Three-linkage electric lifting construction platform

Abstract

The invention discloses a three-linkage electric lifting construction platform, which relates to the technical field of building construction equipment, and comprises a base, a track stand column, a working platform, a driving device, a height detection device and an electric control box, wherein the number of the bases, the number of the rail stand columns, the number of the driving devices and the number of the height detection devices are all three, the working platform is slidably connected with the three rail stand columns, the driving devices are installed at the connecting positions of the working platform and the rail stand columns, and the height detection devices are installed on the driving devices. Through the design of three-point stand column guide rail supporting and independent driving, the operation coverage width is greatly widened; independent height detection devices are installed at the three driving devices, the inclination state is directly judged according to the height difference, the influence of the deflection of the platform is avoided, and the detection accuracy is improved; a pause-waiting adjusting mode is replaced by a continuous speed compensation adjusting mode, the height difference is automatically leveled in the lifting process, and the construction efficiency can be improved.

Description

Technical Field

[0001] This invention relates to the field of construction equipment technology, and in particular to a three-linkage electric lifting construction platform. Background Technology

[0002] As high-rise buildings develop towards super high-rise and large-span structures, the demand for wide-area coverage capabilities of lifting platforms is increasing for exterior wall construction, maintenance, and cleaning operations. Currently, the mainstream electric lifting platforms used in construction are mainly divided into two categories: single-linkage and double-linkage. Single-linkage platforms only have a single drive device and guide rail frame, resulting in limited coverage width, which is insufficient to meet the needs of wide construction surfaces. To expand the operating range, the industry has gradually developed double-linkage platforms. For example, the patent disclosed in patent number CN205907006U, "An Electric Lifting Work Platform," connects multiple work platform bodies to expand the width direction, thereby improving coverage capabilities to a certain extent.

[0003] However, existing dual-linkage lifting platforms still have the following key technical limitations when adapting to wide-area construction scenarios, making it difficult to meet actual engineering needs: 1. Due to the two-point support structure, its working coverage width is strictly limited by the column spacing. When the building width exceeds the maximum safe distance between the two columns, the platform cannot cover the entire working surface at once. It is necessary to relocate and re-fix the column guide rails multiple times to complete the work, which leads to complicated construction procedures and low work efficiency. It cannot meet the coverage requirements of high-altitude work platforms in scenarios such as ultra-wide factories, large exhibition centers, and ultra-wide curtain wall buildings. 2. In order to achieve coordinated adjustment of multiple platform bodies, existing dual-linkage platforms, such as the electric lifting work platform mentioned above, usually install angle detectors on the main work platform. The tilt angle of the platform is detected and fed back to the controller, thereby adjusting the lifting speed of each unit. However, due to the inherent deflection of the work platform body, especially the extended platform, the installation position of the angle detector undergoes slight deformation with the platform deflection, causing the detected tilt angle to deviate from the actual working conditions. This results in lag or misjudgment in coordinated adjustment, making it impossible to accurately control the height difference. 3. The existing tilt adjustment of the lifting platform generally adopts the "pause-wait" mode: when tilt is detected, the lifting action of the high-level drive device is paused first, and then the synchronous operation is resumed after the low-level drive device is raised to be level with the high-level unit. For example, the adjustment mechanism of the electric lifting work platform mentioned above is based on this logic. Each adjustment takes a long time. For high-frequency lifting exterior wall construction scenarios, frequent pause operations will significantly reduce construction efficiency and extend the construction period.

[0004] In summary, existing electric lifting construction platforms are insufficient in terms of tilt detection accuracy and adjustment efficiency. There is an urgent need for a lifting platform solution that can accurately detect tilt status and adjust efficiently to meet the actual needs of high-rise building exterior wall construction. Summary of the Invention

[0005] Therefore, it is necessary to provide a three-linkage electric lifting construction platform to address the aforementioned technical problems.

