Adjusting method used in lifting period of internal climbing tower crane

Abstract

The invention provides an adjusting method used in the lifting period of an internal climbing tower crane, and belongs to the technical field of lifting adjustment, and the adjusting method comprises the following steps: step 1, carrying out model selection and installation on equipment used for adjusting in the lifting period of the internal climbing tower crane; 2, a safety threshold value is preset through the central control module; 3, the lifting process of the internal climbing tower crane is monitored in real time through the central control module; 4, executing a dynamic adjustment strategy through the central control module; and 5, the central control module carries out emergency shutdown and manual intervention triggering on the internal climbing tower crane. The installation deviation of the guide rail and the inclination state of the tower body are monitored in real time, action parameters of the lifting assembly are dynamically adjusted, deviation is automatically corrected, unbalance loading is balanced, clamping stagnation and overload risks are avoided, and construction efficiency and safety are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of lifting adjustment, and particularly relates to a method for adjusting during lifting of an inner climbing tower crane. BACKGROUND

[0002] In the field of high-rise building construction, the inner climbing tower crane has become a key device in the construction of core tubes and giant columns due to its flexible coverage radius, small space occupation and other advantages. In the prior art, the overall formwork system and the inner climbing tower crane cooperative lifting equipment and lifting method disclosed in the technical solution of patent publication CN119191126A realize efficient lifting of the tower crane through cooperation of the tube-column integrated steel platform formwork, the multi-channel climbing frame and the hydraulic lifting assembly. However, this kind of technical solution still has significant defects in actual application.

[0003] Insufficient deviation adaptation capability: During installation of the guide rail, an angle deviation within ±3° is easily generated due to construction errors (such as deviation of wall embedded reference, gap between guide rail splices), or a radial inclination of ±50 mm is generated due to long-term uneven stress of the tower body. The existing system lacks real-time detection and dynamic adjustment mechanism, and can only drive the hydraulic cylinder to lift according to the preset program, resulting in "stuck" between the climbing frame and the guide rail, that is, when the deviation exceeds 2 mm / m, the contact stress between the clamping assembly (such as the hinged plate, fixed plate) and the stop rod will increase by more than 30%, which may cause deformation of the guide rail or overload of the hydraulic system.

[0004] Outstanding risk of unbalanced load: When the tower crane is lifted, if the synchronization accuracy error of the two sides of the hydraulic cylinder exceeds 0.5 mm / s, or the friction force of the single-sided guide rail increases due to the deviation (the friction coefficient increases from 0.15 to 0.3), the horizontal unbalanced load borne by the upper climbing frame will exceed the design threshold (usually 50 kN). The existing fixed device (such as the sliding seat, telescopic spring) can only provide passive support and cannot actively compensate for the unbalanced load, which easily causes the tower body to sway and may cause the lifting assembly to fail in severe cases.

[0005] Lagging of manual intervention: When the system is stuck or unbalanced, manual shutdown detection (average time consumption of 2-3 hours) is required to correct by adjusting the guide rail connecting piece or replacing the hydraulic element, which not only reduces the construction efficiency (reduction of 40% in the number of daily lifting), but also increases the risk of high-altitude operation.

[0006] To solve the above problems, a method for real-time detection of guide rail deviation and tower body inclination and active adjustment of lifting parameters is urgently needed to ensure the safety and continuity of the inner climbing tower crane lifting process. SUMMARY

[0007] In order to solve the defects in the prior art, the application provides a kind of adjusting method for inner climbing tower crane lifting, by real-time monitoring guide rail installation deviation and tower body inclination state, dynamically adjusting the action parameter of lifting assembly, automatically correcting deviation, balancing partial load, avoiding the risk of jam and overload, improving construction efficiency and safety.

[0008] The application uses the following technical solutions.

[0009] A kind of adjusting method for inner climbing tower crane lifting, comprising:

[0010] Step 1: select and install the equipment used for adjusting during inner climbing tower crane lifting;

[0011] Step 2: preset safety threshold through central control module;

[0012] Step 3: real-time monitoring of the lifting process of inner climbing tower crane through central control module;

[0013] Step 4: execute dynamic adjustment strategy through central control module;

[0014] Step 5: central control module emergency shutdown and manual intervention trigger for inner climbing tower crane.

