CN104760903B - A kind of control method of hydraulic lifting apparatus - Google Patents
A kind of control method of hydraulic lifting apparatus Download PDFInfo
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- CN104760903B CN104760903B CN201510137985.7A CN201510137985A CN104760903B CN 104760903 B CN104760903 B CN 104760903B CN 201510137985 A CN201510137985 A CN 201510137985A CN 104760903 B CN104760903 B CN 104760903B
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- hydraulic
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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
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
Abstract
The present invention discloses a kind of control method of hydraulic lifting apparatus, including：At least one suspension centre is set on component, and each suspension centre is lifted by the hydraulic rockshaft that multiple stage is connected with the component；To same suspension centre, after the member lifts are left ground, following operation is performed：Order point hydraulic rockshaft based on a hydraulic rockshaft of each suspension centre is set, other hydraulic rockshafts of same suspension centre are from order point hydraulic rockshaft；Obtain in real time it is described from order point junction point with the shift differences of the main order point junction point as corresponding from an order point shift differences from order point junction point with described, according to described described from the corresponding oil pressure from order point hydraulic rockshaft of order point junction point from order point shift differences adjustment so that it is described from order point shift differences less than or equal to predetermined threshold value.The invention enables multiple hydraulic rockshafts being capable of collaborative work.
Description
Technical field
The present invention relates to hydraulic lifting apparatus correlative technology field, particularly a kind of control method of hydraulic lifting apparatus.
Background technology
Hydraulic lifting device is mainly used in lifting member, will hydraulic lifting device be connected with component, increase hydraulic pressure lift
The load of equipment, leaves ground to member lifts, then proceedes to be lifted and moved to above walking mechanism, component is declined and is placed on
The load of hydraulic lifting device is reduced after in walking mechanism, component is unloaded in walking mechanism.
For the hydraulic lifting device of large-scale component (more than 1000t) mainly lifts two kinds by crawler crane and automobile
Mode；
However, the shortcoming lifted using crawler belt is dismounting trouble, crane arm freely can not stretch, and limitation is too strong；And adopt
Automobile lifting mode is used, is then limited by landform, single crane can not complete lifting, and adopt multiple stage hydraulic lifting device to be lifted
During component, its can not collaborative work well, need substantial amounts of manpower to be monitored adjustment.
The content of the invention
Based on this, it is necessary to there is the skill for limiting when large-scale component is lifted using hydraulic lifting device for prior art
A kind of art problem, there is provided control method of hydraulic lifting apparatus.
A kind of control method of hydraulic lifting apparatus, including：
At least one suspension centre is set on component, and each suspension centre is carried out by the hydraulic rockshaft that multiple stage is connected with the component
Lifted；
To same suspension centre, after the member lifts are left ground, following operation is performed：
Set order point hydraulic rockshaft based on a hydraulic rockshaft of each suspension centre, other hydraulic pressure lifts of same suspension centre
Device is an order point junction point based on the junction point of main order point hydraulic rockshaft and the component from an order point hydraulic rockshaft, institute
It is from an order point junction point to state and put hydraulic rockshaft with the junction point of the component from order；
Obtain in real time it is described from order point junction point and the shift differences of the main order point junction point as with described from making a little
Junction point is corresponding from an order point shift differences, according to it is described from order point shift differences adjustment it is described from order junction point it is corresponding from
The oil pressure of order point hydraulic rockshaft so that described to be less than or equal to predetermined threshold value from order point shift differences.
The present invention to same suspension centre adopt multiple hydraulic rockshafts, and by multiple hydraulic rockshafts be divided into it is main order point and
Follow main order point from making a little so that multiple hydraulic rockshafts can collaborative work, operator can pass through in central control room
The man machine interface of hydraulic synchronization computer control system carries out hydraulic pressure lift process and the observation of related data and sending out for control instruction
Cloth, and synchronous working is coordinated without the need for scene.
Description of the drawings
Fig. 1 is a kind of workflow diagram of the control method of hydraulic lifting apparatus of the invention；
Workflow diagrams of the Fig. 2 for preferred embodiment.
Specific embodiment
The present invention will be further described in detail with specific embodiment below in conjunction with the accompanying drawings.