[0006] To achieve the above objectives, the present invention provides a three-linkage electric lifting construction platform, including a base, a track column, a working platform, a drive device, a height detection device, and an electrical control box; The track supports are set in three sections, arranged horizontally parallel to each other in the same vertical plane, and fixedly connected to the base; the center-to-center distance between adjacent track supports ranges from 5 to 21 meters. The work platform is slidably connected to three track columns; Three drive units are configured, each installed at a corresponding connection point between the work platform and the track column. These three drive units are designated as Drive Unit 1, Drive Unit 2, and Drive Unit 3. Each drive unit includes a motor and a built-in encoder. The drive units are used to drive the work platform up and down and provide feedback on steering and rotation speed. The center-to-center distance between any two drive units is d. ij i, j = 1, 2, 3; specifically, the center distance between drive unit 1 and drive unit 2 is d. 12 The center distance between drive unit 2 and drive unit 3 is d. 23 The center distance between drive unit 1 and drive unit 3 is d. 13 d 13 =d 12 +d 23 ; Three height detection devices are set up and installed on each drive device in a corresponding manner. They can detect the actual height of each drive device in real time. The actual heights of drive device 1, drive device 2 and drive device 3 are h1, h2 and h3 respectively. The electrical control box includes a controller, a synchronous sampling module, and a lifting status recognition module. The control box is electrically connected to the drive unit and the height detection device. The synchronous sampling module ensures that the detection data from the three height detection devices are collected simultaneously, adjusting the frequency to match the sampling period. The lifting status recognition module identifies whether the work platform is in an ascending or descending state. The control box executes the following control logic: (1) Setting the maximum tilt angle of differentiation The aim is to address the differences in tilt sensitivity across wide platforms with varying spans. For example, a small tilt on a large span such as 20m can result in a significant height difference, necessitating a reduction in the maximum tilt angle. For smaller spans, the tilt constraint can be appropriately relaxed. Specifically, this involves setting the maximum permissible tilt angle θ between any two drive units. ij θ ij Corresponding to d ijThe maximum permissible tilt angle for drive unit 1 and drive unit 2 is θ. 12 The maximum permissible tilt angle for drive unit 2 and drive unit 3 is θ. 23 The maximum permissible tilt angle for drive unit 1 and drive unit 3 is θ. 13 θ 12 >θ 13 θ 23 >θ 13 , due to d 13 =d1+d2, therefore θ 13 The minimum value indicates the highest tilt sensitivity; ensure that the height difference plus platform deflection is ≤35mm to ensure that personnel do not feel tilted and materials do not slip. (2) Calculate the maximum allowable height difference: ΔH ij =d ij ×tanθ ij ; By converting the tilt angle into a directly measurable height difference, the tilt angle θ ij Corresponding horizontal distance d ij Vertical height difference ΔH ij This avoids the direct detection angle being affected by platform deflection; The actual height difference Δh is obtained directly through a height detection device. ij , with ΔH ij The comparison can determine whether the deviation is out of tolerance, resulting in higher detection accuracy; (3) Calculate the maximum deviation ratio η max =max[(Δh ij -ΔH ij ) / ΔH ij ], where Δh ij This represents the actual height difference; (4) When Δh exists ij >ΔH ij If the error is deemed out of tolerance, adjust the drive unit speed using the following formula without stopping the machine: Reference unit: n ref =n0×{1-k(f)×η max The reference unit slowed down, causing the speed control deviation to increase. Non-reference