Large equipment hoisting device and method

Abstract

The application discloses a large equipment hoisting device and method, belongs to the technical field of engineering hoisting machinery, and solves the problems of attitude imbalance caused by gravity center deviation and low manual adjustment efficiency. Technical scheme points of the application include: a T-shaped guide rail groove and a slidable main lifting lug are arranged on the top surface of a balance beam, and first to third lifting points are symmetrically arranged at both ends; a hydraulic system is integrated in the beam to drive the main lifting lug to move; a first hoisting assembly is hingedly connected with a first lifting lug of equipment and a second hoisting assembly is connected with a second lifting lug of equipment through a lifting belt and an electric reversing chain; a closed-loop control system monitors load differences of beam ends through longitudinal pressure sensors and monitors load differences of equipment lifting lugs through transverse pressure sensors, and an adaptive adjustment module automatically controls displacement of a hydraulic cylinder or an angle of a reversing chain according to longitudinal and transverse load difference values, so that bidirectional imbalance correction is realized. The application is mainly used for accurate and safe hoisting of large equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering hoisting machinery, and particularly relates to a large equipment hoisting device and method. BACKGROUND

[0002] In the process of hoisting large equipment, the actual position of the center of gravity of the equipment deviates from the theoretically calculated position, often leading to unbalanced hoisting posture. The traditional hoisting device adopts a fixed structure balance beam, and the hoisting point position cannot be dynamically adjusted according to the actual load distribution. The operator needs to adjust the length of the sling or move the crab position repeatedly according to experience, and the adjustment process is time-consuming and has limited accuracy. This inefficiency is due to the lack of existing monitoring means. The pressure sensor is usually installed at an indirect measurement point such as a hook or a steel wire rope, and it is difficult to accurately obtain the real bearing stress at the root of the equipment lifting lug, resulting in a deviation between the feedback data and the actual load state.

[0003] In a space-limited hoisting environment, the control of the safety gap between the bottom surface of the equipment and the surrounding obstacles is challenging. The operator needs to observe the equipment tilt state and the bottom gap distance at the same time, and manual judgment is prone to visual errors, increasing the risk of collision. The existing anti-collision method mainly relies on reducing the lifting speed and manual monitoring, but lacks quantitative analysis capability for the dynamic correlation of the equipment spatial posture and the distance to the obstacle. When the equipment is slightly tilted, the speed of manual identification of the risk and response is slow, and the time window from tilting to contacting the obstacle is short. This problem is related to the independent operation of the posture monitoring system and the distance detection system, and the data of the two systems cannot be effectively coordinated.

[0004] The release of residual stress in the disassembly stage has safety hazards. The traditional operation directly disassembles the shackle connecting piece. If the equipment gravity is not completely transferred to the foundation slab, a significant impact load may be generated at the moment of disassembly, causing equipment displacement or damage to the connecting structure. When trying to alleviate this problem by manually releasing the chain of the chain block, since there is a lack of real-time monitoring of the axial load at the connecting point, the unloading speed and the equipment gravity release rate are difficult to match, and additional dynamic load may still be generated. It is technically difficult to accurately determine the critical point of stress release.

[0005] The balance beam recovery process involves high-altitude work, and the operator often needs to climb to the top of the equipment for manual hooking operation. The success rate of hooking is limited by the positioning accuracy, and when the deviation is large, repeated adjustment is needed. During the load transfer process, the coordination of the main hook and the auxiliary hook depends on manual operation. If the speed control is not proper, the balance beam may appear angle deflection, bringing the risk of overturning. The effective action distance of the existing magnetic attraction device is short, and it needs to be accurately positioned at a close distance to be attracted, which is difficult to meet the demand of fast and safe recovery.

[0006] There are many difficulties in solving the above problems. The response speed of high-precision sensors is slow, which is difficult to meet the time requirements of real-time adjustment in the hoisting process. When the hydraulic system and the electric chain are independently operated, the two-way adjustment is easy to cause system instability. The coupling relationship between the equipment posture, gap distance and movement speed in the narrow space is complex, and there is no universal analysis model. In the high-altitude disassembly scene, the precision and response speed of manual operation are objectively limited. These factors jointly restrict the safety and efficiency improvement of large equipment hoisting. SUMMARY

[0007] The present application provides a large equipment hoisting device and method, aiming to solve the problems of posture imbalance caused by center of gravity deviation in large equipment hoisting, traditional devices cannot monitor the load at the root of the equipment lifting lug in real time and automatically correct the longitudinal and lateral deviation, manual adjustment is low in efficiency and insufficient in precision. Solve the problem of complex emergency operation when the electric chain is powered off, serious friction and wear between the sling and the equipment lifting lug, reduce the service life of the parts. Solve the problem of lack of quantitative correlation between the length of the guide rail groove, the stroke of the hydraulic cylinder and the size of the chain, which is easy to cause structural failure due to space redundancy or interference. Solve the problem of system oscillation or response delay caused by fixed adjustment strategy when the difference between longitudinal and lateral load is close to the threshold. Solve the problem of misjudgment of the direction of center of gravity deviation before hoisting, manual monitoring of the gap is easy to fail when lifting in a limited space, and unreasonable disassembly sequence increases the risk of stress release. Solve the problem of insufficient response speed of manual operation caused by the correlation between the equipment tilt and the distance to the obstacle in the narrow space. Solve the problem of excessive impact load when disassembling the shackle, which is easy to displace or damage the equipment, and lack of grading unloading mechanism. Solve the problem of manual high-altitude hooking of the balance beam for recovery, and the unsynchronized load transfer between the main hook and the auxiliary hook, which leads to the risk of overturning. Solve the problem of imbalance of the balance beam in pitch / roll when transferring load, and the non-linkage between the crane correction and the hydraulic adjustment. Solve the problem of mechanical lag in hydraulic or correction action, which is not compensated in real time, and the change of the distance between the equipment position deviation and the obstacle is not verified by vision.

[0008] In order to achieve the purposes and other advantages according to the present application, a large equipment hoisting device is provided, comprising:

[0009] A balance beam is provided with a T-shaped guide rail groove in the length direction on the top surface, a T-shaped sliding block is slidingly fitted on the T-shaped guide rail groove, and a main lifting lug is arranged on the T-shaped sliding block. The balance beam is symmetrically provided with a first lifting point, a second lifting point and a third lifting point at both ends.

[0010] A hydraulic drive system is integrated in the balance beam, including a hydraulic cylinder and a controller. The cylinder body of the hydraulic cylinder is fixed in the balance beam, and the piston rod end is articulated with the T-shaped sliding block.

[0011] A pair of first hoisting assemblies are arranged at both ends of the balance beam. One end of the first hoisting assembly is articulated with the corresponding first lifting point, and the other end is detachably connected with the first lifting lug on the corresponding equipment.

[0012] A pair of second hoisting assemblies are respectively arranged at both ends of the balance beam, and each includes a sling and an electric chain fall, one end of the sling is connected with the corresponding second lifting point, and the other end is connected with the movable end of the electric chain fall, the fixed end of the electric chain fall is detachably connected with the corresponding third lifting point, and the sling is slidably sleeved on the second lifting lug on the corresponding equipment;

[0013] The gravity closed-loop control system comprises:

[0014] Two longitudinal pressure sensors are arranged below the first lifting points at the left and right ends of the balance beam respectively;

[0015] Two transverse pressure sensors are arranged at the root load surfaces of the second lifting lugs at the left and right ends of the equipment respectively;

[0016] An adaptive adjustment module integrated in the controller is configured to realize the following functions: acquiring the load value P 左1 and P 右1 detected by the longitudinal pressure sensors in real time; acquiring the load value P 左2 and P 右2 detected by the transverse pressure sensors in real time; calculating the longitudinal load difference ΔP 纵 =|P 左1 -P 右1 |; calculating the transverse load difference ΔP 横 =|P 左2 -P 右2 |; when ΔP 纵 >10kN and ΔP 横 ≤5kN, controlling the hydraulic cylinder to extend or retract to make ΔP 纵 ≤3kN; when ΔP 横 >5kN and ΔP 纵 ≤10kN, controlling the electric chain fall to adjust to make ΔP 横 ≤2kN; when ΔP 纵 >10kN and ΔP 横 >5kN, first controlling the hydraulic cylinder to move to make ΔP 纵 ≤3kN, and then controlling the electric chain fall to adjust to make ΔP 横 ≤2kN.

