A low-clearance tank body hoist and method of use thereof

Abstract

The present application relates to the field of hoisting equipment, in particular to a low-clearance tank hoist and its use method, which comprises an electric transfer hoist, the lower side of the electric transfer hoist is provided with a four-jaw hoist assembly, the lower part of the four-jaw hoist assembly is bolted with two groups of hoop assemblies, the four-jaw side end of the four-jaw hoist assembly is fixedly installed with a connecting piece, the lower side of the connecting piece is provided with a balance chassis group, and the balance chassis group and the connecting piece are bolted. When the present application is used, the low-clearance tank to be hoisted is placed in the middle of the arc-shaped hoop plate, then the infrared distance sensor is used to collect signal data of the top spacing of the low-clearance tank to be hoisted, and the data comparison is carried out through the external main control system, the hydraulic valve rod is controlled to push the driving slide, the triangular driving slide is used to increase the height of the tank bottom to be hoisted and deviate, so that the hoisting balance is achieved.

Description

Technical Field

[0001] This invention relates to the field of hoisting equipment, specifically to a low-headroom tank hoisting tool and its usage method. Background Technology

[0002] In industrial production, tank equipment is a common type of process equipment, often used for media buffering, mixing, separation, or storage. During tank installation and transportation, due to the weight of the tank itself and the limited space required for installation or transportation (using wire ropes for hoisting requires tooling and sufficient lifting height), using simple hoisting equipment with specialized hoisting fixtures not only saves time and manpower, enabling rapid hoisting and transportation, but also improves safety in production.

[0003] However, current lifting methods on the market involve using wire ropes for hoisting. Therefore, for high-weight tanks, the load-bearing capacity of the wire rope lifting device is insufficient to support their weight. Even if the number of wire rope strands is increased to increase the load capacity, the imbalance between the two ends of the tank during transport will significantly reduce the safety factor. Therefore, those skilled in the art have provided a low-headroom tank lifting device and its usage method to solve the problems mentioned in the background section. Summary of the Invention

[0004] To solve the above technical problems, the present invention provides a low headroom tank lifting tool, including an electric transfer hoist, a four-jaw lifting tool assembly is provided on the lower side of the electric transfer hoist, two sets of clamp assemblies are bolted on the lower part of the four-jaw lifting tool assembly, a connecting piece is fixedly installed on the four-jaw side end of the four-jaw lifting tool assembly, a balance chassis assembly is provided on the lower side of the connecting piece, and the balance chassis assembly and the connecting piece are connected by bolts. The four-jaw lifting tool assembly includes an arc-shaped lifting frame, an arc-shaped auxiliary lifting frame, a cover plate, a positioning bolt, an infrared ranging sensor, and a rigging screw. The arc-shaped auxiliary lifting frame is symmetrically installed on the left and right sides of the middle of the arc-shaped lifting frame. The bottom shape of the four corner lifting frames formed by the arc-shaped lifting frame and the arc-shaped auxiliary lifting frame is adapted to the shape of the tank shell, thereby increasing the contact area between the two, increasing friction, and reducing slippage during tank lifting. Several infrared ranging sensors are equidistantly arranged on the inner side of the arc-shaped lifting frame and the arc-shaped auxiliary lifting frame. The distance to the outer surface of the tank being lifted can be measured using the infrared ranging sensors. A cover plate is installed at the upper end of both the arc-shaped lifting frame and the arc-shaped auxiliary lifting frame. A positioning bolt is fixedly installed in the middle of the arc-shaped lifting frame. The positioning bolt facilitates the overall mounting of the lifting tool on the electric transfer hoist. A rigging screw is provided at the lower end of both the arc-shaped lifting frame and the arc-shaped auxiliary lifting frame.

[0005] Preferably, the clamp assembly includes an arc-shaped clamp plate, a bolt seat, and a threaded bolt. The four-jaw lifting tool assembly has several arc-shaped clamp plates arranged in a ring on its lower side, and bolt seats are fixedly installed at both ends of the arc-shaped clamp plates.

