Intelligent lifting appliance for lifting super high-rise glass and control method of intelligent lifting appliance

Abstract

The embodiment of the invention relates to the technical field of building construction, in particular to a super high-rise glass lifting intelligent lifting appliance and a control method thereof.The super high-rise glass lifting intelligent lifting appliance comprises an upper clamping strip, a lower clamping strip, a horizontal limiting device, a tensioning rope, a lifting rope, four guide rings, four guide driving mechanisms, two guide ropes and a controller; the upper clamping strip and the lower clamping strip are clamped on the upper edge and the lower edge of glass respectively, the horizontal limiting device is connected between the upper clamping strip and the lower clamping strip, the upper clamping strip and the lower clamping strip are fixed to the glass through the tensioning rope, the hoisting rope is connected with the upper clamping strip, and the four guide driving mechanisms are installed at the two ends of the upper clamping strip and the two ends of the lower clamping strip respectively. The four guide rings are installed on the four guide driving mechanisms respectively, the guide driving mechanisms are connected with the controller, the two guide ropes are located on the two sides of the glass respectively, the distance between the two guide ropes is larger than the width of the glass, and the two guide ropes penetrate through the guide rings located on the two sides of the glass respectively.

Description

Technical Field

[0001] Several embodiments of this specification relate to the field of building construction technology, specifically to an intelligent hoisting device for ultra-high-rise glass installation and its control method. Background Technology

[0002] In the construction of modern super high-rise buildings, glass curtain walls are widely used due to their aesthetic appeal, excellent lighting, and lightweight properties. The installation of glass curtain walls typically requires the safe and precise hoisting and positioning of large, heavy glass panels to a designated height. Because super high-rise buildings are often over 100 meters tall, and vertical transportation of glass curtain walls is usually achieved using tower cranes or winches, high-altitude hoisting carries significant risks. The environment during hoisting and transportation is complex, often accompanied by strong winds and turbulent airflow. Furthermore, due to the large size and sheet-like shape of the glass, it is highly susceptible to swaying, swinging, and even rotation during hoisting, affecting not only hoisting efficiency but also posing significant safety hazards. Although hoisting equipment with stabilization functions has emerged, most can only clamp and lift, lacking the ability to monitor and actively adjust the glass's attitude in the air, thus failing to guarantee the safety of curtain wall glass hoisting. Summary of the Invention

[0003] This specification describes a smart lifting device for ultra-high-rise glass hoisting and its control method through several embodiments.

[0004] Firstly, embodiments of this specification provide an intelligent hoisting device for ultra-high-rise glass installation, comprising:

[0005] The system includes an upper locking strip, a lower locking strip, a horizontal limiting device, a tension rope, a hoisting rope, four guide rings, four guide drive mechanisms, two guide ropes, and a controller. The upper and lower locking strips are respectively locked onto the upper and lower edges of the glass. The horizontal limiting device is connected between the upper and lower locking strips. The tension rope fixes the upper and lower locking strips to the glass. The hoisting rope is connected to the upper locking strip. The four guide drive mechanisms are respectively installed at both ends of the upper and lower locking strips. The four guide rings are respectively installed on the four guide drive mechanisms. The guide drive mechanisms are connected to the controller. The two guide ropes are located on both sides of the glass, with a distance between them greater than the width of the glass. The two guide ropes pass through the guide rings located on both sides of the glass.

[0006] Secondly, embodiments of this specification provide a control method, including the following steps:

[0007] The controller reads the pressure detection values ​​of four pairs of pressure sensors at a preset cycle to obtain the direction and force value of each lead screw.

[0008] When the applied force exceeds the preset threshold and is a tensile force, the motor is controlled to extend the corresponding lead screw.

[0009] When the applied force exceeds the preset threshold and is applied under pressure, the motor is controlled to shorten the corresponding lead screw.

