Leveling method and device in hoisting of large-diameter equipment

Abstract

The invention provides a leveling method and device in the hoisting process of large-diameter equipment, the diameter of the large-diameter equipment is larger than 40 m, the method comprises the following steps that the large-diameter equipment is synchronously hoisted for a plurality of times along a plurality of hoisting points of the large-diameter equipment through hoisting equipment; the space coordinate data of the large-diameter equipment before and after each time of hoisting is obtained, the levelness after hoisting is obtained through calculation of the calculation module and compared with the preset levelness, whether the preset levelness is reached or not and whether adjustment is needed or not is judged, and adjustment is conducted through the height adjusting mechanism at the hoisting point when adjustment is needed. The levelness of the lower opening of the large-diameter equipment reaches a preset value; and stress data of each hoisting point in hoisting are obtained and compared with the rated load of the rope, and whether the hoisting equipment needs early warning or not is judged. According to the method, whether balanced hoisting is needed or not is judged by comparing the levelness in hoisting, and then whether stable hoisting is needed or not is judged by judging stress, so that large-diameter stable hoisting is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of balance control in equipment hoisting, and in particular to a leveling method and device in large-diameter equipment hoisting. Background Art

[0002] With the development of domestic manufacturing industry, equipment manufacturing capacity has been further improved, and the equipment structure size has become larger and larger. Some equipment with hemispherical, annular and other structures have large-diameter structural characteristics. During installation, it is necessary to ensure sufficient horizontality so that the lower mouth of the equipment can be accurately positioned.

[0003] However, due to the manufacturing process, this type of large-diameter equipment often has eccentricity, which causes the equipment to tilt to a certain extent after lifting. The horizontality of the lower opening does not meet the requirements for installation. The horizontality of the lower opening of the equipment needs to be adjusted before lifting. At present, the adjustment of the lower opening of this type of large-diameter equipment in China still uses manual adjustment of the basket bolts and other adjustment rod devices one by one, and continuous testing to determine the horizontality of the lower opening of the equipment. This is inefficient and labor-intensive, and it is impossible to adjust a large number of lifting points in one go. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a leveling method and device for lifting large-diameter equipment, by cleverly using the spatial data of the lifting point to determine whether to level, thereby ensuring stable lifting of the large-diameter equipment.

[0005] In order to solve the above technical problems, the technical solutions provided by the present invention are as follows: On the one hand, a leveling method for hoisting a large-diameter equipment, wherein the diameter of the large-diameter equipment is greater than 40m, comprises the following steps: Using a lifting device, along several lifting points of the large-diameter equipment, lifting the large-diameter equipment several times and at several lifting points simultaneously; The spatial coordinate data of the large-diameter equipment before and after each lifting is obtained, and the horizontality after lifting is obtained by calculation through the calculation module, and compared with the preset horizontality to determine whether the preset horizontality is reached and whether adjustment is required. If adjustment is required, the height adjustment mechanism at the lifting point is used to adjust the horizontality so that the horizontality at the lower opening of the large-diameter equipment reaches the preset value; Obtain the force data at each lifting point during lifting and compare it with the rated load of the rope to determine whether the lifting equipment needs an early warning.

[0006] Furthermore, the large-diameter device forms a plurality of lifting points in the same horizontal plane along the circumferential direction, and the plurality of lifting points are connected to form a circle with a point on the center line of the large-diameter device as the center.

[0007] Furthermore, each of the lifting points is provided with a force detection mechanism which is connected one-to-one with the ropes.

[0008] Furthermore, it also includes a positioning mechanism located at the lower end of the large-diameter equipment, and the positioning mechanism is used to obtain the height value of the lower end of the large-diameter equipment before and after lifting, and the ratio of the difference between the height values ​​and the diameter of the lower end forms the horizontality.

