Intelligent construction equipment and synchronous control method

Abstract

The application discloses a kind of intelligent construction equipment, including frame body, multiple building machine connecting components are detachably installed on the frame body or detachably installed building machine installation component;A kind of intelligent construction equipment in synchronous monitoring platform, comprising the following steps: step one, address is edited in main station controller, and multiple hydraulic cylinders are sequentially numbered;Step two, whether the reading of each displacement sensor and pressure sensor is detected, the initial displacement value and initial pressure value of corresponding hydraulic cylinder are determined by each slave station controller;Step three, whether the initial pressure value and initial displacement value of corresponding hydraulic cylinder meet the design requirements are judged by slave station controller, if meet, then hydraulic cylinder starts to work.The equipment and method realize that building machine whole or segmented can be controlled to climb, and during climbing process, operation hydraulic cylinder is synchronously operated.

Description

Technical Field

[0001] This invention relates to the field of building construction technology, specifically to an intelligent construction equipment and synchronous control method. Background Technology

[0002] In the field of modern high-rise and super high-rise building construction, building construction machines and demolition machines, as key construction equipment integrated high-altitude work platforms, are playing an increasingly important role. Due to their significant advantages such as high equipment integration, fast construction speed, ability to achieve factory-like operations, and strong guarantee of construction safety, they have been widely used in the construction projects of many landmark high-rise buildings, greatly promoting the development of high-rise building construction towards mechanization and intelligence.

[0003] During construction, the platform is raised or lowered in stages through the coordinated operation of multiple sets of hydraulic cylinders. The working principle is roughly as follows: the hydraulic pump station system serves as the power source, with the hydraulic pump station motor providing power to the system. The electrical control system, centered on a PLC and in conjunction with gate valves, sensors, and other accessories, achieves precise control of the entire lifting process. During this lifting process, the hydraulic cylinders need to maintain a high degree of synchronization.

[0004] However, in actual construction, numerous factors make it difficult for multiple hydraulic cylinders to achieve ideal synchronous operation. On the one hand, construction sites are complex and varied, with platforms typically piled with various construction materials and equipment such as steel bars, timber, and concrete placing booms, resulting in highly uneven load distribution. On the other hand, different hydraulic cylinders inevitably exhibit differences in manufacturing precision, internal friction resistance, and sealing performance. These combined factors make asynchronous operation between multiple hydraulic cylinders highly likely. Once the hydraulic cylinders operate asynchronously, it may cause the platform's levelness to exceed limits, leading to platform tilting, affecting the safety of construction workers and construction accuracy; in severe cases, it may even cause localized deformation of the platform structure, or even pose a significant risk of platform overturning, posing serious safety hazards to the entire high-rise building construction.

[0005] Although some attempts and research have been conducted on the synchronous control of multiple hydraulic cylinders—for example, some technologies use hydrostatic leveling instruments to monitor the platform's levelness and then adjust the lifting action of the hydraulic cylinders—these existing technologies still have certain limitations. When faced with complex and changing construction conditions, it is difficult to achieve high-precision and high-stability synchronous control of multiple hydraulic cylinders, and they cannot fully meet the stringent safety and efficiency requirements of modern high-rise building construction. Summary of the Invention

[0006] The purpose of this invention is to provide an intelligent construction equipment and a synchronous control method, which solves the problem of synchronization of multiple hydraulic cylinders during the operation of an aerial work platform.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] An intelligent construction equipment includes a frame, a lifting assembly, and a hydraulic synchronous control system. The lifting assembly is connected to a hydraulic pump station and drives the frame to move on a synchronous monitoring platform. The hydraulic synchronous control system includes a master station and slave stations, with one master station controlling multiple slave stations and one slave station controlling multiple lifting assemblies. The synchronous monitoring platform is a multi-layer steel structure with an shape adapted to the frame.

[0009] Preferably, the synchronous monitoring platform includes an outer frame and inner floors; the outer frame is a frame structure assembled from multiple horizontal and vertical bars; the inner floors include multiple floor steel plates and staircases connecting the floor steel plates, the floor steel plates are octagonal, and the floor steel plates are installed inside the outer frame, forming triangular areas with the four corners of the outer frame.