[0010] The beneficial effects of the technical solutions provided in some embodiments of this specification include at least the following:

[0011] In several embodiments of this specification, the intelligent lifting device and its control method for ultra-high-rise glass hoisting provide real-time and independent monitoring of the force changes on the guide ropes in various directions during the hoisting process by setting integrated pressure sensors at the four corners of the lifting device. Based on the feedback signals from the pressure sensors, the controller determines the swaying trend and whether the glass is balanced, and automatically controls the extension or shortening of the lead screws at the corresponding positions. This actively adjusts the tension of the guide ropes, quickly corrects the glass's posture deviation, effectively suppresses swaying and torsion caused by external disturbances such as wind, and significantly improves the stability and safety of the hoisting process. The control method incorporates a linkage adjustment mechanism for the lead screws on opposite sides and sets preset coefficients to control the extension or shortening amount, further enhancing balance.

[0012] Other features and advantages of various embodiments of this specification will be further revealed in the following detailed description and accompanying drawings. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this specification, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the glass hoisting process for a super high-rise building.

[0015] Figure 2 This is a schematic diagram of a glass lifting device provided in an embodiment of this specification.

[0016] Figure 3 This is a schematic diagram of glass installation provided for an embodiment of this specification.

[0017] Figure 4 This is a schematic diagram of the guide ring structure provided in the embodiments of this specification.

[0018] Figure 5 This is a schematic diagram of the anti-spin strip installation provided in the embodiments of this specification.

[0019] Figure 6 This is a schematic diagram of glass shaking provided for an embodiment of this specification.

[0020] Figure 7 A schematic diagram of the tensioner provided for an embodiment of this specification.

[0021] Figure 8 This is a schematic cross-sectional view of the tensioner provided in the embodiments of this specification.

[0022] The components are as follows: 1. Building, 2. Tension monitor, 3. Tensioner, 4. Anchor point, 10. Glass, 11. Upper clamping strip, 12. Lower clamping strip, 13. Lifting rope, 14. Lifting ring, 15. Tensioning rope, 16. Horizontal limit slot, 17. Horizontal limit steel plate, 18. Damping counterweight, 20. Guide rope, 21. Guide ring, 22. Nut, 23. Motor, 24. Lead screw, 25. Limiting slot, 26. Limiting tail wheel, 27. Driving gear, 28. Driven gear, 29. Anti-rotation strip, 30. Pull rod, 31. Internal threaded cylinder, 32. Large gear, 33. Bearing, 34. Slider, 35. Upper pull rod, 36. Threaded rod, 37. Gear motor, 38. Small gear, 39. Base plate, 41. Barrier ring, 42. Pressure sensor. Detailed Implementation

[0023] The technical solutions of the embodiments of this specification will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of this specification and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of this specification.

[0024] The terms "first," "second," "third," etc., in the description, claims, and accompanying drawings are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or apparatus.

[0025] In the following description, terms such as “inner,” “outer,” “upper,” “lower,” “left,” and “right” are used only to facilitate the description of the embodiments and to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this specification.

[0026] All data involved in this application are information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0027] Before introducing the technical solutions described in this manual, the application scenarios and related technologies of the technical solutions will be introduced.

[0028] The intelligent lifting device and its control method for glass 10 in super high-rise buildings 1 described in this manual are mainly applicable to the installation of glass 10 panels in the curtain wall projects of modern high-rise and super high-rise buildings 1, and have significant advantages, especially in scenarios with strong wind interference, complex construction environments, and extremely high safety and precision requirements. Please refer to the appendix. Figure 1 Typical applications include the installation of glass curtain walls on skyscrapers in urban centers. These buildings are typically over 100 meters tall and often involve vertical transport at heights of 200, 300, and 400 meters. The work surface is exposed to strong winds at high altitudes, making it difficult to maintain stable control of the glass curtain wall's posture using traditional hoisting methods. This intelligent hoisting tool, however, can effectively suppress wind-induced swaying through real-time sensing and automatic adjustment, ensuring the safe and stable delivery of the glass curtain wall to the designated floor. Furthermore, in the construction of curved or irregularly shaped curtain walls, the glass curtain wall varies in size and weight, and the installation angle is variable. The hoisting tool's four-point independent adjustment capability can adapt to the clamping requirements of different glass curtain wall specifications and dynamically fine-tune its posture during hoisting, assisting in precise positioning.

[0029] On the other hand, it can also be applied to curtain wall replacement projects near existing buildings or densely populated areas. When working in such confined spaces, the high stability of the hoist can minimize the swing range of the glass, reduce the risk of collision, and ensure the safety of surrounding facilities and personnel.

