Intelligent lifting system and lifting method for wind turbine blade webs and spar caps

Abstract

The present invention discloses an intelligent lifting system suitable for the web and spar cap of a wind turbine blade, comprising a lifting beam, a lifting point moving unit, a clamping unit, and a control unit; the lifting beam is arranged along the extension direction of the hanging object; there are multiple lifting point moving units, which are installed on the lifting beam along the extension direction of the lifting beam and can move along the lifting beam, and the multiple lifting point moving units extend downward respectively, and the extension end of each lifting point moving unit is connected to a clamping unit, which is clamped on the hanging object to be hoisted below by the multiple clamping units; the control unit is respectively communicated with the multiple lifting point moving units and the multiple clamping units. The present invention has the advantages of being multifunctional, intelligent, easy to operate, highly efficient, and reliable in performance. It can quantitatively determine the lifting state according to the structure of the hanging object, has a wide range of applicability, and effectively avoids damage to the web, spar cap, or blade shell during the lifting process of the web or spar cap.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine blade production, and in particular to an intelligent lifting system and lifting method suitable for a wind turbine blade web and spar cap. Background Art

[0002] Traditionally, the spar caps of wind turbine blades are hoisted using multiple slings tied to the caps. These slings are then lifted using a lifting beam to achieve the desired lift and transfer. The webs are similarly hoisted using a lifting beam to lift the slings attached to the webs. This traditional lifting and transfer method has the following risks: 1. When the spar cap or web is placed inside the shell, the sling will be difficult to pull out because the spar cap and web will press on it, and the sling will easily damage and contaminate the structural adhesive that has been scraped on the SS surface of the shell; 2. The sling is directly tied to the flange of the web, and the pressure at the flange is relatively large, which can easily cause local delamination damage to the fiberglass reinforced plastic composite material; 3. With the large-scale production of spar caps and webs, the operation time for bundling and adjusting the sling is long and the operation is cumbersome; 4. With the continuous optimization, upgrading and rapid development of blade design theory, material system and process scheme, new spar caps (such as spar caps, auxiliary spar caps) and combined webs (double webs, single webs) have become a development trend. Traditional lifting tools and methods can no longer adapt to the development trend of large-scale blades. Summary of the Invention

[0003] The purpose of the present invention is to overcome the shortcomings of the existing technology and provide an intelligent lifting system and lifting method suitable for the web and spar cap of wind turbine blades, which has the advantages of multi-function, intelligence, easy operation, high efficiency, reliable performance, and wide applicability. It can quantitatively formulate the lifting state according to the structure of the lifting object and effectively avoid damage to the web, spar cap or blade shell during the lifting process of the web or spar cap.

[0004] To achieve the above-mentioned purpose, the technical solution provided by the present invention is as follows: an intelligent lifting system for the web and beam cap of a wind turbine blade, comprising a lifting beam, a lifting point moving unit, a clamping unit and a control unit; the lifting beam is arranged along the extension direction of the lifting object; there are multiple lifting point moving units, which are installed on the lifting beam along the extension direction of the lifting beam and can move along the lifting beam, and the multiple lifting point moving units extend downward respectively, and the extension end of each lifting point moving unit is connected to a clamping unit, which is clamped on the lifting object to be hoisted below by the multiple clamping units; the control unit is respectively connected to the multiple lifting points The mobile unit is communicatively connected to the multiple clamping units. The calculation module of the control unit can calculate the position information of each lifting point on the hanger according to the product parameter density function, external dimensions, preset maximum weight between adjacent lifting points and preset maximum distance between adjacent lifting points of the hanger. By driving the multiple lifting point mobile units to move to the corresponding horizontal positions on the hanging beam according to the calculated lifting point positions, the steel cables of the multiple lifting point mobile units are driven to be adjusted to appropriate lengths, so that the multiple clamping units are respectively clamped at the corresponding lifting point positions of the hanger, thereby realizing intelligent lifting of the hanger.

[0005] Furthermore, the cross section of the suspension beam is an I-shaped structure, and tracks are formed on both sides of the bottom edge of the I-shaped structure.

[0006] Furthermore, the lifting point moving unit includes a pulley group with a braking function, a driving motor equipped with a coding wheel, a winch, a steel cable, a hook and a sensor; the two pulleys of the pulley group with a braking function are respectively installed on the two rails of the hanging beam, and the two pulleys are driven by the driving motor equipped with the coding wheel to move on the rails; the control module of the driving motor is communicated with the control unit, and the control unit controls the pulley group to move to the corresponding position on the rail and locks it according to the lifting point position information and the rotation angle of the coding wheel; the winch is fixedly installed at the lower part of the pulley group and is communicated with the control unit, one end of the steel cable is connected to the winch, and the other end extends downward and is connected to a hook; the hook is used to connect the clamping unit; the sensor is installed on the hook and is communicated with the control unit for monitoring the tension of the steel cable during the lifting process; the control unit controls the pulley group to move to the corresponding position according to the lifting point position information, and then controls the winch to adjust the length of the steel cable according to actual conditions.

[0007] Furthermore, the clamping unit includes a lifting arm, a double-headed screw, a screw nut, a detachable L-shaped clamping claw, a pressure sensor and a clamping drive motor; the lifting arm is a rectangular structure, and a lifting ring is provided on the top thereof for connecting to the hook of the lifting point moving unit; the double-headed screw is installed inside the lifting arm, and screw nuts are respectively installed on both sides thereof; the clamping drive motor is transmission-connected to the double-headed screw, and its control module is communicatively connected to the control unit; there are two detachable L-shaped clamping claws, and each of the tops is formed with a moving block adapted to the shape of the lifting arm, and the two detachable L-shaped clamping claws are respectively installed on both sides of the lifting arm through two moving blocks, and the two moving blocks are respectively connected to the two screw nuts. The two detachable L-shaped clamping claws can be installed in the same direction or in opposite directions according to the structure of the hoisted object. That is, when installed in the same direction, the two detachable L-shaped clamping claws clamp the hoisting point of the hoisted object, and when installed in opposite directions, the two detachable L-shaped clamping claws are respectively hooked on the hoisting points of the hoisted object; each detachable L-shaped clamping claw is provided with a plurality of pressure sensors, and the plurality of pressure sensors are respectively communicated with the control unit for real-time monitoring of the clamping force of the clamping point; the clamping drive motor drives the screw to rotate, and then the two screw nuts drive the two detachable L-shaped clamping claws to move in opposite directions along the screw, and the pressure sensors are used to ensure that each hoisting point is within an appropriate clamping force range during the hoisting process.