[0010] Preferably, the lifting assembly includes a guide rail, step blocks, an upper climbing box, a lower climbing box, and a hydraulic cylinder. The guide rail is movably mounted on multiple wall-mounted components, which are fixedly mounted on the longitudinal rod. Multiple step blocks are spaced apart on the guide rail. The upper climbing box and the lower climbing box are connected by a hydraulic cylinder, which is connected to a hydraulic pump station. The upper climbing box and the lower climbing box move in a stepping motion driven by the extension and retraction of the hydraulic cylinder. A displacement sensor is installed on the hydraulic cylinder.

[0011] Preferably, cams are provided in both the upper and lower climbing boxes, and the cams engage with the step blocks by periodically rotating; the cams are connected to the motor output end through a reducer.

[0012] A synchronous climbing control method for intelligent construction equipment includes the following steps:

[0013] Step 1: Edit the addresses in the main station controller and number the multiple hydraulic cylinders sequentially;

[0014] Step 2: Check whether each displacement sensor has a reading, and determine the initial displacement value of the corresponding hydraulic cylinder by each slave controller;

[0015] Step 3: The slave controller determines whether the initial displacement value of the corresponding hydraulic cylinder meets the design requirements. If it does, the hydraulic cylinder starts working.

[0016] Step 4: Multiple hydraulic cylinders perform micro-extraction, and the system drives the servo motor to rotate the cam in the upper climbing box until it disengages from the step block;

[0017] Step 5: The cam inside the upper climbing box has rotated into position, and multiple hydraulic cylinders continue to move out synchronously. The real-time displacement values ​​of each hydraulic cylinder are compared in the main station controller. The hydraulic cylinder with the smallest real-time displacement value is selected by comparing adjacent hydraulic cylinders one by one, and this hydraulic cylinder is determined as the lifting base hydraulic cylinder.

[0018] Step 6: In the main station controller, compare the real-time displacement value of the remaining hydraulic cylinder with the real-time displacement value of the lifting base hydraulic cylinder. If the difference exceeds the design value, the corresponding hydraulic cylinder will stop working until the difference does not exceed the design value, then the hydraulic cylinder will continue to work.

[0019] Step 7: After the real-time displacement value of each hydraulic cylinder reaches the maximum limit stroke, the main station controller controls each hydraulic cylinder to stop working.

[0020] Step 8: The system drives the servo motor to rotate the cam inside the upper climbing box, and multiple hydraulic cylinders perform micro-retraction until the cam steps onto the step block;

[0021] Step 9: The cam in the upper climbing box has rotated to the correct position. Multiple hydraulic cylinders perform micro-retraction, and the system drives the servo motor to rotate the cam in the lower climbing box until it disengages from the step block.

[0022] Step 10: The cam inside the lower climbing box has rotated into position, and multiple hydraulic cylinders continue to retract synchronously.

[0023] Step 11: After the real-time displacement value of each hydraulic cylinder reaches the minimum limit stroke, the main station controller controls each hydraulic cylinder to stop working.

[0024] Step 12: The system drives the servo motor to rotate the cam inside the lower climbing box, and multiple hydraulic cylinders perform micro-extension until the cam steps onto the step block;

[0025] Step 13: The cam swing block inside the lower climbing box is in place. Repeat steps 4 to 12 until automatic synchronous climbing is completed.

[0026] Step Fourteen: Conduct high-altitude operations.

[0027] Preferably, in step three, the initial displacement value is taken within the range of 0-450mm.

[0028] Preferably, the cams in the upper and lower climbing boxes are confirmed to have rotated into position by collecting encoder values, visual recognition module parameters, and laser infrared parameters arranged on the servo motor.

[0029] Preferably, the difference between the real-time displacement value of the remaining hydraulic cylinder and the real-time displacement value of the rising base hydraulic cylinder or the falling base hydraulic cylinder should be controlled within 10mm.

[0030] A synchronous descent control method for intelligent construction equipment includes the following steps:

[0031] Step 1: Multiple hydraulic cylinders perform micro-retraction, then the multiple hydraulic cylinders stop moving, and the system drives the servo motor to rotate the cam in the lower climbing box until it disengages from the step block;

[0032] Step 2: The cam inside the lower climbing box has rotated to its position, and multiple hydraulic cylinders begin to exit synchronously.

