性地，通过图像识别技术识别主梁1的轮廓，结合水平面，确定偏移量；
S2：若偏移量小于第一阈值，则将支腿2上端一侧与主梁1铰接，并使下端一侧与一滑移小车3铰接；
示例性地，第一阈值在设计阶段根据所需的安装精度确定，如50mm；
示例性地，支腿2上端一侧设置有第一耳板，主梁1上对应设置有第二耳板，支腿2下端设置有第三耳板，滑移小车3上设置第四耳板，通过第一耳板和第二耳板实现支腿2和主梁1的铰接，并使得支腿2上端能够逐渐旋转至与主梁1接触，通过第三耳板和第四耳板实现支腿2与滑移小车3的铰接，以保证支腿2下端能够跟随主梁1的提升而向主梁1下方移动；
示例性地，第一高度离地较低，能够满足支腿2的铰接安装即可；
S3：提升主梁1至第二高度，并获取第二安装图像，并识别第二安装图像中的支腿2，计算支腿2的倾角；
示例性地，通过图像识别技术识别支腿2的轮廓，结合水平面，确定支腿2的倾角，参见图2中的α角；
示例性地，第二高度为一个高度范围，如最大提升高度的1/2-2/3，在该高度范围内实时获取第二安装图像并计算倾角；
S4：若倾角在预定范围内，则继续提升主梁1至第三高度，并获取第三安装图像；倾角代表支腿2提升效果，若倾角无法达到预定范围，则表明滑移小车3的行驶路线、行驶速度存在问题，此时需要对滑移小车3进行调整，调整滑移小车3的路线和速度，保证支腿2与主梁1的相对位置准确；
示例性地，第三高度为设计上能够使得支腿2的下端能够向主梁1下端移动至竖直的高度；
S5：识别第三安装图像中的支腿2和主梁1，计算支腿2和主梁1铰接部位的夹角；
示例性地，通过图像识别技术识别支腿2和主梁1的轮廓，确定两者结合面的夹角，参见图2中的β角；
S6：若夹角小于第二阈值，则将支腿2与主梁1焊接；夹角代表支腿2上端面和主梁1的贴合程度，若夹角小于第二阈值，则表明支腿2与主梁1紧密贴合，此时焊接，能够保证支腿2与主梁1的焊接质量；
本实施例依次提升主梁1至第一高度、第二高度和第三高度，并分别获取第一安装图像、第二安装图像和第三安装图像，通过图像识别得到主梁1的偏移量、支腿2的倾角、支腿2和主梁1铰接部位的夹角，根据偏移量、倾角和夹角对主梁1、支腿2进行调整，对安装过程进行控制，保证了安装精度；相比于现有技术，能够提前监控，避免在焊接之后发现支腿2与主梁1的安装精度较差，减少焊接次数。
在另一个实施例中，在S1中，主梁1下方设置有标志物，识别第一安装图像中的主梁1和标志物，计算第一安装图像中主梁1上各点与标志物的像素间隔，根据像素间隔计算偏移量。
示例性地，标志物为十字形，并预先用经纬仪、水平仪校准。
示例性地，标志物也出现在第一安装图像中，且长度已知。
示例性地，在主梁1上选择端点和中间多个点，通过记录各点与标志物的像素点数量，得到像素间隔，结合标志物的实际长度，按照比例，即可得到偏移量。
在另一个实施例中，在S2中，若偏移量大于第一阈值，则调整主梁1，直至偏移量小于第一阈值。
示例性，调整多个提升塔架中的一个或多个，以及与主梁1的连接，直至偏移量满足小于第一阈值。
在另一个实施例中，在S3中，识别第二安装图像中的支腿2和标志物，确定支腿2和标志物的像素轮廓，并投射至坐标系中，计算得到倾角。
示例性地，提取支腿2的边缘轮廓，结合标志物水平部分边缘轮廓，投射至坐标系中，赋予坐标，即可得到倾角。
在另一个实施例中，在S4中，若倾角不在预定范围内，则调整滑移小车3，直至倾角位于预定范围内。
示例性地，通过牵引车与滑移小车3连接，调整滑移小车3的滑移速度和滑移路线，保证滑移小车3的速度不会过快和路线偏移，而导致支腿2与主梁1偏位。
在另一个实施例中，在S5中，识别第三安装图像中的支腿2与主梁1接触面的像素轮廓，并投射至坐标系中，计算得到夹角。
示例性地，提取接触面的边缘轮廓，投射至坐标系中，赋予坐标，计算得到夹角。
在另一个实施例中，在S6中，若夹角大于第二阈值，表明支腿2与主梁1的贴合不够紧密，则调整滑移小车3和主梁1，如降低主梁1高度或继续通过滑移小车3带动支腿2向主梁1下方转动，直至夹角小于第二阈值，再焊接。
在另一个实施例中，在S6中还包括，拆除滑移小车3，将支腿2下端与支腿2大车焊接，完成整个门式起重机的安装。
尽管本发明的实施方案已公开如上，但其并不仅仅限于说明书和实施方式中所列运用，它完全可以被适用于各种适合本发明的领域，对于熟悉本领域的人员而言，可容易地实现
另外的修改，因此在不背离权利要求及等同范围所限定的一般概念下，本发明并不限于特定的细节和这里示出与描述的图例。
Claims (9)
- 门式起重机安装方法，其特征在于，包括：S1：提升主梁至第一高度，并获取第一安装图像，识别所述第一安装图像中的所述主梁，计算所述主梁的偏移量；S2：若所述偏移量小于第一阈值，则将支腿上端一侧与主梁铰接，并使下端一侧与一滑移小车铰接；S3：提升所述主梁至第二高度，并获取第二安装图像，并识别所述第二安装图像中的所述支腿，计算所述支腿的倾角；S4：若所述倾角在预定范围内，则继续提升所述主梁至第三高度，并获取第三安装图像；S5：识别所述第三安装图像中的所述支腿和所述主梁，计算所述支腿和所述主梁铰接部位的夹角；S6：若所述夹角小于第二阈值，则将所述支腿与所述主梁焊接。