[0008] Furthermore, the double-ended screw rod is a trapezoidal double-ended screw rod.

[0009] A method for hoisting a wind turbine blade web and spar cap using an intelligent hoisting system, comprising the following steps:

[0010] 1) The product parameter density function, overall dimensions, maximum weight of the product between the lifting points, and maximum dimensions between the lifting points of the hanging object are input into the calculation module of the control unit. After data processing, the position information of each lifting point on the hanging object is output, that is, the horizontal distance between each lifting point and the zero point of the blade root;

[0011] 2) The top of the lifting beam is connected to a crane and moved by the crane to directly above the load. The control unit controls the pulley assembly of the lifting point moving unit to move to the corresponding position on the track and lock it to prevent slippage based on the lifting point position information calculated in step 1) to prevent slippage. The control unit then drives the steel cables of the multiple lifting point moving units to be adjusted to appropriate lengths.

[0012] 3) The control unit controls the clamping claws of the clamping unit to connect to the lifting point through the clamping drive motor of the clamping unit according to the size information of the hanging object. The clamping drive motor controls the clamping tension, and the pressure sensor of the clamping unit ensures that each clamping point maintains appropriate clamping force to prevent the product from being damaged or falling off.

[0013] 4) During the crane lifting process, the tension of the steel cable is monitored in real time through the sensor on the lifting point moving unit. If the tension of individual steel cables deviates significantly from the expected tension, the control unit controls the winch to release or retract the steel cable in real time to prevent excessive force on individual clamping points, which may damage the product. The control unit also records the force applied to the steel cables in real time during the lifting process.

[0014] 5) When the hoisted object is slowly lowered from one end to the other to the set position, all clamping units are withdrawn in sequence to complete the hoisting.

[0015] Furthermore, in step 1), when the suspended object is a beam cap, the calculation process of the calculation module is as follows:

[0016] Input the linear density function f(x) of the spar cap into the calculation module. Combined with the stiffness of the spar cap, according to the stiffness and weight of the blade root part of the spar cap, the horizontal distance between the first hanging point and the blade root zero point is preset to L1, the upper limit of the horizontal spacing between two adjacent hanging points is set to L0, and the upper limit of the product weight between two adjacent hanging points is set to m0.

[0017] The formula for expressing the product weight between two adjacent lifting points on the beam cap is:

[0018]

[0019] Where m0 represents the upper limit of the product weight between any two adjacent hanging points on the beam cap, L i Indicates the horizontal distance between the i-th hanging point on the spar cap product and the blade root zero point; L i+1 Indicates the horizontal distance between the i+1th hanging point on the spar cap product and the blade root zero point;

[0020] Substitute L1 as the initial value into formula (1) for iteration. During the iteration process, determine the horizontal distance between the i+1th hanging point and the ith hanging point. If the horizontal distance between the two hanging points is greater than or equal to the upper limit of the horizontal distance L0, that is, L i+1 -L i ≥L0, the horizontal distance between two adjacent hanging points is forced to be set to L0, that is, the position of the i+1th hanging point is determined by formula (2).

[0021] L i+1 =L i +L0 formula (2)

[0022] If the horizontal spacing between the two hanging points is less than L0, the iteration continues until the hanging point position exceeds the end of the beam cap product and the calculation is stopped. At this time, the position information of all hanging points on the beam cap is obtained.

[0023] Furthermore, in step 1), when the hanging object is a composite web formed by connecting a "[-]"-shaped web and an "I"-shaped web through hand-laid fiberglass reinforced plastic, the calculation process of the calculation module is as follows:

[0024] Input the linear density function f1(x) of the “[-]” type web and the linear density function f2(x) of the “I” type web into the calculation module respectively to determine the hand lay-up FRP connection range l on the combined web. a ~l b , where l a It represents the horizontal distance between the bonding starting point on the composite web and the blade root zero point, l b It represents the horizontal distance between the bonding end point on the composite web and the blade root zero point, l a ~l b The area between them is the connection area, and no hanging points need to be set. The area between the bonding start point on the combined web and the starting point of the "[-]" type web is the hanging point setting area on the "[-]" type web, and the area between the bonding end point on the combined web and the end point of the "I" type web is the hanging point setting area on the "I" type web. Based on the stiffness of the web, the upper limit of the horizontal distance between two adjacent hanging points on the entire combined web is set to l0, the upper limit of the product weight between two adjacent hanging points on the "[-]" type web is m1, and the upper limit of the product weight between two adjacent hanging points on the "I" type web is m2.

[0025] According to the calculation formula (3) for the total number of hanging points N on the “[-]” type web, the total number of hanging points on the “[-]” type web is obtained.

[0026]

[0027] Where m1 represents the upper limit of the product weight between any two adjacent lifting points on the “[-]” type web, l a Indicates the horizontal distance between the bonding starting point on the combined web and the blade root zero point. The area between this position and the starting point of the "[-]" type web is the hanging point setting area on the "[-]" type web;

[0028] The formula for expressing the weight between two adjacent lifting points on the “[-]” type web is:

[0029]

[0030] Where m1 represents the upper limit of the product weight between any two adjacent lifting points on the “[-]” type web, l i Indicates the horizontal distance between the i-th hanging point on the “[-]” type web product and the blade root zero point; l i+1 Indicates the horizontal distance between the i+1th hanging point on the “[-]” type web product and the blade root zero point;

[0031] Substitute i=0 into formula (4), i.e., the starting point of the “[-]” type web, and calculate the horizontal distance l1 between the first hanging point on the “[-]” type web and the blade root zero point; substitute the calculated l1 into formula (4) again and iterate to calculate the horizontal distances between the remaining N-1 hanging points on the “[-]” type web and the blade root zero point in turn. At this time, the horizontal distances between all hanging points on the “[-]” type web and the blade root zero point are calculated, and the position information of all hanging points on the “[-]” type web is obtained;

[0032] Then set the first hanging point on the "I" shaped web, that is, the N+1th hanging point on the combined web is at the end position of the combined web connection area, that is, the horizontal distance l between the N+1th hanging point on the combined web and the blade root zero point N+1 Equal to l b ,

[0033] The formula for expressing the weight between any two adjacent lifting points on an “I” type web is:

[0034]

[0035] Where m2 represents the upper limit of product weight between any two adjacent lifting points on the “I” web; l i Indicates the i-th hanging point on the “I” type web, that is, the horizontal distance between the N+i hanging points on the combined web and the blade root zero point; l i+1 It represents the i+1th hanging point on the “I” type web, that is, the horizontal distance between the N+i+1 hanging point on the combined web and the blade root zero point;

[0036] Will l N+1 Substitute it as the initial value into formula (6) for iteration. During the iteration process, the horizontal spacing between the i+1th hanging point on the “I”-shaped web and the i-th hanging point on the “I”-shaped web is determined. If the horizontal spacing between the two hanging points is greater than or equal to the upper limit of the horizontal distance l0, that is, l i+1 -l i When ≥l0, the horizontal spacing between two adjacent hanging points is forced to be set to l0, that is, the position of the i+1th hanging point on the “I” type web is determined by formula (7).