[0009] Furthermore, it also includes adjustment of the horizontality, specifically, adjusting the distance between the lifting point and the rope through the height adjustment mechanism so that the level of the lower mouth reaches a preset value.

[0010] Furthermore, when the preset horizontality is reached, the maximum value of the horizontality is less than 3 / 1000*θ, where θ is the diameter of the large-diameter device at the lower opening.

[0011] On the other hand, a leveling method and device for hoisting large-diameter equipment includes: A spatial coordinate acquisition module, which is used to acquire the spatial coordinates of the large-diameter equipment before and after lifting; A force data acquisition module, used to acquire force data at the hanging points; A calculation module is used to convert the acquired spatial coordinates of the large-diameter equipment before and after lifting into horizontality, and to determine whether the large-diameter equipment after lifting needs to be adjusted, and to compare the force data at the lifting point with the approved load of the rope, and to determine whether an early warning is needed; The early warning module issues an early warning when the threshold is exceeded according to the output of the calculation module.

[0012] Furthermore, it also includes the setting of lifting points, specifically, setting a plurality of lifting points at the force center of the large-diameter equipment, and making the plurality of lifting points at the same horizontal height.

[0013] Furthermore, the lifting point is connected to the rope via a hydraulic length adjustment device, and the hydraulic length adjustment device is provided with the force data acquisition module and the early warning module near the lifting eye.

[0014] Furthermore, the cross-section of the large-diameter device is semicircular or arc-shaped, and the wall thickness of the large-diameter device is 4mm-10mm.

[0015] The present invention has the following beneficial effects: In the present invention, by utilizing a plurality of lifting points and obtaining spatial coordinate data, the horizontality before and after lifting can be calculated, thereby avoiding tilting during lifting, so that large-diameter equipment can be lifted stably and safety is improved.

[0016] In the present invention, a circle of lifting points is set on the large-diameter equipment, and then a hydraulic length adjustment device is set between the lifting points and the rope. After lifting, the spatial positioning device at the lower end of the large-diameter equipment and the structural force detection device at the lifting points respectively measure the spatial coordinate data and the force magnitude, and the measured data are transmitted to the system control module. Through calculation, it is determined whether the requirements are met. If the requirements are not met, the calculation software in the system control module calculates the length that the hydraulic length adjustment device needs to be adjusted, and then the hydraulic power device controls the hydraulic length adjustment device to adjust the length to achieve a degree to which the horizontality and force meet the requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flow chart of a leveling method for lifting large-diameter equipment provided by the present invention; Figure 2 A state diagram of the large diameter equipment provided by the present invention during hoisting; Figure 3 A schematic diagram of the structure of the height adjustment mechanism provided by the present invention; In the figure: 1. Large diameter equipment; 11. Lifting point; 12. Rope; 2. Height adjustment mechanism. DETAILED DESCRIPTION

[0018] The present invention is described in detail below in conjunction with the various embodiments shown in the accompanying drawings, but it should be noted that these embodiments are not limitations of the present invention, and any equivalent transformations or substitutions in functions, methods, or structures made by ordinary technicians in the field based on these embodiments are all within the scope of protection of the present invention.

[0019] Refer to the attached Figure 1-3 As shown, the leveling method for lifting large-diameter equipment in the present invention is mainly used for large-diameter equipment, especially large-scale equipment with a diameter greater than 40m. At this time, the diameter is too large and it is difficult to achieve balanced lifting, especially for the dome structure, which is similar to an inverted pot structure. The large diameter is downward in contact with the ground, and the closed small diameter is upward. At this time, the center of gravity of the whole is downward, and it is difficult to achieve a good balanced lifting. Therefore, the present invention implements it through the following scheme.

[0020] The present invention is used in a certain equipment lifting project, and the specific leveling method in the lifting is as follows: The first step is lifting and calculation of the levelness during lifting.

