CN116857247A - Method for controlling dynamic balance of climbing frame - Google Patents
Method for controlling dynamic balance of climbing frame Download PDFInfo
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- CN116857247A CN116857247A CN202310795892.8A CN202310795892A CN116857247A CN 116857247 A CN116857247 A CN 116857247A CN 202310795892 A CN202310795892 A CN 202310795892A CN 116857247 A CN116857247 A CN 116857247A
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- 230000009194 climbing Effects 0.000 title claims abstract description 84
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000006073 displacement reaction Methods 0.000 claims abstract description 37
- 238000004364 calculation method Methods 0.000 claims abstract description 6
- 238000004891 communication Methods 0.000 claims description 19
- 238000012545 processing Methods 0.000 claims description 19
- 238000001514 detection method Methods 0.000 claims description 9
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 230000000630 rising effect Effects 0.000 claims description 3
- 230000005856 abnormality Effects 0.000 claims description 2
- 230000001174 ascending effect Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 11
- 238000010276 construction Methods 0.000 abstract description 6
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/22—Synchronisation of the movement of two or more servomotors
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G5/00—Component parts or accessories for scaffolds
- E04G5/001—Safety or protective measures against falling down relating to scaffoldings
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/005—Fault detection or monitoring
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The application relates to the technical field of Internet of things, and discloses a method for controlling dynamic balance of a climbing frame, which comprises the following steps: step S1: connecting a balance control system with a hydraulic machine for driving the climbing frame; step S2: controlling the starting of the hydraulic press through a balance control system; step S3: setting a distance A and a direction in which the climbing frame is required to run through a balance control system; step S4: setting a deviation B of the running result of the climbing frame; step S5: sending an operation instruction to the hydraulic machine through a balance control system; step S6: reading displacement output values of all hydraulic presses; step S7: controlling the start and stop of each hydraulic machine based on the calculation result in the step S6; step S8: and judging whether the actual running distance P of the climbing frame meets P more than or equal to A+/-B, if so, stopping running, otherwise, returning to the step S5. The application solves the unbalanced problem in the lifting process of the existing climbing frame and improves the safety and the construction efficiency of the climbing frame.
Description
Technical Field
The application relates to the technical field of the Internet of things, in particular to a method for controlling dynamic balance of a climbing frame.
Background
At present, many devices or construction platforms need to ensure that the working environment is in a horizontal state and need to be adjusted in real time. Taking the climbing frame used in the construction of the existing building site as an example, the climbing frame is pulled by a plurality of motors, but is affected by multiple factors, and after a period of pulling, the climbing frame is inconsistent in height, so that the climbing frame is deformed and damaged. From the support mode, the support mode of the early leveling system is three-point support, then four-point support is realized, and then six-point support, even eight-point support and the like are realized. From the driving mode, the earliest leveling system is driven manually, and is driven by a hydraulic system later, and most of leveling systems are driven by an electromechanical system. From an operational point of view, early leveling systems were manually operated, with semi-automatic operation occurring after hydraulic actuation, followed by a transition to automatic operation. Meanwhile, the climbing frame is in the lifting process, as the machine positions are more, and the power, the ageing, the model and the like of the machine positions are inconsistent, the relative balance cannot be ensured in the whole lifting process, and the safety of the climbing frame is affected.
Disclosure of Invention
The application aims to provide a method for controlling dynamic balance of a climbing frame, which solves the imbalance problem in the lifting process of the existing climbing frame and improves the safety and the construction efficiency of the climbing frame.
