CN110670866A - Climbing frame jacking control method - Google Patents

Climbing frame jacking control method Download PDF

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Publication number
CN110670866A
CN110670866A CN201910872884.2A CN201910872884A CN110670866A CN 110670866 A CN110670866 A CN 110670866A CN 201910872884 A CN201910872884 A CN 201910872884A CN 110670866 A CN110670866 A CN 110670866A
Authority
CN
China
Prior art keywords
jacking
support rod
support
rod
climbing frame
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
Application number
CN201910872884.2A
Other languages
Chinese (zh)
Inventor
王欢
杨威
詹大强
田士川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong Bozhilin Robot Co Ltd
Original Assignee
Guangdong Bozhilin Robot Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Guangdong Bozhilin Robot Co Ltd filed Critical Guangdong Bozhilin Robot Co Ltd
Priority to CN201910872884.2A priority Critical patent/CN110670866A/en
Publication of CN110670866A publication Critical patent/CN110670866A/en
Priority claimed from PCT/CN2020/085866 external-priority patent/WO2021051805A1/en
Pending legal-status Critical Current

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Classifications

    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04GSCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G3/00Scaffolds essentially supported by building constructions, e.g. adjustable in height
    • E04G3/28Mobile scaffolds; Scaffolds with mobile platforms
    • E04G3/30Mobile scaffolds; Scaffolds with mobile platforms suspended by flexible supporting elements, e.g. cables
    • E04G3/32Hoisting devices; Safety devices
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04GSCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G5/00Component parts or accessories for scaffolds
    • E04G5/04Means for fastening, supporting, or bracing scaffolds on or against building constructions
    • E04G5/046Means for fastening, supporting, or bracing scaffolds on or against building constructions for fastening scaffoldings on walls
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04GSCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G3/00Scaffolds essentially supported by building constructions, e.g. adjustable in height
    • E04G3/28Mobile scaffolds; Scaffolds with mobile platforms
    • E04G2003/286Mobile scaffolds; Scaffolds with mobile platforms mobile vertically

Abstract

The invention discloses a climbing frame jacking control method, and a climbing frame jacking system comprises: climb a part and jacking part, climb a part and be suitable for and establish at the building periphery, climb a part and include the guide rail and connect the ladder shelves on the guide rail, ladder shelves are provided with a plurality ofly along direction of height spaced apart, and jacking part includes along two jacking devices that set up from top to bottom, and every jacking device all includes: the wall-attached support is suitable for being fixedly connected to a building, the support rod is connected to the wall-attached support, the support rod is a telescopic rod, and the support rod can be combined with and separated from the ladder stop; the two support rods alternately support the ladder stops to lift the climbing frame part; when one of the support rods is extended, after the support rod is judged to support the ladder stop, the other support rod is shortened, and the support rod is extended by a preset length after the support rod is judged to support the ladder stop, so that the climbing frame part completes a preset effective stroke. The climbing frame jacking control method can reduce the climbing error in single jacking.

Description

Climbing frame jacking control method
Technical Field
The invention relates to the field of building construction equipment, in particular to a climbing frame jacking control method.
Background
The existing climbing frame jacking device in the market is mostly an electric hoist or hydraulic lifting, strict synchronous climbing requirements do not exist between different stand machine positions, and obvious falling phenomenon exists due to the design of a mechanical mechanism during climbing at each time. Impact force in the falling process is difficult to control, negative influence is caused to building structure concrete, and safety risks of a frame body and a top end robot are increased.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a climbing frame jacking control method which can reduce the accumulation of errors in a single jacking process and enable the whole climbing frame to climb stably.
According to the climbing frame jacking control method provided by the embodiment of the invention, the climbing frame jacking system comprises: climb frame part and jacking part, it is suitable for to establish at the building periphery to climb the frame part, it includes the guide rail and connects to climb the frame part ladder shelves on the guide rail, ladder shelves are provided with a plurality ofly along the direction of height spaced apart, jacking part is including two jacking devices along setting up from top to bottom, every jacking device all includes: the wall-attached support is suitable for being fixedly connected to the building, the support rod is connected to the wall-attached support, the support rod is a telescopic rod, and the support rod can be combined with and separated from the ladder bars; the two supporting rods alternately support the ladder stops to jack the climbing frame part;
when one of the support rods is extended, after the other support rod is judged to support the ladder stop, the other support rod is shortened, and after the other support rod is judged to support the ladder stop, the other support rod is extended by a preset length, so that the climbing frame part completes a preset effective stroke;
the support rods take specific parameters as judgment conditions, the two support rods are respectively a first support rod and a second support rod, the first support rod is supposed to be extended to support the ladder step when being extended, the second support rod is supposed to support the ladder step when reaching a preset length, the value reached by the specific parameters is a judgment value, and when the specific parameters of the first support rod are reached to the judgment value when being extended, the first support rod is judged to support the ladder step.
According to the climbing frame jacking control method provided by the embodiment of the invention, the upper jacking device and the lower jacking device are arranged, single-pole jacking is upgraded into double-pole jacking, and the two jacking devices perform coordinated operation, so that the climbing frame part does not need to fall back in the climbing process, on one hand, the climbing speed of the climbing frame part can be increased, the construction rhythm is accelerated, on the other hand, the impact and damage to a building and a climbing frame jacking system caused by falling back of the climbing frame can be reduced, and the construction safety is improved. And after the climbing frame is reduced to fall back, the guide rail does not need to be supported by the anti-falling hook on the wall-attached support, and the requirement on the horizontal positioning precision of the wall-attached support can be reduced. In addition, the climbing frame does not need to frequently fall back to the anti-falling hook, and the wall-attached support does not need to be excessively strengthened by considering the frequent falling impact force when being installed on a building, so that the light weight of a single machine position can be realized.
