A curtain wall hoisting control method based on a self-leveling mechanism

Abstract

The application discloses a curtain wall hoisting control method based on a self-leveling mechanism, wherein the self-leveling mechanism comprises a vertical leveling mechanism and a horizontal leveling mechanism; the curtain wall hoisting control method comprises the steps of arranging vertical locking mechanisms on each hinge segment of a hoisting hinge, and driving the vertical leveling mechanism to lock adjacent hinge segments through the vertical locking mechanisms during a lowering process; a bearing part is rotatably arranged on a loading end of the hoisting hinge, and a resistance adjusting mechanism and a rotating driving mechanism are arranged; during a lifting process, the horizontal leveling mechanism adjusts and controls the rotating resistance between the bearing part and the loading end of the hoisting hinge according to the lowering length of the hoisting hinge, and performs step-by-step reverse compensation through the rotating driving mechanism when the bearing part is horizontally deflected; and the vertical leveling mechanism also releases the locking of the adjacent hinge segments during the lifting process, so that the adjacent hinge segments can be restored to a rotatable state; through the cooperative control of mechanical locking, self-adaptive damping adjustment and step-by-step compensation, the application can effectively provide stability and safety during the hoisting process.

Description

Technical Field

[0001] This invention relates to the field of building curtain wall construction technology, and more specifically, to a curtain wall hoisting control method based on a self-leveling mechanism. Background Technology

[0002] With the acceleration of urbanization, high-rise buildings are increasingly adopting exterior decorations such as glass curtain walls and stone curtain walls. The hoisting of curtain wall units is a key link in the construction process. Traditional methods often use tower cranes in conjunction with manual traction, which has problems such as low efficiency, poor precision, and great safety hazards.

[0003] In recent years, a solution using hinged lifting mechanisms for curtain wall hoisting has emerged. This involves connecting multiple hinge segments sequentially and using a turntable to raise and lower the curtain wall vertically. However, existing hinged hoisting mechanisms have the following shortcomings: First, the hinge segment lacks an effective locking mechanism during hoisting, which makes the hinge prone to bending and deformation in the long cantilever state, affecting the positioning accuracy. Second, the load-bearing structure and the lower end of the hinge are usually rigidly connected or fixedly damped, which cannot adaptively adjust the rotational resistance. When encountering gusts of wind, the horizontal wind force is directly transmitted to the hinge, which can easily cause stress concentration or even damage at the root of the hinge. Third, the lack of proactive compensation means that once the load-bearing structure deviates, it is difficult to automatically return to the correct position, affecting the alignment accuracy of the curtain wall.

[0004] Therefore, there is an urgent need for an intelligent hoisting control method that can balance rigid stability with flexible wind resistance. Summary of the Invention

[0005] The present invention aims to overcome the shortcomings of the prior art and provide a curtain wall hoisting control method based on a self-leveling mechanism. The present invention can effectively provide stability and safety in the hoisting process through the coordinated control of mechanical locking / unlocking mechanism, adaptive rotational resistance adjustment and stepper motor compensation.

