KR20200000687A - Lifting System equipped with EHA - Google Patents

Abstract

According to the present invention, lifting equipment for lifting a pre-assembled structure (5) comprises: a support portion (100) supporting the pre-assembled structure (5); and a hydraulic system (200) providing power to the support portion (100). The hydraulic system (200) includes: a piston (210) connected to the support portion (100); a cylinder (220) having an internal space (221) in which a fluid for providing a hydraulic pressure to the piston (210) is received; a bidirectional hydraulic pump (230) providing the hydraulic pressure to the internal space (221); and a control portion (240) controlling an operation of the bidirectional hydraulic pump (230). The present invention uses the plurality of lifting equipment to lift weights, such as the pre-assembled structure, while synchronously controlling the plurality of lifting equipment.

Description

Lifting equipment of a prefabricated structure equipped with an electro-hydraulic hybrid actuator (EHA) and lifting method of the prefabricated structure using the same {Lifting System equipped with EHA}

The present invention relates to lifting equipment of heavy weights, such as prefabricated structures. More specifically, the lifting equipment of a pre-assembled structure equipped with an electro-hydraulic hybrid actuator (EHA) for precisely lifting a heavy structure such as a steel structure up to a planned height in an indoor space in which a crane is difficult to use, and a pre-assembled structure using the same The lifting method relates to.

In the construction of heavy-weight indoor structures such as pipe rack structures, a method of completing the structure by installing a pre-assembled structure on a support pillar is used to shorten the air and reduce the difficulty of construction on site.

However, in order to install such a prefabricated heavy steel structure on the support pillar, it is required to lift up the steel structure. In the related art, as shown in FIG. 1, assembling a crane indoors to lift up the steel structure, the interior construction is finished. When the crane is dismantled and discharged from the indoor space has been used.

However, since the indoor assembly crane 1 is very expensive and takes a long time to order and carry equipment, the construction cost is increased and it is difficult to manage the construction schedule.

In order to solve this problem, a method of lifting a structure using a plurality of small lifting equipment has been proposed.

However, when using a plurality of lifting equipment, the lifting height of each equipment is different, there is a problem of occurrence of safety accidents, such as falling by weight concentration.

The present invention is derived to solve the problems of the conventional indoor crane, an object of the present invention is equipped with an electro-hydraulic hybrid actuator (EHA) that can lift up a heavy steel structure in the room without using a separate crane The present invention provides a lifting device for a prefabricated structure and a lifting method for a prefabricated structure using the same.

Another object of the present invention is to increase the lifting efficiency by synchronizing a plurality of lifting equipment and lifting equipment of the pre-assembled structure equipped with an electro-hydraulic hybrid actuator (EHA) that can safely lift a heavy structure and pre-assembly using the same It is to provide a lifting method of the structure.

Yet another object of the present invention is to install an electro-hydraulic hybrid actuator (EHA) to shorten the construction period, reduce the difficulty of construction site and minimize the risk of safety accidents by constructing a pipe rack structure using a pre-assembled structure The present invention provides a lifting device for a prefabricated structure and a lifting method for a prefabricated structure using the same.

Another object of the present invention is a pre-assembly structure equipped with an electro-hydraulic hybrid actuator (EHA) that allows the simultaneous control of a plurality of lifting equipment while lifting a weight such as the pre-assembly structure using a plurality of lifting equipment. To provide a lifting equipment and a lifting method of the prefabricated structure using the same.

According to an aspect of the present invention, in the lifting equipment for lifting the prefabricated structure (5), a support unit (100) for supporting the prefabricated structure (5); And a hydraulic system (200) for providing power to the support (100), wherein the hydraulic system (200) includes a piston (210) connected to the support (100); A cylinder 220 having an internal space 221 in which fluid for providing hydraulic pressure to the piston 210 is received; A bidirectional hydraulic pump 230 providing hydraulic pressure to the internal space 221; And a control unit 240 for controlling the operation of the two-way hydraulic pump 230 is provided.

In this case, the hydraulic system 200 further includes a wired / wireless communication unit 260 for transmitting the operation information (a) related to the bidirectional hydraulic pump 230 to the control unit 240. Can be.

In addition, the hydraulic system 200 includes a fluid movement passage 250 connecting the internal space 221 and the bidirectional hydraulic pump 230, both ends of the fluid movement passage 250 is A first inlet 251 connected to an inner space 221 and to which one end of the fluid movement passage 250 and the inner space 221 are connected; And a second inlet port 252 to which the validity of the fluid movement passage 250 and the internal space 221 are connected.

