Hoisting equipment capable of automatically adjusting posture and hoisting method

Abstract

The invention discloses hoisting equipment capable of automatically adjusting postures and a hoisting method.The hoisting equipment comprises a hoisting beam, a posture adjusting assembly, a hoisting assembly and a control unit, an object to be hoisted is hoisted at the bottom of the hoisting assembly, the posture adjusting assembly comprises a sling and driving mechanisms, and the driving mechanisms are arranged at the four corners of the hoisting beam correspondingly; the driving mechanism is connected with any lifting point at four corners of the lifting assembly through the sling; a measuring unit used for measuring the dip angle of a lifting point is arranged at the gravity center of the lifting assembly, the control unit generates a control instruction according to the dip angle, measured by the measuring unit, of the lifting point, and the driving mechanism drives the length of the lifting cable to adjust the dip angle of the lifting point according to the control instruction of the control unit. And then the hoisting posture of the hoisted object on the hoisting assembly is adjusted. The hoisting posture of the to-be-assembled object can be adjusted in real time, so that hoisting and assembling of a large component are facilitated, and the hoisting and assembling efficiency, safety and accuracy of the large component are improved.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical assembly and hoisting, and in particular to a hoisting device and a hoisting method capable of automatically adjusting posture. Background Art

[0002] In industrial production and construction, it is often necessary to hoist and assemble large components. Traditional hoisting methods mainly rely on large lifting equipment and manual operation, which has certain limitations and risks. First, traditional hoisting methods require the use of large lifting equipment, such as cranes, tower cranes, etc. These equipment are usually expensive and require a large space during use. In addition, the operation of lifting equipment is complicated and requires high technical requirements for operators. Once improperly operated, it is easy to cause damage to components or even safety accidents. Secondly, the efficiency of traditional hoisting methods is low. In actual operation, the hoisting process often requires the collaboration of multiple workers. Workers need to position and connect at high altitudes, which is not only time-consuming and labor-intensive, but also poses a great safety hazard. Especially when assembling large components, workers need to work at high altitudes for a long time, which is prone to fatigue and increases the risk of accidents. In addition, traditional hoisting methods have poor adaptability to large components. Components of different types and sizes require different hoisting tools and methods, which increases the complexity and uncertainty of the operation. During the actual construction process, the shape and weight distribution of the components are uneven, and the lifting posture often needs to be adjusted according to the specific situation, further increasing the difficulty and risk of the operation. Summary of the invention

[0003] In view of the problems existing in the prior art, the object of the present invention is to provide a lifting device and a lifting method with automatic posture adjustment, which can improve the efficiency, safety and accuracy of lifting and assembling large components.

[0004] To achieve the above-mentioned purpose, the first aspect of the present invention provides a lifting equipment with automatic posture adjustment, including a lifting beam, a posture adjustment component, a lifting component and a control unit, the bottom of the lifting component is used to lift the object to be lifted, the posture adjustment component includes a sling and a driving mechanism, the driving mechanism is respectively arranged at the four corners of the lifting beam, and the driving mechanism is connected to any lifting point at the four corners of the lifting component through the sling; wherein a measuring unit for measuring the inclination angle of the lifting point is arranged at the center of gravity of the lifting component, the control unit generates a control instruction according to the inclination angle of the lifting point measured by the measuring unit, and the driving mechanism drives the length of the sling to be retracted and released according to the control instruction of the control unit to adjust the inclination angle of the lifting point, thereby adjusting the lifting posture of the object suspended on the lifting component.

[0005] Furthermore, the lifting assembly includes a docking locking mechanism and a positioning frame, the lifting points are set at the four corners of the positioning frame, the docking locking mechanism includes a docking head and a docking seat, the docking locking mechanism is relatively arranged on the positioning frame so that the bottom of the lifting points at the four corners of the positioning frame are all provided with the docking heads, and the object to be lifted is fixed to the bottom of the positioning frame by locking the docking heads with the docking seats set at the four corners of the object to be lifted.