When the supporting rod is used for supporting the ladder stop each time, the judgment value of the specific parameter is reached when the previous supporting rod supports the ladder stop to the preset length, and the extending length of the supporting rod at the last time is adjusted, so that the problem of falling back during climbing can be avoided, and the climbing error during single jacking can be reduced. When the two support rods alternately climb for multiple times, because the self-adjusting process is adopted in each climbing, the error accumulation is small after the multiple climbing, and the climbing height of the whole climbing frame part is more accurately controlled.
In some embodiments, the jacking portion is adapted to be arranged at a plurality of machine positions at intervals along the building level, the jacking portion comprises two jacking devices at each machine position, the supporting rods of the two jacking devices at the same machine position alternately support the ladder steps, and the two supporting rods at the same machine position use specific parameters of each other as judgment conditions for supporting the ladder steps.
Specifically, in a plurality of machine positions, after the support rods positioned above reach the judgment condition for supporting the ladder bars respectively, the support rods simultaneously extend for a first preset length; and in the plurality of machine positions, after the support rods positioned below reach the judgment condition for supporting the ladder bars respectively, extending by a second preset length simultaneously.
In some embodiments, the jacking device is provided with a pressure sensor for detecting the pressure borne by the stay bar when the stay bar is combined with the ladder bar, and the pressure detected by the pressure sensor is taken as a specific parameter by the stay bar.
Specifically, the stay bar is a hydraulic cylinder, and the pressure sensor is used for detecting the hydraulic pressure of the hydraulic cylinder.
In some embodiments, the support rod is a hydraulic cylinder, a displacement sensor is used for detecting the displacement of a piston rod of the hydraulic cylinder, a pressure sensor is used for detecting the working pressure of the hydraulic cylinder, and the operation of the climbing frame jacking system comprises the following steps:
p1: controlling a piston rod of the lower support rod to extend out, enabling the piston rod to be combined with the nearest ladder stop and start jacking until the climbing frame part is jacked for a preset effective stroke, stopping the extension of the piston rod, and at the moment, enabling the guide rail to be jacked by the lower support rod, and recording the working pressure and the piston rod stroke of the lower support rod at the moment;
p2: controlling the piston rod of the upper support rod to extend to enable the piston rod to be combined with the nearest ladder stop, when the working pressure of the upper support rod is equal to the working pressure of the upper support rod recorded in the step P1, the guide rail is supported by the upper support rod, the action of the upper support rod is stopped, the working pressure and the piston rod stroke of the upper support rod at the moment are recorded, and the lower support rod is controlled to retract until the lower support rod is completely retracted; wherein the working pressure of the stay is a specific parameter required for a determination condition, and the working pressure of the stay above recorded in step P2 is used as an initial determination value;
p3: controlling a piston rod of the lower support rod to extend out, enabling the piston rod to be combined with the nearest ladder stop and start to extend, and judging that the guide rail is supported by the lower support rod when the working pressure of the lower support rod is equal to the recorded judgment value; continuing to extend the piston rod of the lower support rod, extending the preset length to complete one preset effective stroke, stopping the action of the lower support rod, recording the working pressure and the piston rod stroke of the lower support rod at the moment, and controlling the upper support rod to retract until the upper support rod is completely retracted; wherein the lower strut operating pressure recorded in step P3 is used as the updated determination value;
p4: controlling a piston rod of the upper support rod to extend so as to enable the piston rod to be combined with the nearest step and start to extend, and judging that the guide rail is supported by the upper support rod when the working pressure of the upper support rod is equal to the updated judgment value; continuing to extend the piston rod of the upper support rod, extending the preset length to complete one preset effective stroke, stopping the action of the upper support rod, recording the working pressure and the piston rod stroke of the upper support rod at the moment, and controlling the lower support rod to retract until the lower support rod is completely retracted; wherein the operating pressure of the upper strut recorded in step P4 is used as the updated determination value;
the steps from P3 to P4 are then repeated until the creeper section reaches the desired jacking height.
Specifically, it is a plurality of to climb the frame part the guide rail, the jacking part corresponds and is equipped with the multiunit the jacking device climb after the frame part reaches the jacking height of requirement, measure every the top elevation of guide rail and the required difference in height that reaches the elevation, then control is corresponding props up the guide rail the vaulting pole is flexible, so that the top elevation of guide rail reaches required elevation.
Specifically, the climbing frame part is provided with a plurality of guide rails, the jacking part is correspondingly provided with a plurality of groups of jacking devices, in step P1, after the climbing frame part is jacked by a plurality of lower support rods for a preset effective stroke, the height of each guide rail is measured, and then the corresponding lower support rods are controlled to stretch and contract, so that the tops of the guide rails are leveled; and then stopping the piston rod from extending, and recording the working pressure of the support rod below the piston rod and the stroke of the piston rod at the moment.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic plan view of a machine position of a jacking portion in one embodiment of the invention.
Fig. 2 is a schematic layout diagram of the climbing frame jacking system corresponding to each machine position in the front view direction according to an embodiment of the invention.
Fig. 3 is a climbing process diagram of a single-bay climbing system in one embodiment.
Fig. 4 is a partial structure view of a single jacking device and a corresponding climbing frame of one embodiment.
Fig. 5 is a hydraulic control schematic of two struts on a single stand in one embodiment.
Reference numerals:
building machine 1000, building 2000,
A climbing frame jacking system 100, a robot running track 200,
A climbing frame part A, a guide rail 11, a ladder stop 12,
The lifting part B, the machine position B, the lifting device 20, the upper lifting device 20-u, the lower lifting device 20-d, the wall-attached support 21, the stay bar 22, the base body 221, the rod body 222, the upper stay bar 22-u, the lower stay bar 22-d, the anti-falling hook 23, the elastic piece 24 and the hydraulic pump 26.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "length," "upper," "lower," "vertical," "horizontal," "top," "bottom," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
A climbing shelf jacking system 100 according to an embodiment of the present invention is described below with reference to fig. 1-5.