In addition, the piston 210 is drawn out by the hydraulic pressure provided by the fluid introduced through the first inlet 251, the piston (by the hydraulic pressure provided by the fluid introduced through the second inlet 252) 210 may be a lifting equipment characterized by being retracted.

In addition, the control unit 240 may be a lifting equipment, characterized in that for controlling the rotation direction, rotation speed, rotation torque and rotation of the two-way hydraulic pump 230.

In addition, the operation information (a) is hydraulic pump operation information (a1); Hydraulic pump rotation direction information a2; Hydraulic pump rotational speed information a3; And hydraulic pump rotation torque information (a4); it may be a lifting equipment comprising a.

In addition, the wire / wireless communication unit 260 transmits the movement information (b) of the support unit 100 to the control unit 240, the movement information (b) is the support unit movement height information (b1); And support height movement height correction information (b2).

In addition, the support portion 100 is a plurality, the support portion movement height information (b1) is the final arrival height information (b11); And arrival height information b12 per unit time T1.

In addition, the support portion movement height information (b1) is the stop time information (b13) per unit time (T1); And movement time information b14 per unit time T1.

The support part movement height correction information b2 may include first height correction information b21 of the plurality of support parts 100 corresponding to the final height information b12; And second height correction information b22 of the plurality of support parts 100 corresponding to the attainment height b13 per unit time.

According to another aspect of the present invention, a lifting method of a prefabricated structure using a lifting device, comprising: a first step (S100) for mounting the support portion 100 of the plurality of lifting equipment to the prefabricated structure (5); And the control unit 240 controls the bidirectional hydraulic pump 230 according to the final height height information b11 to lift the support unit 100, and the support unit movement height correction information b2. According to the control unit 240, the second step (S200) to control the two-way hydraulic pump 230 so that the height of the support portion 100 of the plurality of lifting equipment is the same; It may be a lifting method of the prefabricated structure.

In addition, in the second step S200, the control unit 240 controls the bidirectional hydraulic pump 230 according to the arrival height information b12 per unit time to support the plurality of lifting equipments 100. And lifting (S210) correcting the heights of the support parts 100 of the plurality of lifting equipments according to the second height correction information b22. It may be a method.

According to the present invention there is an effect that can be lifted up in a heavy steel structure in the room without using a separate crane.

According to the present invention by synchronizing a plurality of lifting equipment to increase the lifting efficiency, there is an effect that can safely lift a heavy structure.

According to the present invention by constructing a pipe rack structure using a pre-assembled structure there is an effect that can shorten the construction period, reduce the difficulty of the construction site and minimize the risk of safety accidents.

According to the present invention, a plurality of lifting equipments are used to simultaneously control a plurality of lifting equipments while lifting a weight such as a pre-assembled structure using a plurality of lifting equipments.

1 is a view showing a conventional indoor lifting crane.
2 shows a conventional hydraulic system.
3 is a cross-sectional view of a hydraulic system used in the lifting equipment according to an embodiment of the present invention.
4 is a graph illustrating the movement information (b) according to an embodiment of the present invention.
5 is an enlarged view of movement information b according to an embodiment of the present invention.
Figure 6 shows a hook portion of the lifting equipment according to an embodiment of the present invention.
7 is a view showing a state in which the lifting equipment is standing in accordance with an embodiment of the present invention.
8 is a view showing a state in which the lifting equipment lying down according to an embodiment of the present invention.
9 is a side view of the lifting equipment according to an embodiment of the present invention.
10 and 11 are views showing a process of lifting the pre-assembled steel structure using the lifting equipment according to an embodiment of the present invention.
12 is a front view of the lifting equipment according to an embodiment of the present invention.
13 is a view showing the behavior of the lower support of the lifting equipment according to an embodiment of the present invention.

With reference to the accompanying drawings, an embodiment of a lifting equipment of a pre-assembled structure equipped with an electro-hydraulic hybrid actuator (EHA) and a method of lifting the pre-assembled structure using the same according to the present invention will be described in detail, with reference to the accompanying drawings. In the description, the same or corresponding components will be given the same reference numerals and redundant description thereof will be omitted.