element: n i =n0×{1+k(f)×η max ×(Δh ij / Δh total Non-benchmark units are accelerated to catch up based on height difference weights. Where n0 is the reference speed, and Δh i Δh represents the height difference between the non-reference element and the reference element. total For all non-reference elements Δhij The sum of these, where k(f) is the dynamic adjustment coefficient; Preferably, the dynamic adjustment coefficient k(f) = k0 × [1 - α × (f - f0)]; Where f is the adjustment frequency, f=1 / T, T is the sampling period, T∈[0.03-0.25s], f0∈[8-12Hz], when f is below 5Hz, the response is lagging, and when it is above 20Hz, the motor starts and stops frequently, which exacerbates wear. k0 is the baseline adjustment coefficient, k0∈[0.02-0.05], which is the basic adjustment amplitude ratio when there is no frequency influence; α is the frequency influence coefficient, α∈[0.0005-0.002]. The larger α is, the more significant the influence of frequency change on k(f); the smaller α is, the smoother the influence of frequency change on k(f). α is used to control the smoothness of the change of the adjustment coefficient k(f) with the adjustment frequency f. The purpose of α is to avoid abrupt changes in k(f) due to frequency fluctuations, and to ensure that the speed adjustment is both adapted to the frequency requirements and does not cause platform vibration or motor overload. The value range of α is 0.0005-0.002, preferably 0.001. This range is based on motor characteristics and platform stability. By taking a reasonable value of α, the adjustment system can be both flexibly adapted to the frequency and stable and controllable, meeting the construction needs of multiple scenarios. In high-frequency scenarios, f > f0. For example, if f = 20Hz, f - f0 is positive, so 1 - α × (f - f0) decreases, and k(f) decreases. For example, if k0 = 0.02, α = 0.001, f = 20Hz, f0 = 10Hz, k(f) = 0.02 × (1 - 0.001 × 10) = 0.018, the adjustment range is reduced, and motor wear is reduced. In low-frequency scenarios, f < f0, such as f = 5Hz: f - f0 is negative, so 1 - α × (f - f0) increases, k(f) increases, and with the same parameters, we get k(f) = 0.02 × (1 - 0.001 × (-5)) = 0.021, which increases the adjustment range and speeds up the over-tolerance correction; When k(f) is less than 0.01, the adjustment is insufficient; when it is greater than 0.05, the adjustment range is too large and easily causes vibration. The dynamic adjustment coefficient k(f) satisfies the following: when f > 20Hz, k(f) ≤ 0.015; when f < 5Hz, k(f) ≥ 0.04, to avoid abnormal adjustment range at extreme frequencies. In the base unit formula n ref =n0×{1-k(f)×η max In the figure, n0 is the reference speed; η max The maximum deviation ratio reflects the severity of the deviation, such as Δh=280mm, ΔH=251mm, η max ≈0.115; n refAs a reference unit, when rising, the reference unit is the speed of the drive motor of the drive device at the highest point; when falling, the reference unit is the speed of the drive motor of the drive device at the lowest point. The more severe the out-of-tolerance and the lower the frequency, the more the reference unit slows down, leaving room for non-reference units to catch up and preventing the height difference from widening. In the non-benchmark unit formula n i =n0×{1+k(f)×η max ×(Δh ij / Δh total In )}, Δh ij The height difference between the non-reference element and the reference element is given by Δh. For example, if the reference element height is 20m and the non-reference element height is 19.8m, then Δh is calculated. ij =0.2m; Δh total For all non-reference elements Δh ij The sum of all values ​​should be used to avoid excessive adjustment in a single unit. Δh ij The larger the value, the further the difference from the reference unit, and the larger the adjustment range, thus avoiding local out-of-tolerance; at the same time, the frequency is correlated through k(f) to balance the response and wear. (5) Δh within two consecutive sampling periods ij ≤ΔH ij At that time, each drive device gradually returns to n0.

