Electric lifting platform and method for assembling nuclear fusion superconducting magnet

Abstract

The invention discloses an electric lifting platform and method for nuclear fusion superconducting magnet assembly, and relates to the field of nuclear fusion superconducting magnets, the electric lifting platform comprises a supporting base and three identical and independent translation lifting systems, and PID closed-loop control is carried out on servo motors of the translation lifting systems through a PLC, so that the servo motors can synchronously ascend and descend. The translation lifting system is arranged on the supporting base, and each lifting system can independently ascend and descend and horizontally move without mutual constraint. The translation lifting system comprises a supporting module and a transmission module, a magnet supporting box body of the supporting module has a free rotation characteristic, and the supporting module is arranged on the transmission module and is connected with the transmission module through a spoke wheel type weighing sensor. A guide mechanism and a laser displacement sensor are arranged between the supporting module and the transmission module. The invention has the advantages of simple principle, self-adaptive aligning and positioning, stable supporting surface, difficulty in shaking, high lifting and translation reliability, no influence on the structural stability of the magnet, and the like.

Description

Technical Field

[0001] The invention belongs to the field of mechanical manufacturing, and in particular relates to an electric lifting platform and method for assembling a nuclear fusion superconducting magnet. Background Art

[0002] Nuclear fusion energy is the ultimate energy source that humans ideally desire. The energy generated by the fusion of deuterium in each liter of seawater is equivalent to the thermal energy of 300 liters of gasoline. It has a wide prospect for exploration and application. The Tokamak device is one of the methods to achieve the commercial application of nuclear fusion energy. Superconducting magnets are one of the core components of the Tokamak device. Generally, armored superconducting conductors are manufactured by tension-free winding and insulation treatment. The formed superconducting magnets generally need to be suspended, assembled and stacked. After the magnets are stacked and fixed, they are then transferred to the lifting platform to facilitate the assembly of peripheral structures, such as jumper wires, cryogenic pipelines, etc. Due to the special structure of the magnet, the supporting parts of the superconducting magnet are not rigidly connected, and there is inevitably a large installation deviation during assembly, and the theoretical value of the magnet support parts is not at the same height. The existing synchronous electric worm gear screw lifting platform is difficult to self-adjust to adapt to the support position of the magnet, which will cause the flexible magnets after stacking to be deformed due to uneven force, thereby generating internal force and affecting the performance of the magnet. In terms of synchronous operation, the speed of each servo motor is different under no-load or load. Therefore, after the lifting platform has been lifted up and down many times, the servo motor speed error under the platform will accumulate, causing the three platforms to be lifted and lowered asynchronously, and the whole platform will tilt. Once tilt occurs, the screw of the worm gear screw lift will inevitably be stuck and unable to work normally. The existing electric lifting platform that other industries can learn from is to hinge the screw nut to the platform, which allows a certain amount of deviation, and then perform manual inching leveling correction. However, this type of platform is not suitable for the assembly of precision superconducting magnets. If the tilt deviation is too large, it will cause the superconducting magnet to deform and destroy the stability of the superconducting magnet structure. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides an electric lifting platform and method for assembling nuclear fusion superconducting magnets. The electric lifting platform consists of a supporting base and three identical and independent translational lifting systems. The servo motors of the translational lifting systems are PID closed-loop controlled by PLC so that they can be lifted and lowered synchronously. The translational lifting system is arranged on the supporting base, and each lifting system can be lifted and lowered and moved horizontally independently without any constraints on each other. The translational lifting system includes a supporting module and a transmission module. The magnet supporting box of the supporting module has a free rotation characteristic. The supporting module is arranged on the transmission module and is connected by a spoke wheel type weighing sensor. A guiding mechanism and a laser displacement sensor are provided between the supporting module and the transmission module.