A kind of control method of hydraulic lifting apparatus, including：
Step S101, arranges at least one suspension centre on component, the hydraulic pressure that each suspension centre is connected with the component by multiple stage
Lifter is lifted；
To same suspension centre, after the member lifts are left ground, following operation is performed：
Step S102, sets an order point hydraulic rockshaft based on a hydraulic rockshaft of each suspension centre, same suspension centre its
His hydraulic rockshaft is, from an order point hydraulic rockshaft, to make a little based on the junction point of main order point hydraulic rockshaft and the component
Junction point, the junction point from order point hydraulic rockshaft and the component are from an order point junction point；
Step S103, obtain in real time the shift differences from order point junction point and the main order point junction point as with institute
State it is corresponding from an order point shift differences from order point junction point, according to described described from an order junction point from order point shift differences adjustment
The corresponding oil pressure from order point hydraulic rockshaft so that described to be less than or equal to predetermined threshold value from order point shift differences.
Hydraulic pressure lift Synchronization Control should meet claimed below：Ensure the uniform stand under load of each hydraulic rockshaft as far as possible；Ensure each
Individual suspension centre keeps certain synchronicity (± 10mm) in lifting process.According to requirements above, by optimization, this invention takes
Following control innovative strategy：By the multiple stage hydraulic rockshaft at each suspension centre be respectively set as main order point A and from order point B；Will be main
The displacement of hydraulic rockshaft at order point A is set as standard value, used as the benchmark in Strategy For Synchronization Control；Under control of the computer
Dynamic tracking is come with displacement from order point B and compares main order point A, it is ensured that each suspension centre that lifted is during tower body Integral type hydraulic lifting
Remain synchronous.
Wherein in one embodiment, also operate including load loading, the member lifts are left in face of ground, every
Preset Time, increases classification load to the hydraulic rockshaft of same suspension centre, until the member lifts are left ground.
Preferably, load is classified with the theory load of component as foundation, the hydraulic lifting device at each suspension centre is classified
Loading, be followed successively by component theory load 20%, 30%, 40%, 50%, 60%, 70%, 80%, confirm each several part without
In the case of exception, can continue to be loaded into 90%, 95%, 100%, until component all liftoff (bracing frame).
Wherein in one embodiment, the suspension centre is multiple, and methods described also includes：
Main with one of suspension centre makes the main order point hydraulic rockshaft of suspension centre based on point hydraulic rockshaft, the master of other suspension centres
Order point hydraulic rockshaft is order point hydraulic rockshaft main from suspension centre, the main main order point hydraulic rockshaft of suspension centre and the component
Suspension centre junction point based on junction point, it is described to make point hydraulic rockshaft be to be connected from suspension centre with the junction point of the component from suspension centre is main
Point；
The main original position that initialization is associated with the main suspension centre junction point is left described in face of ground for the member lifts
The liftoff position of main suspension centre junction point, initialize with it is described from suspension centre junction point associate from original position be the member lifts
Leave described from the liftoff position of suspension centre junction point in face of ground；
Using the difference of the real-time liftoff position of the main suspension centre junction point and corresponding main original position as main displacement, with
Each it is described from the real-time liftoff position of suspension centre junction point and the corresponding difference from original position as described in each from suspension centre
It is corresponding from displacement, obtain in real time it is described with each Suo Shu from suspension centre it is corresponding from displacement and the difference of main displacement as with it is described
It is corresponding from suspension centre shift differences from suspension centre junction point, according to it is described from the adjustment of suspension centre shift differences described in from suspension centre junction point pair
The oil pressure from the main order point hydraulic rockshaft of suspension centre answered so that described to be less than or equal to predetermined threshold value from suspension centre shift differences.
Monitor in real time main displacement and the difference from displacement so that follow main suspension centre junction point from suspension centre junction point, control whole
The synchronicity of individual lifting process.
Wherein in one embodiment, also include：
After the member lifts are left ground to default first height, suspend the hydraulic rockshaft of each suspension centre；
The ground clearance of each suspension centre is measured using measuring instrument, the relative relief actual value of each suspension centre is calculated, and with it is pre-
Precalculated relative relief theoretical value is compared, and starts the hydraulic rockshaft of each suspension centre, with adjust each suspension centre height extremely
The difference of the relative relief actual value of each suspension centre and the relative relief theoretical value is less than or equal to suspending each after predetermined threshold value
The hydraulic rockshaft of suspension centre；
Start the hydraulic rockshaft of each suspension centre, by the member lifts to default the under the attitude for keeping the component
Two height.