In addition, terms such as first and second used below are merely identification symbols for distinguishing the same or corresponding components, and the same or corresponding components are limited by terms such as the first and second components. no.

In addition, the coupling does not only mean the case where the physical contact is directly between the components in the contact relationship between the components, other components are interposed between the components, the components in the other components Use it as a comprehensive concept until each contact.

The present invention relates to lifting equipment for lifting indoors of heavy structures, such as prefabricated structures (5).

The concept of the prefabricated structure 5 in the present invention is defined as a concept including all the weight to be lifted.

Lifting equipment according to an embodiment of the present invention includes a support 100 for supporting the prefabricated structure 5 and a hydraulic system 200 for powering the support 100 (FIG. 7).

The hydraulic system 200 may be a component that provides power to all components related to hydraulic jacks or leveling used in lifting equipment.

In detail, the hydraulic system 200 includes a piston 210 connected to the support part 100, a cylinder 220 having an internal space 221 in which fluid for providing hydraulic pressure to the piston 210 is accommodated, and an internal space 221. The operation information (a) regarding the bidirectional hydraulic pump 230 for providing hydraulic pressure to the bidirectional hydraulic pump 230, the control unit 240 for controlling the operation of the bidirectional hydraulic pump 230, and the bidirectional hydraulic pump 230 is controlled by the controller ( It may include a wired and wireless communication unit 260 to transmit to 240 (FIG. 3).

In the conventional hydraulic system 50, a separate storage space 51 is placed between the reservoir 52 and the cylinder 53, and the piston 56 is opened and closed by opening and closing the direction control valve 54 and the relief valve 55. ) And induction and withdrawal of ().

However, the conventional hydraulic system 50 has a problem in that the hydraulic system is driven in accordance with the opening and closing of the valve so that the response and the precision are low, and the maintenance is difficult due to frequent leakage. In addition, since the space occupied by the hydraulic system 50 is large, it is difficult to mount the hydraulic system 50 in equipment used indoors.

In order to solve this problem, the present invention proposes an electrohydraulic hybrid actuator (EHA) type hydraulic system.

Hydraulic system 200 according to the present invention includes a fluid movement passage 250 for connecting the internal space 221 and the bidirectional hydraulic pump 230, both ends of the fluid movement passage 250 is the internal space The first inlet 251 connected to one end of the fluid movement passage 250 and the inner space 221 and the second inlet port 221 connected to the proper space of the fluid movement passage 250 and the inner space 221 are connected to the first inlet 251. 252) (FIG. 3).

In this case, the piston 210 is drawn out by the hydraulic pressure provided by the fluid introduced through the first inlet 251, and the piston 210 by the hydraulic pressure provided by the fluid introduced through the second inlet 252. Can be drawn.

When the fluid is introduced through the first inlet 251, the second inlet 252 serves as the outlet of the fluid, and when the fluid is introduced through the second inlet 252, the first inlet 251. Serves as a fluid outlet.

The hydraulic system 200 according to the present invention does not require a separate valve or an intermediate space.

In addition, as described below, the hydraulic system according to the present invention adjusts the inlet and the outlet speed and the torque as well as the inlet and the outlet of the piston 210 according to the rotation direction, the rotational speed and the torque of the bidirectional hydraulic pump 230. It is possible to do

Accordingly, it is possible to increase the reactivity without using a separate valve, and there is an effect capable of precise control.

In addition, the simple closed construction minimizes the size of the system and results in lower malfunction rates and failure rates.

In addition, the hydraulic system 200 according to an embodiment of the present invention further includes an automatic flow rate compensator 270 for compensating the flow rate difference resulting from the left and right volume difference of the piston 210 accommodated in the cylinder 220. can do.

That is, since the piston rod is formed on the right side of the piston 210 as shown in FIG. 3, the volume of the right space 221a is smaller than the left space 221b of the cylinder 220. Accordingly, the volume difference of the fluid filling in both spaces is generated in the state in which the piston 210 is completely drawn in and in the state in which the piston 210 is completely drawn out. In order to compensate for the amount of fluid, the hydraulic system 200 according to the present invention automatically compensates for the flow rate. The unit 270 is employed.

The automatic flow compensator 270 is connected to the first inlet 251 and the second inlet 252 to replenish the insufficient fluid or to draw in the remaining fluid.

The control unit 240 controls the rotational direction, rotational speed, rotational torque and rotation of the bidirectional hydraulic pump 230 according to the information transmitted through the wired / wireless communication unit 260.