[0004] In order to achieve the above object, the present invention adopts the following technical solution:

[0005] An electric lifting platform for assembling nuclear fusion superconducting magnets, comprising a supporting base and three translation lifting systems, wherein the translation lifting system comprises a supporting module and a transmission module; a laser displacement sensor is arranged between the supporting module and the transmission module; the supporting module comprises a magnet supporting box, a slewing bearing, a self-lubricating graphite copper plate, a slewing support seat, a spoke wheel type weighing sensor, and a platform guide mechanism; two self-lubricating graphite copper plates are arranged between the magnet supporting box and the slewing support seat; the magnet supporting box and the slewing support seat are connected through a slewing bearing; the transmission module is arranged below the supporting module, and the spoke wheel type weighing sensor, the platform guide mechanism are arranged between the supporting base and the slewing support seat, and the transmission module is arranged below the supporting base and the transmission module is arranged between the supporting base and the slewing support seat, ... The mechanism is connected with the supporting module; the transmission module includes a servo motor, a worm gear reducer, a worm gear screw lifter, an X-direction hand-cranked linear guide slide, a Y-direction hand-cranked linear guide slide, and a laser displacement sensor; three translation lifting systems perform Z-direction lifting, rotation around the Z axis, X-direction movement, and Y-direction movement to adapt to the shape of the superconducting magnet, thereby providing support; a platform guiding mechanism is provided between the supporting module and the transmission module, the worm gear screw lifter is located on the X-direction hand-cranked linear guide slide, the X-direction hand-cranked linear guide slide is located on the Y-direction hand-cranked linear guide slide, and the Y-direction hand-cranked linear guide slide is installed on the supporting base.

[0006] Furthermore, the three translation and lifting systems can be lifted and lowered in coordination or can operate individually.

[0007] Furthermore, the X-direction hand-cranked linear guide slide and the Y-direction hand-cranked linear guide slide are equipped with a worm gear reducer, a limit travel switch, and a tabletop engraved scale line.

[0008] Furthermore, the support module of each translation and lifting system corresponds to a supporting point of the superconducting magnet, with a total of three supporting points, and each translation and lifting system is arranged with a spoke wheel type weighing sensor.

[0009] Furthermore, the supporting surface of the magnet supporting box is arc-shaped.

[0010] Furthermore, the translation lifting system is equipped with a worm gear screw lift.

[0011] Furthermore, a height scale line is engraved on the platform guide mechanism, and a limit switch is arranged between the support module and the transmission module.

[0012] Furthermore, the translation and lifting systems on both sides are provided with limit bolts.

[0013] The present invention also provides a method for lifting an electric lifting platform for assembling a nuclear fusion superconducting magnet, comprising the following steps:

[0014] Step 1: Perform initial position adjustment. First, move the electric lifting platform to the bottom of the superconducting magnet to be suspended. Then manually adjust each translation and lifting system individually so that the table tops of the three support modules are completely in contact with the superconducting magnet. At this time, the value of the spoke-wheel load cell is 0.

[0015] Step 2: Monitor the stable lifting and lowering. Remove the superconducting magnet suspension rod. The flexibly connected superconducting magnet will fall on the electric lifting platform without generating internal force. Record the value of each spoke wheel weighing sensor at this time, i.e., the initial position value. Set a laser displacement sensor between the transmission module and the support module, use PLC to perform PID closed-loop control on the servo motor, set the displacement value of the middle translation lifting system as the dynamic target value, and the displacement of the translation lifting systems on both sides is always consistent with the dynamic target value, so that the three translation lifting systems can be lifted and lowered synchronously.

[0016] Set the displacement value error of the translational lifting system on both sides and the displacement value error of the lifting system in the middle. When the threshold is exceeded, the system will automatically stop, and then make manual adjustments based on the displacement value of the translational lifting system in the middle. After the displacement is adjusted to be consistent, check the value of each spoke wheel weighing sensor at this time to make sure it is consistent with the value at the initial position.

[0017] Furthermore, the step 2 also includes:

[0018] When the value of any spoke-wheel load cell is 0, the system automatically shuts down. This means that only two supports are under force and the lifting and lowering are not synchronized. Then, manual adjustments are made based on the displacement value of the middle translation lifting system. After the displacement is adjusted to the same value, the value of each spoke-wheel load cell is checked to ensure that it is consistent with the value at the initial position.

[0019] Beneficial effects:

[0020] 1. The electric lifting platform for assembling nuclear fusion superconducting magnets of the present invention has three translation and lifting systems, each of which has multiple degrees of freedom and can adapt to the three arc support parts of the superconducting magnet. When supporting, no bending stress is formed on the inside of the superconducting magnet, and the stability of the structure of the superconducting magnet itself is not affected. The operation is simple and reliable; the three magnet support boxes with rotation characteristics are linearly arranged, which can not only adapt to the shape of the magnet, but also self-lock the superconducting magnet to prevent it from deflecting.