[0006] Furthermore, the docking locking mechanism also includes a mounting beam, a handle and a connecting rod. The docking head and the handle are provided at both ends of the mounting beam. The docking head is rotatably mounted along the vertical direction of the mounting beam. The handle is dynamically connected to one end of the docking head. The handle is driven to rotate to drive the docking head to lock and switch positions so that the docking head and the docking seat are locked or unlocked, and the handles at both ends of the mounting beam are connected through the connecting rod.

[0007] Furthermore, the positioning frame is a rectangular frame, reinforcing ribs are cross-arranged in the diagonal direction of the rectangular frame, and the measuring unit is arranged on the top of the reinforcing ribs at the intersection positions of the reinforcing ribs.

[0008] Furthermore, the driving mechanism is a rotating motor and the measuring unit is a dynamic inclinometer. The dynamic inclinometer collects inclination data at the four corners of the lifting assembly in real time. The control unit generates control instructions for each rotating motor according to the received inclination data. Each rotating motor drives the length of the retracted and extended sling to adjust the inclination of the lifting points at the four corners of the lifting according to its own control instructions.

[0009] Furthermore, two oppositely disposed butt joint locking mechanisms are disposed along the width direction of the rectangular frame, and two butt joints on the two butt joint locking mechanisms are aligned along the length direction of the rectangular frame.

[0010] Furthermore, a sling drum is provided at the driving end of the rotating motor, one end of the sling is wound and fixed on the sling drum, and the other end of the sling is fixedly connected to a lifting ring at the lifting point of the positioning frame.

[0011] Furthermore, four rotating motors are arranged at the four corners of the hanging beam, four lifting rings are arranged at the four corners of the positioning frame, and four lifting ropes between the four rotating motors and the four lifting rings are connected to the corresponding rotating motors and lifting rings in a non-crossing manner.

[0012] A second aspect of the present invention provides a method for hoisting the above-mentioned hoisting equipment, comprising the following steps:

[0013] Control the driving mechanism to lower the sling to lower the lifting assembly and dock and lock it with the object to be lifted;

[0014] Control the driving mechanism to reel in the sling to raise the hoisting assembly;

[0015] After the hoisting equipment is moved to above the assembly position of the object to be hoisted, the driving mechanism is controlled to lower the sling to lower the hoisting assembly, and the object suspended on the hoisting assembly is lowered to a height adjacent to the assembly position and then stops descending;

[0016] Measuring the inclination data at the four corners of the hoisting assembly by the measuring unit, and adjusting the hoisting posture of the suspended object according to the inclination data;

[0017] After the suspension posture of the suspended object is adjusted, the driving mechanism is controlled to lower the suspension rope to lower the object suspended on the suspension assembly to the waiting position for assembly with other components.

[0018] Further, controlling the driving mechanism to lower the sling to lower the lifting assembly and dock and lock it with the object to be lifted includes:

[0019] Control the driving mechanism to lower the sling to lower the lifting assembly to a position adjacent to the object to be lifted;

[0020] Measuring the inclination data of four butt joints at the four corners of the hoisting assembly by the measuring unit;

[0021] Adjust the postures of the four butt joints at the four corners of the lifting assembly according to the measured inclination data of the four butt joints, so that the four butt joints correspond to the four butt joints of the object to be lifted in the vertical direction;

[0022] After the butt joints and the butt joint seats are aligned in the vertical direction, the driving mechanism is controlled to lower the slings so that the four butt joints are inserted into the butt joint seats;

[0023] The handle is rotated to lock the docking head and the docking seat.

[0024] The lifting equipment with automatic posture adjustment of the present invention comprises a posture adjustment component, a measuring unit and a control unit. The lifting posture of the object to be loaded can be adjusted in real time through the control unit and the posture adjustment component to facilitate the lifting and assembly of large components, thereby improving the efficiency, safety and accuracy of the lifting and assembly of large components.

[0025] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 It is a structural schematic diagram of a lifting device for automatically adjusting posture according to an embodiment of the present invention;

[0028] Figure 2 It is a structural schematic diagram of a docking locking mechanism according to an embodiment of the present invention;

[0029] Figure 3 for Figure 2 A cross-sectional schematic diagram of the docking and locking structure;

[0030] Figure 4 It is a structural schematic diagram of a handle in a docking locking mechanism according to an embodiment of the present invention;

[0031] Figure 5 It is a structural schematic diagram of a docking joint in a docking locking structure according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the present invention will be more comprehensive and complete and fully convey the concept of the example embodiments to those skilled in the art.