[0006] Preferably, threaded bolts are provided between the bolt seats, and the threaded bolts engage with the spiral buckle of the rigging to lock the arc-shaped clamp plates together, so that the arc-shaped clamp plates can secure the tank to be lifted and provide the desired lifting points for the tank. At the same time, the use of multiple sets of arc-shaped clamp plates can effectively maintain the stability of the tank lifting balance.

[0007] Preferably, the balance chassis assembly includes a balance chassis, a limiting slide groove, a positioning plate, a positioning seat, a hydraulic valve rod, a drive slide, and a limiting groove. The upper end of the balance chassis is provided with four limiting slide grooves in a ring shape. Positioning seats are symmetrically installed on both sides of the groove opening. The balance chassis and the connecting parts are fixedly connected by fixing bolts passing through the positioning seats.

[0008] Preferably, a positioning plate is fixedly installed in the middle of the bottom of the limiting slide groove. A limiting groove is opened on the inner side end face of the positioning plate. A slidable driving slide is provided in the limiting groove. A hydraulic valve rod is provided on the inner side end face of the driving slide. The driving slide is pushed by the hydraulic valve rod, so that the triangular driving slide increases the height of the bottom of the hoisted tank, thereby achieving hoisting balance.

[0009] Preferably, the balance chassis assembly is replaced by a balance base assembly for lifting, balancing, and locking the low headroom tank. The balance base assembly includes a balance base, an internal cavity, a fixing groove, a positioning block, a positioning bolt seat, a positioning bolt, a hydraulic jack, and a fixing hole.

[0010] Preferably, the balance base has a built-in cavity in the middle, and several hydraulic jacks are arranged in a ring inside the cavity. Several fixing holes are opened at the upper end of the upper surface of the balance base. The upper end of the hydraulic jack passes through the fixing holes, thereby contacting the bottom surface of the low headroom tank to be hoisted. The extension and retraction of the hydraulic jacks are used to lift the low headroom tank, so as to achieve the corresponding tilt of the low headroom tank and complete the horizontal balance adjustment of the low headroom tank.

[0011] Preferably, the upper end face of the balance base is provided with several fixing grooves in a ring shape along the edge, and a positioning block is fixedly installed in the middle of the bottom surface of the fixing groove, so that the positioning block and the connecting piece are engaged and slid together to form damping, reducing the slippage after assembly.

[0012] Preferably, positioning bolt seats are symmetrically arranged on both sides of the fixing groove, and positioning bolts are provided between the positioning bolt seats. The positioning bolts are used to fix the balance base on the lower side of the positioning bolt seat to the connecting piece, thereby locking the low headroom tank to be hoisted and increasing the stability during the hoisting process.

[0013] This invention also provides a method for using a lifting device for low-headroom tanks, comprising the following steps: S1. Collect data using an infrared ranging sensor, set multiple reflection points on the surface of the low headroom tank, and use the infrared ranging sensor to measure the distance between the tank body and the reflection points to establish a top surface model of the headroom tank. S2. By collecting the origin coordinates of multiple reflection points and marking them sequentially as F1(XF1,YF1,ZF1), F2(XF2,YF2,ZF2)...Fn(XFn,YFn,ZFn), the origin of the lifting device is marked as O (0,0,0), and the adjustment devices are sequentially marked as T1(XT1,YT1,ZT1), T2(XT2,YT2,ZT2)...Tn(XTn,YTn,ZTn), the overall model of the empty tank is reverse-engineered from the top surface model of the empty tank, and the relative position of the center origin and the empty tank is detected. All coordinate points are input into the input layer, and a first plane A1 is established in the hidden layer with the coordinates of all reflection points. A second plane A2 is established with the coordinates of the origin of the lifting device and the starting point coordinates of all adjustment devices. The angle between A1 and A2 is calculated, and the Z value of all adjustment devices in the A2 plane is calculated when all Z values ​​of A1 relative to the origin of the lifting device are consistent. S3. Input the three-dimensional data of the relative position of the empty tank and the adjustment origin into the neural network model for calculation. Calculate the difference and vector between the Z value of the adjustment device after the change on the A2 surface and the Z value before the change. Record the results into the output layer and change the position of A2 by controlling the operation of the adjustment device.

