Digital control method for turning over and hoisting super-long and super-heavy component
By coordinating the control of lifting machinery and horizontal moving devices, combined with computer systems and monitoring devices, the problem of synchronous control during the overturning of ultra-long and ultra-heavy components was solved, achieving precise and safe overturning operations and improving construction efficiency and safety.
Patent Information
- Application Number
- CN202511049223.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-29
- Publication Date
- 2025-11-11
AI Technical Summary
In steel structure construction, during the turning process of ultra-long and ultra-heavy components, it is difficult to achieve precise synchronous control, which leads to the twisting and deformation of the hoisted components, affecting the installation accuracy and the safety of the engineering structure.
The system employs a collaborative control system for the lifting machinery and horizontal movement devices, which operate synchronously through a computer control system. This ensures that the lifting machinery does not bear lateral forces, and the hook position is adjusted in real time using a monitoring device to ensure the accuracy and safety of the turning process.
It enables precise turning of ultra-long and ultra-heavy components, reduces the number of machines used and the scope of operation, improves construction safety and economic efficiency, and ensures the automation and precise control of the turning process.
Smart Images
Figure CN120922755A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of steel structure construction technology, and more specifically to a digital control method for the turning and hoisting of ultra-long and ultra-heavy components. Background Technology
[0002] During steel structure construction, the transformation of components from transportation and assembly to installation requires a critical turning process, which involves rotating the component 90 degrees from a horizontal position to a vertical one. For turning conventional steel structure components, a single hoisting machine (such as a crawler crane) is typically used. The hook pulls the end of the component, and the combined action of lifting and swinging the boom causes the component to rotate around its ground contact point. During this process, the lateral force generated by the swinging boom is entirely resisted by the lateral stiffness of the crane's boom. Engineering practice shows that when the component is too long or heavy, single-machine operation can cause the lateral force on the boom to exceed the safety threshold, making single-machine turning operations highly risky.
[0003] In current engineering projects, extra-long and extra-heavy components are typically lifted using two machines in tandem. However, while this method effectively improves construction efficiency in many cases, it still reveals several technical challenges that urgently need to be addressed in practical application. The most prominent issue lies in the significant deficiency in synchronization control. Specifically, the difficulty in precisely controlling the synchronization of the two machines during the lifting process often leads to varying degrees of twisting and deformation of the lifted components in mid-air. This twisting and deformation not only affects the installation accuracy of the components but may also pose a potential threat to the safety and stability of the entire engineering structure, thus requiring urgent improvement. Summary of the Invention
[0004] This invention provides a digital control method for the overturning and hoisting of ultra-long and ultra-heavy components. By coordinating the movement of the horizontal device at the bottom of the component and the lifting of the hoisting machinery, the overturning of ultra-long and ultra-heavy components can be achieved while ensuring that the hoisting machinery does not bear lateral forces.
[0005] To achieve the above objectives, the present invention adopts the following technical solution: a digital control method for the turning and hoisting of ultra-long and ultra-heavy components, comprising a lifting machinery device, a horizontal moving device, and a computer control system. The lifting machinery device is equipped with a hook connected to the top of the component to be hoisted, and the horizontal moving device is connected to the bottom of the component to be hoisted. The computer control system can communicate with the lifting machinery device and the horizontal moving device through a control program to control their vertical and horizontal movements respectively. The computer control system automatically calculates the coordination relationship between the lifting machinery device and the horizontal moving device based on the initial position information of the component to be hoisted and the type of the horizontal moving device, and synchronously controls the operation of the two to realize the turning process of the component to be hoisted.
[0006] The horizontal moving distance δ of the lifting device and the hook moving distance ψ of the lifting machinery device satisfy the following relationship.
[0007]
[0008] In the formula, L is the length of the component to be hoisted;
[0009] The horizontal moving device moves at a speed v δ The distance v of the lifting machinery hook movement ψ The following relationship must be satisfied.
[0010]
[0011] Furthermore, it also includes a monitoring device. Monitoring points are set on the component to be hoisted. The monitoring device is used to measure the three-dimensional coordinates of the monitoring points and to calculate the spatial position of the hook using the coordinates of the monitoring points. When the hook tilt angle is greater than 3°, the turning process is paused and the hook is adjusted to a vertical position to avoid the boom of the truck crane bearing horizontal force and reduce the risk of the truck crane tipping over. The theoretical coordinate position of the monitoring point is...
[0012]
[0013] Where a and b represent the positions of the monitoring points on the component to be hoisted.
[0014] Furthermore, the horizontal moving device is set as a track jacking device according to the site conditions, and the computer control system controls the jacking step distance and the number of jackings each time.
[0015] Furthermore, the horizontal movement device is configured with motor traction, and the computer control system controls the changes in traction speed.
[0016] Furthermore, the bottom of the component to be hoisted is connected to the horizontal moving device via a support or pin, allowing the component to move along with it.
[0017] A digital control method for the tilting and hoisting of ultra-long and ultra-heavy structural components is provided, and the specific hoisting operation process is as follows:
[0018] S1: Use a lifting device to slightly lift one end of the component to be lifted and connect it to the horizontal moving device so that one end of the component can move with the horizontal moving device.