[0015] Further, step 1 specifically includes:

[0016] Select and install deviation detection module, deviation detection module includes laser displacement sensor connected with PLC controller, install 2 sets of laser displacement sensors at each joint of guide rail of overall frame system and inner climbing tower crane cooperative lifting equipment, 2 sets of laser displacement sensors are used for detecting radial deviation and angle deviation of guide rail respectively;

[0017] The deviation detection module further includes a dual-axis tilt sensor connected with the PLC controller, the dual-axis tilt sensor is fixed on the horizontal mounting plate at the top of the tower body of the inner climbing tower crane through bolts, and the X-axis of the dual-axis tilt sensor is parallel to the direction of the guide rail.

[0018] Further, step 1 specifically includes:

[0019] Select and install central control module, central control module includes PLC controller;

[0020] The central control module further includes an HMI connected with the PLC controller.

[0021] Further, step 1 specifically includes:

[0022] The active adjustment module is selected and installed. The active adjustment module includes a guide rail jacking assembly connected to the PLC controller. The guide rail jacking assembly is installed in the reserved hole position of the adjustment plate of the overall formwork system and the internal climbing tower crane coordinated lifting equipment. The push rod end of the guide rail jacking assembly contacts the guide rail through a nylon pad.

[0023] The active adjustment module also includes a climbing frame level adjustment component connected to the PLC controller. The climbing frame level adjustment component is installed on the side ear plate of the upper climbing frame of the overall mold frame system and the internal climbing tower crane coordinated lifting equipment. The end of the hydraulic cylinder piston rod of the climbing frame level adjustment component contacts the guide rod of the guide rail.

[0024] Furthermore, in step 2, the safety threshold includes:

[0025] The radial deviation threshold for the guide rail is 2 mm / m;

[0026] The guide rail angle deviation threshold is 1°;

[0027] The tower tilt threshold for internal climbing tower cranes is 0.5°;

[0028] The climbing frame leveling adjustment component The hydraulic cylinder synchronization accuracy threshold is 0.2 mm / s, where The speed difference between the two hydraulic cylinders on both sides of the climbing frame horizontal adjustment assembly.

[0029] Furthermore, step 3 specifically includes:

[0030] Step 3-1: Start the lifting program. The deviation detection module collects data every 100ms and transmits it to the PLC controller.

[0031] Step 3-2: The central control module processes the data collected and transmitted, and calculates key parameters.

[0032] Furthermore, in step 3-1, the method of the deviation detection module collecting data once every 100ms and transmitting it to the PLC controller specifically includes:

[0033] Laser displacement sensor collects radial deviation value of guide rail and angular deviation value And transmit it to the PLC controller, where For the guide rail Radial deviation value at each detection point For the guide rail The angular deviation value of each detection point;

[0034] The tilt sensor outputs the real-time tilt angle of the tower. It is transmitted to the PLC controller along with the tilt direction.

[0035] Further, in step 3-2, the key parameters include:

[0036] Average radial deviation of guide rail , the calculation formula of which is: , wherein is the total number of detection points of the guide rail;

[0037] Maximum angular deviation of guide rail , the calculation formula of which is: , wherein is the MAX function;

[0038] Synchronization error of hydraulic cylinder , the calculation formula of which is: , wherein is the left hydraulic cylinder speed of the horizontal adjustment assembly of the climbing frame, is the right hydraulic cylinder speed of the horizontal adjustment assembly of the climbing frame, which is collected and transmitted to the PLC controller by two speed sensors connected to the PLC controller respectively.

[0039] Further, step 4 specifically includes:

[0040] The central control module compares the key parameters and values with the safety threshold, triggers different adjustment actions, and the specific steps are as follows:

[0041] (1) Guide rail deviation adjustment, that is, under the condition that > 2mm / m or > 1°, the guide rail deviation adjustment is performed by the guide rail pushing assembly in the active adjustment module to apply a horizontal pushing force to the deviation side of the guide rail to correct the radial deviation; at the same time, the lifting speed of the corresponding side hydraulic cylinder is adjusted to compensate for the angular deviation, and the adjustment formula of the horizontal pushing force is:

[0042] ;

[0043] In the formula: is the stiffness coefficient; is the distance from the action point of the pushing assembly to the deviation detection point;

[0044] The calculation formula of the hydraulic cylinder speed compensation amount is:

[0045] ;

[0046] In the formula: is the reference speed of the hydraulic cylinder; is the speed that needs to be increased or decreased by the deviation side hydraulic cylinder;

[0047] Then the corresponding action is performed, the PLC controller of the central control module sends a command to the electric push rod on the deviation side, and outputs the pushing force F; at the same time, a signal is sent to the proportional valve of the corresponding side hydraulic cylinder to adjust the flow, so that the speed of the hydraulic cylinder is ± , until ≤2mm / m and ≤1°;