[0014] The technical effects and advantages of this invention are as follows: 1. When using this invention, by releasing the fixing bolts between the positioning seat and the connecting piece, the balance chassis is removed from the connecting piece. The low-headroom tank to be hoisted is placed in the middle of the arc-shaped clamp plate. The length of the rigging spiral buckle is adjusted by rotating it so that the lower clamp assembly can be positioned in the middle of the outer side of the low-headroom tank, ensuring the stability of the hoisting after locking and providing a sufficient number of stable hoisting points. Then, the infrared ranging sensor is used to collect signal data of the top distance of the low-headroom tank to be hoisted, and the data is compared by the external main control system. The hydraulic valve rod is controlled to push the drive slide, so that the triangular drive slide increases the height of the bottom of the tank to be hoisted, thereby achieving hoisting balance.

[0015] 2. When using this invention, the extension and retraction of multiple hydraulic jacks replaces the hydraulic valve rod to push the drive slide, thereby raising the low headroom tank in a multi-point contact manner to achieve the corresponding tilt of the low headroom tank and complete the horizontal balance adjustment of the low headroom tank. 3. This invention uses a neural network model to split and operate on the data during calculation and adjustment. This not only speeds up the calculation but also collects historical data to achieve the purpose of data iteration. When encountering the same data, it can greatly increase the reaction speed. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of Embodiment 1 provided in this application; Figure 2 This is a structural schematic diagram of the four-jaw lifting device assembly provided in this application; Figure 3 This is a schematic diagram of the structure of the infrared ranging sensor provided in this application; Figure 4 This is a structural schematic diagram of the clamp assembly provided in this application; Figure 5 This is a structural schematic diagram of the balance chassis assembly provided in this application; Figure 6 This is a schematic diagram of the structure of Embodiment 2 provided in this application; Figure 7 This is a schematic diagram of the structure of the balance base assembly provided in this application; Figure 8 This is a flowchart of Embodiment 3 provided in this application.

[0017] In the diagram: 1. Electric transfer hoist; 2. Four-jaw lifting device assembly; 3. Clamping clamp assembly; 4. Connecting parts; 5. Balance chassis assembly; 6. Balance base assembly; 21. Arc-shaped lifting frame; 22. Arc-shaped auxiliary lifting frame; 23. Sheath; 24. Positioning bolt; 25. Infrared ranging sensor; 26. Bolt rod; 31. Arc-shaped clamp plate; 32. Bolt seat; 33. Threaded bolt; 51. Balance chassis; 52. Limiting slide groove; 53. Positioning plate; 54. Positioning seat; 55. Hydraulic valve stem; 56. Drive slide; 57. Limiting groove; 61. Balance base; 62. Built-in cavity groove; 63. Fixing groove; 64. Positioning block; 65. Positioning bolt seat; 66. Positioning bolt; 67. Hydraulic push rod; 68. Fixing hole. Detailed Implementation

[0018] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and design various embodiments with various modifications suitable for a particular purpose.