[0037] l i+1 =l i +l0 formula (7)

[0038] If the horizontal spacing between two hanging points is less than l0, the iteration continues until the hanging point position exceeds the end of the "I" type web product, and the calculation is stopped. At this time, the position information of all hanging points on the combined web is obtained.

[0039] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0040] 1. The intelligent lifting system and lifting method of the present invention have the advantages of multi-function and intelligence. They can quantitatively formulate the lifting state according to the structure of the lifting object. They are not only suitable for existing conventional spar caps and webs of blades, but also adapt to the lifting of large-scale and unconventional spar caps and webs designed and produced in the future, and have wide applicability.

[0041] 2. The intelligent lifting system and lifting method of the present invention have the advantages of high efficiency and easy operation. The control unit drives the lifting point moving unit and the clamping unit to intelligently and quickly allocate each lifting point. The control unit controls the clamping force of the clamping unit to prevent individual clamping points from being subjected to excessive force, which may cause accidental damage to the product. The system effectively avoids damage to the web or beam cap during the lifting process, and has reliable performance. At the same time, the control unit monitors the steel cable tension of each lifting point in real time during the lifting process to prevent accidents. The control unit can also record the force conditions of the steel cables during the lifting process in real time. By analyzing and organizing these data to form a standard database, strong support is provided for the next lifting. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the overall structure of the intelligent lifting system of the present invention.

[0043] Figure 2 This is a schematic diagram of lifting a composite web using the intelligent lifting system of the present invention.

[0044] Figure 3 It is a structural schematic diagram of the lifting point moving unit of the present invention.

[0045] Figure 4 It is a schematic diagram of hoisting the beam cap using the clamping unit of the present invention.

[0046] Figure 5 It is a schematic diagram of hoisting an “I”-shaped web plate using the clamping unit of the present invention.

[0047] Figure 6 It is a schematic diagram of hoisting a “[-]”-shaped web using the clamping unit of the present invention.

[0048] Figure 7 This is a lifting flow chart of the intelligent lifting system of the present invention. DETAILED DESCRIPTION

[0049] The present invention will be further described below with reference to specific embodiments.

[0050] like Figures 1 to 2As shown, the intelligent lifting system for the webs and beam caps of wind turbine blades described in this embodiment, the beam caps include conventional beam caps or unconventional beam caps, and the webs include "[-]"-shaped webs, "I"-shaped webs or combined webs of the two; the intelligent lifting system includes a hanging beam 1, a hanging point moving unit 2, a clamping unit 3 and a control unit (not shown in the figure); the cross section of the hanging beam 1 is an I-shaped structure, and rails are formed on both sides of the bottom edge of the I-shaped structure for cooperating with the two pulleys of the hanging point moving unit 2, and the hanging beam 1 is arranged along the extension direction of the hoisted object; there are multiple hanging point moving units 2, which are installed on the hanging beam 1 along the extension direction of the hanging beam 1 and can move along the hanging beam 1, and the multiple hanging point moving units 2 extend downward respectively, and each The extended ends of the lifting point moving units 2 are connected to the clamping units 3, and the multiple clamping units 3 clamp the objects to be lifted below; the control unit is communicated with the multiple lifting point moving units 2 and the multiple clamping units 3 respectively, and the calculation module of the control unit can calculate the position information of each lifting point on the lifting object according to the product parameter density function, external dimensions, preset maximum weight between adjacent lifting points and preset maximum distance between adjacent lifting points of the lifting object, and drive the multiple lifting point moving units 2 to move to the corresponding horizontal positions on the lifting beam 1 according to the calculated lifting point positions, and then drive the steel cables 203 of the multiple lifting point moving units 2 to be adjusted to appropriate lengths, so that the multiple clamping units 3 are respectively clamped at the corresponding lifting point positions of the lifting object, thereby realizing intelligent lifting of the lifting object.

[0051] like Figure 3As shown, the lifting point moving unit 2 includes a pulley group 201 with a braking function, a driving motor equipped with a coding wheel (not shown in the figure), a winch 202, a steel cable 203, a hook (not shown in the figure) and a sensor (not shown in the figure); the two pulleys of the pulley group 201 with a braking function are respectively installed on the two tracks of the hanging beam 1, and the two pulleys are driven by the driving motor equipped with the coding wheel to move on the track; the control module of the driving motor is communicated with the control unit, and the control unit controls the pulley group 201 to move to the corresponding position on the track and locks it according to the lifting point position information and the rotation angle of the coding wheel; the winch 202 is fixedly installed at the lower part of the pulley group 201 and is communicated with the control unit, one end of the steel cable 203 is connected to the winch 202, and the other end thereof extends downward and is connected to a hook; the hook is used to connect the clamp Holding unit 3; the sensor is installed on the hook and is communicated with the control unit to monitor the tension of the steel cable 203 during the lifting process; the control unit controls the pulley group 201 to move to the corresponding position according to the lifting point position information, and then controls the winch 202 to adjust the length of the steel cable 203 according to the actual situation. During the lifting process, the tension of the steel cable 203 is monitored in real time by the sensor. By monitoring the tension of the steel cable 203 at each lifting point in real time, if the tension of individual steel cables 203 deviates greatly from the expected tension, the control unit controls the winch 202 to release or retract the steel cable 203 in real time to prevent individual clamping points from being subjected to excessive force and causing accidental damage to the product. The control unit also has self-learning ability. If the steel cable 203 is adjusted during the lifting process, the control unit will record the adjustment, and after analysis and comparison with historical lifting data, it will automatically optimize during subsequent lifting.