[0048] (2) Tower body inclination and load adjustment, that is, under the condition that >0.5° or >0.2mm / s, the inclination moment of the tower body is balanced by adjusting the jacking speed difference of the two side hydraulic cylinders; at the same time, the climbing frame horizontal adjustment assembly is started to compensate the horizontal load, and the adjustment formula of the speed difference correction amount of the hydraulic cylinder is:

[0049] ;

[0050] In the formula: is the inclination threshold of the tower body; is the speed that needs to be added to the hydraulic cylinder in the opposite direction of inclination.

[0051] The calculation formula of the horizontal adjustment cylinder thrust is:

[0052] ;

[0053] In the formula: is the total mass of the tower crane lifting part; is the acceleration of gravity; is the thrust that needs to be output by the cylinder in the opposite direction of inclination;

[0054] Then the corresponding action is performed: the central control module adjusts the opening of the proportional valve of the two side hydraulic cylinders, so that the speed difference is ; at the same time, the horizontal adjustment cylinder in the opposite direction of inclination is supplied with oil, and the thrust is output, until ≤0.5° and ≤0.2mm / s.

[0055] Further, step 5 specifically includes:

[0056] When any of the following conditions is met, the PLC controller of the central control module immediately triggers the inner climbing tower crane to stop:

[0057] The guide rail radial deviation >5mm / m or the angle deviation >3°;

[0058] The inclination angle of the tower body >1°;

[0059] The hydraulic cylinder pressure exceeds 1.2 times of the rated pressure;

[0060] After shutdown, the central control module displays the deviation position through the human-machine interface HMI.

[0061] The beneficial effects of the present application are as follows compared with the prior art:

[0062] High deviation correction accuracy: through the cooperation of the laser displacement sensor and the electric push rod, the radial deviation correction accuracy of the guide rail can reach ±0.5mm / m, and the angle deviation correction accuracy can reach ±0.2°, effectively avoiding the jamming of the clamping assembly and the guide rail, and reducing the risk of guide rail deformation (the deformation rate is reduced from 15% to below 2% by the traditional method).

[0063] Strong eccentric load control capability: through the speed regulation of the hydraulic cylinder and the thrust compensation of the horizontal oil cylinder, the inclination angle of the tower body can be controlled within 0.5°, the synchronous accuracy error of the hydraulic cylinder is ≤0.1mm / s, the eccentric load force balance efficiency is improved by 80%, and the tower body shaking amplitude is significantly reduced (the maximum shaking amount is reduced from 100mm to 30mm).

[0064] Construction efficiency is significantly improved: without manual shutdown detection and correction, the single lifting time is shortened from 45 minutes to 30 minutes, and the single day lifting frequency is increased by more than 60%; at the same time, the frequency of high-altitude operation is reduced, and the operation risk is reduced by 50%.

[0065] Good compatibility: the method can be directly integrated into the existing whole formwork and internal climbing tower crane cooperative lifting equipment, without large-scale modification of the core components (such as climbing frame and hydraulic cylinder), and the modification cost is only increased by 15%-20%, which is suitable for upgrading of existing equipment. BRIEF DESCRIPTION OF DRAWINGS

[0066] Figure 1 is a flowchart of the adjusting method for the internal climbing tower crane during lifting in the present application. DETAILED DESCRIPTION

[0067] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme of the present application will be clearly and completely expressed below by combining the drawings in the embodiments of the present application. The embodiments expressed in the present application are only a part of the embodiments of the present application, not all the embodiments. According to the spirit of the present application, other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0068] As shown in Figure 1 , an adjusting method for an internal climbing tower crane during lifting, comprising:

[0069] Based on the existing overall formwork system and the inner climbing tower crane cooperative lifting equipment (including the integrated steel platform formwork of the cylinder column, the upper climbing frame, the middle climbing frame, the lower climbing frame, the hydraulic lifting assembly including the hydraulic cylinder, and the guide rail guide assembly including the guide rail), a deviation detection module, a central control module and an active adjustment module are added, and the specific adjustment method comprises the following steps:

[0070] Step 1: Selecting and installing the equipment used for adjustment during the lifting of the inner climbing tower crane;

[0071] In the preferred but non-limiting embodiment of the present application, step 1 specifically comprises:

[0072] The deviation detection module is selected and installed, and the deviation detection module comprises a laser displacement sensor connected with a PLC controller, the model of the laser displacement sensor is HL-D1000, the measurement range is 0-300mm, the accuracy is ±0.01mm, two groups of laser displacement sensors are installed at each joint of the guide rail of the overall formwork system and the inner climbing tower crane cooperative lifting equipment, and the two groups of laser displacement sensors are respectively used for detecting the radial deviation (radial direction is the X-axis direction, that is, horizontal and perpendicular to the tower body direction of the inner climbing tower crane) and the angle deviation (θ, the angle between the axis of the guide rail and the vertical direction) of the guide rail.

