Method for lifting large solid rocket engine by cooperation of travelling crane and automobile crane

Abstract

The application provides a method for hoisting large solid rocket engine by using travelling crane and automobile crane, which solves the technical problem that the existing travelling crane cannot hoist large solid rocket engine in limited space. When hoisting and transferring the engine, the first hoisting point is located 3m in front of the engine center of mass, and the engine is hoisted by using platform crane; the second hoisting point is located 1.5m behind the engine center of mass, and the engine is hoisted by using automobile crane, so that the platform crane hoists one third of the engine mass, and the automobile crane hoists two thirds of the engine mass; during the movement of the engine, the movement track of the automobile crane hook is circular arc, the travelling crane can only move along the axial direction or radial direction of the engine, and the tracks of the two cannot be consistent at all times, so that the hoisting process may be unstable. Therefore, the travelling crane should follow the automobile crane as much as possible, and the straight line is used to approach the circular arc track in a small distance.

Description

Technical Field

[0001] This invention belongs to the field of large object hoisting and transportation technology, specifically relating to a hoisting method using a gantry crane and a truck crane in conjunction for large solid rocket engines, used for the hoisting and transportation of large solid rocket engines. Background Technology

[0002] During the lifting and transport of large solid rocket engines, the lifting must be smooth and there should be no large acceleration fluctuations during the transport process, otherwise the internal structure of the engine may be damaged, leading to engine failure.

[0003] Currently, in the ground test of the 3.5-meter diameter solid rocket engine, which has the largest thrust and mass in China, the maximum lifting capacity of the test platform crane is 75t, which is far less than the lifting and transportation requirements of the engine's total weight of 156t. If a truck crane is used for lifting, the factory space is insufficient. If a new factory is to be built to meet the space requirements for this solid rocket engine, it would require tens of millions of yuan in construction costs, making research and development funds very tight.

[0004] Therefore, it is necessary to design a new lifting method for this type of solid rocket motor. Summary of the Invention

[0005] The purpose of this invention is to solve the technical problem that existing gantry crane methods cannot lift large solid rocket engines in limited spaces, and to provide a method for lifting large solid rocket engines using a combination of gantry cranes and truck cranes.

[0006] To achieve the above objectives, the technical solution provided by this invention is:

[0007] In the lifting and transporting of large solid rocket engines, considering the limited space in the factory and the difficulty of rebuilding the factory, the researchers of this invention conducted a detailed survey of existing gantry cranes and truck cranes, proposing to use both in combination for lifting. However, because the lifting and transport of large solid rocket engines requires stable lifting and cannot experience large acceleration fluctuations during transport, otherwise it may damage the internal structure of the engine, leading to engine failure, the combined implementation of the two lifting methods also presents significant challenges. Therefore, this application provides the following lifting method.

[0008] A lifting method using a gantry crane and a truck crane in conjunction for lifting large solid rocket motors is characterized by the following steps:

[0009] 1) Determine the positions of the first and second lifting points;

[0010] The first lifting point is lifted using a gantry crane, and the second lifting point is lifted using a truck crane.

[0011] 2) Determine the movement trajectory of the hook during engine hoisting and mark it on the ground;

[0012] 3) Determine the specific movement process of the gantry crane.

[0013] Furthermore, in step 1), the first lifting point is located 3m to one side of the engine's center of gravity, and the second lifting point is located 1.5m to the other side of the engine's center of gravity. The maximum lifting capacity of the gantry crane is approximately one-third of the engine's total weight, while the lifting capacity of the truck crane is two-thirds of the engine's total weight. Therefore, the truck crane's lifting point needs to be closer to the engine's center of gravity.

[0014] Furthermore, in step 3), the gantry crane follows the truck crane, approximating the circular arc trajectory by using a straight line to represent the curve over a short distance. The truck crane can only travel along a circular arc trajectory, while the gantry crane can only travel in a straight line; the two must coordinate closely during their movements.

[0015] Advantages of this invention:

[0016] 1. The lifting method of this invention can be used to lift the engine of the 3.5-meter diameter solid rocket engine, which has the largest thrust and the largest mass in China, during ground testing in a factory with limited space. Considering the special nature of the object being lifted, the lifting method must meet the requirement of stability to avoid damage to scientific research results due to improper lifting.

[0017] 2. The lifting method of this invention is the first of its kind for large solid rocket motors (which are heavy and large, and whose mass, shape and length must be taken into account). The close coordination between the gantry crane and the truck crane and the design of the lifting path are very important to ensure that the implementation is foolproof.

[0018] 3. The lifting method of the present invention is less expensive than rebuilding the factory and is versatile. It can be used to lift and transport other heavy objects with space constraints. Attached Figure Description

[0019] Figure 1 A schematic diagram of the lifting equipment for the factory building;

[0020] Figure 2 This is a schematic diagram of a truck crane lifting device;

[0021] Figure 3 for Figure 2 A 3D schematic diagram of the lifting device;

[0022] Figure 4 This is a schematic diagram of a type of lifting beam used in factory hoisting equipment.