[0019] S2: Staff input the initial coordinates and length information of the measured components and measurement points into the computer control system;
[0020] S3: Connect the hook of the lifting machinery to the other end of the component. Use a steel wire rope or sling flexible device for connection. After the connection is fixed, slightly lift the hook to put the steel wire rope into a stressed state.
[0021] S4: The staff sets the moving step distance or speed of the horizontal moving device in the computer control system. The control program calculates the moving speed of the hook of the corresponding lifting machinery device according to formula (1) and formula (2) and controls the hook to move synchronously with the horizontal device.
[0022] S5: During the hoisting process, the coordinates of the measuring points on the component are measured at certain intervals, and the position of the hook of the hoisting machinery device is calculated by formula (3). The angle between the hook and the vertical is calculated. When the angle exceeds 3°, it needs to be corrected. When correcting, the movement of the horizontal moving device is paused, and the hook is restored to the vertical state by finely adjusting the height of the hook of the hoisting machinery device.
[0023] S6: When the component rotates to approximately 90 degrees, keep the horizontal moving device stationary, disconnect the component from the horizontal moving device, and steadily and uniformly lift the hook of the hoisting machinery until the bottom of the component detaches, then hoist it to the designated position.
[0024] In summary, this invention achieves the turning of ultra-long and ultra-heavy components by coordinating the movement of the horizontal device at the bottom of the component and the lifting of the hoisting machinery, ensuring that the hoisting machinery does not bear lateral forces. This method enables automatic control of the turning process, eliminating the need for manual adjustments; it monitors the entire turning process by measuring the displacement of a single point on the component; it reduces the number of machines used and their operating range, enabling operation in confined spaces, improving safety during operation, and bringing certain economic benefits; the turning process is precise and controllable, allowing for turning at any angle, and ensuring high operational safety. Attached Figure Description
[0025] Figure 1 This is a schematic diagram of the hoisting process of the present invention;
[0026] Figure 2 This is a simplified geometric diagram of the hoisting mechanism of the present invention;
[0027] Figure 3 This is a schematic diagram showing the location of the monitoring points in this invention. Detailed Implementation
[0028] The following is in conjunction with the appendix Figures 1 to 3 The specific implementation method of the digital control method for the overturning and hoisting of ultra-long and ultra-heavy components of the present invention will be further described in detail.
[0029] like Figure 1 As shown, the hoisting control system includes a hoisting machinery device 101, a horizontal moving device 102, a component to be hoisted 103, a computer control system 104, and a monitoring device 105.
[0030] In this example, the lifting machinery device 101 is a truck crane, which has a hook that can move vertically up and down, and a horizontal moving device 102 that can move horizontally within the working plane. It can be selected to move at a set step distance or move continuously. The component to be lifted is 103. The computer control system 104 can automatically control the lifting machinery device 101 and the horizontal moving device 102. The monitoring device 105 can read the coordinates of the monitoring points on the component to be lifted 103.
[0031] Specifically, the movement of the crane hook can be controlled by the computer control system 104. The hook is hinged to the top of the component 103 to be lifted; the horizontal moving device 102 is hinged to the bottom of the component 103 to be lifted.
[0032] The computer control system 104 can automatically calculate the coordination relationship between the truck crane and the horizontal moving device 102 based on the initial position information of the component 103 to be lifted and the type of the horizontal moving device, and synchronously control the operation of the two to realize the turning process of the component 103 to be lifted; at the same time, it can compare the actual measured coordinates of the monitoring points with the theoretical coordinates to determine the degree of tilt of the hook of the truck crane 101. When the warning value is exceeded, the construction is suspended, and the truck crane 101 or the horizontal moving device 102 is individually controlled.
[0033] The horizontal moving distance δ of the horizontal moving device 102 and the moving distance ψ of the hook of the truck crane 101 satisfy the following relationship:
[0034] In the formula, L is the length of the component 103 to be hoisted.
[0035] The horizontal moving device 102 moves at a speed v. δ The distance v of the hook movement of the truck crane 101 ψ The following relationship must be satisfied:
[0036]
[0037] A digital control method for the tilting and hoisting of ultra-long and ultra-heavy structural components is proposed. This method compares the actual and theoretical coordinates of monitoring points on the hoisted component to determine the verticality of the truck crane hook, thus avoiding horizontal forces on the crane boom and reducing the risk of tipping over. (Theoretical coordinates of monitoring points are also provided.)
[0038]
[0039] Where a and b represent the positions of the monitoring points on the component to be hoisted.
[0040] A digital control method for the tilting and hoisting of ultra-long and ultra-heavy structural components is provided, and the specific hoisting operation process is as follows:
[0041] 1. Use a truck crane 101 to slightly lift one end of the component 103 to be lifted, and connect it to the horizontal moving device 102 for support or pin connection, so that one end of the component can move with the horizontal moving device 102.