[0006] To achieve the above objectives, the present invention provides the following technical solution: This invention provides a curtain wall hoisting control method based on a self-leveling mechanism. In this invention, the self-leveling mechanism includes a vertical leveling mechanism and a horizontal leveling mechanism. The curtain wall hoisting control method includes the following steps: Step S1: Provide a lifting hinge, wherein adjacent hinge segments on the lifting hinge are rotatably connected, and a vertical locking mechanism is provided on each hinge segment of the lifting hinge; wherein the vertical locking mechanism includes at least one insertion hole opened in the hinge segment in the vertical direction, at least one pin installed inside the hinge segment and movable up and down in the vertical direction, and at least one gear installed on the side of the hinge segment for driving the pin to move up and down; Step S2: Lower the loading end of the hoisting hinge to the loading area. During the lowering process, the vertical leveling mechanism sequentially drives the vertical locking mechanism to lock adjacent hinge segments on the hoisting hinge, forming a rigid hinge structure along the vertical direction. The vertical leveling mechanism includes at least one fixed rack. When the hoisting hinge is lowered, the gears on each hinge segment sequentially pass through the fixed rack and are driven to rotate, thereby moving the pin and inserting it into the insertion hole of the adjacent hinge segment for locking. When the hoisting hinge is lifted, the gears on each hinge segment sequentially pass through the fixed rack in the opposite direction and are driven to rotate in the opposite direction, thereby moving the pin in the opposite direction and pulling it out of the insertion hole of the adjacent hinge segment to release the lock. Step S3: Provide a supporting component for loading the curtain wall in the loading area, and rotatably install the supporting component on the loading end of the hoisting hinge, and provide a resistance adjustment mechanism and a rotation drive mechanism at the rotational connection between the supporting component and the loading end of the hoisting hinge; wherein, the resistance adjustment mechanism is a magnetorheological fluid damper or an electromagnetic powder brake; the rotation drive mechanism includes a servo motor and a harmonic reducer, or the rotation drive mechanism includes a closed-loop stepper motor and a planetary reducer, or the rotation drive mechanism includes a torque motor; Step S4: Lift the hoisting hinge to raise the curtain wall to the work area. During the lifting process, the horizontal leveling mechanism acquires the remaining length of the hoisting hinge in real time and controls the resistance adjustment mechanism to adjust the rotational resistance between the load-bearing component and the loading end of the hoisting hinge in real time based on the remaining length. The rotational resistance increases as the remaining length decreases. The horizontal leveling mechanism includes an angle sensor, a length detection device, and a controller. The angle sensor is used to acquire the horizontal deflection angle of the load-bearing component relative to the loading end of the hoisting hinge in real time. The angle sensor is a rotary encoder, a potentiometer-type angle sensor, a Hall effect angle sensor, a magnetoresistive angle sensor, or a capacitive angle sensor. The length detection device is used to acquire the remaining length of the hoisting hinge in real time. The length detection device is a meter wheel assembly or a wire displacement sensor. The controller is used to calculate the target rotational resistance in real time based on the remaining length and control the resistance adjustment mechanism to adjust the rotational resistance to the target rotational resistance in real time. It also controls the rotation drive mechanism to perform step-by-step reverse compensation for the horizontal deflection based on the horizontal deflection angle. Step S5: When the bearing component deflects horizontally, the horizontal leveling mechanism controls the rotation drive mechanism to perform step-by-step reverse compensation for the horizontal deflection. Step S6: After completing the curtain wall installation in the work area, continue to lift to retract the hoisting hinge. During the lifting process, the vertical leveling mechanism sequentially drives the vertical locking mechanism to release the locking between adjacent hinge segments on the hoisting hinge, so that the adjacent hinge segments can be rotated again.

[0007] Furthermore, in the technical solution of the present invention, in step S4, controlling the resistance adjustment mechanism to adjust the rotational resistance between the bearing component and the loading end of the hoisting hinge in real time according to the remaining length specifically includes: The target rotational resistance is calculated based on the remaining length, and the formula for calculating the target rotational resistance is as follows: In the formula, For the target rotational resistance, The initial rotational resistance, For the remaining length, The maximum remaining length, The attenuation coefficient and ; The resistance adjustment mechanism is controlled to adjust the rotational resistance between the load-bearing component and the loading end of the hoisting hinge to the target rotational resistance.