In order to achieve the above purpose, the present application discloses the following technical solutions:
a method of controlling dynamic balance of a climbing frame, the method comprising the steps of:
step S1: connecting each sensor of the balance control system with at least two hydraulic presses for driving the climbing frame to ascend or descend;
step S2: controlling the hydraulic press to start through the balance control system;
step S3: setting a distance A and a direction for the climbing frame to run through the balance control system, wherein the direction comprises upward and downward;
step S4: setting a deviation B of a climbing frame running result, wherein the running result comprises an actual running distance P which rises or falls when the climbing frame running is finished;
step S5: sending an operation command to the hydraulic machine through the balance control system, and driving the climbing frame to execute the operation setting in the step S3 after the hydraulic machine receives the operation command, wherein the operation setting comprises an upward lifting distance A or a downward falling distance A;
step S6: when the climbing frame runs upwards or downwards, the balance control system reads the displacement output value of each hydraulic machine and obtains a displacement output maximum value Ymax, a displacement output minimum value Ymin and a displacement difference delta Y;
step S7: the balance control system controls the start and stop of the hydraulic machine corresponding to the displacement output maximum value Ymax and the hydraulic machine corresponding to the displacement output minimum value Ymin based on the calculation result in the step S6, so that the displacement difference delta Y is gradually reduced;
step S8: and judging whether the actual running distance P of the climbing frame meets P more than or equal to A+/-B, if so, stopping running, otherwise, returning to the step S5.
In one embodiment, in the step S8, when P < a±b, if the balance control system has a reset instruction of the input counter, the operation is stopped, otherwise, the step S5 is performed.
In one embodiment, the balance control system comprises a processor, a counter initialization module, an automatic control module, a distance control module, and a dynamic balance adjustment module;
the counter initialization module is configured to be used for parameter setting of a counter for the displacement sensor, reloading of a counter value after power on/off, manual reset of the counter and automatic reset of a limit counter;
the automatic control module is configured for input/output signal control for synchronous lifting or synchronous lowering of the climbing frame in an automatic mode;
the distance control module is configured to be used for processing the displacement sensor data and judging the cylinder displacement distance;
the dynamic balance adjustment module is configured for calculation of maximum, minimum and difference values during cylinder displacement and for automatically adjusting start and stop of the fastest moving cylinder and the slowest moving cylinder.
In one embodiment, in the step S3, a distance a and a direction in which the climbing frame is to travel are set by the counter initialization module.
In one embodiment, in the step S4, the offset B is set by the counter initialization module.
In one embodiment, in step S5, an operation command is sent to the hydraulic machine by the automatic control module.
In one embodiment, in step S6, the displacement output value of each hydraulic machine is read by the distance control module.
In one embodiment, in the step S7, the start and stop of the hydraulic machine are controlled by the automatic control module.
In one embodiment, in the step S8, the data is compared by the distance control module.
In one embodiment, the balance control system further comprises a fault detection module, a communication processing module, an interrupt initialization module, a manual control module, a pressure speed control module, a level meter data processing module and a data initialization module;
the fault detection module is configured to perform fault detection on system signal abnormality;
the communication processing module is configured to be used for setting communication parameters of the level, controlling communication interruption initialization, modbusTCP communication setting and communication data processing;
the interrupt initialization module is configured to be used for timing interrupt initialization setting;
the manual control module is configured for controlling an input/output signal of ascending or descending of the climbing frame in a manual mode;
the pressure speed control module is configured for controlling the output pressure and flow of the hydraulic machine of the climbing frame and converting data of the rising pressure and the falling pressure of the hydraulic machine;
the level data processing module is configured for conversion of level data;
the data initialization module is configured to be used for initializing data when the hydraulic press is powered on and initializing data when the climbing frame operation mode exits, and the operation mode comprises a manual mode and an automatic mode.
The beneficial effects are that: the method for controlling the dynamic balance of the climbing frame solves the imbalance problem in the lifting process of the existing climbing frame, and improves the safety and the construction efficiency of the climbing frame.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for controlling dynamic balance of a climbing frame in an embodiment of the application;
FIG. 2 is a block diagram of a balance control system according to an embodiment of the present application.