[0030] This manual first provides a smart lifting device for ultra-high-rise glass 10 installation. Please refer to the appendix. Figure 2 and appendix Figure 3 ,include:

[0031] The system includes an upper locking bar 11, a lower locking bar 12, a horizontal limiting device, a tension rope 15, a hoisting rope 13, four guide rings 21, four guide drive mechanisms, two guide ropes 20, and a controller. The upper locking bar 11 and the lower locking bar 12 are respectively locked onto the upper and lower edges of the glass 10. The horizontal limiting device is connected between the upper locking bar 11 and the lower locking bar 12. The tension rope 15 fixes the upper locking bar 11 and the lower locking bar 12 to the glass 10. The hoisting rope 13 is connected to the upper locking bar. The four guide drive mechanisms are respectively installed at both ends of the upper locking bar 11 and the lower locking bar 12. The four guide rings 21 are respectively installed on the four guide drive mechanisms. The guide drive mechanisms are connected to the controller. The two guide ropes 20 are located on both sides of the glass 10, and the distance between the two guide ropes 20 is greater than the width of the glass 10. The two guide ropes 20 pass through the guide rings 21 located on both sides of the glass 10.

[0032] Upper clamping strip 11 and lower clamping strip 12 are respectively clamped to the upper and lower edges of glass 10 to effectively fix glass 10. A horizontal limiting device is connected between upper clamping strip 11 and lower clamping strip 12 to limit their relative movement in the horizontal direction, allowing only vertical sliding, thereby preventing lateral displacement of glass 10 during hoisting and improving overall stability. Tensioning rope 15 is used to firmly bind upper clamping strip 11 and lower clamping strip 12 to the surface of glass 10, ensuring that they will not loosen due to vibration or external force during hoisting. Hoisting rope 13 provides upward tension to pull the glass to the designated position. Hoisting rope 13 is connected to upper clamping strip via lifting ring 14. Four guide drive mechanisms are respectively installed at both ends of upper clamping strip 11 and lower clamping strip 12, each guide drive mechanism having a guide ring 21. The guide drive mechanisms are electrically connected to the controller and can perform corresponding actions under the drive of control signals. Two guide ropes 20 are respectively arranged on the left and right sides of glass 10. Each guide rope 20 passes through the two guide rings 21 on the same side in sequence, forming a relatively stable guiding and traction structure.

[0033] The horizontal limiting device includes a horizontal limiting steel plate 17 on the upper locking strip 11 and a horizontal limiting slot 16 on the lower locking strip 12. The horizontal limiting steel plate 17 can only move vertically relative to the horizontal limiting slot 16. The upper locking strip 11 and the lower locking strip 12 can only slide relative to each other vertically, and cannot have relative displacement in the horizontal direction (i.e., laterally or longitudinally within the plane of the glass 10). A rubber layer is provided between the upper locking strip 11, the lower locking strip 12, and the glass 10 to protect the glass 10 and increase the firmness between the upper locking strip 11, the lower locking strip 12, and the glass 10.

[0034] In another embodiment, a damping counterweight 18 is provided at the bottom of the lower clip 12.

[0035] The damping counterweight 18 effectively lowers the center of gravity of the entire lifting system by increasing the mass of the lower part of the lifting device, thereby reducing the swaying amplitude and frequency of the glass 10 in the air caused by wind, lifting acceleration, or swinging excitation. Simultaneously, the counterweight itself provides inertial stabilization; when the glass 10 tilts or twists slightly, its inertial torque counteracts some of the disturbance force, achieving a passive vibration reduction effect. The damping counterweight 18 can be made of high-density, compact materials and can integrate damping materials or use damping connection structures (such as rubber pads) to absorb vibration energy and suppress vibration transmission. By setting the damping counterweight 18 at the bottom of the lower clamping bar 12, the stability of the lifting process can be significantly improved without the need for an additional complex active control system, achieving a dual stabilization mechanism of active and passive stabilization.