[0033] Step 3: Once the hydraulic cylinders have reached their maximum limit stroke, all hydraulic cylinders will stop moving.

[0034] Step 4: Multiple hydraulic cylinders perform micro-retraction, and the system drives the servo motor to rotate the cam in the lower climbing box until the cam steps onto the step block;

[0035] Step 5: Multiple hydraulic cylinders perform micro-extraction, and the system drives the servo motor to rotate the cam in the upper climbing box until it disengages from the step block;

[0036] Step 6: The cam inside the upper climbing box has rotated into position, and multiple hydraulic cylinders begin to retract synchronously. The real-time displacement values ​​of each hydraulic cylinder are compared in the main station controller. The hydraulic cylinder with the smallest real-time displacement value is selected by comparing adjacent hydraulic cylinders one by one, and this hydraulic cylinder is determined as the lowering base hydraulic cylinder.

[0037] Step 7: In the main station controller, compare the real-time displacement value of the remaining hydraulic cylinder with the real-time displacement value of the lowering base hydraulic cylinder. If the difference exceeds the design value, the corresponding hydraulic cylinder will stop working until the difference does not exceed the design value, then the hydraulic cylinder will continue to work.

[0038] Step 8: Once the hydraulic cylinders reach their minimum limit stroke, all hydraulic cylinders stop moving.

[0039] Step 9: Multiple hydraulic cylinders perform micro-extension, the system drives the servo motor to rotate the cam in the upper climbing box until the cam steps onto the step block;

[0040] Step 10: Repeat steps 1 through 9 until the synchronized descent is complete.

[0041] This invention provides a construction platform for high-rise and super high-rise building construction. The intelligent construction equipment can climb as a whole or in sections. During the climbing process, a master-slave control logic is adopted, with each slave station controlling eight hydraulic units. The slave stations can operate independently of the master station to control the independent lifting of a single hydraulic cylinder or the simultaneous lifting of multiple hydraulic cylinders within the group. In other words, the hydraulic synchronous control system can simultaneously control the synchronous lifting actions of all hydraulic pump stations and hydraulic cylinders, or it can control the lifting of a single hydraulic cylinder.

[0042] Each lifting hydraulic cylinder is equipped with a displacement sensor. The displacement signal of each hydraulic cylinder is transmitted to the slave controller. The master controller then collects the displacement sensor signal and converts the electrical signal into the displacement of the hydraulic cylinder. After comparing the displacement of the hydraulic cylinder, the base hydraulic cylinder is selected. The displacement difference between the remaining hydraulic cylinder and the base hydraulic cylinder is used to determine whether the corresponding hydraulic cylinder should be activated, ensuring that the displacement synchronization accuracy between the hydraulic cylinders on the building machine is within 10mm during actual construction.

[0043] The slave station can operate locally, independent of the master station. During local operation, one or more hydraulic cylinders can be independently controlled via the touchscreen. When the slave station is operating locally, after the displacement sensor feeds back a signal, the master station controller calculates the displacement difference between each hydraulic cylinder and the base hydraulic cylinder. If the difference is greater than 10mm, the hydraulic cylinder with the larger displacement will pause its output, while the hydraulic cylinder with the smaller displacement will continue to rise. Once the displacement difference is brought within 5mm, the remaining hydraulic cylinders will work synchronously.

[0044] When remote control is performed, the master controller is responsible for the operation and status detection of the four slave stations. The working principle is the same as that of the slave stations. At this time, the maximum number of hydraulic cylinders is thirty-two.

[0045] Both the master and slave stations are equipped with emergency stop buttons. When the slave station is performing local operations, the emergency stop signal is only for the current slave station. When communicating with the master station, the emergency stop signals configured by both the master and slave stations are effective for overall control.

[0046] The upper and lower climbing boxes are load-bearing mobile platforms that integrate cams, motors, and sensor interfaces, and are equipped with mechanical limit devices to ensure stability during heavy-load descent.