[0008] Furthermore, in the technical solution of the present invention, in step S5, the horizontal leveling mechanism controls the rotation drive mechanism to perform step-by-step reverse compensation for the horizontal deflection when the bearing component undergoes horizontal deflection, specifically including: The preset step angle for step-type reverse compensation is: The step angle The range of values ​​is ; The horizontal deflection angle of the bearing component relative to the loading end of the hoisting hinge is acquired in real time, and the absolute value of the horizontal deflection angle is calculated. Compare the absolute value of the horizontal deflection angle with the step angle. ,in: The absolute value of the horizontal deflection angle is less than the step angle. At that time, the supporting component is in a horizontal and stable state; The absolute value of the horizontal deflection angle is equal to or greater than the step angle. When the bearing component is in a horizontally unstable state, the horizontal leveling mechanism controls the rotation drive mechanism to perform step-by-step reverse compensation for the horizontal deflection of the bearing component, that is, to control the bearing component to rotate in the opposite direction of the horizontal deflection by a step angle. The angle.

[0009] Beneficial Effects: In summary, this invention provides a curtain wall hoisting control method based on a self-leveling mechanism. This invention employs a locking / unlocking control method for the hinge segment of the hoisting hinge, based on a physical mechanical structure. By fixing a rack and pinion and utilizing the self-movement of the hoisting hinge to drive the gears and pins, the hinge segment can be automatically locked during lowering to form a rigid hinge structure, improving stability, without the need for an additional power source. During retraction, it can automatically unlock and return to a rotatable state for flexible winding. The structure is simple and highly reliable. Furthermore, this invention also designs a real-time adjustment method for the rotational resistance between the load-bearing component and the loading end of the hoisting hinge. The rotational resistance decreases as the lowering length of the hoisting hinge increases, making it easier for the load-bearing structure to deflect and unload forces in the long cantilever state, thus preventing the large horizontal deflection force in the long cantilever state from being directly transmitted to the hoisting hinge and causing structural damage.

[0010] Other features and advantages of the present invention will be set forth in the following description. Attached Figure Description

[0011] To more clearly illustrate the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram illustrating a specific implementation of a curtain wall hoisting control method based on a self-leveling mechanism according to an embodiment of the present invention. Figure 1 ; Figure 2 This is a schematic diagram illustrating a specific implementation of a curtain wall hoisting control method based on a self-leveling mechanism according to an embodiment of the present invention. Figure 2 ; Figure 3 To Figure 2 Enlarged structural diagram of section X in the central region; In the diagram, A00 is the hoisting hinge; A10 is the hinge segment; A11 is the insertion hole; A12 is the pin; A13 is the gear; B00 is the fixed rack; and C00 is the load-bearing component. Detailed Implementation

[0013] The present invention will be described below with reference to specific embodiments. It should be noted that the embodiments described below are examples of the present invention and are only used to illustrate the present invention, and are not intended to limit the present invention. Other combinations and various modifications within the scope of the present invention can be made without departing from the spirit or scope of the present invention.