- 如权利要求1所述的门式起重机安装方法，其特征在于，在所述S1中，所述主梁下方设置有标志物，识别所述第一安装图像中的所述主梁和所述标志物，计算所述第一安装图像中所述主梁上各点与所述标志物的像素间隔，根据所述像素间隔计算所述偏移量。
- 如权利要求2所述的门式起重机安装方法，其特征在于，在所述S2中，若所述偏移量大于第一阈值，则调整所述主梁，直至所述偏移量小于所述第一阈值。
- 如权利要求2所述的门式起重机安装方法，其特征在于，所述支腿上端一侧设置有第一耳板，所述主梁上对应设置有第二耳板，所述支腿下端设置有第三耳板，所述滑移小车上设置第四耳板，通过所述第一耳板和所述第二耳板实现所述支腿和所述主梁的铰接，通过所述第三耳板和所述第四耳板实现所述支腿与所述滑移小车的铰接。
- 如权利要求2所述的门式起重机安装方法，其特征在于，在所述S3中，识别所述第二安装图像中的所述支腿和所述标志物，确定所述支腿和所述标志物的像素轮廓，并投射至坐标系中，计算得到所述倾角。
- 如权利要求5所述的门式起重机安装方法，其特征在于，在所述S4中，若所述倾角不在所述预定范围内，则调整所述滑移小车，直至所述倾角位于所述预定范围内。
- 如权利要求1所述的门式起重机安装方法，其特征在于，在所述S5中，识别所述第三安装图像中的所述支腿与所述主梁接触面的像素轮廓，并投射至坐标系中，计算得到所述夹角。
- 如权利要求1所述的门式起重机安装方法，其特征在于，在所述S6中，若所述夹角大于所述第二阈值，则调整所述滑移小车和所述主梁，直至所述夹角小于所述第二阈值。
- 如权利要求1所述的门式起重机安装方法，其特征在于，在所述S6中还包括，拆除所述滑移小车，将所述支腿下端与支腿大车焊接。
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| JP2001226073A (ja) * | 2000-02-17 | 2001-08-21 | Sumitomo Heavy Ind Ltd | 門型クレーンの据付方法 |
| CN1833988A (zh) * | 2005-03-18 | 2006-09-20 | 同济大学 | 门式起重机的安装方法 |
| US7503460B1 (en) * | 2004-10-04 | 2009-03-17 | Davor Petricio Yaksic | Gantry crane |
| CN107055322A (zh) * | 2017-05-10 | 2017-08-18 | 河南新科起重机股份有限公司 | 起重机的安装装置及安装方法 |
| CN114604769A (zh) * | 2022-01-24 | 2022-06-10 | 杭州大杰智能传动科技有限公司 | 用于塔吊机构安装位置校准的检测方法及其装置 |
| CN114893669A (zh) * | 2022-05-26 | 2022-08-12 | 江苏省建筑工程集团有限公司 | 一种应用于塔机附着装置安装的监测装置及监测方法 |
| CN118164377A (zh) * | 2024-04-18 | 2024-06-11 | 中国港湾工程有限责任公司 | 门式起重机安装方法 |
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- 2024-11-28 ZA ZA2024/09134A patent/ZA202409134B/en unknown
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| JP2001226073A (ja) * | 2000-02-17 | 2001-08-21 | Sumitomo Heavy Ind Ltd | 門型クレーンの据付方法 |
| US7503460B1 (en) * | 2004-10-04 | 2009-03-17 | Davor Petricio Yaksic | Gantry crane |
| CN1833988A (zh) * | 2005-03-18 | 2006-09-20 | 同济大学 | 门式起重机的安装方法 |
| CN107055322A (zh) * | 2017-05-10 | 2017-08-18 | 河南新科起重机股份有限公司 | 起重机的安装装置及安装方法 |
| CN114604769A (zh) * | 2022-01-24 | 2022-06-10 | 杭州大杰智能传动科技有限公司 | 用于塔吊机构安装位置校准的检测方法及其装置 |
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| CN118164377A (zh) * | 2024-04-18 | 2024-06-11 | 中国港湾工程有限责任公司 | 门式起重机安装方法 |
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