[0073] The deviation detection module further comprises a dual-axis tilt sensor connected with the PLC controller, the model of the dual-axis tilt sensor is Bosch BNO055, the measurement range is ±45°, the accuracy is ±0.1°, the dual-axis tilt sensor is fixed on the horizontal mounting plate at the top of the tower body of the inner climbing tower crane through bolts, and the X-axis of the dual-axis tilt sensor is parallel to the direction of the guide rail.

[0074] In the preferred but non-limiting embodiment of the present application, step 1 specifically further comprises:

[0075] The central control module is selected and installed, and the central control module comprises a PLC controller, the model of the PLC controller is Siemens S7-1200CPU1214C, which is equipped with an analog input module SM1231 (for collecting sensor signals) and a digital output module SM1223 (for controlling the execution element).

[0076] The central control module further comprises an HMI connected with the PLC controller, the model of the HMI is Weilong TK6071IP, which is used for displaying real-time data, threshold values and fault information collected by the deviation detection module.

[0077] In the preferred but non-limiting embodiment of the present application, step 1 specifically further comprises:

[0078] Select and install the active adjustment module, the active adjustment module includes a guide rail pushing assembly connected with the PLC controller, the guide rail pushing assembly is a TOMUUU10 electric push rod, the pushing force is 5kN, the stroke is 100mm, the guide rail pushing assembly is installed in the reserved hole of the adjustment plate of the whole formwork system and the inner climbing tower crane cooperative lifting equipment, the end of the push rod of the guide rail pushing assembly is in contact with the guide rail through a nylon pad (to avoid scratching the guide rail);

[0079] The active adjustment module further includes a climbing frame horizontal adjustment assembly connected with the PLC controller, the climbing frame horizontal adjustment assembly is a HOB50x100 bidirectional hydraulic cylinder, the rated pressure is 21MPa, the pushing force is 16kN, the climbing frame horizontal adjustment assembly is installed on the side ear plate of the upper climbing frame of the whole formwork system and the inner climbing tower crane cooperative lifting equipment, and the end of the oil cylinder piston rod of the climbing frame horizontal adjustment assembly is in contact with the guide rod of the guide rail.

[0080] Step 2: preset the safety threshold through the central control module (using a PLC controller, model: S7-1200);

[0081] In the preferred but non-limiting embodiment of the application, in step 2, the safety threshold includes:

[0082] The radial deviation threshold of the guide rail is 2mm / m;

[0083] The angle deviation threshold of the guide rail is 1°;

[0084] The tower body inclination threshold of the inner climbing tower crane is 0.5°;

[0085] The hydraulic cylinder synchronization accuracy threshold of the climbing frame horizontal adjustment assembly is 0.2mm / s, wherein is the speed difference of the two hydraulic cylinders of the climbing frame horizontal adjustment assembly.

[0086] Step 3: real-time monitoring of the lifting process of the inner climbing tower crane by the central control module;

[0087] In the preferred but non-limiting embodiment of the application, step 3 specifically includes:

[0088] Step 3-1: after starting the lifting program (the lifting program is the hydraulic cylinder jacking of the upper climbing frame and the middle climbing frame of the whole formwork system and the inner climbing tower crane cooperative lifting equipment), the deviation detection module collects data once every 100ms and transmits it to the PLC controller;

[0089] In the preferred but non-limiting embodiment of the application, in step 3-1, the method that the deviation detection module collects data once every 100ms and transmits it to the PLC controller specifically includes:

[0090] The laser displacement sensor collects the radial deviation value of the guide rail​ radial deviation value and transmitted to the PLC controller, wherein is the radial deviation value of the first detection point of the guide rail, is the angle deviation value of the first detection point of the guide rail;

[0091] the tilt sensor outputs the real-time tilt angle of the tower body and the tilt direction (for example, "+X direction" represents that the deviation of the guide rail near the +X axis side is larger) and is transmitted to the PLC controller.

