CN109826411A - A kind of climbing frame and its operation method for building - Google Patents
A kind of climbing frame and its operation method for building Download PDFInfo
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- CN109826411A CN109826411A CN201910108022.2A CN201910108022A CN109826411A CN 109826411 A CN109826411 A CN 109826411A CN 201910108022 A CN201910108022 A CN 201910108022A CN 109826411 A CN109826411 A CN 109826411A
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- 230000009194 climbing Effects 0.000 title claims abstract description 111
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000009434 installation Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 3
- 229910000831 Steel Inorganic materials 0.000 description 6
- 239000010959 steel Substances 0.000 description 6
- 239000000725 suspension Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 206010057071 Rectal tenesmus Diseases 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 208000012271 tenesmus Diseases 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
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- 238000012360 testing method Methods 0.000 description 1
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Abstract
A kind of climbing frame for building and its operation method, it include: at least one main frame structure, at least one guide rail and at least one hoisting mechanism, guide rail is fixed on building, guide rail is used as the track that main frame structure is climbed, main frame structure is climbed by hoisting mechanism along guide rail, main frame structure includes front side frame and rear frame, in front side frame and support post is respectively equipped on rear frame, support post includes multiple first support posts and multiple second support posts, multiple first support posts are located in front side frame, multiple second support posts are located on rear frame, multiple first support post upper supports are equipped with the first row hanger rail road, multiple second support post upper supports are equipped with the second row hanger rail road, the first row hanger rail road and the second row hanger rail road are correspondingly arranged so that row loop wheel machine structure can be along the first row hanger rail road, The sliding of second row hanger rail road, by above-mentioned setting, so that row device for hoisting can be moved up and down in company with climbing frame, facilitates construction.
Description
Technical field
The present invention relates to a kind of climbing frame and its operation method, the climbing frame of specially a kind of sustainable row frame and its operation side
Method belongs to building instrument field.
Background technique
With progress of the epoch, the height of building is higher and higher now, in construction or maintenance, scaffold is generallyd use
Or frame climbing structure, frame climbing structure due to its is easy to operate, safety, application it is more and more extensive.Climbing frame is that one kind is similar to mostly
The mechanism of hoistable platform, climbing frame frame body connect close to building structure side by the way that the guide rail on horizontal attached wall part and climbing frame frame body is fixed
Connect, climbing frame oscilaltion on guide rail, climbing frame is usually independently to work, common row hang it is general be erected at single-storey factory building it
In, at present in middle-high building still without discovery both combine mechanism.
Summary of the invention
The present invention is in view of the above-mentioned problems, provide a kind of climbing frame of sustainable row frame, to solve the above problems,
The present invention connects climbing frame by support post and row is hung, so that row hangs and can climb with climbing for climbing frame, and
Can be by the way that support post be arranged to liftable structure, further hanging row can while be gone up and down relative to climbing frame, convenient
Its working method.
The technical solution of the present invention is as follows:
1. a kind of climbing frame for building (107), comprising: main frame structure, guide rail (201) and hoisting mechanism (215), it is described to lead
Rail (201) is fixed on building (221), and as the track that main frame structure is climbed, main frame structure passes through hoisting mechanism
(215) it climbs along guide rail (201), it is characterised in that: the main frame structure includes front side frame and rear frame, front side
On frame and it is respectively equipped with support post (106) on rear frame, support post (106) upper support has row hanger rail road (104),
Support post (106) includes multiple first support posts and multiple second support posts, and row hanger rail road (104) includes that the first row is hung
Track (104) and the second row hanger rail road (104), multiple first support posts are located in front side frame, multiple second support posts
It is located on rear frame, multiple first support post upper supports are equipped with the first row hanger rail road (104), and multiple second supports are vertical
Column upper support is equipped with the second row hanger rail road (104), and the first row hanger rail road (104) and the second row hanger rail road (104) are substantially flat
Row is arranged so that row loop wheel machine structure can be slided along the first row hanger rail road (104), the second row hanger rail road (104).
Preferably, in the above solution, the first support post, the second support post are adjustable length structure.