[0021] 2. The electric lifting platform for assembling nuclear fusion superconducting magnets of the present invention is equipped with a laser displacement sensor, and adopts PID closed-loop control of the lifting displacement of the three translation lifting systems, so that they can be lifted and lowered synchronously and smoothly, and the lifting height deviation can be automatically corrected without the elevator getting stuck.

[0022] 3. Each translation lifting system is equipped with a spoke wheel load cell to monitor each support point in real time

[0023] When the value of any spoke wheel weighing sensor is 0, that is, the lifting is not synchronized, the system automatically stops and then manually corrects the lifting displacement to protect the superconducting magnet.

[0024] 4. The X-direction hand-cranked linear guide slide and the Y-direction hand-cranked linear guide slide are equipped with worm gear reducers, which can achieve self-locking in the horizontal direction; the worm gear screw lift has a self-locking function.

[0025] 5. Each translation and lifting system is equipped with travel limit switches for X, Y and Z movements, so that the platform can move within a given range. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A side view of the electric lifting platform for assembling a nuclear fusion superconducting magnet according to the present invention;

[0027] Figure 2 A side view of the electric lifting platform for assembling a nuclear fusion superconducting magnet according to the present invention;

[0028] Figure 3 It is a front view of the electric lifting platform for assembling nuclear fusion superconducting magnets of the present invention;

[0029] Figure 4 A partial view of the slide mechanism of the electric lifting platform for assembling a nuclear fusion superconducting magnet of the present invention;

[0030] Figure 5 A partial view of the lifting mechanism of the electric lifting platform for assembling a nuclear fusion superconducting magnet according to the present invention;

[0031] Figure 6 It is a partial view of the lifting and limiting position of the electric lifting platform for assembling nuclear fusion superconducting magnets of the present invention;

[0032] Figure 7 This is a schematic diagram of a nuclear fusion superconducting magnet used in the present invention, where A, B, and C are support points on the magnet.

[0033] Among them, the accompanying drawings are marked as: supporting base 1, translation lifting system 2, supporting module 3, transmission module 4, magnet supporting box 5, slewing support bearing 6, self-lubricating graphite copper plate 7, slewing support seat 8, spoke wheel weighing sensor 9, platform guide mechanism 10, servo motor 11, worm gear reducer 12, worm gear screw lift 13, X-direction hand-cranked linear guide slide 14, Y-direction hand-cranked linear guide slide 15, laser displacement sensor 16. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0035] like Figure 1-Figure 3 As shown, the electric lifting platform for assembling a nuclear fusion superconducting magnet according to the embodiment of the present invention comprises a supporting base 1 and three translation lifting systems 2, and the translation lifting systems 2 are evenly arranged on the supporting base 1. The translation lifting system 2 comprises a supporting module 3 and a transmission module 4.

[0036] The support module 3 includes a magnet support box 5, a slewing support bearing 6, a self-lubricating graphite copper plate 7, a slewing support seat 8, a spoke wheel type weighing sensor 9, and a platform guide mechanism 10. The magnet support box 5 is fixed to the slewing support bearing 6 by bolts and is in direct contact with the magnet. The slewing support bearing 6 is fixed to the slewing support seat 8 by bolts. The self-lubricating graphite copper plate 7 is fixed to the slewing support seat 8 by bolts, and forms a sliding friction pair with the magnet support box 5, which can prevent the two ends of the magnet support box 5 from being compressed and deformed, and can ensure that the magnet support box 5 can rotate freely. The spoke wheel type weighing sensor 9 is fixed to the slewing support seat 8 and the worm gear screw lift 13 by bolts respectively. The guide column of the platform guide mechanism 10 is locked on the slewing support seat 8 by a round nut, and the guide sleeve of the platform guide mechanism 10 is fixed to the X-direction hand-cranked linear guide slide 14 by bolts. The transmission module 4 is arranged below the support module 3 and is connected to the support module 3 via a spoke wheel type weighing sensor 9 and a platform guide mechanism 10 .