[0021] Using a lifting device, along several lifting points 11 of the large-diameter device 1, the large-diameter device 1 is lifted several times, and then the several lifting points 11 are lifted synchronously, and in the lifting process, the spatial coordinate data of the lower mouth of the large-diameter device 1 before and after each lifting is obtained, and the horizontality after lifting is obtained by calculation through the calculation module in the control module, and compared with the preset horizontality to determine whether it reaches the preset level and whether it needs to be adjusted, and if adjustment is needed, the height adjustment mechanism at the lifting point is adjusted to make the horizontality of the lower mouth of the large-diameter device reach the preset value; In this embodiment, a circle of lifting points is formed on the large diameter equipment, especially in the middle and upper part. These lifting points are located at the same height, forming a circle at the same horizontal plane, and the center of the circle is located on the entire center line of the large diameter equipment 1, thereby ensuring the overall balance.

[0022] In the specific lifting, a rope 12 is set at each lifting point 11, and then several ropes 12 are connected to the lifting equipment (not shown in the figure) at the center line of the top of the large-diameter equipment 1. This is a large lifting point for lifting.

[0023] In this embodiment, adjustment is also included, which is specifically set through the height adjustment mechanism 2 at the rope 12. During lifting, the rope 12 moves upward due to the force of the lifting equipment. At this time, the positioning mechanism (not shown in the figure) located at the lower end of the large-diameter equipment 1 synchronously collects the spatial coordinate data of the lower end before and after lifting, which can be used later to determine whether the horizontality reaches the set value.

[0024] In this embodiment, during the lifting process, the positioning mechanism can be set at the lower opening corresponding to the lifting point. In this case, there are as many positioning mechanisms as there are lifting points. At least three positioning mechanisms can also be evenly set along the circumference of the lower opening to realize the spatial coordinate data collection of multiple positions at the lower opening, thereby improving the overall accuracy. In the embodiment, the positioning mechanism can be a variety of methods such as GPS or GNSS antenna.

[0025] In this embodiment, each positioning mechanism can obtain spatial coordinate data as (x, y, z), and the horizontal position of the lifting lug position at each lifting point can be located according to (x, y), and the vertical position of each lifting lug can be located according to (z), so as to determine the horizontal state according to the height difference of each lifting lug and the horizontal distance. In actual comparison, the horizontality (i.e., the difference in Z) is used for comparison and judgment, and the real-time measured data is compared with the pre-entered horizontality requirements. If it is less than the input requirement, it is suitable, and if it is greater than or equal to it, it is not suitable. If it is not suitable, the calculation software in the calculation module of the system is used to calculate the length of each hydraulic length adjustment device, and then the system automatically adjusts the hydraulic length adjustment device to achieve the horizontality that meets the requirements.

[0026] In this embodiment, the height difference before and after lifting forms the entire horizontality to ensure that it is at the same height. At the same time, the horizontality can be detected through (x, y). For example, during lifting, the center of a circle of lifting points will also change accordingly. At this time, the z value of the center of the circle should be consistent with that of the lifting point, and then the changes in (x, y) and the lifting point should be consistent. This data change can be used to determine whether each lifting point is at the same level as other lifting points in other directions.

[0027] The second step is leveling and adjustment at the lifting point.

[0028] In this embodiment, several positioning mechanisms are installed at the lower opening of the large-diameter device 1, and are installed in the same plane. The initial heights of the positioning mechanisms at the initial position are consistent. As the large-diameter device 1 is hoisted, the overall eccentricity causes a height difference (unevenness) in the position of the lower opening along the circumferential direction (the real-time displayed height value of the positioning mechanism minus the initial height value). The ratio of the maximum height difference to the diameter is the horizontality of the lower opening. When the maximum height difference is greater than 3 / 1000*Фmm (where Ф is the diameter of the lower opening), the hydraulic cylinder above the maximum height difference position needs to be adjusted to extend the piston rod and reduce the height difference.

