CN-121990458-A - Main and auxiliary hook hoisting system and hoisting method

CN121990458ACN 121990458 ACN121990458 ACN 121990458ACN-121990458-A

Abstract

The invention relates to a main and auxiliary hook hoisting system and a hoisting method. The main and auxiliary hook hoisting system comprises a main boom, a main hoisting mechanism arranged on the main boom, a main steel wire rope, an auxiliary beam structure arranged at the far end of the main boom and two independent auxiliary hoisting mechanisms arranged on the auxiliary beam structure, two auxiliary steel wire ropes, one end of each auxiliary steel wire rope is connected with one auxiliary hoisting mechanism, the other end of each auxiliary steel wire rope is connected with one auxiliary hoisting hook, the main hoisting hook and the two auxiliary hoisting hooks are connected with a hoisting piece together, the main steel wire rope and the two auxiliary steel wire ropes are coplanar, and the control unit is in communication connection with the main hoisting mechanism and the auxiliary hoisting mechanism. Three steel wire ropes form a plane in pairs to form three double-line pendulums so as to limit the swinging of the hanging piece in any direction, and the length of the steel wire ropes is adjusted to adjust the attitude of the hanging piece in the air.

Inventors

ZHANG FEIKAI
QIN JIAN
JIANG MING
LIU CHEN
QIAO LIANG
WANG FEI
HE RONGHAO

Assignees

国网电力工程研究院有限公司

Dates

Publication Date: 20260508
Application Date: 20251208

Claims (10)

1. A primary and secondary hook lifting system, comprising: the main lifting mechanism is arranged on the main suspension arm; one end of the main steel wire rope is connected with the main lifting mechanism, and the other end of the main steel wire rope is connected with the main lifting hook; the auxiliary beam structure is arranged at the far end of the main boom, and two independent auxiliary lifting mechanisms are arranged on the auxiliary beam structure; one end of each auxiliary steel wire rope is connected with one auxiliary lifting mechanism, and the other end of each auxiliary steel wire rope is connected with one auxiliary lifting hook; The main lifting hook and the two auxiliary lifting hooks are connected with the lifting piece together, wherein the main steel wire rope and the two auxiliary steel wire ropes are coplanar in pairs; and the control unit is in communication connection with the main lifting mechanism and the auxiliary lifting mechanism.
2. The primary and secondary hook lifting system of claim 1, wherein the secondary beam structure comprises a first secondary beam and a second secondary beam, and wherein the first secondary beam and the second secondary beam form a Y-shaped structure together with the main boom, and wherein the two sets of secondary lifting mechanisms are respectively arranged on the first secondary beam and the second secondary beam.
3. The primary and secondary hook lifting system of claim 1 wherein the primary lifting mechanism is a luffing trolley movably disposed on the primary boom.
4. The primary and secondary hook lifting system of claim 2, wherein the secondary lifting mechanism is a wire rope pay-off and take-up device for adjusting the length of the secondary wire rope.
5. The primary and secondary hook lifting system of claim 2, further comprising a steering mechanism, wherein the steering mechanism is respectively arranged at the top ends of the first secondary beam and the second secondary beam, one end of each secondary wire rope is connected with one secondary lifting mechanism, and the other end is connected with a secondary hook after being turned by the steering mechanism.
6. The primary and secondary hook lifting system of claim 5 wherein the steering mechanism is a steering sled.
7. The primary and secondary hook lifting system of claim 1 further comprising tension sensors disposed on the primary and secondary lifting mechanisms for measuring actual tension of the wire rope.
8. A hoisting method based on the primary and secondary hook hoisting system as claimed in any one of claims 1 to 7, characterized by comprising the steps of: three connection points are arranged on the outer side of the hanging piece, and the hanging piece is connected together by utilizing the main hanging hook and the two auxiliary hanging hooks to form a three-line pendulum model; In the hoisting and transporting process, the control unit is used for controlling the main hoisting mechanism and the auxiliary hoisting mechanism to maintain constant tension of the main steel wire rope and the auxiliary steel wire rope so as to inhibit the swing of the hoisting piece in any direction; in the posture adjustment process, the control unit is used for controlling the main lifting mechanism and the auxiliary lifting mechanism to adjust the space position of the connecting point on the hanging piece, so as to adjust the posture of the hanging piece in space.
9. The hoisting method of claim 8, wherein adjusting the spatial position of the connection point on the hoisting member comprises: Determining a target posture to be reached by the hanging piece according to the hanging task requirement; Based on the constructed coordinate system, acquiring the position coordinates of each connecting point on the current hanging piece, the position of the gravity center of the hanging piece, the position coordinates of the hanging point at the upper end of each steel wire rope, and the length and the tension of each steel wire rope; and constructing a system mathematical model, inputting the target gesture into the system mathematical model, and solving to obtain control parameters required by realizing the target gesture.
10. The hoisting method as claimed in claim 9, wherein the mathematical model of the system comprises a set of simultaneous geometric constraint equations, a set of force balance equations and a set of moment balance equations; the control parameters comprise target lengths of the steel wire ropes and/or target positions of hanging points at the upper ends of the steel wire ropes; The expression of the set of geometric constraint equations is as follows: Wherein suspension points above the main wire rope and the two auxiliary wire ropes are A, B, C points respectively, connection points between the lower end and the suspension piece are A ', B ' and C ' points respectively, the gravity center of the suspension piece is G, x A ,y A ,z A represents A point coordinates, x B ,y B ,z B represents B point coordinates, x C ,y C ,z C represents C point coordinates, x A' ,y A' ,z A' represents A ' point coordinates, x B' ,y B' ,z B' represents B ' point coordinates, x C' ,y C' ,z C' represents C ' point coordinates, x G ,y G ,z G represents gravity center G point coordinates of the suspension piece, l AA' represents the length of the wire rope between A point and A ', l BB' represents the length of the wire rope between B point and B ', l CC' represents the length of the wire rope between C point and C ', l A'B' represents the length of the wire rope between A ' point and B ' point, l A'C' represents the length of the wire rope between B ' point and C ' point, l B'C' represents the length of the wire rope between A ' point and C ' point, l A'G represents the length of the wire rope between A ' point and C ' point, l 3742 represents the length of the wire rope between B ' point and C ' point; The expression of the force balance equation set is as follows: Wherein T AA' represents the wire rope tension from point A to point A ', T BB' represents the wire rope tension from point B to point B ', and T CC' represents the wire rope tension from point C to point C '; the expression of the moment balance equation set is as follows: in the formula, Representing the moment arm vector from the center of gravity G to point a', Representing the moment arm vector from the center of gravity G to point B', Representing the moment arm vector from the center of gravity G to point C, Representing the force vector from point a to point a', Representing the force vector from point B to point B', Representing the force vector from point C to point C'.