[0092] Step 3-2: The central control module processes the data collected and transmitted, and calculates the key parameters.

[0093] In the preferred but non-limiting embodiment of the present application, in step 3-2, the key parameters include:

[0094] the average radial deviation of the guide rail , the calculation formula of which is: , wherein is the total number of detection points of the guide rail;

[0095] the maximum angle deviation of the guide rail , the calculation formula of which is: , wherein is the MAX function;

[0096] the synchronization error of the hydraulic cylinder , the calculation formula of which is: , wherein is the speed of the left hydraulic cylinder of the horizontal adjustment assembly of the climbing frame, is the speed of the right hydraulic cylinder of the horizontal adjustment assembly of the climbing frame, which is collected by two speed sensors connected with the PLC controller and transmitted to the PLC controller.

[0097] Step 4: Perform dynamic adjustment strategy through the central control module;

[0098] In the preferred but non-limiting embodiment of the present application, step 4 specifically includes:

[0099] The central control module compares the key parameters and values with the safety threshold, triggers different adjustment actions, and specifically as follows:

[0100] (1) Guide rail deviation adjustment, that is, when > 2mm / m or Under conditions of >1°, a horizontal jacking force is applied to the guide rail on the deviation side by means of the guide rail jacking assembly in the active adjustment module (installed on the adjustment plate of the integrated steel platform formwork and driven by a miniature electric push rod (model: TOMUUU10)). Correcting radial deviation; simultaneously adjusting the lifting speed of the corresponding hydraulic cylinder to compensate for angular deviation, and its horizontal thrust. The adjustment formula is:

[0101] ;

[0102] In the formula: The stiffness coefficient is taken as 500 N / (mm·m), determined by the guide rail material (Q345B steel) and cross-sectional dimensions (150×100mm rectangular tube). The distance (m) from the point of action of the jacking component to the deviation detection point;

[0103] The formula for calculating the hydraulic cylinder speed compensation is:

[0104] ;

[0105] In the formula: This is the reference speed of the hydraulic cylinder (default 5mm / s); The speed that needs to be increased or decreased for the hydraulic cylinder on the deviation side ( If the result is positive, the speed needs to be reduced; (If the value is negative, the speed needs to be increased).

[0106] Next, the corresponding action is executed. The PLC controller of the central control module sends a command to the electric actuator on the deviation side, outputting a thrust F; simultaneously, it sends a signal to the proportional valve of the corresponding hydraulic cylinder to adjust the flow rate, so that the speed of the hydraulic cylinder is... ± until ≤2mm / m and ≤1°;

[0107] (2) Adjustment of tower tilt and eccentric load, i.e. >0.5° or Under conditions of >0.2mm / s, the tilting moment of the tower body is balanced by adjusting the difference in lifting speed between the two hydraulic cylinders; at the same time, the horizontal adjustment component of the climbing frame (installed on both sides of the upper climbing frame and driven by a two-way hydraulic cylinder (model: HOB50×100)) is activated to compensate for the horizontal off-center load. The adjustment formula for the hydraulic cylinder speed difference correction is as follows:

[0108] ;

[0109] In the formula: The tower tilt threshold (0.5°); For the speed added to the hydraulic cylinder in the opposite direction of the inclination (such as the tower body tilting in the +X direction, the speed of the -X direction hydraulic cylinder needs to be increased, and the speed of the +X direction hydraulic cylinder needs to be decreased).

[0110] The calculation formula of the horizontal adjustment oil cylinder thrust is:

[0111] ;

[0112] In the formula: is the total mass of the tower crane lifting part (including the climbing frame and the tower body, taking 50t); is the acceleration of gravity (9.8 m / s²); is the thrust output by the hydraulic cylinder in the opposite direction of the inclination, used to offset the inclination moment;

[0113] Then the corresponding action is performed: the central control module adjusts the proportional valve opening of the two side hydraulic cylinders, so that the speed difference is ; at the same time, the horizontal adjustment oil cylinder in the opposite direction of the inclination is supplied with oil, and the thrust is output, until ≤0.5° and ≤0.2 mm / s.

[0114] Step 5: The central control module triggers the emergency stop of the inner climbing tower crane and manual intervention.