[0017] Preferably, in the large equipment hoisting device, a sliding base is arranged on the T-shaped sliding block, a main lifting lug is arranged at the top of the sliding base, and the sliding base is hinged to the end of the piston rod of the hydraulic cylinder;

[0018] The first hoisting assembly comprises a connecting plate and a pull plate, one end of the connecting plate is hinged to the corresponding first lifting point through a first pin shaft, the other end is hinged to one end of the pull plate through a second pin shaft, and the other end of the pull plate is detachably connected with the first lifting lug on the corresponding equipment;

[0019] One end of the sling is connected with the corresponding second lifting point through the first shackle, and the other end is connected with the movable end of the electric chain with adjustable length through the second shackle;

[0020] The electric chain includes a worm and gear reducer, an output shaft of which is connected with a chain wheel, a servo motor which is directly connected with an input shaft of the reducer, and an encoder which feeds back the rotation angle of the chain wheel in real time; wherein the length L of the T-shaped guide rail slot satisfies L≥maximum stroke of the hydraulic cylinder+2×installation length of the electric chain, and L≥1500mm;

[0021] The transverse pressure sensor is of split structure and is detachably installed on the root plane of the second lifting lug through a magnetic clamp, and the detection probe is vertically contacted with the bearing surface of the second lifting lug;

[0022] The hydraulic driving system further comprises a hydraulic pump station;

[0023] The structure configuration of the adaptive adjustment module is configured to realize the following functions: when ΔP 纵 >10kN and ΔP 横 ≤5kN, the adaptive adjustment module generates a hydraulic cylinder displacement instruction to drive the hydraulic pump station to make the piston rod continuously stretch and retract in one direction until ΔP 纵 ≤3kN; when ΔP 横 >5kN and ΔP 纵 ≤10kN, a chain adjustment instruction is generated, the target rotation angle of the chain wheel is calculated according to the formula θ=0.65°·ΔP 横 , and the servo motor is driven to make the rotation angle error of the chain wheel ≤±0.5° until ΔP 横 ≤2kN; when ΔP 纵 >10kN and ΔP 横 >5kN, first, the hydraulic cylinder displacement instruction is executed to make ΔP 纵 ≤3kN, and then the chain adjustment instruction is executed to make ΔP 横 ≤2kN;

[0024] The manual emergency mechanism of the electric chain comprises: a manual handle interface sleeved on the output shaft of the servo motor; and the self-locking angle of the worm and gear reducer is ≤3°;

[0025] The connection structure of the sling and the second lifting lug of the equipment comprises: a polyurethane wear-resistant layer with a thickness of 2-3mm is lined in the sling collar; and a 0.5mm-thick hard alloy layer with a hardness of HRC55-60 is surfacing-welded on the surface of the second lifting lug of the equipment.

[0026] Preferably, in the large equipment hoisting device, the maximum stroke of the hydraulic cylinder is 700-800mm, and the length L of the T-shaped guide rail slot and the maximum stroke S of the hydraulic cylinder satisfy L=(1.5~1.8)×(S+2×L chain ), wherein L chainThe installation length of the electric chain is L chain The installation length of the electric chain is L chain The installation length of the electric chain is L

[0027] Preferably, in the large equipment hoisting device of the application, the structure of the adaptive adjustment module is further configured to realize the following functions: when 8kN < ΔP 纵 ≤ 10kN and ΔP 横 > 4kN, one of the following operations is performed:

[0028] If ΔP 横 ≤ 5kN, the hydraulic cylinder displacement instruction is generated first, and the chain adjustment instruction is generated after ΔP 纵 ≤ 3kN;

[0029] If ΔP 横 > 5kN, the hydraulic cylinder displacement instruction and the chain adjustment instruction are generated synchronously, and the interlocking logic is executed: when ΔP 纵 ≥ ΔP 横 , the hydraulic cylinder displacement speed takes the upper limit value of 10mm / s, and the sprocket rotation speed takes the lower limit value of 0.5° / s; when ΔP 纵 < ΔP 横 , the hydraulic cylinder displacement speed takes the lower limit value of 5mm / s, and the sprocket rotation speed takes the upper limit value of 0.8° / s; until ΔP 纵 ≤ 3kN and ΔP 横 ≤ 2kN.

[0030] The application further provides a large equipment hoisting method, comprising the following steps:

[0031] S1. Ground pre-assembly of the balance beam: move the main lifting lug back to the center position of the balance beam; connect the fixed end of the electric chain to the third lifting point of the balance beam through the quick-release pin shaft assembly; pre-input the device gravity center position to the controller according to the gravity center coordinates marked on the device drawing;

[0032] S2. Connection of the lifting appliance and the device: hook the main lifting lug into the hook of the overhead traveling crane, and hoist the balance beam to the device directly above; install the first hoisting assembly, and connect the connecting plate to the first lifting points at the left and right ends of the balance beam through the first pin shaft, connect one end of the pull plate to the connecting plate through the second pin shaft, and connect the other end of the pull plate to the first lifting lug of the device through the shackle; install the second hoisting assembly: connect one end of the sling to the second lifting point of the balance beam through the first shackle, connect the other end of the sling to the movable end of the electric chain through the second shackle, and slide the middle part of the sling into the second lifting lug of the device;

[0033] S3. Pre-tightening and gravity center calibration: start the gravity center closed-loop control system, and monitor the longitudinal load difference ΔP 纵and transverse load difference ΔP 横 ; when ΔP 纵 > 10 kN and ΔP 横 ≤ 5 kN, the controller drives the hydraulic cylinder to move the main lifting lug until ΔP 纵 ≤ 3 kN; when ΔP 横 > 5 kN and ΔP 纵 ≤ 10 kN, the controller calculates the sprocket rotation angle of the electric chain hoist according to θ = 0.65 °· ΔP 横 and drives the electric chain hoist to adjust until ΔP 横 ≤ 2 kN; if ΔP 纵 > 10 kN and ΔP 横 > 5 kN, first execute the hydraulic adjustment instruction to make ΔP 纵 ≤ 3 kN, and then execute the chain hoist adjustment instruction to make ΔP 横 ≤ 2 kN; the gravity closed-loop control system updates the ΔP 纵 and ΔP 横 values every 200-500 ms, and the hydraulic cylinder displacement speed is limited to 10-15 mm / s, and the sprocket rotation speed is limited to 0.8-1.2 ° / s;

[0034] S4. Hoisting in a height-limited space: lifting the equipment at a speed of ≤0.5 m / min, maintaining a gap of ≥100 mm between the equipment bottom surface and the obstacle during lifting; when the equipment is lifted to the installation height, moving the trolley to make the equipment axis deviate from the foundation axis by ≤5 mm;

[0035] S5. Just-in-place and disassembly: after the equipment is positioned, disassembling the second shackle, removing the quick-release pin shaft assembly of the fixed end of the electric chain hoist, and disassembling the fixed shackle and the first pin shaft at the first lifting lug of the equipment.

[0036] In step S2, when the lifting belt is sleeved into the second lifting lug of the equipment, the gravity transverse offset direction is calculated according to the pre-input equipment gravity coordinates of the controller, the pre-offset δ is set to 0.15-0.25 times the width of the equipment, and δ ≤0.5 × the length of the T-shaped guide rail groove, and the offset direction is opposite to the transverse offset direction of the equipment gravity.

[0037] Preferably, in the large equipment hoisting method of the present application, real-time posture monitoring and active anti-collision control are added in step S4: inclinometers are installed on the four corners of the top of the equipment to monitor the equipment inclination angle α in real time; laser range finders are installed on the four corners of the bottom surface of the equipment to measure the minimum distance D min from the obstacle in real time.

[0038] When the following conditions are met simultaneously, the anti-collision control is automatically triggered:

[0039] the equipment inclination angle α ≥ 2 ° and D min ≤ 150 mm; or D min≤ 120 mm;

[0040] The anti-collision control comprises: immediately reducing the lifting speed to ≤ 0.2 m / min; calculating the horizontal deviation correction speed of the crown block according to the formula v = k · a · (D - 100), wherein k = 0.05 (m / min) / (°·mm); driving the crown block to move in the direction of reducing the inclination at a moving speed ≤ v, until a < 1° or D > 200 mm, and then restoring the original lifting speed. corr min corr min

[0041] Preferably, in the large equipment hoisting method of the application, a stress release control is added in step S5: a tension sensor is installed at the shackle connection of the first lifting lug of the equipment, the axial load F of the shackle is monitored in real time, the signal output end of the tension sensor is connected to the controller, and a staged unloading is performed during the dismounting process.

[0042] When the second shackle is dismounted, if F > 1.5 kN, the electrically controlled chain is controlled to slowly release the load at a speed of 0.05 m / min until F ≤ 0.8 kN, and then the shackle is dismounted.

[0043] When the fixed shackle at the first lifting lug of the equipment is dismounted, the hydraulic cylinder is driven to retract the piston rod by 5-8 mm, and the T-shaped slider is locked at the same time, so as to generate a reverse pre-tightening force to offset the gravity of the equipment.

[0044] When the tension sensor detects that the fluctuation value of F is ≤ ± 0.3 kN, the fixed shackle is dismounted at a speed of ≤ 0.02 m / min.

[0045] After the dismounting is completed, the controller activates the vibration suppression mode, controls the crown block to make a vertical micro-motion at a frequency of 0.5 Hz and an amplitude of ± 0.5 mm for 10-15 seconds, and eliminates the residual stress of the equipment.

[0046] Preferably, in the large equipment hoisting method of the application, an intelligent balance beam recycling control is added after step S5: a magnetic type quick connector is integrated at the third lifting point at both ends of the balance beam, and an electromagnetic grabbing module is arranged on the auxiliary hook of the crown block; and a one-key recycling protocol is executed.

[0047] A1, after the equipment is positioned, the controller sends a wireless instruction to activate the electromagnetic grabbing module.

[0048] A2, the auxiliary hook of the crown block is translated to be directly above the balance beam at a speed of 0.3 m / s, and the position deviation is ≤ 2 mm through laser positioning calibration.

[0049] A3, the magnetic type quick connector is automatically adsorbed and locked within a distance of 10-15 cm, and the adsorption force is ≥ 8 kN.

[0050] ​​​​A4, synchronous release of the main hook and the auxiliary hook load: the main hook is lowered at a speed of 0.4 m / min; the auxiliary hook is raised at a speed of 0.35 m / min; the weight sensors arranged on the main hook and the auxiliary hook monitor the load transfer rate in real time, when the load ratio of the main hook and the auxiliary hook reaches 1:9, the main hook is completely released;

[0051] A5, the auxiliary hook hoists the balance beam to the recycling frame, and the magnetic joint is automatically demagnetized and released after contacting the safety limiter.

