Control method of lifting system, control method of system and control method of beam construction system

Abstract

The control method of the lifting system comprises an upper hoop and a lower hoop, the upper hoop and the lower hoop are connected through a plurality of rigid chains, and the lifting is realized by controlling the action sequence among the upper hoop, the lower hoop and the rigid chains. In order to improve the safety of the lifting system, the control method provided by the application controls the upper hoop, the lower hoop and the rigid chains by using the same frequency converter, so as to ensure that the action intervals of the upper hoop, the lower hoop and the rigid chains are not crossed, and the safety is improved. The rigid chains in the same lifting system are driven by the same motor, so as to ensure the balance of the lifting system during action. In the control method, only one frequency converter is used to control all action mechanisms, so that the control cost of the whole lifting system is reduced, the control logic and the control system are simplified, and the safety is improved.

Description

Technical Field

[0001] This invention relates to the technical field of bridge erection or assembly, and particularly to control methods and systems for lifting systems and control methods for crossbeam construction systems. Background Technology

[0002] The existing construction methods for cap beams are relatively primitive, mainly including ground-mounted scaffolding construction, clamp-type scaffolding construction, and embedded part / steel bar scaffolding construction. All of these are completed by manual labor in conjunction with engineering machinery. The operation methods are relatively primitive and backward, posing significant safety hazards. The construction period is greatly affected by the weather, and the quality of products made on-site is inconsistent. As the workforce ages, the labor shortage problem is becoming increasingly serious.

[0003] To make the construction of the bridge girder more convenient, efficient, economical, and safe, China Railway Bridge Bureau Group Co., Ltd. proposed an automatic lifting clamp system in its patent (CN208594486U), while Sichuan Topda Machinery Technology Co., Ltd. provided a stepping climbing machine in its patent (CN216663832U). Both systems use the cooperation of upper and lower clamps and a linear output device to lift and push the crossbeam to the top of the beam column. The linear output device used is a jack or lifting cylinder. Jacks or lifting cylinders have poor force balance and synchronization, are costly, and require continuous operation of the hydraulic system to maintain oil pressure when in a holding state. Furthermore, the hydraulic system is prone to leakage and requires continuous oil replenishment. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a control method and system for a lifting system, as well as a control method for a beam construction system, to improve the balance and stability of the lifting system during the lifting process.

[0005] The invention aims to achieve its objective through the following technical solutions.

[0006] A control method for a lifting system is provided, the lifting system comprising an upper clamp and a lower clamp, the upper clamp and the lower clamp being connected by a plurality of rigid chains, the control method comprising:

[0007] During the climb:

[0008] U1: The contactor controls the frequency converter to connect to the locking motor of the upper clamp, and the frequency converter controls the locking motor of the upper clamp to work, so that the upper clamp clamps the column; then, the contactor controls the frequency converter to connect to the locking motor of the lower clamp, and the frequency converter controls the locking motor of the lower clamp to work, so that the lower clamp releases the column; then, the contactor controls the frequency converter to connect to the drive motor of the rigid chain, and the frequency converter controls the drive motor of the rigid chain to work, so that the drive wheel of the rigid chain rotates, and the lower clamp moves closer to the upper clamp;

[0009] U2: The contactor controls the frequency converter to connect to the locking motor of the lower clamp, and the frequency converter controls the locking motor of the lower clamp to work, so that the lower clamp clamps the column; then, the contactor controls the frequency converter to connect to the locking motor of the upper clamp, and the frequency converter controls the locking motor of the upper clamp to work, so that the upper clamp releases the column; then, the contactor controls the frequency converter to connect to the drive motor of the rigid chain, and the frequency converter controls the drive motor of the rigid chain to work, so that the drive wheel of the rigid chain rotates, and the upper clamp moves away from the lower clamp;

[0010] U1 and U2 are performed alternately;

[0011] During descent:

[0012] D1: The contactor controls the frequency converter to connect to the locking motor of the upper clamp, and the frequency converter controls the locking motor of the upper clamp to work, so that the upper clamp clamps the column; then, the contactor controls the frequency converter to connect to the locking motor of the lower clamp, and the frequency converter controls the locking motor of the lower clamp to work, so that the lower clamp releases the column; then, the contactor controls the frequency converter to connect to the drive motor of the rigid chain, and the frequency converter controls the drive motor of the rigid chain to work, so that the drive wheel of the rigid chain rotates, and the lower clamp moves away from the upper clamp;

[0013] D2: The contactor controls the frequency converter to connect to the locking motor of the lower clamp, and the frequency converter controls the locking motor of the lower clamp to work, so that the lower clamp clamps the column; then, the contactor controls the frequency converter to connect to the locking motor of the upper clamp, and the frequency converter controls the locking motor of the upper clamp to work, so that the upper clamp releases the column; then, the contactor controls the frequency converter to connect to the drive motor of the rigid chain, and the frequency converter controls the drive motor of the rigid chain to work, so that the drive wheel of the rigid chain rotates, and the upper clamp moves closer to the lower clamp;

[0014] D1 and D2 are performed alternately.

[0015] Preferably, an absolute encoder is installed on the shaft of the drive wheel of the rigid chain, and an incremental encoder controls the rotational speed of the drive motor of the rigid chain. The rotational speed of the drive motor of the rigid chain is controlled according to the ratio of the output values ​​of the absolute encoder and the incremental encoder.

[0016] Preferably, an absolute encoder is installed on the shaft of the drive wheel of the rigid chain, and the drive motor of the rigid chain is a servo motor, and the rotational speed of the drive wheel of the rigid chain is controlled according to the output value of the absolute encoder.

[0017] Preferably, the drive wheels of the rigid chain within the lifting system rotate at the same speed.

[0018] A control system for a lifting system is provided, the control system being used to implement the control method described above; the control system includes the frequency converter, and the locking motors of the upper clamp, the lower clamp, and the drive motor of the rigid chain are all connected to the frequency converter.

[0019] Preferably, the beam construction system includes multiple lifting systems, which support the raising or lowering of the beam, and the control method of the beam construction system includes:

[0020] The height difference between the lifting systems is detected, and the speed of the drive motor of the rigid chain in one of the lifting systems is adjusted according to the height difference;

[0021] When the height difference exceeds the threshold, the lifting system is controlled to stop and an alarm is triggered.

[0022] The control method for the lifting system is as described above.

[0023] Preferably, the height difference between the lifting systems is determined by detecting the angle of inclination of the crossbeam to the horizontal plane.

[0024] Preferably, a laser emitter is installed on one part of the lifting system, and a laser receiver is installed on the other part of the lifting system. The height difference between the lifting systems is determined by detecting the output of the laser receiver.

[0025] Preferably, a diagonal line is connected between two points on different lifting systems, and the height difference between the lifting systems is determined based on the change in the length of the diagonal line.

[0026] Preferably, the height difference between the lifting systems is converted into the angle of rotation of one lifting system relative to the other lifting system, and the angle is converted into a change along the tangential direction of the angle. The magnitude of the change in the tangential direction of the angle is used to control the lifting system to stop and trigger an alarm.

[0027] The lifting system control method disclosed in this invention includes an upper clamp and a lower clamp, which are connected by several rigid chains. The lifting mechanism is controlled by managing the sequence of movements of the upper clamp, lower clamp, and rigid chains to achieve lifting. To improve the safety of the lifting system, the control method provides that the upper clamp, lower clamp, and rigid chains are controlled by the same frequency converter, ensuring that their movement ranges do not overlap, thus enhancing safety. The rigid chain drive motors within the same lifting system are driven by the same frequency converter, ensuring the balance of the lifting system during operation. The control method uses only one frequency converter to control all moving mechanisms, thereby reducing the control cost of the entire lifting system, saving costs, and simplifying the control logic and control system.

