An extra-large skid-mounted tilting self-correcting precision lifting tool and lifting method

Abstract

The present invention relates to the technical field of hoisting process equipment, and particularly relates to an inclined self-correcting precision hoisting tool and a hoisting method for an extra-large skid-mounted unit. The inclined self-correcting precision hoisting tool includes a set of hoisting ropes, clamping blocks connected to the middle positions of each of the hoisting ropes, servo electric push rods connected to the clamping blocks, and an inclined angle detection device for detecting the inclined angle of the extra-large skid-mounted unit. One end of the servo electric push rod is rotatably connected to the clamping block, and the other end of the servo electric push rod is connected with a pulling rope; a magnetic bottom plate is arranged on the inclined angle detection device, and the inclined angle detection device is magnetically adsorbed on the upper platform of the frame of the extra-large skid-mounted unit through the magnetic bottom plate. Each of the servo electric push rods and the inclined angle detection device is respectively connected to a controller. The present invention realizes the precise automatic correction of the inclined position during the hoisting of the extra-large skid-mounted unit, is convenient to use, and has good reliability and safety.

Description

Technical Field

[0001] The present invention relates to the technical field of hoisting process equipment, and particularly relates to an inclined self-correcting precision hoisting tool and hoisting method for an extra-large skid-mounted device. Background Art

[0002] Skid-mounted devices are widely used in the field of energy supply. According to different types of energy supply, skid-mounted devices can be divided into skid-mounted refueling and storage devices, skid-mounted liquefied gas filling and storage devices, and skid-mounted high-pressure gas storage devices.

[0003] A skid-mounted device usually consists of a mobile frame base, an energy storage tank and an energy filling machine arranged on the frame base, a frame platform arranged above the energy storage tank and the energy filling machine and connected to the frame base, etc. It is an integrated ground-mobile energy filling station, suitable for the energy usage needs of places such as bus stops, ports, docks, airports, large construction sites, inside factories, and temporary operation sites.

[0004] Since most of the energy used by skid-mounted devices is relatively dangerous, it is particularly important to ensure the safety of skid-mounted devices. Especially for extra-large skid-mounted devices, due to their large external dimensions, heavy weight, and the pre-installation of important components and instruments inside the skid-mounted devices, their hoisting operations are relatively difficult. If hoisted according to the conventional hoisting method, the skid-mounted device often tilts, and this tilt is difficult to accurately correct. As a result, the installation and positioning of the skid-mounted device are relatively difficult, and the overweight skid-mounted device due to non-uniform impact landing may, on the one hand, easily cause damage to the installation site, and on the other hand, may also cause the reliability of the components and instruments inside the skid-mounted device to decrease due to large impact vibrations, thus possibly leading to potential safety hazards of the skid-mounted device. Summary of the Invention

[0005] In order to solve the above problems, the present invention proposes an inclined self-correcting precision hoisting tool and hoisting method for an extra-large skid-mounted device, aiming to achieve the precise automatic correction of the inclined position during the hoisting of the extra-large skid-mounted device, facilitate the installation and positioning of the skid-mounted device, ensure the stable and reliable landing of the extra-large skid-mounted device during installation, protect the installation site from damage, reduce the impact on the components and instruments inside the extra-large skid-mounted device, and improve the safety and reliability of the hoisting and installation of the extra-large skid-mounted device. The specific technical solutions are as follows:

[0006] A super-large skid-mounted inclined self-correcting precision lifting tool, comprising a set of lifting ropes, clamping blocks connected to the middle positions of each of the lifting ropes, servo-electric push rods connected to the clamping blocks, and an inclination angle detection device for detecting the inclination angle of the super-large skid-mounted unit. One end of the servo-electric push rod is rotatably connected to the clamping block, and the other end of the servo-electric push rod is connected with a pulling rope; a magnetic bottom plate is arranged on the inclination angle detection device, and the inclination angle detection device is magnetically adsorbed on the upper platform of the frame of the super-large skid-mounted unit through the magnetic bottom plate. Each of the servo-electric push rods and the inclination angle detection device is respectively connected to a controller.

[0007] As a further improvement of the present invention, a tensile force sensor is arranged at the front end of the telescopic rod of the servo-electric push rod. One end of the pulling rope is connected to the tensile force sensor at the front end of the telescopic rod of the servo-electric push rod, and the tensile force sensor is connected to the controller.