Information transmitted to the control unit 240 for the control of the bidirectional hydraulic pump 230 includes operation information (a) and movement information (b).

The operation information (a) may include a hydraulic pump operation information (a1), hydraulic pump rotation direction information (a2), hydraulic pump rotation speed information (a3) and hydraulic pump rotation torque information (a4).

In addition, the movement information (b) may include the support portion movement height information (b1) and the support portion movement height correction information (b2).

When the user sets the support movement height information b1 through a separate information input unit, the controller 240 controls the rotation direction, the rotation speed, and the rotation torque of the bidirectional hydraulic pump 230 to move the support unit 100. Allow it to move up to height.

However, when lifting the pre-assembled structure (5) using a plurality of lifting equipment because the moving height of the support portion 100 of each lifting equipment should be the same, it is required to correct the moving height of the support portion 100 of each lifting equipment.

To this end, the lifting equipment according to an embodiment of the present invention may further include a height sensor 310 for measuring the height of the support 100.

In this case, after the individual support parts 100 of the plurality of lifting equipments are moved to the support part height information b1, the height of each support part 100 may be corrected up to the height sensed by the height sensor 310.

However, in this case, when the height difference of each support part 100 is excessively generated before the correction of the plurality of support parts 100, problems such as overloading of the bidirectional hydraulic pump 230 may be difficult to occur. have.

Accordingly, the present invention proposes the following solution to minimize the size of the correction for the support 100.

 That is, in order to automatically synchronize the plurality of support parts 100, the support part movement height information b1 is the final arrival height information b11, the arrival height information b12 per unit time T1, and the stopping time per unit time T1. Information b13 and movement time information b14 per unit time T1.

4 and 5, the height correction mechanism of the support part 100 according to the present invention can be understood.

The final arrival height information b11 is information about a height that the support part 100 should finally reach.

In comparison, the arrival height information b12 per unit time T1 refers to the distance that the support unit 100 must move per unit time T1 in moving the height to be finally reached.

In addition, the stop time information b13 per unit time T1 is a time at which height correction is performed for the support unit 100 in the unit time T1, and the movement time information b14 per unit time T1 is the support unit 100. After the correction for) is made, it means the time for the support to move up to the arrival height information b12 per unit time T1.

For example, the final arrival height information b11 is 1 (m), the unit time T1 is 1/10 (s), and the arrival height information b12 per unit time T1 is 1/10 (m). When the stop time information b13 per unit time T1 is 70% and the travel time information b14 per unit time T1 is 30%, the controller 240 controls the bidirectional hydraulic pump 230. Thus, the support 100 moves 1/10 (m) per 1/10 (s) so that the displacement is finally 1 (m).

In this case, move 1/10 (m) per 1/10 (s), and dedicate 30% of the time to correct the heights of the plurality of supports 100 at 70% time of 1/10 (s). Is set to a time at which the plurality of support parts 100 move 1/10 (m) again.

Each value may be set differently depending on the weight of the weight body and the construction environment.

In this case, since the width of the correction for the plurality of support parts 100 does not occur significantly, there is an effect of stably lifting the weight even when the loads on the support parts are different.

Hereinafter, a lifting method of a prefabricated structure using a lifting device according to an embodiment of the present invention will be described.

The lifting method of the prefabricated structure according to the present invention includes a first step (S100) for mounting the support portion 100 of the plurality of lifting equipment to the prefabricated structure (5); And the control unit 240 controls the bidirectional hydraulic pump 230 according to the final reached height information b11 to lift the support unit 100, and the control unit 240 according to the support movement height correction information b2. It may include a second step (S200) to control the bidirectional hydraulic pump 230 so that the height of the support portion 100 of the plurality of lifting equipment is the same.

In this case, the control unit 240 controls the bidirectional hydraulic pump 230 according to the arrival height information b12 per unit time to lift the support units 100 of the plurality of lifting equipment, and the second height correction information b22. Compensating the height of the support portion 100 of the plurality of lifting equipment according to (S210).

Hereinafter will be described the structure of the lifting equipment according to an embodiment of the present invention.

Lifting equipment according to an embodiment of the present invention is a hook 10 for supporting the pre-assembled structure (5), the vertical frame 20 is equipped with a hook 10, the lower support portion 30 for supporting the vertical frame 20 ), A horizontal frame 40 supporting the vertical frame 20 together with the lower support 30, and a moving part 50 for moving the lower support 30 (FIG. 2). , FIG. 3).