[0019] Example 1 Please see Figures 1-5In this embodiment, a low headroom tank lifting tool is provided, including an electric transfer hoist 1. A four-jaw lifting tool assembly 2 is provided on the lower side of the electric transfer hoist 1. Two sets of clamp assemblies 3 are bolted on the lower part of the four-jaw lifting tool assembly 2. Connecting parts 4 are fixedly installed on the four-jaw side ends of the four-jaw lifting tool assembly 2. A balance chassis assembly 5 is provided on the lower side of the connecting parts 4. The balance chassis assembly 5 and the connecting parts 4 are connected by bolts. The four-jaw lifting tool assembly 2 includes an arc-shaped lifting tool frame 21, an arc-shaped auxiliary lifting frame 22, a cover plate 23, a positioning bolt 24, an infrared ranging sensor 25, and a rigging spiral buckle 26. The arc-shaped auxiliary lifting frames 22 are symmetrically installed on the left and right sides of the middle of the arc-shaped lifting tool frame 21. The bottom shape of the four-corner lifting tool frame formed by the arc-shaped lifting tool frame 21 and the arc-shaped auxiliary lifting frames 22 is adapted to the shape of the tank shell, thereby increasing the contact area between the two, increasing friction, and reducing slippage during tank lifting. Several infrared ranging sensors 25 are equidistantly arranged on the inner side of the arc-shaped auxiliary lifting frame 21 and the arc-shaped auxiliary lifting frame 22. The distance between the infrared ranging sensors 25 and the outer surface of the lifting tank can be measured. The upper end of the arc-shaped lifting frame 21 and the arc-shaped auxiliary lifting frame 22 are both equipped with a cover plate 23. The middle part of the arc-shaped lifting frame 21 is fixedly installed with a positioning bolt 24. The positioning bolt 24 can facilitate the overall hanging of the lifting device on the electric transfer hoist 1. The lower end of the arc-shaped lifting frame 21 and the arc-shaped auxiliary lifting frame 22 are both equipped with a rigging spiral buckle 26. The clamp assembly 3 includes an arc-shaped clamp plate 31, a bolt seat 32, and a threaded bolt 33. The four-jaw lifting tool assembly 2 has several arc-shaped clamp plates 31 arranged in a ring on its lower side. Bolt seats 32 are fixedly installed at both ends of the arc-shaped clamp plate 31. Threaded bolts 33 are arranged between adjacent bolt seats 32. The threaded bolts 33 engage with the rigging screw buckle 26 to lock the arc-shaped clamp plates 31 together, so that the arc-shaped clamp plates 31 can secure the tank to be lifted and provide the desired lifting point for the tank. At the same time, the use of multiple sets of arc-shaped clamp plates 31 can effectively maintain the stability of the tank lifting balance. The balancing chassis assembly 5 includes a balancing chassis 51, a limiting slide groove 52, a positioning plate 53, a positioning seat 54, a hydraulic valve rod 55, a driving slide 56, and a limiting groove 57. The upper end of the balancing chassis 51 is provided with four limiting slide grooves 52 in a ring shape. Positioning seats 54 are symmetrically installed on both sides of the groove opening of the limiting slide groove 52. The balancing chassis 51 and the connecting piece 4 are fixedly connected by fixing bolts passing through the positioning seats 54. The positioning plate 53 is fixedly installed in the middle of the bottom of the limiting slide groove 52. The inner end face of the positioning plate 53 is provided with a limiting groove 57. A slidable driving slide 56 is provided in the limiting groove 57. The inner end face of the driving slide 56 is provided with a hydraulic valve rod 55. The driving slide 56 is pushed by the hydraulic valve rod 55, so that the triangular driving slide 56 increases and deflects the bottom of the hoisted tank, thereby achieving hoisting balance.

[0020] Working principle: When using this invention, by releasing the fixing bolts between the positioning seat 54 and the connecting piece 4, the balance chassis 51 is removed from the connecting piece 4. The low-headroom tank to be hoisted is placed in the middle of the arc-shaped clamp plate 31. The length of the rigging spiral buckle 26 is rotated and adjusted so that the lower clamp assembly 3 can be positioned in the middle of the outer side of the low-headroom tank, ensuring the stability of the hoisting after locking and providing a sufficient number of stable hoisting points. Then, the infrared ranging sensor 25 is used to collect signal data of the top distance of the low-headroom tank to be hoisted, and the data is compared through the external main control system. The hydraulic valve rod 55 is controlled to push the drive slide 56, so that the triangular drive slide 56 increases the height of the bottom of the hoisted tank, thereby achieving hoisting balance.