[0052] Preferably, in the large equipment hoisting method of the application, dynamic balance compensation is added during the load transfer process in step A4: a three-axis gyroscope is integrated inside the balance beam to monitor the pitch angle γ and roll angle β of the beam body in real time; when |γ|≥1.0° or |β|≥1.2°, the following synchronous compensation is performed:

[0053] Start the hydraulic drive system, and calculate the lateral compensation amount according to the formula ΔL x =K·β·L b , wherein K=0.15, L b is the length of the balance beam;

[0054] Control the differential extension of the left and right hydraulic cylinders: the left cylinder is displaced by +ΔL x / 2, and the right cylinder is displaced by -ΔL x / 2;

[0055] At the same time, adjust the horizontal deviation correction speed of the overhead crane anti-collision system, so that v corr =V0+Δv, wherein V0 is the original load transfer speed, and Δv=0.02·|γ|m / min until |γ|≤0.1° and |β|≤0.2°, and then the original load transfer speed is restored.

[0056] Preferably, in the large equipment hoisting method of the application, the visual auxiliary positioning system is activated synchronously during dynamic balance compensation: wide-angle industrial cameras are installed at both ends of the balance beam to capture the position deviation of the second lifting lug of the equipment and the second lifting point of the balance beam in real time;

[0057] When the image recognition shows that the second lifting lug is laterally deviated by ≥3 mm, or the laser range finder detects that the distance change rate between the equipment and the obstacle is >5 mm / s during the differential extension of the hydraulic cylinders or the deviation correction of the overhead crane, the system automatically generates a dynamic compensation correction factor;

[0058] The correction factor includes: adding 0.2 times the visual deviation to the hydraulic differential amount; and increasing the deviation correction speed of the overhead crane to 1.3 times the value;

[0059] The compensation continues until the image deviation is ≤0.5 mm and the distance change rate is ≤1 mm / s, and a real-time positioning enhanced view is displayed on the controller interface.

[0060] The application at least has the following beneficial effects:

[0061] I. Real-time feedback of load distribution through longitudinal pressure sensors (under the first lifting point) and transverse pressure sensors (at the root of the device lifting lug), combined with hydraulic cylinder adjustment to adjust longitudinal imbalance (converge to ΔP 纵 ≤3kN), electric chain adjustment to adjust transverse imbalance (converge to ΔP 横 ≤2kN), to achieve full-automatic high-precision attitude correction. Closed-loop control response period ≤500ms, reducing manual adjustment time by more than 90%, avoiding the risk of device overturning caused by center of gravity deviation.

[0062] II. Manual crank interface directly connected to servo motor output shaft, manual mode enabled within 10 seconds after power failure; worm self-locking angle ≤3° to ensure no displacement of the load. The friction coefficient between the polyurethane wear-resistant layer (2-3mm) of the lifting belt and the hard alloy layer (HRC55-60) of the lifting lug is reduced to below 0.25, extending the service life of the lifting belt to 1000 cycles and reducing replacement costs.

[0063] III. Guide rail groove length formula L =(1.5~1.8)×( S +2× L chain ) precisely matches the hydraulic cylinder stroke (700-800mm) and chain installation length (150-250mm), eliminating the risk of interference of the actuator. Safety factor 1.5~1.8 covers dynamic impact conditions, reducing the ineffective length of the guide rail groove by 30% and improving material utilization.

[0064] IV. For critical states (8kN<ΔP 纵 ≤10kN and ΔP 横 >4kN), branch processing according to whether ΔP 横 >5kN: prefer hydraulic adjustment when not exceeding the standard; adjust synchronously when exceeding the standard and dynamically allocate speed based on the ΔP 纵 / ΔP 横 ratio (hydraulic 5-10mm / s, chain wheel 0.5-0.8° / s). Interlocking logic reduces the composite imbalance adjustment time by 40%, avoiding power conflicts that cause system oscillation.

[0065] V. Pre-deviation δ = 0.15~0.25 times the device width actively offsets the center of gravity deviation, reducing the hydraulic cylinder stroke by more than 30%. Improve speed ≤0.5m / min with 100mm gap threshold to ensure safety in restricted spaces. Disassembly sequence: first disassemble the chain, then disassemble the lifting belt, and finally disassemble the rigid connection, reducing the risk of stress mutation by 80%, and pre-inputting the center of gravity coordinates to improve the positioning efficiency of the lifting belt by 50%.

[0066] VI. Double trigger conditions (inclination angle α ≥2° and D min ≤150mm or D min≤120mm) cover 98% collision risk scenarios. Correction formula v corr =0.05 x α x ( D min -100) dynamically associate posture and distance, speed drops to 0.2 m / min, 3 seconds reserved for manual intervention, narrow space collision probability reduced to less than 1%.

[0067] Seven, hierarchical unloading control: load released to ≤0.8 kN (threshold 1.5 kN) before the chain is disassembled; when the shackle is disassembled, the hydraulic cylinder retracts ΔL=0.6√W mm to offset gravity, F fluctuation ≤±0.3 kN, and then disassembled at a low speed. Impact load is reduced to within 1.2 times the static load, and 0.5 Hz vertical micro-motion is used to eliminate foundation bolt assembly stress, with an equipment positioning accuracy of ±0.5 mm.

[0068] Eight, magnetic attraction joint automatically attracted within an action distance of 10-15 cm (≥8 kN), laser positioning deviation ≤2 mm eliminates manual hooking. The speed difference between the main hook and the auxiliary hook (0.4 m / min down, compared to 0.35 m / min up) keeps the steel wire rope taut, and the 1:9 load ratio transfer ensures the stability of the recovery of the balance beam, reducing high-altitude operation time by 95%.

[0069] Nine, three-axis gyroscope (accuracy ±0.05°) real-time monitors pitch angle γ and roll angle β, when |γ|≥1.0° or |β|≥1.2°, the hydraulic differential compensation amount ΔL x =0.15 x β x L b offsets the roll moment, and the correction speed increment Δv=0.02 x |γ| m / min suppresses the pitch. The posture converges to |γ|≤0.1°, |β|≤0.2°, and the risk of overturning tends to zero.

[0070] Ten, the vision system triggers compensation when the image offset is ≥3 mm or the distance change rate is >5 mm / s: the hydraulic pressure is increased by 0.2 times the vision offset, and the correction speed is increased by 1.3 times. The FPGA processing delay is ≤50 ms to ensure real-time performance, and the convergence is ≤0.5 mm and the distance change rate is ≤1 mm / s, with a mechanical lag compensation rate of 100%.

[0071] Other advantages, objects, and features of the present application will be apparent from the following description, and will be appreciated by those skilled in the art. BRIEF DESCRIPTION OF DRAWINGS

[0072] Figure 1 is a right view structural schematic diagram of a large equipment hoisting device in one of the technical solutions of the present application;

[0073] Figure 2It is a main view structural schematic diagram of the large equipment hoisting device in one of the technical solutions of the application;

[0074] Figure 3 It is a right view structural schematic diagram of the large equipment hoisting device and equipment assembly in one of the technical solutions of the application;

[0075] Figure 4 It is a main view structural schematic diagram of the large equipment hoisting device and equipment assembly in one of the technical solutions of the application;

[0076] Among them, 1 is a main lifting lug, 2 is a balance beam, 3 is an electric chain, 4 is a sling, 5 is a second lifting lug, 6 is a first lifting lug, 7 is a pull plate, and 8 is a connecting plate. DETAILED DESCRIPTION

[0077] The application will be further described in detail below with reference to the accompanying drawings, so that those skilled in the art can implement the application according to the description.

[0078] It should be understood that the terms such as “have”, “contain” and “include” used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0079] According to one embodiment of the application, a large equipment hoisting device is provided, the top surface of the balance beam 2 is provided with a T-shaped guide rail groove in the length direction, a T-shaped sliding block is slidingly fitted in the T-shaped guide rail groove, a sliding base is fixed to the top of the T-shaped sliding block, and the main lifting lug 1 is installed on the sliding base. The first lifting point, the second lifting point and the third lifting point are symmetrically arranged at the two ends of the balance beam. The hydraulic drive system is integrated in the balance beam, the hydraulic cylinder body is fixed in the balance beam, the piston rod end is hinged to the sliding base, the hydraulic pump station provides power, and the controller coordinates the action.

[0080] The first hoisting assembly includes the connecting plate 8 and the pull plate 7: one end of the connecting plate is hinged to the first lifting point of the balance beam through a first pin shaft, the other end is hinged to the pull plate through a second pin shaft, and the other end of the pull plate is connected to the first lifting lug 6 of the equipment through a shackle. The second hoisting assembly includes the sling 4 and the electric chain 3: one end of the sling is connected to the second lifting point of the balance beam through a first shackle, the other end is connected to the movable end of the electric chain through a second shackle, the fixed end of the electric chain is connected to the third lifting point, and the middle part of the sling is slidingly sleeved on the second lifting lug 5 of the equipment. The electric chain is provided with a built-in worm gear reducer, a servo motor and an encoder, and the encoder feeds back the rotation angle of the chain wheel in real time.

[0081] The gravity closed-loop control system comprises:

[0082] Two longitudinal pressure sensors are respectively located directly below the first lifting points at the left and right ends of the balance beam, and measure the load value P 左1 and P 右1 ;

[0083] Two lateral pressure sensors, detachable installed on the left and right second lifting lug root bearing surface of the equipment through magnetic clamp, detect the probe vertical contact with the bearing surface, measure the load value P 左2 With P 右2 .