[0115] In the preferred but non-limiting embodiment of the present application, step 5 specifically includes:

[0116] When any of the following conditions is met, the central control module PLC controller immediately triggers the inner climbing tower crane to stop:

[0117] The guide rail radial deviation >5mm / m or the angular deviation >3° (out of the adjustment range);

[0118] The tower body inclination angle >1° (there is a risk of overturning);

[0119] The hydraulic cylinder pressure exceeds 1.2 times the rated pressure (model: CD250 hydraulic cylinder, rated pressure 21 MPa, i.e. exceeds 25.2 MPa);

[0120] After stopping, the central control module displays the deviation position through the human-machine interaction interface HMI to guide manual precise correction.

[0121] The following is an example of a specific embodiment of the present application:

[0122] (I) Equipment selection and installation

[0123] Deviation detection module:

[0124] Two sets of laser displacement sensors (Model: HL-D1000) are installed at each joint of the guide rail, which are connected to the PLC controller, to detect the radial deviation (X-axis, horizontal and perpendicular to the tower direction) and angular deviation (θ, the angle between the guide rail axis and the vertical direction).

[0125] A dual-axis tilt sensor (Bosch BNO055) connected to the PLC controller, with a measurement range of ±45° and an accuracy of ±0.1°, is fixed to the horizontal mounting plate on the top of the tower, with the X-axis parallel to the direction of the guide rail.

[0126] Central control module:

[0127] PLC controller: Siemens S7-1200 CPU1214C, equipped with analog input module SM1231 (to collect sensor signals) and digital output module SM1223 (to control the execution elements);

[0128] HMI connected to the PLC controller: WELONT TK6071IP, used to display real-time data, threshold values, and fault information.

[0129] Active adjustment module:

[0130] Guide rail pushing assembly: TOMU UU10 electric push rod, with a pushing force of 5kN and a stroke of 100mm, installed in the reserved hole of the adjustment plate 172, with the end of the push rod contacting the guide rail through a nylon pad (to avoid scratching the guide rail);

[0131] Climbing frame horizontal adjustment assembly: HOB50x100 bidirectional hydraulic oil cylinder, with a rated pressure of 21MPa and a pushing force of 16kN, installed on the side ear plate of the upper climbing frame 21, with the end of the oil cylinder piston rod contacting the guide rail guide rod 3111.

[0132] (2) Implementation step example

[0133] Taking the inner climbing tower hoisting of a super high-rise project (core tube height 300m) as an example, the specific implementation process is as follows:

[0134] Pre-construction preparation:

[0135] Install sensors and adjustment assemblies, and preset safety thresholds through HMI;

[0136] Start the no-load test, manually adjust the guide rail deviation to 3mm / m, and verify whether the adjustment module can correct it to within 2mm / m (correction time about 15s).

[0137] Official lifting:

[0138] Start the hydraulic cylinder lifting program, with a reference speed =5mm / s;​

[0139] Laser displacement sensor detects average deviation of +X direction rail =3.5mm / m, =1.5°; Inclination sensor detects =0.8°(+X direction inclination);

[0140] Central control module calculates:

[0141] Pushing force =500×3.5×2=3500N( =2m);

[0142] Hydraulic cylinder speed compensation =5×tan1.5°≈0.13mm / s(Need to reduce +X direction hydraulic cylinder speed to 5-0.13=4.87mm / s);

[0143] Speed difference correction =5×(0.8 / 0.5)=8mm / s(Need to increase -X direction hydraulic cylinder speed to 5+8=13mm / s, reduce +X direction hydraulic cylinder speed to 4.87-8=-3.13mm / s, actual should not exceed 50%, so take =2mm / s, i.e. -X direction speed 5.2mm / s, +X direction speed 4.8mm / s);

[0144] Horizontal adjustment cylinder thrust =50×10³×9.8×sin0.8°≈50×10³×9.8×0.014≈6860N;

[0145] Execute adjustment: +X direction electric push rod outputs 3500N pushing force, both sides hydraulic cylinder speed is adjusted to 5.2mm / s(-X direction) and 4.8mm / s(+X direction), -X direction horizontal adjustment cylinder outputs 6860N thrust;

[0146] After continuous monitoring for 10s, =1.8mm / m, =0.8°, =0.4°, central control module restores reference speed lifting.

[0147] Lifting is completed:

[0148] Repeat step 3 until the tower crane is lifted to the target height(300m), no jamming and unbalanced load alarm throughout the process, the number of daily lifting is increased from 8 times of traditional method to 13 times.

[0149] The beneficial effects of the present application are that, compared with the prior art, the technical effects of the present application are as follows:

[0150] High deviation correction accuracy: through the cooperation of the laser displacement sensor and the electric push rod, the radial deviation correction accuracy of the guide rail can reach ±0.5mm / m, and the angular deviation correction accuracy can reach ±0.2°, effectively avoiding the jamming of the clamping assembly and the guide rail, and reducing the risk of guide rail deformation (deformation rate reduced from 15% to below 2% compared with traditional methods).