[0021] Example 2 Please see Figures 6-7 In this embodiment, the balance chassis assembly 5 in Embodiment 1 is replaced with a balance base assembly 6 for the hoisting, balancing, and locking of the low-headroom tank. The balance base assembly 6 includes a balance base 61, an internal cavity 62, a fixing groove 63, a positioning block 64, a positioning bolt seat 65, a positioning bolt 66, hydraulic jacks 67, and fixing holes 68. The balance base 61 has an internal cavity 62 in its center, and several hydraulic jacks 67 are arranged in a ring within the internal cavity 62. Several fixing holes 68 are opened at the upper end of the upper surface of the balance base 61. The upper ends of the hydraulic jacks 67 pass through the fixing holes 68, thereby contacting the bottom surface of the low-headroom tank to be hoisted. The extension and retraction of the hydraulic jacks 67 are used to... The low-headroom tank is raised to achieve a corresponding tilt, thus completing the horizontal balance adjustment of the low-headroom tank. Several fixing grooves 63 are circumferentially formed on the upper surface of the balance base 61. A positioning block 64 is fixedly installed in the middle of the bottom surface of the fixing groove 63, so that the positioning block 64 and the connecting piece 4 are engaged and slid to form damping, reducing the slippage after assembly. Positioning bolt seats 65 are symmetrically arranged on both sides of the fixing groove 63, and positioning bolts 66 are set between the positioning bolt seats 65. The balance base 61 on the lower side of the positioning bolt seat 65 is fixedly connected to the connecting piece 4 by the positioning bolts 66, locking the low-headroom tank to be hoisted and increasing the stability during the hoisting process.

[0022] Working principle: When this invention is used, the extension and retraction of multiple hydraulic jacks 67 replaces the hydraulic valve rod 55 to push the drive slide 56, so as to lift the low headroom tank in a multi-point contact manner, providing more effective support for the corresponding lifting work, so as to achieve the corresponding tilt of the low headroom tank and complete the horizontal balance adjustment of the low headroom tank.

[0023] Both Embodiment 1 and Embodiment 2 of the present invention can be driven and controlled using the following methods: First, remove the fixing bolt (positioning bolt 66) of the positioning seat 54 (positioning bolt seat 65) on the connecting piece 4, so that the connecting piece 4 can slide in the limiting groove 52 (fixing groove 63). Remove the balance chassis 51 (balance base 61), place the low headroom tank to be hoisted in the middle of the clamp assembly 3, and reinstall the balance chassis 5 (balance base 6). Secondly, adjust the length of the rigging spiral buckle 26 so that the lower clamp assembly 3 can be positioned near the middle of the outer side of the low headroom tank to be hoisted, and rotate the threaded bolt 33 so that the bolt seats 32 between the adjacent arc-shaped clamp plates 31 come together, thereby achieving the state of anti-tipping limit but not locking of the arc-shaped clamp plates 31 to the low headroom tank to be hoisted. Next, the infrared signal transmitter in the infrared ranging sensor 25 emits an infrared signal of a specific frequency. When the infrared signal detection path encounters the low-headroom tank to be hoisted, part or all of the infrared signal is reflected back to the infrared receiving signal, thereby externally transmitting the captured signal to the robot's main control system. Then, the main control system digitizes the captured signal to obtain the actual distance between the top surface of the low-headroom tank and the infrared ranging sensor 25. Then, the external main control system subtracts the actual distance of the infrared ranging sensor 25 from the designed distance in the database, and controls the hydraulic valve rod 55 to push the drive slide 56 to slide inward in the limiting groove 57 by the excess rated length (controlling the extension length of the hydraulic jack 67 corresponding to the lower side of the infrared ranging sensor 25), thereby completing the tilting of the low headroom tank to be hoisted, so as to ensure that the actual distance is consistent with the designed distance; finally, the threaded bolt 33 is rotated again to bring the bolt seats 32 between the adjacent arc-shaped clamp plates 31 closer together, thereby achieving the tight locking and fixing of the arc-shaped clamp plates 31 to the low headroom tank to be hoisted.