[0084] The adaptive adjustment module in the controller executes the following logic:

[0085] 1. Calculate the longitudinal load difference ΔP 纵 = |P 左1 -P 右1 |, the lateral load difference ΔP 横 = |P 左2 -P 右2 |;

[0086] 2. If ΔP 纵 > 10kN and ΔP 横 ≤ 5kN, drive the hydraulic cylinder to extend or retract the piston rod until ΔP 纵 ≤ 3kN;

[0087] 3. If ΔP 横 > 5kN and ΔP 纵 ≤ 10kN, calculate the target angle of the chain wheel according to θ = 0.65°·ΔP 横 , drive the servo motor to make the angle error ≤ ±0.5° until ΔP 横 ≤ 2kN;

[0088] 4. If ΔP 纵 > 10kN and ΔP 横 > 5kN, first perform hydraulic adjustment to ΔP 纵 ≤ 3kN, then perform chain adjustment to ΔP 横 ≤ 2kN.

[0089] Wherein, the calculation formula of θ is based on: the coefficient 0.65° is determined by the mechanical transmission characteristics of the electric chain, specifically the reduction ratio i = 40:1 of the worm gear reducer, the chain wheel pitch circle diameter d = 120mm, according to the sling displacement formula Δs = (θ / 360°)×πd and the force arm balance equation ΔP 横 × arm length = k·Δs, the linear proportional coefficient of θ and ΔP 横 is derived, which meets the requirement of 3.5mm sling displacement per 1kN load difference; the length L of T-shaped guide rail slot needs to meet: L ≥ hydraulic cylinder maximum stroke + 2 × electric chain installation length (L ≥ 1500mm), to ensure that the main lifting lug sliding range covers the adjustment requirement.

[0090] Tension sensor expansion function: a tension sensor is added at the shackle connection of the first lifting lug 6 of the equipment, and the real-time monitored axial load F signal is transmitted to the controller for subsequent stress release control in the disassembly stage.

[0091] Traditional large equipment hoisting device usually adopts fixed balance beam structure, and the lifting point position is not adjustable. If the center of gravity of the equipment deviates during hoisting, the length of the sling or the position of the overhead traveling crane needs to be adjusted repeatedly by hand, which is low in efficiency and has safety hazards. In the prior art, the pressure sensor is usually installed on the hook or the steel wire rope, and cannot directly monitor the bearing stress at the root of the equipment lifting lug, resulting in deviation of the feedback data from the actual load state. In addition, the hydraulic cylinder and the chain block system operate independently, and lack of cooperative control logic, which is easy to cause system oscillation due to response delay.

[0092] In the embodiment, the stress at the root of the equipment lifting lug is directly detected through the cooperative layout of the longitudinal and transverse pressure sensors, and the error of the traditional indirect measurement is eliminated; the hierarchical control strategy (longitudinal priority, transverse second) of the hydraulic cylinder and the electric chain block avoids the conflict of bidirectional adjustment and improves the system stability; the longitudinal load difference is automatically converged to within 3kN, and the transverse load difference is automatically converged to within 2kN, so that the equipment hoisting posture is balanced; the transverse pressure sensor installed by the magnetic clamp can be quickly disassembled and assembled, and is suitable for different equipment lifting lug structures.

[0093] According to another embodiment of the present application, a large equipment hoisting device is provided, and a manual emergency mechanism of the electric chain block comprises a manual handle interface sleeved on an output shaft of a servo motor. When the power is interrupted, the operator inserts the manual handle into the interface to directly drive the output shaft of the servo motor to rotate. The self-locking angle of the worm gear reducer is designed to be not greater than 3 degrees, so that when the manual operation is stopped, the worm gear mechanism can instantaneously lock the load, and the equipment is prevented from accidentally falling.

[0094] The connection structure of the sling and the second lifting lug of the equipment comprises two improvements:

[0095] 1. The inner lining of the sling collar can be provided with a polyurethane wear-resistant layer with a thickness of 2-3 mm. The material has a Shore hardness (ASTM D2240 standard) of 85A-90A and a friction coefficient of ≤0.25, which reduces the wear rate of the contact surface with the lifting lug.

[0096] 2. The surface of the second lifting lug of the equipment can be provided with a hard alloy layer with a thickness of 0.5 mm, which has a Rockwell hardness of HRC55 to HRC60 and a surface roughness Ra of ≤1.6μm, forming a wear-resistant hardened surface.

[0097] Wherein, the self-locking angle ≤3° is calculated according to the friction angle formula of worm gear μ=tanρ (ρ is the friction angle), μ=0.05, ρ=2.86°, the design takes γ=2.8°, and the worm lead angle γ≤ρ meets the self-locking; the polyurethane layer with a thickness of 2-3 mm is determined by wear test: the wear depth is ≤0.1mm after 500 times of sliding of the sling under a load of 10 tons.

[0098] Traditional electric chain hoist needs to be disassembled as a whole to enable manual mode when power is off or fails, which is time-consuming and high-risk for high-altitude operation. The sling directly rubs against the device lifting lug, which is easy to wear out, especially when lifting heavy equipment, the service life of ordinary nylon sling is less than 200 times. The existing manual emergency mechanism mostly adopts a disengagement handle, which cannot guarantee the reliability of the worm self-locking, and there is a risk of load slipping.

[0099] In the embodiment, the manual crank interface is directly connected to the motor output shaft, realizing emergency switching within 10 seconds without disassembling the chain hoist shell; the self-locking angle ≤3° ensures that the load displacement is not more than 1mm when the manual operation is stopped; the polyurethane wear-resistant layer increases the service life of the sling to more than 1000 cycles; the hard alloy layer reduces the wear rate of the lifting lug to 1 / 5 of the untreated surface.

[0100] According to another embodiment of the application, a large equipment lifting device is provided, the maximum stroke of the hydraulic cylinder is set to be in the range of 700mm to 800mm. The length L of the T-shaped guide rail groove is determined by the following formula: L =(1.5~1.8)×( S +2× L chain ), wherein, S represents the maximum stroke of the hydraulic cylinder (700-800mm); L chain represents the installation length of the electric chain hoist, and the value range is 150mm to 250mm.

[0101] The installation length of the electric chain hoist L chain is defined as: when the electric chain hoist is at the initial length, the straight line distance from the fixed end (connecting the third lifting point of the balance beam) to the movable end (connecting the second shackle of the sling). This length is calibrated when the chain hoist is delivered, and needs to be actually measured and verified during installation.

[0102] wherein the coefficient 1.5-1.8 covers the safety margin: 1.5 times corresponds to the static load working condition, and 1.8 times covers the dynamic impact working condition; 2× L chain ensures that when the hydraulic cylinder is extended or retracted, the distance between the two ends of the chain hoist and the end of the guide rail groove is at least 0.25× L chain gap, to avoid mechanical interference.

[0103] In the traditional lifting device, the stroke of the hydraulic cylinder and the length of the guide rail groove are often designed independently, without considering the installation space requirement of the electric chain hoist. When the hydraulic cylinder is extended to the limit position, if the distance between the movable end and the fixed end of the chain hoist is insufficient, it may cause the sling to twist or the chain hoist shell to collide. The length of the existing guide rail groove is mostly valued by experience, and there is lack of quantitative correlation formula with the hydraulic stroke, which is easy to cause structural redundancy or interference risk.

[0104] In this embodiment, the stroke of the hydraulic cylinder, the size of the chain, and the length of the guide groove are associated by a quantitative formula to eliminate the risk of collision of the moving parts; the length of the guide groove is 150-250 mm L chain The range covers mainstream chain models and is suitable for different tonnage equipment; the length of the guide groove is accurately matched with the demand of the actuator to reduce the dead weight of the balance beam and improve material utilization.

[0105] According to another embodiment of the present application, a large equipment hoisting device is provided, which adaptively adjusts the module to expand the following control logic: when the longitudinal load difference ΔP 纵 is greater than 8 kN but not more than 10 kN, and the transverse load difference ΔP 横 is more than 4 kN, the branch strategy is executed:

[0106] 1. If ΔP 横 is not more than 5 kN, first generate the hydraulic cylinder displacement instruction to drive the piston rod to extend or retract, and after ΔP 纵 converges to within 3 kN, generate the chain adjustment instruction to adjust the chain wheel rotation angle;

[0107] 2. If ΔP 横 is more than 5 kN, generate the hydraulic cylinder displacement instruction and the chain adjustment instruction synchronously, and activate the interlocking logic:

[0108] When the ΔP 纵 value is greater than or equal to ΔP 横 , set the hydraulic cylinder displacement speed to the upper limit value of 10 mm / s, and the chain wheel rotation speed to the lower limit value of 0.5° / s; when the ΔP 纵 value is less than ΔP 横 , set the hydraulic cylinder displacement speed to the lower limit value of 5 mm / s, and the chain wheel rotation speed to the upper limit value of 0.8° / s;

[0109] 3. Continue to adjust until ΔP 纵 is not more than 3 kN and ΔP 横 is not more than 2 kN.

[0110] Among them, the speed threshold values 10 mm / s and 5 mm / s are calculated according to the maximum flow (20 L / min) and the cylinder diameter (80 mm) of the hydraulic cylinder to ensure that the pressure fluctuation is ≤15% of the rated value; the chain wheel speeds 0.5° / s and 0.8° / s correspond to the servo motor speed range (30-48 rpm) to avoid overshoot vibration.

[0111] Traditional lifting devices usually adopt sequential execution or fixed speed adjustment strategy when the longitudinal and lateral load differences are close to the set threshold. For example, when the longitudinal load difference is slightly higher than the threshold and the lateral load difference is significantly over-standard, the principle of longitudinal priority is still adopted, resulting in continuous deterioration of lateral imbalance. The existing control system lacks dynamic speed adjustment mechanism for compound critical state, and the adjustment efficiency is low.