[0008] As one of the preferred solutions of the inclination angle detection device in the present invention, the inclination angle detection device is an electronic level arranged on the magnetic bottom plate. The number of the electronic levels is a pair, and the pair of electronic levels are arranged perpendicular to each other on the frame platform.

[0009] As another preferred solution of the inclination angle detection device in the present invention, the inclination angle detection device is an infrared ranging sensor vertically arranged downward on the frame. The number of the infrared ranging sensors is four, and the four infrared ranging sensors are respectively and dispersedly arranged on the frame through magnetic adsorption of the magnetic bottom plate; the controller obtains the inclination angle of the super-large skid-mounted unit relative to the ground through the height data of the four infrared ranging sensors measured from the ground.

[0010] In the present invention, the clamping block comprises a pair of half clamping blocks for clamping the lifting rope. A soft protective sleeve is arranged between the half clamping blocks and the lifting rope. An inner sphere is further arranged between the clamping surfaces of the half clamping blocks. An outer sphere is arranged at one end of the servo-electric push rod connected to the clamping block. The servo-electric push rod is rotatably arranged on the clamping block through the sliding fit between the outer sphere and the inner sphere.

[0011] Preferably, the number of the lifting ropes in the set of lifting ropes is four.

[0012] Preferably, the lifting rope is a steel wire rope or a chain, the pulling rope is a steel wire rope or a chain, and hooks are respectively arranged at the ends of the lifting rope and the pulling rope.

[0013] Preferably, a super-large skid-mounted tilt self-correcting precision lifting tool of the present invention is further provided with a battery pack for supplying power to the controller and the servo electric push rod. A magnetic bottom plate is arranged on the battery pack, and the battery pack is magnetically adsorbed on the platform at the upper end of the rack through the magnetic bottom plate; the servo electric push rod adopts a DC servo electric push rod.

[0014] In the present invention, the controller preferably uses an MCU controller.

[0015] In the present invention, the super-large skid-mounted device is one of a skid-mounted fuel filling and storage device, a skid-mounted liquefied gas filling and storage device, or a skid-mounted high-pressure gas storage device.

[0016] In the present invention, the half clamping blocks are clamped to each other through clamping bolts.

[0017] In the present invention, one end of the tension sensor is threadedly connected to the telescopic rod of the servo electric push rod, and the other end of the tension sensor is provided with a lug hole connected to the hook of the pulling rope.

[0018] In the present invention, the up and down positions of the four infrared distance sensors on the magnetic bottom plate can be adjusted to ensure that the distances between the detection heads of the infrared distance sensors and the bottom plane of the super-large skid-mounted device are equal.

[0019] A lifting method of a super-large skid-mounted tilt self-correcting precision lifting tool includes the following steps:

[0020] (1) Set the lifting points: During the manufacturing stage of the super-large skid-mounted device, main lifting lugs are set at the four corners of the upper platform of the rack of the super-large skid-mounted device, and auxiliary lifting lugs are correspondingly set at positions inside the rack platform close to the main lifting lugs at a certain distance.

[0021] (2) Hook operation: Hang the four lifting ropes on the main lifting lugs of the super-large skid-mounted device correspondingly, and hang the upper ends of the four lifting ropes on the hooks of the lifting machinery; connect the pulling rope to the tension sensor at the front end of the servo electric push rod in the middle of the lifting rope, and hang the other end of the pulling rope on the auxiliary lifting lug; install the tilt angle detection device on the rack, connect the servo electric push rod, the tilt angle detection device to the controller, and connect the wires and the power supply cord.

[0022] (3) Lift: Turn on the power supply and use the lifting machinery to lift the super-large skid-mounted device.

[0023] (4) Tilt automatic correction: After the super-large skid-mounted device is lifted, the controller detects the tilt situation of the super-large skid-mounted device through the tilt angle detection device, and automatically adjusts the telescopic length of the telescopic rods of the servo electric push rods according to the tilt situation, so that the tilt error of the super-large skid-mounted device is within the preset range, thereby completing the tilt correction of the super-large skid-mounted device.

[0024] (5) Landing: The hoisting machinery displaces the super-large skid-mounted unit by hoisting and places it in place at the designated installation site.