[0024] Example 3 like Figure 1-8As shown, in this invention, the origin of the lifting device coordinate system is set to O (0,0,0), and a total of three reflection points are set. More reflection points are better, but this increases the computational load. Therefore, only three reflection points are set in this embodiment. In a further embodiment, an iterative model can be used to calculate the optimal number of reflection points for each tank diameter, i.e., how many reflection points are needed to adjust the device to its optimal position in one step. In this embodiment, the coordinates of the three reflection points are F1(50,-46.47959,101.684). 05), F2(-50,53.45949,98.19410), and F3(50,53.45949,98.19410) can be analyzed numerically to show that they are tilted along the X-axis. Because the X-coordinate values ​​are consistent, the coordinate points of the four adjustment devices in this embodiment are T1(50,-50,0), T2(-50,50,0), T3(50,50,0), and T4(-50,-50,0), which form the surface A2. Tilt A1 by two degrees about the X direction, i.e., rotate A2 by 2° around the X-axis, to make F1(50,-50,100), F2(-50,50,100), and F3(50,50,100). Since the main goal in the aggregation is to make the Z values ​​consistent, the Z values ​​of points F1, F2, and F3 are added together and divided by three. Conversely, since the X and Y values ​​of the adjustment device in Example 2 are fixed, what needs to be calculated is the number of points of the four adjustment devices in the Z direction. The Z-values ​​of the adjustment device at these four points can be calculated using the values ​​T1(50,-50,-1.74603), T2(-50,50,1.74603), T3(50,50,1.74603), and T4(-50,-50,-1.74603). Positive values ​​result in pushing out the device, while negative values ​​result in contraction. In this embodiment, the cylinder used is GND-AA100-100D, which has a maximum stroke of 6mm and high repeatability.

[0025] Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art and related fields based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described and explained in the present invention, unless otherwise specified or limited, shall be implemented according to conventional means in the art.

Claims

1. A lifting device for low headroom tanks, comprising an electric transfer hoist (1), characterized in that, The electric transfer hoist (1) is provided with a four-jaw lifting device assembly (2) on the lower side. Two sets of clamp assemblies (3) are bolted on the lower part of the four-jaw lifting device assembly (2). Connecting parts (4) are fixedly installed on the four-jaw side ends of the four-jaw lifting device assembly (2). A balance chassis assembly (5) is provided on the lower side of the connecting parts (4). The balance chassis assembly (5) and the connecting parts (4) are connected by bolts. The four-jaw lifting assembly (2) includes an arc-shaped lifting frame (21), an arc-shaped auxiliary lifting frame (22), a shield (23), a positioning bolt (24), an infrared ranging sensor (25), and a rigging spiral buckle (26). The arc-shaped auxiliary lifting frame (22) is symmetrically installed on the left and right sides of the middle of the arc-shaped lifting frame (21). The bottom shape of the four-corner lifting frame formed by the arc-shaped lifting frame (21) and the arc-shaped auxiliary lifting frame (22) fits the shape of the tank shell, thereby increasing the contact area between the two, increasing friction, and reducing slippage during tank lifting. 1) Several infrared ranging sensors (25) are equidistant from the inner side of the arc-shaped auxiliary hanger (22). The distance between the infrared ranging sensor (25) and the outer surface of the tank being lifted can be measured. The upper ends of the arc-shaped lifting frame (21) and the arc-shaped auxiliary hanger (22) are equipped with shields (23). The middle part of the arc-shaped lifting frame (21) is fixedly installed with a positioning bolt (24). The positioning bolt (24) can facilitate the overall hanging of the lifting device on the electric transfer hoist (1). The lower ends of the arc-shaped lifting frame (21) and the arc-shaped auxiliary hanger (22) are equipped with rigging screws (26).

2. The low headroom tank lifting tool according to claim 1, characterized in that, The clamp assembly (3) includes an arc-shaped clamp plate (31), a bolt seat (32) and a threaded bolt (33). The four-jaw lifting tool assembly (2) has several arc-shaped clamp plates (31) arranged in a ring on the lower side, and bolt seats (32) are fixedly installed at both ends of the arc-shaped clamp plate (31).

3. The low headroom tank lifting tool according to claim 2, characterized in that, A threaded bolt (33) is provided between the bolt seats (32), and the threaded bolt (33) engages with the rigging spiral buckle (26) to lock together with the arc-shaped clamp plate (31).

4. The low-headroom tank lifting tool according to claim 1, characterized in that, The balance chassis assembly (5) includes a balance chassis (51), a limiting slide groove (52), a positioning plate (53), a positioning seat (54), a hydraulic valve rod (55), a drive slide (56), and a limiting groove (57). The upper end of the balance chassis (51) is provided with four limiting slide grooves (52) in a ring shape. Positioning seats (54) are symmetrically installed on both sides of the groove opening of the limiting slide groove (52). The balance chassis (51) and the connecting piece (4) are fixedly connected by a fixing bolt passing through the positioning seat (54).