[0052] The clamping unit 3 includes a hoisting arm 301, a double-headed screw 302, a screw nut 303, a detachable L-shaped clamping claw 304, a pressure sensor 306 and a clamping drive motor 307; the hoisting arm 301 is a rectangular parallelepiped structure, and a lifting ring 308 is provided on the top thereof for connecting with the hook of the lifting point moving unit 2; the double-headed screw 302 is a trapezoidal double-headed screw 302, which is installed inside the hoisting arm 301, and screw nuts 303 are respectively installed on both sides thereof, and the thread rotation directions of the two sides of the double-headed trapezoidal screw and the two screw nuts 303 are opposite; the clamping drive motor 307 and the double-headed screw 302 are transmitted Dynamic connection, its control module is communicatively connected with the control unit; there are two detachable L-shaped clamping claws 304, each of which is formed with a moving block 305 adapted to the shape of the lifting arm 301 on the top, and the two detachable L-shaped clamping claws 304 are respectively mounted on both sides of the lifting arm 301 through two moving blocks 305, and the two moving blocks 305 are respectively connected to the two screw nuts 303; in actual application, the two detachable L-shaped clamping claws 304 are selected to be installed in the same direction or in the opposite direction according to the structure of the hanging object. Different products can be hoisted by different combinations of the detachable L-shaped clamping claws 304, such as when installed in the same direction, such as Figure 4 、 Figure 5 As shown, it can be used for the lifting of "I" type webs or beam caps, and is clamped on the lifting point of the hanging object by two detachable L-shaped clamping claws 304. When installed in reverse, as shown in FIG. Figure 6 As shown, it can be used for lifting the "[-]" type web, and the detachable L-shaped clamping claw 304 is hooked on the lifting point of the "[-]" type web; each detachable L-shaped clamping claw 304 is provided with a plurality of pressure sensors 306, and the plurality of pressure sensors 306 are respectively communicated with the control unit for real-time monitoring of the clamping force at the clamping point; the clamping drive motor 307 drives the screw to rotate, and then the two screw nuts 303 drive the two detachable L-shaped clamping claws 304 to move toward or in opposite directions along the screw, and the pressure sensors 306 are used to ensure that each lifting point is within the appropriate clamping force range during the lifting process.

[0053] The method for assembling the intelligent lifting system for the web and spar cap of a wind turbine blade described in this embodiment is as follows: Figure 7 As shown, the following steps are included:

[0054] 1) The product parameter density function, overall dimensions, maximum weight of the product between the lifting points, and maximum dimensions between the lifting points of the hanging object are input into the calculation module of the control unit. After data processing, the position information of each lifting point on the hanging object is output, that is, the horizontal distance between each lifting point and the zero point of the blade root;

[0055] When the suspended object is a beam cap, the calculation process of the calculation module is as follows:

[0056] Input the linear density function f(x) of the spar cap into the calculation module. The stiffness of the spar cap product gradually decreases from the middle to the ends. Based on the stiffness and weight of the spar cap blade root, the horizontal distance between the first hanging point and the blade root zero point is preset to L1, the upper limit of the horizontal spacing between two adjacent hanging points is set to L0, and the upper limit of the product weight between two adjacent hanging points is set to m0.

[0057] The formula for expressing the product weight between two adjacent lifting points on the beam cap is:

[0058]

[0059] Where m0 represents the upper limit of the product weight between any two adjacent hanging points on the beam cap, L i Indicates the horizontal distance between the i-th hanging point on the spar cap product and the blade root zero point; L i+1 Indicates the horizontal distance between the i+1th hanging point on the spar cap product and the blade root zero point;

[0060] Substitute L1 as the initial value into formula (1) for iteration. During the iteration process, determine the horizontal distance between the i+1th hanging point and the ith hanging point. If the horizontal distance between the two hanging points is greater than or equal to the upper limit of the horizontal distance L0, that is, L i+1 -L i ≥L0, the horizontal distance between two adjacent hanging points is forced to be set to L0, that is, the position of the i+1th hanging point is determined by formula (2).

[0061] L i+1 =L i +L0 formula (2)

[0062] If the horizontal spacing between the two hanging points is less than L0, the iteration continues until the hanging point position exceeds the end of the beam cap product and the calculation is stopped. At this time, the position information of all hanging points on the beam cap is obtained.

[0063] When the load is a composite web plate composed of a "[-]"-shaped web plate and an "I"-shaped web plate connected by hand-laid fiberglass reinforced plastic, the calculation process of the calculation module is as follows:

[0064] Input the linear density function f1(x) of the “[-]” type web and the linear density function f2(x) of the “I” type web into the calculation module respectively to determine the hand lay-up FRP connection range l on the combined web. a ~l b , where l a It represents the horizontal distance between the bonding starting point on the composite web and the blade root zero point, l b It represents the horizontal distance between the bonding end point on the composite web and the blade root zero point, l a ~l b The area between them is the connection area, and no hanging points can be set. The area between the bonding start point on the combined web and the starting point of the "[-]" type web is the hanging point setting area on the "[-]" type web, and the area between the bonding end point on the combined web and the end point of the "I" type web is the hanging point setting area on the "I" type web. In combination with the stiffness of the web, the upper limit of the horizontal distance between two adjacent hanging points on the entire combined web is set to l0. The upper limit of the product weight between two adjacent hanging points on the "[-]" type web is m1, and the upper limit of the product weight between two adjacent hanging points on the "I" type web is m2. Since the linear density of the "[-]" type web is greater than that of the "I" type web, m1>m2. Moreover, since the linear density and stiffness of the "[-]" type web are both greater than the corresponding values ​​of the "I" type web, the horizontal distance between two adjacent hanging points on the "[-]" type web is always less than l0.

[0065] According to the calculation formula (3) for the total number of hanging points N on the “[-]” type web, the total number of hanging points on the “[-]” type web is obtained.