Detailed Description
The following description of the technical solutions in the embodiments of the present application will be clear and complete, and it is obvious that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The embodiment of the application provides a method for controlling dynamic balance of a climbing frame, which is shown in figure 1 and comprises the following steps:
step S1: each sensor of the balance control system is connected with at least two hydraulic presses for driving the climbing frame to ascend or descend, and in the embodiment, the left side and the right side of the climbing frame are respectively provided with one hydraulic press as an example;
step S2: controlling the hydraulic press to start through the balance control system;
step S3: setting a distance A and a direction for the climbing frame to run through the balance control system, wherein the direction comprises upward and downward;
step S4: setting a deviation B of a climbing frame running result, wherein the running result comprises an actual running distance P which rises or falls when the climbing frame running is finished;
step S5: sending an operation command to the hydraulic machine through the balance control system, and driving the climbing frame to execute the operation setting in the step S3 after the hydraulic machine receives the operation command, wherein the operation setting comprises an upward lifting distance A or a downward falling distance A;
step S6: when the climbing frame runs upwards or downwards, the balance control system reads the displacement output value of each hydraulic machine and obtains a displacement output maximum value Ymax, a displacement output minimum value Ymin and a displacement difference delta Y;
step S7: the balance control system controls the start and stop of the hydraulic machine corresponding to the displacement output maximum value Ymax and the hydraulic machine corresponding to the displacement output minimum value Ymin based on the calculation result in the step S6, so that the displacement difference delta Y is gradually reduced;
step S8: and judging whether the actual running distance P of the climbing frame meets P more than or equal to A+/-B, if so, stopping running, otherwise, returning to the step S5.
As a preferred implementation manner of this embodiment, in the step S8, when P < a±b, if the balance control system has a reset instruction of the input counter, the operation is stopped, otherwise, the step S5 is executed. It can be understood that when the balance control system has a reset instruction input into the counter, the corresponding scene may be that the climbing frame is required to pause operation, the occurrence of operation fault is judged, or the shutdown operation is judged, so that the climbing frame is required to execute, and only the climbing frame is required to stop operation at the moment. The advantage of setting up like this is, can be when operation trouble or have the potential safety hazard, intervene the operation of climbing the frame in time, improves the construction security.
In this embodiment, as shown in fig. 2, the balance control system includes a processor, a counter initialization module, an automatic control module, a distance control module, and a dynamic balance adjustment module.
Specifically, the counter initialization module is configured to be used for parameter setting of a counter for a displacement sensor, reloading of a counter value after power on/off, manual resetting of the counter and automatic resetting of a limit counter.
In particular, the automatic control module is configured for input/output signal control for synchronous ascent or synchronous descent of the climbing frame in the automatic mode.
Specifically, the distance control module is configured for processing displacement sensor data and determining cylinder displacement distance.
Specifically, the dynamic balance adjustment module is configured to be used for calculating maximum values, minimum values and difference values in cylinder displacement processes and automatically adjusting the start and stop of the cylinder with the fastest movement and the cylinder with the slowest movement.
Correspondingly, in the step S3, the distance A and the direction of the climbing frame to run are set through the counter initialization module. In the step S4, the offset B is set by the counter initialization module. In the step S5, an operation instruction is sent to the hydraulic machine through the automatic control module. In the step S6, the displacement output value of each hydraulic machine is read by the distance control module. In the step S7, the starting and stopping of the hydraulic machine are controlled through the automatic control module. In the step S8, the data is compared by the distance control module.
It is further possible that the balance control system further comprises a fault detection module, a communication processing module, an interrupt initialization module, a manual control module, a pressure speed control module, a level data processing module and a data initialization module as part of the system.
Specifically, the fault detection module is configured to perform fault detection on system signal anomalies.
Specifically, the communication processing module is configured for 485 communication parameter setting of the level, for control 485 communication interrupt initialization, for modbusTCP communication setting between the PLC-SR30 and the PLC, and communication data processing.
In particular, the interrupt initialization module is configured to time the interrupt initialization settings, and the timing time may be 250ms.
In particular, the manual control module is configured for input/output signal control of the ascent or descent of the climbing frame in a manual mode. Through manual control module's setting, can be when needs, manual intervene to climbing the frame is balanced to ensure to climb the frame and can be in balanced or comparatively balanced state, ensure the security.