5. A low-headroom tank lifting tool according to claim 4, characterized in that, A positioning plate (53) is fixedly installed in the middle of the bottom of the limiting slide groove (52). A limiting groove (57) is opened on the inner side end face of the positioning plate (53). A slidable driving slide (56) is provided in the limiting groove (57). A hydraulic valve rod (55) is provided on the inner side end face of the driving slide (56).

6. The low headroom tank lifting tool according to claim 1, characterized in that, The balance chassis assembly (5) is replaced by the balance base assembly (6) for lifting, balancing and locking of the low headroom tank. The balance base assembly (6) includes a balance base (61), an internal cavity groove (62), a fixing groove (63), a positioning block (64), a positioning bolt seat (65), a positioning bolt (66), a hydraulic jack (67), and a fixing hole (68).

7. A low-headroom tank lifting tool according to claim 6, characterized in that, The balance base (61) has an internal cavity (62) in the middle. Several hydraulic jacks (67) are arranged in a ring inside the internal cavity (62). Several fixing holes (68) are opened on the upper end of the upper surface of the balance base (61). The upper end of the hydraulic jack (67) passes through the fixing holes (68) and contacts the bottom surface of the low headroom tank to be hoisted. The extension and retraction of the hydraulic jacks (67) are used to lift the low headroom tank to achieve the corresponding tilt of the low headroom tank and complete the horizontal balance adjustment of the low headroom tank.

8. The low headroom tank lifting tool according to claim 7, characterized in that, The upper end face of the balance base (61) is provided with several fixing grooves (63) in a ring shape along the edge. The positioning block (64) is fixedly installed in the middle of the bottom surface of the fixing groove (63), so that the positioning block (64) and the connecting piece (4) are engaged and slide to form damping, reducing the slippage after assembly. The fixing groove (63) is symmetrically arranged with positioning bolt seats (65) on both sides, and positioning bolts (66) are provided between the positioning bolt seats (65). The positioning bolts (66) are used to fix the balance base (61) on the lower side of the positioning bolt seat (65) and the connecting piece (4) to securely lock the low headroom tank to be hoisted, increasing the stability during the hoisting process.

9. A method of using a lifting device for low-headroom tanks, comprising the lifting device for low-headroom tanks as described in any one of claims 5, 7, and 8, characterized in that, The usage method includes the following steps: S1. Collect data through infrared ranging sensor (25), set multiple reflection points on the surface of the low headroom tank, and measure the distance between the body and the reflection points through infrared ranging sensor (25) to establish the top surface model of the headroom tank. S2. Reverse model the overall model of the empty tank using the top surface model of the empty tank, and detect the relative position of the central origin and the empty tank. S3. Input the three-dimensional data of the relative position of the empty tank and the adjustment origin into the neural network model for calculation, and control the adjustment amount according to the calculation results.

10. The method of using a low-headroom tank lifting device according to claim 9, characterized in that, Step S3 further includes the following steps: S31. The neural network model includes an input layer, a hidden layer, and an output layer. The input layer collects the origin coordinates of multiple reflection points and marks them sequentially as F1(XF1,YF1,ZF1), F2(XF2,YF2,ZF2)...Fn(XFn,YFn,ZFn). The origin of the lifting device is marked as O (0,0,0,). The adjustment device is sequentially marked as T1(XT1,YT1,ZT1), T2(XT2,YT2,ZT2)...Tn(XTn,YTn,ZTn). The adjustment device is a hydraulic valve rod (55) / hydraulic jack (67). S32. Input all coordinate points into the input layer, and establish the first plane A1 in the hidden layer with the coordinates of all reflection points. Establish the second plane A2 with the coordinates of the origin of the lifting device coordinates and the starting point coordinates of all adjustment devices. Calculate the angle between A1 and A2, and calculate the Z value of all adjustment devices in the A2 plane when all Z values ​​of A1 are consistent with the origin of the lifting device coordinates. S33. Calculate the difference and vector between the Z value after the adjustment device changes on surface A2 and the Z value before the change, and record the results into the output layer. Change the position of A2 by controlling the operation of the adjustment device.

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