[0066]

[0067] Where m1 represents the upper limit of the product weight between any two adjacent lifting points on the “[-]” type web, l a Indicates the horizontal distance between the bonding starting point on the combined web and the blade root zero point. The area between this position and the starting point of the "[-]" type web is the hanging point setting area on the "[-]" type web;

[0068] The formula for expressing the weight between two adjacent lifting points on the “[-]” type web is:

[0069]

[0070] Where m1 represents the upper limit of the product weight between any two adjacent lifting points on the “[-]” type web, l i Indicates the horizontal distance between the i-th hanging point on the “[-]” type web product and the blade root zero point; l i+1 Indicates the horizontal distance between the i+1th hanging point on the “[-]” type web product and the blade root zero point;

[0071] Substitute i=0 into formula (4), that is, the starting position of the "[-]" type web, and calculate the horizontal distance l1 between the first hanging point on the "[-]" type web and the blade root zero point; substitute the calculated l1 into formula (4) and iterate to calculate the horizontal distances of the remaining N-1 hanging points on the "[-]" type web and the blade root zero point in turn. At this time, the horizontal distances of all hanging points on the "[-]" type web and the blade root zero point are calculated, and the position information of all hanging points on the "[-]" type web is obtained;

[0072] Then set the first hanging point on the "I" shaped web, that is, the N+1th hanging point on the combined web is at the end position of the combined web connection area, that is, the horizontal distance l between the N+1th hanging point on the combined web and the blade root zero point N+1 Equal to l b ,

[0073] The formula for expressing the weight between any two adjacent lifting points on an “I” type web is:

[0074]

[0075] Where m2 represents the upper limit of product weight between any two adjacent lifting points on the “I” web; l i Indicates the i-th hanging point on the “I” type web, that is, the horizontal distance between the N+i hanging points on the combined web and the blade root zero point; l i+1 It represents the i+1th hanging point on the “I” type web, that is, the horizontal distance between the N+i+1 hanging point on the combined web and the blade root zero point;

[0076] Will l N+1Substitute it as the initial value into formula (6) for iteration. During the iteration process, the horizontal spacing between the i+1th hanging point on the “I”-shaped web and the i-th hanging point on the “I”-shaped web is determined. If the horizontal spacing between the two hanging points is greater than or equal to the upper limit of the horizontal distance l0, that is, l i+1 -l i When ≥l0, the horizontal spacing between two adjacent hanging points is forced to be set to l0, that is, the position of the i+1th hanging point on the “I” type web is determined by formula (2).

[0077] l i+1 =l i +l0 formula (2)

[0078] If the horizontal spacing between two hanging points is less than l0, the iteration continues until the hanging point position exceeds the end of the "I" type web product, and the calculation is stopped. At this time, the position information of all hanging points on the combined web is obtained.

[0079] 2) The top of the lifting beam is connected to a crane and moved by the crane to the top of the load. The control unit controls the pulley block of the lifting point moving unit to move to the corresponding position on the track and lock it according to the lifting point position information calculated in step 1) to prevent slippage. The control unit then drives the steel cables of multiple lifting point moving units to be adjusted to the appropriate length.

[0080] 3) The control unit controls the width of the clamping claws of the clamping unit through the clamping drive motor of the clamping unit according to the size information of the hanging object, and connects it with the hanging point. The clamping drive motor controls the clamping tension, and the pressure sensor of the clamping unit ensures that each clamping point maintains appropriate clamping force to avoid product damage or falling off.

[0081] 4) During the lifting process of the crane, the tension of the steel cable is monitored in real time through the sensor on the lifting point moving unit. If the tension of individual steel cables deviates greatly from the expected tension, the control unit controls the winch to release or retract the steel cable in real time to prevent excessive force on individual clamping points and accidental damage to the product. During the lifting process, the control unit records the force conditions of the steel cables in real time.

[0082] 5) Slowly lower the load from one end to the other to the set position. During the lowering process, when the load gradually falls from the root of the blade to the tip of the blade to the shell, the control unit is started to control the clamping unit to slowly loosen the clamping claw to separate the load, and the winch is controlled to lift the steel cable to complete the lifting of the load. Then, the crane is used to move the beam to the specified area. The data recorded in step 4) is analyzed and organized to form a standard database to provide strong support for the next lifting.

[0083] The embodiments described above are only preferred embodiments of the present invention and are not intended to limit the scope of implementation of the present invention. Therefore, any changes made based on the shape and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent lifting system for wind turbine blade caps, characterized by: The invention comprises a lifting beam, a lifting point moving unit, a clamping unit and a control unit; the lifting beam is arranged along the extension direction of the lifting object; there are multiple lifting point moving units, which are installed on the lifting beam along the extension direction of the lifting beam and can move along the lifting beam, the multiple lifting point moving units respectively extend downward, and the extension end of each lifting point moving unit is connected to a clamping unit, and the multiple clamping units clamp the lifting object to be lifted below; the control unit is respectively communicated with the multiple lifting point moving units and the multiple clamping units, and the calculation module of the control unit can calculate the position information of each lifting point on the lifting object according to the linear density function, the external dimensions, the preset maximum weight between adjacent lifting points and the preset maximum distance between adjacent lifting points of the lifting object, and drive the multiple lifting point moving units to move to the corresponding horizontal position on the lifting beam according to the calculated lifting point position, and then drive the steel cables of the multiple lifting point moving units to be adjusted to the appropriate length respectively, so that the multiple clamping units are respectively clamped at the corresponding lifting point positions of the lifting object, thereby realizing intelligent lifting of the lifting object; when the lifting object is a beam cap, the calculation process of the calculation module is as follows: Input the linear density function f(x) of the spar cap into the calculation module. Combined with the stiffness of the spar cap, according to the stiffness and weight of the blade root part of the spar cap, the horizontal distance between the first hanging point and the blade root zero point is preset to L1, the upper limit of the horizontal distance between two adjacent hanging points is set to L0, and the upper limit of the product weight between two adjacent hanging points is set to m0. The formula for expressing the product weight between two adjacent lifting points on the beam cap is: Where m0 represents the upper limit of the product weight between any two adjacent hanging points on the beam cap, L i Indicates the horizontal distance between the i-th hanging point on the spar cap product and the blade root zero point; L i+1 Indicates the horizontal distance between the i+1th hanging point on the spar cap product and the blade root zero point; Substitute L1 as the initial value into formula (1) for iteration. During the iteration process, determine the horizontal distance between the i+1th hanging point and the ith hanging point. If the horizontal distance between the two hanging points is greater than or equal to the upper limit of the horizontal distance L0, that is, L i+1 -L i When ≥L0, the horizontal distance between two adjacent hanging points is forced to be set to L0, that is, the position of the i+1th hanging point is determined using formula (2). L i+1 =L i +L0 formula (2) If the horizontal distance between the two hanging points is less than L0, the iteration continues until the hanging point position exceeds the end of the beam cap product and the calculation is stopped. At this time, the position information of all hanging points on the beam cap is obtained.