Specifically, the pressure speed control module is configured for controlling the output pressure and flow of the hydraulic machine of the climbing frame and converting data of rising pressure and falling pressure of the hydraulic machine. Correspondingly, in step S3, the speed of the climbing frame about to run can be configured through the pressure speed control module, so that the running speed can be adaptively adjusted according to different running environments and task requirements, and the safety in the running process is improved.
Specifically, the level data processing module is configured for conversion of level data. Correspondingly, in step S7, whether the climbing frame is in a balanced state can be further determined based on the level meter data conversion result, so that the balance control system is ensured to have more and more definite reference data when dynamically adjusting the climbing frame balance, and the reliability of the climbing frame balance adjustment is improved.
Specifically, the data initialization module is configured to be used for initializing data when the hydraulic press is powered on and initializing data when the climbing frame operation mode exits, and the operation mode comprises a manual mode and an automatic mode. When climbing or landing of the climbing frame is executed each time, data of the climbing frame (hydraulic press) can be initialized through the data initialization module, so that accuracy and reliability of data acquired by the climbing frame in the running process are reduced.
It should be noted that in the embodiments provided by the present application, it should be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, code, or any suitable combination thereof. For a hardware implementation, the processor may be implemented in one or more of the following units: an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a processor, a controller, a microcontroller, a microprocessor, other electronic units designed to perform the functions described herein, or a combination thereof. For a software implementation, some or all of the flow of an embodiment may be accomplished by instructions, programs, code sets, or hardware associated with an instruction set. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. The computer readable media can include, but is not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present application, and although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present application.
Claims (10)
1. A method of controlling dynamic balance of a climbing frame, the method comprising the steps of:
step S1: connecting each sensor of the balance control system with at least two hydraulic presses for driving the climbing frame to ascend or descend;
step S2: controlling the hydraulic press to start through the balance control system;
step S3: setting a distance A and a direction for the climbing frame to run through the balance control system, wherein the direction comprises upward and downward;
step S4: setting a deviation B of a climbing frame running result, wherein the running result comprises an actual running distance P which rises or falls when the climbing frame running is finished;
step S5: sending an operation command to the hydraulic machine through the balance control system, and driving the climbing frame to execute the operation setting in the step S3 after the hydraulic machine receives the operation command, wherein the operation setting comprises an upward lifting distance A or a downward falling distance A;
step S6: when the climbing frame runs upwards or downwards, the balance control system reads the displacement output value of each hydraulic machine and obtains a displacement output maximum value Ymax, a displacement output minimum value Ymin and a displacement difference delta Y;
step S7: the balance control system controls the start and stop of the hydraulic machine corresponding to the displacement output maximum value Ymax and the hydraulic machine corresponding to the displacement output minimum value Ymin based on the calculation result in the step S6, so that the displacement difference delta Y is gradually reduced;
step S8: and judging whether the actual running distance P of the climbing frame meets P more than or equal to A+/-B, if so, stopping running, otherwise, returning to the step S5.
2. The method for controlling dynamic balance of a climbing frame according to claim 1, wherein in the step S8, when P < a±b, if the balance control system has a reset instruction of an input counter, the operation is stopped, otherwise, the step S5 is executed.
3. The method for controlling the dynamic balance of a climbing frame according to claim 1, wherein the balance control system comprises a processor, a counter initialization module, an automatic control module, a distance control module and a dynamic balance adjustment module;
the counter initialization module is configured to be used for parameter setting of a counter for the displacement sensor, reloading of a counter value after power on/off, manual reset of the counter and automatic reset of a limit counter;
the automatic control module is configured for input/output signal control for synchronous lifting or synchronous lowering of the climbing frame in an automatic mode;
the distance control module is configured to be used for processing the displacement sensor data and judging the cylinder displacement distance;
the dynamic balance adjustment module is configured for calculation of maximum, minimum and difference values during cylinder displacement and for automatically adjusting start and stop of the fastest moving cylinder and the slowest moving cylinder.