[0007] Preferably, the dynamic adjustment coefficient k(f) satisfies the following conditions: when f > 20 Hz, k(f) ≤ 0.015; when f < 5 Hz, k(f) ≥ 0.04, to avoid abnormal adjustment amplitude at extreme frequencies.

[0008] Preferably, the height detection device is one of a wire-type distance sensor, a laser distance sensor, or an ultrasonic distance sensor.

[0009] Preferably, the reference speed n0 is 60%-90% of the rated speed of the drive device, such as 1500-2500 rpm, and the deviation of the speed of each drive device from n0 is ≤0.12n0 to avoid overload.

[0010] Preferably, the determination logic of the lifting state recognition module is as follows: when the drive motor rotates forward and the average height of the working platform increases, it is a rising state; when the drive motor rotates in reverse and the average height of the working platform decreases, it is a falling state. When the direction of rotation conflicts with the change in average height, the reference unit of the previous sampling period remains unchanged.

[0011] Preferably, the drive device further includes a reduction gearbox, gears, and a guide assembly. The inner side of the track column has a rack that meshes with the drive gear. The guide assembly enables a sliding connection with the column guide rail. The drive motor is a servo motor, which rotates the drive gear, causing the gear to move on the rack, thus moving the drive device. The specific structure and connection relationships of the drive device described above are existing technology and will not be elaborated further here.

[0012] Preferably, θ ij With the corresponding center spacing d ij Negative correlation; θ ij With the corresponding center spacing d ij Satisfying the formula: θ ij =arctan(ΔH) safe / d ij ), ΔH safe To preset the safety limit for height difference, M1≤d ij ≤M2. M1=5 meters, M2=21 meters, ΔH safe The range is 0–0.2m.

[0013] Compared with existing technologies, this technical solution has at least one of the following beneficial effects: 1. With three-point column rail support and independent drive design, the working coverage width is greatly expanded. Without the need for frequent relocation or lengthening of the platform body, it can cover the working area of ​​a large-area building in one go, solving the problem of limited coverage caused by two-point support of dual linkage platforms. It is especially suitable for ultra-wide curtain walls, large exhibition centers, wide factory buildings and other scenarios. 2. By installing independent height detection devices at each of the three drive units, the tilt state can be determined directly by the height difference, which is not affected by the platform deflection and improves the detection accuracy. 3. By adopting a continuous speed compensation adjustment method instead of the "pause-wait" adjustment method, the height difference can be automatically caught up during the lifting and lowering process, which can improve construction efficiency; 4. The larger the distance between any two drive devices, the smaller the maximum allowable tilt angle of the work platform between them. This ensures that the load of the work platform is evenly distributed to each column guide rail, avoiding localized stress concentration. It also ensures that the height difference is safe and consistent under different spans, making the constraints stricter for the larger the span of the work platform, improving the support stability of the work platform and enhancing its safety. Attached Figure Description

[0014] Figure 1 This is a structural schematic diagram of the three-linkage electric lifting construction platform provided in the embodiments of this application; Figure 2 for Figure 1 A magnified view of a section at point A in the middle; Figure 3The control logic flowchart of the three-linkage electric lifting construction platform provided in the embodiments of this application; In the diagram, 1 is the base; 2 is the track column; 3 is the working platform; 4 is the drive unit; 5 is the height detection device; and 6 is the electrical control box. Detailed Implementation

[0015] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0016] Please see Figures 1 to 3 This application provides a three-linkage electric lifting construction platform, including three bases 1, three rail columns 2, a working platform 3, three sets of drive devices 4, three sets of height detection devices 5, and an electrical control box 6. Among them, the three track columns 2 are arranged horizontally parallel to each other in the same vertical plane and are fixed to the base 1 respectively; The work platform 3 is equipped with three track columns 2, which are slidably connected to the columns via guide wheels or sliders; Three drive units 4 are installed one-to-one at the connection position between the work platform 3 and the track column 2. These three drive units 4 are designated as Drive Unit 1, Drive Unit 2, and Drive Unit 3, respectively. Each drive unit 4 includes a servo motor, a gearbox, gears, and an encoder. Drive units 4 are used to drive the work platform 3 to rise and fall and provide feedback on steering and rotation speed. The center distance between any two drive units 4 is d. ij i, j = 1, 2, 3; the center distance between the two drive devices 4 can be determined by the center distance between the two track columns 2 opposite to each other; Three height detection devices 5 are configured and installed one-to-one on each drive device 4. In this embodiment, a pull-wire distance sensor is selected as the height detection device. The free end of the pull wire of the height detection device is connected to the base 1 directly below it, which can detect the actual height of each drive device 4 relative to the base 6 directly below it in real time. The actual heights of drive device 1, drive device 2, and drive device 3 are h1, h2, and h3, respectively. In other embodiments, the height detection device can also be a laser distance sensor or an ultrasonic distance sensor, which uses the laser and echo reflected by the base 6 directly below it to achieve height detection.