[0014] This embodiment provides a curtain wall hoisting control method based on a self-leveling mechanism, wherein the self-leveling mechanism includes a vertical leveling mechanism and a horizontal leveling mechanism. Figure 1 and Figure 2 This is a schematic diagram illustrating a specific implementation of a curtain wall hoisting control method based on a self-leveling mechanism according to an embodiment of the present invention. Figure 1 and Figure 2 As shown, in this embodiment, the curtain wall hoisting control method specifically includes the following steps: Step S1: Provide a lifting hinge A00, with adjacent hinge segments A10 on the lifting hinge A00 being rotatably connected, and a vertical locking mechanism is provided on each hinge segment A10 on the lifting hinge A00. In this embodiment, adjacent hinge segments A10 on the hoisting hinge A00 are rotatably connected by a revolute joint, meaning that adjacent hinge segments A10 can rotate relative to each other. A vertical locking mechanism is provided on all hinge segments A10. The vertical locking mechanism is used to lock adjacent hinge segments A10 so that they can no longer rotate relative to each other. Therefore, when hoisting the hoisting hinge A00, in order to improve its vertical stability and avoid relative rotation between hinge segments A10 in the vertical direction due to external forces, the vertical locking mechanism can be used to lock adjacent hinge segments A10 sequentially after the hoisting hinge A00 enters the vertical lowering posture, thereby forming a rigid hinge structure in the vertical direction and improving stability. Step S2: Lower the loading end of the hoisting hinge A00 to the loading area. During the lowering process, the vertical leveling mechanism drives the vertical locking mechanism in sequence to lock the adjacent hinge segments A10 on the hoisting hinge A00, forming a rigid hinge structure along the vertical direction. It should be noted that when locking adjacent hinge segments A10 on the lifting hinge A00 using the vertical leveling mechanism, the lifting hinge A00 needs to be in a vertically lowered position, as shown in the reference. Figure 1 and Figure 2 Specifically, this can be achieved through several sets of guide drive rollers; Step S3: Provide a support component C00 to load the curtain wall in the loading area, and rotatably install the support component C00 on the loading end of the hoisting hinge A00, and set a resistance adjustment mechanism and a rotation drive mechanism at the rotation connection between the support component C00 and the loading end of the hoisting hinge A00. Specifically, after the loading end of the hoisting hinge A00 is lowered into the loading area, the curtain wall is loaded through a bearing component C00, and the bearing component C00 is rotatably installed on the loading end of the hoisting hinge A00. The purpose of setting a resistance adjustment mechanism at the rotatable connection between the bearing component C00 and the loading end of the hoisting hinge A00 is to adjust the rotational resistance at the rotatable connection. It is necessary to avoid the rotational resistance being too small, which would cause the bearing component C00 and the curtain wall on it to easily deflect when subjected to external forces. At the same time, it is also necessary to avoid the rotational resistance being too large, which would cause a large deflection force to be transmitted to the hoisting hinge, resulting in a large horizontal deflection of the hoisting hinge or even structural damage to the hoisting hinge. The rotation drive mechanism is used to compensate for the deflection in the opposite direction after the bearing component C00 deflects horizontally relative to the loading end of the hoisting hinge A00. Step S4: Lift the hoisting hinge A00 to lift the curtain wall to the work area. During the lifting process, the horizontal leveling mechanism obtains the remaining length of the hoisting hinge A00 in real time and controls the resistance adjustment mechanism to adjust the rotational resistance between the load-bearing component C00 and the loading end of the hoisting hinge A00 in real time according to the remaining length. The rotational resistance increases as the remaining length decreases. It should be noted that the longer the lifting hinge A00 is lowered, the more obvious the cantilever effect of the lifting hinge A00 becomes, and the lower its horizontal stiffness becomes. At this time, if the rotation resistance is set too high, the horizontal deflection force, such as wind load, will be directly transmitted to the lifting hinge A00, causing a large horizontal deflection or even damage. Therefore, the longer the lifting hinge A00 is lowered, the more necessary it is to set a smaller rotation resistance so that the load-bearing structure C00 can overcome the rotation resistance and rotate to achieve the purpose of unloading the force. Step S5: When the load-bearing component C00 deflects horizontally, the horizontal leveling mechanism controls the rotation drive mechanism to perform step-by-step reverse compensation for the horizontal deflection. Specifically, when the horizontal deflection force on the bearing component C00 is greater than the rotational resistance between the bearing component C00 and the loading end of the hoisting hinge A00, the bearing structure C00 immediately deflects to actively unload the force. At the same time, after deflection, the rotation drive mechanism adjusts in the opposite direction to compensate for the horizontal deflection of the bearing structure C00 to avoid excessive horizontal deflection during hoisting. The reverse adjustment of the rotation drive mechanism does not respond immediately to the horizontal deflection of the bearing structure C00, but rather through a step-by-step reverse compensation adjustment method. By acquiring the horizontal deflection angle of the bearing structure C00, reverse compensation begins after it reaches a preset step angle. That is, reverse compensation is achieved by rotating in the opposite direction by one step angle. If the reverse adjustment of the rotation drive mechanism responds immediately to the horizontal deflection of the bearing structure C00, it will not only make unnecessary adjustments to any controllable fluctuations during hoisting, resulting in wasted energy, but it will also cause the instantaneous resultant force of the driving force brought by the rotation drive mechanism during reverse adjustment and the external force on the bearing structure C00 to be too large, causing damage to the structure. Step S6: After the curtain wall installation is completed in the work area, continue to lift to retract the hoisting hinge A00. During the lifting process, the vertical leveling mechanism drives the vertical locking mechanism in sequence to release the lock between adjacent hinge segments A10 on the hoisting hinge A00, so that the adjacent hinge segments A10 can be rotated again. When lifting the hoisting hinge A00 to raise the curtain wall to the work area, the vertical leveling mechanism has already released the lock between some adjacent hinge segments A10 on the hoisting hinge A00 that is being lifted upward by the vertical leveling mechanism.