As shown in fig. 2 and 3, a climbing frame jacking system 100 of a building machine according to an embodiment of the present invention includes: a climbing frame part A and a jacking part B.
As shown in fig. 3 and 4, the climbing frame portion a is adapted to be provided at the periphery of the building 2000, and includes a guide rail 11 and a plurality of rung 12 connected to the guide rail 11, the rung 12 being provided at intervals in the height direction.
As shown in fig. 1 and 2, the jacking portion B is adapted to be arranged at a plurality of machine places B horizontally spaced along the building 2000, and includes two jacking devices 20, one above the other, at each machine place B. As shown in fig. 3 and 4, each jacking device 20 includes: wall attachment support 21 and brace 22, wall attachment support 21 being adapted to be fixedly attached to building 2000, where wall attachment support 21 may be fixed to an exterior wall, beam, staircase or the like.
The bottom end of the stay bar 22 can be connected to the wall-attached support 21, and the stay bar 22 is a telescopic bar. Specifically, the stay 22 includes a base 221 and a rod 222, the rod 222 is retractable with respect to the base 221, the base 221 is disposed on the wall-attached support 21, and the rod 222 is used for combining with the rung 12. Here, the type of the stay 22 is not particularly limited, and for example, the stay 22 may be a hydraulic cylinder, the base 221 is a cylinder, and the rod body 222 is a piston rod. For another example, the stay 22 is a linear motor, and the rod 222 is a linear shaft of the linear motor. In still another example, the strut 22 may be formed by a motor in combination with a screw-nut arrangement, in which the shaft 222 is a screw.
In the embodiment of the present invention, the top of each stay 22 can be combined with the rung 12 to support the climbing frame portion a upward when extended, and as shown in fig. 3, two stays 22 of the same machine location b alternately support the rung 12 to lift the climbing frame portion a.
To facilitate an understanding of the usefulness of the alternate jacking scheme in this application, a specific example of a procedure for jacking a rung using a single strut is described.
Taking fig. 4 as an example, the jacking device 20 comprises a falling prevention hook 23, and the falling prevention hook 23 is arranged on the wall-attached support 21. A plurality of steps 12 are uniformly arranged on the guide rail 11, and before the beginning, the step 12 is hung on the anti-falling hook 23. Then the jacking process starts:
1) the rod body 222 of the control stay 22 extends and is combined with the top closest ladder rung 12 after being extended, so that the climbing frame part A gradually rises. During the lifting process, the falling hook 23 is dragged by the lower rung 12 to rotate and leans against the lower rung 12 due to gravity.
2) The rod body 222 of the control stay rod 22 continuously extends to enable the climbing frame part A to continuously rise, so that the ladder rail 12 which is leaned against the falling prevention hook 23 rises above the falling prevention hook 23, the falling prevention hook 23 cannot lean against the ladder rail 12 any more and then automatically rotates and resets to enable the falling prevention hook 23; until the rod 222 of the stay 22 stops extending, the falling prevention hook 23 is in a reset state below a certain rung 12.
3) The rod body 222 of the control stay 22 retracts, and the climbing frame part a falls back for a certain stroke along with the rod body 222 under the influence of gravity, so that a certain lifted ladder stop 12 is hooked on the anti-falling hook 23.
4) The rod body 222 continues to be retracted to the shortest length, and then the process returns to the step 1) to repeat the processes from 1) to 4) until the climbing frame part A reaches the required jacking height.
Therefore, if the jacking device 20 is only provided with one layer, the climbing frame part A can fall back integrally in each jacking stroke of the jacking device 20, the impact force in the falling back process is difficult to control, and the building structure is negatively influenced. In addition, in the process of falling back the climbing frame, various risks may be generated to the climbing frame jacking system 100 itself due to impact.
In addition, in the scheme of falling back of the climbing frame, higher requirements are required to be provided for the horizontal positioning accuracy of the wall-attached support 21. This is because the climbing frame falling range is small when the wall attachment support 21 is installed high, and is large when the wall attachment support 21 is installed low. Especially, when the jacking part B comprises a plurality of machine positions B, and each machine position B is provided with one jacking device 20, whether the wall attaching supports 21 of each jacking device 20 are installed on the same horizontal plane or not is considered, so that the integral balance can be ensured when the climbing frame falls back.
However, when two support rods 22 are arranged at the same machine position b, so that the two support rods 22 can alternately support the ladder rung 12 to lift the climbing frame part a, one support rod 22 can be selected to completely support the climbing frame part a, and then the other support rod 22 is retracted, thereby reducing the occurrence of the phenomenon that the climbing frame of the climbing frame part a falls back.
According to the climbing frame jacking system 100 of the building machine, the upper jacking device 20-u and the lower jacking device 20-d are arranged at the same machine position b, so that single-rod jacking at the same machine position is upgraded into double-rod jacking. Through the coordination operation of two jacking devices 20, can make and climb frame part A and need not to fall back at the in-process that climbs, can accelerate on the one hand and climb frame part A climbing speed for the construction rhythm, on the other hand can reduce and climb frame fall back and lead to impact, the damage to building 2000, climbing frame jacking system 100 self, improved the construction security. Moreover, after the climbing frame is reduced from falling back, the guide rail 11 does not need to be supported by the anti-falling hook 23 on the wall-attached support 21, and the requirement on the horizontal positioning precision of the wall-attached support 21 can be reduced. In addition, since the climbing frame does not need to frequently fall back onto the falling prevention hook 23, the wall attachment support 21 does not need to be excessively reinforced in consideration of the frequent falling impact force when being mounted on the building 2000, and thus the weight reduction of the single machine station can be realized.
In some embodiments, as shown in fig. 5, the stay 22 is a hydraulic cylinder, and since the hydraulic cylinder itself uses hydraulic pressure as a power source to support the creeper portion a, it has a certain buffering capacity, and the stay 22 is strong to the external impact, compared with the rigidly driven structure. When the local pressure of the system is uneven, the problem that the stay bar 22 is damaged due to overload can be reduced.