The vertical frame 20 is connected to the first vertical frame 21 coupled to the lower support part 30, the second vertical frame 22 and the second vertical frame 22 guided to the first vertical frame 21. And a third vertical frame 23 guided out and drawn out (FIG. 2).

Since the lifting equipment should lift the prefabricated structure 5, the hook 10, which will be described later, is attached to the prefabricated structure 5 while the second vertical frame 22 and the third vertical frame 23 are retracted. It is possible to lift the prefabricated structure 5 by pulling out the second vertical frame 22 and the third vertical frame 23.

Here, the third vertical frame 23 refers to a frame that is positioned highest when the plurality of frames of the multi-stage structure are drawn out, and the second vertical frame 22 is the first vertical frame 21 coupled to the lower support part 30. And a frame positioned between the third vertical frame 23 and a plurality of frames.

The first vertical frame 21 may be hinged with respect to the lower support part 30 to lie down or stand up. In this case, the volume of the lifting equipment in the indoor space can be minimized, thereby ensuring the convenience of movement.

The vertical frame 20 may be driven by a hydraulic jack.

Lifting equipment according to an embodiment of the present invention is the first hydraulic jack 31 for driving the first vertical frame 21, the second hydraulic jack 32 for driving the second vertical frame 22 and the third vertical frame ( 23 may include a third hydraulic jack 33 (FIGS. 2 and 3).

In this case, the first hydraulic jack 31 lays down or stands the first vertical frame 21, and the second hydraulic jack 32 draws out or pulls the second vertical frame 22 out of the first vertical frame 21. In addition, the third hydraulic jack 33 may draw out or draw in the second vertical frame 23 from the second vertical frame 22.

The horizontal frame 40 may be withdrawn or withdrawn from the lower support 30 (FIG. 7).

The horizontal frame 40 includes a front horizontal frame 41 formed in a pair on one side of the lower support part 30 and a rear horizontal frame 420 formed in a pair on the other side of the lower support part 30 (FIG. 7). .

When the horizontal frame 400 is pulled out, since the supporting area is widened, it is possible to secure a higher supporting force.

In detail, when the first vertical frame 21 is lying on the lower support part 30, the front vertical frame 41 or the rear horizontal frame 42 in the direction in which the first vertical frame 21 is laid out is pulled out to vertical the frame. It is possible to support the load provided in the state where the 20 is laid down.

In addition, when the height of the vertical frame 20 is increased by drawing out the second vertical frame 22 and the third vertical frame 23, the front horizontal frame 41 and the rear horizontal frame 42 are extended to extend the support area. This prevents the conduction of equipment.

Lifting equipment according to an embodiment of the present invention may further include a fourth hydraulic jack 34 for drawing or withdrawing the horizontal frame 40 from the lower support 30 (Fig. 7).

The hook 10 is preferably formed in the third vertical frame 23 positioned at the highest level as a structure for supporting the pre-assembled structure 5 (FIG. 2).

The hook 10 may include a steel support 11 supporting the pre-assembled structure 5 and a clamp 12 that prevents detachment of the pre-assembled structure 5 mounted on the steel support 11 (FIG. 6).

In this case, the steel support 11 is protruded toward the front (a), the clamp 12 is formed on the upper surface of the steel support 11 is characterized in that the position can be changed to the front (a) and rear (b).

Since the widths of the pre-assembled structures 5 supported by the hook 10 are different from each other, the positions of the clamps 12 can be changed according to the width of the pre-assembled structures 5 so that the pre-assembled structures are mounted on the steel support 11. It is possible to firmly bind the structure 5.

The moving part 50 substantially moves the lifting equipment overall configuration by moving the support part 20.

The moving part 50 may be formed on the horizontal frame 40 as well as the support part 20.

In this case, even when the horizontal frame 40 is drawn out, the support 20 can be moved.

Lifting equipment according to an embodiment of the present invention has a multi-stage structure of three or more stages due to the withdrawal of the second vertical frame 22 and the third vertical frame 23.

In this case, in order to ensure the structural safety of the drawn vertical frame 20 may be further included a pin fixing portion or a ratchet (Ratchet) fixing portion is inserted into each of the vertical frame 20 connected to fix the position.