[0028] Furthermore, this application provides a control method for a beam construction system, wherein the beam construction system includes multiple lifting systems, which carry the beam to rise or fall. The control method for the beam construction system includes: detecting the height difference between the lifting systems; adjusting the speed of the drive motor of the rigid chain in one of the lifting systems according to the height difference; and controlling the lifting system to stop and alarm when the height difference exceeds a threshold. By ensuring that the height difference between the lifting systems does not exceed the threshold, the beam is safely and stably transported between the upper end of the bridge pier and the ground. Attached Figure Description

[0029] Figure 1 This is a flowchart of the climbing process in the control method of the lifting system provided in Embodiment 1 of the present invention;

[0030] Figure 2 This is a flowchart of the descent process in the control method of the lifting system provided in Embodiment 1 of the present invention;

[0031] Figure 3 This is a schematic diagram of the control system of the lifting system provided in Embodiment 2 of the present invention;

[0032] Figure 4 This is a partial structural diagram of a beam construction system according to Embodiment 3 of the present invention, which provides a control method for implementing a beam construction system.

[0033] Figure 5 This is a structural schematic diagram of the lifting system and the beam construction system involved in Embodiments 1 to 3 of the present invention. Detailed Implementation

[0034] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. The principles and features of the present invention are described below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0035] In bridge construction, crossbeams are erected on top of bridge piers using mechanical clamps, and cap beams are then constructed on top of the crossbeams. Crossbeam construction refers to fixing the crossbeams to the top of the bridge piers using mechanical clamps. One application scenario is using the lifting system control method provided by this invention to lift the crossbeams to the top of the bridge piers or transport them back to the ground during crossbeam erection.

[0036] The structural diagram of the lifting system is shown below. Figure 5 It includes an upper clamp 401 and a lower clamp 403, which are connected by several rigid chains 402. The upper clamp 401 and the lower clamp 403 can automatically tighten or loosen the pier 100.

[0037] During the climb, the upper clamp 401 tightens, and the drive wheel of the rigid chain 402 rotates, pulling the chain plate of the rigid chain 402 further into the chain box, thereby pulling the lower clamp 403 upward. Then the lower clamp 403 tightens, the upper clamp 401 loosens, and the drive wheel of the rigid chain 402 rotates, pushing the chain plate of the rigid chain 402 further out of the chain box, thereby pushing the upper clamp 401 upward. Then the upper clamp 401 locks, and the lower clamp 403 loosens, completing one climbing step.

[0038] During descent, the upper clamp 401 tightens, and the drive wheel of the rigid chain 402 rotates, pushing more of the chain plate of the rigid chain 402 out of the chain box, thereby lowering the lower clamp 403 downward. Then, the lower clamp 403 locks, the upper clamp 401 loosens, and the drive wheel of the rigid chain 402 rotates, pulling more of the chain plate of the rigid chain 402 into the chain box, thereby lowering the upper clamp 401 downward. Then, the upper clamp 401 tightens, and the lower clamp 403 loosens, completing one descent step.

[0039] Repeating the climbing steps completes the ascent, and repeating the falling steps completes the descent.

[0040] During the construction of the crossbeam: the crossbeam 200 is placed on the upper clamp 401. The climbing step is repeated to complete the transportation of the crossbeam from the ground to the upper end of the pier 100. The descent step is repeated to complete the transportation of the crossbeam and mechanical clamp from the upper end of the pier 100 to the ground.

[0041] Example 1

[0042] This embodiment provides a specific implementation of a control method for a lifting system, the control method comprising:

[0043] During the ascent, refer to Figure 1 :

[0044] U1:

[0045] The contactor controls the frequency converter to connect to the locking motor of the upper clamp 401, and the frequency converter controls the locking motor of the upper clamp 401 to work, so that the upper clamp 401 clamps the bridge pier 100.