Specifically, as shown in fig. 5, the upper and lower hydraulic cylinders at the same station b are driven to extend and contract by the same hydraulic pump 26, thereby reducing the number of drive sources and reducing the cost.
In some embodiments, as shown in fig. 3, each jacking device 20 further comprises a falling-off prevention hook 23 provided on the wall-attached support 21. In the whole jacking process, the falling-preventing hook 23 only plays a role in safety protection, and the safety and reliability of climbing of the climbing frame part A are improved. Here, the specific structure of the anti-falling hook 23 and the principle of preventing falling are the prior art, and are not described herein again.
In some embodiments, as shown in fig. 4, the top of the rod body 222 is provided with a support hook, and when the support rod 22 is extended, the support hook can be hung on the upper rung 12 to combine the support rod 22 with the rung 12. When the stay 22 is shortened, the stay hooks disengage from the rung 12, enabling disengagement of the stay 22 from the rung 12. The stay 22 may also be provided with other structures to couple with the rung 12, such as electrically or magnetically driven couplings, and the like, without limitation.
Specifically, the bottom of the stay 22 is rotatably connected to the wall-attached support 21, and the jacking device 20 further comprises an elastic member 24 for pushing the stay 22 toward the climbing frame portion a, so that the top of the stay 22 can extend between the upper and lower rungs 12 without being blocked by the rungs 12. When the stay 22 is shortened and the stay 22 meets the obstruction of the ladder rail 12 below, the stay can also be pushed by the ladder rail 12, so that the stay hook exits between the upper ladder rail 12 and the lower ladder rail 12.
In some embodiments, as shown in fig. 2, the height of the upper lifting devices 20 of a plurality of machine positions b is the same, the height of the lower lifting devices 20 of a plurality of machine positions b is the same, and a guide rail 11 is provided on the climbing frame part a corresponding to each machine position b, and the guide rails 11 are parallel to each other. The arrangement ensures that stress points at the machine positions b of the climbing frame part A can be basically kept at the same height, is favorable for balancing the stress of the jacking devices 20 at the machine positions b, and can conveniently observe whether the system is in step or not during climbing.
In some embodiments, a pressure sensor is provided on each jacking device 20 to track the climb as the system climbs, using changes in pressure detected. In particular, it is possible to detect whether one stay 22 fully supports the rung 12 based on the pressure sensor, which facilitates the other stay 22 to find the retraction time. This is because when one of the struts 22 fully supports the rung 12, the other strut 22 is retracted again without causing the creel to fall back. The pressure is selected as the judgment condition whether the stay bar 22 supports the ladder rung 12, which is very convenient and easy to obtain the measured value.
Here, the arrangement of the pressure sensor may be selected from various forms. For example, pressure sensors may be provided on the surface of the stay 22 that is intended to engage the rung 12, which pressure sensors are applied by the rung 12 when the stay 22 engages the rung 12. For another example, the stay 22 is a hydraulic cylinder, and the pressure sensor can detect the hydraulic pressure of the hydraulic cylinder, so as to change the gravity supported by the stay 22.
In some embodiments, each jacking device 20 is provided with a displacement sensor, and the displacement sensor is used for detecting the extension length of the stay bar 22, so that whether the stay bar 22 extends or retracts in place can be fed back in time through detection of the displacement sensor, and the control precision of the stay bar 22 is improved. And the climbing condition can be tracked and adjusted by utilizing the length change detected by the displacement sensor.
A building machine 1000 according to an embodiment of the invention is described below with reference to fig. 2.
The building machine 1000 according to the embodiment of the present invention includes: a climbing frame jacking system and a building platform, wherein the climbing frame jacking system is a climbing frame jacking system 100 of the building machine according to the above embodiment of the invention.
As shown in fig. 2, the climbing frame jacking system 100 has a plurality of guide rails 11 corresponding to a plurality of machine positions b, and the building platform includes a robot running rail 200 connected to the plurality of guide rails 11. Thus, by the arrangement of the climbing frame jacking system 100, the whole building platform can stably and quickly climb, and the robot running track 200 can be leveled by the extension and contraction of the support rods 22 at the machine positions b.
According to the building machine 1000 provided by the embodiment of the invention, by arranging the climbing frame jacking system 100, the upper jacking device 20-u and the lower jacking device 20-d are arranged at the same machine position b, and single-rod jacking at the same machine position is upgraded into double-rod alternate jacking. Through the coordination operation of the two jacking devices 20, the building platform can be made to fall back in the climbing process, so that the climbing speed of the building platform can be increased on the one hand, the construction rhythm is increased, the impact and the damage to the building 2000 and the building machine 1000 caused by falling back of the climbing frame can be reduced on the other hand, and the construction safety is improved. And, it is also convenient for the robot running rail 200 to be leveled by the extension and contraction of the stay 22 at each station b.
Here, the robot running track 200 is provided to facilitate various robots on the building machine 1000 to move along the robot running track 200. The type of such a robot is not limited and may be, for example, a wall plastering robot, a drilling robot, or the like.
A climbing shelf jacking control method according to some embodiments of the present invention is described below with reference to fig. 1-5.
The climbing rack jacking control method according to the embodiment of the invention is proposed based on the structure of the climbing rack jacking system 100 of the building machine according to the above embodiment of the invention, and details of the above-mentioned structural parts are omitted here.
In the two lifting devices 20 at the same machine position b, the upper stay 22 is shortened again after lifting the ladder rung 12 and the lower stay 22 is shortened again after lifting the ladder rung 12 and the upper stay 22.