It is stood preferably, in the above solution, lower section the first support post two sides in the first row hanger rail road are additionally provided with the support of the first ground
Column, lower section the second support post two sides in the second row hanger rail road are additionally provided with the second ground support column, the first, second ground support
The upper end of the column supports the first, second row hanger rail road (104) respectively, and lower end is fixed on ground, for cooperateing with the first, second support
Upright supports the first, second row hanger rail road (104), the first, second ground support column are arranged to adjustable length structure.
Preferably, in the above solution, row loop wheel machine structure hangs cart (101) including row and row is hung trolley (102), row hangs cart (101)
It can be run along the first row hanger rail road (104) and the second row hanger rail road (104), row, which hang trolley (102) installation, is expert at and hangs cart (101)
On, row, which hangs trolley (102), to be run up along the side perpendicular to the first row hanger rail road (104), the second row hanger rail road (104).
Preferably, in the above solution, the first support post, the second support post are hydraulic bar type structure, hydraulic bar type structure
Including cylinder body and the body of rod, wherein cylinder body is accordingly fixed in front side frame structure and rear frame structure, and body of rod top is corresponding solid
Surely support the first row hanger rail road (104), the second row hanger rail road (104), the body of rod can opposing cylinder move up and down.
Preferably, in the above solution, further including Overthrow preventing device (212), Overthrow preventing device (212) includes sway bar and clamping
Device, sway bar are fixed on climbing frame (107), and clamping apparatus one end is annulus, can be socketed in sway bar, the other end passes through
Wall-attached supporting seat (208) is fixed on building 221.When climbing frame (107) climbs, sway bar is sliding by annulus upward sliding
Prevent climbing frame (107) from toppling during dynamic.
Preferably, in the above solution, hoisting mechanism (215) is electric block, including building (221) wall-attached supporting seat (208),
One end of the cable connecting with electric block, cable is fixed on building (221) by building (221) wall-attached supporting seat (208)
On wall, the other end is fixed on main frame structure.
The operation method of above-mentioned climbing frame for building (107) comprising following steps:
A controller issues instruction, and process of climbing starting is climbed and stopped when climbing frame (107) integrally rises to predetermined position
Only, after manually the mechanical connection of progress climbing frame (107) and building (221) is fixed, the climbing device of climbing frame (107), which enters, to be loosened
State no longer stress.
B controls the first support post, the second support post is gone up and down to suitable position, installs row loop wheel machine structure.
It preferably,, can autostop if load overloads when climbing frame (107) climbs；When any the two of climbing frame (107) itself
It is more than 2cm that climb altitude difference, which occurs, for a hoisting mechanism (215), and climbing frame (107) autostop needs manual intervention to level after shutdown
Afterwards, it is again started up.
Preferably, when climbing frame (107) climbs, row loop wheel machine structure is moved near the first, second ground support column, third,
4th support post is hydraulic linkage, and collaboration climbing frame rises to it and provides support force, mitigates the resistance of climbing frame uplink.
Further, when climbing frame climbs, row loop wheel machine structure is moved to third, near the 4th support post, third, the 4th
Support post is preferably hydraulic linkage, and collaboration climbing frame rises to it and provides support force, mitigates the resistance of climbing frame uplink.
Detailed description of the invention
The operation schematic diagram that 1 climbing frame of Fig. 1 embodiment, row are hung on building.
Fig. 2 climbing frame and hoisting mechanism schematic diagram.
The operation schematic diagram that 2 climbing frame of Fig. 3 embodiment, row are hung on building.
The mode of transfer force schematic diagram of Fig. 4 frame climbing structure.
The control flow chart that climbs of Fig. 5 climbing frame.
Wherein: 101 rows hang cart, and 102 rows hang trolley, 103 bars, and 104 rows hang sliding rail, and 104A the first row hangs sliding rail, 104B
Second row hangs sliding rail, 105 mechanical arms, 106 support posts, the first support post of 106A, the second support post of 106B, 107 climbing frames；
It supports the first ground column 108A support the second ground column 108B and supports column in 108 ground
201 guide rails, upright bar in 202,203 outer vertical rods, 204 cross bars, 205 support diagonal web members, 206 horizontal support structures, 208
Wall-attached supporting seat, 209 anti-fall devices, 211 anti-falling rods, 212 anti-tilt devices, suspension centre on 213,214 lower suspension centres, 215 elevators, 217
Scaffold board, 218 outer protective nets, 219 operation at top layer guardrail, 220 sealing turnover panels, 221 buildings
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described,
As shown in Figure 1, climbing frame 107 includes frame structure, it is arranged around building 221, building 221 is shown in Fig. 1
Four sides be equipped with climbing frame 107, as needed, such as modify some of 221 metopes of building and be, can also be only in one wherein
Face, two faces or three faces are equipped with climbing frame 107.Climbing frame 107 is customized or selects generally according to the length of building 221, such as Fig. 1
Middle 221 longitudinal surface of building, can be only with a climbing frame 107, and lateral face can transversely be combined using multiple climbing frames 107 to be made
With that is, multiple climbing frames 107 are assisted to operation.Certainly it also may customize and be mounted to a whole climbing frame 107, surround as shown in Figure 1
107 structure of whole climbing frame of one of building 221.