[0047] Cams are installed inside the upper and lower climbing boxes. The cams engage with the guide rail steps through periodic rotation, enabling the climbing boxes to descend in a step-like manner. Each set of cams is driven by an independent motor, which provides high torque through a reducer to ensure precise rotation.

[0048] Hydraulic cylinders are used to provide power for the frame to climb and are equipped with displacement and pressure sensors.

[0049] Laser rangefinders are mounted on the upper and lower climbing boxes to measure the absolute distance to the ground or guide rail reference point with an accuracy of ±1mm.

[0050] The encoder is mounted on the motor output shaft to record the angle and speed of the cam rotation, with a resolution of 0.01°, ensuring rotation accuracy.

[0051] The vision recognition module includes an industrial camera and an image processing unit to monitor the cam's flip-up position and the guide rail step block deviation in real time.

[0052] The tilt sensor is used to monitor the horizontal status of the climbing box, with an accuracy of ±0.1°.

[0053] Pressure sensors are used to monitor hydraulic system pressure and prevent overload or pressure loss.

[0054] Control unit: PLC controller, integrating sensor data processing, motor control algorithms, and command execution functions. Supports multi-sensor data fusion to achieve precise synchronous control; Attached Figure Description

[0055] Figure 1 Overall structural diagram of the invention;

[0056] Figure 2 This is a partial structural diagram of the present invention;

[0057] Figure 3 This is a schematic diagram of the hydraulic synchronization control system of the present invention;

[0058] Figure 4 This is a schematic diagram of the synchronization control method of the present invention;

[0059] Figure 5 This is a schematic diagram of the synchronous climbing process of the present invention;

[0060] Figure 6 This is a schematic diagram of the synchronous descent process of the present invention;

[0061] Figure 7 This is a schematic diagram illustrating the process of the cam moving from disengaging from the step block to stepping onto the step block during the synchronous descent of the present invention.

[0062] Figure 8 This is a schematic diagram of another part of the structure of the present invention.

[0063] In the diagram: 0. Frame; 1. Synchronous monitoring platform; 2. Lifting assembly; 3. Hydraulic synchronous control system; 4. Servo motor; 5. Laser rangefinder sensor; 10. Outer frame; 11. Inner floor; 20. Guide rail; 21. Step block; 22. Upper climbing box; 23. Lower climbing box; 24. Hydraulic cylinder; 25. Wall attachment; 100. Horizontal bar; 101. Vertical bar; 110. Floor steel plate; 111. Staircase; 30. Master station; 31. Slave station. Detailed Implementation

[0064] The present invention will be further described below with reference to the accompanying drawings:

[0065] like Figures 1 to 8 The intelligent construction equipment shown includes a frame 0, a lifting component 2 and a hydraulic synchronous control system 3. The lifting component 2 is connected to a hydraulic pump station and drives the frame 0 to move on the synchronous monitoring platform 1.

[0066] The hydraulic synchronous control system 3 includes a master station 30 and slave stations 31. One master station 30 controls multiple slave stations 31, and one slave station 31 controls multiple lifting components 2. The master station 30 includes a master station controller, an industrial all-in-one machine, and a master station switch. The industrial all-in-one machine is the data acquisition terminal of the controller. Both the master station controller and the industrial all-in-one machine are connected to multiple slave stations 31 via the master station switch. The master station is also equipped with a display screen to display real-time pressure values, real-time displacement values, and differential values. The master station switch also has reserved control interfaces for automatic sprinkler systems, canopy systems, and video monitoring systems, as well as corresponding data receiving and display interfaces for instruments such as levels and inclinometers.

[0067] Slave station 31 includes a slave switch, a slave controller, and a touch screen, both of which are connected to the slave switch. Hydraulic unit 402 includes a hydraulic pump station motor, which is connected to the slave controller via a power connector. A gate valve is installed between the power connector and the slave controller to control the movement and self-locking of hydraulic cylinder 24. Hydraulic unit 402 can be switched to manual control mode in emergency situations.