[0015] Specifically, Figure 3 To Figure 2 An enlarged structural diagram of the X section in the middle region, as shown below. Figure 3 As shown, in this embodiment, the vertical locking mechanism includes at least one insertion hole A11 opened vertically on the hinge segment A10, at least one pin A12 installed inside the hinge segment A10 and movable vertically up and down, and at least one gear A13 installed on the side of the hinge segment A10 for driving the pin A12 to move up and down. Simultaneously, the vertical leveling mechanism includes at least one fixed rack B00. When the lifting hinge A00 is lowered, the gears A13 on each hinge segment A10 sequentially pass through the fixed rack B00 and are driven to rotate, thereby causing the pins A12 to move and insert into the insertion holes A11 of adjacent hinge segments A10 for locking. When the lifting hinge A00 is raised, the gears A13 on each hinge segment A10 sequentially pass through the fixed rack B00 in the opposite direction and are driven to rotate in the opposite direction, thereby causing the pins A12 to move in the opposite direction and be pulled out from the insertion holes A11 of adjacent hinge segments A10 to release the lock. This embodiment employs a locking / unlocking control method for the hinge segment A10 on the hoisting hinge A00, which is based on a physical and mechanical structure including a socket A11, a pin A12, a gear A13, and a fixed rack B00. By fixing the rack B00 and utilizing the movement of the hoisting hinge A00 itself to drive the gear A13 and the pin A12, the hinge segment A10 can be automatically locked to form a rigid hinge structure when the hoisting hinge A00 is lowered, thus improving stability, without the need for an additional power source. When retracting, the lock can be automatically released to restore the rotatable state for flexible winding. The structure is simple and highly reliable.

[0016] Specifically, in this embodiment, the resistance adjustment mechanism is a magnetorheological fluid damper or an electromagnetic powder brake. Its specific setting and installation method and process fall within the scope of mature existing technology, that is, it can be achieved by using existing technical means in this embodiment.

[0017] Specifically, in this embodiment, the rotation drive mechanism includes a servo motor and a harmonic reducer, or the rotation drive mechanism includes a closed-loop stepper motor and a planetary reducer, or the rotation drive mechanism includes a torque motor. The specific setting and installation method and installation process are also within the scope of mature existing technology, that is, existing technical means can be used to achieve this in this embodiment.

[0018] Specifically, in this embodiment, the horizontal leveling mechanism includes an angle sensor, a length detection device, and a controller. The angle sensor is used to acquire the horizontal deflection angle of the bearing component C00 relative to the loading end of the hoisting hinge A00 in real time. The angle sensor can be a rotary encoder, a potentiometer-type angle sensor, a Hall effect angle sensor, a magnetoresistive angle sensor, or a capacitive angle sensor. The specific setting and installation method and process of the angle sensor are also within the scope of mature existing technology, that is, it can be achieved by using existing technical means in this embodiment. The length detection device is used to acquire the remaining length of the hoisting hinge A00 in real time. The length detection device can be a meter wheel assembly or a wire displacement sensor. The specific setting and installation method and process of the length detection device are also within the scope of mature existing technology, that is, it can be achieved by using existing technical means in this embodiment. The controller is used to calculate the target rotational resistance in real time based on the remaining length and control the resistance adjustment mechanism to adjust the rotational resistance to the target rotational resistance in real time, and to control the rotation drive mechanism to perform step-by-step reverse compensation for the horizontal deflection based on the horizontal deflection angle. In this embodiment, the controller can also be achieved by using existing technical means.