The inside of climbing frame 107 of the invention is equipped with support post 106, is opposite two sides before and after climbing frame 107 in Fig. 1
It is fixed with support post 106, row is supported by support post 106 and hangs sliding rail 104, support post (106) includes multiple first
Support column 106A and multiple second support post 106B, multiple first support posts are located in front side frame, multiple second supports
Column is located on rear frame, and support post 106 can be designed to the height higher than climbing frame 107, is hung sliding rail 104 at once and is higher than and climbs
The certain height of frame.Multiple first support post upper supports are equipped with the first row hanger rail road 104A, multiple second support posts
Upper support be equipped with the second row hanger rail road 104B, the first row hanger rail road 104A and the second row hanger rail road 104B be correspondingly arranged so that
Row loop wheel machine structure can be slided along the first row hanger rail road 104A, the second row hanger rail road 104.
First support post, the second support post further can be set to variable length structure, if support post is liquid
Pressure lever type structure, including cylinder body and the body of rod, wherein cylinder body is fixed on the frame structure, the fixed support row hanger rail road in body of rod top,
The body of rod can opposing cylinder move up and down.By above-mentioned setting, it can be convenient row and be hung in tight histogram and be adjusted upwards.
Row loop wheel machine structure includes going to hang cart 101 and go to hang trolley 102, and row, which hangs cart 101, to be run along row hanger rail road 104,
Row hangs the installation of trolley 102 and is expert at and hangs on cart 101, and row, which hangs trolley 102, to be transported on the direction of vertical row hanger rail road 104A, 104B
Row.
Row hangs trolley 102 and is installed with adjustable lever 103 downwards, and bar 103 is equipped with mechanical arm 105,
By above-mentioned setting, it is feasible realize row loop wheel machine structure entirety move up and down, left and right transverse shifting, row hang trolley 102
Realize longitudinal movement, hanging trolley cooperation row at once and hanging cart can realize that three-dimensional all-directional is mobile.Mechanical arm 105 is arranged to multiaxis machine
Tool arm can further realize the flexible operating of manipulator.
As shown in Fig. 2, 107 main composition part of its hoisting mechanism 215 for illustrating climbing frame 107 and climbing frame.Wherein lead
The track that rail 201 integrally climbs as climbing frame 107, can be used the combination steel material of channel steel and round steel, and guide rail 201 generallys use
Bolt arrangement is fixed on building 221, and climbing frame 107 is slided up and down by realizing with the cooperation of guide rail 201.
In order to guarantee the stability of climbing frame 107, it is additionally provided with anti-tilt device 212, anti-tilt device 212 includes sway bar and clamping
Device, sway bar are fixed on climbing frame 107, and clamping apparatus one end is annulus, can be socketed in sway bar, and the other end passes through attached
Wall support 208 is fixed on building 221.When climbing frame 107 climbs, sway bar passes through annulus upward sliding, sliding process
In prevent climbing frame from toppling.
In addition, being equipped with frictional anti-fall device 209 comprising anti-falling rods 211, when dropping for climbing frame 107, to climbing
Frame 107 is frictionally supported, and tenesmus is slowed down, until tenesmus stops.
Wall-attached supporting seat 208 is the combination steel material of channel steel and round steel, plays the role of off-load overturn-preventing.Climbing frame 107 with
The connecting elements of major structure of construction.Wall-attached supporting seat 208 is generally mechanically attached with shear wall, also can be with floor
It is mechanically connected.