According to the climbing frame jacking control method provided by the embodiment of the invention, the two jacking devices 20 are coordinated to operate, so that the climbing frame part A does not need to fall back in the climbing process, the climbing speed of the climbing frame part A can be increased, the construction rhythm is accelerated, the impact and damage to the building 2000 and the climbing frame jacking system 100 caused by falling back of the climbing frame can be reduced, and the construction safety is improved. Moreover, after the climbing frame is reduced from falling back, the guide rail 11 does not need to be supported by the anti-falling hook 23 on the wall-attached support 21, and the requirement on the horizontal positioning precision of the wall-attached support 21 can be reduced. In addition, since the climbing frame does not need to frequently fall back onto the falling prevention hook 23, the wall attachment support 21 does not need to be excessively reinforced in consideration of the frequent falling impact force when being mounted on the building 2000, and thus the weight reduction of the single machine station can be realized.
Specifically, each stay 22 operates according to a set process, the set process includes an extension period, a support position holding point and a contraction period which are sequentially entered, the length of the stay 22 is gradually extended until the stay 22 supports the ladder rail 12 during the extension period, the stay 22 is continuously extended from the support ladder rail 12 during the support period, the length of the stay 22 at the support position holding point is the length of the stay 12 plus a preset length, and the length of the stay 22 is gradually shortened during the contraction period. And when one stay bar 22 of the same station b enters the support period, the other stay bar 22 enters the shortening period again. Wherein, when the operation parameters of the stay bar 22 reach the set conditions during the extension period, the stay bar 22 is judged to enter the support period.
By definitely determining the jacking action rule of each support rod 22, the method is beneficial to planning the coordination of the actions of the two support rods 22, and is convenient to shorten the waiting time of the climbing frame part A. The extension amplitude of the stay bar 22 is controlled according to the planned set length, which is beneficial to maintaining reasonable climbing speed.
Here, the bracing position maintaining point may be a point of time, i.e., the strut 22 is shortened directly after reaching the maximum extension length at the end of the bracing period. The stay-holding point may also be a period of time, i.e., the stay 22, at the end of the stay period, reaches the maximum extended length, then holds that length for a period of time, and then shortens.
Of course, in other embodiments, the setting process may further include a reduction holding period, an elongation period, a support holding period, and a reduction period, which are sequentially entered, in which the stay 22 is maintained at the shortest length for a period of time, and in which the stay 22 is maintained at the end of the support period for a period of time.
Alternatively, the stay 22 is a hydraulic cylinder, and when the hydraulic pressure of the stay 22 reaches a set pressure value, it is judged that the stay 22 enters the support period. Thus, the judgment is very convenient.
Referring now to fig. 1-5, a method of controlling climbing a scaffold according to further embodiments of the present invention is shown.
Climbing frame jacking system 100 includes: the climbing frame comprises a climbing frame part A and a jacking part B, wherein the climbing frame part A is suitable for being arranged on the periphery of the building 2000 and comprises a guide rail 11 and a plurality of ladder rails 12 connected to the guide rail 11, and the ladder rails 12 are arranged at intervals in the height direction.
Jacking part B includes along two jacking devices 20 that set up from top to bottom, and every jacking device 20 all includes: wall attaching support 21 and stay bar 22, wall attaching support 21 is suitable for fixed connection on building 2000, stay bar 22 is connected on wall attaching support 21, stay bar 22 is a telescopic rod, and stay bar 22 can be combined with and separated from ladder rung 12. The two struts 22 alternately support the rung 12 to lift the creel portion a.
When one of the support rods 22 is extended, after it is determined that it supports the ladder rail 12, the other support rod 22 is shortened again, and after it is determined that it supports the ladder rail 12, the support rod 22 is extended by a predetermined length again, so that the climbing frame part a completes a predetermined effective stroke.
The stay 22 takes a specific parameter as a determination condition, the two stays 22 are respectively a first stay 22 and a second stay 22, the first stay 22 is supposed to be extended to support the ladder rail 12 when being extended, the second stay 22 is supposed to be extended when the ladder rail 12 reaches a preset length, the value reached by the specific parameter is taken as a determination value, and when the specific parameter of the first stay 22 reaches the determination value when being extended, the first stay 22 is determined to support the ladder rail 12.
According to the climbing frame jacking control method provided by the embodiment of the invention, the upper jacking device 20-u and the lower jacking device 20-d are arranged, single-pole jacking is upgraded into double-pole jacking, and the two jacking devices 20 perform coordinated operation, so that the climbing frame part A does not need to fall back in the climbing process, on one hand, the climbing speed of the climbing frame part A can be increased, the construction rhythm is accelerated, on the other hand, the impact and damage to the building 2000 and the climbing frame jacking system 100 caused by falling back of the climbing frame can be reduced, and the construction safety is improved. Moreover, after the climbing frame is reduced from falling back, the guide rail 11 does not need to be supported by the anti-falling hook 23 on the wall-attached support 21, and the requirement on the horizontal positioning precision of the wall-attached support 21 can be reduced. In addition, since the climbing frame does not need to frequently fall back onto the falling prevention hook 23, the wall attachment support 21 does not need to be excessively reinforced in consideration of the frequent falling impact force when being mounted on the building 2000, and thus the weight reduction of the single machine station can be realized.
When the stay 22 is to support the ladder rail 12 each time, the specific parameter reaches the judgment value when the previous stay 22 supports the ladder rail 12 to the preset length, and the extension length of the next stay 22 is adjusted, so that the problem of falling back during climbing can be avoided, and the climbing error during single jacking can be reduced. When the two support rods 22 alternately climb for multiple times, because each time of climbing has a self-adjusting process, the error accumulation is small after the multiple times of climbing, and the overall climbing height of the climbing frame part A is more accurately controlled.
In some embodiments, the jacking portion B is adapted to arrange a plurality of machine positions B horizontally spaced along the building 2000, the jacking portion B includes two jacking devices 20 at each machine position B, the support rods 22 of the two jacking devices 20 at the same machine position B alternately support the rung 12, and the two support rods 22 at the same machine position B have specific parameters of each other as determination conditions for supporting the rung 12.
It can be understood that there are differences in the actual environments at each station b, such as friction experienced during climbing, gravity experienced, and the like. Therefore, each machine position b can be adjusted automatically according to the environment condition of each machine position b, the environment change can be adapted to, and the whole climbing is more stable.