2. The intelligent lifting system for wind turbine blade spar caps according to claim 1 is characterized in that: The cross section of the suspension beam is an I-shaped structure, and tracks are formed on both sides of the bottom edge of the I-shaped structure.

3. The intelligent lifting system for wind turbine blade spar caps according to claim 1 is characterized in that: The lifting point moving unit includes a pulley group with a braking function, a driving motor equipped with a coding wheel, a winch, a steel cable, a hook and a sensor; the two pulleys of the pulley group with a braking function are respectively installed on the two rails of the hanging beam, and the two pulleys are driven to move on the rails by a driving motor equipped with a coding wheel; the control module of the driving motor is communicated with the control unit, and the control unit controls the pulley group to move to the corresponding position on the rail and locks it according to the lifting point position information and the rotation angle of the coding wheel; the winch is fixedly installed at the lower part of the pulley group and is communicated with the control unit, one end of the steel cable is connected to the winch, and the other end extends downward and is connected to a hook; the hook is used to connect the clamping unit; the sensor is installed on the hook and is communicated with the control unit for monitoring the tension of the steel cable during the lifting process; the control unit controls the pulley group to move to the corresponding position according to the lifting point position information, and then controls the winch to adjust the length of the steel cable according to actual conditions.

4. The intelligent lifting system for wind turbine blade spar caps according to claim 3 is characterized in that: The clamping unit includes a lifting arm, a double-headed screw, a screw nut, a detachable L-shaped clamping claw, a pressure sensor and a clamping drive motor; the lifting arm is a rectangular parallelepiped structure, a lifting ring is provided on the top of the lifting arm for connecting to the hook of the lifting point moving unit; the double-headed screw is installed inside the lifting arm, and screw nuts are installed on both sides of the lifting arm; the clamping drive motor is connected to the double-headed screw for transmission, and its control module is communicatively connected to the control unit; there are two detachable L-shaped clamping claws, each of which is formed with a moving block adapted to the shape of the lifting arm on the top, and the two detachable L-shaped clamping claws are respectively installed on both sides of the lifting arm through two moving blocks, and the two moving blocks are respectively connected to the two screw nuts. The two detachable L-shaped clamping claws can be installed in the same direction or in opposite directions according to the structure of the hoisted object. That is, when installed in the same direction, the two detachable L-shaped clamping claws clamp the hoisting point of the hoisted object. When installed in opposite directions, the two detachable L-shaped clamping claws are respectively hooked on the hoisting points of the hoisted object; each detachable L-shaped clamping claw is provided with a plurality of pressure sensors, which are respectively communicated with the control unit for real-time monitoring of the clamping force of the clamping point; the clamping drive motor drives the screw to rotate, and then the two screw nuts drive the two detachable L-shaped clamping claws to move in opposite directions along the screw, and the pressure sensors are used to ensure that each hoisting point is within the appropriate clamping force range during the hoisting process.

5. The intelligent lifting system for wind turbine blade spar caps according to claim 4 is characterized in that: The double-ended screw rod is a trapezoidal double-ended screw rod.

6. A method for assembling an intelligent lifting system for a wind turbine blade spar cap according to claim 4, characterized in that: The following steps are included: 1) The linear density function, overall dimensions, preset maximum weight between adjacent lifting points, and preset maximum distance between adjacent lifting points of the hanging object are input into the calculation module of the control unit. After data processing, the position information of each lifting point on the hanging object is output, that is, the horizontal distance between each lifting point and the zero point of the blade root. When the hanging object is a spar cap, the calculation process of the calculation module is as follows: Input the linear density function f(x) of the spar cap into the calculation module. Combined with the stiffness of the spar cap, according to the stiffness and weight of the blade root part of the spar cap, the horizontal distance between the first hanging point and the blade root zero point is preset to L1, the upper limit of the horizontal distance between two adjacent hanging points is set to L0, and the upper limit of the product weight between two adjacent hanging points is set to m0. The formula for expressing the product weight between two adjacent lifting points on the beam cap is: Where m0 represents the upper limit of the product weight between any two adjacent hanging points on the beam cap, L i Indicates the horizontal distance between the i-th hanging point on the spar cap product and the blade root zero point; L i+1 Indicates the horizontal distance between the i+1th hanging point on the spar cap product and the blade root zero point; Substitute L1 as the initial value into formula (1) for iteration. During the iteration process, determine the horizontal distance between the i+1th hanging point and the ith hanging point. If the horizontal distance between the two hanging points is greater than or equal to the upper limit of the horizontal distance L0, that is, L i+1 -L i When ≥L0, the horizontal distance between two adjacent hanging points is forced to be set to L0, that is, the position of the i+1th hanging point is determined using formula (2). L i+1 =L i +L0 formula (2) If the horizontal distance between the two lifting points is less than L0, the iteration continues until the lifting point position exceeds the end of the beam cap product, and the calculation stops. At this time, the position information of all the lifting points on the beam cap is obtained; 2) The top of the lifting beam is connected to a crane and moved by the crane to directly above the load. The control unit controls the pulley assembly of the lifting point moving unit to move to the corresponding position on the track and lock it to prevent slippage based on the lifting point position information calculated in step 1) to prevent slippage. The control unit then drives the steel cables of the multiple lifting point moving units to be adjusted to appropriate lengths. 3) The control unit controls the connection between the detachable L-shaped clamping claw of the clamping unit and the lifting point through the clamping drive motor of the clamping unit according to the size information of the hanging object. The clamping drive motor controls the clamping tension, and the pressure sensor of the clamping unit ensures that each clamping point maintains appropriate clamping force to prevent product damage or falling off. 4) During the crane lifting process, the tension of the steel cable is monitored in real time through the sensor on the lifting point moving unit. If the tension of individual steel cables deviates significantly from the expected tension, the control unit controls the winch to release or retract the steel cable in real time to prevent excessive force on individual clamping points, which may damage the product. The control unit also records the force applied to the steel cables in real time during the lifting process. 5) When the hoisted object is slowly lowered from one end to the other to the set position, all clamping units are withdrawn in sequence to complete the hoisting.