[0112] In this embodiment, fine classification control is realized for critical imbalance state (8kN<ΔP 纵 ≤10kN and ΔP 横 >4kN), and the adjustment time is reduced; the interlocking logic dynamically allocates the actuator speed according to the ratio of ΔP 纵 and ΔP 横 , avoiding power conflict between the hydraulic system and the chain system; the upper and lower speed limits (5-10mm / s for the hydraulic cylinder and 0.5-0.8° / s for the chain wheel) ensure the stability of the system in compound adjustment working condition.

[0113] According to another embodiment of the present application, a large equipment lifting method is provided, comprising the following steps:

[0114] Step S1: ground pre-assembly of balance beam

[0115] Move the main lifting lug 1 to the center position of the balance beam 2 and lock it; connect the fixed end of the electric chain 3 to the third lifting point of the balance beam through the quick release pin shaft assembly; pre-input the center of gravity position data to the controller according to the three-dimensional coordinates of the center of gravity marked on the equipment drawing.

[0116] Step S2: connection of lifting appliance and equipment

[0117] Hook the main lifting hook of the overhead crane into the main lifting lug 1 and hoist the balance beam 2 to the equipment directly above;

[0118] Install the first lifting assembly: connect the first lifting points at the left and right ends of the balance beam to the connecting plate 8 through the first pin shaft, connect one end of the pull plate 7 to the connecting plate 8 through the second pin shaft, and connect the other end of the pull plate 7 to the first lifting lug 6 of the equipment through the shackle;

[0119] Install the second lifting assembly: connect one end of the sling 4 to the second lifting point of the balance beam through the first shackle, and connect the other end to the movable end of the electric chain 3 through the second shackle, and slide the middle part of the sling 4 into the second lifting lug 5 of the equipment;

[0120] Pre-offset setting: calculate the lateral offset direction of the center of gravity according to the pre-input center of gravity coordinates, set the pre-offset amount δ of the sling 4 on the second lifting lug 5 to be 0.15-0.25 times the width of the equipment, and the offset direction is opposite to the lateral offset direction of the center of gravity (for example, if the center of gravity is left biased, the sling is right moved).

[0121] Step S3: pre-tightening and center of gravity calibration

[0122] Start the gravity center closed-loop control system, monitor the longitudinal load difference ΔP in real time 纵 and the lateral load difference ΔP 横 , update period 200-500ms

[0123] When ΔP 纵 >10kN and ΔP 横 ≤5kN, the controller drives the hydraulic cylinder to move the main lifting lug 1 until ΔP 纵 ≤3kN

[0124] When ΔP 横 >5kN and ΔP 纵 ≤10kN, calculate the sprocket rotation angle according to the formula θ=0.65°·ΔP 横 , and drive the electric chain 3 to adjust to ΔP 横 ≤2kN

[0125] When ΔP 纵 >10kN and ΔP 横 >5kN, first adjust to ΔP 纵 ≤3kN by hydraulic pressure, and then adjust to ΔP 横 ≤2kN by chain

[0126] Speed constraint: hydraulic cylinder displacement speed 10-15mm / s, sprocket rotation speed 0.8-1.2° / s

[0127] Step S4: hoisting in a height-restricted space

[0128] Lift the equipment at a speed not exceeding 0.5m / min; keep the minimum gap between the equipment bottom surface and the obstacle ≥100mm in real time; after the equipment is lifted to the installation height, move the trolley to make the equipment axis deviate from the foundation axis ≤5mm.

[0129] Step S5: positioning and disassembly

[0130] After the equipment is positioned, disassemble the second shackle (the connection point of the lifting belt 4 and the chain 3), remove the quick-release pin shaft assembly of the fixed end of the electric chain 3, disassemble the fixed shackle at the first lifting lug 6 of the equipment, and disassemble the first pin shaft (the hinge point of the connecting plate 8 and the balance beam).

[0131] Among them, the pre-offset δ=0.15~0.25 times the width of the equipment, and δ≤0.5×T-shaped guide rail slot length: tested to offset more than 80% of the natural inclination moment of the equipment; lifting speed ≤0.5m / min: ensure that the laser range finder (if installed) has a response time adjustment gap ≥300ms; axis deviation ≤5mm: meet the equipment foundation bolt hole diameter tolerance requirements.

[0132] In the traditional large equipment hoisting method, the installation position of the sling is usually determined by experience, without considering the pre-offset compensation of the equipment center of gravity. When the hoisting height is limited by the space, the operator needs to continuously visually measure the gap between the bottom surface of the equipment and the obstacle, which is easy to cause collision due to visual error. The existing center of gravity calibration relies on multiple trial hoisting adjustments, which is low in efficiency and lacks quantitative standards for the adjustment parameters of the hydraulic cylinder and the chain.

[0133] In the embodiment, the pre-offset amount δ actively compensates for the center of gravity offset, reduces the hydraulic cylinder stroke by about 40% in the calibration stage, avoids collision in narrow space at a lifting speed of 0.5 meters per minute and a gap threshold of 100 millimeters, eliminates adjustment lag at a monitoring period of 200-500 milliseconds matching the response speed of the actuator, and reduces the risk of residual stress release in the disassembly sequence (first disassemble the chain, then disassemble the sling, and then disassemble the rigid connection).

[0134] According to another embodiment of the present application, a large equipment hoisting method is provided, which performs the following extended operations during the lifting process in step S4:

[0135] 1. The sensor arrangement includes: installing an inclination sensor on the top four corners of the equipment to monitor the inclination angle α (unit: degree) of the equipment in real time; and installing a laser range finder on the bottom surface of the equipment to measure the minimum distance D (unit: millimeter) from the obstacle in real time. min

[0136] 2. The anti-collision trigger condition (triggered if any of the following conditions is met): a) the inclination angle α of the equipment is greater than or equal to 2 degrees and D min ≤ 150 millimeters; b) D min ≤ 120 millimeters.

[0137] 3. The anti-collision control action includes: immediately reducing the lifting speed to not more than 0.2 meters per minute; calculating the horizontal correction speed of the headstock (unit: meters per minute) according to the formula v corr = 0.05 × α × ( D min ; driving the headstock to move in the direction of reducing inclination (for example, moving to the right if the inclination is to the left), and the moving speed is not more than v corr ; continuously correcting until α < 1 degree or D min > 200 millimeters, and then restoring the original lifting speed.

[0138] Wherein, the coefficient 0.05 is determined by dynamics simulation: when the mass of the headstock is 10 tons and the mass of the equipment is 50 tons, the coefficient can make the correction acceleration ≤ 0.01g; the threshold value 120mm corresponds to the braking distance of the laser range finder at a speed of 0.2m / min (response delay of the lifting system is 200ms).

[0139] ​Traditional lifting process relies on manual observation of equipment tilt state, which cannot quantize the attitude deviation in real time. When the equipment is lifted in a narrow space, the operator needs to monitor the height and horizontal position at the same time, which is easy to cause the equipment to collide with obstacles due to distraction. The existing anti-collision measures mostly adopt a single speed limit, and no linkage control model of tilt angle and obstacle distance is established.

[0140] In the embodiment, the double-condition triggering mechanism (tilt + distance or pure distance) covers more comprehensive risk scenarios; the correction speed v corr and the gap D min are dynamically associated to avoid over-adjustment or under-adjustment; the lifting speed is reduced to 0.2 m / min to reserve at least 3 seconds of reaction time for manual intervention; the exit condition (α < 1° or D min > 200 mm) ensures that the equipment resumes a safe attitude and continues to work.

[0141] According to another embodiment of the present application, a large equipment lifting method is provided, which adds the following operations in step S5 disassembly process:

[0142] 1. Tension sensor installation: install a tension sensor at the disconnection of the first lifting lug 6 of the equipment, which monitors the disconnection axial load F (unit: kN) in real time and transmits the signal to the controller.

[0143] 2. Graded unloading process: when disassembling the second disconnection, if F > 1.5 kN, control the electric chain 3 to slowly release the load at a speed of 0.05 m / min until F ≤ 0.8 kN, and then disassemble the disconnection;

[0144] When disassembling the fixed disconnection of the first lifting lug 6 of the equipment, a) drive the hydraulic cylinder to retract the piston rod by 5-8 mm; b) lock the T-shaped slider at the same time to generate a reverse pre-tightening force to offset the equipment gravity; c) when the tension sensor detects that the F fluctuation value ≤ ± 0.3 kN, disassemble the fixed disconnection at a speed of ≤ 0.02 m / min;

[0145] 3. Vibration suppression mode: after disassembly, the controller activates vibration suppression: controls the headstock to move vertically at a frequency of 0.5 Hz and an amplitude of ± 0.5 mm for 10-15 s.

[0146] Wherein, the piston rod retraction amount ΔL is calculated according to the equipment weight W (unit: ton) by the formula Δ L = 0.6 × √ W mm. For example, the retraction amount ΔL of a 70-ton equipment is 0.6 × √70 ≈ 5.02 mm (in the range of 5-8 mm). Through finite element analysis, this retraction amount can release the lug stress to a safe threshold (≤ 30% of the material yield strength).

[0147] Traditional equipment lifting and dismounting directly releases the shackle connection, which is easy to cause equipment displacement or structural damage due to sudden load release. Especially when the equipment gravity is not completely transferred to the foundation, the impact load generated at the moment of shackle dismounting can be more than 3 times the original load. The existing method lacks quantitative monitoring and graded release mechanism for residual stress.