[0068] The synchronous monitoring platform 1 is a multi-layer steel structure, and its shape is compatible with the frame 0. The synchronous monitoring platform 1 includes an outer frame 10 and inner floors 11. The outer frame 10 is a frame structure assembled from multiple horizontal bars 100 and vertical bars 101. The inner floors 11 include multiple floor steel plates 110 and staircases 111 connecting the floor steel plates 110. The floor steel plates 110 are octagonal and are installed inside the outer frame 10, forming triangular areas with the four corners of the outer frame 10.

[0069] The lifting assembly 2 includes a guide rail 20, step blocks 21, an upper climbing box 22, a lower climbing box 23, and a hydraulic cylinder 24. The guide rail 20 is movably mounted on multiple wall-mounted components 25, which are fixedly mounted on the longitudinal rod 101. Multiple step blocks 21 are spaced apart on the guide rail 20. The upper climbing box 22 and the lower climbing box 23 are connected by the hydraulic cylinder 24, which is connected to a hydraulic pump station. The upper climbing box 22 and the lower climbing box 23 move in a stepping motion driven by the extension and retraction of the hydraulic cylinder 24. A displacement sensor is installed on the hydraulic cylinder 24. Cams are installed in both the upper climbing box 22 and the lower climbing box 23. The cams engage with the step blocks 21 through periodic rotation. The cams are connected to the motor output end through a reducer. The guide rail 20 has a linear motion trajectory. The step blocks 21 are spaced 370mm apart and evenly distributed, forming the support points for the upper climbing box 22 and the lower climbing box 23. The surface of step block 21 has optimized friction characteristics to ensure stability when the cam flips.

[0070] Hydraulic cylinder 24 specifications: Rated working pressure 25MPa; Maximum allowable pressure 35MPa; Inner diameter of hydraulic cylinder 24 125mm; Outer diameter of hydraulic cylinder 24 152mm; Piston rod diameter 90mm; Stroke of hydraulic cylinder 24 450mm; Mounting distance of hydraulic cylinder 24 1045mm; Mounting hole diameter 60mm; Exit speed of hydraulic cylinder 24 5mm / s; Hydraulic cylinder 24 has a safety valve and inlet / outlet ports located in the middle.

[0071] Hydraulic pump station specifications: Rated working pressure 25MPa, maximum allowable pressure 30MPa; pump station motor power 3kW; motor insulation class F, protection class IP65, motor duty cycle S1; hydraulic pump flow rate 2.7cc / rev; oil tank volume 10L; center valve block is made of solid cast aluminum; the hydraulic pump station is equipped with a pressure sensor to monitor system pressure data; the hydraulic pump station and hydraulic cylinder 24 adopt a "one cylinder, one pump" scheme, the oil pipe length between the hydraulic pump station and hydraulic cylinder 24 is not less than 4m, the inlet and outlet oil pipes are distinguished by different colors, the oil pipes have quick-connect and disconnect functions, and the joints are equipped with reliable anti-fouling and dustproof measures; the hydraulic pump station must use imported parts; the inlet and outlet ports of the hydraulic pump station must be on the same side, and with the motor on top, they should be located on the left side of the front view; each hydraulic pump station must be equipped with a pressure gauge (error not greater than ±6.4bar).

[0072] The hydraulic synchronization control system 3 includes a PLC controller, which integrates sensor data processing, motor control algorithms and execution command functions, supports multi-sensor data fusion, and achieves precise synchronization control.

[0073] A synchronous climbing control method for intelligent construction equipment includes the following steps:

[0074] Step 1: Edit the addresses in the main station controller and number the multiple hydraulic cylinders 24 sequentially;

[0075] Step 2: Check whether each displacement sensor has a reading, and determine the initial displacement value of the corresponding hydraulic cylinder 24 by each slave controller;

[0076] Step 3: The slave controller determines whether the initial displacement value of the corresponding hydraulic cylinder 24 meets the design requirements. If it does, the hydraulic cylinder 24 starts working. The initial displacement value is taken within the range of 0-450mm.

[0077] Step 4: Multiple hydraulic cylinders perform micro-extraction, and the system drives the servo motor 4 to move. Specifically, the rotation angle range of the servo motor 4 is 0 to 80°, rotating the cam in the upper climbing box until it disengages from the step block 21.