[0046] Subsequently, the contactor controls the frequency converter to connect to the locking motor of the lower clamp 403, and the frequency converter controls the locking motor of the lower clamp 403 to work, so that the lower clamp 403 loosens the pier 100.

[0047] Subsequently, the contactor controls the inverter to connect to the drive motor of the rigid chain 402, and the inverter controls the drive motor of the rigid chain 402 to work, the drive wheel of the rigid chain 402 rotates, and the lower clamp 403 approaches the upper clamp 401.

[0048] U2:

[0049] The contactor controls the frequency converter to connect to the locking motor of the lower clamp 403. The frequency converter controls the locking motor of the lower clamp 403 to work, and the lower clamp 403 clamps the bridge pier 100.

[0050] Subsequently, the contactor controls the frequency converter to connect to the locking motor of the upper clamp 401, and the frequency converter controls the locking motor of the upper clamp 401 to work, so that the upper clamp 401 loosens the bridge pier 100.

[0051] Subsequently, the contactor controls the inverter to connect to the drive motor of the rigid chain 402, and the inverter controls the drive motor of the rigid chain 402 to work, the drive wheel of the rigid chain 402 rotates, and the upper clamp 401 moves away from the lower clamp 403.

[0052] U1 and U2 are performed alternately to complete the climbing process;

[0053] During descent, refer to Figure 2 :

[0054] D1:

[0055] The contactor controls the frequency converter to connect to the locking motor of the upper clamp 401, and the frequency converter controls the locking motor of the upper clamp 401 to work, so that the upper clamp 401 clamps the bridge pier 100.

[0056] Subsequently, the contactor controls the frequency converter to connect to the locking motor of the lower clamp 403, and the frequency converter controls the locking motor of the lower clamp 403 to work, so that the lower clamp 403 loosens the pier 100.

[0057] Subsequently, the contactor controls the inverter to connect to the drive motor of the rigid chain 402, and the inverter controls the drive motor of the rigid chain 402 to work, the drive wheel of the rigid chain 402 rotates, and the lower clamp 403 moves away from the upper clamp 401.

[0058] D2:

[0059] The contactor controls the frequency converter to connect to the locking motor of the lower clamp 403. The frequency converter controls the locking motor of the lower clamp 403 to work, and the lower clamp 403 clamps the bridge pier 100.

[0060] Subsequently, the contactor controls the frequency converter to connect to the locking motor of the upper clamp 403, and the frequency converter controls the locking motor of the upper clamp 401 to work, so that the upper clamp 401 loosens the pier 100; then, the contactor controls the frequency converter to connect to the drive motor of the rigid chain 402, and the frequency converter controls the drive motor of the rigid chain 402 to work, so that the drive wheel of the rigid chain 402 rotates and the upper clamp 401 moves closer to the lower clamp 403.

[0061] D1 and D2 are performed alternately to complete the descent process.

[0062] In the control method of the lifting system provided in this embodiment, lifting is achieved by controlling the sequence of actions between the upper clamp 401, the lower clamp 403 and the rigid chain 402.

[0063] To improve the safety of the lifting system, the control method provided in this embodiment uses the same frequency converter to control the upper clamp 401, lower clamp 403, and rigid chain 402. The frequency converter can only drive one of the three to work at a time. Therefore, there is no risk of the upper clamp 401 and lower clamp 403 simultaneously loosening and causing the pier 100 to fall, nor is there an overload situation caused by the upper clamp 401 and lower clamp 403 simultaneously locking and the length of the rigid chain 402 changing. Ensuring that the operating ranges of the upper clamp 401, lower clamp 403, and rigid chain 402 do not overlap improves the safety of the climbing or descending process.

[0064] On the other hand, the control method uses only one frequency converter to control all the moving mechanisms, thus reducing the control cost of the entire lifting system and saving costs, while simplifying the control logic and control system.