[0025] In the present invention, the hoisting machinery may be a crane or a traveling crane.

[0026] Preferably, the tilt angle detection device adopts a tilt angle detection device with an infrared distance sensor.

[0027] Preferably, in the tilt automatic correction process of step (4), the controller also detects the tension of each stay rope through a tension sensor arranged on the servo electric push rod. When the stay rope is loose and the tension force is less than a preset threshold value, the tension force of the stay rope is adjusted to the preset range by controlling the telescopic movement of the telescopic rod of the servo electric push rod.

[0028] Preferably, the power used by the hoisting tool can be mains electricity (when the servo electric push rod is an AC servo electric push rod, mains electricity can be directly used; when the servo electric push rod is a DC servo electric push rod, a transformer also needs to be used in supporting), or a battery pack (suitable for DC servo electric push rods). The battery pack can be magnetically adsorbed on the frame platform through a magnetic bottom plate. The specific situation can be selected according to needs.

[0029] Preferably, in the manufacturing stage of the super-large skid-mounted unit, the position of the auxiliary lifting lug should be considered for optimization. It is best to make the stay rope and the lifting rope basically perpendicular after the hooking operation is completed. In this way, the tilt angle of the super-large skid-mounted unit can be adjusted with the smallest tension force, and thus a servo electric push rod with a smaller power, lighter weight and smaller volume can be used.

[0030] In the present invention, the skid-mounted equipment includes a flammable petroleum liquid skid-mounted equipment, a liquefied gas skid-mounted equipment containing a vacuum-insulated pressure vessel, and a tube-type and long-tube compressed gas skid-mounted equipment containing a high-pressure gas cylinder group.

[0031] The beneficial effects of the present invention are:

[0032] First, for the tilt self-correction precision hoisting tool and hoisting method of a super-large skid-mounted unit of the present invention, through the combined connection structure of setting a lifting rope, a clamp block, a servo electric push rod, a stay rope and a tilt angle detection device, etc., the precise automatic correction of the tilt position during the hoisting of the super-large skid-mounted unit is realized. Thereby, the stable and reliable landing during the installation of the super-large skid-mounted unit is ensured, the installation site is protected from damage, and the impact on the internal components and instruments of the super-large skid-mounted unit is reduced, improving the safety and reliability of the hoisting and installation of the super-large skid-mounted unit.

[0033] Second, for the super-large skid-mounted tilt self-correcting precision lifting tool and lifting method of the present invention, the tilt angle detection device adopts a combination of four infrared distance sensors, and can ensure that the super-large skid-mounted is parallel to the ground during automatic correction. Therefore, even if the installation ground is tilted, the smooth landing of the lifting can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a schematic structural diagram of a super-large skid-mounted tilt self-correcting precision lifting tool of the present invention;

[0035] Figure 2 is Figure 1 a top view (the lifting rope part is not drawn);

[0036] Figure 3 is Figure 1 a schematic structural diagram of the clamping block in connected to the lifting rope and the servo electric push rod.

[0037] In the figure: 1, lifting rope; 2, clamping block; 3, servo electric push rod; 4, tilt angle detection device (electronic level); 5, tilt angle detection device (infrared distance sensor); 6, pulling rope; 7, magnetic base plate; 8, frame; 9, platform; 10, controller; 11, tension sensor; 12, telescopic rod; 13, half-coupling clamping block; 14, soft protective sleeve; 15, clamping surface; 16, inner sphere; 17, outer sphere; 18, hook; 19, battery pack; 20, main lifting lug; 21, auxiliary lifting lug; 22, lifting hook; 23, super-large skid-mounted; 24, clamping bolt. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] The following combines the drawings and embodiments to further describe the specific embodiments of the present invention. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and cannot be used to limit the protection scope of the present invention.

[0039] Embodiment 1:

[0040] As Figures 1 to 3 shown in the embodiment of a super-large skid-mounted tilt self-correcting precision lifting tool of the present invention, it includes a set of lifting ropes 1, a clamping block 2 connected to the middle position of each lifting rope 1, a servo electric push rod 3 connected to the clamping block 2, and a tilt angle detection device 4 or 5 for detecting the tilt angle of the super-large skid-mounted. One end of the servo electric push rod 3 is rotatably connected to the clamping block 2, and the other end of the servo electric push rod 3 is connected with a pulling rope 6; a magnetic base plate 7 is arranged on the tilt angle detection device 4 or 5, and the tilt angle detection device 4 or 5 is magnetically adsorbed on the upper platform 9 of the frame 8 of the super-large skid-mounted 23 through the magnetic base plate 7, and each servo electric push rod 3 and tilt angle detection device 4 or 5 are respectively connected to the controller 10.