[0078] Step 5: The cam inside the upper climbing box has rotated into position, and multiple hydraulic cylinders continue to move out synchronously. The real-time displacement values ​​of each hydraulic cylinder 24 are compared in the main station controller. The hydraulic cylinder 24 with the smallest real-time displacement value is selected by comparing adjacent hydraulic cylinders 24 one by one, and this hydraulic cylinder 24 is determined as the lifting base hydraulic cylinder.

[0079] Step 6: In the main station controller, compare the real-time displacement value of the remaining hydraulic cylinder 24 with the real-time displacement value of the lifting base hydraulic cylinder. If the difference exceeds the design value, the corresponding hydraulic cylinder 24 will stop working until the difference does not exceed the design value, then the hydraulic cylinder 24 will continue to work.

[0080] Step 7: After the real-time displacement value of each hydraulic cylinder 24 reaches the maximum limit stroke, the main station controller controls each hydraulic cylinder 24 to stop working.

[0081] Step 8: The system drives the servo motor 4 to rotate the cam inside the upper climbing box, and multiple hydraulic cylinders perform micro-retraction until the cam steps onto the step block 21.

[0082] Step 9: The cam in the upper climbing box has rotated to the correct position. Multiple hydraulic cylinders perform micro-retraction, and the system drives the servo motor 4 to rotate the cam in the lower climbing box until it disengages from the step block 21.

[0083] Step 10: The cam inside the lower climbing box has rotated into position, and multiple hydraulic cylinders continue to retract synchronously.

[0084] Step 11: After the real-time displacement value of each hydraulic cylinder 24 reaches the minimum limit stroke, the main station controller controls each hydraulic cylinder 24 to stop working.

[0085] Step 12: The system drives the servo motor 4 to rotate the cam inside the lower climbing box, and multiple hydraulic cylinders perform micro-extension until the cam steps onto the step block 21.

[0086] Step 13: The cam swing block inside the lower climbing box is in place. Repeat steps 4 to 12 until automatic synchronous climbing is completed.

[0087] Step Fourteen: Conduct high-altitude operations.

[0088] The system confirms whether the cams in the upper and lower climbing boxes have rotated into position by collecting encoder values, visual recognition module parameters, and laser infrared parameters mounted on servo motor 4. Based on PID control combined with feedforward compensation, the motor speed is dynamically adjusted to ensure a synchronization error of less than 1mm and a cam tilting angle error of less than 0.1°. If the visual recognition module detects that the cam has not rotated into position, or if there is a deviation between guide rail 20 and step block 21, the system pauses descent and issues an alarm. If the tilt sensor or pressure sensor triggers an abnormal threshold, the control unit stops the motor and locks the hydraulic system, entering a safety mode; once the climbing box reaches the target position, laser ranging and the encoder confirm the position and cam status, and the system stops descent. The tilt sensor monitors the horizontal status of the climbing box, and the pressure sensor monitors the hydraulic system status.

[0089] Laser rangefinder 5 is arranged on the upper and lower climbing boxes to measure the absolute distance to the ground or guide rail reference point with an accuracy of ±1mm.

[0090] In this example, the difference between the real-time displacement value of the remaining hydraulic cylinder 24 and the real-time displacement value of the rising base hydraulic cylinder or the falling base hydraulic cylinder should be controlled within 10mm.

[0091] A synchronous descent control method for intelligent construction equipment includes the following steps:

[0092] Step 1: Multiple hydraulic cylinders perform micro-retraction, then the multiple hydraulic cylinders stop moving, and the system drives the servo motor 4 to rotate the cam in the lower climbing box until it disengages from the step block 21;

[0093] Step 2: The cam inside the lower climbing box has rotated to its position, and multiple hydraulic cylinders begin to exit synchronously.

[0094] Step 3: Once the hydraulic cylinders have reached their maximum limit stroke, all hydraulic cylinders will stop moving.

[0095] Step 4: Multiple hydraulic cylinders perform micro-retraction, and the system drives the servo motor 4 to rotate the cam in the lower climbing box until the cam steps onto the step block 21.