[0065] This embodiment also provides a specific implementation method for forming a closed-loop control of motor speed: an absolute encoder is installed on the shaft of the drive wheel of the rigid chain 402, and an incremental encoder controls the speed of the drive motor of the rigid chain 402. The speed of the drive motor of the rigid chain 402 is controlled according to the ratio of the output values ​​of the absolute encoder and the incremental encoder.

[0066] In another specific embodiment of achieving closed-loop control of motor speed, an absolute encoder is installed on the shaft of the drive wheel of the rigid chain 402, and the drive motor of the rigid chain 402 is a servo motor. The speed of the drive wheel of the rigid chain 402 is controlled according to the output value of the absolute encoder.

[0067] To improve the balance of the lifting system during operation, the drive wheels of the rigid chains within the lifting system are controlled to rotate at the same speed. Since the rigid chain 402 is used to drive the climbing or descending motion, and the drive motors of the rigid chains 402 within the same lifting system are driven by the same frequency converter, the balance of the lifting system during operation is ensured.

[0068] Example 2

[0069] This embodiment provides a control system for implementing the control method described in Embodiment 1, with reference to... Figure 3 The control system includes a frequency converter, and the locking motors of the upper clamp 401, the lower clamp 403, and the drive motor of the rigid chain 402 are all connected to the frequency converter.

[0070] This technical solution uses a single frequency converter to control the locking motors of the upper clamp 401, the lower clamp 403, and the drive motor of the rigid chain 402. The switching of operation of the locking motors of the upper clamp 401, the lower clamp 403, and the rigid chain 402 is controlled by the corresponding contactors. The control circuit adopts a programmable logic controller (PLC), which can realize the independent operation of the locking motors of the upper clamp 401, the lower clamp 403, and the rigid chain 402.

[0071] Example 3

[0072] This embodiment provides an implementation method for a crossbeam construction system for erecting crossbeams. The crossbeam construction system includes multiple sets of lifting systems. The number of sets of lifting systems is set according to the number of bridge piers 100 or the number of mechanical clamps to be transported as needed. Multiple sets of lifting systems work together to support the crossbeams 200.

[0073] The crossbeam 200 is placed on multiple lifting systems, and the climbing step is repeated to complete the transportation of the crossbeam 200 from the ground to the top of the pier 100. The descending step is repeated to complete the transportation of the crossbeam 200 from the top of the pier 100 to the ground.

[0074] This embodiment also provides a control method for a beam construction system, wherein the beam construction system includes multiple lifting systems, and the number of lifting systems is set according to the number of piers 100, and multiple lifting systems cooperate to jointly support the beam 200.

[0075] The crossbeam 200 is placed on the upper connecting seat 401. The climbing step is repeated to complete the transportation of the crossbeam 200 from the ground to the upper end of the pier 100, and the descent step is repeated to complete the transportation of the crossbeam 200 from the upper end of the pier 100 to the ground.

[0076] To ensure the horizontal condition of the crossbeam 200 during transportation, the control method of the crossbeam construction system includes a control method for the lifting system, as described in Example 1.

[0077] The control method for the beam construction system also includes:

[0078] The height difference between the lifting systems is detected, and the speed of the drive motor of the rigid chain in a certain lifting system is adjusted according to the height difference.

[0079] When the height difference exceeds the threshold, the lifting system is controlled to stop and an alarm is triggered.

[0080] This embodiment provides a specific implementation method for detecting the height difference between lifting systems and adjusting the speed of the drive motor of the rigid chain in a certain lifting system based on the height difference;

[0081] by Figure 5 Taking the construction equipment for erecting the crossbeam as an example, during the climbing process, after step U2, the height difference information between the lifting systems is detected or collected. If it is detected that the upper clamp of the left climbing system is higher than the upper clamp of the right climbing system, then in the next step U1, the drive wheel output of the rigid chain in the two climbing systems is determined according to the distance between the upper and lower clamps in the right climbing system. In the next step U2, the output of the rigid chain in the left climbing system is set to be less than the output of the rigid chain in the right climbing system. The difference between the two outputs corresponds to the difference between the two in the previous step U2, so that the height of the left climbing system is equal to the height of the right climbing system.