[0029] In this embodiment, the specific adjustment is through the height adjustment mechanism 2, which is a hydraulic mechanism. When a certain lifting point is higher than other lifting points after lifting, the height adjustment mechanism 2 is extended through the hydraulic mechanism to supplement the lifting point so that it is at the same height as other lifting points.

[0030] The third step is stress analysis and early warning.

[0031] The force data at each lifting point 11 during lifting is obtained, and then compared with the rated load of the rope 12 to determine whether the lifting equipment needs an early warning.

[0032] At this time, a force data acquisition module is set at the lifting point, and then the force data at the lifting point and the force data of the rope are obtained, and then compared with the rated load of the rope to determine whether the lifting equipment needs an early warning.

[0033] In this embodiment, the force data of each steel wire rope is directly measured through a force data acquisition module at the height adjustment mechanism 2 (specifically, it can be directly welded or bolted to the side or bottom of the height adjustment mechanism 2), and the unit is N. The measured force value is compared with the rated load of each steel wire rope. When the measured force value is greater than 90% of the rated load, the alarm device starts to alarm.

[0034] In this embodiment, the rated load calculation formula of each steel wire rope is: Rated load (N) = breaking force (N) / 6, where 6 is the safety factor; Breaking force (N) = wire rope diameter θ*78.5*rope tensile strength (N / mm 2 ); In this embodiment, during the hoisting of the large-diameter equipment 2, the force data of each steel wire rope is directly measured by the structural force detection device (i.e., the force data acquisition module) on the hydraulic length adjustment device (i.e., the height adjustment device), and the unit is N. The measured force value is compared with the rated load of each steel wire rope. When the measured force value is greater than 90% of the rated load, the alarm device starts to alarm.

[0035] In this embodiment, since the balance during lifting is mainly affected by the lower opening, the positioning mechanism is preferably placed at the lower opening of the large-diameter device 1 formed by the dome.

[0036] Various calculations in this embodiment are performed in a calculation module built into the system, which pre-stores calculation formulas and the above-mentioned load comparison, including relevant levelness thresholds, thereby providing a basis for early warning.

[0037] In this embodiment, by monitoring the force magnitude and spatial coordinate data, the software changes the length of the hydraulic length adjustment device to calculate the force magnitude and horizontality change process caused by the length change until the requirements input in advance are met, and automatically adjusts the length of the hydraulic length adjustment device according to the calculated data.

[0038] In this embodiment, the lifting is carried out in several times, and a comparison is performed before and after each lifting, and then a balance judgment is made each time to ensure the safety of the lifting.

[0039] In this embodiment, a leveling method and device for hoisting large-diameter equipment is also disclosed, including: A spatial coordinate acquisition module, which is used to acquire the spatial coordinates of the large-diameter equipment before and after lifting; specifically, it is a positioning mechanism installed on the length adjustment device, such as GNSS positioning.

[0040] A force data acquisition module, used to acquire force data at the hanging points; A calculation module is used to convert the acquired spatial coordinates of the large-diameter equipment before and after lifting into horizontality, and to determine whether the large-diameter equipment after lifting needs to be adjusted, and to compare the force data at the lifting point with the approved load of the rope, and to determine whether an early warning is needed; The early warning module issues an early warning when the threshold is exceeded according to the output of the calculation module.

[0041] The calculation module in this embodiment is actually realized by the linkage control module. The conversion module in the control module can convert the spatial coordinates of the large-diameter equipment before and after lifting into the horizontal state; here, the positioning data difference before and after is calculated. A separate judgment module or a judgment module built into the calculation module can also be used to judge whether the large-diameter equipment after lifting needs to be leveled according to the horizontality; here, the positioning data difference is mainly compared with the input preset value to judge whether leveling is needed.

[0042] The early warning module in this embodiment issues an early warning when the threshold is exceeded. Here, the force on each lifting lug is mainly compared with the maximum allowable force input before use, and the total force is compared with the total weight of the equipment (ie, load) input in advance.