7. An intelligent lifting system for wind turbine blade webs, characterized by: The lifting device comprises a lifting beam, a lifting point moving unit, a clamping unit and a control unit; the lifting beam is arranged along the extension direction of the lifting object; there are multiple lifting point moving units, which are installed on the lifting beam along the extension direction of the lifting beam and can move along the lifting beam, and the multiple lifting point moving units extend downward respectively, and the extension end of each lifting point moving unit is connected to a clamping unit, which is clamped on the lifting object to be hoisted below by the multiple clamping units; the control unit is communicated with the multiple lifting point moving units and the multiple clamping units respectively, and the calculation module of the control unit can calculate the lifting object according to the linear density function, external dimensions, The position information of each lifting point on the load is calculated based on the preset maximum weight and maximum distance between adjacent lifting points. Multiple lifting point moving units are driven to move to corresponding horizontal positions on the lifting beam according to the calculated lifting point positions, and the steel cables of the multiple lifting point moving units are then driven to adjust to appropriate lengths, so that multiple clamping units are clamped at the corresponding lifting point positions of the load, thereby achieving intelligent lifting of the load. The load is a composite web composed of a "[-]"-shaped web and an "I"-shaped web connected by hand-laid fiberglass reinforced plastic. The calculation process of the calculation module is as follows: Input the linear density function f1(x) of the "[-]" type web and the linear density function f2(x) of the "I" type web into the calculation module respectively to determine the hand lay-up FRP connection range l on the combined web. a ~l b , where l a It represents the horizontal distance between the bonding starting point on the composite web and the blade root zero point, l b It represents the horizontal distance between the bonding end point on the composite web and the blade root zero point, l a ~l b The area between the two webs is the connection area, and no hanging points are required. The area between the bonding start point on the composite web and the starting point of the "[-]" web is the hanging point setting area on the "[-]" web. The area between the bonding end point on the composite web and the end point of the "I" web is the hanging point setting area on the "I" web. Based on the stiffness of the web, the upper limit of the horizontal distance between two adjacent hanging points on the entire composite web is set to l0. The upper limit of the product weight between two adjacent hanging points on the "[-]" web is m1, and the upper limit of the product weight between two adjacent hanging points on the "I" web is m2. According to the calculation formula (3) for the total number of hanging points N on the "[-]" type web, the total number of hanging points on the "[-]" type web is obtained. Where m1 represents the upper limit of the product weight between any two adjacent lifting points on the "[-]" type web, l a Indicates the horizontal distance between the bonding starting point on the composite web and the blade root zero point. The area between this position and the starting point of the "[-]" type web is the setting area of ​​the hanging point on the "[-]" type web; The formula for expressing the weight between two adjacent lifting points on the "[-]" type web is: Where m1 represents the upper limit of the product weight between any two adjacent lifting points on the "[-]" type web, l i Indicates the horizontal distance between the i-th hanging point on the "[-]" type web product and the blade root zero point; l i+1 Indicates the horizontal distance between the i+1th hanging point on the "[-]" type web product and the blade root zero point; Substitute i=0 into formula (4), i.e., the starting point of the "[-]" type web, and calculate the horizontal distance l1 between the first hanging point on the "[-]" type web and the blade root zero point; substitute the calculated l1 into formula (4) again and iterate to calculate the horizontal distances between the remaining N-1 hanging points on the "[-]" type web and the blade root zero point in turn. At this time, the horizontal distances between all the hanging points on the "[-]" type web and the blade root zero point are calculated, and the position information of all the hanging points on the "[-]" type web is obtained; Then set the first hanging point on the "I" type web, that is, the N+1th hanging point on the combined web is at the end position of the combined web connection area, that is, the horizontal distance l between the N+1th hanging point on the combined web and the blade root zero point N+1 Equal to l b , The formula for expressing the weight between any two adjacent lifting points on an "I" type web is: Where m2 represents the upper limit of product weight between any two adjacent lifting points on the "I" web; l i represents the i-th hanging point on the "I" type web, that is, the horizontal distance between the N+i hanging points on the combined web and the blade root zero point; l i+1 It represents the i+1th hanging point on the "I" type web, that is, the horizontal distance from the N+i+1 hanging point on the combined web to the blade root zero point; Will l N+1 Substitute it as the initial value into formula (6) for iteration. During the iteration process, the horizontal distance between the i+1th hanging point on the "I"-shaped web and the i-th hanging point on the "I"-shaped web is determined. If the horizontal distance between the two hanging points is greater than or equal to the upper limit of the horizontal distance l0, that is, l i+1 -l i When ≥l0, the horizontal distance between two adjacent hanging points is forced to be set to l0, that is, the position of the i+1th hanging point on the "I" type web is determined by formula (7). l i+1 =l i +l0 formula (7) If the horizontal distance between the two hanging points is less than l0, the iteration continues until the hanging point position exceeds the end of the "I" type web product, and the calculation is stopped. At this time, the position information of all hanging points on the combined web is obtained.

8. The intelligent lifting system for a wind turbine blade web according to claim 7, characterized in that: The cross section of the suspension beam is an I-shaped structure, and tracks are formed on both sides of the bottom edge of the I-shaped structure.

9. The intelligent lifting system for a wind turbine blade web according to claim 7, characterized in that: The lifting point moving unit includes a pulley group with a braking function, a driving motor equipped with a coding wheel, a winch, a steel cable, a hook and a sensor; the two pulleys of the pulley group with a braking function are respectively installed on the two rails of the hanging beam, and the two pulleys are driven to move on the rails by a driving motor equipped with a coding wheel; the control module of the driving motor is communicated with the control unit, and the control unit controls the pulley group to move to the corresponding position on the rail and locks it according to the lifting point position information and the rotation angle of the coding wheel; the winch is fixedly installed at the lower part of the pulley group and is communicated with the control unit, one end of the steel cable is connected to the winch, and the other end extends downward and is connected to a hook; the hook is used to connect the clamping unit; the sensor is installed on the hook and is communicated with the control unit for monitoring the tension of the steel cable during the lifting process; the control unit controls the pulley group to move to the corresponding position according to the lifting point position information, and then controls the winch to adjust the length of the steel cable according to actual conditions.