[0082] by Figure 5 Taking the construction equipment for erecting the crossbeam as an example, during descent: After step D2, the height difference information between the lifting systems is detected or collected. If it is detected that the upper clamp of the left climbing system is higher than the upper clamp of the right climbing system, then in the next step D1, the output of the rigid chain in the left climbing system is greater than the output of the rigid chain in the right climbing system. The difference between the two outputs corresponds to the difference detected after step D2 where the upper clamp of the left climbing system is higher than the upper clamp of the right climbing system. In the subsequent step D2, the drive wheel output of the rigid chain in the two climbing systems is determined according to the distance between the upper and lower clamps in the right climbing system, so that the height of the upper clamp in the right climbing system is the same as the height of the upper clamp in the left climbing system.

[0083] This embodiment provides several implementation methods for detecting the height difference between lifting systems:

[0084] In one embodiment, the height difference between the lifting systems is determined by detecting the angle of inclination of the crossbeam to the horizontal plane.

[0085] A level sensor is installed on the crossbeam. The level sensor on the crossbeam will feed back the tilt angle data to the control system. When the level sensor shows that the data is not level, it means that the crossbeam is tilted, which in turn means that the height of the climbing system on both sides is different.

[0086] In one embodiment, a laser emitter is installed on one part of the lifting system and a laser receiver is installed on another part of the lifting system. The height difference between the lifting systems is determined by detecting the output of the laser receiver.

[0087] A laser transmitter is installed at the top of one climbing system, and a laser receiver is installed at the top of another climbing system. This set of laser sensors can monitor changes in height on both sides in real time.

[0088] In one implementation, a diagonal line is connected between two points on different lifting systems, and the height difference between the lifting systems is determined based on the change in the length of the diagonal line.

[0089] A guy wire and an absolute encoder are arranged diagonally on the two climbing systems. The change in the height of the two climbing systems is detected by detecting the change in the diagonal length through the absolute encoder.

[0090] In one embodiment, the height difference between the lifting systems is converted into the rotation angle of one lifting system relative to the other lifting system, and the rotation angle is converted into a change along the tangential direction of the rotation angle. The change in the tangential direction of the rotation angle is used to control the lifting system to stop and trigger an alarm.

[0091] Reference Figure 4 A rocker arm 501 is provided, which is hinged to the right lifting system 400 and rests on the left lifting system 400 on the other side. A vertical rod 502 is connected to the rocker arm 501. Limit switches 503 are provided on both sides of the vertical rod 502 where the two lifting systems are located. When the heights of the two lifting systems 400 are different, the rocker arm 501 tilts, causing the vertical rod 502 to tilt. When the height difference between the two lifting systems 400 is too large, the tilt angle of the vertical rod 502 will be too large, triggering the limit switch 503. The signal from the limit switch 503 controls the lifting system to stop and alarm.