[0019] Specifically, in this embodiment, in step S4, the control resistance adjustment mechanism adjusts the rotational resistance between the bearing component C00 and the loading end of the hoisting hinge A00 in real time according to the remaining length, which specifically includes: The target rotational resistance is calculated based on the remaining length. The formula for calculating the target rotational resistance is: In the formula, For the target rotational resistance, The initial rotational resistance, For the remaining length, The maximum remaining length, The attenuation coefficient and ; The control resistance adjustment mechanism adjusts the rotational resistance between the load-bearing component C00 and the loading end of the hoisting hinge A00 to the target rotational resistance.

[0020] Specifically, in this embodiment, in step S5, the horizontal leveling mechanism controls the rotation drive mechanism to perform step-by-step reverse compensation for the horizontal deflection when the bearing component C00 undergoes horizontal deflection. This specifically includes: The preset step angle for step-type reverse compensation is: Step angle The range of values ​​is ; The horizontal deflection angle of the load-bearing component C00 relative to the loading end of the hoisting hinge A00 is acquired in real time, and the absolute value of the horizontal deflection angle is calculated. Compare the absolute value of the horizontal deflection angle with the step angle. ,in: The absolute value of the horizontal deflection angle is less than the step angle. At that time, the load-bearing component C00 is in a horizontal and stable state; The absolute value of the horizontal deflection angle is equal to or greater than the step angle. When the load-bearing component C00 is in a horizontally unstable state, the horizontal leveling mechanism controls the rotation drive mechanism to perform step-by-step reverse compensation for the horizontal deflection of the load-bearing component C00, that is, to control the load-bearing component C00 to rotate in the opposite direction of the horizontal deflection by a step angle. The angle.

[0021] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A curtain wall hoisting control method based on a self-leveling mechanism, wherein the self-leveling mechanism includes a vertical leveling mechanism and a horizontal leveling mechanism, characterized in that, Includes the following steps: Step S1: Provide a lifting hinge, wherein adjacent hinge segments on the lifting hinge are rotatably connected, and a vertical locking mechanism is provided on each hinge segment on the lifting hinge; Step S2: Lower the loading end of the hoisting hinge to the loading area. During the lowering process, the vertical leveling mechanism sequentially drives the vertical locking mechanism to lock the adjacent hinge segments on the hoisting hinge, forming a rigid hinge structure along the vertical direction. Step S3: Provide a support component for loading the curtain wall in the loading area, and rotatably install the support component on the loading end of the hoisting hinge, and provide a resistance adjustment mechanism and a rotation drive mechanism at the rotational connection between the support component and the loading end of the hoisting hinge; Step S4: Lift the hoisting hinge to lift the curtain wall to the work area. During the lifting process, the horizontal leveling mechanism obtains the remaining length of the hoisting hinge in real time and controls the resistance adjustment mechanism to adjust the rotational resistance between the load-bearing component and the loading end of the hoisting hinge in real time according to the remaining length. The rotational resistance increases as the remaining length decreases. Step S5: When the bearing component deflects horizontally, the horizontal leveling mechanism controls the rotation drive mechanism to perform step-by-step reverse compensation for the horizontal deflection. Step S6: After completing the curtain wall installation in the work area, continue to lift to retract the hoisting hinge. During the lifting process, the vertical leveling mechanism sequentially drives the vertical locking mechanism to release the locking between adjacent hinge segments on the hoisting hinge, so that the adjacent hinge segments can be rotated again.