[0036] On the other hand, please see the appendix Figure 4 and attached Figure 5The guide ring 21 includes a lead screw 24 and a guide ring. The guide ring is installed at one end of the lead screw 24, which has a slot extending to the other end. The guide drive mechanism includes a drive base, a nut 22, a driven gear 28, a driving gear 27, a motor 23, and an anti-rotation bar 29. The drive base has a through hole through which the lead screw 24 passes. The nut 22 is fixedly connected to the driven gear 28. The driven gear 28 is rotatably mounted on the drive base and positioned such that the nut 22 and the lead screw 24 form a threaded engagement. The driven gear 28 is also fixedly connected to a limit tail wheel 26. The base is provided with a limiting groove 25 for restricting the movement of the limiting tail wheel 26 along the axial direction of the lead screw 24. Pressure sensors 42 are respectively provided at the positions of the limiting groove 25 corresponding to the two end faces of the limiting tail wheel 26. The pressure sensors 42 detect the pressure of the two end faces of the limiting tail wheel 26 on the limiting groove 25. An isolation ring 41 is provided between the pressure sensor 42 and the end face of the limiting tail wheel 26. The drive gear 27 is connected to the motor 23. The anti-rotation strip 29 is inserted into the slot of the lead screw 24 and is fixedly connected to the drive base. The motor 23 and the pressure sensors 42 are both connected to the controller.

[0037] The drive base is equipped with a limiting groove 25 that matches the limiting tail wheel 26. This groove restricts the range of movement of the limiting tail wheel 26 in the axial direction of the lead screw 24, allowing it to rotate but not move freely along the axial direction. Pressure sensors 42 are respectively installed at the two end faces of the limiting tail wheel 26 corresponding to the limiting groove 25, for real-time detection of the contact pressure between the end face of the limiting tail wheel 26 and the groove wall. This pressure indirectly reflects the magnitude and direction of the axial force (tension or compression) borne by the lead screw 24. To prevent direct damage to the pressure sensors 42 and to ensure measurement accuracy, an isolation ring 41 is provided between the sensor and the end face of the limiting tail wheel 26, serving as a buffer and uniform force transmission mechanism.

[0038] The output shaft of motor 23 is connected to the driving gear 27, which meshes with the driven gear 28. The forward and reverse rotation of motor 23 drives the driven gear 28 to rotate, thus rotating the nut 22. Since the lead screw 24 is restricted from rotation by the anti-rotation strip 29, the rotation of the nut 22 is converted into linear motion of the lead screw 24 along the axial direction, achieving the extension or shortening of the guide ring and the lead screw 24. Motor 23 and each pressure sensor 42 are electrically connected to the controller. Based on the real-time force signals fed back by the pressure sensors 42, the controller determines the current force state of the guide point and controls the motor 23 accordingly, driving the lead screw 24 to perform adaptive extension and retraction adjustment, achieving intelligent control of the tension of the guide rope 20.

[0039] As a recommended implementation, the motor 23 is a stepper motor 23 or a servo motor 23, and the threads of the lead screw 24 and the nut 22 are rectangular threads and self-locking threads. Both the stepper motor 23 and the servo motor 23 have high-precision position control capabilities and good response characteristics, and can accurately control the rotation angle and speed according to the pulse or command signals issued by the controller, thereby achieving precise control of the telescopic displacement of the lead screw 24. The rectangular thread has high transmission efficiency and good load-bearing capacity, and can withstand large axial loads, making it suitable for frequent stress conditions in hoisting equipment. More importantly, by reasonably designing the thread helix angle to be smaller than the friction angle, the thread pair has a self-locking function. That is, when there is no driving power input, the combination of the lead screw 24 and the nut 22 can reliably maintain its current position and will not rotate in the opposite direction or slip due to the weight of the glass 10, wind load, or external loads such as vibration, thereby ensuring the stability and safety of the guidance system during hoisting.

[0040] A control method for a smart hoisting device for super high-rise glass 10, as described above, includes the following steps:

[0041] The controller reads the pressure detection values ​​of four pairs of pressure sensors 42 at a preset cycle to obtain the direction and force value of each lead screw 24.

[0042] When the force value is greater than the preset threshold and is a tensile force, the motor 23 is controlled to extend the corresponding lead screw 24.

[0043] When the force value is greater than the preset threshold and is pressure, the control motor 23 shortens the corresponding lead screw 24.