[0041] As a further improvement of this embodiment, a tension sensor 11 is provided at the front end of the telescopic rod 12 of the servo electric push rod 3. One end of the pulling rope 6 is connected to the tension sensor 11 at the front end of the telescopic rod 12 of the servo electric push rod 3, and the tension sensor 11 is connected to the controller 10.

[0042] As one of the preferred solutions of the tilt angle detection device in this embodiment, the tilt angle detection device 4 is an electronic level 4 provided on the magnetic base plate 7. The number of the electronic levels 4 is a pair, and the pair of electronic levels 4 are arranged perpendicular to each other on the platform 9 of the frame 8.

[0043] As the second preferred solution of the tilt angle detection device in this embodiment, the tilt angle detection device 5 is an infrared distance sensor 5 vertically arranged downward on the frame 8. The number of the infrared distance sensors 5 is four, and the four infrared distance sensors 5 are respectively arranged on the frame 8 by magnetic adsorption of the magnetic base plate 7; the controller 10 obtains the tilt angle of the super-large skid-mounted unit 23 relative to the ground through the height data from the ground measured by the four infrared distance sensors 5.

[0044] In the present invention, the clamping block 2 includes a pair of half clamping blocks 13 for clamping the lifting rope 1. A soft protective sleeve 14 is provided between the half clamping blocks 13 and the lifting rope 1. An inner sphere 16 is further provided between the clamping surfaces 15 of the half clamping blocks 13. An outer sphere 17 is provided at one end of the servo electric push rod 3 connected to the clamping block 2. The servo electric push rod 3 is rotationally arranged on the clamping block 2 through the sliding fit between the outer sphere 17 and the inner sphere 16.

[0045] Preferably, the number of the lifting ropes 1 in the group of lifting ropes 1 is four.

[0046] Preferably, the lifting rope 1 is a steel wire rope or a chain, the pulling rope 6 is a steel wire rope or a chain, and hooks 18 are respectively provided at the ends of the lifting rope 1 and the pulling rope 6.

[0047] Preferably, a battery pack 19 for supplying power to the controller 10 and the servo electric push rod 3 is further provided for the tilt self-correcting precision lifting tool of a super-large skid-mounted unit in this embodiment. A magnetic base plate 7 is provided on the battery pack 9, and the battery pack 7 is magnetically adsorbed on the platform 9 at the upper end of the frame 8 through the magnetic base plate 7; the servo electric push rod 3 is a DC servo electric push rod.

[0048] In this embodiment, the controller 10 preferably uses an MCU controller.

[0049] In this embodiment, the super-large skid-mounted unit 23 is one of a skid-mounted fueling and storage device, a skid-mounted liquefied gas filling and storage device, or a skid-mounted high-pressure gas storage device.

[0050] In this embodiment, the Haff clamping blocks 13 are clamped to each other by clamping bolts 24.

[0051] In this embodiment, one end of the tension sensor 11 is threadedly connected to the telescopic rod 12 of the servo electric push rod 3, and the other end of the tension sensor 11 is provided with a lug hole connected to the hook 18 of the pulling rope 6.

[0052] In this embodiment, the up-and-down positions of the four infrared distance sensors 5 on the magnetic base plate 7 can be adjusted to ensure that the distances between the detection heads of the infrared distance sensors 5 and the base plane of the super-large skid-mounted unit 23 are equal.

[0053] A hoisting method for an inclined self-correcting precision hoisting tool for a super-large skid-mounted unit includes the following steps:

[0054] (1) Set hoisting points: During the manufacturing stage of the super-large skid-mounted unit 23, main lifting lugs 20 are set at the four corners of the upper platform 9 of the frame 8 of the super-large skid-mounted unit 23, and auxiliary lifting lugs 21 are correspondingly set at positions inside the platform 9 of the frame 8 at a certain distance from each of the main lifting lugs 20.