[0033] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the term "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a mechanical connection, it can be an electrical connection, it can be a direct connection, or it can be indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] The terms "top", "bottom", "above", "lower", and "on", "left-right", and "upper-lower" used throughout the description are relative to the relative positions of components of a device, such as the relative positions of the top and bottom substrates within a device. It is understood that devices are multifunctional regardless of their orientation in space.

[0035] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implying the number of technical features indicated. Thus, the defined "first" and "second" features may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0036] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0037] like Figure 1 As shown, the first aspect of the present invention provides a lifting device with automatic posture adjustment, including a lifting beam 1, a posture adjustment component 2, a lifting component 3 and a control unit (not shown in the figure), the bottom of the lifting component 3 is lifted to receive the lifting object, the posture adjustment component 2 includes a sling 21 and a driving mechanism 22, the driving mechanism 22 is respectively arranged at the four corners of the lifting beam 1, and the driving mechanism 22 is connected to any lifting point at the four corners of the lifting component 3 through the sling 21; wherein, a measuring unit 4 for measuring the inclination angle of the lifting point is arranged at the center of gravity of the lifting component 3, the control unit generates a control instruction according to the inclination angle of the lifting point measured by the measuring unit 4, and the driving mechanism 22 drives the length of the sling 21 to adjust the inclination angle of the lifting point according to the control instruction of the control unit, thereby adjusting the lifting posture of the object suspended on the lifting component 3. In this embodiment, four driving mechanisms 22 are arranged at the four corners of the hanging beam 1, and the four driving mechanisms 22 respectively adjust the inclination angles of the four hanging points at the four corners of the hanging assembly 3, which ensures the stability of the posture of the hanging object on the one hand, and can adjust the hanging posture more accurately and quickly on the other hand, facilitating the assembly operation of subsequent components. In addition, the driving control mode of the four driving mechanisms 22 can be that the four driving mechanisms are driven and adjusted one by one, or that multiple driving mechanisms are driven and adjusted simultaneously.

[0038] In one embodiment of the present invention, the hoisting assembly 3 includes a docking locking mechanism 31 and a positioning frame 32. Four lifting points are set at the four corners of the positioning frame 32. In this embodiment, four lifting rings are used as lifting points to be fixedly connected to one end of the sling 21. The docking locking mechanism 31 includes a docking joint 311 and a docking seat (not shown in the figure). The docking locking mechanism 31 is relatively arranged on the positioning frame 32 so that the bottom of the lifting points at the four corners of the positioning frame 32 are all provided with the docking joint 311, that is, each docking locking mechanism 31 is provided with two docking joints. The two docking locking mechanisms 31 are relatively arranged so that the four docking joints can be distributed at the bottom of the lifting points at the four corners of the positioning frame 32. The four docking seats are arranged at the four corners of the object to be hoisted. The object to be hoisted can be fixed at the bottom of the positioning frame 32 by inserting the docking joint 311 into the docking seat and locking it. The four corners of the object to be hoisted are fixed on the positioning frame 32 to ensure the stability of the hoisting, and the positioning frame 32 and the object to be hoisted are positioned as one body, which is convenient for the precise adjustment of the posture of the hoisted object. The spacing between the four docking seats provided on the object to be hoisted is pre-set to correspond to the spacing between the four docking joints. Such a configuration can ensure that the four docking joints can be inserted into the four docking seats at the same time, facilitating the quick locking connection between the hoisting assembly and the object to be hoisted. In addition, for the convenience of docking, a guide rail can also be provided between the docking joints or the docking seats to adjust the spacing between the docking joints and / or the docking seats.