[0043] The solution in the present invention is specifically a large-diameter equipment hydraulic leveling system. Through the positioning device and data transmission, the horizontality of the lower mouth is displayed in real time in the system, that is, the spatial coordinate data (x, y, z) is obtained through the spatial positioning device of each hydraulic length adjustment device. The horizontal position of each lifting lug position can be located according to (x, y), and the vertical position of each lifting lug can be located according to (z). Therefore, according to the height difference of each lifting lug and the horizontal distance, the horizontality data is displayed in the system calculation module, the highest point is determined, the height of each lifting rope connection point to be adjusted is automatically calculated, and the hydraulic leveling system is automatically controlled to make adjustments so that the horizontality of the lower mouth of the equipment and the module meets the positioning requirements.

[0044] In the present embodiment, when the levelness does not meet the requirements, it is automatically adjusted. Specifically, the calculation software of the system calculation module monitors the force magnitude and spatial coordinate data, and changes the length of the hydraulic length adjustment device in the software to calculate the force magnitude and levelness change process caused by the length change until the requirements input in advance are met. The length of the hydraulic length adjustment device is automatically adjusted according to the calculated data.

[0045] The present invention is mainly used for the lifting of a dome. The dome has a diameter of 42m and a weight of 350t. It is a large-diameter thin-walled structure. After lifting, it needs to be placed on the top of the nuclear island cylinder through lifting, rotation and other lifting actions. The wall thickness of the large-diameter equipment in this embodiment is 4mm-10mm. Compared with other structures, there are still problems such as thin walls and difficulty in measurement. After the dome is lifted, due to structural deformation, sling length deviation, center of gravity position offset and other reasons, the horizontality of the dome will not meet the requirements after lifting, and this horizontality cannot meet the installation requirements when in place.

[0046] In this project, the thin-wall dome was smoothly lifted using the device and method in this embodiment.

[0047] In actual use, the dome in nuclear power projects is a large-diameter device with a diameter of more than 42m. After the dome is hoisted, the horizontality of the dome generally does not meet the requirements for positioning and needs to be adjusted.

[0048] The structure of the hydraulic automatic leveling system for overall leveling is as follows: Figure 1-3 It is mainly composed of positioning mechanism, structural force detection and alarm device, system calculation module, hydraulic height adjustment device, hydraulic power device and matching lifting slings.

[0049] After the dome is hoisted, the spatial positioning device detects the spatial position change and the spatial coordinate data after the dome is stabilized, and sends the spatial coordinate data to the system control, continuously obtains the spatial positioning data and force data, and calculates through the system calculation module to obtain the horizontal state of the dome after hoisting. At the same time, the structural force detection and alarm device detects the tension of the tensioned sling, and transmits the tension data to the system calculation module. The system calculation module calculates and verifies whether the force requirements of the sling and the lug are met. If the requirements are exceeded, an alarm is issued.

[0050] According to the comparison between the calculated horizontal state and the horizontal required for hoisting, the calculation module in the system control module calculates and determines whether horizontal adjustment is required. If necessary, the system calculation module calculates the leveling method and calculates the length of each sling that needs to be adjusted. The calculation result is fed back to the hydraulic power device through data, and the hydraulic length adjustment device connected to each sling is hydraulically controlled to automatically adjust the length according to the data requirements until the horizontal degree meets the requirements. At the same time, during the adjustment process, the spatial positioning device and the structural force detection and alarm device continuously feedback the process data. Once the force limit is exceeded, an alarm is issued, the adjustment is stopped, and the hoisting is re-performed after the subsequent modification plan.

[0051] In this embodiment, for the special structure of the dome, the top is facing upward, the large diameter is facing downward, and the center of gravity is biased downward, so it is difficult to keep it stable during lifting. However, it is easy to obtain the horizontality and so on through the spatial coordinate data on several lifting points.