[0037] The transmission module 4 includes a servo motor 11, a worm gear reducer 12, a worm gear screw lifter 13, an X-direction hand-cranked linear guide slide 14, a Y-direction hand-cranked linear guide slide 15, and a laser displacement sensor 16. The servo motor 11 is fixed to the worm gear reducer 12 by bolts, and the output shaft of the servo motor 11 matches the input hole of the worm gear reducer 12. The function of the worm gear reducer 12 is to reduce speed and increase torque; the worm gear reducer 12 and the worm gear screw lifter 13 are respectively fixed to the table surface of the X-direction hand-cranked linear guide slide 14 by bolts, and the rotation speed is transmitted between the two through a coupling. The X-direction hand-cranked linear guide slide 14 can realize the X-direction horizontal movement of the translation and lifting system 2. The linear guide of the X-direction hand-cranked linear guide slide 14 is fixed to the Y-direction hand-cranked linear guide slide 15 by bolts. The Y-direction hand-cranked linear guide slide 15 can realize the Y-direction horizontal movement of the translation and lifting system 2. The laser displacement sensor 16 is installed on the table surface of the X-direction hand-cranked linear guide slide 14 to monitor the lifting displacement of the support module 3.

[0038] like Figure 4 , Figure 5 As shown, the three translation and lifting systems 2 can respectively perform Z-direction lifting, rotation around the Z axis, X-direction movement, and Y-direction movement to adapt to the shape of the superconducting magnet, thereby providing support. A platform guide mechanism 10 is provided between the support module 3 and the transmission module 4, the worm gear screw lift 13 is located on the X-direction hand-cranked linear guide slide 14, the X-direction hand-cranked linear guide slide 14 is located on the Y-direction hand-cranked linear guide slide 15, and the Y-direction hand-cranked linear guide slide 15 is installed on the support base 1.

[0039] Preferably, the three translation lifting systems (2) can be lifted and lowered in a coordinated manner, or can operate individually.

[0040] Preferably, Figure 4 As shown, the X-direction hand-cranked linear guide slide 14 and the Y-direction hand-cranked linear guide slide 15 are equipped with a worm gear reducer, a limit travel switch (X and Y directions), and a tabletop scale line. The worm gear reducer has a self-locking function to prevent the X-direction hand-cranked linear guide slide 14 and the Y-direction hand-cranked linear guide slide from being unbalanced. The limit switch is connected to an alarm. When the travel is exceeded, the translation and lifting system 2 sounds an alarm. The tabletop scale (i.e. Figure 4 The scale and pointer (including X and Y directions) are used to record travel data.

[0041] Preferably, the support module 3 of each translation and lifting system 2 corresponds to a supporting point of the magnet, with a total of three supporting points, and each translation and lifting system 2 is arranged with a spoke wheel type weighing sensor 9.

[0042] Preferably, the magnet support box 5 is connected to the slewing support seat 8 via a slewing support bearing 6 .

[0043] Preferably, the supporting surface of the magnet supporting box 5 is arc-shaped.

[0044] Preferably, two self-lubricating graphite copper plates 7 are arranged between the magnet support box 5 and the rotary support seat 8 .

[0045] Preferably, a laser displacement sensor 16 is arranged between the support module 3 and the transmission module 4 , and the output displacement signal is given to the PLC control system to control the lifting and lowering of the three magnet support boxes 5 .

[0046] Preferably, a height scale is fixed on the table of the X-direction hand-cranked linear guide slide 14 to control the manual adjustment of the lifting height. Two travel limit switches (Z direction) are set between the support module 3 and the transmission module 4, respectively arranged at the limit positions of the lifting travel and fixed on the table of the X-direction hand-cranked linear guide slide 14. The top block of the travel limit switch (Z direction) is fixed on the slewing support seat 8 and moves up and down with the slewing support seat 8. When the top block touches the contact of the travel limit switch (Z direction), the system automatically stops and alarms to prevent the translation lifting system 2 from overtravel during the lifting process. Figure 6 shown.

[0047] Preferably, the translation and lifting systems 2 on both sides are provided with limit bolts to prevent the superconducting magnet from tilting and sliding down.

[0048] like Figure 7 As shown, the nuclear fusion superconducting magnet used in the present invention has three supporting points, namely A, B, and C three supporting points on the magnet.