[0039] In one embodiment of the present invention, Figure 2-5 As shown, the docking locking mechanism 31 also includes a mounting beam 312, a handle 313 and a connecting rod 314. The docking joint 311 and the handle 313 are provided at both ends of the mounting beam 312. Two through holes are provided at both ends of the mounting beam 312. The docking joint 311 is inserted into the through hole through a bearing so that the docking joint 311 can rotate in the through hole. The docking joint 311 includes an upper boss 316, a middle stop circle 317 and a lower mushroom head 318. A bolt mounting hole 319 is provided in the middle of the upper boss 316. A slot 361 connected to the handle 313 is provided on the outer periphery of the boss. The handle 313 is provided with a mounting hole 315. A clamping head 320 clamped with the slot 361 is provided on the inner circle of the mounting hole 315. The handle 313 is sleeved on the upper boss 316 through the mounting hole 315, and the clamping head 320 is clamped in the slot 361 to clamp and position the handle 313 and the upper boss 316. The mounting holes 315 of the handle 313 and the mounting holes 319 of the upper boss 316 are inserted with fixing bolts to fix the handle 313 to the upper boss 316 of the docking joint 311. The diameters of the upper boss 316 and the lower mushroom head 318 are smaller than the diameter of the through hole set on the mounting beam 312. A deep groove ball bearing 321 is set between the upper boss 316 and the through hole, and a thrust bearing 325 is set between the lower mushroom head 318 and the through hole. The bearing set between the docking joint and the through hole allows the docking joint to rotate in the through hole to switch between locking and unlocking. In this embodiment, a thrust bearing with a certain bearing capacity is set at the bottom of the through hole to bear the force when the object is hoisted, to ensure the strength of the docking locking mechanism 31 after the connection with the hoisted object, and a deep groove ball bearing that is easier to rotate is set at the top of the through hole. The handle 313 provides a small force to drive the docking joint 311 to switch between the locked and unlocked states, which facilitates the operation. In addition, a retaining spring 322 is also set on the upper part of the deep groove ball bearing 321, and the upper and lower positions of the deep groove ball bearing 321 are limited by the retaining spring 322 and the stop circle 317 to prevent the deep groove ball shaft 321 from moving up and down. A gasket 323 is provided between the mushroom head 318 and the deep groove ball bearing 321 to limit the axial position of the mushroom head 318. A U-shaped head is provided on the docking joint 311, and the U-shaped head has a front chamfer, which can smoothly enter the docking seat on the suspended object. When the U-shaped head completely enters the docking seat, the docking joint can be clamped in the docking seat by rotating 90° to lock the lifting assembly with the suspended object. The two handles 313 at both ends of the docking locking mechanism 31 are hingedly connected by a connecting rod 314. When one handle is rotated, the other handle can also rotate accordingly, and the locking or unlocking operation of the two docking joints can be achieved through one operation. When the docking locking mechanism 31 is operated, the rotating handle 313 rotates, and the docking joint 311 is driven to rotate together under the clamping action of the card slot and the card head. The rotating handle on one side pushes the handle on the other side to rotate accordingly through the connecting rod, driving the two docking joints to rotate on the same side, and completing the locking or unlocking operation together.

[0040] In one embodiment of the present invention, the positioning frame 32 is a rectangular frame, and reinforcing ribs 5 are arranged crosswise in the diagonal direction of the rectangular frame, and the measuring unit 4 is arranged on the top of the reinforcing ribs at the intersection of the reinforcing ribs 5. By arranging the reinforcing ribs on the positioning frame 32, on the one hand, the strength of the positioning frame 32 can be improved, and the stability and safety of the positioning frame 32 when hoisting objects can be ensured. On the other hand, by arranging the reinforcing ribs, it is convenient to accurately locate the measuring unit 4 at the position of the positioning frame 32, so that the measuring unit can be accurately located and installed at the center of gravity of the positioning frame 32, thereby improving the measurement accuracy of the hanging point inclination.

[0041] In one embodiment of the present invention, the driving mechanism 22 is a rotating motor and the measuring unit 4 is a dynamic inclinometer. The dynamic inclinometer collects the inclination data at the four corners of the lifting component 3 in real time. The control unit generates control instructions for each rotating motor according to the received inclination data. Each rotating motor drives the length of the retractable sling 21 to adjust the inclination of the lifting points at the four corners of the lifting according to its own control instructions.