Part wall-attached supporting seat 208 is equipped with upper suspension centre 213, and 107 bottom of climbing frame is correspondingly provided with lower suspension centre 214, upper suspension centre 213
Cable is equipped between lower suspension centre 214, cable can be promoted and be declined by elevator 215 such as electric block or hydraulic press.
Fig. 2 shows climbing frames to be equipped with multilayered structure, for one layer bottom, comprising: interior upright bar 202, outer vertical rod 203, cross
Bar 204, horizontal support structure 206 (vertical pole), wherein cross bar 204 connects interior upright bar 202 and outer vertical rod 203, horizontal support structure
206 (vertical poles) connect cross bar 204 in a longitudinal direction, by inside and outside upright bar 202,203, cross bar 204, horizontal support structure 206
(vertical pole) forms a rectangular frame structure, and rectangular frame structural base can be laid with scaffold board 217, in addition be additionally provided with
Reinforce using web member 205.In addition settable sealing turnover panel 220, work layer guardrail 219, protection outer net 218.
Fig. 3 shows another preferred embodiment of the present invention: where basic structure and Fig. 1,2 is identical, is a difference in that it also
At least one first ground support column 108A and at least one second ground including being additionally useful for support row hanger rail road 104 support column
108B, the first ground supports column and the second ground support the upper end of the column supports row hanger rail road 104, and lower end is fixed on ground or building,
It is preferably fixed on ground.First ground support column and the second ground support column are not fixedly connected with climbing frame, for cooperateing with first, second
Support post supports row hanger rail road 104, and the first ground support column and the second ground support column are arranged to adjustable length structure.Pass through
One ground support column and the second ground support upright supports track can undertake the moiety by weight in row hanger rail road 104, to mitigate first, second
The pressure of support post.Two second ground support column of two first ground support column and its opposite in Fig. 3 in circle extends to
Ground (not shown).
Preferably the first ground supports column and the second ground support column is arranged close to the both ends of track, it is preferable that the support of the first ground
Column and the second ground support column are respectively two, and support is expert near four ends of mounted track 104.It, can when bearing capacity is larger
It increase accordingly the quantity of the first ground support column and the second ground support column.
Fig. 4 shows the force path of climbing frame, and the size design of column and the second ground support column is supportted for the first, can be joined
Examine following formula:
Wherein frictional force of the frictional force between climbing frame and guide rail.
Illustrate the course of work of climbing frame with reference to Fig. 1-3,5:
System is by initialization, and System self-test, whether judging result is normal, if it is not, then alarm is shut down, if so,
Load is then detected, if overload, shuts down alarm, do not overload, then climbing frame climbs, while carrying out seat in the plane detection, if each seat in the plane is big
In 2cm, then artificial leveling, judges whether to reach designated position, such as reaches, then terminates.It is specific:
Climbing frame 107 is climbed by the control of dedicated controller, is instructed when controller issues, the climbing frame 107 on single building
It is promoted, the power of promotion may be from electric block and chain or hydraulic jacking device etc..When climbing frame 107 is whole rise to it is pre-
Positioning is climbed and is automatically stopped when setting, after the artificial mechanical connection for carrying out climbing frame 107 and stair is fixed, 107 hoisting mechanism of climbing frame into
Enter relaxation state no longer stress.
Such as Fig. 3, it is preferable that when climbing frame climbs, row is hung and is moved near the first ground support column and the second ground support column,
It is preferably hydraulic linkage that first ground, which supports column and the second ground support column, and collaboration climbing frame rises to it and provides support force, and mitigation is climbed
The resistance of frame uplink.
It, can autostop if load overloads when climbing frame 107 climbs.When any two hoisting mechanism of climbing frame 107 itself
(215) climb altitude difference occurs is more than 2cm, 107 autostop of climbing frame.When the both ends difference in height of row crane system is more than 2cm, climbing frame
107 autostops.After needing manual intervention to level after shutdown, machine is again started up.
Complete climb altitude is that the layer of building body is high every time, for example, a height of 3m of building body layer, climbing frame are complete every time
Whole climb altitude is 3m.
Climbing frame can Integral synchronous climb, can also each hoisting mechanism seat in the plane individually promoted, can also any combination Synchronous lifting.