After being promoted to the first height, above-mentioned attitude detection adjustment will be carried out, after carrying out attitude detection adjustment, be continued to lift up
To the second height.Wherein the first height and the second height can adopt the ground clearance of a certain suspension centre to be calculated.
Preferably, the hydraulic rockshaft for starting each suspension centre, by the component under the attitude for keeping the component
Default second height is promoted to, is specifically included：
Main original position is updated to into the liftoff position of now described main suspension centre junction point, each is updated from original position
From the liftoff position of suspension centre junction point described in now corresponding；
Start the hydraulic rockshaft of each suspension centre, by the member lifts to default second highly, during this period：
Using the difference of the real-time liftoff position of the main suspension centre junction point and corresponding main original position as main displacement, with
Each it is described from the real-time liftoff position of suspension centre junction point and the corresponding difference from original position as described in each from suspension centre
It is corresponding from displacement, obtain in real time it is described with each Suo Shu from suspension centre it is corresponding from displacement and the difference of main displacement as with it is described
It is corresponding from suspension centre shift differences from suspension centre junction point, according to it is described from the adjustment of suspension centre shift differences described in from suspension centre junction point pair
The oil pressure from the main order point hydraulic rockshaft of suspension centre answered so that described to be less than or equal to predetermined threshold value from suspension centre shift differences.
Update main original position and from after original position so that from suspension centre junction point synchronization after attitude detection adjustment is carried out
Follow main suspension centre junction point.
Wherein in one embodiment, also include：
By main original position be updated to decline before the main suspension centre junction point liftoff position, by each from original position more
It is new front corresponding described from the liftoff position of suspension centre junction point to decline；
Start the hydraulic rockshaft of each suspension centre, the component is dropped to and is contacted with ground, during this period：
Using the difference of the real-time liftoff position of the main suspension centre junction point and corresponding main original position as main displacement, with
Each it is described from the real-time liftoff position of suspension centre junction point and the corresponding difference from original position as described in each from suspension centre
It is corresponding from displacement, obtain in real time it is described with each Suo Shu from suspension centre it is corresponding from displacement and the difference of main displacement as with it is described
It is corresponding from suspension centre shift differences from suspension centre junction point, according to it is described from the adjustment of suspension centre shift differences described in from suspension centre junction point pair
The oil pressure from the main order point hydraulic rockshaft of suspension centre answered so that described to be less than or equal to predetermined threshold value from suspension centre shift differences.
Present embodiment ensure that decline when main suspension centre junction point with from the synchronous of suspension centre junction point.
Wherein in one embodiment, the component is dropped to after being contacted with ground, performs following load unloading operation：
Load obtaining step before unloading, obtains the load of each suspension centre before unloading as the unloading associated with each suspension centre
Front load；
Load reduces step, obtains the real-time load of each suspension centre, if there is the real-time load of not up to predetermined threshold value,
The load of the hydraulic rockshaft of correspondence suspension centre is reduced into default classification load simultaneously then, load monitoring step is performed, is otherwise terminated；
Load monitoring step, obtains the real-time load of each suspension centre, if wherein there is real-time load with the front load of unloading
Comparison fails to reach the requirement for reducing default classification load, then the corresponding suspension centre of the real-time load is suspension centre to be adjusted, performs load
Lotus set-up procedure, otherwise performs load and reduces step；
Load set-up procedure, reduces the load of the corresponding hydraulic rockshaft of the suspension centre to be adjusted to the suspension centre to be adjusted
Real-time load compare with load before unloading and reach the requirement for reducing default classification load, perform load and reduce step.
Classification load in the present embodiment can be unloading before load percentage ratio, such as 10%.
Wherein in one embodiment, the oil pressure applied from order point hydraulic rockshaft to same suspension centre is identical.
Apply identical oil pressure so that implement constant loading force from order point hydraulic rockshaft.
Aforesaid predetermined threshold value, preferably 0 or one it is less on the occasion of with specific reference to the actual tolerance design for being allowed.
As highly preferred embodiment of the present invention, as shown in Fig. 2 workflow includes：
Step S201, synchronous suspension centre are arranged：2 Synchronous lifting suspension centres are set altogether.A set of displacement is respectively set at each suspension centre
Synchronous sensor.