[0044] Please see the appendix Figure 6 The swaying of glass 10 includes not only lateral displacement but also more complex swaying such as flipping and rotation. Therefore, the spacing of the guide ropes 20 should be greater than the width of glass 10 to counteract flipping and rotation. During the hoisting of ultra-high-rise glass 10, the weight of the guide ropes 20 themselves causes them to bend. This bending of the guide ropes 20 during the hoisting process causes changes in the force on the guide rings 21, resulting in swaying of glass 10. Furthermore, at higher heights, there are almost no periods without wind, especially during the hoisting of glass 10 in ultra-high-rise buildings 1 in coastal cities, where the influence of wind must be considered. During the hoisting of glass 10, there may be situations where it is close to the building structure, which can obstruct and change the direction of wind, causing extremely complex local airflow. Therefore, the intelligent hoisting device provided in this manual uses a method of independently controlling the force at each of the four corner points.

[0045] The controller cyclically reads the pressure detection values ​​collected by four pairs of pressure sensors 42 distributed on the four guide drive mechanisms at a preset sampling period (e.g., every 100 milliseconds). Through analysis and processing of the sensor signals, the controller can accurately determine the direction (tension or pressure) and magnitude of the force borne by each lead screw 24. When the force value at a certain position exceeds the preset safety or response threshold, and the force is tension (indicating that the guide rope 20 on that side is under tension, and the glass 10 may tilt to the opposite side or be subjected to lateral wind tension), the controller will output a control command to drive the motor 23 at the corresponding position to extend the lead screw 24 at that location, appropriately release the tension, and restore the balance state.

[0046] When the force exceeds the preset threshold and is pressure (indicating that the guide ring 21 on this side is being squeezed, possibly due to the glass 10 tilting or swinging to this side, causing the lead screw 24 to be compressed), the controller controls the motor 23 to run in the opposite direction, driving the lead screw 24 to shorten, in order to relieve the pressure and restore the balance state.

[0047] On the other hand, as an improved implementation, the method of controlling the motor 23 to extend the corresponding lead screw 24 includes:

[0048] Calculate the rate of change of the force value Δk1 over the past time period t, calculate the elongation ΔL1 based on the rate of change Δk1, and control the motor 23 to make the corresponding lead screw 24 elongate ΔL1.

[0049] The methods for controlling motor 23 to shorten the corresponding lead screw 24 include:

[0050] Calculate the rate of change of the force value Δk2 over the past time period t, calculate the shortening amount ΔL2 based on the rate of change Δk2, and control motor 23 to shorten the corresponding lead screw 24 by ΔL2.

[0051] When an extension adjustment is required, the controller calculates the rate of change of force value Δk1 (i.e., the force growth rate per unit time) over a past time interval t (e.g., 0.5 to 2 seconds). Based on the magnitude of Δk1, the required dynamic extension amount ΔL1 is calculated through a preset mapping relationship, such as proportional adjustment, and the motor 23 is controlled to move. Similarly, when a shortening adjustment is required, the pressure change rate Δk2 over a past time interval t is calculated, and the optimal shortening amount ΔL2 is determined accordingly, thereby retracting the lead screw 24. By introducing the rate of change, the system possesses a certain degree of predictability and responsiveness, avoiding the frequent start-stop or adjustment lag problems caused by control based solely on static thresholds, and achieving smoother, faster, and more energy-efficient attitude adjustment.

[0052] On the other hand, as an improved implementation, when the motor 23 extends the corresponding lead screw 24 by ΔL1, it simultaneously controls the lead screw 24 on the opposite side to shorten by α1×ΔL1, where α1 is a preset coefficient.

[0053] When the control motor 23 shortens the corresponding lead screw 24 by ΔL2, it simultaneously controls the lead screw 24 on the opposite side to extend by α2×ΔL2, where α2 is a preset coefficient.