[0055] (2) Hook operation: Hang the four lifting ropes 1 on the main lifting lugs 20 of the super-large skid-mounted unit 12 respectively, and hang the upper ends of the four lifting ropes 1 on the hook 22 of the hoisting machinery; connect the pulling rope 6 to the tension sensor 11 at the front end of the servo electric push rod 3 in the middle of the lifting rope 1, and hang the other end of the pulling rope 6 on the auxiliary lifting lug 21; install the inclination angle detection device 4 or 5 on the frame 8, connect the servo electric push rod 3, the inclination angle detection device 4 or 5 to the controller 10, and connect the wires and the power supply and power cord.

[0056] (3) Hoist: Turn on the power supply and use the hoisting machinery to lift the super-large skid-mounted unit 23.

[0057] (4) Inclination automatic correction: After the super-large skid-mounted unit 23 is lifted, the controller 10 detects the inclination of the super-large skid-mounted unit 23 through the inclination angle detection device 4 or 5, and automatically adjusts the telescopic length of the telescopic rods 12 of the servo electric push rods 3 according to the inclination situation, so that the inclination error of the super-large skid-mounted unit 23 is within a preset range, thereby completing the inclination correction of the super-large skid-mounted unit 23.

[0058] (5) Landing: The hoisting machinery hoists and displaces the super-large skid-mounted unit 23 to be in place at the designated installation site.

[0059] In this embodiment, the hoisting machinery can be a crane or a traveling crane.

[0060] Preferably, the tilt angle detection device 5 is a tilt angle detection device with an infrared ranging sensor.

[0061] Preferably, in the tilt automatic correction process of step (4), the controller 10 also detects the tension of each pull rope 6 through a tension sensor 11 arranged on the servo electric push rod 3. When the pull rope 6 is loose and the tension force is less than a preset threshold value, the tension force of the pull rope 6 is adjusted to the preset range by controlling the telescopic rod 12 of the servo electric push rod 3 to extend and retract.

[0062] Preferably, the power used by the lifting tool can be mains electricity (when the servo electric push rod 3 is an AC servo electric push rod, mains electricity can be directly used; when the servo electric push rod 3 is a DC servo electric push rod, a transformer also needs to be used), or a battery pack 19 (suitable for DC servo electric push rods). The battery pack 19 can be magnetically adsorbed on the platform 9 of the frame 8 through a magnetic bottom plate 7. The specific situation can be selected according to needs.

[0063] Preferably, in the manufacturing stage of the super-large skid-mounted unit 23, the position of the auxiliary lifting lug 21 should be considered for optimization. It is best to make the pull rope 6 and the lifting rope 1 basically perpendicular after the hooking operation is completed. In this way, the tilt angle of the super-large skid-mounted unit 23 can be adjusted with the smallest tension force, and thus a servo electric push rod 3 with a smaller power, lighter weight and smaller volume can be used.

[0064] In this embodiment, the skid-mounted equipment includes a flammable petroleum liquid skid-mounted equipment, a liquefied gas skid-mounted equipment with a vacuum-insulated pressure vessel, and a tube-type and long-tube compressed gas skid-mounted equipment with a high-pressure gas cylinder group.

[0065] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and refinements can still be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A super-large skid-mounted inclined self-correcting precision lifting tool, characterized in that, It includes a set of suspension ropes, clamping blocks connected to the middle positions of each of the suspension ropes, servo electric push rods connected to the clamping blocks, and an inclination angle detection device for detecting the inclination angle of the ultra-large skid-mounted unit. One end of the servo electric push rod is rotatably connected to the clamping block, and the other end of the servo electric push rod is connected with a pull rope; a magnetic base plate is arranged on the inclination angle detection device, and the inclination angle detection device is magnetically adsorbed on the upper platform of the frame of the ultra-large skid-mounted unit through the magnetic base plate. Each of the servo electric push rods and the inclination angle detection device are respectively connected to a controller; the controller adopts an MCU controller, and the inclination angle detection device adopts an inclination angle detection device with an infrared distance sensor.

2. The super-large skid-mounted tilt self-correcting precision lifting tool according to claim 1, characterized in that, A tension sensor is arranged at the front end of the telescopic rod of the servo electric push rod. One end of the pull rope is connected to the tension sensor at the front end of the telescopic rod of the servo electric push rod, and the tension sensor is connected to the controller.