Step S202, lifts hierarchical loading：With agent structure theory load as foundation, each lifting means lifted at suspension centre
Hierarchical loading is carried out, 20%, 30%, 40%, 50%, 60%, 70%, 80% is followed successively by, the N/R feelings of each several part are being confirmed
Under condition, can continue to be loaded into 90%, 95%, 100%, until component (tower) is all liftoff (bracing frame).
Step S203, Synchronous lifting：The position of two set sensors of the computer control system according to set by this step S201
Detection signal and its difference are moved, " sensor-computer-pumping source proportioning valve-hydraulic rockshaft-tower structure " closed loop system is constituted
System, controls the synchronicity of whole lifting process.For each suspension centre, 8 hydraulic rockshafts are provided with, are set to a main order
Point and seven from order point lifted, it is main order point and from order point logic as described in step S121 and S122.Wherein, each suspension centre
The hydraulic rockshaft at place is in parallel, imposes the oil pressure of equal perseverance to each hydraulic rockshaft of each lifting suspension centre, and these suspension centres are with constant
Loading force be lifted up.
Step S204, attitude detection adjustment:Attitude detection adjustment is carried out after component (tower) is liftoff 200 meters, using measurement
Instrument measures the ground clearance of each suspension centre, calculates each suspension centre relative relief, and is compared with theoretical value, lifting means adjustment
Each suspension centre is highly allowed to be close to theoretical value, and Integral synchronous lifting is carried out after adjustment.
Step S205, Integral synchronous are lifted:With each suspension centre height after adjustment as new original position, reset synchronous sensing
Device.In component (tower) Integral synchronous lifting process, the attitude is kept until lifting predetermined altitude.
Step S206, Integral synchronous decline:Each suspension centre before by decline is highly set to new original position, and reset synchronous biography
Sensor.The attitude is kept until being close to substructure during component (tower) Integral synchronous decline.
Step S207, load shedding are in place:On the basis of the suspension centre load before unloading, all suspension centres decline unloading simultaneously
10%.In the process it is possible that load transfer phenomenon, i.e. discharge rate are put load transfer faster to discharge rate
On slower point, so that the overload of indivedual points can possibly even cause Local Members unstability.Computer control system is monitored and is prevented
Above-mentioned the occurrence of, adjust each suspension centre discharge rate, make it is fast slow down, slow quickening.Just in case some suspension centre load exceed unload
The 10% of load before carrying, then stop other point unloadings immediately, and individually unload these points.And so on, until steel strand wires are thorough
Loosen, treat that component (tower) is completely transferred in walking mechanism from heavy load, hydraulic pressure lift operation is finished.
The fine setting of above-mentioned lifting process：Tower is during lifting and decline, because aerial statue detection adjustment needs are carried out
Height fine adjusting function.Before fine setting starts, by computer synchronous control system by automatic pattern switching into manual mode.As needed,
Fine motion (rising or falling) is synchronized to 8 hydraulic rockshafts of whole lift system, or separate unit hydraulic rockshaft is entered
Row fine motion is adjusted.Fine motion is that crawl Adjustment precision can reach grade, can meet the precision needs of tower structure installation completely.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more concrete and detailed, but and
Therefore the restriction to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, some deformations and improvement can also be made, these belong to the guarantor of the present invention
Shield scope.Therefore, the protection domain of patent of the present invention should be defined by claims.