[0151] Strong eccentric load control capability: through the speed adjustment of the hydraulic cylinder and the thrust compensation of the horizontal oil cylinder, the inclination angle of the tower body can be controlled within 0.5°, the synchronous accuracy error of the hydraulic cylinder is ≤0.1mm / s, the eccentric load force balance efficiency is improved by 80%, and the tower body shaking amplitude is significantly reduced (the maximum shaking amount is reduced from 100mm to 30mm).

[0152] Construction efficiency is significantly improved: without manual shutdown detection and correction, the single lifting time is shortened from 45 minutes to 30 minutes, and the single day lifting frequency is increased by more than 60%; at the same time, the frequency of high-altitude operation is reduced, and the operation risk is reduced by 50%.

[0153] Good compatibility: this method can be directly integrated into the existing whole formwork and internal climbing tower crane cooperative lifting equipment, without the need for large-scale modification of core components (such as climbing frame, hydraulic cylinder), the modification cost is only increased by 15%-20%, and it is suitable for upgrading of existing equipment.

[0154] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit it, although the above embodiments have been described in detail, those skilled in the art should understand that: the specific embodiments of the present application can still be modified or equivalently replaced without departing from the spirit and scope of the present application, any modification or equivalent replacement should be covered within the protection scope of the claims of the present application.

Claims

1. A method for adjustment during internal climbing tower crane hoisting, characterized in that, The application relates to a dynamic adjustment method for an inner climbing tower crane, and belongs to the technical field of tower crane control. The method comprises the following steps: Step 1: selecting and installing equipment used for adjustment during inner climbing tower crane lifting; Step 2: presetting safety threshold values through a central control module; Step 3: monitoring the lifting process of the inner climbing tower crane in real time through the central control module; Step 4: executing a dynamic adjustment strategy through the central control module; 2. Method for adjustment during internal climbing of a tower crane hoisting according to claim 1, characterized in that, Step 5: triggering emergency shutdown of the inner climbing tower crane and manual intervention through the central control module. Step 1 specifically comprises the following steps: Selecting and installing a deviation detection module, the deviation detection module comprising laser displacement sensors connected with a PLC controller, two groups of laser displacement sensors being installed at each joint of guide rails of the whole formwork system and the inner climbing tower crane cooperative lifting equipment, and the two groups of laser displacement sensors being respectively used for detecting radial deviation and angle deviation of the guide rails; 3. Method for adjustment during internal climbing of a tower crane hoisting according to claim 2, characterized in that, The deviation detection module further comprises a dual-axis tilt sensor connected with the PLC controller, the dual-axis tilt sensor being fixed on a horizontal mounting plate at the top of the tower body of the inner climbing tower crane through bolts, and an X-axis of the dual-axis tilt sensor being parallel to and consistent with a direction of the guide rails. Step 1 further specifically comprises the following steps: Selecting and installing a central control module, the central control module comprising a PLC controller; 4. The method for adjustment during internal climbing tower crane hoisting according to claim 3, characterized in that, The central control module further comprises an HMI connected with the PLC controller. Step 1 further specifically comprises the following steps: Selecting and installing an active adjustment module, the active adjustment module comprising a guide rail pushing assembly connected with the PLC controller, the guide rail pushing assembly being installed in a reserved hole of an adjustment plate of the whole formwork system and the inner climbing tower crane cooperative lifting equipment, and an end of a pushing rod of the guide rail pushing assembly being in contact with the guide rail through a nylon pad; 5. Method for adjustment during internal climbing of a tower crane hoisting according to claim 4, characterized in that, The active adjustment module further comprises a climbing frame horizontal adjustment assembly connected with the PLC controller, the climbing frame horizontal adjustment assembly being installed on a side lug plate of an upper climbing frame of the whole formwork system and the inner climbing tower crane cooperative lifting equipment, and an end of a cylinder piston rod of the climbing frame horizontal adjustment assembly being in contact with a guide rod of the guide rail. In step 2, the safety threshold values comprise the following: The radial deviation threshold value of the guide rail is 2 mm / m; The angle deviation threshold value of the guide rail is 1 DEG; The climbing frame leveling adjustment component The hydraulic cylinder synchronization accuracy threshold is 0.2 mm / s, where The speed difference between the two hydraulic cylinders on both sides of the climbing frame horizontal adjustment assembly.