[0052] In this embodiment, the coordinate position is detected by 16 spatial positioning mechanisms, and the horizontality can be calculated according to the 16 coordinate data. The horizontality is calculated each time after several liftings, and then the calculated horizontality is compared with the preset horizontality. If it is less than the preset horizontality, it meets the requirements and the operation continues. If it is greater than the preset horizontality, it needs to be adjusted. In use, the large-diameter equipment is a dome (this is a professional name), and the dome is inverted, and several lifting points are set in the middle and upper part of the inverted dome.

[0053] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0054] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A leveling method for hoisting large-diameter equipment, wherein the diameter of the large-diameter equipment is greater than 40m, characterized in that: The following steps are included: Using a lifting device, along several lifting points of the large-diameter equipment, lifting the large-diameter equipment several times and at several lifting points simultaneously; The spatial coordinate data of the large-diameter equipment before and after each lifting is obtained, and the horizontality after lifting is obtained by calculation through the calculation module, and compared with the preset horizontality to determine whether the preset horizontality is reached and whether adjustment is required. If adjustment is required, the height adjustment mechanism at the lifting point is used to adjust the horizontality so that the horizontality at the lower opening of the large-diameter equipment reaches the preset value; Obtain the force data at each lifting point during lifting and compare it with the rated load of the rope to determine whether the lifting equipment needs an early warning.

2. The leveling method for lifting large-diameter equipment according to claim 1, characterized in that: The large-diameter device forms a plurality of lifting points in the same horizontal plane along the circumferential direction, and the plurality of lifting points are connected to form a circle with a point on the center line of the large-diameter device as the center.

3. The leveling method for lifting large-diameter equipment according to claim 2, characterized in that: Each of the lifting points is provided with a force detection mechanism which is connected one-to-one with the ropes.

4. The leveling method for lifting large-diameter equipment according to claim 1, characterized in that: It also includes a positioning mechanism located at the lower end of the large-diameter equipment, which is used to obtain the height value of the lower end of the large-diameter equipment before and after lifting, and the ratio of the difference between the height values ​​and the diameter of the lower end forms the horizontality.

5. The leveling method for lifting large-diameter equipment according to claim 4, characterized in that: It also includes adjustment of the horizontality, specifically, adjusting the distance between the lifting point and the rope through the height adjustment mechanism so that the level of the lower mouth reaches a preset value.

6. The leveling method for lifting large-diameter equipment according to claim 4, characterized in that: When the preset level is reached, the maximum value of the level is less than 3 / 1000*θ, where θ is the diameter of the large-diameter device at the lower opening.

7. A leveling method and device for lifting large diameter equipment, characterized in that: include, A spatial coordinate acquisition module, which is used to acquire the spatial coordinates of the large-diameter equipment before and after lifting; A force data acquisition module, used to acquire force data at the lifting points; A calculation module is used to convert the acquired spatial coordinates of the large-diameter equipment before and after lifting into horizontality, and to determine whether the large-diameter equipment after lifting needs to be adjusted, and to compare the force data at the lifting point with the approved load of the rope, and to determine whether an early warning is needed; The early warning module issues an early warning when the threshold is exceeded according to the output of the calculation module.

8. The leveling method and device for lifting large-diameter equipment according to claim 7, characterized in that: It also includes the setting of lifting points, specifically setting a number of lifting points at the force center of the large-diameter equipment, and making the several lifting points at the same horizontal height.

9. The leveling method and device for lifting large-diameter equipment according to claim 7, characterized in that: The lifting point is connected to the rope through a hydraulic length adjustment device, and the hydraulic length adjustment device is provided with the force data acquisition module and the early warning module near the lifting lug.

10. The leveling method and device for lifting large-diameter equipment according to claim 7, characterized in that: The cross section of the large diameter device is semicircular or arc-shaped, and the wall thickness of the large diameter device is 4mm-10mm.

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