Specifically, in the plurality of machine positions b, the stay bars 22-u located above are simultaneously extended by the first preset length after each of the determination conditions for supporting the rung 12 is reached. In the machine positions b, the lower stay bars 22-d are extended by a second preset length after reaching the condition for supporting the ladder rung 12. Therefore, when climbing the plurality of machine positions b, the supporting rods 22 are leveled, and the climbing part A is jacked up at the same time, so that the climbing steps of the climbing part A at the machine positions b are consistent, and the whole climbing is more stable. Here, the first preset length and the second preset length are both the above mentioned preset lengths, which is to indicate that the jacking heights of the two struts 22 may be equal or different when jacking the ladder rung 12.
In some embodiments, the jacking devices 20 have pressure sensors for detecting the pressure experienced by the struts 22 when engaged with the rung 12, and the struts 22 have the pressure detected by the pressure sensors as a specific parameter. Therefore, the detection is very convenient.
Of course, in other embodiments of the present invention, the top surfaces of the multiple ladder rails 12 are all parallel, and the jacking device 20 may further be provided with a sensor for measuring parallelism, and the parallelism may be used as a specific parameter. Or, a hall sensor may be used to detect the induction strength of the corresponding step on the wall-attached support 21, and the like, which is not limited herein.
In some embodiments, the stay 22 includes a base 221 and a rod 222, the rod 222 is retractable relative to the base 221, the base 221 is disposed on the wall-attached support 21, the rod 222 is used for connecting the ladder rung 12, the jacking device 20 has a displacement sensor for detecting a displacement of the rod 222, the displacement sensor is used for detecting a moving distance of the stay 22 relative to the rod 222 in a shortest state, and the moving distance of the stay 22 is used as a specific parameter.
In some embodiments, the brace 22 is a hydraulic cylinder, a displacement sensor is used to detect the displacement of a piston rod of the hydraulic cylinder, a pressure sensor is used to detect the working pressure of the hydraulic cylinder, and the operation of the climbing frame jacking system 100 includes the following steps:
p1: controlling the piston rod of the lower support rod 22-d to extend to enable the piston rod to be combined with the nearest ladder stop 12 and start jacking until the climbing frame part A is jacked for a preset effective stroke, stopping the extension of the piston rod, supporting the guide rail 11 by the lower support rod 22-d at the moment, and recording the working pressure and the piston rod stroke of the lower support rod 22-d at the moment;
p2: controlling the piston rod of the upper strut 22-u to extend to engage the nearest rung 12, when the working pressure of the upper strut 22-u is equal to the working pressure of the upper strut 22-u recorded in step P1, the guide rail 11 is supported by the upper strut 22-u, stopping the action of the upper strut 22-u, recording the working pressure and the piston rod stroke of the upper strut 22-u at that time, and controlling the retraction of the lower strut 22-d until the complete retraction is stopped; wherein the working pressure of the stay 22 is a specific parameter required for the determination condition, and the working pressure of the upper stay 22-u recorded in step P2 is used as an initial determination value;
p3: controlling the piston rod of the lower stay 22-d to extend to enable the piston rod to be combined with the nearest step 12 and start to extend, and judging that the guide rail 11 is supported by the lower stay 22-d when the working pressure of the lower stay 22-d is equal to the recorded judgment value; continuing to extend the piston rod of the lower support rod 22-d for a preset length to complete a preset effective stroke, stopping the action of the lower support rod 22-d, recording the working pressure and the piston rod stroke of the lower support rod 22-d at the moment, and controlling the upper support rod 22-u to retract until the complete retraction; wherein the operating pressure of the lower strut 22-d recorded in step P3 is used as the updated determination value;
p4: controlling the piston rod of the upper strut 22-u to extend so as to engage the nearest rung 12 and start to extend, and determining that the guide rail 11 is supported by the upper strut 22-u when the operating pressure of the upper strut 22-u is equal to the updated determination value; continuing to extend the piston rod of the upper stay 22-u for a preset length to complete a preset effective stroke, stopping the action of the upper stay 22-u, recording the working pressure and the piston rod stroke of the upper stay 22-u at the moment, and controlling the retraction of the lower stay 22-d until the lower stay is completely retracted; wherein the operating pressure of the upper strut 22-u recorded in step P4 is used as the updated determination value;
the steps from P3 to P4 are then repeated until the creeper section a reaches the desired jacking height.
By the arrangement, the initial value of the value can be judged, the initial value obtaining mode is very simple, and the effective operation of the subsequent alternate jacking climbing frame part A is facilitated.
Specifically, climbing frame part a has a plurality of guide rails 11, and jacking part B corresponds and is equipped with multiunit jacking device 20, after climbing frame part a reaches the jacking height that requires, measures the difference in height of the top elevation of every guide rail 11 and the required elevation that reaches, then control the corresponding vaulting pole 22 that is propping up guide rail 11 and stretch out and draw back to make the top elevation of guide rail 11 reach required elevation. Therefore, after leveling, the leveling device is fixed and leveled by the stay bar 22, manual operation is not needed, and time and labor are saved.
Specifically, the climbing frame part a has a plurality of guide rails 11, the jacking part B is correspondingly provided with a plurality of sets of jacking devices 20, in step P1, after the climbing frame part a is jacked by a plurality of lower support rods 22-d for a preset effective stroke, the height of each guide rail 11 is measured, and then the corresponding lower support rods 22-d are controlled to stretch and contract, so that the tops of the plurality of guide rails 11 are leveled. The piston rod extension is then stopped and the working pressure and piston rod travel of the now lower strut 22-d is recorded.
That is to say, when jacking is needed initially, each guide rail 11 is leveled first, and specific parameters obtained by each jacking device 11 after leveling are more accurate, so that the problem that errors are gradually accumulated after jacking is carried out after initial non-leveling is avoided.
Referring now to one embodiment, a process for climbing a rack is provided.