[0096] Step 5: Multiple hydraulic cylinders perform micro-extraction, and the system drives the servo motor 4 to rotate the cam in the upper climbing box until it disengages from the step block 21;

[0097] Step 6: The cam inside the upper climbing box has rotated into position, and multiple hydraulic cylinders begin to retract synchronously. The real-time displacement values ​​of each hydraulic cylinder 24 are compared in the main station controller. The hydraulic cylinder 24 with the smallest real-time displacement value is selected by comparing adjacent hydraulic cylinders 24 one by one, and this hydraulic cylinder 24 is determined as the lowering base hydraulic cylinder.

[0098] Step 7: In the main station controller, compare the real-time displacement value of the remaining hydraulic cylinder 24 with the real-time displacement value of the lowering base hydraulic cylinder. If the difference exceeds the design value, the corresponding hydraulic cylinder 24 will stop working until the difference does not exceed the design value, then the hydraulic cylinder 24 will continue to work.

[0099] Step 8: Once the hydraulic cylinders reach their minimum limit stroke, all hydraulic cylinders stop moving.

[0100] Step 9: Multiple hydraulic cylinders perform micro-extension, the system drives the servo motor 4 to rotate the cam in the upper climbing box until the cam steps onto the step block 21;

[0101] Step 10: Repeat steps 1 through 9 until the synchronized descent is complete.

[0102] The above embodiments are merely illustrative of the concept and implementation of the present invention and are not intended to limit it. Under the concept of the present invention, technical solutions without substantial changes are still within the scope of protection.