[0042] In one embodiment of the present invention, two oppositely arranged docking locking mechanisms 31 are arranged along the width direction of the rectangular frame, and two docking joints 311 on the two docking locking mechanisms 31 are aligned along the length direction of the rectangular frame. Such an arrangement can ensure that the docking joints on the docking locking mechanisms 31 on both sides can dock with the docking seats on both sides of the suspended object at the same time, which facilitates the docking operation and improves efficiency.

[0043] In one embodiment of the present invention, a sling drum is provided at the driving end of the rotating motor, one end of the sling 21 is wound and fixed on the sling drum 21, and the other end of the sling 21 is fixedly connected to a lifting ring at the lifting point position of the positioning frame 32. Figure 1 In the embodiment shown in the figure, the sling connection method between the four rotating motors and the four lifting rings is a non-crossing sling connection method in which both ends of the sling are respectively connected to the rotating motors and lifting rings at the positions facing the vertical projection. It should be noted that the sling connection method can also be a cross-connection method in which both ends of the sling are connected to the rotating motors and lifting rings at positions not facing the vertical projection.

[0044] A second aspect of the present invention provides a method for hoisting the above-mentioned hoisting equipment, comprising the following steps:

[0045] Control the driving mechanism to lower the sling to lower the lifting assembly and dock and lock it with the object to be lifted;

[0046] Control the driving mechanism to reel in the sling to raise the hoisting assembly;

[0047] After the hoisting equipment is moved to above the assembly position of the object to be hoisted, the driving mechanism is controlled to lower the sling to lower the hoisting assembly, and the object suspended on the hoisting assembly is lowered to a height adjacent to the assembly position and then stops descending;

[0048] Measuring the inclination data at the four corners of the hoisting assembly by the measuring unit, and adjusting the hoisting posture of the suspended object according to the inclination data;

[0049] After the suspension posture of the suspended object is adjusted, the driving mechanism is controlled to lower the suspension rope to lower the object suspended on the suspension assembly to the waiting position for assembly with other components.

[0050] In one embodiment of the present invention, controlling the driving mechanism to lower the sling to lower the lifting assembly and dock and lock it with the object to be lifted includes:

[0051] Control the driving mechanism to lower the sling to lower the lifting assembly to a position adjacent to the object to be lifted;

[0052] Measuring the inclination data of four butt joints at the four corners of the hoisting assembly by the measuring unit;

[0053] Adjust the postures of the four butt joints at the four corners of the lifting assembly according to the measured inclination data of the four butt joints, so that the four butt joints correspond to the four butt joints of the object to be lifted in the vertical direction;

[0054] After the butt joints and the butt joint seats are aligned in the vertical direction, the driving mechanism is controlled to lower the slings so that the four butt joints are inserted into the butt joint seats;

[0055] The handle is rotated to lock the docking head and the docking seat.

[0056] In summary, the lifting equipment with automatic posture adjustment of the present invention includes a posture adjustment component, a measuring unit and a control unit. The lifting posture of the object to be loaded can be adjusted in real time through the control unit and the posture adjustment component to facilitate the lifting and assembly of large components, thereby improving the efficiency, safety and accuracy of the lifting and assembly of large components.

[0057] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present invention are indicated by the following claims.

[0058] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A lifting device with automatic posture adjustment, characterized in that: It includes a lifting beam, a posture adjustment component, a lifting component and a control unit. The bottom of the lifting component lifts the object to be lifted. The posture adjustment component includes a sling and a driving mechanism. The driving mechanisms are respectively arranged at the four corners of the lifting beam. The driving mechanism is connected to any lifting point at the four corners of the lifting component through the sling. A measuring unit for measuring the inclination angle of the lifting point is arranged at the center of gravity of the lifting component. The control unit generates a control instruction according to the inclination angle of the lifting point measured by the measuring unit. The driving mechanism drives the length of the sling to be retracted and released according to the control instruction of the control unit to adjust the inclination angle of the lifting point, thereby adjusting the lifting posture of the object lifted on the lifting component.