10. The intelligent lifting system for a wind turbine blade web according to claim 9, characterized in that: The clamping unit includes a lifting arm, a double-headed screw, a screw nut, a detachable L-shaped clamping claw, a pressure sensor and a clamping drive motor; the lifting arm is a rectangular parallelepiped structure, a lifting ring is provided on the top of the lifting arm for connecting to the hook of the lifting point moving unit; the double-headed screw is installed inside the lifting arm, and screw nuts are installed on both sides of the lifting arm; the clamping drive motor is connected to the double-headed screw for transmission, and its control module is communicatively connected to the control unit; there are two detachable L-shaped clamping claws, each of which is formed with a moving block adapted to the shape of the lifting arm on the top, and the two detachable L-shaped clamping claws are respectively installed on both sides of the lifting arm through two moving blocks, and the two moving blocks are respectively connected to the two screw nuts. The two detachable L-shaped clamping claws can be installed in the same direction or in opposite directions according to the structure of the hoisted object. That is, when installed in the same direction, the two detachable L-shaped clamping claws clamp the hoisting point of the hoisted object. When installed in opposite directions, the two detachable L-shaped clamping claws are respectively hooked on the hoisting points of the hoisted object; each detachable L-shaped clamping claw is provided with a plurality of pressure sensors, which are respectively communicated with the control unit for real-time monitoring of the clamping force of the clamping point; the clamping drive motor drives the screw to rotate, and then the two screw nuts drive the two detachable L-shaped clamping claws to move in opposite directions along the screw, and the pressure sensors are used to ensure that each hoisting point is within the appropriate clamping force range during the hoisting process.

11. The intelligent lifting system for a wind turbine blade web according to claim 10, characterized in that: The double-ended screw rod is a trapezoidal double-ended screw rod.

12. A method for hoisting an intelligent hoisting system for a wind turbine blade web according to claim 10, characterized in that: The following steps are included: 1) The linear density function, overall dimensions, preset maximum weight between adjacent lifting points, and preset maximum distance between adjacent lifting points of the hanging object are input into the calculation module of the control unit. After data processing, the position information of each lifting point on the hanging object is output, that is, the horizontal distance between each lifting point and the zero point of the blade root. The hanging object is a composite web composed of a "[-]"-shaped web and an "I"-shaped web connected by hand-laid fiberglass. The calculation process of the calculation module is as follows: Input the linear density function f1(x) of the "[-]" type web and the linear density function f2(x) of the "I" type web into the calculation module respectively to determine the hand lay-up FRP connection range l on the combined web. a ~l b , where l a It represents the horizontal distance between the bonding starting point on the composite web and the blade root zero point, l b It represents the horizontal distance between the bonding end point on the composite web and the blade root zero point, l a ~l b The area between the two webs is the connection area, and no hanging points are required. The area between the bonding start point on the composite web and the starting point of the "[-]" web is the hanging point setting area on the "[-]" web. The area between the bonding end point on the composite web and the end point of the "I" web is the hanging point setting area on the "I" web. Based on the stiffness of the web, the upper limit of the horizontal distance between two adjacent hanging points on the entire composite web is set to l0. The upper limit of the product weight between two adjacent hanging points on the "[-]" web is m1, and the upper limit of the product weight between two adjacent hanging points on the "I" web is m2. According to the calculation formula (3) for the total number of hanging points N on the "[-]" type web, the total number of hanging points on the "[-]" type web is obtained. Where m1 represents the upper limit of the product weight between any two adjacent lifting points on the "[-]" type web, l a Indicates the horizontal distance between the bonding starting point on the composite web and the blade root zero point. The area between this position and the starting point of the "[-]" type web is the setting area of ​​the hanging point on the "[-]" type web; The formula for expressing the weight between two adjacent lifting points on the "[-]" type web is: Where m1 represents the upper limit of the product weight between any two adjacent lifting points on the "[-]" type web, l i Indicates the horizontal distance between the i-th hanging point on the "[-]" type web product and the blade root zero point; l i+1 Indicates the horizontal distance between the i+1th hanging point on the "[-]" type web product and the blade root zero point; Substitute i=0 into formula (4), i.e., the starting point of the "[-]" type web, and calculate the horizontal distance l1 between the first hanging point on the "[-]" type web and the blade root zero point; substitute the calculated l1 into formula (4) again and iterate to calculate the horizontal distances between the remaining N-1 hanging points on the "[-]" type web and the blade root zero point in turn. At this time, the horizontal distances between all the hanging points on the "[-]" type web and the blade root zero point are calculated, and the position information of all the hanging points on the "[-]" type web is obtained; Then set the first hanging point on the "I" type web, that is, the N+1th hanging point on the combined web is at the end position of the combined web connection area, that is, the horizontal distance l between the N+1th hanging point on the combined web and the blade root zero point N+1 Equal to l b , The formula for expressing the weight between any two adjacent lifting points on an "I" type web is: Where m2 represents the upper limit of product weight between any two adjacent lifting points on the "I" web; l i represents the i-th hanging point on the "I" type web, that is, the horizontal distance between the N+i hanging points on the combined web and the blade root zero point; l i+1 It represents the i+1th hanging point on the "I" type web, that is, the horizontal distance from the N+i+1 hanging point on the combined web to the blade root zero point; Will l N+1 Substitute it as the initial value into formula (6) for iteration. During the iteration process, the horizontal distance between the i+1th hanging point on the "I"-shaped web and the i-th hanging point on the "I"-shaped web is determined. If the horizontal distance between the two hanging points is greater than or equal to the upper limit of the horizontal distance l0, that is, l i+1 -l i When ≥l0, the horizontal distance between two adjacent hanging points is forced to be set to l0, that is, the position of the i+1th hanging point on the "I" type web is determined by formula (7). l i+1 =l i +l0 formula (7) If the horizontal distance between the two hanging points is less than l0, the iteration continues until the hanging point position exceeds the end of the "I" type web product, and the calculation stops. At this time, the position information of all hanging points on the composite web is obtained; 2) The top of the lifting beam is connected to a crane and moved by the crane to directly above the load. The control unit controls the pulley assembly of the lifting point moving unit to move to the corresponding position on the track and lock it to prevent slippage based on the lifting point position information calculated in step 1) to prevent slippage. The control unit then drives the steel cables of the multiple lifting point moving units to be adjusted to appropriate lengths. 3) The control unit controls the connection between the detachable L-shaped clamping claw of the clamping unit and the lifting point through the clamping drive motor of the clamping unit according to the size information of the hanging object. The clamping drive motor controls the clamping tension, and the pressure sensor of the clamping unit ensures that each clamping point maintains appropriate clamping force to prevent product damage or falling off. 4) During the crane lifting process, the tension of the steel cable is monitored in real time through the sensor on the lifting point moving unit. If the tension of individual steel cables deviates significantly from the expected tension, the control unit controls the winch to release or retract the steel cable in real time to prevent excessive force on individual clamping points, which may damage the product. The control unit also records the force applied to the steel cables in real time during the lifting process. 5) When the hoisted object is slowly lowered from one end to the other to the set position, all clamping units are withdrawn in sequence to complete the hoisting.

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