It can be understood that when no high-precision machine is set up on the climbing frame part, the climbing frame jacking system can not meet the technical requirement of synchronous climbing for the most part. With the progress of the times, when the building 2000 is built, robots meeting different use requirements are additionally arranged on the building machine 1000, so that higher requirements are provided for the integral jacking and jacking process of the climbing frame jacking system 100. The novel climbing frame jacking system 100 is provided with a plurality of machine positions b according to the structure and the size of the building 2000 and the number and the weight of the auxiliary robots. Two support rods 22 are arranged at adjacent layers of each machine position b, namely an upper support rod 22-u and a lower support rod 22-d, and each support rod 22 is a hydraulic cylinder. The jacking process is shown in figure 3.
Initial state: the components are installed, and the ladder rail 12 of the guide rail 11 is hung on the anti-falling hook 23 of the lower-layer wall-attached support 21. Pressure sensor and displacement sensor with each machine position b installed
When the horizontal height deviation of the wall-attached support 21 of each machine position b is large, the detection device is matched with the support rod 22, the guide rail 11 of each machine position b is firstly ensured to be leveled, then the reference initial position of the support rod 22 is set, and the guide rail 11 of each machine position b can be ensured to be synchronously jacked.
At the beginning of jacking, the lower stay 22-d is in a fully retracted state, the upper stay 22-u is in an extended state for about half a stroke, and the displacement value of each stay 22 is recorded.
The jacking process is as follows:
1) the piston rod of the lower stay 22-d is controlled to extend so that the lower stay hooks hook the rung 12 on the guide rail 11 closest to the lower stay hooks. Then, the extension is started, the extension length of the piston rod is detected through a displacement sensor until the piston rod is jacked for a preset effective stroke, and the action of the lower support rod 22-d is stopped. The stroke and working pressure of the lower strut 22-d is automatically recorded. The guide rail 11 is now held against the lower stay 22-d.
2) And controlling the piston rod of the upper stay bar 22-u to extend, so that the upper stay hook hooks the ladder stop 12 closest to the upper stay hook on the guide rail 11, and detecting the working pressure of the upper stay bar 22-u during extension. When the operating pressure of the upper stay 22-u is equal to the recorded operating pressure of the lower stay 22-d, the guide rail 11 is pressed against the upper stay 22-u, and the operation of the upper stay 22-u is stopped. The stroke and working pressure of the upper stay 22-u are automatically recorded, and the retracting action of the lower stay 22-d is automatically controlled until the lower stay is completely retracted.
3) And controlling the piston rod of the lower stay bar 22-d to extend out, so that the lower stay hook hooks the ladder stop 12 closest to the lower stay hook on the guide rail 11, and detecting the working pressure of the lower stay bar 22-d during extension. When the working pressure of the lower stay 22-d corresponds to the recorded working pressure of the upper stay 22-u, the guide rail 11 is held by the lower stay 22-d. And continuously extending the lower stay bar 22-d to complete a preset effective stroke, and stopping the action of the lower stay bar 22-d. The stroke and working pressure of the lower stay 22-d are automatically recorded, and the retracting action of the upper stay 22-u is automatically controlled until the upper stay is completely retracted.
4) And controlling the piston rod of the upper stay bar 22-u to extend, so that the upper stay hook hooks the ladder stop 12 closest to the upper stay hook on the guide rail 11, and detecting the working pressure of the upper stay bar 22-u during extension. When the operating pressure of the upper stay 22-u is comparable to the recorded operating pressure of the lower stay 22-d, the guide rail 11 is held against the upper stay 22-u. And continuously extending the upper stay bar 22-u to complete a preset effective stroke, and stopping the action of the upper stay bar 22-u. The stroke and working pressure of the upper stay 22-u are automatically recorded, and the retracting action of the lower stay 22-d is automatically controlled until the lower stay is completely retracted.
And then repeating the step 3) and the step 4) until the climbing frame part A reaches the required jacking height.
After climbing, the height difference between the top elevation of each guide rail 11 and the elevation required to be reached is measured by an instrument, the adjustment amount is input into a control system and then is adjusted in height through the extension and contraction of the support rods 22, all the guide rails 11 are leveled, and finally the guide rails 11 are fixed.
Both struts 22 are hydraulic cylinders and are driven by the same hydraulic pump 26. The control principle of the hydraulic cylinder is shown in fig. 5.
1) When the motor is started, the hydraulic pump 26 supplies oil to be unloaded at low pressure through the normally open electromagnetic unloading valve. The 5DT of the electromagnetic directional valve and the electromagnetic unloading valve are electrified simultaneously, and the system can build working pressure to start working.
2) When the electromagnet 1DT or 3DT is electrified, the hydraulic pump 26 supplies oil to the oil inlet of the hydraulic control one-way valve C1 or C2 through the right side of the corresponding electromagnetic directional valve, and then enters the rodless cavity of the base body 221 (namely the oil cylinder) of the supporting rod 22 below or above. The piston rod of the oil cylinder extends out, and the hydraulic oil in the rod cavity of the oil cylinder returns to the oil tank after passing through the right position of the electromagnetic directional valve.
3) When the electromagnet 2DT or 4DT is electrified, the oil supplied by the hydraulic pump 26 is divided into two oil paths through the left working position of the corresponding electromagnetic directional valve, and one oil path enters the control oil port of the hydraulic control one-way valve C1 or C2 and is used for starting the hydraulic control one-way valve; the other oil way enters a rod cavity of the oil cylinder. And a piston rod of the oil cylinder retracts, and hydraulic oil in a rodless cavity of the oil cylinder returns to the oil tank after passing through a hydraulic control one-way valve C1 or C2 and a left position of the electromagnetic directional valve.
4) The pressure sensors S1 and S2 are used to detect the operating pressure of the cylinder, and the displacement sensors S3 and S4 are used to detect the lift-up stroke of the cylinder.