[0049] The present invention designs three translation and lifting systems with the same structure according to the three supporting parts of the flexible superconducting magnet, which can be operated independently or in linkage and synchronous operation. Each translation and lifting system 2 has three degrees of freedom: horizontal X-direction translation, horizontal Y-direction translation, and Z-direction lifting. At the same time, the magnet support box 5 of each translation and lifting system 2 that is in direct contact with the superconducting magnet is installed on a slewing bearing 6, so the support structure has a local free rotation characteristic, which solves the problem of the support seat adapting to the magnet shape for support. At the same time, after the three rotatable magnet support boxes 5 are arranged in parallel, not only can the local axial range be adaptively adjusted, but also the overall locking magnet can be played.

[0050] In order to prevent the magnet support box 5 from being deformed under pressure and causing the rotation to be stuck, two self-lubricating graphite copper plates 7 are arranged between the magnet support box 5 and the rotary support seat 8 to reduce the resistance of the magnet support box 5 during rotation and to provide a certain support for the magnet support box 5. In addition, each translation lifting system 2 is arranged with a spoke wheel type weighing sensor 9 to adjust the initial lifting position of the lifting system and monitor the stability of the electric platform lifting.

[0051] The lifting method of the electric lifting platform for assembling a nuclear fusion superconducting magnet of the present invention comprises:

[0052] Step 1. Adjust the initial position. First, move the electric lifting platform to the bottom of the superconducting magnet to be suspended. Then manually adjust each translation and lifting system 2 separately. Each translation and lifting system 2 is translated in the X and Y directions, and lifted in the Z direction, until the arc table surfaces of the three supporting modules 3 fit the superconducting magnet, and the gap is controlled within 0.2mm. The height deviation of the three support points is within 0.2mm, and the deformation of the superconducting magnet can be ignored. The gap can be checked with a feeler gauge. At this time, the readings of the three spoke wheel weighing sensors 9 should be 0;

[0053] Step 2, perform stable lifting and monitoring: After adjusting the gap, remove the superconducting magnet suspension rod, and the flexibly connected superconducting magnet falls on the electric lifting platform without generating internal force. Record the value of each spoke wheel type weighing sensor 9 at this time, that is, the initial position value.

[0054] A laser displacement sensor 16 is set between the transmission module 4 and the support module 3, and the PLC is used to perform PID closed-loop control on the servo motor 11. The displacement value of the middle translation and lifting system 2 is set as a dynamic target value, and the displacement of the translation and lifting systems 2 on both sides is always consistent with the target value, thereby controlling the synchronous lifting of the three translation and lifting systems.

[0055] The displacement value of the translation and lifting system 2 on both sides is set to be within 3mm of the displacement value of the middle translation and lifting system 2 (the maximum deformation at the three supporting points of the superconducting magnet is 6mm). If it exceeds 3mm, the system will automatically stop, and then manual adjustment will be performed based on the displacement value of the middle translation and lifting system 2 (for example, a worm gear screw lift is equipped with a hand-cranked wheel); after the displacement is adjusted to be consistent, the value of each spoke wheel weighing sensor 9 at this time is checked, which should theoretically be consistent with the value of the initial position.

[0056] When the value of any spoke wheel load cell 9 is 0, the system automatically stops. This means that only two supports are under force, and the lifting and lowering are not synchronized. Then, the displacement value of the middle translation lifting system 2 is used as the reference for manual adjustment (for example, a worm gear screw lift with a hand wheel); after the displacement is adjusted to the same, check the value of each spoke wheel load cell 9 at this time, which should theoretically be consistent with the value of the initial position.

Claims

1. An electric lifting platform for assembling nuclear fusion superconducting magnets, characterized in that: The invention comprises a support base (1) and three translation and lifting systems (2), wherein the translation and lifting system (2) comprises a support module (3) and a transmission module (4); a laser displacement sensor (16) is arranged between the support module (3) and the transmission module (4); the support module (3) comprises a magnet support box (5), a slewing support bearing (6), a self-lubricating graphite copper plate (7), a slewing support seat (8), a spoke wheel type weighing sensor (9), and a platform guide mechanism (10); two self-lubricating graphite copper plates (7) are arranged between the magnet support box (5) and the slewing support seat (8); the magnet support box (5) and the slewing support seat (8) are connected via the slewing support bearing (6); the transmission module (4) is arranged below the support module (3) and is connected via the spoke wheel type weighing sensor (9) and the platform guide mechanism (10). The transmission module (4) is connected to the support module (3); the transmission module (4) comprises a servo motor (11), a worm gear reducer (12), a worm gear screw lifter (13), an X-direction hand-cranked linear guide slide (14), a Y-direction hand-cranked linear guide slide (15), and a laser displacement sensor (16); the three translation lift systems (2) perform Z-direction lifting, rotation around the Z axis, X-direction movement, and Y-direction movement to adapt to the shape of the superconducting magnet, thereby providing support; a platform guide mechanism (10) is provided between the support module (3) and the transmission module (4); the worm gear screw lifter (13) is located on the X-direction hand-cranked linear guide slide (14), the X-direction hand-cranked linear guide slide (14) is located on the Y-direction hand-cranked linear guide slide (15), and the Y-direction hand-cranked linear guide slide (15) is installed on the support base (1).