[0054] When the controller determines that a certain lead screw 24 needs to extend by ΔL1 to relieve tension, it not only executes the extension action of the lead screw 24 on that side, but also simultaneously controls the lead screw 24 on the opposite side (i.e., the opposite position on the other side of the glass 10) to shorten. The shortening length is α1×ΔL1, where α1 is a preset coordination adjustment coefficient (a constant with a recommended value range of 0.2 to 0.5, which can be calibrated or adaptively adjusted according to actual working conditions such as the weight of the glass 10, wind speed level, or hoisting height). When a certain lead screw 24 needs to shorten by ΔL2 due to pressure, the controller, while executing this shortening action, actively controls the corresponding lead screw 24 on the opposite side to extend synchronously. The extension amount is α2×ΔL2, where α2 is a preset coefficient, which can be the same as α1 or set independently according to asymmetrical working conditions.

[0055] On the other hand, in another implementation, please refer to the appendix. Figure 7 and attached Figure 8 The lower end of the guide rope 20 is connected to a tension monitor 2 and a tensioner 3. The tensioner 3 is connected to an anchor point 4 set on the ground. The tension monitor 2 monitors the tension of the guide rope 20 and is connected to the control device of the tensioner 3. Any device disclosed in the art can be used for the tension monitor 2. It is recommended to use a tension monitor 2 connected in series with the guide rope. For example, a wire rope tension monitor can be used.

[0056] On the other hand, the tensioner 3 includes a base plate 39, an upper pull rod 35, a lower pull rod 30, two internally threaded cylinders 31, a large gear 32, and a reduction motor 37. Both the upper pull rod 35 and the lower pull rod 30 are equipped with sliders 34 and threaded rods 36. The threads of the threaded rods 36 of the upper pull rod 35 and the lower pull rod 30 have opposite directions. The upper pull rod 35 is connected to the guide rope 20, and the lower pull rod 30 is connected to the anchor point. The base plate 39 has a groove that mates with the slider 34. A bearing 33 is installed in the middle of the base plate 39, and the two internally threaded cylinders 31 are connected through the bearing. The guide rod 33 is mounted on the base plate 39. Two internally threaded cylinders 31 form threaded pairs with the threaded rods 36 of the upper pull rod 35 and lower pull rod 30, respectively. The large gear 32 is concentrically fixedly connected to the internally threaded cylinders 31. The output shaft of the reduction motor 37 is connected to a small gear 38 that meshes with the large gear 32. The reduction motor 37 is connected to a control device. When the tension monitor 2 detects that the tension of the guide rope 20 is less than a preset reference tension value, it controls the reduction motor 37 to rotate until the tension of the guide rope 20 exceeds a preset second reference tension value. When the reduction motor 37 rotates, it drives the small gear 38 and the large gear 32 to rotate. The internally threaded cylinders 31, concentrically fixedly connected to the large gear 32, also rotate. The threaded rods 36, which form threaded pairs with the internally threaded cylinders 31, cannot rotate because they are restricted by the slider 34, and therefore move axially along the internally threaded cylinders 31. Specifically, the threaded rods 36 of the upper pull rod 35 and the lower pull rod 30 move closer to each other axially, thereby making the guide rope more taut.

[0057] The pull rod 30 is connected to the anchor point. For example, the pull rod 30 is connected to a hand-operated hoist via a wire rope, and the hand-operated hoist is connected to the anchor point. When the guide rope is first installed, it is initially pulled forward using the hand-operated hoist. Then, as the hoisting progresses, the tension of the guide rope decreases due to force interference, changes in the position of the fastening devices at both ends of the guide rope, and slight deformation of the guide rope itself. This decrease is detected by the tension monitor 2, and the guide rope is re-tensioned using the tensioner 3. A guide rope that reaches a preset reference tension value has a relatively smaller sway amplitude, helping to maintain stability during glass hoisting.

[0058] The embodiments described above are merely preferred embodiments of this specification and are not intended to limit the scope of this specification. Any modifications and improvements made by those skilled in the art to the technical solutions of this specification without departing from the spirit of this specification should fall within the protection scope defined by the claims of this specification.

Claims

1. An ultra-high-rise glass hoisting intelligent lifting device, characterized in that, Comprise: The upper and lower clamping strips are respectively clamped on the upper and lower edges of the glass, the horizontal limiting device is connected between the upper and lower clamping strips, the tensioning rope fixes the upper and lower clamping strips on the glass, the hoisting rope is connected with the upper clamping strip, four guide driving mechanisms are respectively installed at the two ends of the upper clamping strip and the two ends of the lower clamping strip, four guide rings are respectively installed on the four guide driving mechanisms, the guide driving mechanisms are connected with the controller, and two guide ropes are respectively located on the two sides of the glass.