[0023] Figure 5 This is a schematic diagram of a lifting beam used in truck crane lifting equipment.

[0024] Figure 6This is a schematic diagram of the hoisting scheme of the present invention;

[0025] Figure 7 This is a diagram showing the motion trajectory of the hook in this invention;

[0026] Figure 8 This is a diagram showing the motion trajectory of the overhead crane in this invention;

[0027] Figure 9 This is a schematic diagram showing the angle between the sling and the vertical direction of the present invention;

[0028] Figure 10 This is a photograph of the actual lifting operation of the present invention.

[0029] The attached icons are numbered as follows:

[0030] 1-Cylindrical sling, 2-Lifting beam, 3-Shackle, 4-Flat sling, 5-Force measuring component, 6-Transition frame, 7-Supporting arc seat, 8-Supporting platform, 9-Factory crane hook, 10-Truck crane hook, 11-Factory roof, 12-Pin, 13-Vertical plate, 14-Bearing plate, 15-Boom, 16-Lifting hole, 17-Engine center of gravity, 18-Truck crane boom rotation center. Detailed Implementation

[0031] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0032] The lifting method using gantry cranes and truck cranes for large solid rocket motors includes the following steps:

[0033] Step 1: Determine the positions of the first and second lifting points based on the engine's mass and length (aligned with the "center of gravity");

[0034] like Figure 6 The schematic diagram of the engine hoisting scheme of the present invention shows that when hoisting and transferring the engine (total weight 156 tons), the first hoisting point is located 3m in front of the engine's center of gravity, and a gantry crane is used for hoisting (i.e., gantry crane hoisting). The second hoisting point is located 1.5m behind the engine's center of gravity, and a truck crane is used for hoisting. In this way, the gantry crane hoists one-third of the engine's mass (about 52t), and the truck crane hoists two-thirds of the engine's mass (about 104t).

[0035] The specific lifting device structure used is as follows: Figures 1-3 As shown, it includes cylindrical slings, two lifting beams, and N flat slings. N is 2 for the lifting equipment used by the gantry crane and 4 for the lifting equipment used by the truck crane.

[0036] Each lifting beam includes a vertical plate and a load-bearing plate. The vertical plate includes two parallel support plates. One end of each support plate has a corresponding pin mounting hole, allowing the pin to rotate within the hole. A stop is located at the end of each support plate, positioned on the outside of the support plate. The other end of each support plate connects to the upper end of the load-bearing plate. The lower end of the load-bearing plate has evenly spaced shackle mounting positions along a straight line parallel to the pin axis. Each shackle mounting position contains a shackle, and all shackles are coaxial. To enhance the overall strength of the lifting beam, reinforcing ribs parallel to the pin axis are provided on the load-bearing plate above these shackle mounting positions.

[0037] The upper ends of the two lifting beams are connected by cylindrical slings, and the lower ends are connected by flat slings.

[0038] Both ends of the flat sling have fitting holes, and all flat slings have the same length and width, and the fitting holes at both ends are in the same position; each flat sling is fitted onto two shackles corresponding to the lifting beams at both ends; the shackles are round and detachable from the flat slings.

[0039] Alternatively, use methods such as Figure 4 and Figure 5 The lifting beam shown includes a vertical plate and a load-bearing plate. The vertical plate includes two parallel support plates. One end of each support plate has a corresponding pin mounting hole, allowing the pin to rotate within the hole. A stop is provided at the end of the pin, located outside the support plate. The other ends of the two support plates are hinged to the upper end of the load-bearing plate to accommodate faster crane travel speeds. Multiple booms are evenly spaced at the same height on the lower end of the load-bearing plate (in this invention, the lifting beam used for a gantry crane has two booms, and the lifting beam used for a truck crane has four booms). All booms are parallel to each other, and the lifting holes on each boom are coaxial, with their axes perpendicular to the pin axis. The upper ends of the two lifting beams are connected by cylindrical slings, and the lower ends are connected by flat slings. Each flat sling has a fitting hole at its end, and all flat slings have the same length and width, with the fitting holes at both ends in the same position. The ends of the N flat slings are fitted into the corresponding lifting holes of the two lifting beams using shackles. The shackle is round and detachable from the flat strap.

[0040] The effective load-bearing width of the slings used by the platform crane is 0.6m. Considering that multiple slings may cross each other when used side by side, the actual lifting width after leaving a gap is 0.65m (shell pressure 0.3MPa). The effective load-bearing width of the slings used by the truck crane is 1.2m. After leaving a gap, the actual lifting width is 1.35m (shell pressure 0.3MPa).

[0041] Step 2: Based on the lifting plan (i.e., lifting from point A to point B), determine the movement trajectory of the hook during engine lifting and mark it on the ground;

[0042] Due to space limitations on the platform, the truck crane can only be positioned 22 meters away from the thrust platform. When the truck crane has a lifting capacity of 104 tons, the hook rotation radius must be greater than 12.5 meters.