Description

Main and auxiliary hook hoisting system and hoisting method Technical Field The invention belongs to the technical field of hoisting, and particularly relates to a main and auxiliary hook hoisting system and a hoisting method, in particular to hoisting piece swing inhibition and posture adjustment in the hoisting process of hoisting equipment such as a tower crane, a double-flat-arm floor-type derrick and the like. Background The hoisting is a key link of building construction, wharf transfer, iron tower erection construction and the like, taking tower erection construction as an example, and according to field investigation and statistics, the time for hoisting and positioning the tower material accounts for about 30% of the whole tower erection construction time. With the development and progress of scientific technology, the power grid construction industry is accelerating to change from labor-intensive to technology-intensive. In order to continuously improve the construction capacity of the power grid engineering and the construction technology level, the whole process mechanized construction range of the power transmission line is gradually expanded, companies require to combine the construction characteristics of the line engineering, innovate the development of construction equipment, and require the high degree of automation of the construction equipment, advanced technology, safety and high efficiency. In order to improve the mechanized level of the assembly construction of the transmission line iron tower, a single-acting arm falling-to-ground holding pole, a double-flat-arm falling-to-ground holding pole and the like are developed successively, and the safe level of the assembly construction of the iron tower is effectively improved. When the floor pole is used for carrying out iron tower slice hoisting, 2 to 4 workers need to drag a cable rope bound below the hanging piece on the ground to prevent the hanging piece from swinging and carry out posture adjustment. The manual dragging of the cable rope requires that workers move on the ground in a large range according to lifting, turning and luffing actions of the holding pole, the operation labor intensity is high, the safety risk is high, the tension control of the cable rope is realized by the operators according to experience and physical strength, the tension control precision is low, the swing control effect of the hanging piece on the construction site is poor, the posture adjustment precision is low, meanwhile, 100% of mechanization cannot be realized due to the fact that the double-flat-arm landing holding pole lifting operation is caused by manually controlling the cable rope, and the automation and the intelligent transformation are severely restricted. Disclosure of Invention In order to solve the problems of poor swing control precision, difficult gesture adjustment, low automation degree and high safety risk caused by manually dragging a cable wind rope in the traditional lifting operation, the invention provides a main and auxiliary hook lifting method and a system for lifting part swing inhibition and gesture adjustment according to a three-line swing principle, which realize automatic control of lifting part swing inhibition and gesture adjustment, provide technical support for lifting links of building construction, dock transfer, iron tower assembly construction and the like, improve the lifting part swing inhibition capability and gesture adjustment precision, and improve engineering construction quality and safety. The invention aims at realizing the following technical scheme: a primary and secondary hook lifting system comprising: the main lifting mechanism is arranged on the main suspension arm; one end of the main steel wire rope is connected with the main lifting mechanism, and the other end of the main steel wire rope is connected with the main lifting hook; the auxiliary beam structure is arranged at the far end of the main boom, and two independent auxiliary lifting mechanisms are arranged on the auxiliary beam structure; one end of each auxiliary steel wire rope is connected with one auxiliary lifting mechanism, and the other end of each auxiliary steel wire rope is connected with one auxiliary lifting hook; The main lifting hook and the two auxiliary lifting hooks are connected with the lifting piece together, wherein the main steel wire rope and the two auxiliary steel wire ropes are coplanar in pairs; and the control unit is in communication connection with the main lifting mechanism and the auxiliary lifting mechanism. Further, the auxiliary beam structure comprises a first auxiliary beam and a second auxiliary beam, a Y-shaped structure is formed by the auxiliary beam structure and the main suspension arm, and two sets of auxiliary lifting mechanisms are respectively arranged on the first auxiliary beam and the second auxiliary beam. Further, the main hoisting mechanism is a luffing trolley movably arranged on t