6. The method for adjustment during internal climbing tower crane hoisting according to claim 5, characterized in that, The tower body inclination threshold value of the inner climbing tower crane is 0.5 DEG; Step 3 specifically comprises the following steps: Step 3-1: starting a lifting program, and the deviation detection module collecting data once every 100 ms and transmitting the data to the PLC controller; 7. The method for adjustment during internal climbing tower crane hoisting according to claim 6, characterized in that, Step 3-2: the central control module processing the data collected and transmitted to the PLC controller and calculating key parameters. The laser displacement sensor collects the radial deviation value of the guide rail and the angle deviation value and transmits to the PLC controller, wherein the radial deviation value of the first detection point of the guide rail, the angle deviation value of the first detection point of the guide rail; The tilt sensor outputs the real-time tilt angle of the tower body to the PLC controller in the tilt direction.

8. The method for adjustment during internal climbing tower crane hoisting according to claim 7, characterized in that, In step 3-1, the method that the deviation detection module collects data once every 100 ms and transmits the data to the PLC controller specifically comprises the following steps: Guideway average radial deviation , the calculation formula is: , wherein is the total number of detection points of the guide rail; Maximum angular deviation of the guide rail with the formula where is the MAX function; Hydraulic cylinder synchronization error The formula is: Wherein is the left hydraulic cylinder speed of the climbing frame horizontal adjustment assembly, is the right hydraulic cylinder speed of the climbing frame horizontal adjustment assembly, which is collected and transmitted into the PLC controller by the left and right hydraulic cylinder speeds through two speed sensors connected with the PLC controller.

9. The method for adjustment during internal climbing tower crane hoisting according to claim 8, characterized in that, In step 3-2, the key parameters comprise the following: The central control module compares the key parameters and values to safety thresholds, triggering different regulation actions, as follows: (1) Guideway deviation adjustment, that is, under the condition of > 2 mm / m or > 1°, by actively adjusting the guide rail pushing assembly in the module, a horizontal pushing force is applied to the deviation side of the guide rail to correct the radial deviation; at the same time, the jacking speed of the corresponding side hydraulic cylinder is adjusted to compensate for the angular deviation, and the horizontal pushing force The adjustment formula is: ​ ； wherein: is the stiffness coefficient; is the distance from the action point of the pushing assembly to the deviation detection point; Step 4 specifically comprises the following steps: ； In the formula: is the reference speed of the hydraulic cylinder; is the speed that the hydraulic cylinder on the deviation side needs to increase or decrease; Then the corresponding action is performed, the PLC controller of the central control module sends a command to the electric push rod on the deviation side, and outputs the pushing force F; at the same time, a signal is sent to the proportional valve of the corresponding side hydraulic cylinder to adjust the flow, so that the speed of the hydraulic cylinder is ± , until ≤2mm / m and ≤1°; (2) Tower body inclination and eccentric load adjustment, namely, in > 0.5° or > 0.2mm / s, the tower body inclination moment is balanced by adjusting the jacking speed difference of the hydraulic cylinders on both sides; at the same time, the climbing frame horizontal adjustment assembly is started to compensate for the horizontal eccentric load force, and the adjustment formula for the speed difference correction amount of the hydraulic cylinders is: ； In the formula: is a tower tilt threshold value; is a velocity to be added to the hydraulic cylinder in the opposite direction of the tilt, The calculation formula of the hydraulic cylinder speed compensation amount is: ； In the formula: is the total mass of the tower crane hoisting section; is the acceleration of gravity; is the thrust required to be output by the counter-tilting oil cylinder; Then the corresponding action is performed: the central control module adjusts the proportional valve opening of the two hydraulic cylinders, so that the speed difference is ; at the same time, oil is supplied to the horizontal adjusting oil cylinder in the opposite direction of inclination, and the output thrust is , until ≤0.5° and ≤0.2mm / s.

10. The method for adjustment during internal climbing tower crane hoisting according to claim 9, characterized in that, The calculation formula of the horizontal adjustment cylinder pushing force is: Step 5 specifically comprises the following steps: Guideway radial deviation > 5 mm / m or angular deviation > 3°; tower inclination angle 1°; When any of the following conditions is met, the central control module PLC controller immediately triggers the inner climbing tower crane to stop working: The hydraulic cylinder pressure exceeds 1.2 times of the rated pressure; After stopping, the central control module displays the deviation position through the HMI.

Images