2. The lifting equipment according to claim 1, characterized in that: The lifting assembly includes a docking locking mechanism and a positioning frame. The lifting points are arranged at the four corners of the positioning frame. The docking locking mechanism includes a docking head and a docking seat. The docking locking mechanism is relatively arranged on the positioning frame so that the bottom of the lifting points at the four corners of the positioning frame are all provided with the docking heads, and the object to be lifted is fixed to the bottom of the positioning frame by locking the docking heads with the docking seats arranged at the four corners of the object to be lifted.

3. The hoisting equipment according to claim 2, characterized in that: The docking locking mechanism also includes a mounting beam, a handle and a connecting rod. The docking head and the handle are provided at both ends of the mounting beam. The docking head is rotatably mounted along the vertical direction of the mounting beam. The handle is dynamically connected to one end of the docking head. The handle is driven to rotate and drive the docking head to switch between locking and position so that the docking head and the docking seat are locked or unlocked, and the handles at both ends of the mounting beam are connected by the connecting rod.

4. The hoisting equipment according to claim 2, characterized in that: The positioning frame is a rectangular frame, and reinforcing ribs are arranged crosswise in the diagonal direction of the rectangular frame. The measuring unit is arranged on the top of the reinforcing ribs at the intersection positions of the reinforcing ribs.

5. The hoisting equipment according to claim 1, characterized in that: The driving mechanism is a rotating motor and the measuring unit is a dynamic inclinometer. The dynamic inclinometer collects the inclination data at the four corners of the lifting component in real time. The control unit generates control instructions for each rotating motor according to the received inclination data. Each rotating motor drives the length of the retracted and extended sling to adjust the inclination of the lifting points at the four corners of the lifting according to its own control instructions.

6. The hoisting equipment according to claim 4, characterized in that: The two oppositely arranged butt joint locking mechanisms are arranged along the width direction of the rectangular frame, and the two butt joints on the two butt joint locking mechanisms are aligned along the length direction of the rectangular frame.

7. The hoisting equipment according to claim 5, characterized in that: A sling drum is provided at the driving end of the rotating motor, one end of the sling is wound and fixed on the sling drum, and the other end of the sling is fixedly connected to a lifting ring at the lifting point of the positioning frame.

8. The hoisting equipment according to claim 7, characterized in that: Four rotating motors are arranged at the four corners of the hanging beam, four lifting rings are arranged correspondingly at the four corners of the positioning frame, and four lifting ropes between the four rotating motors and the four lifting rings are connected with the corresponding rotating motors and lifting rings in a non-crossing manner.

9. A method for hoisting a hoisting device according to claims 2-8, characterized in that: The steps include: Control the driving mechanism to lower the sling to lower the lifting assembly and dock and lock it with the object to be lifted; Control the driving mechanism to reel in the sling to raise the hoisting assembly; After the hoisting equipment is moved to the position above the assembly position of the object to be hoisted, the driving mechanism is controlled to lower the sling to lower the hoisting assembly, and the object suspended on the hoisting assembly is lowered to a height adjacent to the position to be installed and then stops descending; Measuring the inclination data at the four corners of the hoisting assembly by the measuring unit, and adjusting the hoisting posture of the suspended object according to the inclination data; After the suspension posture of the suspended object is adjusted, the driving mechanism is controlled to lower the suspension rope to lower the object suspended on the suspension assembly to the waiting position for assembly with other components.

10. The hoisting method according to claim 9, characterized in that: Control the driving mechanism to lower the sling to lower the lifting assembly and dock and lock it with the object to be lifted, including: Control the driving mechanism to lower the sling to lower the lifting assembly to a position adjacent to the object to be lifted; Measuring the inclination data of four butt joints at the four corners of the hoisting assembly by the measuring unit; Adjust the postures of the four butt joints at the four corners of the lifting assembly according to the measured inclination data of the four butt joints, so that the four butt joints correspond to the four butt joints of the object to be lifted in the vertical direction; After the butt joints and the butt joint seats are aligned in the vertical direction, the driving mechanism is controlled to lower the slings so that the four butt joints are inserted into the butt joint seats; The handle is rotated to lock the docking head and the docking seat.

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