[0148] In this embodiment, the graded unloading reduces the dismounting impact load to within 1.2 times the original load; the piston rod retracts 5-8 mm to cooperate with the T-shaped sliding block locking, which offsets more than 90% of the equipment gravity to the shackle; the 0.5Hz vertical micro-motion eliminates the assembly stress of the equipment foundation and anchor bolt; and the threshold value of F fluctuation value ≤±0.3kN ensures that the system is in a static balance state during dismounting.

[0149] According to another embodiment of the present application, a large equipment lifting method is provided, and the hardware configuration is: a magnetic attraction type quick connector is integrated at the third lifting point at both ends of the balance beam; and an electromagnetic grabbing module is additionally installed on the secondary hook of the crown block, which can receive wireless instructions to activate.

[0150] One-key recovery protocol process:

[0151] a) After the equipment is positioned, the controller sends wireless instructions to activate the electromagnetic grabbing module;

[0152] b) The secondary hook of the crown block translates to the upper side of the balance beam at a speed of 0.3m / s, and the position deviation is ensured to be not more than 2mm through laser positioning calibration;

[0153] c) The magnetic attraction type quick connector is automatically adsorbed and locked within a distance of 10cm to 15cm, and the adsorption force is not less than 8kN;

[0154] d) Synchronous release of the main and secondary hook loads: the main hook descends at a speed of 0.4m / min; the secondary hook ascends at a speed of 0.35m / min; the weight sensor integrated in the lifting ring of the main hook and the secondary hook monitors the load in real time, and when the load ratio of the main and secondary hooks reaches 1:9, the main hook is completely released;

[0155] e) The secondary hook hoists the balance beam to the recovery frame, and the magnetic attraction connector automatically demagnetizes and releases after contacting the safety limiter. At the same time of demagnetization of the magnetic attraction connector, the secondary hook ascends at a speed of 0.1m / s for 50mm, so as to ensure that the balance beam is released after being isolated from the recovery frame.

[0156] The weight sensor is integrated in the lifting ring of the main hook and the secondary hook of the crown block, adopts a strain gauge full-bridge circuit, and the measurement error is ≤±0.5%FS. The adsorption force design needs to meet: adsorption force ≥ k·G (G is the actual weight of the balance beam, k=2.0). When G=3.8t, the adsorption force ≥ 2.0×3.8×9.8≈74.5kN, and the adsorption force can be 75kN.

[0157] Traditional balance beam recovery requires operators to climb the equipment to dismantle the lifting gear, which is high-risk and time-consuming due to working at heights. The overhead crane's auxiliary hook lacks a dedicated docking mechanism, and the success rate of manual hooking is less than 70%. The load transfer process relies on experience and judgment, and the balance beam is prone to overturning due to asynchronous unloading of the main and auxiliary hooks.

[0158] In this embodiment, the magnetic connector automatically attaches at a distance of 10-15cm, eliminating the need for manual hooking; the 1:9 load transfer ratio ensures a stable transition of the balance beam's center of gravity to the auxiliary hook; the speed difference design between 0.4m / min and 0.35m / min keeps the wire rope taut; and the safety limiter triggers demagnetization to prevent the balance beam from colliding with the recovery rack.

[0159] According to another embodiment of the present invention, a method for hoisting large equipment is provided, wherein dynamic balance compensation is added during the load transfer process in step d:

[0160] 1. Three-axis gyroscope integration: A three-axis gyroscope is installed inside the balance beam to monitor the pitch angle γ and roll angle β of the beam in real time.

[0161] 2. Imbalance determination condition: When the absolute value of γ is greater than or equal to 1.0°, or the absolute value of β is greater than or equal to 1.2°, the compensation mechanism is triggered.

[0162] 3. Synchronous compensation action:

[0163] a) Hydraulic differential adjustment: according to formula Δ L x =0.15× β × L b Calculate the lateral compensation amount (unit: mm), where L b The length of the balance beam is in millimeters, and 0.15 is the compensation coefficient; it controls the differential extension and retraction of the left and right hydraulic cylinders, with the left hydraulic cylinder extending by Δ. L x / 2, the right hydraulic cylinder shortens by Δ L x / 2.

[0164] b) Enhanced crane correction: This enhances the horizontal correction speed of the crane anti-collision system (composed of tilt sensors and laser rangefinders). v corr Additional increment Δ v =0.02×∣ gamma | (Unit: meters per minute);

[0165] 4. Continue compensation until the absolute value of γ does not exceed 0.1° and the absolute value of β does not exceed 0.2°, then restore the original load transfer speed.

[0166] Wherein, the three-axis gyroscope precision is ±0.05°, the sampling frequency is not less than 100Hz, and the drift error is maintained to be less than or equal to 0.010.01° / h through the internal temperature control module of the balance beam. Before each operation, zero point calibration is required: place the balance beam horizontally on the ground, press and hold the calibration key for 3s to reset the angle reference. The compensation coefficient 0.15 is based on the principle of moment balance: when the roll angle is β, the overturning moment M=G·L β ·sinβ (G is the weight of the balance beam), the restoring moment generated by the hydraulic cylinder thrust difference ΔF needs to satisfy ΔF·L β =M. Combined with the typical parameters of the device (G=4t, F max =100kN), it is determined through iterative calculation that K=0.15 can cover 90% of the working conditions. Through ANSYS transient dynamics simulation, when β=5°, L β =3m, and G=8t: the actual compensation amount ΔL x needed is 38mm, ΔL x calculated according to the formula is 0.15×5×3000=225mm, and the hydraulic cylinder thrust difference ΔF=225mm / 1500mm×100kN=15kN<F max (100kN), which proves that the formula covers the extreme working conditions. When the compensation amount ΔL x ≤0.7×the maximum stroke S of the hydraulic cylinder, hydraulic differential extension is performed; otherwise, the incremental Δv of the crown block correction is preferentially triggered until ΔL x ≤0.7S.

[0167] The traditional load transfer process only monitors the weight change of the main and auxiliary hooks, and does not detect the spatial posture of the balance beam in real time. When the main hook is released too fast or the auxiliary hook is lifted unevenly, the balance beam is easy to produce pitch or roll, and in severe cases, the lifting device collides with the equipment. The existing correction method relies on manual adjustment by the crown block driver, and the response delay is more than 3 seconds.

[0168] In the embodiment, the hydraulic differential compensation (left cylinder + Δ L x / 2, right cylinder - Δ L x / 2) directly offsets the roll moment; the correction speed increment Δv=0.02×|γ|m / min suppresses the pitch trend and avoids the beam body swinging; the convergence thresholds of 0.1° and 0.2° ensure that the posture is stable and the load transfer continues; the sampling frequency of 100Hz matches the response bandwidth (10-15Hz) of the hydraulic system.

[0169] According to another embodiment of the present application, a large equipment hoisting method is provided, which synchronously activates a visual auxiliary positioning system in the dynamic balance compensation process:

[0170] 1. Hardware configuration: Wide-angle industrial camera installed at both ends of the balance beam, focal length range 2.8mm-4mm, field of view angle ≥120°; the camera captures the position deviation image of the second lifting lug 5 of the equipment and the second lifting point of the balance beam in real time.

[0171] 2. Abnormality detection conditions (triggered by any one of the following conditions):

[0172] a) Image recognition shows that the lateral offset of the second lifting lug 5 is ≥3mm;

[0173] b) Laser range finder detects that the distance change rate between the equipment and the obstacle is >5mm / s.

[0174] 3. Correction factor generation:

[0175] Hydraulic differential amount ΔL x Additional compensation: additional amount = 0.2× visual detection offset (unit: mm);

[0176] Increase the crown correction speed to 1.3 times the original value: i.e. v corrnew =1.3×v corr ;

[0177] 4. Continue compensation until the image recognition deviation is ≤0.5mm and the distance change rate is ≤1mm / s;

[0178] 5. The controller interface superimposes a real-time positioning enhanced view, including a second lifting lug 5 contour recognition box and a deviation vector line.

[0179] Wherein, the image processing uses FPGA (Field Programmable Gate Array) acceleration chip (model Xilinx Artix-7) with built-in parallel pipeline architecture, the delay from image acquisition to deviation calculation output is ≤50ms. The FPGA has a built-in parallel pipeline architecture, with a processing period of ≤8ms per frame (under the condition of 30 frames per second), ensuring real-time dynamic compensation. The coefficient 0.2 is determined by 23 collision tests: when the mechanical gap = 0.2±0.05mm, the compensation amount = 0.2×δ vis 98.7% of the interference risk can be avoided; the speed coefficient 1.3 is the braking safety margin, which meets the requirement of Δt response ≤0.1s.

[0180] Traditional dynamic balance compensation relies on a single attitude sensor, which cannot verify the actual position offset of the external equipment lug in real time. When the hydraulic cylinder differential extension or the crown correction process produces mechanical hysteresis, the equipment may accidentally contact the obstacle. The existing system lacks a fusion verification mechanism for visual feedback and internal sensor data.

[0181] In this embodiment, a visual offset threshold of ≥3mm is used to prevent false triggering due to minor vibrations; a 0.2x visual offset addition is used to compensate for mechanical transmission clearance (measured average clearance 0.15-0.25mm); a 1.3x correction speed is used to suppress emergency conditions where the distance change rate is >5mm / s; a ≤50ms processing delay is used to match the hydraulic system response time (40-60ms); and real-time positioning and enhanced view assist the operator in verifying the automatic compensation results.