2. The electric lifting platform for assembling nuclear fusion superconducting magnets according to claim 1, characterized in that: The three translation lifting systems (2) can be raised and lowered in a coordinated manner or can be operated individually.

3. The electric lifting platform for assembling nuclear fusion superconducting magnets according to claim 1, characterized in that: The X-direction hand-cranked linear guide slide (14) and the Y-direction hand-cranked linear guide slide (15) are equipped with a worm gear reducer (12), a limit travel switch, and a tabletop engraved scale line.

4. The electric lifting platform for assembling nuclear fusion superconducting magnets according to claim 1, characterized in that: The support module (3) of each translation lifting system (2) corresponds to a support point of the superconducting magnet, with a total of three support points. Each translation lifting system (2) is arranged with a spoke wheel type weighing sensor (9).

5. The electric lifting platform for assembling nuclear fusion superconducting magnets according to claim 1, characterized in that: The supporting surface of the magnet supporting box (5) is arc-shaped.

6. The electric lifting platform for assembling nuclear fusion superconducting magnets according to claim 1, characterized in that: The translation lifting system (2) is equipped with a worm gear screw lift (13).

7. The electric lifting platform for assembling nuclear fusion superconducting magnets according to claim 1, characterized in that: A height scale line is engraved on the platform guide mechanism (10), and a limit switch is arranged between the support module (3) and the transmission module (4).

8. The electric lifting platform for assembling nuclear fusion superconducting magnets according to claim 1, characterized in that: The translation lifting systems (2) on both sides are provided with limit bolts.

9. The method for lifting an electric lifting platform for assembling a nuclear fusion superconducting magnet according to any one of claims 1 to 8, characterized in that: The steps include: Step 1: Perform initial position adjustment. First, move the electric lifting platform to the bottom of the superconducting magnet to be suspended. Then, manually adjust each translation lifting system (2) individually so that the table tops of the three support modules (3) are completely in contact with the superconducting magnet. At this time, the value of the spoke wheel type weighing sensor (9) is 0. Step 2: Monitor the stable lifting and lowering. Remove the superconducting magnet suspension rod. The flexibly connected superconducting magnet falls onto the electric lifting platform without generating internal force. The value of each spoke wheel type weighing sensor at this time, i.e., the initial position value, is recorded. A laser displacement sensor (16) is arranged between the transmission module (4) and the support module (3). The servo motor (11) is controlled by PID closed loop by using PLC. The displacement value of the middle translation lifting system (2) is set as a dynamic target value. The displacements of the translation lifting systems (2) on both sides are always consistent with the dynamic target value, so that the three translation lifting systems (2) are lifted and lowered synchronously. The displacement value error between the translation lifting systems on both sides and the displacement value error of the middle lifting system is set. When the threshold value is exceeded, the system automatically stops, and then manual adjustment is performed based on the displacement value of the middle translation lifting system (2). After the displacement is adjusted to be consistent, the value of each spoke wheel type weighing sensor (9) at this time is checked to be consistent with the value of the initial position.

10. The lifting method according to claim 9, characterized in that: The step 2 also includes: When the value of any spoke wheel type weighing sensor (9) is 0, the system automatically stops; this means that only two supports are under force and the lifting and lowering are not synchronized; then manual adjustment is performed based on the displacement value of the middle translation lifting system (2); after the displacement is adjusted to the same, the value of each spoke wheel type weighing sensor (9) at this time is checked to be consistent with the value at the initial position.

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