After climbing frame rises to designated position, the control that row is hung can be carried out, support post carries out height adjustment, is expert at and hangs
Row loop wheel machine structure is installed on sliding rail, can be constructed simultaneously to building roof, while constructing to each layer.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, this
Field technical staff makes a little simple modification, equivalent variations or modification using the technology contents of the disclosure above, all falls within this hair
In bright protection scope.
Claims (10)
1. a kind of climbing frame for building (107), comprising: main frame structure, guide rail (201) and hoisting mechanism (215), the guide rail
(201) it is fixed on building (221), as the track that main frame structure is climbed, main frame structure passes through hoisting mechanism (215)
It climbs along guide rail (201), it is characterised in that: the main frame structure includes front side frame and rear frame, front side frame
It is respectively equipped with support post (106) on upper and rear frame, support post (106) upper support has row hanger rail road (104), support
Column (106) includes multiple first support posts and multiple second support posts, and row hanger rail road (104) includes the first row hanger rail road
(104) it is located in front side frame with the second row hanger rail road (104), multiple first support posts, multiple second support posts are located at
On rear frame, multiple first support post upper supports are equipped with the first row hanger rail road (104), on multiple second support posts
Portion's support is equipped with the second row hanger rail road (104), the first row hanger rail road (104) and the second row hanger rail road (104) is substantially parallel sets
It sets so that row loop wheel machine structure can be slided along the first row hanger rail road (104), the second row hanger rail road (104).
2. climbing frame for building (107) according to claim 1, it is characterised in that: the first support post, the second support post
It is adjustable length structure.
3. climbing frame for building (107) according to claim 1 or 2, it is characterised in that: the lower section in the first row hanger rail road
First support post two sides are additionally provided with the first ground support column, and lower section the second support post two sides in the second row hanger rail road are also set
There is the second ground to support column, the first, second ground support the upper end of the column supports the first, second row hanger rail road (104), lower end branch respectively
It supports on ground, for cooperateing with the first, second support post to support the first, second row hanger rail road (104), described first, second
Ground support column is arranged to adjustable length structure.
4. climbing frame for building (107) according to claim 3, it is characterised in that: row loop wheel machine structure includes that row hangs cart (101)
It is hung trolley (102) with row, row hangs cart (101) and can run along the first row hanger rail road (104) and the second row hanger rail road (104), row
It hangs trolley (102) installation to be expert at and hang on cart (101), row hangs trolley (102) can be along perpendicular to the first row hanger rail road (104), the
The side in two row hanger rail roads (104) is run up.
5. climbing frame for building (107) according to claim 4, it is characterised in that: the first support post, the second support post
Be hydraulic bar type structure, hydraulic bar type structure includes cylinder body and the body of rod, wherein cylinder body be accordingly fixed on front side frame structure and
In rear frame structure, body of rod top corresponding fixed support the first row hanger rail road (104), the second row hanger rail road (104), the body of rod can
Opposing cylinder moves up and down.
6. climbing frame for building (107) according to claim 1, it is characterised in that: further include Overthrow preventing device (212), prevent
The device (212) that topples includes sway bar and clamping apparatus, and sway bar is fixed on climbing frame (107), and clamping apparatus one end is ring-type
Portion can be socketed in sway bar, and the other end is fixed on building 221 by wall-attached supporting seat (208).When climbing frame (107) climbs
When, sway bar passes through annulus upward sliding, prevents climbing frame (107) from toppling in sliding process.
7. climbing frame for building (107) according to claim 1, it is characterised in that: hoisting mechanism (215) is electric block,
Including building (221) wall-attached supporting seat (208), one end of the cable connecting with electric block, cable is attached by building (221)
Wall support (208) is fixed on building (221) wall, and the other end is fixed on main frame structure.
8. the operation method of climbing frame (107) for building described in one of -7 according to claim 1, it is characterised in that including walking as follows
It is rapid:
A controller issues instruction, and process of climbing starts, when climbing frame (107) integrally rises to predetermined position, stopping of climbing, and people
After the mechanical connection that work carries out climbing frame (107) and building (221) is fixed, the climbing device of climbing frame (107) enters relaxation state
No longer stress.
B controls the first support post, the second support post is gone up and down to suitable position, installs row loop wheel machine structure.