[0182] Example: Steam turbine rotor hoisting and positioning

[0183] Application scenarios:

[0184] The high-voltage rotor of a 300MW unit in a power plant needs to be replaced. The rotor weighs 82 tons, is 12.3 meters long, and its center of gravity is offset from the axial center by 1.2 meters. There is a pipe layer above the installation location with limited height (the gap is only 350mm), and the tolerance of the bolt holes in the bottom foundation is ±3mm.

[0185] Device implementation:

[0186] 1. Pre-assembly of the balance beam

[0187] A balance beam with a load capacity of 100 tons is selected, with a T-shaped guide rail groove length L=2200mm (hydraulic cylinder stroke S=750mm, electric chain hoist installation length L). chain =200mm, calculated according to L=1.7×(750+2×200)). Move the main lifting lug 1 to the center of the beam and lock it, and connect the fixed end of the electric chain hoist 3 to the third lifting point.

[0188] 2. Installation of lifting equipment

[0189] The crane's main hook hoists the balance beam directly above the rotor;

[0190] First lifting assembly: Connecting plate 8 is hinged to the left / right first lifting point of the balance beam via a pin, and the other end of pull plate 7 is connected to the forged lifting lug 6 (diameter 200mm) at the rotor journal.

[0191] Second lifting assembly: The lifting sling 4 is fitted into the rotor cylinder lifting lug 5. Based on the pre-input center of gravity coordinates (right side of the offset direction), the pre-offset of the lifting sling is set to δ = 0.2 × rotor width = 0.2 × 1.8m = 360mm (leftward offset compensation).

[0192] Lifting method to be performed:

[0193] 1. Pre-tightening and calibration

[0194] Start the center of gravity closed-loop system:

[0195] Longitudinal sensor detects ΔP 纵 =14kN (left end P) 左1 =48 tons, right end P 右1= 34 tons), transverse sensor detects ΔP 横 = 6 kN (right side lifting lug 5 is bearing too high);

[0196] Because ΔP 纵 > 10 kN and ΔP 横 > 5 kN, first drive hydraulic cylinder right to move the main lifting lug 1 to ΔP 纵 = 2.8 kN (time-consuming 40 seconds), then adjust the right side of the chain to make ΔP 横 = 1.9 kN (sprocket rotation θ = 0.65 ° × 6 ≈ 3.9 °).

[0197] 2. Limited space lifting to lift the rotor at a speed of 0.45 m / min:

[0198] The inclination sensor detects that the rotor is tilted forward by α = 1.8 ° (due to the disturbance of the gas flow in the pipeline layer);

[0199] The laser range finder shows that the rear end D min = 130 mm (< 150 mm);

[0200] Trigger the anti-collision control:

[0201] a) The lifting speed is reduced to 0.18 m / min;

[0202] b) Calculate the correction speed v corr = 0.05 × 1.8 × (130-100) = 2.7 m / min;

[0203] c) The crown is moved backward at 2.1 m / min (< v corr ), after 5 seconds α = 0.7 ° and D min = 210 mm, and the original speed is restored.

[0204] 3. Stress relief disassembly

[0205] After the rotor is positioned:

[0206] Disassemble the second shackle of the chain 3: the tension sensor shows F = 1.8 kN > 1.5 kN, release to F = 0.7 kN at a speed of 0.05 m / min, and then disassemble;

[0207] Disassemble the shackle of the shaft neck lug 6:

[0208] a) Hydraulic cylinder piston rod retraction ΔL = 0.6 × √82 ≈ 5.4 mm (equipment weight 82 tons);

[0209] b) Lock the T-shaped slider, and the F fluctuation value is ≤ ± 0.2 kN, and the shackle is disassembled at a speed of 0.01 m / min;

[0210] The crown is vertically micro-moved at a frequency of 0.5 Hz for 12 seconds to eliminate residual stress.

[0211] 4. Balanced beam recovery

[0212] The auxiliary hook electromagnetic grabbing module is activated, the laser positioning deviation is 1.5 mm (<2 mm), and the magnetic attraction joint is adsorbed at a distance of 12 cm (adsorption force 12 kN > 8 kN). The main hook is lowered at 0.4 m / min, the auxiliary hook is raised at 0.35 m / min, and the main hook is separated when the load ratio reaches 1:9. The auxiliary hook transports the beam to the recovery frame, and the limiter triggers demagnetization.

[0213] The number of devices and the scale of processing described herein are used to simplify the description of the present application. Applications, modifications and variations of the present application that are obvious to those of skill in the art are intended to be within the scope of the present application.

[0214] While embodiments of the application have been disclosed in connection with the specified embodiments, it should be understood that it can be adapted in a variety of arrangements, all of which achieve the objects of the application. Other modifications of the application will occur to those skilled in the art upon reading the description of the application, and it is intended to include all such modifications insofar as they come within the scope of the appended claims and their equivalents.

Claims

1. A large equipment hoisting device, characterized by, The utility model relates to a kind of center of gravity closed-loop control system and its installation method, including: Balanced beam, the top surface is equipped with T-shaped guide rail slot along the length direction, T-shaped guide rail slot is slidably fitted with T-shaped slider, T-shaped slider is equipped with main lifting lug, the both ends of balanced beam are symmetrically provided with first lifting point, second lifting point, third lifting point; Hydraulic drive system is integrated in the inside of balanced beam, including hydraulic cylinder and controller, the cylinder body of hydraulic cylinder is fixed to the inside of balanced beam, piston rod end articulates T-shaped slider; A pair of first hoisting assembly is respectively arranged at the both ends of balanced beam, and one end of first hoisting assembly is articulated with its corresponding first lifting point, and the other end is detachably connected with the first lifting lug on the equipment corresponding thereto; A pair of second hoisting assembly is respectively arranged at the both ends of balanced beam, and it includes lifting belt and electric chain, one end of lifting belt is connected with its corresponding second lifting point, and the other end is connected with the movable end of electric chain, the fixed end of electric chain is detachably connected with its corresponding third lifting point, and lifting belt is slidably sleeved on the second lifting lug on the equipment corresponding thereto; Center of gravity closed-loop control system, including: Two longitudinal pressure sensors are respectively arranged below first lifting point at the left and right ends of balanced beam; Two transverse pressure sensors are respectively arranged at the root load surface of second lifting lug at the left and right ends of equipment; An adaptive adjustment module integrated in the controller, which is configured to realize the following functions: acquiring the load value P detected by the longitudinal pressure sensor in real time 左1 With P 右1 ; acquiring the load value P detected by the lateral pressure sensor in real time 左2 With P 右2 ; calculating the longitudinal load difference ΔP 纵 =|P 左1 -P 右1 |; calculating the lateral load difference ΔP 横 =|P 左2 -P 右2 |; when ΔP 纵 >10kN and ΔP 横 ≤5kN, controlling the hydraulic cylinder to extend or retract to ΔP 纵 ≤3kN; when ΔP 横 >5kN and ΔP 纵 ≤10kN, controlling the electric cable chain to adjust to ΔP 横 ≤2kN; when ΔP 纵 >10kN and ΔP 横 >5kN, first controlling the hydraulic cylinder to move to make ΔP 纵 ≤3kN, and then controlling the electric cable chain to adjust to make ΔP 横 ≤2kN.

2. The hoisting device of claim 1, wherein T-shaped slider is equipped with sliding base, and the top of sliding base is provided with main lifting lug, and sliding base is articulated with the end of piston rod of hydraulic cylinder; First hoisting assembly includes connecting plate and pull plate, one end of connecting plate is articulated with its corresponding first lifting point through first pin shaft, and the other end is articulated with one end of pull plate through second pin shaft, and the other end of pull plate is detachably connected with the first lifting lug on the equipment corresponding thereto; One end of lifting belt is connected with its corresponding second lifting point through first shackle, and the other end is connected with the movable end of electric chain with adjustable length through second shackle; Electric chain includes: worm gear reducer, the output shaft of which is connected with sprocket;Servo motor is directly connected with the input shaft of reducer;Encoder, real-time feedback sprocket rotation angle;Wherein, the length L of T-shaped guide rail slot satisfies: L≥hydraulic cylinder maximum stroke+2×electric chain installation length, and L≥1500mm; Transverse pressure sensor is of split structure, and is detachably installed on the root plane of second lifting lug by magnetic clamp, and detection probe is vertically contacted with the load surface of second lifting lug; Hydraulic drive system further includes hydraulic pump station; The adaptive adjustment module is structurally configured to achieve the following function: when ΔP 纵 >10kN and ΔP 横 When the torque is ≤5kN, the adaptive adjustment module generates a hydraulic cylinder displacement command, driving the hydraulic pump station to continuously extend and retract the piston rod in one direction until ΔP is reached. 纵 ≤3kN; when ΔP 横 >5kN and ΔP 纵 When the load is ≤10kN, a chain reversing adjustment command is generated, based on the formula θ=0.65°·ΔP. 横 Calculate the target rotation angle of the sprocket, and drive the servo motor to ensure that the sprocket rotation angle error is ≤ ±0.5° until ΔP. 横 ≤2kN; when ΔP 纵 >10kN and ΔP 横 When the current is >5kN, first execute the hydraulic cylinder displacement command to make ΔP 纵 ≤3kN, then execute the chain reversing adjustment command to make ΔP 横 ≤2kN; The manual emergency mechanism of the electric chain includes: a manual crank interface fitted on the output shaft of the servo motor;The self-locking angle of the worm gear reducer is ≤3°; The connection structure of lifting belt and second lifting lug of equipment includes: the lining thickness of lifting belt sleeve ring is 2-3mm polyurethane wear-resistant layer;The surface of second lifting lug of equipment is built up 0.5mm thick hard alloy layer with hardness HRC55-60.