Lifting equipment according to an embodiment of the present invention is formed on the third vertical frame 23, may further include a hook moving portion 13 for raising or lowering the hook (10). Accordingly, the height of the hook 10 can be variably adjusted within the range of the third vertical frame 23, thereby obtaining an effect of allowing the height of the pre-assembled structure 5 to be finely adjusted.

Since the above has just been described with respect to some of the preferred embodiments that can be implemented by the present invention, the scope of the present invention, as is well known, should not be construed as limited to the above embodiments, the present invention described above It will be said that both the technical idea and the technical idea which together with the base are included in the scope of the present invention.

5: prefabricated structure
100: support
200: hydraulic system

Claims (12)

In the lifting equipment for lifting the prefabricated structure (5),
A support part 100 supporting the pre-assembled structure 5; And
Including; a hydraulic system 200 for providing power to the support 100,
The hydraulic system 200
A piston 210 connected to the support part 100;
A cylinder 220 having an internal space 221 in which fluid for providing hydraulic pressure to the piston 210 is received;
A bidirectional hydraulic pump 230 providing hydraulic pressure to the internal space 221; And
Control unit 240 for controlling the operation of the two-way hydraulic pump 230;
Lifting equipment comprising a.
The method of claim 1,
The hydraulic system 200
Wired and wireless communication unit 260 for transmitting the operation information (a) of the two-way hydraulic pump 230 to the control unit 240;
Lifting equipment, characterized in that it further comprises.
The method of claim 2,
The hydraulic system 200
It includes a fluid movement passage 250 for connecting the internal space 221 and the bidirectional hydraulic pump 230,
Both ends of the fluid movement passage 250 are connected to the internal space 221,
A first inlet 251 to which one end of the fluid movement passage 250 is connected to the inner space 221; And
A second inlet 252 to which the fluid movement passage 250 is connected and the internal space 221 is connected;
Lifting equipment comprising a.
The method of claim 3,
The piston 210 is drawn out by the hydraulic pressure provided by the fluid introduced through the first inlet 251,
Lifting equipment, characterized in that the piston 210 is drawn by the hydraulic pressure provided by the fluid introduced through the second inlet (252).
The method of claim 4, wherein
The control unit 240 is lifting equipment, characterized in that for controlling the rotation direction, rotation speed, rotation torque and rotation of the two-way hydraulic pump (230).
The method of claim 5,
The operation information (a) is
Hydraulic pump operation information (a1);
Hydraulic pump rotation direction information a2;
Hydraulic pump rotational speed information a3; And
Hydraulic pump rotation torque information (a4);
Lifting equipment comprising a.
The method of claim 6,
The wired / wireless communication unit 260 transmits the movement information (b) of the support unit 100 to the control unit 240,
The movement information (b) is
Support part movement height information b1; And
Moving part height correction information (b2);
Lifting equipment comprising a.
The method of claim 7, wherein
The support portion 100 is a plurality,
The moving part height information b1 is
Final reached height information b11; And
Arrival height information b12 per unit time T1;
Lifting equipment comprising a.
The method of claim 8,
The moving part height information b1 is
Stop time information b13 per unit time T1; And
Movement time information b14 per unit time T1;
Lifting equipment comprising a.
The method of claim 9,
The moving part height correction information (b2) is
First height correction information (b21) of the plurality of support parts (100) corresponding to the final reached height information (b12); And
Second height correction information b22 of the plurality of support parts 100 corresponding to the arrival height b13 per unit time;
Lifting equipment comprising a.
In the lifting method of the prefabricated structure using the lifting device of claim 10,
A first step (S100) of mounting the support parts (100) of the plurality of lifting equipment on the pre-assembled structure (5); And
The controller 240 controls the bidirectional hydraulic pump 230 according to the final height height information b11 to lift the support part 100, and according to the support part movement height correction information b2. The second step (S200) for the control unit 240 to control the bidirectional hydraulic pump 230 so that the height of the support portion 100 of the plurality of lifting equipment is the same;
Lifting method of the prefabricated structure comprising a.
The method of claim 11,
The second step (S200) is
The controller 240 controls the bidirectional hydraulic pump 230 according to the arrival height information b12 per unit time to lift the support part 100 of the plurality of lifting equipments, and the second height. Correcting the heights of the support parts 100 of the plurality of lifting equipments according to the correction information b22 (S210);
Lifting method of the prefabricated structure comprising a.

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