4. The method for controlling dynamic balance of a climbing frame according to claim 3, wherein in the step S3, a distance a and a direction in which the climbing frame is to travel are set by the counter initialization module.
5. The method of controlling the dynamic balance of a climbing frame according to claim 3, wherein in the step S4, the deviation B is set by the counter initialization module.
6. The method for controlling dynamic balance of a climbing frame according to claim 3, wherein in the step S5, an operation command is sent to the hydraulic machine through the automatic control module.
7. The method for controlling dynamic balance of a climbing frame according to claim 3, wherein in the step S6, a displacement output value of each hydraulic machine is read by the distance control module.
8. The method for controlling dynamic balance of a climbing frame according to claim 3, wherein in the step S7, start and stop of the hydraulic machine are controlled by the automatic control module.
9. The method for controlling dynamic balance of a climbing frame according to claim 3, wherein in the step S8, the comparison of data is performed by the distance control module.
10. The method of claim 2, wherein the balance control system further comprises a fault detection module, a communication processing module, an interrupt initialization module, a manual control module, a pressure speed control module, a level data processing module, and a data initialization module;
the fault detection module is configured to perform fault detection on system signal abnormality;
the communication processing module is configured to be used for setting communication parameters of the level, controlling communication interruption initialization, modbusTCP communication setting and communication data processing;
the interrupt initialization module is configured to be used for timing interrupt initialization setting;
the manual control module is configured for controlling an input/output signal of ascending or descending of the climbing frame in a manual mode;
the pressure speed control module is configured for controlling the output pressure and flow of the hydraulic machine of the climbing frame and converting data of the rising pressure and the falling pressure of the hydraulic machine;
the level data processing module is configured for conversion of level data;
the data initialization module is configured to be used for initializing data when the hydraulic press is powered on and initializing data when the climbing frame operation mode exits, and the operation mode comprises a manual mode and an automatic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310795892.8A CN116857247A (en) | 2023-07-01 | 2023-07-01 | Method for controlling dynamic balance of climbing frame |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310795892.8A CN116857247A (en) | 2023-07-01 | 2023-07-01 | Method for controlling dynamic balance of climbing frame |
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| Publication Number | Publication Date |
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| CN116857247A true CN116857247A (en) | 2023-10-10 |
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| CN202310795892.8A Pending CN116857247A (en) | 2023-07-01 | 2023-07-01 | Method for controlling dynamic balance of climbing frame |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2572434Y (en) * | 2002-09-30 | 2003-09-10 | 北京市建筑工程研究院 | Synchronous jacking control system for creeping formwork |
| 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 |
| CN212076255U (en) * | 2020-04-07 | 2020-12-04 | 河北宇雕起重装备科技有限公司 | Frame horizontal lifting system, electric hoist and displacement detection device thereof |
| WO2021103254A1 (en) * | 2019-11-27 | 2021-06-03 | 歌尔股份有限公司 | Displacement control method, system, servo motor, and storage medium |
| CN113534707A (en) * | 2021-07-12 | 2021-10-22 | 湖南师范大学 | Intelligent climbing frame control system |
-
2023
- 2023-07-01 CN CN202310795892.8A patent/CN116857247A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2572434Y (en) * | 2002-09-30 | 2003-09-10 | 北京市建筑工程研究院 | Synchronous jacking control system for creeping formwork |
| 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 |
| WO2021103254A1 (en) * | 2019-11-27 | 2021-06-03 | 歌尔股份有限公司 | Displacement control method, system, servo motor, and storage medium |
| CN212076255U (en) * | 2020-04-07 | 2020-12-04 | 河北宇雕起重装备科技有限公司 | Frame horizontal lifting system, electric hoist and displacement detection device thereof |
| CN113534707A (en) * | 2021-07-12 | 2021-10-22 | 湖南师范大学 | Intelligent climbing frame control system |
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