2. The curtain wall hoisting control method according to claim 1, characterized in that, The vertical locking mechanism includes at least one hole opened vertically on the hinge segment, at least one pin installed inside the hinge segment and movable vertically up and down, and at least one gear installed on the side of the hinge segment for driving the pin to move up and down.

3. The curtain wall hoisting control method according to claim 2, characterized in that, The vertical leveling mechanism includes at least one fixed rack, wherein: When the hoisting hinge is lowered, the gears on each hinge segment pass through the fixed rack in sequence and are driven to rotate, thereby driving the pin to move and insert into the socket of the adjacent hinge segment for locking. When the hoisting hinge is lifted, the gears on each hinge segment pass through the fixed rack in reverse order and are driven to rotate in the opposite direction, thereby causing the pin to move in the opposite direction and be pulled out from the insertion hole of the adjacent hinge segment to release the lock.

4. The curtain wall hoisting control method according to claim 1, characterized in that, The resistance adjustment mechanism is a magnetorheological fluid damper or an electromagnetic powder brake.

5. The curtain wall hoisting control method according to claim 1, characterized in that, The rotation drive mechanism includes a servo motor and a harmonic reducer.

6. The curtain wall hoisting control method according to claim 1, characterized in that, The rotation drive mechanism includes a closed-loop stepper motor and a planetary reducer.

7. The curtain wall hoisting control method according to claim 1, characterized in that, The rotation drive mechanism includes a torque motor.

8. The curtain wall hoisting control method according to claim 1, characterized in that, The horizontal leveling mechanism includes: An angle sensor is used to obtain the horizontal deflection angle of the bearing component relative to the loading end of the hoisting hinge in real time. The angle sensor is a rotary encoder, a potentiometer-type angle sensor, a Hall effect angle sensor, a magnetoresistive angle sensor, or a capacitive angle sensor. A length detection device is used to obtain the remaining length of the hoisting hinge in real time. The length detection device is a meter wheel assembly or a wire displacement sensor. The controller is used to calculate the target rotational resistance in real time based on the remaining length and control the resistance adjustment mechanism to adjust the rotational resistance to the target rotational resistance in real time, and to control the rotation drive mechanism to perform step-by-step reverse compensation for the horizontal deflection based on the horizontal deflection angle.

9. The curtain wall hoisting control method according to claim 1, characterized in that, In step S4, controlling the resistance adjustment mechanism to adjust the rotational resistance between the bearing component and the loading end of the hoisting hinge in real time according to the remaining length specifically includes: The target rotational resistance is calculated based on the remaining length, and the formula for calculating the target rotational resistance is as follows: In the formula, For the target rotational resistance, The initial rotational resistance, For the remaining length, The maximum remaining length, The attenuation coefficient and ; The resistance adjustment mechanism is controlled to adjust the rotational resistance between the load-bearing component and the loading end of the hoisting hinge to the target rotational resistance.

10. The curtain wall hoisting control method according to claim 1, characterized in that, In step S5, the horizontal leveling mechanism controls the rotation drive mechanism to perform step-by-step reverse compensation for the horizontal deflection when the bearing component deflects horizontally, specifically including: The preset step angle for step-type reverse compensation is: The step angle The range of values ​​is ; The horizontal deflection angle of the bearing component relative to the loading end of the hoisting hinge is acquired in real time, and the absolute value of the horizontal deflection angle is calculated. Compare the absolute value of the horizontal deflection angle with the step angle. ,in: The absolute value of the horizontal deflection angle is less than the step angle. At that time, the supporting component is in a horizontal and stable state; The absolute value of the horizontal deflection angle is equal to or greater than the step angle. When the bearing component is in a horizontally unstable state, the horizontal leveling mechanism controls the rotation drive mechanism to perform step-by-step reverse compensation for the horizontal deflection of the bearing component, that is, to control the bearing component to rotate in the opposite direction of the horizontal deflection by a step angle. The angle.

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