3. The super-large skid-mounted inclined self-correcting precision lifting tool according to claim 1, characterized in that, The inclination angle detection device is an electronic level arranged on the magnetic base plate. The number of the electronic levels is a pair, and the pair of electronic levels are arranged perpendicular to each other on the upper platform of the frame.

4. The super-large skid-mounted inclined self-correcting precision lifting tool according to claim 1, wherein, The inclination angle detection device is an infrared distance sensor vertically arranged downward on the frame. The number of the infrared distance sensors is four, and the four infrared distance sensors are respectively arranged dispersedly on the frame through magnetic adsorption of the magnetic base plate; the controller obtains the inclination angle of the ultra-large skid-mounted unit relative to the ground through the height data of the distance from the ground measured by the four infrared distance sensors.

5. A super-large skid-mounted inclined self-correcting precision lifting tool according to claim 1, characterized in that, The clamping block includes a pair of half clamping blocks for clamping the suspension rope. A soft protective sleeve is arranged between the half clamping blocks and the suspension rope. An inner sphere is also arranged between the clamping surfaces of the half clamping blocks. An outer sphere is arranged at one end of the servo electric push rod connected to the clamping block. The servo electric push rod is rotatably arranged on the clamping block through the sliding fit of the outer sphere and the inner sphere.

6. The super-large skid-mounted inclined self-correcting precision lifting tool according to claim 1, wherein, The number of the suspension ropes in the set of suspension ropes is four.

7. An ultra-large skid-mounted inclined self-correcting precision lifting tool according to claim 1, characterized in that, The suspension rope is a steel wire rope or a chain, the pull rope is a steel wire rope or a chain, and hooks are respectively arranged at the ends of the suspension rope and the pull rope.

8. A super-large skid-mounted inclined self-correcting precision lifting tool according to claim 1, characterized in that, A battery pack for supplying power to the controller and the servo electric push rod is also arranged. A magnetic base plate is arranged on the battery pack, and the battery pack is magnetically adsorbed on the upper platform of the frame through the magnetic base plate; the servo electric push rod adopts a DC servo electric push rod.

9. A hoisting method using the super-large skid-mounted inclined self-correcting precision hoisting tool according to any one of claims 1 to 8, characterized in that, It includes the following steps: (1) Set the lifting points: During the manufacturing stage of the ultra-large skid-mounted unit, main lifting lugs are set at the four corner positions of the upper platform of the frame of the ultra-large skid-mounted unit, and auxiliary lifting lugs are correspondingly set at positions close to each of the main lifting lugs and at a certain distance inside the upper platform of the frame. (2) Hooking operation: Hang the four lifting ropes onto the main lifting lugs of the super-large skid-mounted unit correspondingly, and hang the upper ends of the four lifting ropes onto the hook of the hoisting machinery; Connect the pulling rope to the tension sensor at the front end of the servo electric push rod in the middle of the lifting rope, and hang the other end of the pulling rope onto the auxiliary lifting lug; Install the tilt angle detection device on the frame, connect the servo electric push rod and the tilt angle detection device to the controller, and connect the wires and the power supply cable. (3) Hoisting: Switch on the power supply and use the hoisting machinery to lift the super-large skid-mounted unit. (4) Automatic tilt correction: After the super-large skid-mounted unit is lifted, the controller detects the tilt condition of the super-large skid-mounted unit through the tilt angle detection device, and automatically adjusts the telescopic length of the telescopic rods of each servo electric push rod according to the tilt condition, so that the tilt error of the super-large skid-mounted unit is within the preset range, thus completing the tilt correction of the super-large skid-mounted unit. (5) Landing: The hoisting machinery hoists and displaces the super-large skid-mounted unit to the designated installation site for positioning.

10. The hoisting method of an ultra-large skid-mounted inclined self-correcting precision hoisting tool according to claim 9, characterized in that, In the automatic tilt correction process of step (4), the controller also detects the tension condition of each pulling rope through the tension sensor arranged on the servo electric push rod. When the pulling rope is loose and the tension force is less than the preset threshold value, the tension force of the pulling rope is adjusted to the preset range by controlling the telescopic movement of the telescopic rod of the servo electric push rod.

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