2. The super-high-rise glass hoisting intelligent lifting device according to claim 1, wherein the guide ring comprises a lead screw and a guide ring, the guide ring is installed at one end of the lead screw, and the lead screw has a slot extending to the other end.

3. The super-high-rise glass hoisting intelligent lifting device according to claim 2, wherein the motor is a stepper motor or a servo motor, and the thread of the lead screw and the nut is a rectangular thread and a self-locking thread.

4. The super-high-rise glass hoisting intelligent lifting device according to any one of claims 1 to 3, wherein the lower end of the guide rope is connected with a tension monitor and a tensioner, the tensioner is connected with an anchor point arranged on the ground, the tension monitor monitors the tension of the guide rope, and the tension monitor is connected with a control device of the tensioner.

5. The super-high-rise glass hoisting intelligent lifting device according to claim 4, wherein the tensioner comprises a base plate, an upper pull rod, a lower pull rod, two internally threaded cylinders, a large gear and a speed reducer motor. ​ ​ ​ ​ ​ The upper pull rod and the lower pull rod are provided with sliding blocks and threaded rods, the threaded rods of the upper pull rod and the lower pull rod are opposite in screw rotation direction, the upper pull rod is connected with the guide rope, the lower pull rod is connected with the anchoring point, the base plate is provided with a sliding groove matched with the sliding block at the beginning, a bearing is installed in the middle of the base plate, two inner threaded cylinders are installed on the base plate through the bearing, the two inner threaded cylinders form threaded pairs with the threaded rods of the upper pull rod and the lower pull rod respectively, the large gear is fixedly connected with the inner threaded cylinder in a concentric manner, the output shaft of the speed reducer motor is connected with a pinion gear engaged with the large gear, and the speed reducer motor is connected with a control device; when the tension monitor detects that the tension of the guide rope is less than a preset reference tension value, the speed reducer motor is controlled to rotate until the tension of the guide rope is greater than a preset second reference tension value.

5. The super-high-rise glass hoisting intelligent lifting appliance according to any one of claims 1 to 3, characterized in that, The bottom of the lower clamping strip is provided with a damping counterweight.

6. The super-high-rise glass hoisting intelligent lifting appliance according to any one of claims 1 to 3, characterized in that, The horizontal limiting device comprises a horizontal limiting steel plate on the upper clamping strip and a horizontal limiting slot on the lower clamping strip, and the horizontal limiting steel plate can only move in the vertical direction relative to the horizontal limiting slot.

7. A control method of the super high-rise glass hoisting intelligent lifting appliance according to any one of claims 1 to 6, characterized in that, The method comprises the steps of: The controller reads the pressure detection values of the four pairs of pressure sensors at a preset period, and obtains the direction and force value of the force borne by each lead screw; When the force value is greater than a preset threshold value and is a pulling force, the corresponding lead screw is controlled to be elongated by the motor; When the force value is greater than a preset threshold value and is a pressure, the corresponding lead screw is controlled to be shortened by the motor.

8. The control method according to claim 7, characterized in that, The method for controlling the motor to elongate the corresponding lead screw comprises: A change rate Δk1 of the force value in a past t period is calculated, an elongation ΔL1 is calculated according to the change rate Δk1, and the motor is controlled to elongate the corresponding lead screw by ΔL1; The method for controlling the motor to shorten the corresponding lead screw comprises: A change rate Δk2 of the force value in a past t period is calculated, a shortening amount ΔL2 is calculated according to the change rate Δk2, and the motor is controlled to shorten the corresponding lead screw by ΔL2.

9. The control method according to claim 8, characterized in that, When the motor is controlled to elongate the corresponding lead screw by ΔL1, the opposite lead screw is controlled to be shortened by α1×ΔL1, and α1 is a preset coefficient; When the motor is controlled to shorten the corresponding lead screw by ΔL2, the opposite lead screw is controlled to be elongated by α2×ΔL2, and α2 is a preset coefficient.

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