[0043] Before the test, the engine needs to be transferred from position one (ground) to position two (test platform), referring to... Figure 7 The hook needs to be moved 2200mm in the direction of the engine axis and 7082mm in the radial direction.

[0044] Step 3: Determine the specific movement process of the gantry crane based on the movement trajectory of the crane hook.

[0045] During engine operation, the crane hook's trajectory is an arc, while the gantry crane can only move along the engine's axial or radial direction. Since these two trajectories cannot always be synchronized, instability during lifting may occur. The solution is as follows:

[0046] The gantry crane should follow the truck crane as closely as possible, using a straight line to approximate the circular trajectory within a short distance.

[0047] Throughout the entire hoisting process, the gantry crane's movement trajectory is as follows: Figure 8 As shown in the diagram, the truck crane rotates through arc A1A2, and the gantry crane moves synchronously along the engine radial direction a1. In this way, the two hooks move synchronously in the engine radial direction, and there will be no twisting phenomenon in the engine. However, during the movement, the distance between the two hooks in the engine axial direction will continue to increase, the sling will no longer be vertical, and the angle with the vertical direction will become larger and larger.

[0048] In this embodiment, the axial step size is set to 100mm during the lifting process. This ensures that the lifting state is as follows when the angle between the sling and the vertical direction is at its maximum. Figure 9 As shown, the engine can still maintain balance in this state. Extensive testing revealed that as long as the step length does not exceed 100mm, stable lifting is possible. However, to meet both efficiency and safety requirements, a step length of 100mm is the most suitable.

[0049] Afterward, the overhead crane moves 100mm along the engine axis, and the slings return to a vertical position.

[0050] Subsequently, the truck crane rotates through arc A2A3, and the overhead crane simultaneously moves radially along engine a2, and axially along engine 100mm, repeating the above steps continuously.

[0051] As the truck crane rotates through arc A3A4, the overhead crane synchronously moves a3 along the engine radial direction and 100mm along the engine axial direction.

[0052] As the truck crane rotates through arc A4A5, the overhead crane synchronously moves a4 along the engine radial direction and 100mm along the engine axial direction.

[0053] As the truck crane rotates through arcs A5 and A6, the overhead crane synchronously moves radially along engine a5 and axially along engine 100mm.

[0054] ...

[0055] Once the truck crane rotates through arcs A22 and A23, the overhead crane will simultaneously travel radially along engine a22 and axially along engine a100mm to reach its destination.

[0056] After designing the lifting trajectory, the lifting gear is mounted on the engine. The corresponding lifting gear is lifted using the hooks of a gantry crane and a truck crane. Then, the engine is lifted slowly and synchronously according to the designed trajectory. Upon arrival at the destination, the hooks are lowered slowly and synchronously to allow the engine to fall smoothly, thus completing the lifting task.

[0057] In addition, to ensure smoother engine operation, ropes will be pulled in four directions during engine hoisting.

[0058] The lifting method of this invention was tested and verified using a simulated engine. The test was a complete success. Therefore, the lifting tool and lifting method are capable of lifting and transporting a real engine and are feasible.

[0059] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the scope of the technology disclosed in the present invention, and such modifications or substitutions should all be covered within the scope of protection of the present invention.

Claims

1. A method for lifting large solid rocket motors using a combination of overhead crane and truck crane, characterized in that: Includes the following steps: 1) Determine the positions of the first and second lifting points based on the engine's mass and length; The first lifting point is lifted using a gantry crane, and the second lifting point is lifted using a truck crane. 2) Based on the lifting plan, determine the movement trajectory of the hook during engine lifting and mark it on the ground; 3) Determine the specific movement process of the gantry crane based on the movement trajectory of the crane hook; The movement trajectory of the truck crane hook is an arc, while the gantry crane can only move independently along the engine's axial or radial direction. The two trajectories cannot always be synchronized. Therefore, the gantry crane should follow the truck crane as closely as possible, approximating the arc trajectory by using a straight line to approximate the curve over a short distance. The specific solution is as follows: The truck crane rotates through arc A1A2, and the gantry crane synchronously moves along the engine radial direction a1. During the lifting process, the step length in the axial direction is 100mm, and the sling returns to a vertical state. Then, the truck crane rotates through arc A2A3, and the gantry crane synchronously moves along the engine radial direction a2. The gantry crane moves along the engine axis by 100mm. The above steps are repeated until the truck crane rotates through arc A22A23, and the gantry crane synchronously moves along the engine radial direction a22. The gantry crane moves along the engine axis by 100mm, and then the gantry crane reaches its destination.

2. The lifting method using a gantry crane and a truck crane in conjunction for a large solid rocket motor according to claim 1, characterized in that: In step 1), the first lifting point is located 3m to one side of the engine's center of gravity, and the second lifting point is located 1.5m to the other side of the engine's center of gravity.

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