3. The hoisting device of claim 2, wherein The maximum stroke of the hydraulic cylinder is 700-800mm, and the T-shaped guide rail groove length L and the maximum stroke S of the hydraulic cylinder satisfy: L=(1.5~1.8)×(S+2×L chain ), wherein L chain is the installation length of the electric chain, and the value range of L chain is 150-250mm; the installation length L chain of the electric chain refers to the reference installation distance from the fixed end to the movable end of the electric chain, which is measured when the electric chain is at the initial length.

4. The large equipment hoisting apparatus of claim 2, wherein The structure of the adaptive adjustment module is further configured to implement the following functions: when 8kN < ΔP 纵 ≤ 10kN and ΔP 横 > 4kN, one of the following operations is performed: If ΔP 横 ≤ 5 kN, hydraulic cylinder displacement command is generated first, and after ΔP 纵 ≤ 3 kN, chain adjustment command is generated. If ΔP 横 > 5 kN, the hydraulic cylinder displacement command and the chain adjustment command are generated synchronously, and the interlocking logic is executed: when ΔP 纵 ≥ ΔP 横 , the hydraulic cylinder displacement speed takes the upper limit value of 10 mm / s, and the sprocket rotation speed takes the lower limit value of 0.5° / s; when ΔP 纵 < ΔP 横 , the hydraulic cylinder displacement speed takes the lower limit value of 5 mm / s, and the sprocket rotation speed takes the upper limit value of 0.8° / s; until ΔP 纵 ≤ 3 kN and ΔP 横 ≤ 2 kN.

5. A method of hoisting a large apparatus, characterized by, Including the following steps: S1.Balanced beam ground pre-assembly: main lifting lug is reset and moved to the center position of balanced beam;Electric chain fixed end is connected with balanced beam third lifting point through quick-release pin shaft assembly;According to the gravity center coordinates marked on equipment drawing, the gravity center position of equipment is pre-input to controller; S2. The hoist is connected with the device: the trolley hook is hooked into the main lifting lug, and the balance beam is lifted to the top of the device; the first hoisting assembly is installed, the connecting plate is hinged to the first lifting point at the left and right ends of the balance beam through the first pin shaft, one end of the pull plate is hinged to the connecting plate through the second pin shaft, and the other end of the pull plate is connected with the first lifting lug of the device through the shackle; the second hoisting assembly is installed: one end of the sling is connected with the second lifting point of the balance beam through the first shackle, the other end of the sling is connected with the movable end of the electric reversing chain through the second shackle, and the middle part of the sling is slid into the second lifting lug of the device; S3. Pre-tightening and barycenter calibration: start the barycenter closed-loop control system, real-time monitor longitudinal load difference ΔP 纵 and lateral load difference ΔP 横 ; when ΔP 纵 > 10 kN and ΔP 横 ≤ 5 kN, the controller drives the hydraulic cylinder to move the main lifting lug until ΔP 纵 ≤ 3 kN; when ΔP 横 > 5 kN and ΔP 纵 ≤ 10 kN, the controller calculates the sprocket rotation angle of the electric chain hoist according to θ = 0.65°·ΔP 横 and drives the electric chain hoist to adjust until ΔP 横 ≤ 2 kN; if ΔP 纵 > 10 kN and ΔP 横 > 5 kN, first execute the hydraulic adjustment instruction to make ΔP 纵 ≤ 3 kN, and then execute the chain hoist adjustment instruction to make ΔP 横 ≤ 2 kN; the barycenter closed-loop control system updates the ΔP 纵 and ΔP 横 values every 200-500 ms, and the hydraulic cylinder displacement speed is limited to 10-15 mm / s, and the sprocket rotation speed is limited to 0.8-1.2° / s; S4. Hoisting in a space with limited height: the device is lifted at a speed of ≤0.5m / min, and the gap between the bottom surface of the device and the obstacle is kept ≥100mm during the lifting process; when the device is lifted to the installation height, the trolley is moved to make the axis of the device deviate from the axis of the foundation ≤5mm; S5. Positioning and disassembly: after the device is positioned, the second shackle is disassembled, the quick release pin shaft assembly of the fixed end of the electric reversing chain is released, and the fixed shackle at the first lifting lug of the device and the first pin shaft are disassembled; In step S2, when the sling is sleeved into the second lifting lug of the device, the center of gravity transverse deviation direction is calculated according to the pre-input device center of gravity coordinates of the controller, the pre-deviation δ is set to be 0.15-0.25 times the width of the device, and δ≤0.5×T-shaped guide rail groove length, and the deviation direction is opposite to the transverse deviation direction of the device center of gravity.

6. The method of hoisting a large equipment as claimed in claim 5, wherein, In step S4, real-time attitude monitoring and active anti-collision control are added: tilt sensors are installed on the top corners of the device to monitor the tilt angle a in real time; laser range finders are installed on the bottom corners of the device to measure the minimum distance D from the bottom surface of the device to the obstacle in real time min ; When the following conditions are met at the same time, the anti-collision control is automatically triggered: The device inclination angle a ≥ 2° and D min ≤ 150 mm; or D min ≤ 120 mm; The anti-collision control comprises: immediately reducing the lifting speed to ≤0.2 m / min; calculating the horizontal deviation correction speed of the crown block according to the formula v corr =k·α·(D min -100), wherein k=0.05 (m / min) / (°·mm); driving the crown block to move in the direction of reducing the inclination, and the moving speed is ≤v corr , until α<1° or D min >200 mm, and then restoring the original lifting speed.

7. The method of hoisting a large equipment according to claim 6, wherein, In step S5, the stress relief control is added: a tension sensor is installed at the shackle connection of the first lifting lug of the device to monitor the axial load F of the shackle in real time, and the signal output end of the tension sensor is connected with the controller; during the disassembly process, the graded unloading is performed: When the second shackle is disassembled, if F>1.5kN, the electric reversing chain is controlled to slowly release the load at a speed of 0.05m / min until F≤0.8kN, and then the shackle is disassembled; When the fixed shackle at the first lifting lug of the device is disassembled, the hydraulic cylinder is driven to make the piston rod retract 5-8mm, and at the same time, the T-shaped slider is locked to generate a reverse pre-tightening force to offset the gravity of the device; When the tension sensor detects that the fluctuation value of F is ≤±0.3kN, the fixed shackle is disassembled at a speed of ≤0.02m / min; After the disassembly is completed, the controller activates the vibration suppression mode, controls the trolley to make vertical micro-motion at a frequency of 0.5Hz and an amplitude of ±0.5mm for 10-15 seconds, and eliminates the residual stress of the device.

8. The large equipment hoisting method according to claim 7, characterized by, After step S5, the balance beam intelligent recycling control is added: the magnetic type quick mounting connector is integrated at the third lifting point at both ends of the balance beam, and the trolley auxiliary hook is provided with an electromagnetic grabbing module; the one-key recycling protocol is executed: A1. After the device is positioned, the controller sends a wireless instruction to activate the electromagnetic grabbing module; A2. The trolley auxiliary hook is translated to the top of the balance beam at a speed of 0.3m / s, and the position deviation is ≤2mm through laser positioning calibration; A3. The magnetic type quick mounting connector is automatically adsorbed and locked within a distance of 10-15cm, and the adsorption force is ≥8kN; A4. The loads of the main hook and the auxiliary hook are simultaneously released: the main hook is lowered at a speed of 0.4m / min; the auxiliary hook is raised at a speed of 0.35m / min; the weight sensors arranged on the main hook and the auxiliary hook monitor the load transfer rate in real time, and when the load ratio of the main hook to the auxiliary hook reaches 1:9, the main hook is completely released; A5, the auxiliary hook hoists the balance beam to the recycling frame, and the magnetic joint is automatically demagnetized and released after contacting the safety limiter.

9. The method of hoisting a large equipment according to claim 8, wherein, Dynamic balance compensation is added during the load transfer process in step A4: a three-axis gyroscope is integrated inside the balance beam to monitor the pitch angle γ and roll angle β of the beam body in real time; when |γ|≥1.0° or |β|≥1.2°, the following synchronous compensation is performed: Start the hydraulic drive system, calculate the lateral compensation amount according to the formula ΔL x = K·β·L b , wherein K = 0.15, L b is the length of the balance beam. Control left and right hydraulic cylinder differential extension: left cylinder displacement + AL x / 2, right cylinder displacement - AL x / 2; At the same time, the horizontal correction speed of the crown collision prevention system is adjusted, so that v corr The additional increment Δv = 0.02 · |γ|m / min until |γ|≤0.1° and |β|≤0.2° after the original load transfer speed is restored.

10. The method of hoisting a large equipment as claimed in claim 9, wherein, Synchronous activation of the visual auxiliary positioning system during dynamic balance compensation: wide-angle industrial cameras are installed at both ends of the balance beam to capture the positional deviation of the device's second lifting lug and the balance beam's second lifting point in real time; When image recognition shows that the second lifting lug is horizontally offset by ≥3mm during the differential extension of the hydraulic cylinder or the crane correction process, or the laser range finder detects that the distance between the device and the obstacle changes at a rate of >5mm / s, the system automatically generates a dynamic compensation correction factor; The correction factor includes: adding 0.2 times the visual offset to the hydraulic differential amount; increasing the crane correction speed to 1.3 times its value; The compensation continues until the image deviation is ≤0.5mm and the distance change rate is ≤1mm / s, and the real-time positioning enhanced view is displayed on the controller interface.

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