Claims

1. A synchronous control method for intelligent construction equipment, characterized in that: The intelligent construction equipment includes a frame (0), a lifting assembly (2), and a hydraulic synchronous control system (3). The lifting assembly (2) is connected to a hydraulic pump station and drives the frame (0) to move on a synchronous monitoring platform (1). The hydraulic synchronous control system (3) includes a master station (30) and slave stations (31). One master station (30) controls multiple slave stations (31), and one slave station (31) controls multiple lifting assemblies (2). The synchronous monitoring platform (1) is a multi-layer steel structure with an shape that is compatible with the frame (0). The synchronous monitoring platform (1) includes an outer frame (10) and an inner floor (11); the outer frame (10) is a frame structure assembled from multiple horizontal bars (100) and vertical bars (101); the inner floor (11) includes multiple floor steel plates (110) and staircases (111) connected between the floor steel plates (110). The floor steel plates (110) are octagonal and are installed inside the outer frame (10), forming a triangular area with the four corners of the outer frame (10); The lifting assembly (2) includes a guide rail (20), step blocks (21), an upper climbing box (22), a lower climbing box (23), and a hydraulic cylinder (24). The guide rail (20) is movably mounted on multiple wall-mounted components (25), which are fixedly mounted on the longitudinal rod (101). Multiple step blocks (21) are spaced apart on the guide rail (20). The upper climbing box (22) and the lower climbing box (23) are connected by a hydraulic cylinder (24), which is connected to a hydraulic pump station. The upper climbing box (22) and the lower climbing box (23) move in a stepping motion driven by the extension and retraction of the hydraulic cylinder (24). A displacement sensor is provided on the hydraulic cylinder (24). Cams are provided in both the upper climbing box (22) and the lower climbing box (23), and the cams engage with the step block (21) by periodically rotating; the cams are connected to the motor output end through a reducer; Synchronous control methods for intelligent construction equipment include synchronous climbing control methods and synchronous descent control methods; The synchronous climb control method includes the following steps: A1. Edit the address in the main station controller and number the multiple hydraulic cylinders (24) sequentially; A2. Check whether each displacement sensor has a reading, and determine the initial displacement value of the corresponding hydraulic cylinder (24) by each slave controller; A3. The slave controller determines whether the initial displacement value of the corresponding hydraulic cylinder (24) meets the design requirements. If it does, the hydraulic cylinder (24) starts to work. A4. Multiple hydraulic cylinders perform micro-extraction, and the system drives the servo motor (4) to rotate the cam in the upper climbing box until it disengages from the step block (21). A5. The cam in the upper climbing box has rotated to the position. Multiple hydraulic cylinders continue to exit synchronously. The real-time displacement values ​​of each hydraulic cylinder (24) are compared in the main station controller. The hydraulic cylinder (24) with the smallest real-time displacement value is selected by comparing adjacent hydraulic cylinders (24) in pairs. This hydraulic cylinder (24) is determined as the lifting base hydraulic cylinder. A6. In the main station controller, the real-time displacement value of the remaining hydraulic cylinder (24) is compared with the real-time displacement value of the rising base hydraulic cylinder. If the difference exceeds the design value, the corresponding hydraulic cylinder (24) will stop working until the difference does not exceed the design value and then the hydraulic cylinder (24) will continue to work. A7. After the real-time displacement value of each hydraulic cylinder (24) reaches the maximum limit stroke, the main station controller controls each hydraulic cylinder (24) to stop working. A8. The system drives the servo motor (4) to rotate the cam in the upper climbing box, and multiple hydraulic cylinders perform micro-retraction until the cam steps onto the step block (21). A9. The cam in the upper climbing box has rotated to the position, and multiple hydraulic cylinders perform micro-retraction. The system drives the servo motor (4) to rotate the cam in the lower climbing box until it disengages from the step block (21). A10. The cam inside the lower climbing box has rotated into position, and multiple hydraulic cylinders continue to retract synchronously. A11. After the real-time displacement value of each hydraulic cylinder (24) reaches the minimum limit stroke, the main station controller controls each hydraulic cylinder (24) to stop working. A12, the system drives the servo motor (4) to rotate the cam in the lower climbing box, and multiple hydraulic cylinders perform micro-exit until the cam steps onto the step block (21); A13. The cam swing block inside the lower climbing box is in position. Repeat A4 to A12 until automatic synchronous climbing is completed. A14. Conducting high-altitude operations; The synchronous descent control method includes the following steps: B1. Multiple hydraulic cylinders perform micro-retraction, and then multiple hydraulic cylinders stop moving. The system drives the servo motor (4) to rotate the cam in the lower climbing box until it disengages from the step block (21). B2. The cam inside the lower climbing box has rotated into position, and multiple hydraulic cylinders begin to exit synchronously. B3. Multiple hydraulic cylinders stop moving after the hydraulic cylinders reach their maximum limit stroke. B4. Multiple hydraulic cylinders perform micro-retraction, and the system drives the servo motor (4) to rotate the cam in the lower climbing box until the cam steps onto the step block (21). B5. Multiple hydraulic cylinders perform micro-extraction, and the system drives the servo motor (4) to rotate the cam in the upper climbing box until it disengages from the step block (21). B6. The cam in the upper climbing box has rotated to the position, and multiple hydraulic cylinders start to retract synchronously. The real-time displacement values ​​of each hydraulic cylinder (24) are compared in the main station controller. The hydraulic cylinder (24) with the smallest real-time displacement value is selected by comparing adjacent hydraulic cylinders (24) in pairs. This hydraulic cylinder (24) is determined as the lowering base hydraulic cylinder. B7. In the main station controller, the real-time displacement value of the remaining hydraulic cylinder (24) is compared with the real-time displacement value of the lowering base hydraulic cylinder. If the difference exceeds the design value, the corresponding hydraulic cylinder (24) will stop working until the difference does not exceed the design value and then the hydraulic cylinder (24) will continue to work. B8. Multiple hydraulic cylinders stop operating after the hydraulic cylinders reach their minimum limit stroke. B9. Multiple hydraulic cylinders perform micro-cylinder extension, and the system drives the servo motor (4) to rotate the cam in the upper climbing box until the cam steps onto the step block (21). B10. Repeat B1 to B9 until the synchronous descent is completed.

2. The synchronization control method according to claim 1, characterized in that: In A3, the initial displacement value is taken within the range of 0-450mm.

3. The synchronization control method according to claim 2, characterized in that: The encoder values, visual recognition module parameters, and laser infrared parameters arranged on the servo motor (4) are used to confirm whether the cams in the upper climbing box and the lower climbing box have rotated into position.

4. The synchronization control method according to claim 3, characterized in that: The difference between the real-time displacement value of the remaining hydraulic cylinder (24) and the real-time displacement value of the rising base hydraulic cylinder or the falling base hydraulic cylinder (9) should be controlled within 10 mm.

Images