[0017] The electrical control box 6 has a built-in PLC controller, synchronous sampling module, and lifting status recognition module, ensuring that the height of the three points is sampled at the same time. Alternatively, the synchronous sampling module and lifting status recognition module can be integrated into the PLC controller. The PLC controller is electrically connected to the drive device 4 and the height detection device 5. The synchronous sampling module ensures that the detection data from the three height detection devices 5 are collected at the same time, with the adjustment frequency consistent with the sampling period. The lifting status recognition module identifies whether the working platform 3 is in an ascending or descending state. In this embodiment, the center distance d between drive device 4 1 and drive device 4 2 is set. 12 =8m, the center distance between drive unit 4 (2nd drive unit 4) and drive unit 4 (3rd drive unit 4) is d. 23 =10m, the center distance between drive unit 4 (1st drive unit 4) and drive unit 4 (3rd drive unit 4) is d. 13 d 13 =d1+d2=18m; Set the maximum allowable tilt angle θ between any two drive units 4. ij θ ij Corresponding to d ij The maximum permissible tilt angle; due to d 13 =d1+d2, therefore θ 13 The smallest value results in the highest tilt sensitivity; setting θ... 12 =0.286°, θ 23 =0.229°, θ 13 =0.127°; During the lifting and lowering process of work platform 3, calculate the maximum allowable height difference: ΔH 12 =d 12 ×tanθ 12 ≈0.04m; ΔH 23 =d 23 ×tanθ 23 ≈0.04m; ΔH 13 =d 13 ×tanθ 13 ≈0.04m; By converting the tilt angle into a directly measurable height difference, the tilt angle θ ij Corresponding horizontal distance d ij Vertical height difference ΔH ij This avoids the direct detection angle being affected by platform deflection; The actual height difference Δh is obtained directly through the height detection device 5. ij , with ΔH ij The comparison can determine whether the deviation is out of tolerance, resulting in higher detection accuracy; Assuming a sampling period T = 0.1s, then f = 10Hz; Let k0 = 0.03, α = 0.001, f0 = 10Hz, then k(f) = 0.03.

[0018] If the actual measured height is: h1=20.040m, h2=20.000m, h3=19.990m but: Δh 12 =0.040m≤ΔH 12 No deviations allowed; Δh 23 =0.010m≤ΔH 23 No deviations allowed; Δh 13 =0.050m>ΔH 13 Out of tolerance; Then calculate the percentage of deviations: η max =max[(Δh ij -ΔH ij ) / ΔH ij ]=(Δh 13 -ΔH 13 ) / ΔH 13 =(0.05-0.04) / 0.04=0.25; If the reference unit is drive unit 4 (number 1) at its highest point during the ascending operation, then: Calculate the rotational speed of the reference unit: n ref =n0×{1-k(f)×η max}=n0×{1-0.03×0.25}=0.9925n0, when n0=2000rpm, n ref =1985rpm; This causes the reference unit to slow down and increase the speed control deviation; Δh total =Δh1+Δh2=0.04+0.05=0.09; Calculate the rotational speed of the non-reference unit: Drive unit 2, rotational speed n2 = n0 × {1 + k(f) × η} max ×(Δh2 / Δh total =n0×{1+0.03×0.25(0.04 / 0.09)}=1.00333n0=2006.7rpm; Non-reference units are accelerated to catch up based on height difference weight; Drive unit 3, rotational speed n3 = n0 × {1 + k(f) × η} max ×(Δh3 / Δh total=n0×{1+0.03×0.25(0.05 / 0.09)}=1.00417n0=2008.3rpm; Non-reference units are accelerated to catch up based on height difference weight; Non-reference units increase rotation speed based on height difference weight, automatically catch up with the height difference, and do not pause lifting or lowering throughout the entire process.