Claims (7)
1. a kind of control method of hydraulic lifting apparatus, it is characterised in that include：
At least one suspension centre is set on component, and each suspension centre is carried by the hydraulic rockshaft that multiple stage is connected with the component
Rise；
To same suspension centre, after the member lifts are left ground, following operation is performed：
Order point hydraulic rockshaft based on a hydraulic rockshaft of each suspension centre is set, other hydraulic rockshafts of same suspension centre are
From an order point hydraulic rockshaft, an order point junction point based on the junction point of main order point hydraulic rockshaft and the component, it is described from
Order point hydraulic rockshaft is from order point junction point with the junction point of the component；
The shift differences from order point junction point and the main order point junction point are obtained in real time as being connected from order point with described
Point is corresponding from an order point shift differences, according to described described corresponding from making a little from order junction point from order point shift differences adjustment
The oil pressure of hydraulic rockshaft so that described to be less than or equal to predetermined threshold value from order point shift differences；
Also include：
Start the hydraulic rockshaft of each suspension centre, the component is dropped to and is contacted with ground；
The component is dropped to after being contacted with ground, performs following load unloading operation：
Load obtaining step before unloading, obtains the load of each suspension centre before unloading as the unloading front bearing associated with each suspension centre
Lotus；
Load reduces step, obtains the real-time load of each suspension centre, if there is the real-time load of not up to predetermined threshold value, then will
The load of the hydraulic rockshaft of correspondence suspension centre reduces default classification load simultaneously, performs load monitoring step, otherwise terminates；
Load monitoring step, obtains the real-time load of each suspension centre, if wherein there is real-time load compared with load before unloading
Fail to reach the requirement for reducing default classification load, then the corresponding suspension centre of the real-time load is suspension centre to be adjusted, performs load and adjusts
Synchronizing is rapid, otherwise performs load and reduces step；
Load set-up procedure, reduces the reality of the load to the suspension centre to be adjusted of the corresponding hydraulic rockshaft of the suspension centre to be adjusted
Shi Zaihe compares the requirement for reaching the default classification load of reduction with load before unloading, performs load and reduces step.
2. the control method of hydraulic lifting apparatus according to claim 1, it is characterised in that also grasp including load loading
Make, the member lifts are being left in face of ground, every Preset Time, classification load is being increased to the hydraulic rockshaft of same suspension centre
Lotus, until the member lifts are left ground.
3. the control method of hydraulic lifting apparatus according to claim 1, it is characterised in that the suspension centre is multiple, institute
Stating method also includes：
Main with one of suspension centre makes the main order point hydraulic rockshaft of suspension centre based on point hydraulic rockshaft, the main of other suspension centres make a little
Hydraulic rockshaft is to make point hydraulic rockshaft, the connection of the main main order point hydraulic rockshaft of suspension centre and the component from suspension centre is main
Suspension centre junction point based on point, it is described to make point hydraulic rockshaft and the junction point of the component be from suspension centre junction point from suspension centre is main；
The main original position that initialization is associated with the main suspension centre junction point is left the master in face of ground for the member lifts and is hung
The liftoff position of point junction point, initialization are left from original position for the member lifts from what suspension centre junction point was associated with described
It is described from the liftoff position of suspension centre junction point in face of ground；
Difference using the real-time liftoff position of the main suspension centre junction point and corresponding main original position as main displacement, with each
The real-time liftoff position from suspension centre junction point is with the corresponding difference from original position as corresponding from suspension centre described in each
From displacement, obtain in real time with each Suo Shu from the corresponding difference from displacement and main displacement of suspension centre as with described from suspension centre company
Contact is corresponding from suspension centre shift differences, according to it is described from the adjustment of suspension centre shift differences described in it is corresponding from hanging from suspension centre junction point
The oil pressure of the main order point hydraulic rockshaft of point so that described to be less than or equal to predetermined threshold value from suspension centre shift differences.
4. the control method of hydraulic lifting apparatus according to claim 3, it is characterised in that also include：
After the member lifts are left ground to default first height, suspend the hydraulic rockshaft of each suspension centre；
The ground clearance of each suspension centre is measured using measuring instrument, the relative relief actual value of each suspension centre is calculated, and is counted with advance
The relative relief theoretical value of calculation is compared, and starts the hydraulic rockshaft of each suspension centre, to adjust the height of each suspension centre to respectively hanging
The relative relief actual value of point suspends each suspension centre after being less than or equal to predetermined threshold value with the difference of the relative relief theoretical value
Hydraulic rockshaft；
Start the hydraulic rockshaft of each suspension centre, it is the member lifts are high to default second under the attitude for keeping the component
Degree.
5. the control method of hydraulic lifting apparatus according to claim 4, it is characterised in that each suspension centre of startup
The member lifts are specifically included under the attitude for keeping the component by hydraulic rockshaft to default second height：
Main original position is updated to into the liftoff position of now described main suspension centre junction point, each is updated to into this from original position
When it is corresponding described from the liftoff position of suspension centre junction point；
Start the hydraulic rockshaft of each suspension centre, by the member lifts to default second highly, during this period：
Difference using the real-time liftoff position of the main suspension centre junction point and corresponding main original position as main displacement, with each
The real-time liftoff position from suspension centre junction point is with the corresponding difference from original position as corresponding from suspension centre described in each
From displacement, obtain in real time with each Suo Shu from the corresponding difference from displacement and main displacement of suspension centre as with described from suspension centre company
Contact is corresponding from suspension centre shift differences, according to it is described from the adjustment of suspension centre shift differences described in it is corresponding from hanging from suspension centre junction point
The oil pressure of the main order point hydraulic rockshaft of point so that described to be less than or equal to predetermined threshold value from suspension centre shift differences.