9. the operation method of climbing frame for building (107) according to claim 8, when climbing frame (107) climbs, if load is super
It carries, it can autostop；It is more than 2cm when climb altitude difference occurs for any two hoisting mechanism (215) of climbing frame (107) itself, climbs
Frame (107) autostop is again started up after needing manual intervention to level after shutdown.
10. the operation method of climbing frame for building (107) according to claim 8 or claim 9 will go when climbing frame (107) climbs
Loop wheel machine structure is moved near the first, second ground support column, and third, the 4th support post are hydraulic linkage, and collaboration climbing frame rises
Support force is provided for it, mitigates the resistance of climbing frame uplink.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910108022.2A CN109826411B (en) | 2019-02-02 | 2019-02-02 | Climbing frame for building and operation method thereof |
| PCT/CN2020/074181 WO2020156560A1 (en) | 2019-02-02 | 2020-02-03 | Climbing tower crane apparatus and control method therefor, traveling crane system and fault handling method and control method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910108022.2A CN109826411B (en) | 2019-02-02 | 2019-02-02 | Climbing frame for building and operation method thereof |
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| Publication Number | Publication Date |
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| CN109826411A true CN109826411A (en) | 2019-05-31 |
| CN109826411B CN109826411B (en) | 2021-06-01 |
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| CN201910108022.2A Expired - Fee Related CN109826411B (en) | 2019-02-02 | 2019-02-02 | Climbing frame for building and operation method thereof |
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| CN110700546A (en) * | 2019-10-10 | 2020-01-17 | 广东博智林机器人有限公司 | Automatic climbing truss and top leveling device thereof |
| CN110714948A (en) * | 2019-10-17 | 2020-01-21 | 广东博智林机器人有限公司 | Control system and method for synchronous operation of multiple hydraulic execution elements and climbing frame |
| CN110736980A (en) * | 2019-11-04 | 2020-01-31 | 广东博智林机器人有限公司 | method, device and system for monitoring climbing rack state information |
| WO2020156560A1 (en) * | 2019-02-02 | 2020-08-06 | 广东博智林机器人有限公司 | Climbing tower crane apparatus and control method therefor, traveling crane system and fault handling method and control method therefor |
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| CN112443150A (en) * | 2019-09-02 | 2021-03-05 | 广东博智林机器人有限公司 | Frame body, jacking plate assembly, jacking tower and using method of jacking tower |
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| WO2020156560A1 (en) * | 2019-02-02 | 2020-08-06 | 广东博智林机器人有限公司 | Climbing tower crane apparatus and control method therefor, traveling crane system and fault handling method and control method therefor |
| WO2020155600A1 (en) * | 2019-02-02 | 2020-08-06 | 广东博智林机器人有限公司 | Building construction system and construction method therefor |
| CN112443150A (en) * | 2019-09-02 | 2021-03-05 | 广东博智林机器人有限公司 | Frame body, jacking plate assembly, jacking tower and using method of jacking tower |
| CN112443150B (en) * | 2019-09-02 | 2022-06-03 | 广东博智林机器人有限公司 | Frame body, jacking plate assembly, jacking tower and using method of jacking tower |
| CN110670865A (en) * | 2019-09-16 | 2020-01-10 | 广东博智林机器人有限公司 | Climbing frame jacking system, building machine and climbing frame jacking control method |
| CN110670865B (en) * | 2019-09-16 | 2021-11-09 | 广东博鼎建筑科技有限公司 | Climbing frame jacking system, building machine and climbing frame jacking control method |
| CN110700546A (en) * | 2019-10-10 | 2020-01-17 | 广东博智林机器人有限公司 | Automatic climbing truss and top leveling device thereof |
| CN110700546B (en) * | 2019-10-10 | 2020-10-02 | 广东博智林机器人有限公司 | Automatic climbing truss and top leveling device thereof |
| CN110714948A (en) * | 2019-10-17 | 2020-01-21 | 广东博智林机器人有限公司 | Control system and method for synchronous operation of multiple hydraulic execution elements and climbing frame |
| CN110714948B (en) * | 2019-10-17 | 2021-03-26 | 广东博智林机器人有限公司 | Control system and method for synchronous operation of multiple hydraulic execution elements and climbing frame |
| CN110736980A (en) * | 2019-11-04 | 2020-01-31 | 广东博智林机器人有限公司 | method, device and system for monitoring climbing rack state information |
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