[0019] In some embodiments, the center distance d between drive device 1 4 and drive device 2 4 can also be set. 12 =16m, the center distance between drive unit 4 (2nd drive unit 4) and drive unit 4 (3rd drive unit 4) is d. 23 =16m, the center distance between drive unit 4 (1st drive unit 4) and drive unit 4 (3rd drive unit 4) is d. 13 d 13 =d1+d2=32m; In this way, the No. 2 drive device 4 is located at the center of the No. 1 drive device 4 and the No. 3 drive device 4, making the working platform 3 more stable under force. Set θ 12 =0.179°, θ 23 =0.179°, θ 13 =0.0896°; During the lifting and lowering process of work platform 3, calculate the maximum allowable height difference: ΔH 12 =d 12 ×tanθ 12 ≈0.05m; ΔH 23 =d 23 ×tanθ 23 ≈0.05m; ΔH 13 =d 13 ×tanθ 13 ≈0.05m; Assuming a sampling period T = 0.1s, then f = 10Hz; Let k0 = 0.03, α = 0.001, f0 = 10Hz, then k(f) = 0.03.

[0020] If the actual measured height is: h1=30.000m, h2=29.950m, h3=29.890m; The height difference is: Δh 12 =0.050m≤ΔH 12 No deviations allowed; Δh 23 =0.060m≤ΔH 23 Out of tolerance; Δh 13 =0.110m>ΔH 13 Out of tolerance; Then calculate the percentage of deviations: ηmax =max[(Δh ij -ΔH ij ) / ΔH ij ]=(Δh 13 -ΔH 13 ) / ΔH 13 =(0.110-0.05) / 0.05=1.2; If the reference unit is drive unit 4 (number 1) at its highest point during the ascending operation, then: Calculate the rotational speed of the reference unit: n ref =n0×{1-k(f)×η max}=n0×{1-0.03×1.2}=0.964n0, when n0=2000rpm, n ref =1928rpm; This causes the reference unit to slow down and increase the speed control deviation; Δh total =Δh2+Δh3=0.05+0.110=0.160; Calculate the rotational speed of the non-reference unit: Drive unit 2, rotational speed n2 = n0 × {1 + k(f) × η} max ×(Δh2 / Δh total =n0×{1+0.03×1.2×(0.05 / 0.160)}=1.01125n0=2022.5rpm; Non-reference units are accelerated to catch up based on height difference weight; Drive unit 3, rotational speed n3 = n0 × {1 + k(f) × η} max ×(Δh3 / Δh total =n0×{1+0.03×1.2×(0.110 / 0.160)}=1.02475n0=2049.5rpm; Non-reference units are accelerated to catch up based on height difference weight; Non-reference units increase rotation speed based on height difference weight, automatically catch up with the height difference, and do not pause lifting or lowering throughout the entire process.

[0021] In some embodiments, θ can also be set ij With the corresponding center spacing d ij Negative correlation; θ ij With the corresponding center spacing d ij Satisfying the formula: θ ij =arctan(ΔH) safe / d ij ), ΔH safe To preset the safety limit for height difference, M1≤d ij ≤M2. M1 is the minimum spacing, which can be set to 5 meters, and M2 is the maximum spacing, which can be set to 21 meters. ΔH safe The range can be set to 0–0.20m.