6. the control method of hydraulic lifting apparatus according to claim 3, it is characterised in that also include：
Before main original position is updated to decline, the liftoff position of the main suspension centre junction point, each is updated to from original position
It is corresponding described from the liftoff position of suspension centre junction point before declining；
Start the hydraulic rockshaft of each suspension centre, the component is dropped to and is contacted with ground, during this period：
Difference using the real-time liftoff position of the main suspension centre junction point and corresponding main original position as main displacement, with each
The real-time liftoff position from suspension centre junction point is with the corresponding difference from original position as corresponding from suspension centre described in each
From displacement, obtain in real time with each Suo Shu from the corresponding difference from displacement and main displacement of suspension centre as with described from suspension centre company
Contact is corresponding from suspension centre shift differences, according to it is described from the adjustment of suspension centre shift differences described in it is corresponding from hanging from suspension centre junction point
The oil pressure of the main order point hydraulic rockshaft of point so that described to be less than or equal to predetermined threshold value from suspension centre shift differences.
7. the control method of hydraulic lifting apparatus according to claim 1, it is characterised in that to same suspension centre from making a little
The oil pressure applied by hydraulic rockshaft is identical.
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| CN201510137985.7A CN104760903B (en) | 2015-03-26 | 2015-03-26 | A kind of control method of hydraulic lifting apparatus |
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| CN201510137985.7A CN104760903B (en) | 2015-03-26 | 2015-03-26 | A kind of control method of hydraulic lifting apparatus |
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| CN104760903B true CN104760903B (en) | 2017-03-29 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112360134B (en) * | 2020-10-27 | 2022-04-19 | 广东博智林机器人有限公司 | Method, system and device for controlling crawling speed of electric climbing frame and storage medium |
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| DE4215644C2 (en) * | 1992-05-14 | 1995-03-16 | Greschbach Ind Gmbh & Co | Device for jacking up aircraft |
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| CN102434002A (en) * | 2011-01-06 | 2012-05-02 | 江苏扬建集团有限公司 | Anti-wind and synchronous control method for integrally lifting overline bridge of high-rise building |
| CN102536935A (en) * | 2011-12-15 | 2012-07-04 | 南京鹏力科技有限公司 | Hydraulic synchronous control device and method |
| CN102874705A (en) * | 2012-09-28 | 2013-01-16 | 三一重工股份有限公司 | System and method for synchronous control of multiple winches |
| CN103790234A (en) * | 2014-01-03 | 2014-05-14 | 永升建设集团有限公司 | Large-span truss hydraulic multi-point synchronous lifting construction method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4215644C2 (en) * | 1992-05-14 | 1995-03-16 | Greschbach Ind Gmbh & Co | Device for jacking up aircraft |
| CN101786577A (en) * | 2009-01-23 | 2010-07-28 | 柳州欧维姆机械股份有限公司 | Dual-machine loading-and-walking type hydraulic numerical control deck erection gantry and control system and control method |
| CN101949469A (en) * | 2010-09-27 | 2011-01-19 | 中国葛洲坝集团机械船舶有限公司 | Electrical synchronized method and device of hoist with two hoisting points |
| CN102434002A (en) * | 2011-01-06 | 2012-05-02 | 江苏扬建集团有限公司 | Anti-wind and synchronous control method for integrally lifting overline bridge of high-rise building |
| CN102536935A (en) * | 2011-12-15 | 2012-07-04 | 南京鹏力科技有限公司 | Hydraulic synchronous control device and method |
| CN102874705A (en) * | 2012-09-28 | 2013-01-16 | 三一重工股份有限公司 | System and method for synchronous control of multiple winches |
| CN103790234A (en) * | 2014-01-03 | 2014-05-14 | 永升建设集团有限公司 | Large-span truss hydraulic multi-point synchronous lifting construction method |
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|---|---|
| CN104760903A (en) | 2015-07-08 |
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