In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (8)

1. A climbing frame jacking control method is characterized in that a climbing frame jacking system comprises: climb frame part and jacking part, it is suitable for to establish at the building periphery to climb the frame part, it includes the guide rail and connects to climb the frame part ladder shelves on the guide rail, ladder shelves are provided with a plurality ofly along the direction of height spaced apart, jacking part is including two jacking devices along setting up from top to bottom, every jacking device all includes: the wall-attached support is suitable for being fixedly connected to the building, the support rod is connected to the wall-attached support, the support rod is a telescopic rod, and the support rod can be combined with and separated from the ladder bars; the two supporting rods alternately support the ladder stops to jack the climbing frame part;
when one of the support rods is extended, after the other support rod is judged to support the ladder stop, the other support rod is shortened, and after the other support rod is judged to support the ladder stop, the other support rod is extended by a preset length, so that the climbing frame part completes a preset effective stroke;
the support rods take specific parameters as judgment conditions, the two support rods are respectively a first support rod and a second support rod, the first support rod is supposed to be extended to support the ladder step when being extended, the second support rod is supposed to support the ladder step when reaching a preset length, the value reached by the specific parameters is a judgment value, and when the specific parameters of the first support rod are reached to the judgment value when being extended, the first support rod is judged to support the ladder step.
2. The climbing rack jacking control method according to claim 1, wherein the jacking part is adapted to arrange a plurality of machine positions at intervals horizontally along the building, the jacking part comprises two jacking devices at each machine position, the supporting rods of the two jacking devices at the same machine position alternately support the ladder steps, and the two supporting rods at the same machine position use specific parameters of each other as determination conditions for supporting the ladder steps.
3. The climbing frame jacking control method according to claim 2, wherein, in a plurality of machine positions, the stay bars positioned above each reach a judgment condition for supporting the ladder rung, and are simultaneously extended by a first preset length;
and in the plurality of machine positions, after the support rods positioned below reach the judgment condition for supporting the ladder bars respectively, extending by a second preset length simultaneously.
4. The climbing frame jacking control method according to claim 1, wherein the jacking device has a pressure sensor for detecting a pressure applied to the stay when the stay is coupled to the rung, and the stay has the pressure detected by the pressure sensor as a specific parameter.
5. The climbing frame jacking control method according to claim 4, wherein the stay bar is a hydraulic cylinder, and the pressure sensor is configured to detect a hydraulic pressure of the hydraulic cylinder.
6. The climbing frame jacking control method according to claim 1, wherein the stay bar is a hydraulic cylinder, a displacement sensor is used to detect a displacement of a piston rod of the hydraulic cylinder, a pressure sensor is used to detect a working pressure of the hydraulic cylinder,
the operation of the climbing frame jacking system comprises the following steps:
p1: controlling a piston rod of the lower support rod to extend out, enabling the piston rod to be combined with the nearest ladder stop and start jacking until the climbing frame part is jacked for a preset effective stroke, stopping the extension of the piston rod, and at the moment, enabling the guide rail to be jacked by the lower support rod, and recording the working pressure and the piston rod stroke of the lower support rod at the moment;
p2: controlling the piston rod of the upper support rod to extend to enable the piston rod to be combined with the nearest ladder stop, when the working pressure of the upper support rod is equal to the working pressure of the upper support rod recorded in the step P1, the guide rail is supported by the upper support rod, the action of the upper support rod is stopped, the working pressure and the piston rod stroke of the upper support rod at the moment are recorded, and the lower support rod is controlled to retract until the lower support rod is completely retracted; wherein the working pressure of the stay is a specific parameter required for a determination condition, and the working pressure of the stay above recorded in step P2 is used as an initial determination value;
p3: controlling a piston rod of the lower support rod to extend out, enabling the piston rod to be combined with the nearest ladder stop and start to extend, and judging that the guide rail is supported by the lower support rod when the working pressure of the lower support rod is equal to the recorded judgment value; continuing to extend the piston rod of the lower support rod, extending the preset length to complete one preset effective stroke, stopping the action of the lower support rod, recording the working pressure and the piston rod stroke of the lower support rod at the moment, and controlling the upper support rod to retract until the upper support rod is completely retracted; wherein the lower strut operating pressure recorded in step P3 is used as the updated determination value;
p4: controlling a piston rod of the upper support rod to extend so as to enable the piston rod to be combined with the nearest step and start to extend, and judging that the guide rail is supported by the upper support rod when the working pressure of the upper support rod is equal to the updated judgment value; continuing to extend the piston rod of the upper support rod, extending the preset length to complete one preset effective stroke, stopping the action of the upper support rod, recording the working pressure and the piston rod stroke of the upper support rod at the moment, and controlling the lower support rod to retract until the lower support rod is completely retracted; wherein the operating pressure of the upper strut recorded in step P4 is used as the updated determination value;
the steps from P3 to P4 are then repeated until the creeper section reaches the desired jacking height.
7. The climbing frame jacking control method according to claim 6, wherein the climbing frame part has a plurality of guide rails, the jacking part is correspondingly provided with a plurality of sets of jacking devices, after the climbing frame part reaches the required jacking height, each of the height differences between the top elevation of the guide rail and the required elevation is measured, and then the corresponding support rod supporting the guide rail is telescopic so that the top elevation of the guide rail reaches the required elevation.
8. The climbing frame jacking control method according to claim 6, wherein the climbing frame part is provided with a plurality of guide rails, the jacking part is correspondingly provided with a plurality of sets of jacking devices, in step P1, after the climbing frame part is jacked by a plurality of lower support rods for one preset effective stroke, the height of each guide rail is measured, and then the corresponding lower support rods are controlled to stretch and contract, so that the tops of the guide rails are leveled; and then stopping the piston rod from extending, and recording the working pressure of the support rod below the piston rod and the stroke of the piston rod at the moment.
CN201910872884.2A 2019-09-16 2019-09-16 Climbing frame jacking control method Pending CN110670866A (en)

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