[0022] For example, setting ΔH safe It is 0.05 when d 12 =16m, d 23 =16m, d 13 When θ = 32m, 12 =0.179°, θ 23 =0.179°, θ 13 =0.0896°; Set ΔH safe It is 0.04 when d 12 =8m, d 23 =10m, d 13 When θ = 18m, 12 =0.286°, θ 23 =0.229°, θ 13 =0.127°.

[0023] It should be noted that those skilled in the art can make various modifications and improvements without departing from the inventive concept, and these all fall within the scope of protection of this invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

[0024] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0025] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

Claims

1. A three-linkage electric lifting construction platform, characterized in that, include: Base; Three track columns are arranged horizontally parallel to each other in the same vertical plane and are fixedly connected to the base. The work platform is slidably connected to three track columns; Three drive units, designated as drive units 1, 2, and 3, are installed one-to-one at the connection points between the work platform and the track column. Each drive unit includes a drive motor for lifting the work platform and an encoder for providing feedback on steering and speed. The center-to-center distance between two drive units is d. ij i, j = 1, 2, 3; d 12 +d 23 =d 13 ; Three height detection devices are installed on each drive unit to detect the actual height h1, h2, h3 of each drive unit relative to the base in real time. The electrical control box is electrically connected to the drive unit and the height detection device, and executes the following control logic: (1) Set the maximum allowable tilt angle θ for any two drive devices i and j. ij θ 12 >θ 13 θ 23 >θ 13 ; (2) According to ΔH ij =d ij ×tanθ ij Calculate the maximum allowable height difference ΔH ij ; (3) Calculate the actual height difference Δh between any two drive devices. ij According to Δh ij Calculate the maximum deviation ratio: η max =max[(Δh ij -ΔH ij ) / ΔH ij ]; (4) When Δh exists ij >ΔH ij At the same time, without stopping the machine, adjust the speed of the drive unit according to the following formula: Reference unit: n ref =n0×{1-k(f)×η max }; Non-reference element: n i =n0×{1+k(f)×η max ×(Δh ij / Δh total) }; Where n0 is the reference speed, and Δh i Δh represents the height difference between the non-reference element and the reference element. total For all non-reference elements Δh ij The sum of these, where k(f) is the dynamic adjustment coefficient; (5) Δh in at least two consecutive sampling periods ij ≤ΔH ij At that time, each drive device gradually returns to n0.

2. The three-linkage electric lifting construction platform according to claim 1, characterized in that, The dynamic adjustment coefficient k(f) = k0 × [1 - α × (f - f0)], where k0 is the reference adjustment coefficient, α is the frequency influence coefficient, f0 is the reference frequency, and k(f) ∈ [0.01-0.05], f = 1 / T, and T is the sampling period.

3. The three-linkage electric lifting construction platform according to claim 2, characterized in that, The sampling period T ranges from 0.03 to 0.25 s, and the reference frequency f0 ranges from 8 to 12 Hz.

4. The three-linkage electric lifting construction platform according to claim 1, characterized in that, The height detection device is one of the following: a wire-type distance sensor, a laser distance sensor, or an ultrasonic distance sensor.

5. The three-linkage electric lifting construction platform according to claim 1, characterized in that, The reference speed n0 is 60%-90% of the rated speed of the drive device, and the deviation of the speed of each drive device from n0 is ≤0.12n0 to avoid overload.

6. The three-linkage electric lifting construction platform according to claim 1, characterized in that, The electrical control box identifies the ascending or descending state based on the direction of the drive motor and the change in the average height of the working platform; when the direction of the drive motor conflicts with the change in the average height, the reference unit of the previous sampling period remains unchanged.

7. The three-linkage electric lifting construction platform according to claim 1, characterized in that, The θ ij With the corresponding center spacing d ij There is a negative correlation.

8. The three-linkage electric lifting construction platform according to claim 7, characterized in that, The θ ij With the corresponding center spacing d ij Satisfying the formula: θ ij =arctan(ΔH) safe / d ij ), ΔH safe The preset height difference safety limit is set.

Images