[0092] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0093] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0094] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0095] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0096] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A control method for a lifting system, characterized in that, The lifting system includes an upper clamp and a lower clamp, which are connected by several rigid chains. The control method includes: During the climb: U1: The contactor controls the frequency converter to connect to the locking motor of the upper clamp, and the frequency converter controls the locking motor of the upper clamp to work, so that the upper clamp clamps the column. Subsequently, the contactor controls the frequency converter to connect to the locking motor of the lower clamp, and the frequency converter controls the locking motor of the lower clamp to work, causing the lower clamp to loosen the column; then, the contactor controls the frequency converter to connect to the drive motor of the rigid chain, and the frequency converter controls the drive motor of the rigid chain to work, causing the drive wheel of the rigid chain to rotate, and the lower clamp to move closer to the upper clamp. U2: The contactor controls the frequency converter to connect to the locking motor of the lower clamp, and the frequency converter controls the locking motor of the lower clamp to work, so that the lower clamp clamps the column; then, the contactor controls the frequency converter to connect to the locking motor of the upper clamp, and the frequency converter controls the locking motor of the upper clamp to work, so that the upper clamp releases the column; then, the contactor controls the frequency converter to connect to the drive motor of the rigid chain, and the frequency converter controls the drive motor of the rigid chain to work, so that the drive wheel of the rigid chain rotates, and the upper clamp moves away from the lower clamp; U1 and U2 are performed alternately; During descent: D1: The contactor controls the frequency converter to connect to the locking motor of the upper clamp, and the frequency converter controls the locking motor of the upper clamp to work, so that the upper clamp clamps the column; then, the contactor controls the frequency converter to connect to the locking motor of the lower clamp, and the frequency converter controls the locking motor of the lower clamp to work, so that the lower clamp releases the column; then, the contactor controls the frequency converter to connect to the drive motor of the rigid chain, and the frequency converter controls the drive motor of the rigid chain to work, so that the drive wheel of the rigid chain rotates, and the lower clamp moves away from the upper clamp; D2: The contactor controls the frequency converter to connect to the locking motor of the lower clamp, and the frequency converter controls the locking motor of the lower clamp to work, so that the lower clamp clamps the column; then, the contactor controls the frequency converter to connect to the locking motor of the upper clamp, and the frequency converter controls the locking motor of the upper clamp to work, so that the upper clamp releases the column; then, the contactor controls the frequency converter to connect to the drive motor of the rigid chain, and the frequency converter controls the drive motor of the rigid chain to work, so that the drive wheel of the rigid chain rotates, and the upper clamp moves closer to the lower clamp; D1 and D2 are performed alternately.

2. The control method according to claim 1, characterized in that, An absolute encoder is installed on the shaft of the drive wheel of the rigid chain, and an incremental encoder controls the speed of the drive motor of the rigid chain. The speed of the drive motor of the rigid chain is controlled according to the ratio of the output values ​​of the absolute encoder and the incremental encoder.

3. The control method according to claim 1, characterized in that, An absolute encoder is installed on the shaft of the drive wheel of the rigid chain, and the drive motor of the rigid chain is a servo motor. The rotational speed of the drive wheel of the rigid chain is controlled according to the output value of the absolute encoder.

4. The control method according to claim 1, characterized in that, The driving wheels of the rigid chain within the lifting system rotate at the same speed.

5. The control system of the lifting system, characterized in that, The control system is used to implement the control method according to any one of claims 1-4; the control system includes the frequency converter, and the locking motor of the upper clamp, the locking motor of the lower clamp, and the drive motor of the rigid chain are all connected to the frequency converter.

6. A control method for a beam construction system, characterized in that, The beam construction system includes multiple lifting systems, which support the raising or lowering of the beam. The control method for the beam construction system includes: The height difference between the lifting systems is detected, and the speed of the drive motor of the rigid chain in one of the lifting systems is adjusted according to the height difference; When the height difference exceeds the threshold, the lifting system is controlled to stop and an alarm is triggered. The control method of the lifting system is as described in any one of claims 1-4.

7. The control method for the beam construction system according to claim 6, characterized in that, The height difference between the lifting systems is determined by detecting the angle of inclination of the crossbeam to the horizontal plane.

8. The control method for the beam construction system according to claim 6, characterized in that, A laser emitter is installed on one part of the lifting system, and a laser receiver is installed on the other part of the lifting system. The height difference between the lifting systems is determined by detecting the output of the laser receiver.

9. The control method for the beam construction system according to claim 6, characterized in that, Connect two points on different lifting systems with a diagonal line, and determine the height difference between the lifting systems based on the change in the length of the diagonal line.

10. The control method for the beam construction system according to claim 6, characterized in that, The height difference between the lifting systems is converted into the angle of rotation of one lifting system relative to the other lifting system. The angle is then converted into a change along the tangential direction of the angle. The magnitude of the change in the tangential direction of the angle is used to control the lifting system to stop and trigger an alarm.

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