[0042] 2. Staff members input the initial coordinates of the components and monitoring points, the length of the components, and other information into the computer control system 104;
[0043] 3. Connect the hook of the truck crane 101 to the other end of the component 103 to be lifted. The connection can be made using a flexible device such as a wire rope or sling. After the connection is fixed, slightly lift the hook to put the wire rope into a stressed state.
[0044] 4. The staff sets the moving step distance or movement speed of the horizontal moving device 102 in the computer control system 104. The control program calculates the movement speed of the hook of the truck crane 101 according to formula (1) and formula (2) and controls the hook to move synchronously with the horizontal device 102.
[0045] 5. During the hoisting process, measure the coordinates of the monitoring points on the component at regular intervals, and calculate the position of the hook of the truck crane 101 using formula (3). Calculate the angle between the hook and the vertical. When the angle exceeds 3°, correction is required. When correcting, pause the movement of the horizontal moving device 102 and restore the hook to a vertical state by finely adjusting the height of the hook of the truck crane 101.
[0046] 6. When the component is rotated to approximately 90 degrees, keep the horizontal moving device 102 fixed, disconnect the component 103 to be lifted from the horizontal moving device 102, and lift the hook of the truck crane 101 at a uniform and stable speed until the bottom of the component is detached. Then, rotate the boom to lift the component 103 to the designated position.
[0047] In this invention, hydraulic lifts or crawler cranes or similar machinery can be used instead of truck cranes.
[0048] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.
Claims
1. A digital control method for the tilting and hoisting of ultra-long and ultra-heavy structural components, characterized in that: The system includes a lifting mechanism, a horizontal moving device, and a computer control system. The lifting mechanism is equipped with a hook connected to the top of the component to be lifted, and the horizontal moving device is connected to the bottom of the component. The computer control system can communicate with the lifting mechanism and the horizontal moving device through a control program to control their vertical and horizontal movements respectively. Based on the initial position information of the component to be lifted and the type of the horizontal moving device, the computer control system automatically calculates the coordination relationship between the lifting mechanism and the horizontal moving device, and synchronously controls their operation to realize the turning process of the component to be lifted. The horizontal moving distance δ of the lifting device and the hook moving distance ψ of the lifting machinery device satisfy the following relationship. In the formula, L is the length of the component to be hoisted; The horizontal moving device moves at a speed v δ The distance v of the lifting machinery hook movement ψ The following relationship must be satisfied.
2. The digital control method for the tilting and hoisting of ultra-long and ultra-heavy components according to claim 1, characterized in that: It also includes a monitoring device. Monitoring points are set on the component to be hoisted. The monitoring device is used to measure the three-dimensional coordinates of the monitoring points and to calculate the spatial position of the hook using the coordinates of the monitoring points. When the hook tilt angle is greater than 3°, the turning process is paused and the hook is adjusted to a vertical position to avoid the boom of the truck crane bearing horizontal force and reduce the risk of the truck crane tipping over. The theoretical coordinate position of the monitoring point is... Where a and b represent the positions of the monitoring points on the component to be hoisted.
3. The digital control method for the tilting and hoisting of ultra-long and ultra-heavy components according to claim 1, characterized in that: The horizontal moving device is set as a track jacking device according to the site conditions, and the computer control system controls the jacking step distance and the number of jackings each time.
4. The digital control method for the tilting and hoisting of ultra-long and ultra-heavy components according to claim 1, characterized in that: The horizontal movement device is set to be driven by a motor, and the traction speed is controlled by a computer control system.
5. The digital control method for the tilting and hoisting of ultra-long and ultra-heavy components according to claim 1, characterized in that: The bottom of the component to be hoisted is connected to the horizontal moving device via a support or pin, and the component can move along with it.
6. The digital control method for the tilting and hoisting of ultra-long and ultra-heavy components according to claim 2, characterized in that, The specific lifting operation procedure is as follows: S1: Use a lifting device to slightly lift one end of the component to be lifted and connect it to the horizontal moving device. This allows one end of the component to move along with the horizontal moving device; S2: Staff input the initial coordinates and length information of the measured components and measurement points into the computer control system; S3: Connect the hook of the lifting machinery to the other end of the component. Use a steel wire rope or sling flexible device for connection. After the connection is fixed, slightly lift the hook to put the steel wire rope into a stressed state. S4: The staff sets the moving step distance or speed of the horizontal moving device in the computer control system. The control program calculates the moving speed of the hook of the corresponding lifting machinery device according to formula (1) and formula (2) and controls the hook to move synchronously with the horizontal device. S5: During the hoisting process, the coordinates of the measuring points on the component are measured at certain intervals, and the position of the hook of the hoisting machinery device is calculated by formula (3). The angle between the hook and the vertical is calculated. When the angle exceeds 3°, it needs to be corrected. When correcting, the movement of the horizontal moving device is paused, and the hook is restored to the vertical state by finely adjusting the height of the hook of the hoisting machinery device. S6: When the component rotates to approximately 90 degrees, keep the horizontal moving device fixed, disconnect the component from the horizontal moving device, and lift the hook of the lifting machinery device at a uniform and stable speed until the bottom of the component is detached and then hoisted to the designated position.